JP6440752B2 - 床清掃ロボット及び床清掃ロボットを用いた床面清掃方法 - Google Patents
床清掃ロボット及び床清掃ロボットを用いた床面清掃方法 Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/16—Cloths; Pads; Sponges
- A47L13/17—Cloths; Pads; Sponges containing cleaning agents
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/20—Mops
- A47L13/22—Mops with liquid-feeding devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/20—Mops
- A47L13/24—Frames for mops; Mop heads
- A47L13/254—Plate frames
- A47L13/256—Plate frames for mops made of cloth
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/26—Other cleaning devices with liquid supply arrangements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- D—TEXTILES; PAPER
- D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
- D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
- D10B2509/00—Medical; Hygiene
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Mechanical Engineering (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
- Electric Vacuum Cleaner (AREA)
- Laminated Bodies (AREA)
- Nonwoven Fabrics (AREA)
Description
Claims (28)
- ロボット本体と、
前記ロボット本体を床面上に支持し、該床面上で該ロボット本体を操縦するよう構成された一つ以上の駆動輪と、
前記一つ以上の駆動輪の前方に配置され、清掃パッドを受けるよう構成されたパッドホルダと、
前記ロボット本体が前進中に前記パッドホルダに受けられた前記清掃パッドが液体を吸収するように前記床面に液体を塗布するための液体塗布器と、
前記液体塗布器を始動させ、
前記床面上で前記床清掃ロボットを前進させながら、該床面を濡らすために清掃走行開始時から始まる第一散布期間中に第一体積流量で液体を複数回散布させ、
次いで、前記床面上で前記床清掃ロボットを前進させながら、該床面を濡らすために、前記第一散布期間経過後の第二散布期間中に、該第一散布期間中の前記第一体積流量より少ない第二体積流量で液体を複数回散布させる、
制御装置と、
を備える、床清掃ロボット。 - 前記第一体積流量は、
前記第一散布期間中における液体の連続する複数回の散布間に前記ロボット本体が移動する所定距離と、
前記第一散布期間中における液体の連続する複数回の散布のそれぞれにおける液体の所定体積と、
で規定され、
前記所定距離が前記第二体積流量における対応する距離より大きいか、又は前記所定体積が前記第二体積流量における対応する体積より大きい、
請求項1に記載の床清掃ロボット。 - 前記制御装置は、
前記第一散布期間中、前記清掃パッドが乾燥している場合に該清掃パッドを湿らせるために前記第一体積流量での液体の複数回の散布を開始させ、
前記第二散布期間中、前記清掃パッドが吸収性を有している場合に前記第二体積流量での液体の複数回の散布を開始させるよう構成された、
請求項1に記載の床清掃ロボット。 - 前記第一散布期間は所定期間を有するか又は合計移動距離と関連付けられ、
前記制御装置は、前記第一散布期間中に前記所定期間液体を複数回散布した後又は該第一散布期間中に前記ロボット本体を前記合計移動距離移動させた後、前記第二散布期間中の液体の複数回の散布を開始させるよう構成される、
請求項1に記載の床清掃ロボット。 - 前記制御装置は、前記第一散布期間中、前記液体塗布器によって液体を複数回散布しながら、中央軌道に沿って前後に移動し、前記ロボット本体の左側に向かう軌道に沿って前後に移動し、そして、該ロボット本体の右側に向かう軌道に沿って前後に移動するバードフット移動パターンで該ロボット本体を移動させるよう構成される、
請求項4に記載の床清掃ロボット。 - 前記制御装置は、
前記第一散布期間中、前記ロボット本体が第一所定距離移動する毎に液体の散布を開始させ、
前記第二散布期間中、前記ロボット本体が第二所定距離移動する毎に液体の散布を開始させるよう構成され、
前記第一所定距離は前記第二所定距離より短い、
請求項4に記載の床清掃ロボット。 - 前記第一散布期間中の液体の複数回の散布はそれぞれ第一体積を有し、前記第二散布期間中の液体の複数回の散布はそれぞれ第二体積を有し、該第一体積は該第二体積より大きい、
請求項1に記載の床清掃ロボット。 - 前記第一体積流量での液体の塗布は第一頻度で行われ、前記第二体積流量での液体の塗布は第二頻度で行われ、該第一頻度は該第二頻度より高い、
請求項1に記載の床清掃ロボット。 - 前記制御装置は、清掃ランの開始時の前記第一散布期間中に複数回の散布を開始させるよう構成される、
請求項1に記載の床清掃ロボット。 - 前記制御装置は、前記第一散布期間の後、清掃ランの最後まで前記第二散布期間中の複数回の散布をさせるよう構成される、
請求項1に記載の床清掃ロボット。 - 床清掃ロボットを用いた床面清掃方法であって、
清掃走行開始時から始まる第一散布期間中、前記床清掃ロボットの清掃パッドが液体を吸収するよう、床面上で該床清掃ロボットを前進移動させながら前記床面を濡らすために前記床清掃ロボットに設けられた液体塗布器を用いて該床清掃ロボットの前方の床面に第一体積流量で液体を複数回散布し、
次いで、前記第一散布期間経過後の第二散布期間中、前記床清掃ロボットの前記清掃パッドが液体を吸収するよう、前記床面上で該床清掃ロボットを前進移動させながら該床面を濡らすために前記液体塗布器を用いて該床清掃ロボットの前方の床面に第二体積流量で液体を複数回散布することを含み、
前記第一散布期間の前記第一体積流量は前記第二散布期間の前記第二体積流量より大きい、
床清掃ロボットを用いた床面清掃方法。 - 前記第一体積流量は、
前記第一散布期間中における液体の連続する複数回の散布間に前記ロボット本体が移動する所定距離と、
前記第一散布期間中における液体の連続する複数回の散布のそれぞれにおける液体の所定体積と、
で規定され、
前記所定距離が前記第二体積流量における対応する距離より大きいか、又は前記所定体積が前記第二体積流量における対応する体積より大きい、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一体積流量で複数回散布することは、前記床清掃ロボットの前記清掃パッドが乾燥している場合に該床清掃ロボットの該清掃パッドを湿らせるために該第一体積流量で液体の複数回の散布を開始することを含み、
前記第二体積流量で複数回散布することは、前記床清掃ロボットの前記清掃パッドが吸収性を有している場合に該第二体積流量で液体の複数回の散布を開始することを含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間は所定期間を有するか又は合計移動距離と関連付けられ、
前記床清掃ロボットを用いた床面清掃方法は、前記第一散布期間中に前記所定期間液体を複数回散布した後又は該第一散布期間中に前記ロボット本体を前記合計移動距離移動させた後、前記第二散布期間中の液体の複数回の散布を開始することを更に含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間中、液体を複数回散布しながら、中央軌道に沿って前後に移動し、前記床清掃ロボットの左側に向かう軌道に沿って前後に移動し、そして、該床清掃ロボットの右側に向かう軌道に沿って前後に移動するバードフット移動パターンで該床清掃ロボットを移動させることを更に含む、
請求項14に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間中に液体を複数回散布することは、前記第一散布期間中、前記床清掃ロボットが第一所定距離移動する毎に液体の散布を開始することを含み、
前記第二散布期間中に液体を複数回散布することは、前記第二散布期間中、前記床清掃ロボットが第二所定距離移動する毎に液体の散布を開始することを含み、
前記第一所定距離は前記第二所定距離より短い、
請求項14に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間中の液体の複数回の散布はそれぞれ第一体積を有し、前記第二散布期間中の液体の複数回の散布はそれぞれ第二体積を有し、該第一体積は該第二体積より大きい、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一体積流量での液体の塗布は第一頻度で行われ、前記第二体積流量での液体の塗布は第二頻度で行われ、該第一頻度は該第二頻度より高い、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間中に液体を複数回散布することは、清掃ランの開始時の該第一散布期間中に複数回の散布を開始することを含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第二散布期間中に液体を複数回散布することは、前記第一散布期間中の複数回の散布の後、清掃ランの最後まで該第二散布期間中の複数回の散布を行うことを含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一体積流量で液体を複数回散布することは、前記床清掃ロボットが30−60cm移動する毎に約1mlの液体を散布することを含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第二体積流量で液体を複数回散布することは、前記床清掃ロボットが90−150cm移動する毎に1ml未満の液体を散布することを含む、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間は1分間から3分間の間である、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記第一散布期間は2分間から10分間の間である、
請求項11に記載の床清掃ロボットを用いた床面清掃方法。 - 前記液体塗布器を始動させて前記第一体積流量で液体を複数回散布させる前記制御装置の構成は、該液体塗布器を始動させて前記床清掃ロボットが30−60cm移動する毎に約1mlの液体を散布させる構成を含む、
請求項1に記載の床清掃ロボット。 - 前記液体塗布器を始動させて前記第二体積流量で液体を複数回散布させる前記制御装置の構成は、該液体塗布器を始動させて前記床清掃ロボットが90−150cm移動する毎に1ml未満の液体を散布させる構成を含む、
請求項1に記載の床清掃ロボット。 - 前記第一散布期間は1分間から3分間の間である、
請求項1に記載の床清掃ロボット。 - 前記第一散布期間は2分間から10分間の間である、
請求項1に記載の床清掃ロボット。
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