JP2025006510A - Floor cleaning machine and squeegee device reset method - Google Patents

Abstract

To provide a compact floor surface washing machine capable of suppressing foul water left without being sucked after washing with washing water and an occurrence of a streak of foul water leaking behind a squeegee device due to adhesion failure between the squeegee device and a floor surface, and capable of making quick turns, without increasing the cost of the machine steeply.SOLUTION: A floor surface washing machine 1 which supplies washing water and performs travelling washing for washing a floor surface F while causing a vehicle body 2 to travel includes: a squeegee device 15 for recovering foul water after washing; a storage part 26 for storing a reset condition for performing a reset operation of the squeegee device 15; and a control part 10. When a reset condition is satisfied while travelling washing is performed, the control part 10 functions as a squeegee reset control part 75 for performing, as reset operations, a travelling stop operation for temporarily stopping travelling, a suction backing operation for backing a predetermined first backing distance while continuing foul water sucking by the squeegee device 15 after the travelling stop operation, and a squeegee lifting operation for lifting the squeegee device 15 after the suction backing operation.SELECTED DRAWING: Figure 2

Description

Application for application of Article 30, Paragraph 2 of the Patent Act has been filed. Disclosed through sales to Voice Co., Ltd. between April 25, 2023 and June 23, 2023. Disclosed through sales to Seiko Building Management Co., Ltd. on April 27, 2023. Disclosed through sales to Aeon Delight Co., Ltd. on June 16, 2023.

The present invention relates to a method for resetting a floor cleaner and a squeegee device.

Currently, self-propelled floor cleaners that can efficiently clean a wide range of floor surfaces have been developed. Recently, so-called cleaning robots equipped with an autonomous travel function and autonomous floor cleaners that are larger versions of cleaning robots equipped with a floor cleaning function have also been developed.

Self-propelled floor cleaners and autonomous floor cleaners spray cleaning water onto the floor surface as the vehicle moves, cleaning the floor surface with cleaning members such as brushes and pads, and collecting the wastewater generated after cleaning with the cleaning water using a squeegee device.

When the cleaning area is large, a ride-on type self-propelled floor washer is used, but the operator riding on the machine is unable to detect in a timely manner any missed wastewater collection after cleaning. In addition, when an autonomous floor washer is used, the operator does not constantly monitor the cleaning, and is unable to detect in a timely manner any missed wastewater collection after cleaning. Therefore, in either case, cleaning of a large cleaning area may need to be redone, which may reduce cleaning efficiency. Therefore, self-propelled floor washer and autonomous floor washer that address the issue of missed wastewater collection after cleaning have been proposed.

For example, Patent Document 1 discloses a cleaning device that is attached to the front of a floor washer. In this cleaning device, in order to eliminate the need for a cleaning operation prior to the cleaning operation even when the device is turning left and right while cleaning, a first shaft and a second shaft are rotatably supported by a frame, the first shaft is fixed to the tip of a first arm that extends forward of the floor washer, and the rear end of a second arm having a cleaning tool at its tip is fixed to the second shaft, so that the frame and the second arm rotate in the direction in which the floor washer changes its direction of travel, changing the direction of the cleaning tool.

Patent Document 2 discloses a floor washer having a squeegee for sucking up wasted cleaning water. In this floor washer, a wiping mat made of water-absorbent and water-retentive microfiber is provided on the rear side of the squeegee in the direction of travel to further absorb the wasted cleaning water that could not be sucked up by the squeegee, in order to eliminate any residual wasted cleaning water or streaks in the washer and to eliminate the need for manual wiping up of residual wasted cleaning water (wastewater) or streaks in the washer (wastewater).

JP 2007-007320 A Utility Model Registration No. 3182733

However, conventional floor cleaners such as those in Patent Documents 1 and 2 require the addition of cleaning tools and mats, making the device larger and less maneuverable. Furthermore, if these conventional technologies are adopted in an autonomous floor cleaner, an automatic operating mechanism for the cleaning tools and mats is also required, complicating the structure and increasing the product price. Furthermore, conventional technologies require specific care for the cleaning tools and mats, reducing convenience for users.

In addition, if foreign matter such as dust or hair has accumulated on the floor surface, the foreign matter can get caught between the squeegee device and the floor surface, which can lead to some wastewater not being sucked up (recovered) when the wastewater generated after cleaning with cleaning water is sucked up and collected, or streaks of wastewater leaking out behind the squeegee device due to poor contact between the squeegee device and the floor surface. In particular, with autonomous floor cleaning machines, operators cannot visually check each step and reverse the machine to clean again, which can lead to the problem of wastewater not being sucked up and streaks remaining.

The present invention has been made in consideration of the above-mentioned problems, and aims to provide a floor washer and a method for resetting the squeegee device that are small and maneuverable, do not increase the product price, and can prevent wastewater from being left behind after cleaning with cleaning water, and prevent streaks of wastewater leaking behind the squeegee device due to poor contact between the squeegee device and the floor surface.

In order to solve the above problem, the first floor washer of the present invention is a floor washer that performs traveling cleaning by supplying cleaning water to wash the floor while traveling a vehicle body, and is characterized by comprising a squeegee device that collects wastewater after washing, a memory unit that stores reset conditions for performing a reset operation of the squeegee device, and a control unit that performs, as the reset operation, a traveling stop operation that temporarily stops traveling when the reset condition is satisfied during the traveling cleaning, a suction backward operation that travels backward a predetermined first backward distance while continuing to suck up the wastewater by the squeegee device after the traveling stop operation, and a squeegee raising operation that raises the squeegee device after the suction backward operation.

The first floor washer of the present invention is constructed as described above to be small and maneuverable without increasing the product price, and the suction reverse movement and reset movement allow the squeegee lifting movement to separate foreign objects caught between the squeegee device and the floor surface from the squeegee device and drop them onto the floor surface, thereby preventing wastewater from being left behind and preventing the occurrence of wastewater streaks.

To solve the above problem, in the second floor washer of the present invention, the control unit executes, as the travel stop operation, a cleaning stop operation in which the cleaning member that cleans the floor surface is moved away from the floor surface and the supply of the cleaning water is stopped, and a preliminary forward movement operation in which the cleaning member moves forward a predetermined preliminary forward distance after the cleaning stop operation and then stops travelling.

According to the second floor washer of the present invention, the above-mentioned suction backward movement and the below-mentioned preliminary backward movement are performed after the preliminary forward movement, so that the position at which the traveling cleaning, including the suction movement by the suction blower, is resumed can be prevented from changing significantly from the position at which the traveling cleaning was interrupted by the reset movement.

To solve the above problem, in the third floor washer of the present invention, the control unit executes a preliminary reverse movement operation as the reset operation after the suction reverse movement operation and the squeegee lifting operation, in which the device further travels backward a predetermined second reverse movement distance.

According to the third floor washer of the present invention, the traveling cleaning can be resumed from the position where the machine was moved backward by the preliminary backward movement operation, rather than the position where foreign objects fell onto the floor surface due to the suction backward movement operation and the squeegee lifting operation. Therefore, foreign objects that fell onto the floor surface due to the reset operation can be reliably collected by the squeegee device, and the occurrence of wastewater remaining unsucked and wastewater streaks can be suppressed.

To solve the above problem, in the fourth floor cleaning machine of the present invention, the control unit executes a squeegee vibration operation to vibrate the squeegee device as the reset operation after the squeegee lifting operation.

The fourth floor cleaner of the present invention can more reliably remove and collect foreign matter adhering to the squeegee device.

To solve the above problem, in the fifth floor cleaning machine of the present invention, the control unit determines that the reset condition is met when the elapsed distance of the traveling cleaning exceeds a predetermined elapsed distance threshold.

According to the fifth floor washer of the present invention, by referring to the elapsed distance of the traveling cleaning, the squeegee device can be reset before a significant amount of foreign matter that may become caught between the squeegee device and the floor surface accumulates, so that wastewater is efficiently prevented from being left behind and wastewater streaks are prevented.

To solve the above problem, the sixth floor cleaner of the present invention further includes a turbidity determination unit that detects the turbidity of the wastewater sucked by the squeegee device, and the control unit changes the reset condition according to the turbidity.

According to the sixth floor cleaner of the present invention, by changing the reset conditions depending on the turbidity of the wastewater, the frequency of the squeegee device's reset operation can be adapted to the cleaning conditions, and wastewater can be appropriately prevented from being left behind and the occurrence of wastewater streaks can be appropriately prevented.

To solve the above problem, in the seventh floor cleaning machine of the present invention, the memory unit stores a reset suppression condition for suppressing the execution of the reset operation of the squeegee device together with the reset condition, and the control unit suspends the execution of the reset operation when the reset suppression condition is satisfied even when the reset condition is satisfied.

According to the seventh floor cleaner of the present invention, if the condition is not appropriate, the reset operation of the squeegee device is suppressed, whereas if the condition is appropriate, the reset operation can be performed.

To solve the above problem, in the eighth floor washer of the present invention, the memory unit stores the reset suppression condition that the vehicle body is in a turning state.

According to the eighth floor washer of the present invention, when the vehicle body is in a turning motion, the reset operation of the squeegee device is suppressed since the vehicle body is not in an appropriate state, but when the vehicle body is in an appropriate state, the reset operation can be performed.

To solve the above problem, in the ninth floor washer of the present invention, the memory unit stores, as the reset suppression condition, that the vehicle body's traveling state is traveling after a step.

According to the ninth floor washer of the present invention, when the vehicle body is traveling after a step, the vehicle body is deemed to be in an inappropriate state, and the reset operation of the squeegee device is suppressed. On the other hand, when the vehicle body is in an appropriate state, the reset operation can be performed.

In order to solve the above problem, in the tenth floor washer of the present invention, the squeegee device is elongated in the left-right direction perpendicular to the traveling direction of the vehicle body, and is rotatably provided between a neutral position in which a connecting arm connecting the squeegee device to the vehicle body is oriented along the traveling direction of the vehicle body and a rotational position in which the connecting arm is tilted leftward or rightward with respect to the traveling direction of the vehicle body, and further includes a neutral movement mechanism that presses a part of the connecting arm or a neutral moving body provided on the connecting arm against a neutral guide section provided on the bottom of the vehicle body in a curved state along the rotational direction of the connecting arm, thereby moving the squeegee device from the rotational position to the neutral position.

According to the tenth floor cleaner of the present invention, when the squeegee device is reset, the squeegee device can be displaced to a neutral position by the cam mechanism during reverse travel in the suction reverse operation, and the squeegee device can be put into an appropriate state to resume running cleaning.

To solve the above problem, in the eleventh floor cleaning machine of the present invention, the neutral movement mechanism is equipped with a limiter mechanism that allows the squeegee device, which is held in the neutral position, to rotate in response to an external force.

According to the eleventh floor cleaner of the present invention, if an obstacle or the like collides with the squeegee device, the neutral position is released to allow the squeegee device to rotate, thereby preventing damage to the squeegee device.

In order to solve the above problem, the present invention provides a floor washer that performs traveling cleaning by supplying cleaning water to wash a floor while traveling a vehicle body, and a method for resetting a squeegee device that collects wastewater after washing, which is characterized in that, when a reset condition for performing a reset operation of the squeegee device is satisfied during the traveling cleaning, the reset operation includes a traveling stop operation that temporarily stops traveling, a suction backward operation that travels backward a predetermined first backward distance while continuing to suck up the wastewater by the squeegee device after the traveling stop operation, and a squeegee raising operation that raises the squeegee device after the suction backward operation.

According to the present invention, the floor washer and squeegee device reset method are small and maneuverable, and can prevent wastewater from being left behind after cleaning with cleaning water and the formation of streaks of wastewater leaking out behind the squeegee device due to poor contact between the squeegee device and the floor surface, without increasing product prices.

1 is a front perspective view of a floor cleaning machine according to an embodiment of the present invention; 2 is a block diagram showing the electrical configuration of the floor cleaning machine according to the embodiment of the present invention. FIG. 1 is a plan view showing a floor cleaning machine according to an embodiment of the present invention from above. 1 is a perspective view showing a squeegee device of a floor cleaning machine according to an embodiment of the present invention, viewed from the rear. 1 is a schematic diagram showing, from the side, the operation of a squeegee device of a floor cleaning machine according to an embodiment of the present invention. 1 is a schematic diagram showing, from above, the operation of a squeegee device of a floor cleaning machine according to an embodiment of the present invention. 4 is a flowchart showing an example of operation of the floor cleaning machine according to the embodiment of the present invention. 5 is a flowchart showing an example of a reset operation of the squeegee device in the floor cleaning machine according to the embodiment of the present invention. 1 is a table showing examples of reset conditions and reset suppression conditions in the floor cleaning machine according to the embodiment of the present invention. 1 is a schematic diagram showing, from the side, the operation of the floor cleaning machine according to the embodiment of the present invention when detecting a step.

Below, an embodiment of the floor cleaning machine 1 according to the present invention will be described with reference to the attached drawings. Note that the directions indicated by the arrows in each drawing are set based on the operator operating the floor cleaning machine 1, and in the drawings, "Fr" indicates "front", "Rr" indicates "rear", "L" indicates "left", "R" indicates "right", "U" indicates "up" and "D" indicates "down".

<Overall configuration of floor cleaning machine>
The configuration of a floor washer 1 according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing the floor washer 1. Figure 2 is a block diagram showing the floor washer 1. Figure 3 is a plan view showing the floor washer 1. The floor washer 1 performs traveling cleaning by supplying cleaning water to wash a floor F (see Figure 5) while traveling a vehicle body 2, and may be configured as a ride-on type self-propelled type, or may be configured as an autonomous traveling type so-called robot floor washer.

The autonomous floor washer 1 is a vehicle capable of manual driving based on manual operation and autonomous driving (automatic driving) based on automatic control, and operates in either a manual driving mode or an automatic driving mode. In the automatic driving mode, the floor washer 1 performs automatic driving cleaning, autonomously driving and automatically cleaning based on a cleaning plan consisting of preset data and programs.

As shown in FIG. 1, the floor washer 1 includes a vehicle body 2 for housing each component, a travel unit 3 for traveling the vehicle body 2, and a cleaning unit 4 for cleaning the floor surface F below the vehicle body 2, and the cleaning unit 4 includes a cleaning pad 13 and a squeegee device 15. The floor washer 1 rotates the cleaning pad 13 supplied with cleaning water while traveling the vehicle body 2 to clean the floor surface F, and collects the dirty water after cleaning with the squeegee device 15. The floor washer 1 cleans the floor surface F in the cleaning area 80 (see FIG. 6 (1)), which may be all or part of a commercial facility such as a shopping mall, an office, a hotel, a hospital, a school, or a factory.

The floor washer 1 includes a driving operation unit 5 and an operation display unit 6 for operating and displaying various functions of the floor washer 1, and the driving operation unit 5 and the operation display unit 6 constitute the operation unit of the floor washer 1. The floor washer 1 also includes a measurement unit 7 that measures the distance and angle (for example, the angle with respect to the forward direction of the vehicle body 2) between the vehicle body 2 and obstacles (objects) such as walls and ornaments around the vehicle body 2, and an image capture unit 8 that captures images of the surroundings of the vehicle body 2. Furthermore, as shown in FIG. 2, the floor washer 1 also includes a power supply unit 9 for controlling the charging of the battery (not shown) and supplying power to each unit, and a control unit 10 that controls the units and various functions of the floor washer 1 (driving by the driving unit 3, cleaning work by the cleaning unit 4, measurement by the measurement unit 7, etc.).

The vehicle body 2 has a generally rectangular parallelepiped appearance. A pair of left and right wheels 11 and a pair of left and right casters 12 are provided on the bottom of the vehicle body 2 as the running part 3.

The pair of left and right wheels 11 are supported by axles 11a extending in the left-right direction at approximately the center of the front-rear direction of the vehicle body 2 (see Figures 3 (1) and (2)), and each has a left and right drive motor 11b (see Figure 3 (2)). The left and right drive motors 11b (axles 11a) are provided with left and right encoders 11c that detect the number of rotations. The drive motors 11b simultaneously rotate the wheels 11 via the axles 11a to move the vehicle body 2 forward or backward, while the left and right wheels 11 can be stopped or rotated at a reduced speed and simultaneously rotated by the right and left wheels 11. The pair of left and right casters 12 are arranged behind the wheels 11 and are rotatably supported on the bottom surface of the vehicle body 2.

The cleaning unit 4 is provided under the vehicle body 2 and is configured to clean the floor surface F below the vehicle body 2. The cleaning unit 4 cleans the floor surface F according to initially set cleaning data, cleaning data set via the operation display unit 6, or cleaning data set by automatic control.

The cleaning unit 4 is composed of, for example, a wet cleaning mechanism that cleans the floor surface F using cleaning water as a detergent, and includes a cleaning pad 13 that contacts the floor surface F to clean the floor surface F, a supply pump 14 for supplying and spraying the cleaning water onto the floor surface F, and a squeegee device 15 for collecting the cleaning water used to clean the floor surface F, i.e., wastewater. Inside the vehicle body 2, the cleaning unit 4 is equipped with a cleaning tank 16 that stores fresh water or cleaning water, and a recovery tank 17 that stores the cleaning water used to clean the floor surface F, i.e., wastewater. The cleaning unit 4 includes a cleaning tank sensor 16a that detects the level of the cleaning water in the cleaning tank 16 and a recovery tank sensor 17a that detects the level of the wastewater in the recovery tank 17.

The cleaning unit 4 also has a suction blower 18 inside the vehicle body 2 that creates negative pressure in the collection tank 17 (or in the suction hose 23 described below), and the suction blower 18 functions as a suction unit that sucks the wastewater collected by the squeegee device 15 into the collection tank 17. The cleaning unit 4 also includes a cleaning motor 19 that rotates the cleaning pad 13 on the floor surface F, a pad cylinder 20 that moves the cleaning pad 13 up and down relative to the floor surface F, and a squeegee cylinder 21 that moves the squeegee device 15 up and down relative to the floor surface F.

The cleaning pad 13, which is an example of a cleaning member, is rotatably supported on the underside of the front of the vehicle body 2 (forward of the wheels 11). The cleaning pad 13 is formed in a disk shape and is provided on the vehicle body 2 in a position where the bottom part of the disk is in contact with the floor surface F. The cleaning pad 13 may be configured to be movable in the vertical direction between a position where it is in contact with the floor surface F and a position where it is separated from the floor surface F by a pad cylinder 20 or the like.

The rotating shaft 13a of the cleaning pad 13 is connected to a cleaning motor 19 provided inside the vehicle body 2 via a rotation transmission mechanism. The cleaning pad 13 rotates in one direction around the rotating shaft 13a by being driven by the cleaning motor 19, wiping off dirt from the floor surface F below the cleaning pad 13. Most of the upper surface and side surfaces of the cleaning pad 13 are covered by a pad cover 22 (which also serves as a bumper) that is fixed to the front underside of the vehicle body 2. Note that a rotating brush may be used as the cleaning member instead of the cleaning pad 13.

The squeegee device 15 is disposed on the lower rear side of the vehicle body 2. The squeegee device 15 is a device that is towed to the rear of the vehicle body 2 and collects cleaning water (wastewater) after cleaning. The squeegee device 15 receives and collects the wastewater sent rearward from the cleaning pad 13, and the collected wastewater is sucked up by the suction hose 23 connected to the suction blower 18 using the suction force of the suction blower 18, and the sucked up wastewater is collected in the collection tank 17 connected to the suction hose 23. Details of the squeegee device 15 will be described later.

The cleaning data for the cleaning unit 4 as described above includes the start/stop of rotation of the cleaning pad 13, the start/stop of the supply of cleaning water by the supply pump 14, the start/stop of suction by the suction blower 18, the strength of the contact pressure of the cleaning pad 13 against the floor surface F and the rotation speed, the amount of cleaning water supplied by the supply pump 14, and the strength of suction by the suction blower 18.

The driving operation unit 5 is provided at the rear of the vehicle body 2 and includes a handle 24 and a throttle (not shown) for operating manual driving. The handle 24 is a part that is held and operated by an operator who performs cleaning work on the floor surface F with the self-propelled floor washer 1 or performs teaching driving with the autonomously-propelled floor washer 1. The driving operation unit 5 includes a handle sensor 24a that detects the steering amount of the handle 24 and an accelerator sensor 24b that detects the operation amount of the throttle. The driving operation unit 5 converts the steering amount of the handle 24 and the operation amount of the throttle by the operator into an electrical signal and outputs the electrical signal to the driving unit 3 to drive the drive motor 11b, enabling manual driving and teaching driving.

The operation display unit 6 is provided on the rear side of the vehicle body 2 and includes, for example, a main switch, a forced stop button, a microphone, a speaker, and a display, all of which are not shown. Each part of the operation display unit 6 is connected to the control unit 10. The operation display unit 6 may be configured integrally with the vehicle body 2, or may be configured as a tablet terminal that is detachable from the vehicle body 2.

The main switch is configured to be switchable between "off", "manual" and "automatic". By switching the main switch to "manual", the control unit 10 (mode switching unit 70) switches the operation mode of the floor washer 1 to manual driving mode, while by switching the main switch to "automatic", the control unit 10 (mode switching unit 70) switches the operation mode of the floor washer 1 to automatic driving mode.

The forced stop button operates to forcibly stop the floor washer 1, and outputs a forced stop signal to the control unit 10 in response to the operation. The speaker generates an alarm sound or the like in response to the control of the control unit 10. The display is composed of a touch panel or the like, and displays various screens in response to control signals from the control unit 10, and transmits operation signals based on touch operations on each screen to the control unit 10.

The measurement unit 7 includes an obstacle sensor 7a that measures the distance and angle between the obstacle (object) and the wall surface around the vehicle body 2. The obstacle sensor 7a is provided, for example, on the front of the vehicle body 2 and is composed of a laser range finder (LRF) or the like, and detects obstacles that exist within a predetermined measurable height (e.g., 30 cm) from the floor surface F and within a predetermined measurable range (e.g., a radius of 20 m) from the obstacle sensor 7a. Note that multiple (2) LRFs that make up the obstacle sensor 7a are provided in the left and right directions. The measurement unit 7 is connected to the control unit 10 and transmits the measurement results to the control unit 10.

The measuring unit 7 also includes a bumper sensor 7b attached to the pad cover 22, which also serves as a bumper, for detecting contact with a wall or obstacle, a number of ultrasonic sensors 7c for detecting obstacles approaching the vehicle body 2, and a step sensor 7d for detecting steps on the floor surface F on which the traveling unit 3 travels. The ultrasonic sensor 7c can detect unknown obstacles approaching the vehicle body 2. The step sensor 7d is composed of an infrared sensor facing forward and downward from the front of the vehicle body 2, and is provided to detect stairs or grooves on the floor surface F in the forward and downward direction and prevent the vehicle body 2 from falling into stairs or large grooves. The step sensor 7d can also detect convex objects on the floor surface F in the forward and downward direction, and can detect, for example, wiring moldings that cover power lines on office floors, floor rails of sliding doors, and convex parts of braille blocks.

The imaging unit 8 includes a front camera 8a capable of capturing images of the view in front of the vehicle body 2, including the floor surface F, and a rear camera 8b capable of capturing images of the view behind the vehicle body 2. The front camera 8a can detect unknown obstacles approaching the vehicle body 2.

The power supply unit 9 includes a battery (power supply) mounted inside the vehicle body 2 and is configured to be rechargeable by connecting to an external power source, and supplies power to each part of the floor washer 1.

The control unit 10 is composed of a CPU (Central Processing Unit) and the like. As shown in FIG. 2, the control unit 10 is connected to the memory unit 26 via a bus 27, which is further connected to an interface 28. The control unit 10 is also connected to the traveling unit 3, cleaning unit 4, traveling operation unit 5, operation display unit 6, measurement unit 7, imaging unit 8, and power supply unit 9 via the bus 27 and interface 28, and is further connected to a communication unit 29. The communication unit 29 wirelessly communicates with external devices using a wireless LAN such as Wi-Fi (registered trademark) or a wireless communication method using short-range wireless such as Bluetooth (registered trademark).

The memory unit 26 is composed of a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, etc., and stores programs and data for controlling each part and various functions of the floor washer 1. The control unit 10 reads the programs and data stored in the memory unit 26 and executes the programs to control each part and various functions. In particular, in this embodiment, the memory unit 26 stores reset conditions for executing the reset operation of the squeegee device 15 (squeegee 30) and reset suppression conditions for suppressing the reset operation, as shown in FIG. 9. The functions of the control unit 10 will be described in detail later.

<Floor cleaning machine function>
The floor washer 1 described above is a self-propelled or autonomous type, and an operator operates the handle 24 to move the vehicle body 2 while cleaning the floor surface F. The cleaning work of the floor surface F is performed by driving the supply pump 14 to supply cleaning water and the like in the cleaning tank 16 to the cleaning pad 13 while rotating the cleaning pad 13 on the floor surface F. The wastewater after cleaning is collected in the squeegee device 15 towed to the rear of the vehicle body 2, and is sucked and collected from the squeegee device 15 into the collection tank 17 by driving the suction blower 18.

<Configuration of Squeegee Device>
The squeegee device 15 according to the first embodiment will be described with reference to Fig. 3 to Fig. 5. Fig. 4 is a perspective view showing the squeegee device 15. Fig. 5 is a side view showing the squeegee device 15.

The squeegee device 15 includes a squeegee 30, a sliding connection part 40, and a lifting part 50. The squeegee 30 is disposed at the rear of the vehicle body 2 and scrapes off wastewater. The sliding connection part 40 is provided between the vehicle body 2 and the squeegee 30. The lifting part 50 moves the squeegee 30 away from the floor surface F.

As shown in Figures 3 and 4, the squeegee 30 is a member that is dragged across the floor surface F as the vehicle body 2 moves. The squeegee 30 is long in the left-right direction and is formed in a bow shape that is convex toward the rear. The squeegee 30 includes a squeegee body 31, a front blade 32, a rear blade 33, and a pair of left and right guide rollers 34.

The squeegee body 31 is made of, for example, a metal material or a hard synthetic resin material, and is curved so that it is convex toward the rear. In other words, the squeegee body 31 is curved forward from the center toward both ends in the left-right direction when viewed from above (see FIG. 3). The squeegee body 31 is a plate-shaped member that is gradually tapered from the center toward both ends in the left-right direction when viewed from above.

The front blade 32 is attached to the front side of the squeegee body 31, and the rear blade 33 is attached to the rear side of the squeegee body 31. Each blade 32, 33 is curved forward from the center in the left-right direction toward both left and right ends when viewed from above (see FIG. 3). The upper end of each blade 32, 33 is fixed to the squeegee body 31. Each blade 32, 33 extends downward from the squeegee body 31. Each blade 32, 33 is formed in a rectangular plate shape from an elastically deformable material such as silicone rubber. The rear blade 33 is thicker than the front blade 32 and is formed higher in the vertical direction than the front blade 32. A squeegee chamber S is formed in the area surrounded by the squeegee body 31 and the pair of front and rear blades 32, 33 (see FIG. 5). Although not shown, a plurality of recesses are formed at intervals in the left-right direction at the lower end of the front blade 32 to connect the outside to the squeegee chamber S.

The lower end of a suction hose 23 that leads to the squeegee chamber S is connected to approximately the center of the squeegee body 31 in the left-right direction. The suction hose 23 is, for example, a so-called duct hose made of a flexible, lightweight material. The suction hose 23 extends upward from the squeegee body 31 along the rear surface of the vehicle body 2 and enters the interior from the upper rear surface of the vehicle body 2. The upper end of the suction hose 23 is connected to the recovery tank 17 inside the vehicle body 2 (see Figure 1). The suction hose 23 connects the squeegee chamber S to the recovery tank 17 (suction blower 18).

As shown in Figures 3 and 4, the pair of left and right guide rollers 34 are rotatably supported by a pair of roller brackets 35 that extend rearward from both the left and right sides of the squeegee body 31. The front end of each roller bracket 35 is fixed to the top surface of the squeegee body 31 with bolts and nuts. The rear end of each roller bracket 35 supports the guide roller 34 via a roller shaft 34a that extends in the left-right direction. Each guide roller 34 contacts the floor surface F and rotates around the roller shaft 34a.

A pair of horizontal rollers 36 are attached to both the left and right ends of the rear blade 33. Each horizontal roller 36 is rotatable about a roller shaft 36a that extends in the vertical direction.

As shown in Figures 3 to 5, the sliding connection part 40 includes a connecting arm 41, a swivel support part 42, and a pair of left and right support wall parts 43. The sliding connection part 40 is made of, for example, a highly rigid metal material. The connecting arm 41 is a member for connecting the squeegee 30 to the vehicle body 2. The swivel support part 42 is rotatably connected to the bottom of the vehicle body 2. The pair of left and right support wall parts 43, which are an example of a sliding support part, are connected to the swivel support part 42.

The connecting arm 41 is long in the front-rear direction and has a cross section that is roughly inverted U-shaped when viewed from the front (rear). The rear end of the connecting arm 41 is formed into a plate shape that branches into two, left and right parts, and is attached via bolts to the top surface of the squeegee body 31 avoiding the suction hose 23. The central axis that passes through the left-right center of the connecting arm 41 roughly coincides with the left-right center of the squeegee 30 (squeegee body 31). In other words, the connecting arm 41 and the squeegee 30 are connected straight (roughly inverted T-shaped when viewed from above).

The swivel support portion 42 is formed in a generally plate-like shape, and a swivel support shaft 42a protrudes upward from the upper surface of the swivel support portion 42. The swivel support shaft 42a is rotatably fitted into a bearing portion (not shown) formed on the rear bottom surface of the vehicle body 2.

The pair of left and right support walls 43 extend downward from both left and right ends of the swivel support 42. The swivel support 42 and the pair of support walls 43 are formed in a roughly inverted U-shape when viewed from the front (rear). Each support wall 43 may be formed separately from the swivel support 42 and connected thereto, or may be formed integrally with the swivel support 42.

A slanted groove 44 is formed in each support wall 43 in a connected manner. Each slanted groove 44 is an elongated hole opened in the support wall 43, and is slanted upward from the rear to the front. The pair of left and right support walls 43 are arranged to sandwich the front part of the connecting arm 41 from both the left and right sides. A sliding shaft 45 that penetrates the connecting arm 41 in the left-right direction is provided on the front side of the connecting arm 41. The sliding shaft 45, which is an example of a sliding part, is formed in a cylindrical or cylindrical shape. Both left and right ends of the sliding shaft 45 extend outward in the left-right direction from the side of the connecting arm 41 and are slidably fitted into the slanted grooves 44 of the pair of left and right support walls 43. In other words, the pair of left and right support walls 43 are connected to the front part of the connecting arm 41 via the sliding shaft 45. The connecting arm 41 is provided to be movable within the movement range of the sliding shaft 45 guided by each inclined groove 44.

The squeegee 30 is provided so as to be rotatable (swingable) in the left-right direction around the pivot 42a (pivot point) of the pivot support 42 via the connecting arm 41. In detail, the squeegee 30 is provided so as to be rotatable between a neutral position (see FIG. 3(2)) in which the connecting arm 41 is oriented along the traveling direction of the vehicle body 2, and a rotation position (see FIG. 3(1)) in which the connecting arm 41 is oriented so as to be inclined to the left or right with respect to the traveling direction of the vehicle body 2.

As shown in FIG. 4, the lifting section 50 includes a wire 52 extending downward from a squeegee lever 51 provided on the upper rear surface of the vehicle body 2. The wire 52, which is an example of a suspension member, is made of, for example, a flexible metal material. The lower end of the wire 52 is connected to the rear end of the connecting arm 41 via a hook 53. The upper end of the wire 52 is attached to the squeegee lever 51. The squeegee lever 51 is provided so as to be movable along a groove (not shown) drilled in the rear surface of the vehicle body 2, and a squeegee cylinder 21 that drives the squeegee lever 51 in the up and down direction is built into the groove.

The lifting unit 50 lifts and lowers the connecting arm 41 via the wire 52. Specifically, when the squeegee lever 51 is moved to the bottom end of the groove by the operation of the squeegee cylinder 21 in one direction (for example, contraction), the connecting arm 41 and the like are lowered to the lowest position, and the squeegee 30 (each blade 32, 33) is displaced to a lowered position in which it contacts the floor surface F (see Figures 5 (1) and (2)). At this time, the contact portion of each blade 32, 33 with the floor surface F is formed over the entirety of each blade 32, 33. Although not precisely shown in Figures 5 (1) and (2), the wire 52 is loose in this state. Alternatively, a reel (not shown) capable of winding up a portion of the wire 52 may be provided to prevent the wire 52 from slackening. On the other hand, when the squeegee lever 51 is moved to the top of the groove by moving the squeegee cylinder 21 in the other direction (e.g., extending it), the connecting arm 41 etc. rises to the highest position, and each blade 32, 33 is displaced to a raised position away from the floor surface F (see Figures 5 (4) and (5)). In this state, the wire 52 is stretched approximately vertically.

<Action of the squeegee device when the vehicle body moves forward>
Next, the operation of the squeegee device 15 when the vehicle body 2 is moved forward to perform cleaning work on the floor surface F will be described. When the vehicle body 2 moves forward, the squeegee device 15 is also pulled by the vehicle body 2 to move forward. The front blade 32 and the rear blade 33 are dragged on the floor surface F while being urged downward by the weight of the squeegee body 31 and the connecting arm 41. Therefore, as shown in Figs. 5(1) and (2), the lower ends of the blades 32 and 33 slide on the floor surface F in a state of being bent backward (curved backward). Note that the rear blade 33 is wider in the vertical direction than the front blade 32, so the amount of bending of the rear blade 33 is larger than the amount of bending of the front blade 32. In addition, the rear blade 33 has a higher ability to scrape off dirty water than the front blade 32.

The squeegee body 31 does not descend more than necessary because it is supported by the guide rollers 34 in contact with the floor surface F via the roller brackets 35. In other words, each guide roller 34 prevents the squeegee body 31 from sagging, and maintains a substantially uniform contact pressure of each blade 32, 33 against the floor surface F.

When the vehicle body 2 is moved forward, a rearward frictional force acts on the contact points of each blade 32, 33 with the floor surface F. This rearward frictional force pulls the connecting arm 41 relatively rearward, as shown in Figures 5 (1) and (2), and the sliding shaft 45 moves rearward and downward while being guided by the inclined groove 44. The connecting arm 41 is pulled down by the frictional force acting on the contact points of each blade 32, 33 (squeegee 30) with the floor surface F, and assumes a first position (see Figure 5 (1)) in which each blade 32, 33 contacts the floor surface F. Specifically, the connecting arm 41 is changed to the first position by moving the sliding shaft 45 to the rear lower end 44a of the inclined groove 44.

As shown in Figures 5 (1) and (2), when the connecting arm 41 is in the first position (when the squeegee 30 is in contact with the floor surface F), the suction force generated by driving the suction blower 18 acts on the squeegee chamber S via the suction hose 23. Wastewater from cleaning the floor surface F passes through multiple recesses that open to the lower end of the front blade 32 and enters the squeegee chamber S, which is under negative pressure. The wastewater in the squeegee chamber S is then collected in the collection tank 17 via the suction hose 23.

When the advancing vehicle body 2 turns left or right, the squeegee device 15 turns around the pivot shaft 42a of the pivot support 42. In other words, the squeegee device 15 turns from the neutral position to the turning position following the turning of the vehicle body 2. In addition, each horizontal roller 36 provided on the squeegee device 15 rotates when it comes into contact with an object (obstacle) placed on the floor surface F or the wall surface of a room, thereby preventing damage to the squeegee 30 or the object.

<Action of the squeegee device when the vehicle moves backward>
Next, referring to Fig. 5 (3), the operation of the squeegee device 15 when the traveling direction of the vehicle body 2 is changed from forward to reverse will be described. Fig. 5 (3) is a side view explaining the operation of the squeegee device 15 when the vehicle body 2 is reversed. In addition, in this explanation of the operation when the vehicle body 2 is reversed, the squeegee 30 is placed in a neutral position, and the suction blower 18 is in a driven state regardless of the traveling direction of the vehicle body 2.

In the process of changing the traveling direction of the vehicle body 2 from forward to reverse, the pair of front and rear blades 32, 33 change from a state in which they are bent backward to a state in which they are bent in a complex, approximately S-shape. In this state, each blade 32, 33 is pressed against the floor surface F by the repulsive force (elastic force) due to the bending and their own weight. The contact pressure of the rear blade 33 is greater than the contact pressure of the front blade 32. In this way, the contact pressure of each blade 32, 33 against the floor surface F becomes very large, so the frictional force generated at the contact point between the floor surface F and each blade 32, 33 also increases. Then, a very large force is required to move the vehicle body 2 backward, so a large burden is placed on the drive motor 11b that drives the wheels 11. If the vehicle body 2 continues to move backward, each blade 32, 33 will bend forward.

Therefore, the squeegee device 15 is configured to automatically change the position of the connecting arm 41 by utilizing the frictional force acting between the squeegee 30 and the floor surface F when the direction of travel of the vehicle body 2 is changed, thereby stabilizing the backward movement of the vehicle body 2.

When the traveling direction of the vehicle body 2 is changed from forward to reverse, a forward frictional force acts on the contact points of each blade 32, 33 with the floor surface F so as to prevent the vehicle body 2 from moving backward. This forward frictional force pushes the connecting arm 41 relatively forward as shown in FIG. 5 (3), and the sliding shaft 45 moves forward and upward while being guided by the inclined groove 44. The connecting arm 41 is pushed up by the frictional force acting on the contact points of the squeegee 30 with the floor surface F, and assumes a second position (see FIG. 5 (3)) in which all but a portion of the squeegee 30 is separated from the floor surface F.

Specifically, the connecting arm 41 is changed to the second position by moving the sliding shaft 45 to the front upper end 44b of the inclined groove 44. When the connecting arm 41 is changed to the second position, a part of the rear blade 33 is elastically deformed and contacts the floor surface F while the pair of left and right guide rollers 34 are in contact with the floor surface F, and the entire front blade 32 is separated upward from the floor surface F. In detail, the rear blade 33 is in contact with the floor surface F near the center in the left-right direction, but both the left and right sides of the rear blade 33 are separated upward from the floor surface F. The front blade 32 is separated upward from the floor surface F over the entire longitudinal direction (left-right direction). The front blade 32 is slightly separated from the floor surface F near the center in the left-right direction, but slight contact is not a problem.

When the connecting arm 41 is in the second position, most of the blades 32, 33 move upward away from the floor surface F, and the squeegee chamber S is open to the atmosphere. Therefore, the suction force generated by the driving of the suction blower 18 does not create a negative pressure in the squeegee chamber S, and the adhesion of the blades 32, 33 to the floor surface F is released. This allows the wheels 11 to be driven and the vehicle body 2 to move backwards without placing a large load on the drive motor 11b.

<Function of the lifting section>
Next, the operation of the lifting unit 50 will be described with reference to Fig. 5 (4). Fig. 5 (4) is a side view showing a state in which the squeegee device 15 is lifted. In the explanation of the operation of the lifting unit 50, the squeegee 30 is placed in a neutral position, and the cleaning motor 19 is stopped.

When the squeegee 30 is raised from the lowered position to the raised position during cleaning, the squeegee cylinder 21 is driven to move the squeegee lever 51 to the top of the groove in response to an upward operation by the operator using the operation display unit 6 or the like or the upward control by the control unit 10, and as shown in FIG. 5 (4), the squeegee 30 is placed in the raised position and the connecting arm 41 is suspended via the wire 52. Although not shown, the cleaning pad 13 and pad cover 22 are also raised from the floor surface F by driving the pad cylinder 20 in response to an upward operation by the operator using the operation display unit 6 or the like or the upward control by the control unit 10.

<Squeegee shape>
Next, the shape of the squeegee 30 will be described with reference to FIG.

The squeegee 30 (squeegee body 31 and each blade 32, 33) is curved and bow-shaped, so the left-right center of the rear blade 33 is located at the rearmost position. In addition, the roller shaft 34a (axis line C connecting the left-right pair of roller shafts 34a) of the pair of left and right guide rollers 34 is located slightly forward of the rearmost end of the squeegee 30 (rear blade 33). In addition, when the vehicle body 2 moves backward, the left-right center of the rear blade 33 bends forward. Here, the total length of the squeegee 30 in the left-right direction is called "total length L1", the left-right length of the rear blade 33 located behind the axis line C is called "reference length L2", and the left-right length of the bent portion of the rear blade 33 when the vehicle body 2 moves backward is called "deflection length L2'".

The deflection length L2' is slightly longer (wider) than the reference length L2. In the squeegee 30 of the squeegee device 15, it is desirable to set the ratio of the total length L1 to the reference length L2 or the deflection length L2' to about (L1:L2 (or L2')) = (10:2). In other words, it is desirable to design the shape and dimensions of the squeegee 30 and the arrangement of each guide roller 34 so that a portion equivalent to about 20% of the length of the rear blade 33 contacts the floor surface F and deflects relative to the total length L1 of the squeegee 30. Note that this ratio may vary slightly depending on the position of each roller shaft 34a (axis line C) and the curved shape (curvature) of the rear blade 33.

When the vehicle body 2 moves backward, the rear blade 33, bent at the above ratio, is pressed against the floor surface F, generating a frictional force optimal for changing the position of the connecting arm 41. In other words, this frictional force acts as an appropriate load, making it possible to push the sliding shaft 45 up from the rear lower end 44a of the inclined groove 44 to the front upper end 44b.

If each guide roller 34 were positioned further rearward than the position shown in FIG. 3(2), the frictional force between the floor surface F and the rear blade 33 would disappear as the sliding shaft 45 moves from the rear lower end 44a to the front upper end 44b of the inclined groove 44, and the connecting arm 41 would not be able to assume the second position. On the other hand, if each guide roller 34 were positioned further forward than the position shown in FIG. 3(2), the frictional force between the floor surface F and the rear blade 33 would become excessive, impeding the backward movement of the vehicle body 2 and impairing operability. Therefore, the squeegee 30 is configured to satisfy the above ratio.

<Effects of the squeegee device>
In the squeegee device 15 described above, the connecting arm 41 is configured to be able to change its position between a first position in which the squeegee 30 contacts the floor surface F when the vehicle body 2 is moved forward, and a second position in which substantially the entire squeegee 30 is separated from the floor surface F when the vehicle body 2 is moved backward. With this configuration, when the vehicle body 2 is moved forward or backward, the position of the connecting arm 41 can be automatically changed by utilizing the frictional force acting between the squeegee 30 and the floor surface F. When the vehicle body 2 is moved backward, when the connecting arm 41 changes from the first position to the second position, substantially the entire squeegee 30 is separated from the floor surface F. This reduces the adhesive force (load) of the squeegee 30 to the floor surface F, allowing the vehicle body 2 to be moved backward smoothly.

In addition, changing the position of the connecting arm 41 does not require any specific operation or driving force from another driving device, but is performed automatically by simply moving the vehicle body 2 forward or backward. This makes it possible to omit a specific operation configuration or other driving devices, so that a structure for raising the squeegee 30 when the vehicle body 2 is moved backward can be constructed simply and inexpensively, thereby reducing the manufacturing costs of the floor washer 1.

The squeegee device 15 is also configured so that when the vehicle body 2 moves backward, the connecting arm 41 is in the second position to reduce the frictional force between the squeegee 30 and the floor surface F. This configuration makes it possible to prevent the squeegee 30 from rotating left and right or swinging left and right.

In addition, in the squeegee device 15, when the vehicle body 2 is moved backward, the connecting arm 41 is in the second position, and the left-right center portion (about 20% of the total length L1) of the rear blade 33 is elastically in contact with the floor surface F. With this configuration, the repulsive force based on the elasticity of the rear blade 33 applies a stable load to the floor surface F, so the connecting arm 41 can be maintained in the second position. Even when the suction blower 18 applies suction force to the squeegee chamber S, the entire front blade 32 can be raised from the floor surface F when the vehicle body 2 is moved backward, thereby opening the squeegee chamber S, which has become negative pressure. This releases the squeegee 30 (each blade 32, 33) from adhesion to the floor surface F, so that the position of the squeegee 30 is stable without swaying left and right when the vehicle body 2 is moved backward, and the straightness of the vehicle body 2 when it is moved backward can be improved.

<Neutral movement mechanism for the squeegee device>
Next, the squeegee device 15 according to this embodiment will be described with reference to Fig. 3 (1) and (2). Fig. 3 (1) is a plan view showing the floor washer 1 during turning. Fig. 3 (2) is a plan view showing the floor washer 1 during reverse movement.

For example, as shown in FIG. 3(1), when the vehicle body 2 turns to the right, the squeegee device 15 also tilts to the right. That is, the squeegee 30 turns to the rotation position. Now consider the case where the vehicle body 2 is moved straight backward after turning. In this case, the vehicle body 2 is moved backward with the squeegee 30 displaced to the rotation position. Since the squeegee 30 is long in the left-right direction, when it is displaced to the right rotation position, it protrudes significantly to the right of the vehicle body 2. In this state, when the vehicle body 2 is moved backward, there is an increased risk that the protruding squeegee 30 will come into contact with objects (obstacles) placed on the floor surface F or the wall of the room. In addition, when the squeegee 30 is positioned halfway between the neutral position and the rotation position, the squeegee 30 (connecting arm 41) may swing unstably.

In the squeegee device 15 according to this embodiment, the sliding connection 40 is provided with a neutral movement mechanism 60 that displaces the squeegee 30 to a neutral position when the vehicle body 2 moves backward. The neutral movement mechanism 60 includes a neutral roller 61 and a neutral guide portion 62.

The neutral roller 61, which is an example of a neutral moving body, is provided on a neutral bracket 61a that extends forward from the front end of the connecting arm 41. The neutral roller 61 is rotatably supported on a support shaft that extends downward from the front end of the neutral bracket 61a. The neutral roller 61 is provided forward of the pivot shaft 42a of the pivot support part 42.

The neutral guide portion 62 is provided on the bottom surface of the vehicle body 2, forward of the pivot shaft 42a. The neutral guide portion 62 is provided on the bottom of the vehicle body 2 in a curved state along the rotation direction of the pivot support portion 42. The neutral guide portion 62 is composed of a pair of left and right curved walls 62a extending downward from the bottom surface of the vehicle body 2. The pair of left and right curved walls 62a are formed in a substantially semicircular arc shape that is symmetrical so as to cover the front side of the pivot shaft 42a. The pair of left and right curved walls 62a are formed in the rotation (swing) range of the neutral roller 61 centered on the pivot shaft 42a. The pair of left and right curved walls 62a are formed so that the neutral roller 61 abuts against them when the squeegee 30 is displaced to the pivot position (see FIG. 3(1)). The front ends of the pair of left and right curved walls 62a are spaced from each other and form an engagement groove 62b for engaging the neutral roller 61.

<Function of the squeegee device when moving backward after turning the vehicle body>
Next, the operation of the squeegee device 15 when the vehicle body 2 is reversed after turning will be described below. It is assumed that the squeegee 30 is displaced to the rotation position (see FIG. 3(1)).

When the vehicle body 2 starts to move backward, the connecting arm 41 changes its position from the first position to the second position (see FIG. 5 (3)). In the process of changing the position of the connecting arm 41, the neutral roller 61 provided on the connecting arm 41 is pressed against the curved wall 62a of the neutral guide portion 62. By utilizing the fact that the connecting arm 41 moves forward relative to the vehicle body 2 as it moves backward, the neutral roller 61 is guided by the curved wall 62a and rolls toward the engagement groove 62b. Then, the connecting arm 41 automatically rotates around the pivot shaft 42a, and moves the squeegee 30 from the rotation position toward the neutral position as shown in FIG. 3 (2). While the connecting arm 41 maintains the second position, the squeegee 30 is displaced to the neutral position.

When the vehicle body 2 moves backward, the connecting arm 41 is pushed forward by the frictional force acting on the contact portion of the squeegee 30 with the floor surface F in the state where the position is changed to the second position, and the part except for a part of the squeegee 30 is maintained in a state separated from the floor surface F. Specifically, as shown in FIG. 5 (3), the connecting arm 41 maintains the second position by moving the sliding shaft 45 to the front upper end portion 44b, which is the front terminal portion of the inclined groove 44. The connecting arm 41 automatically moves forward in parallel while maintaining the second position. At this time, the contact state of each blade 32, 33 with the floor surface F maintains the contact state in the second position. That is, the left-right center portion of the rear blade 33 contacts the floor surface F, and the left-right outer side of the rear blade 33 and the entire front blade 32 are separated from the floor surface F. With the connecting arm 41 maintained in the second position, as shown in FIG. 3(2), the neutral roller 61 lightly fits (engages) with the engagement groove 62b of the neutral guide portion 62. By engaging the neutral roller 61 with the engagement groove 62b, the squeegee 30 is held in the neutral position.

The squeegee device 15 may also be provided with a limiter mechanism (not shown) that not only holds the squeegee 30 in a neutral position by the neutral movement mechanism 60 when the vehicle body 2 is traveling backwards, but also allows the squeegee 30 held in the neutral position to swing (rotate) in response to an external force. In the neutral movement mechanism 60 described above, the squeegee 30 is held in the neutral position by the neutral roller 61 engaging with the engagement groove 62b provided between a pair of left and right curved walls 62a of the neutral guide portion 62.

In response to this, the limiter mechanism is configured to keep the height of the curved wall 62a of the neutral guide section 62 low and tilt the curved wall 62a slightly outward (so that it opens downward), making it easier for the neutral roller 61 to climb over the curved wall 62a of the neutral guide section 62. As a result, for example, when one of the pair of left and right horizontal rollers 36 of the squeegee device 15 abuts against an obstacle behind the squeegee device 15 (left rear side or right rear side) while the vehicle body 2 is traveling backwards, the limiter mechanism releases the neutral state of the squeegee 30 and makes the squeegee 30 rotatable due to the appropriate biasing force that the squeegee device 15 receives from the obstacle, thereby preventing damage to the squeegee device 15 and allowing the squeegee device 15 to be used appropriately.

<Functions of the control unit>
Next, the details of the functions of the control unit 10 will be described with reference to Fig. 2. In the autonomously traveling floor washer 1, the control unit 10 includes a mode switching unit 70, a map creation unit 71, a plan creation unit 72, and an automatic travel control unit 73 (travel control unit). In addition, in the floor washer 1, regardless of whether it is a self-propelled or autonomously traveling type, the control unit 10 includes a turbidity determination unit 74 and a squeegee reset control unit 75. Note that the mode switching unit 70, the map creation unit 71, the plan creation unit 72, the automatic travel control unit 73, the turbidity determination unit 74, and the squeegee reset control unit 75 may be configured as programs stored in the storage unit 26 and executed by the control unit 10, and are executed by a computer such as the control unit 10.

The mode switching unit 70 switches the operation mode of the floor washer 1 between a manual driving mode and an automatic driving mode in response to the operation of the main switch of the operation display unit 6. While the operation mode is set to the manual driving mode by the mode switching unit 70, manual operation input of the driving operation unit 5 is possible, and while the operation mode is set to the automatic driving mode, manual operation input of the driving operation unit 5 is disabled.

The map creation unit 71 uses technology such as SLAM (Simultaneous Localization and Mapping) to estimate the self-position and create an environmental map in real time. The map creation unit 71 creates a local map of the surroundings of the vehicle body 2 by converting the coordinates of the distance and angle from an obstacle (object) measured by the measurement unit 7 for the vehicle body 2 at a specified position, and estimates the self-position of the vehicle body 2 on the local map based on the created local map and the amount of movement of the vehicle body 2 measured by the measurement unit 7. The obstacle sensor 7a of the measurement unit 7 acquires two-dimensional data of the distance and angle from the obstacle, and the map creation unit 71 creates the local map by piecing together the two-dimensional data acquired by the obstacle sensor 7a.

The plan creation unit 72 creates a cleaning plan including an environmental map and a travel route 81 (see FIG. 6(1)) for a cleaning area 80 (see FIG. 6(1)) where automatic travel cleaning is to be performed, and stores the plan in the memory unit 26. For example, the plan creation unit 72 creates an environmental map based on drawing data of the cleaning area 80 input in advance. Alternatively, the plan creation unit 72 creates an environmental map by stitching together (combining) each local map created by the map creation unit 71 at each position in the cleaning area 80 between the start and end of manual travel of the floor washer 1.

In addition, the plan creation unit 72 creates a travel route 81 that travels back and forth in a zigzag pattern so as to fill in the cleaning area 80 (so as not to miss any cleaning) in an environmental map of the cleaning area 80 as shown in FIG. 6 (1) based on various set values such as the start position and end position, the safe distance from obstacles such as walls, the travel data such as the travel speed of the travel unit 3 when cleaning and not cleaning, the working width of the cleaning unit 4, and cleaning data (ground pressure strength and rotation speed of the cleaning pad 13, the amount of cleaning water supplied by the supply pump 14, the suction strength of the suction blower 18, etc.) input in advance. In FIG. 6, the middle of the travel route 81, which is long in the left-right direction on the paper, is omitted. The start position of the travel route 81 is indicated by a square mark, and the end position is indicated by a cross mark. At this time, the plan creation unit 72 may create the travel route 81 so that the cleaning unit 4 overlaps by a predetermined width on the outward and return routes that pass each other. The plan creation unit 72 creates the travel route 81 by associating position data (coordinates and angle), travel data of the travel unit 3, and cleaning data of the cleaning unit 4 for each step (position at a predetermined interval) of the travel route 81.

When the automatic driving mode is executed, the automatic driving control unit 73 reads the cleaning plan to be executed from the memory unit 26, and automatically controls the driving unit 3 based on this cleaning plan, controlling the driving unit 3 so that the vehicle body 2 performs automatic driving in accordance with the driving route 81 of the cleaning plan and the driving data of each step.

Furthermore, when the automatic driving mode is executed, while the driving unit 3 is automatically driving the vehicle body 2 along the driving route 81 of the cleaning plan, the automatic driving control unit 73 reads cleaning data corresponding to the position of the vehicle body 2 on the driving route 81 from the cleaning plan, and controls the cleaning unit 4 to perform cleaning work by automatic control according to this cleaning data.

The turbidity determination unit 74 determines the turbidity of the wastewater collected from the squeegee device 15 of the cleaning unit 4 to the collection tank 17. Specifically, the turbidity sensor 23a installed in the passageway from the suction hose 23 of the squeegee device 15 to the collection tank 17 determines the turbidity of the suctioned wastewater passing through the passageway. For example, the turbidity sensor 23a has a light source and a light receiving unit disposed as a detection unit in a part of the passageway, and when light projected from the light source into the wastewater passing through the passageway is scattered by particles in the water, the reflected light is detected by the light receiving unit, and the detection result is passed through a converter to measure the turbidity value.

The turbidity determination unit 74 determines and outputs the turbidity of the wastewater measured by the turbidity sensor 23a as a relatively high, medium, low, etc. level, taking into account the suction strength (suction power) and suction speed of the suction blower 18 that sucks up the wastewater. For example, if the wastewater itself is dirty, the turbidity will naturally be determined to be low, medium, or high depending on the degree of dirtiness of the wastewater, and when it is at its dirtiest, it will be determined to have high turbidity. Also, even if foreign objects such as garbage or hair are mixed into the wastewater, the turbidity will likely be determined to be medium or high, regardless of the dirtiness of the wastewater.

The squeegee reset control unit 75 controls the squeegee device 15 (squeegee 30) to perform a reset operation when a predetermined reset condition is met while the floor washer 1 is performing traveling cleaning (automatic traveling cleaning).

The following describes the circumstances in which the squeegee device 15 needs to be reset. When a foreign object such as a hair or loose threads gets caught between the squeegee device 15 (mainly the rear blade 33) and the floor F, the vehicle body 2 may move with the foreign object trapped in place, rather than being sucked in by the suction force of the suction blower 18. In this case, there is a risk that some wastewater will remain on the floor F (uncollected wastewater), or streaks of wastewater will leak out behind the squeegee 30 due to poor adhesion between the squeegee 30 and the floor F.

In conventional walk-behind floor cleaners, when an operator pushes the walk-behind floor cleaner from behind while performing cleaning work, if any sewage remains or streaks appear on the floor surface F, the operator can visually check and reverse the walk-behind floor cleaner, then run the machine over the area again to re-clean the area.

However, in the case of a self-propelled (e.g., ride-on) floor washer or an autonomously traveling floor washer, it is difficult to visually check for residual sewage or streaks, and immediate re-cleaning is not possible. Conventionally, after a self-propelled floor washer or autonomously traveling floor washer has completed automatic cleaning according to a cleaning plan, if an operator visually checks for residual sewage or streaks remaining on the floor F, the operator has to manually re-clean the floor or manually drive the self-propelled floor washer or autonomously traveling floor washer to re-clean the floor.

In this embodiment, the squeegee reset control unit 75 executes a reset operation of the squeegee device 15 to eliminate foreign objects trapped between the squeegee device 15 and the floor surface F, suppress the occurrence of residual sewage and streaks, and automatically re-clean any residual sewage or streaks that occur. The reset operation refers to a series of operations to eliminate foreign objects trapped in the squeegee device 15.

<Reset condition determination>
The squeegee reset control unit 75 determines whether or not a predetermined reset condition is satisfied as a prerequisite for executing a reset operation of the squeegee device 15 during the period from when the floor washer 1 starts traveling cleaning (automatic traveling cleaning) until it ends. For example, the memory unit 26 stores a predetermined elapsed distance threshold (e.g., 30 m) for the elapsed distance of the traveling cleaning of the floor washer 1 as the reset condition. The squeegee reset control unit 75 monitors the elapsed distance while the floor washer 1 is performing traveling cleaning, and determines that the reset condition is satisfied when the elapsed distance exceeds the elapsed distance threshold. When the squeegee reset control unit 75 determines that the reset condition is satisfied and executes the reset operation of the squeegee device 15, it resets the monitored elapsed distance back to zero.

<Travel stop operation>
As a reset operation of the squeegee device 15, the squeegee reset control unit 75 first performs a travel stop operation to temporarily stop the travel (travel cleaning) of the floor washer 1. For example, as a travel cleaning operation, the floor washer 1 drives the pad cylinder 20 to lower the cleaning pad 13, starts the cleaning motor 19 to rotate the cleaning pad 13, and further starts the supply pump 14 to supply cleaning water, thereby cleaning the floor surface F. As a travel cleaning operation, the floor washer 1 drives the squeegee cylinder 21 to lower the squeegee device 15, and starts the suction blower 18 to suck and collect dirty water after cleaning. As a travel cleaning operation, the floor washer 1 drives the left and right drive motors 11b to rotate the wheels 11, thereby causing the vehicle body 2 to travel forward. At this time, the squeegee device 15 is in a first position as shown in FIG. 5 (1).

<Washing stop operation>
The squeegee reset control unit 75 performs a cleaning stop operation to stop the above-mentioned traveling cleaning by driving the pad cylinder 20 to raise the cleaning pad 13 and stopping the cleaning motor 19 to stop rotation of the cleaning pad 13, and further stops the supply pump 14 to stop the supply of cleaning water, thereby executing a cleaning stop operation to stop cleaning of the floor surface F. Note that when performing the cleaning stop operation, the squeegee reset control unit 75 continues the suction operation of the suction blower 18 to keep the squeegee chamber S at negative pressure with the squeegee device 15 lowered to the floor surface F by its own weight, without raising the squeegee device 15 or starting or stopping the suction blower 18.

<Preliminary forward movement>
Furthermore, as a travel stopping operation, the squeegee reset control unit 75 controls the driving of the left and right drive motors 11b so as to gradually slow down the forward travel speed of the vehicle body 2, and after the cleaning stopping operation, stops the driving of the left and right drive motors 11b to stop the rotation of the wheels 11, thereby stopping the forward travel of the vehicle body 2. Here, during the period between the cleaning stopping operation and the stopping of the forward travel of the vehicle body 2 after the cleaning stopping operation, the squeegee reset control unit 75 executes a preliminary forward travel operation in which the forward travel is stopped after forward travel of a predetermined preliminary forward distance FD, as shown in FIG.

The preliminary forward distance FD may be set to a distance that allows the squeegee 30 to return to a neutral position by the (straight) forward movement of the floor cleaner 1 even if the squeegee 30 rotates to a left or right rotation position due to the rotation of the floor cleaner 1. Alternatively, the preliminary forward distance FD may be set so that the position to which the floor cleaner 1 is moved by the backward movement in the suction backward movement and preliminary backward movement described below returns to a position where the reset condition is satisfied and the reset operation is started (the start position of the preliminary forward movement). Alternatively, the preliminary forward distance FD may be set according to an arbitrary operation by the operator. Alternatively, the preliminary forward distance FD may be set to a distance that allows the squeegee device 15 to recover all the cleaning water that was used before the reset operation.

<Suction backward movement>
5(3), the squeegee reset control unit 75 executes a suction backward movement operation in which the vehicle body 2 travels backward a predetermined first backward movement distance BD1 while continuing to suck up dirty water with the squeegee device 15. As the suction backward movement operation, the squeegee reset control unit 75 drives the left and right drive motors 11b to rotate the wheels 11, thereby causing the vehicle body 2 to travel backward. At this time, the squeegee reset control unit 75 controls the drive of the left and right drive motors 11b so as to gradually slow down the backward movement speed of the vehicle body 2, and when the first backward movement distance BD1 has elapsed, the drive of the left and right drive motors 11b is stopped to stop the rotation of the wheels 11, thereby stopping the backward movement of the vehicle body 2.

A foreign object caught between the squeegee device 15 and the floor surface F may be released from the trapped state by the squeegee device 15 being dragged backward as the floor cleaning machine 1 moves backward. The first backward distance BD1 may be set assuming the release of a foreign object caught between the squeegee device 15 and the floor surface F, or may be set according to an arbitrary operation by the operator.

The squeegee reset control unit 75 continues from the travel stop operation during the suction reverse operation, keeps the cleaning pad 13 elevated, stops the rotation of the cleaning pad 13, and keeps the supply of cleaning water stopped. Furthermore, the squeegee reset control unit 75 continues from the travel stop operation during the suction reverse operation, without raising the squeegee device 15 or starting or stopping the suction blower 18, and continues the suction operation of the suction blower 18 with the squeegee device 15 lowered to the floor surface F by its own weight, but the squeegee chamber S does not become negative pressure because the suction between the squeegee 30 and the floor surface F is released.

<Squeegee lifting operation>
Furthermore, after the suction backward movement operation, the squeegee reset control unit 75 executes a squeegee lifting operation to lift the squeegee device 15 (squeegee 30) as shown in Fig. 5 (4). The squeegee reset control unit 75 drives the squeegee cylinder 21 to rotate the squeegee lever 51 upward and pull the wire 52, thereby lifting the squeegee device 15. While executing the squeegee lifting operation, the squeegee reset control unit 75 continues the suction operation of the suction blower 18, but because the squeegee device 15 is lifted, the gap between the squeegee device 15 and the floor surface F opens the squeegee chamber S, and negative pressure is not created.

Any foreign object caught between the squeegee device 15 and the floor surface F is released from the trapped state by the lifting of the squeegee device 15. If the foreign object falls from the lifted squeegee device 15 to the floor surface F under its own weight, the suction force of the suction blower 18 may collect the fallen foreign object. Also, if a foreign object is attached to the lifted squeegee device 15, the suction force of the suction blower 18 may collect the attached foreign object.

<Preliminary reverse operation>
Furthermore, after the squeegee raising operation, the squeegee reset control unit 75 further executes a preliminary reverse operation of traveling backward a predetermined second reverse distance BD2 as shown in Fig. 5 (5). As the preliminary reverse operation, the squeegee reset control unit 75 drives the left and right drive motors 11b to rotate the wheels 11, thereby causing the vehicle body 2 to travel backward. At this time, the squeegee reset control unit 75 controls the drive of the left and right drive motors 11b so as to gradually slow down the reverse speed of the vehicle body 2, and when the second reverse distance BD2 has elapsed, the drive of the left and right drive motors 11b is stopped to stop the rotation of the wheels 11, thereby stopping the reverse travel of the vehicle body 2.

As a result, the preliminary reverse motion can move the squeegee device 15 further rearward than the foreign object that fell from the squeegee device 15 to the floor surface F during the squeegee raising motion, allowing the foreign object to be properly collected. The second reverse distance BD2 can be set in anticipation of the collection of foreign objects that have fallen from the squeegee device 15 or foreign objects that have adhered to the squeegee device 15, or can be set in response to any operation by the operator.

The squeegee reset control unit 75 continues from the suction reverse operation and the squeegee lifting operation during the preliminary reverse operation, keeps the cleaning pad 13 elevated, stops the rotation of the cleaning pad 13, and keeps the supply of cleaning water stopped. Furthermore, the squeegee reset control unit 75 continues from the squeegee lifting operation during the preliminary reverse operation, keeps the squeegee device 15 elevated, and keeps the suction operation of the suction blower 18 ongoing.

When the second reverse distance BD2 has elapsed due to the reverse travel of the floor cleaner 1 during the preliminary reverse operation, the squeegee reset control unit 75 completes the reset operation and enables the floor cleaner 1 to resume running cleaning (automatic running cleaning).

<Reset suppression condition determination>
Incidentally, even if the reset condition is satisfied, the squeegee reset control unit 75 suspends execution of the reset operation if a predetermined reset suppression condition is satisfied. Furthermore, if the reset suppression condition is no longer satisfied after it has been determined that the reset suppression condition is satisfied, the squeegee reset control unit 75 cancels the suppression of the reset operation and executes the reset operation.

For example, the memory unit 26 stores the traveling state of the floor washer 1 as a turning travel as a reset suppression condition for suppressing the execution of the reset operation of the squeegee device 15, and specifically stores a predetermined turning radius threshold value for the turning radius (curvature). The squeegee reset control unit 75 determines that the reset suppression condition is met when the turning radius of the turning travel of the floor washer 1 is equal to or less than the turning radius threshold value and the floor washer 1 is turning (the rotation speeds of the left and right drive motors 11b are different).

In Figure 6, the travel route 81 created by the cleaning plan for automatic travel cleaning by reciprocating travel in the cleaning area 80 is shown by a two-dot chain line, and the route that has already been traveled is shown by a thick line. As shown in Figure 6 (1), the floor washer 1 performs automatic travel cleaning by moving straight from the right side to the left side of the paper, but performs a 180-degree turn to turn back to the right side at the left end of the cleaning area 80. Here, it is assumed that the distance elapsed from the start position (see square mark) reaches the elapsed distance threshold during the turn.

In this way, even if the elapsed distance of the floor washer 1's cleaning run exceeds the elapsed distance threshold and satisfies the reset condition, if the floor washer 1 is in a turning run, the squeegee reset control unit 75 determines that the reset suppression condition is met and suppresses the reset operation. If the squeegee device 15 is reset while the floor washer 1 is in a turning run, there is a possibility that dirty water will leak from the greatly tilted squeegee device 15. However, in the floor washer 1 according to this embodiment, the reset suppression condition is that the floor washer 1 is in a turning run, so that the reset operation is not performed during turning and it is possible to suppress the leakage of dirty water.

After that, when the floor washer 1 ends its turning run and starts moving straight ahead, the squeegee reset control unit 75 determines that the reset suppression condition is no longer satisfied and releases the suppression of the reset operation. As shown in FIG. 6 (2), immediately after the end of the turning run, the floor washer 1 is close to a wall surface, etc., and the first backward distance BD1 and the second backward distance BD2 cannot be obtained between the wall surface, and the suction backward operation and the preliminary backward operation may not be performed. Here, when the floor washer 1 ends its turning run and can start running cleaning by forward running, as shown in FIG. 6 (3), the preliminary forward operation that secures the preliminary forward distance FD can be performed to obtain the first backward distance BD1 and the second backward distance BD2 between the wall surface, and therefore, as shown in FIG. 6 (4), automatic running cleaning can be resumed after the suction backward operation and the preliminary backward operation.

In addition, immediately after the end of the turning run, the squeegee 30 is displaced to the rotation position, but by performing a preliminary forward movement in the reset operation of the squeegee device 15, the load caused by the contact between each blade 32, 33 of the squeegee device 15 and the floor surface F acts in the opposite direction to the forward direction during the process of the squeegee device 15's turning support shaft 42a moving straight ahead, so the squeegee 30 can be returned to the neutral position, and the squeegee reset control unit 75 may determine that the reset suppression condition is no longer satisfied. Note that it is necessary to perform the preliminary forward movement at least until the front end of the squeegee device 15 in FIG. 6(3) (the position of the horizontal roller 36 at both ends) is positioned in the forward direction, further than the front end of the squeegee device 15 in the fully rotated state in FIG. 6(2) (the position of the horizontal roller 36 on the left side).

For example, the memory unit 26 stores, as a reset suppression condition, that the traveling state of the floor washer 1 is traveling after a step, and specifically, stores a predetermined post-step distance threshold for the traveling distance from step detection. Even if the squeegee reset control unit 75 determines that the reset condition is satisfied after the step sensor 7d detects a step on the floor surface F while the floor washer 1 is traveling and cleaning, it monitors the traveling distance from the step detection, and determines that the reset suppression condition is satisfied until the traveling distance from the step detection exceeds the post-step distance threshold.

The step rear distance threshold is set so that the squeegee device 15 does not perform a reset operation after passing over a step after the floor washer 1 has passed over the step. Specifically, as shown in FIG. 10 (1), the step rear distance threshold may be set to a distance W from the detection position on the floor surface F by the step sensor 7d to the rear end of the squeegee device 15 (e.g., the rear blade 33) plus a predetermined distance α. For example, the predetermined distance may be the first backward distance BD1 and the second backward distance BD2 described above, i.e., the preliminary forward distance FD.

As a result, the reset operation of the squeegee device 15 is not performed until the travel distance from the step detection exceeds the step distance threshold, so wastewater does not leak from the squeegee device 15 that has climbed over the step. In addition, since the reset suppression condition is released after the travel distance from the step detection exceeds the step distance threshold, the reset operation of the squeegee device 15, including the preliminary forward movement, suction backward movement, and preliminary backward movement described above, can be performed at the position after passing the step, as shown in FIG. 10 (2).

In addition, when determining the reset condition or the reset suppression condition, the squeegee reset control unit 75 may change the reset condition or the reset suppression condition, respectively, depending on the traveling state or cleaning state of the floor washer 1. In this case, the squeegee reset control unit 75 strengthens the reset condition when it is determined that the need for the reset operation is relatively high depending on the cleaning state, while relaxing the reset condition when it is determined that the need for the reset operation is relatively low.

For example, the squeegee reset control unit 75 changes the reset condition according to the turbidity of the wastewater sucked by the suction blower 18 and collected in the collection tank 17 as the cleaning state. Specifically, a normal value (e.g., 30 m) is preset for the elapsed distance threshold for traveling cleaning, which is the reset condition, and the squeegee reset control unit 75 monitors the turbidity of the wastewater determined by the turbidity determination unit 74, and when high turbidity is frequently determined, the reset condition is strengthened by multiplying the elapsed distance threshold by a predetermined coefficient. At this time, as shown in FIG. 9, when a coefficient of 0.8 (80%) is set for the frequent occurrence of high turbidity, the normal value of 30 m is multiplied by the coefficient of 0.8 to set the elapsed distance threshold to 22 m.

As a result, if high turbidity determinations occur frequently, there is a high possibility that foreign matter has accumulated or become trapped between the squeegee device 15 and the floor surface F, so the squeegee reset control unit 75 can determine that there is a relatively high need for a reset operation and expedite the execution of the reset operation.

The squeegee reset control unit 75 may determine that high turbidity determinations are occurring frequently when the number of high turbidity determinations per specified unit time exceeds a specified number threshold. In addition, when low turbidity determinations continue for a specified long distance or long time, the squeegee reset control unit 75 may relax the reset condition by multiplying the elapsed distance threshold by a specified coefficient, thereby making the elapsed distance threshold longer than the normal value.

The squeegee reset control unit 75 also changes the reset condition according to the amount of cleaning water supplied by the supply pump 14 as the cleaning state. Specifically, a normal value (e.g., 30 m) is preset for the elapsed distance threshold for traveling cleaning, which is the reset condition, but the squeegee reset control unit 75 monitors the amount of cleaning water supplied, and when traveling cleaning is performed with a large supply amount, the reset condition is strengthened by multiplying the elapsed distance threshold by a predetermined coefficient. At this time, as shown in FIG. 9, if a coefficient of 0.8 (80%) is set for the large supply amount of cleaning water, the elapsed distance threshold is set to 22 m by multiplying the normal value of 30 m by the coefficient of 0.8.

As a result, when the supply of cleaning water is large, the squeegee reset control unit 75 performs the reset operation as frequently as possible, and can maintain the condition of the squeegee device 15 in good condition. In addition, when cleaning travel with a small supply amount continues for a predetermined long distance or for a long period of time, the squeegee reset control unit 75 may relax the reset condition by multiplying the elapsed distance threshold by a predetermined coefficient, and make the elapsed distance threshold longer than the normal value.

The squeegee reset control unit 75 may also monitor both the turbidity of the wastewater and the amount of cleaning water supplied as the cleaning status. If high turbidity occurs frequently and the amount of supply is large, the reset condition is strengthened by multiplying the elapsed distance threshold by the respective coefficients. For example, the elapsed distance threshold is set to 19.2 m by multiplying the normal value of 30 m by the coefficient 0.8 (80%) x the coefficient 0.8 (80%).

The squeegee reset control unit 75 also changes the reset condition according to the detection result of the status sensor that detects an abnormality in the squeegee device 15 as the cleaning state. Specifically, a normal value (e.g., 30 m) is preset for the elapsed distance threshold for traveling cleaning, which is the reset condition, and when the detection result of the status sensor determines that there is an abnormality in the squeegee device 15, the squeegee reset control unit 75 strengthens the reset condition by multiplying the elapsed distance threshold by a predetermined coefficient, for example, by multiplying the normal value of 30 m by a coefficient 0 (0%) to set the elapsed distance threshold to 0 m, and may immediately execute the reset operation.

The status sensor may be a vibration sensor that detects the vibration of the squeegee device 15, a sensor that detects an abnormality in the suction force of the suction blower 18, a sensor that detects an abnormality in the supply amount of the supply pump 14, or a sensor that detects other abnormalities.

Next, an example of the operation of the autonomous floor washer 1 will be described with reference to the flowcharts in Figures 7 and 8.

First, the floor washer 1 starts cleaning operation, and the automatic travel control unit 73 starts automatic travel cleaning based on a predetermined cleaning plan, and then starts the cleaning motor 19 to rotate the cleaning pad 13 and the suction blower 18 (step S1). At this time, the rotation speed of the cleaning motor 19 (cleaning pad 13) and the suction strength (suction force) of the suction blower 18 are appropriately set based on the cleaning plan or according to an arbitrary operation by the operator.

The automatic travel control unit 73 also drives the pad cylinder 20 to lower the cleaning pad 13 and press it against the floor surface F, starts the supply pump 14 to supply cleaning water to the floor surface F, drives the squeegee cylinder 21 to lower the squeegee device 15 to bring the squeegee 30 into contact with the floor surface F, and drives the left and right drive motors 11b to rotate the wheels 11 and move the floor washer 1 forward (step S2). At this time, the ground pressure strength of the pad cylinder 20 (cleaning pad 13), the amount of cleaning water supplied by the supply pump 14, and the rotation speed of the left and right drive motors 11b (wheels 11) are appropriately set based on the cleaning plan or in response to an arbitrary operation by the operator.

Next, while the automatic travel cleaning is being performed in the above state (step S3), the squeegee reset control unit 75 determines whether or not the reset condition is met (step S4). If the reset condition is not met (step S4: No), the automatic travel cleaning continues, and when the automatic travel control unit 73 ends the automatic travel cleaning based on the cleaning plan (step S5: Yes), the floor washer 1 is stopped and the operation ends.

On the other hand, if the reset condition is met (step S4: Yes), the squeegee reset control unit 75 starts executing the reset operation of the squeegee device 15 (step S6).

The squeegee reset control unit 75 first performs a travel stop operation, drives the pad cylinder 20 to raise the cleaning pad 13 and release the pressure against the floor surface F, stops the cleaning motor 19 to stop the rotation of the cleaning pad 13, stops the supply pump 14 to stop the supply of cleaning water, and controls the drive of the left and right drive motors 11b to slow down the forward travel speed of the floor washer 1 (step S7).

The forward travel at this time is a preliminary forward movement, in which the cleaning pad 13 is separated from the floor surface F, the supply of cleaning water is stopped, and the squeegee device 15 is lowered to the floor surface F by its own weight while the suction blower 18 continues to perform its suction operation. The squeegee reset control unit 75 determines whether the distance traveled by the preliminary forward movement has exceeded the preliminary forward distance FD since the start of the travel stop operation (step S8).

When the preliminary forward distance FD has elapsed (step S8: Yes), the squeegee reset control unit 75 stops the driving of the left and right drive motors 11b and stops the rotation of the wheels 11, thereby stopping the forward travel (preliminary forward movement) of the floor washer 1 and completing the travel stop operation. After that, the squeegee reset control unit 75 performs a suction reverse movement operation, driving the left and right drive motors 11b (in the reverse direction) to rotate the wheels 11, thereby causing the floor washer 1 to travel reverse at a low speed (step S9).

The reverse travel (suction reverse operation) at this time is performed by separating the cleaning pad 13 from the floor surface F, stopping the supply of cleaning water, and lowering the squeegee device 15 to the floor surface F under its own weight while continuing the suction operation of the suction blower 18. The squeegee reset control unit 75 determines whether the travel distance since the start of the suction reverse operation has exceeded the first reverse distance BD1 (step S10).

When the first backward distance BD1 has elapsed (step S10: Yes), the squeegee reset control unit 75 stops the backward travel (suction backward operation) of the floor washer 1 by stopping the drive of the left and right drive motors 11b and stopping the rotation of the wheels 11. The squeegee reset control unit 75 then performs a squeegee lifting operation, driving the squeegee cylinder 21 to rotate the squeegee lever 51 upward and pull the wire 52, thereby lifting the squeegee device 15 (step S11). This squeegee lifting operation is performed while the suction blower 18 continues its suction operation.

The squeegee reset control unit 75 then performs a preliminary reverse motion, driving the left and right drive motors 11b to rotate the wheels 11, causing the floor washer 1 to move backward at a low speed (step S12). This reverse motion (preliminary reverse motion) is performed with the cleaning pad 13 spaced apart from the floor F, the supply of cleaning water stopped, the squeegee device 15 raised and spaced apart from the floor F, and the suction blower 18 continuing its suction operation. The squeegee reset control unit 75 then determines whether the distance traveled since the start of the preliminary reverse motion has exceeded the second reverse distance BD2 (step S13).

When the second backward distance BD2 has elapsed (step S13: Yes), the squeegee reset control unit 75 stops the backward travel (suction backward movement) of the floor washer 1 by stopping the drive of the left and right drive motors 11b and stopping the rotation of the wheels 11 (step S14). As a result, the squeegee reset control unit 75 ends the reset operation of the squeegee device 15.

After that, the process returns to step S1, and the automatic travel control unit 73 resumes automatic travel cleaning based on the cleaning plan. When automatic travel cleaning is resumed, the rotation speed of the cleaning motor 19 (cleaning pad 13), the suction strength (suction force) of the suction blower 18, the ground pressure strength of the pad cylinder 20 (cleaning pad 13), the amount of cleaning water supplied by the supply pump 14, and the rotation speeds of the left and right drive motors 11b (wheels 11) are reset to the states before the reset operation.

In the above embodiment, the squeegee reset control unit 75 executes a travel stop operation including a cleaning stop operation and a preliminary forward operation, a suction backward operation, a squeegee lifting operation, and a preliminary backward operation, but the present invention is not limited to this example. In other examples, the squeegee reset control unit 75 may execute at least one of the suction backward operation and the squeegee lifting operation to directly eliminate foreign matter trapped between the squeegee device 15 and the floor surface F, that is, may execute an appropriate combination of the cleaning stop operation, the preliminary forward operation, the suction backward operation, the squeegee lifting operation, and the preliminary backward operation.

Furthermore, in order to directly eliminate foreign matter getting caught between the squeegee device 15 and the floor surface F or foreign matter adhering to the squeegee device 15, the squeegee reset control unit 75 may perform a squeegee vibration operation that vibrates the raised squeegee device 15 in addition to the suction backward operation and squeegee raising operation. For example, with the squeegee device 15 raised, the squeegee reset control unit 75 further drives the squeegee cylinder 21 to rotate the squeegee lever 51 up and down and pull the wire 52 up and down, thereby vibrating the squeegee device 15 up and down. This makes it easier for foreign matter adhering to the squeegee device 15 to fall off.

As described above, according to this embodiment, the floor washer 1 performs traveling cleaning, supplying cleaning water to clean the floor surface F while traveling the vehicle body 2, and includes a squeegee device 15 (squeegee 30) that collects dirty water after cleaning, a memory unit 26 that stores reset conditions for performing a reset operation of the squeegee device 15, and a control unit 10. When the reset conditions are met during the performance of traveling cleaning, the control unit 10 functions as a squeegee reset control unit 75 that performs, as reset operations, a traveling stop operation that temporarily stops traveling, a suction reverse operation that travels backward a predetermined first reverse distance BD1 while continuing to suck up dirty water by the squeegee device 15 after the traveling stop operation, and a squeegee raising operation that raises the squeegee device 15 after the suction reverse operation.

In other words, in a floor washer 1 that performs traveling cleaning by supplying cleaning water to clean a floor surface F while traveling the vehicle body 2, a reset method for the squeegee device 15 (squeegee 30) that collects wastewater after cleaning performs the following reset operations when the reset conditions for performing the reset operation of the squeegee device 15 are met during traveling cleaning: a traveling stop operation that temporarily stops traveling, a suction reverse operation that travels backward a predetermined first reverse distance BD1 while continuing to suck up wastewater by the squeegee device 15 after the traveling stop operation, and a squeegee raising operation that raises the squeegee device 15 after the suction reverse operation.

With this configuration, the floor washer 1 according to this embodiment is small and maneuverable, and is configured without increasing the product price. By performing the suction reverse operation and the reset operation of the squeegee device 15, the squeegee raising operation can separate foreign matter caught between the squeegee device 15 and the floor surface F from the squeegee device 15 and drop it onto the floor surface F, thereby preventing wastewater from being left behind and preventing the occurrence of wastewater streaks.

In addition, in the floor cleaning machine 1 according to this embodiment, the squeegee reset control unit 75 executes, as a travel stop operation, a cleaning stop operation in which the cleaning pad 13, which is a cleaning member for cleaning the floor surface F, is separated from the floor surface F and the supply of cleaning water is stopped, and a preliminary forward movement operation in which the cleaning pad 13 moves forward a predetermined preliminary forward distance FD after the cleaning stop operation and then stops traveling.

With this configuration, the floor washer 1 performs the preliminary forward movement and then the above-mentioned suction reverse movement and the preliminary reverse movement described below, so that the position at which the moving cleaning is resumed, including the suction movement by the suction blower 18, can be prevented from changing significantly from the position at which the moving cleaning was interrupted by the reset movement.

In addition, in the floor washer 1 according to this embodiment, the squeegee reset control unit 75 performs a preliminary reverse movement operation, which further reverses a predetermined second reverse movement distance BD2, as a reset operation after the suction reverse movement operation and the squeegee raising operation.

With this configuration, the floor washer 1 can resume traveling and cleaning from a position where it has moved backward by the preliminary backward movement operation, rather than a position where foreign objects would have fallen onto the floor surface F by the suction backward movement operation and the squeegee lifting operation. Therefore, foreign objects that have fallen onto the floor surface F by the reset operation can be reliably collected by the squeegee device 15, and it is possible to prevent wastewater from being left behind and the occurrence of wastewater streaks.

In addition, in the floor washer 1 according to this embodiment, the squeegee reset control unit 75 performs a squeegee vibration operation to vibrate the squeegee device 15 as a reset operation after the squeegee lifting operation.

With this configuration, the floor washer 1 can more reliably remove and collect foreign matter adhering to the squeegee device 15.

In addition, in the floor cleaning machine 1 according to this embodiment, the squeegee reset control unit 75 determines that the reset condition is met when the elapsed distance of the cleaning run exceeds a predetermined elapsed distance threshold.

With this configuration, the floor washer 1 can execute a reset operation of the squeegee device 15 by referring to the distance traveled during cleaning before a significant amount of foreign matter accumulates that may become caught between the squeegee device 15 and the floor surface F, thereby efficiently preventing wastewater from being left behind and the occurrence of wastewater streaks.

In addition, in the floor washer 1 according to this embodiment, the control unit 10 functions as a turbidity determination unit 74 that detects the turbidity of the wastewater sucked by the squeegee device 15, and the squeegee reset control unit 75 changes the reset conditions according to the turbidity.

With this configuration, the floor washer 1 can change the reset conditions depending on the turbidity of the wastewater, allowing the frequency of the reset operation of the squeegee device 15 to be adapted to the cleaning conditions, and can appropriately prevent wastewater from being left behind or the occurrence of wastewater streaks.

In addition, in the floor cleaning machine 1 according to this embodiment, the memory unit 26 stores, together with the reset conditions, reset suppression conditions for suppressing the execution of the reset operation of the squeegee device 15, and the squeegee reset control unit 75 suspends the execution of the reset operation when the reset suppression conditions are met even when the reset conditions are met.

For example, the memory unit 26 stores the reset suppression condition that the vehicle body 2 is in a turning state.

Alternatively, the memory unit 26 stores, as a reset suppression condition, that the traveling state of the vehicle body 2 is traveling after a step.

With this configuration, the floor cleaner 1 can suppress the reset operation of the squeegee device 15 when the floor cleaner 1 is not in an appropriate state, but can execute the reset operation when the floor cleaner 1 is in an appropriate state.

In the floor washer 1 according to this embodiment, the squeegee device 15 is elongated in the left-right direction perpendicular to the traveling direction of the vehicle body 2, and is rotatable between a neutral position in which the connecting arm 41 connecting the squeegee device 15 to the vehicle body 2 is oriented along the traveling direction of the vehicle body 2, and a rotation position in which the connecting arm 41 is tilted leftward or rightward with respect to the traveling direction of the vehicle body 2. The neutral movement mechanism 60 is further provided, which presses a neutral moving body such as a part of the connecting arm 41 or a neutral roller 61 provided on the connecting arm 41 against a neutral guide portion 62 provided on the bottom of the vehicle body 2 in a curved state along the rotation direction of the connecting arm 41, thereby moving the squeegee device 15 from the rotation position to the neutral position.

With this configuration, when the floor washer 1 performs a reset operation of the squeegee device 15, the cam mechanism can displace the squeegee 30 to a neutral position during reverse travel in the suction reverse operation, and the squeegee device 15 can be placed in an appropriate state to resume traveling cleaning.

In addition, in the floor washer 1 according to this embodiment, the neutral movement mechanism 60 is equipped with a limiter mechanism that allows the squeegee device 15, which is held in the neutral position, to rotate in response to an external force.

With this configuration, if an obstacle or the like collides with the squeegee device 15, the floor washer 1 releases the neutral position and allows the squeegee device 15 to rotate, preventing damage to the squeegee device 15.

<Other embodiments>
In the present embodiment, an example in which the sliding shaft 45 is provided on the connecting arm 41 and each inclined groove 44 is provided on the support wall portion 43 in the squeegee device 15 has been described, but the present invention is not limited to this example. For example, a pair of left and right sliding shafts as an example of a sliding portion may be fixed to a pair of left and right support wall portions 43, and a pair of left and right inclined grooves into which the pair of left and right sliding shafts are fitted may be formed on both left and right side surfaces of the connecting arm 41. In this case, the connecting arm 41 is changed to a first posture by relatively moving each sliding shaft to the front upper end of each inclined groove, and is changed to a second posture by relatively moving each sliding shaft to the rear lower end of each inclined groove.

The neutral roller 61 (neutral bracket 61a) of the squeegee device 15 according to this embodiment may be omitted. In this case, for example, the tip (part) of the connecting arm 41 may be pressed against the neutral guide portion 62 (curved wall 62a) and engaged with the engagement groove 62b.

In this embodiment, an example in which the squeegee body 31 (squeegee 30) in the squeegee device 15 is formed in a bow shape has been described, but the present invention is not limited to this example. For example, the squeegee body 31 may be formed in a roughly U-shape (mountain shape). Alternatively, for example, the squeegee body 31 may be bent so as to convex backward and formed in a roughly V-shape.

In this embodiment, the squeegee reset control unit 75 determines that the reset condition is met when the elapsed distance of the floor washer 1 traveling and cleaning exceeds the elapsed distance threshold, but the present invention is not limited to this example. In another example, the squeegee reset control unit 75 may monitor the amount of cleaning water supplied or the amount of wastewater collected while the floor washer 1 is traveling and cleaning, and determine that the reset condition is met when the amount of cleaning water supplied or the amount of wastewater collected exceeds a predetermined threshold.

In this embodiment, the suction strength (suction force) of the suction blower 18 during the reset operation of the squeegee device 15 continues the state of operation prior to the reset operation while performing the preliminary forward movement, suction backward movement, and preliminary backward movement, etc., but the present invention is not limited to this, and the suction force of the suction blower 18 may be controlled to maximum strength during some or all of these reset operations.

In this embodiment, no particular warning or other output is given while the reset operation of the squeegee device 15 is being performed. However, for example, an alarm sound or a light may be output to indicate that the reset operation is being performed, so that pedestrians or workers who may be in the vicinity are aware of the situation and are alerted that the vehicle body 2 will stop traveling or move in reverse as a result of the reset operation.

Furthermore, the technology of the present invention is not limited to the above-mentioned embodiment, and may be modified, substituted, or altered in various ways without departing from the spirit of the technical idea. Furthermore, if the technical idea can be realized in a different way due to technological advances or other derived technologies, it may be implemented using that method. Therefore, the claims cover all embodiments that may fall within the scope of the technical idea.

As explained above, the technology of the present invention is suitable for use in floor cleaners used in commercial facilities such as large shopping malls, offices, hotels, hospitals, schools, factories, etc.

LIST OF SYMBOLS 1 Floor washer 2 Vehicle body 3 Travel unit 4 Cleaning unit 5 Travel operation unit 6 Operation display unit 7 Measuring unit 8 Imaging unit 9 Power supply unit 10 Control unit 13 Cleaning pad 14 Supply pump 15 Squeegee device 18 Suction blower 19 Cleaning motor 20 Pad cylinder 21 Squeegee cylinder 23a Turbidity sensor 26 Memory unit 30 Squeegee 32 Front blade 33 Rear blade 36 Horizontal roller 40 Sliding connection unit 41 Connection arm 42 Swivel support unit 42a Swivel support shaft 43 Support wall unit 44 Inclined groove 45 Sliding shaft 50 Lifting unit 51 Squeegee lever 52 Wire 60 Neutral movement mechanism 61 Neutral roller 62 Neutral guide unit 62a Curved wall 62b Engagement groove 70 Mode switching unit 71 Map creation unit 72 Plan creation unit 73 Automatic driving control unit 74 Turbidity determination unit 75 Squeegee reset control unit

Claims (12)

A floor cleaning machine that performs traveling cleaning by supplying cleaning water to clean a floor surface while traveling a vehicle body,
A squeegee device for collecting wastewater after cleaning;
a memory unit that stores a reset condition for executing a reset operation of the squeegee device;
When the reset condition is satisfied during the execution of the traveling cleaning, the reset operation is
A running stop operation for temporarily stopping running;
a suction backward movement operation in which the water tank moves backward a predetermined first backward movement distance while continuing to suction the wastewater by the squeegee device after the travel stopping operation;
a control unit that executes a squeegee lifting operation to lift the squeegee device after the suction backward movement operation;
A floor cleaning machine comprising:
The control unit, as the traveling stop operation,
a cleaning stop operation for separating a cleaning member that cleans the floor surface from the floor surface and stopping the supply of the cleaning water;
2. The floor washer according to claim 1, further comprising a preparatory forward movement, which comprises moving forward a predetermined preparatory forward distance after the cleaning stop movement and then stopping the movement.
The control unit performs the reset operation as follows:
3. The floor washer according to claim 1, further comprising a preliminary reverse movement operation, which further comprises a second reverse movement distance, after the suction reverse movement operation and the squeegee lifting operation.
3. The floor washer according to claim 1, wherein the control unit further executes a squeegee vibration operation for vibrating the squeegee device as the reset operation after the squeegee lifting operation.
3. The floor washer according to claim 1, wherein the control unit determines that the reset condition is satisfied when an elapsed distance of the cleaning by traveling exceeds a predetermined elapsed distance threshold.
The squeegee device further includes a turbidity determination unit that detects the turbidity of the wastewater sucked by the squeegee device,
3. The floor washer according to claim 1, wherein the control unit changes the reset condition depending on the turbidity.
The storage unit stores, together with the reset condition, a reset suppression condition for suppressing execution of the reset operation of the squeegee device;
The floor washer according to claim 1 or 2, wherein the control unit suspends execution of the reset operation when the reset suppression condition is satisfied even when the reset condition is satisfied.
The floor washer according to claim 7, wherein the storage unit stores, as the reset suppression condition, that the traveling state of the vehicle body is a turning traveling.
The floor washer according to claim 7, wherein the memory unit stores, as the reset suppression condition, a driving state of the vehicle body being driving after a step.
The squeegee device is
The vehicle body is elongated in a left-right direction perpendicular to the traveling direction of the vehicle body.
a connecting arm that connects the squeegee device to the vehicle body is provided rotatably between a neutral position in which the connecting arm is oriented along the traveling direction of the vehicle body and a rotational position in which the connecting arm is oriented in a leftward or rightward direction with respect to the traveling direction of the vehicle body,
3. The floor washer according to claim 1, further comprising a neutral movement mechanism that presses a part of the connecting arm or a neutral moving body provided on the connecting arm against a neutral guide portion provided on the bottom of the vehicle body in a curved state along the rotation direction of the connecting arm, thereby moving the squeegee device from the rotation position to the neutral position.
11. The floor washer according to claim 10, wherein the neutral movement mechanism includes a limiter mechanism that allows the squeegee device held in the neutral position to rotate in response to an external force.
A method for resetting a squeegee device that collects dirty water after cleaning in a floor cleaning machine that performs traveling cleaning by supplying cleaning water to clean a floor surface while traveling a vehicle body, comprising:
When a reset condition for executing a reset operation of the squeegee device is satisfied during the execution of the traveling cleaning, the reset operation is performed by:
A running stop operation for temporarily stopping running;
a suction backward movement operation in which the water tank moves backward a predetermined first backward movement distance while continuing to suction the wastewater by the squeegee device after the travel stopping operation;
and a squeegee raising operation for raising the squeegee device after the suction backward movement operation.

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