JP7213416B2 - Autonomous vacuum cleaner - Google Patents

Description

The present invention relates to an autonomous traveling cleaner .

In recent years, many self-running vacuum cleaners that automatically run and clean even when the user is away have been commercialized. In addition, many patent documents disclose technologies related to this autonomously traveling vacuum cleaner. is disclosed.

Japanese Patent Application Publication No. 2016-511670

However, in the autonomous traveling vacuum cleaner described in Patent Document 1, since the floor surface is rubbed with the cleaning pad, for example, only the front of the floor pad may become extremely dirty, and the entire floor pad is effective. may not be available.

The present invention includes a main body, drive wheels and rollers arranged on the bottom surface of the main body, spouts for spouting water onto the floor surface or the rollers, a pump for spouting water from the spouts, and driving the drive wheels. a driving wheel motor for cleaning the roller, a roller motor for rotating the roller, and a control unit, the roller can be attached with a cloth or sheet for cleaning the floor surface, and the control unit is the water fountain treatment In the water spray process, the drive wheel motor is driven while the rollers are stopped to advance the main body, and the pump is controlled while the main body is moving forward to spray water from the spray holes. machine.

In the present invention, the roller is used to wipe the floor surface, so when cleaning the floor surface using a conventional pad, it is possible to avoid staining only a specific portion of the pad as much as possible.

Further, in the present invention, it is possible to evenly impregnate the roller or the cloth or sheet wound around the roller with water.

1 is a perspective view of an autonomously traveling cleaner of Example 1. FIG. 1 is a perspective view of an autonomously traveling cleaner of Example 1. FIG. 1 is a perspective view of the autonomous traveling cleaner of Example 1 as viewed from below. FIG. 4 is a bottom view of the main body of Example 1 with the rollers removed. FIG. FIG. 4 is a bottom view of a state in which rollers are attached to the main body of Example 1; 4 is a perspective view showing a state in which a cover is removed from the base of the main body of Example 1. FIG. 1 is a perspective view of a roller of Example 1. FIG. 1 is a perspective view of a roller of Example 1. FIG. FIG. 4 is a perspective view showing a state where a part of the fabric member of Example 1 is attached to a roller; 1 is a perspective view showing a state in which the fabric member of Example 1 is attached to a roller; FIG. 1 is a block diagram of an autonomously traveling cleaner of Example 1. FIG. FIG. 4 is a flowchart showing the operation of the autonomous traveling cleaner of Example 1; 2 is a perspective view showing a sheet set state of the autonomous traveling cleaner of Embodiment 1. FIG. FIG. 11 is a partially enlarged view of the cloth member of the autonomously traveling cleaner of Example 2; FIG. 11 is a perspective view of a roller of Example 3; FIG. 11 is a flow chart for explaining the operation of the third embodiment; FIG. 11 is a timing chart for explaining the operation of Example 3; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are omitted. Moreover, the present invention is not limited by the present embodiment. In this embodiment, the roller is rotated instead of rubbing the pad against the floor surface, so that only a portion of the pad is not extremely soiled as in the prior art. In addition, since the roller is repeatedly rotated and stopped when water is sprayed onto the floor surface or the roller, it is possible to wet the roller or the cloth or sheet wrapped around the roller as a whole.

A first embodiment includes a main body, drive wheels and rollers arranged on the bottom surface of the main body, spouts for spouting water onto the floor surface or the rollers, a pump for spouting water from the spouts, It has a drive wheel motor for driving the drive wheel, a roller motor for rotating the roller, and a control unit, and a cloth or sheet for cleaning the floor surface can be attached to the roller, The part performs a water fountain process, and the water fountain process drives the drive wheel motor while the rollers are stopped to advance the main body, and controls the pump while the main body is moving forward to spray water from the fountain holes. It is an autonomous running vacuum cleaner.

In a second embodiment, when the water is sprayed from the nozzle a predetermined number of times, the control unit controls the roller motor to rotate the roller by a predetermined angle, and then sprays water from the nozzle a predetermined number of times. It is an autonomous running vacuum cleaner that controls the pump.

In a third embodiment, the water fountain process includes a first water fountain process and a second water fountain process in which the number of water fountains is different, and the controller controls the roller motor after performing the first water fountain process. It is an autonomous traveling cleaner that performs a step of rotating a roller at a predetermined angle and a second water spraying step multiple times.

In a fourth embodiment, the first fountain process includes a first fountain process and a second fountain process, the second fountain process includes a third fountain process and a fourth fountain process, and the control After completing the first water fountain process and the second water fountain process, the unit controls the roller motor to rotate the roller by a predetermined angle, and executes the third water fountain process and the fourth water fountain process multiple times. , an autonomous vacuum cleaner.

A fifth embodiment is an autonomously traveling vacuum cleaner in which the number of times water is sprayed in the first water fountain process differs from the number of times water is sprayed in the second to fourth water fountain processes.

In the sixth embodiment, the amount of water sprayed from one spray hole in the first water spray process is different from the amount of water sprayed from one spray hole in the second to fourth water spray processes. machine.

In the seventh embodiment, the spray amount from each of the second to fourth spray holes is the same, and the spray amount from the one spray hole in the first spray treatment This is an autonomously traveling cleaner in which the amount of water sprayed from one water spray hole in the fourth water spray process is larger.

An eighth embodiment comprises a step of driving the drive wheels while the rollers are stopped to advance the main body; a step of performing a water spraying process; a step of performing a second water spraying process of spraying water from the water spray holes a second number of times at a second amount of water while the main body is moving forward; a step of rotating the roller by a predetermined angle; and performing a third water spraying process of spraying water from the water spray holes a third number of times at a second water spray rate during the advance of the water spraying method.

A ninth embodiment includes a step of rotating the roller by a predetermined angle while the main body is advancing, and a third water spraying process of spraying water from the spout holes a third number of times at a second water flow rate while the main body is advancing. Do the step of doing the water fountain method multiple times.

(Example 1)
The autonomous traveling cleaner according to Embodiment 1 will be described below.

FIG. 1 is a perspective view of an autonomously traveling cleaner according to this embodiment. The autonomous traveling vacuum cleaner of this embodiment has a main body 1 and a bumper 2 arranged in front of the main body 1 .

A tank 3 for storing water is arranged approximately in the center of the upper surface of the main body 1 . The user removes the tank 3 from the main body 1, fills it with tap water, etc., and then attaches it to the main body 1. - 特許庁

FIG. 2 is a perspective view showing a state in which the tank 3 is removed from the main body 1. FIG. As shown in FIG. 2, the tank 3 can be detached from the main body 1. As shown in FIG.

As shown in FIG. 1, an operation section 4 is formed on the rear side of the upper surface of the main body 1. As shown in FIG. The operation unit 4 includes, for example, a power button 5 for switching the power on and off, a start button 6 used when winding a sheet around the roller, which will be described later, a sheet removal button 7 used when removing the sheet from the roller, and a dry mode. It has a dry button 8 for setting and a wet button 9 for setting to wet mode.

A bumper 2 is arranged in front of the main body 1. - 特許庁The bumper 2 is arranged so as to surround the front surface of the main body 1, the front of the upper surface, and the front of the left and right sides. When an obstacle hits the bumper 2, the bumper 2 is pushed toward the main body 1, and a switch arranged inside the bumper 2 is turned on. When the control unit detects that the switch is turned on, the control unit determines that the bumper 2 has been pushed.

A front sensor 10 is arranged on the front surface of the bumper 2 . The front sensor 10 is composed of, for example, a light-emitting portion and a light-receiving portion of an infrared sensor, and is a sensor for detecting an obstacle or the like in front. One or more front sensors 10 may be arranged.

A side sensor 11 is arranged on the side of the bumper 2 . The side sensor 11 is composed of, for example, a light-emitting portion and a light-receiving portion of an infrared sensor, and is a sensor for detecting obstacles or the like on the left and right sides. One side sensor 11 or a plurality of side sensors 11 may be arranged.

FIG. 3 is a perspective view of the autonomous traveling cleaner of this embodiment as seen from below.

A battery 12 is arranged substantially in the center of the back side of the main body 1, and a right drive wheel 13 and a left drive wheel 14 are arranged on both left and right sides of the battery 12, respectively.

A bumper 2 is arranged in front of the main body 1, and a tongue 15 and a roller 16 are arranged in order from the bumper 2 toward the rear of the main body 1. - 特許庁In this embodiment, the roller 16 can be wound with a wet sheet or a dry sheet. A tongue 15 is used to remove the sheet wound around the roller 16.例文帳に追加

Further, the tongue 15 is biased toward the roller mounting portion 18 shown in FIG. 4 by an elastic member such as a spring. The angle of the tongue 15 is changed by a motor or the like. You may make it incline in the direction away from.

Floor surface sensors 17 are arranged on the front and rear sides of the back side of the main body 1 . The floor surface sensor 17 is composed of, for example, a light-emitting portion and a light-receiving portion of an infrared sensor, and is a sensor for detecting steps on the floor surface. In this embodiment, the floor surface sensors 17 are arranged at two locations on the left and right of the back of the main body 1 and two on the left and right of the front of the back of the main body 1 .

FIG. 4 is a bottom view showing a state in which the rollers are removed from the main body 1. FIG.

In FIG. 4, a roller 16 is detachably attached to a roller attachment portion 18 formed in front of the main body 1 . 4 , a roller supporting member 19 for rotatably supporting the roller 16 is arranged on the left side of the paper surface of FIG. An opening 21 is formed.

In the apparatus of this embodiment, the roller 16 and the roller lid 20 are integrated so that the roller lid 20 cannot be detached from the roller 16. However, the roller lid 20 may be detachable from the roller 16. .

When the user mounts the roller 16 on the main body 1 , the roller 16 is inserted into the roller mounting part 18 , one end of the roller 16 is first connected to the roller support member 19 , and then the roller 16 is formed on the other end. The roller lid 20 is attached to the roller lateral opening 21 . By such procedures, the user can mount the roller 16 on the roller mounting portion 18 .

On the front side of the rear surface of the main body 1, more specifically, in the portion between the tongue 15 and the bumper 2, a plurality of (eight in this embodiment) water jet holes 22 are formed for spraying the water inside the tank 3. ing. In the apparatus of this embodiment, water droplets are discharged from the nozzle holes 22 onto the floor surface, and the sheet wound around the roller 16 can wipe the water droplets on the floor surface. It should be noted that the roller 16 or a cloth wrapped around the roller 16 may be used to wipe the water droplets on the floor surface.

FIG. 5 is a bottom view showing a state in which the roller 16 is attached to the main body 1. FIG.

As shown in FIG. 5, the roller opening located on the right side of the paper surface of FIG. As described above, in the apparatus of this embodiment, the roller 16 is hidden on the right side of the main body 1 shown in FIG. The roller lid 20 is exposed to the outside when attached to the attachment portion 18 .

FIG. 6 is a perspective view showing a state in which the cover 24 is removed from the base 23 portion of the main body 1. As shown in FIG. The autonomous traveling cleaner of this embodiment has a structure in which a base 23 portion is covered with a cover 24 .

A roller mounting portion 18 is formed on the front side of the base 23 . Further, a roller motor 25 for rotating the roller 16 is provided behind the roller mounting portion 18 on the right side of the drawing in FIG.
are placed. On the other hand, a pump 26 (not shown in FIG. 6) for discharging water from the nozzle holes 22 is arranged behind the roller mounting portion 18 on the left side of the paper surface of FIG . This pump 26 has, for example, an electrically driven pump motor.

A circuit board 27 is arranged behind the base 23, and two driving wheel motors (not shown in FIG. 6) for driving the right driving wheel 13 and the left driving wheel 14 respectively ) and a battery (not shown in FIG. 6).

The battery of the device of this embodiment is a rechargeable secondary battery. In this embodiment, a nickel-metal hydride battery is used as the secondary battery, but for example, a nickel-cadmium battery or a lithium-ion battery may also be used. Alternatively, a primary battery may be used.

7 and 8 are perspective views of the roller 16. FIG. As shown in FIGS. 7 and 8, a roller top portion 28 extending in the direction in which the roller 16 extends is formed on the upper portion of the roller 16, and the roller 16 extends on both left and right sides of the roller top portion 28. A first hook-and-loop fastener 29 extending in the direction is formed. Furthermore, a second hook-and-loop fastener 30 is formed at the end of the roller 16 so as to surround the roller 16 .

This roller top portion 28 is for attaching the sheet to the roller 16, and the surface is formed of fiber such as acrylic. Further, the fibers may be linear or curved fibers, loop-shaped or hook-shaped fibers.

The first hook-and-loop fastener 29 and the second hook-and-loop fastener 30 are hook-and-loop fasteners for attaching the cloth member 31 to the roller 16 . The first hook-and-loop fastener 29 and the second hook-and-loop fastener 30 have a structure in which a plurality of surface fasteners are raised in a hook shape, or a structure in which a plurality of loop-shaped hook surfaces are raised.

As shown in FIGS. 7 and 8, the sides of the roller 16 are formed with two arrows on each side of the roller top 28 . This arrow serves as an indication for the user to apply a predesignated portion of the cloth member. A roller lid 20 is formed at the tip of the roller 16 on the left side in FIG. When the user detaches the roller 16 from the main body 1, the user presses the center of the roller lid 20 to release the engagement between the main body 1 and the roller lid 20, and the roller lid 20 and the roller 16 are originally removed. It can be removed.

Six holes 32 are formed at the tip of the roller 16 on the right side in FIG. Further, the surfaces of the rollers 16 interposed in two of the six holes 32 are painted black. The end surface of the roller 16 and the hole 32 shown in FIG. 8 are made of white resin, and only one portion of the end surface of the roller 16 is painted black.

A roller sensor 38 for detecting the rotational position or rotational distance of the roller 16 is provided on the portion of the main body 1 facing the right end of the roller 16 in FIG. (not shown in the figure) are arranged. The roller sensor 38 is composed of, for example, an infrared light emitting portion and an infrared light receiving portion.

The light emitted from the light-emitting portion of the roller sensor 38 hits the hole 32 formed at the end of the roller 16 or the white or black portion of the end surface and is reflected, and the light-receiving portion of the roller sensor 38 detects the reflected light. is detected, the controller 35 connected to the roller sensor 38 determines the rotational position or rotational distance of the roller 16 .

FIG. 9 is a perspective view showing a state where a part of the cloth member 31 is attached to the roller 16. FIG. As shown in FIG. 9, the cloth member 31 has a substantially rectangular shape, and on one side of the two long sides of the top surface of the cloth member 31, a plurality of surfaces whose surfaces are formed of fibers such as acrylic, for example, are provided. A raised portion 33 having a straight or curved shape is formed. Also, the fibers may be looped or hooked. The upper surface of the cloth member 31 excluding the raised portion 33 is formed of cloth without raised fibers, for example.

On the other hand, the back side of the cloth member 31 has a structure in which a plurality of hook-like raised surfaces are formed, or a hook-and-loop fastener structure in which a plurality of loop-like raised surfaces are formed.

Next, a procedure for attaching the cloth member 31 to the roller 16 by the user will be described.

A portion of the upper surface of the cloth member 31 having the raised portion 33 is attached to the first hook-and-loop fastener 29 formed on the front side of the roller 16 shown in FIGS. 7 and 8 (see FIG. 9). Subsequently, the user winds the cloth member 31 around the roller 16 and pulls the long side of the cloth member 31 opposite to the long side where the raised portion 33 is formed on the upper surface of the cloth member 31 as shown in FIG. Attach the first hook-and-loop fastener 29 formed on the side. Thus, the user can attach the cloth member 31 to the roller 16 (see FIG. 10).

Furthermore, when the user uses the apparatus of this embodiment, the sheet 34 (for example, a wet sheet or a dry sheet) is wrapped around the roller 16 to which the cloth member 31 is attached.

When the sheet 34 is wound around the roller 16, the main body 1 of the autonomously traveling cleaner is placed on the sheet and the roller 16 is rotated so that the sheet 34 adheres to the roller top portion 28 and the raised portion 33 shown in FIG. Then the sheet 34 is wrapped around the roller 16 . This operation will be described later in detail.

FIG. 11 is a block diagram of the device of this embodiment. Only blocks related to the present embodiment will be described, and description of other components will be omitted because they are the same as those of conventional autonomous traveling cleaners.

In FIG. 11, the control unit 35 is composed of a semiconductor control device such as a CPU (Central Processing Unit), and controls each circuit.

The storage unit 42 is composed of a semiconductor storage device such as a flash memory or a ROM (Read Only Memory), and stores programs for the operation of the control unit 35, various parameters, and the like.

A right drive wheel motor 36 is a motor for driving the right drive wheel 13 , and a left drive wheel motor 37 is a motor for driving the left drive wheel 14 . By controlling the right driving wheel motor 36 and the left driving wheel motor 37, the control unit 35 can drive only the right driving wheel 13 or only the left driving wheel 14, for example. The main body 1 can be turned by such control. Of course, both the right driving wheel 13 and the left driving wheel 14 can be driven simultaneously to move the main body 1 straight or backward.

A roller motor 25 is a motor for rotating the roller 16 .

The pump 26 is a pump for spouting water from the spout 22 . The pump 26 has a pump motor.

The roller sensor 38 is a sensor for detecting the rotational position or rotational distance of the roller 16 . For example, it is configured by an optical sensor composed of an infrared light emitting portion and an infrared light receiving portion. The roller sensor 38 irradiates light onto the uneven surface arranged at the end of the roller 16 and detects the reflected light.

The notification unit 39 notifies the user of the abnormality when the control unit 35 detects, for example, the rotation abnormality of the right driving wheel motor 36 or the left driving wheel motor 37 or the rotation abnormality of the roller motor 25 . The notification unit 39 is composed of, for example, a speaker, a liquid crystal display device, and the like.

The operation unit 4 is composed of, for example, buttons, and receives input operations from the user.

The operation of the apparatus of this embodiment will be described below. FIG. 12 is a flowchart showing the operation of the apparatus of this embodiment. Before starting the operation shown in FIG. 12, it is necessary to mount the roller 16 on the main body 1 in a state in which the cloth member 31 is wound around the roller 16 as shown in FIG.

In step S1, when the control unit 35 determines that the start instruction operation of the sheet winding operation is performed from the operation unit 4, that is, the start button 6 is pressed, the process proceeds to step S2.

In step S2, the controller 35 rotates the roller 16 by 30 degrees by controlling the roller motor 25, and then rotates the roller 16 until the roller sensor 38 detects the first position in step S3, which will be described later. .

In step S3, when the controller 35 detects a signal indicating that the first position has been detected from the roller sensor 38, it determines that the roller 16 has stopped at the first position. Incidentally, this first position is a portion painted black only at one place on the surface of the end portion of the roller 16 shown in FIG.

In step S<b>4 , the controller 35 controls the roller motor 25 to rotate the roller 16 by 145 degrees. This 145-degree rotated position is called a second position in this embodiment. This second position is the position where the rollers 16 should be when the user sets the main body 1 on the sheet 34 and is the initial position (default position) of the rollers 16 .

More specifically, this second position means that, in step S3, when the roller sensor 38 detects the part painted black on the end surface of the roller 16, the rotation angle of the roller 16 indicates that the roller 16 is rotated 145 degrees. Incidentally, the speed at which the roller 16 is rotated in step S4 is, for example, 10 rpm.

In step S5, the control unit 35 determines that the roller sensor 38 did not detect the first position within a predetermined time after the roller 16 was rotated in step S2, and an error occurred from the notification unit 39 to the user. let you know. For example, if the notification unit 39 is a speaker, it is possible to notify the user of the occurrence of an error by voice. It is possible to notify that an error has occurred.

In step S6, when the control unit 35 determines that the start button 6 has been pressed again, the process proceeds to step S7, otherwise the process proceeds to step S11. It should be noted that the user sets the main body 1 on the seat 34 before the user operates the buttons in step S6. For example, as shown in FIG. 13, the main body 1 is set on the seat 34 so that the front end of the main body 1 is aligned with the approximate center of the seat 34 .

In step S7, the controller 35 controls the roller motor 25 to reversely rotate the roller 16 by 185 degrees, and controls the right driving wheel motor 36 and the left driving wheel motor 37 to move the main body 1 backward. Stop and reverse in order.

More specifically, the rotation speed of the roller 16 when rotating the roller 16 backward by 180 degrees is, for example, 10 rpm. On the other hand, the two drive wheels (the right drive wheel 13 and the left drive wheel 14) repeat, for example, retreating for 0.4 seconds, stopping for 1.2 seconds, and retreating for 0.4 seconds. be.

In this way, when the roller motor 25 is rotated, the right driving wheel 13 and the left driving wheel 14 are reversed and stopped because of the torque of the roller motor 25, the right driving wheel motor 36, and the left driving wheel motor 37. This is because the sheet 34 can be smoothly wound around the roller 16 even when the rotational speeds of the roller 16 and the right driving wheel 13 and the left driving wheel 14 are different due to a difference in speed.

In this embodiment, the right driving wheel 13 and the left driving wheel 14 are repeatedly reversed, stopped, and reversed, but it is sufficient if there is a combination of reverse and stop motions, for example, reverse, stop, reverse, stop, reverse. The operation may be repeated, and the periods of retreat and stop are not limited to the above-described times, and may be changed.

In step S8, the controller 35 controls the roller motor 25 to rotate the roller 16 by 900 degrees, for example. Incidentally, the rotation speed of the roller 16 at this time is, for example, 10 rpm. At this point, the sheet 34 is wound around the roller 16 .

In step S9, if the control unit 35 determines that the start button 6 pressed in step S1 or step S6 has been pressed, the process proceeds to step S10, and if there is no pressing operation of the start button 6 for a predetermined time. terminates the process.

In step S10, the control unit 35 rotates the roller 16 by controlling the roller motor 25, and controls the right driving wheel motor 36 and the left driving wheel motor 37 to rotate the driving wheels (right driving wheel 13 and left driving wheel 13). Rotate the wheel 14). More specifically, the roller 16 is repeatedly rotated for 5 seconds and then stopped for 2 seconds. At this time, the rotation speed of the roller 16 is, for example, 13 rpm. Also, the two driving wheels (the right driving wheel 13 and the left driving wheel 14) are advanced. At this time, the traveling speed of the two drive wheels (right drive wheel 13 and left drive wheel 14) is, for example, 15 cm/sec.

In step S10, instead of simply moving the two drive wheels (right drive wheel 13 and left drive wheel 14) forward, the controller 35 activates the two drive wheel motors (right drive wheel motor 36 and left drive wheel motor 37). By controlling it, it can move forward diagonally to the right and forward diagonally to the left alternately, that is, it can travel in such a way that it leaves traces of a straight line being alternately bent. You may move as if drawing a U-shape alternately.

Thus, in step S10, the roller 16 moves intermittently, but the two drive wheels (the right drive wheel 13 and the left drive wheel 14) move continuously or alternately.

In step S10, by moving the main body 1 while water is being sprayed from the spray holes 22, the floor surface is wetted with the water sprayed from the spray holes 22, and then the sheet 34 wound around the rotating roller 16 wets the floor surface. The main body 1 is cleaned by wiping the floor surface that has been previously wetted.

In step S11, if the controller 35 determines in steps S6 and S9 that the start button 6 has not been pressed for a predetermined period of time, the controller 35 notifies the user that an error has occurred. For example, if the notification unit 39 is a speaker, it is possible to notify the user of the occurrence of an error by voice. It is possible to notify that an error has occurred.

As described above, in the first embodiment, when the user places the main body 1 on the sheet 34 and winds the sheet 34 around the roller 16, the roller 16 is reversely rotated by 185 degrees, and the main body 1 is retracted. It is made to stop and reverse in order. Therefore, even if the torques of the roller motor 25 , the right driving wheel motor 36 and the left driving wheel motor 37 are different, the sheet 34 can be smoothly wound around the roller 16 .

Further, since the sheet 34 wound around the rotating roller 16 is used for wiping, the entire sheet 34 can be used to evenly wipe off dirt.

In addition to the case where the roller motor 25, the right drive wheel motor 36 and the left drive wheel motor 37 have different torques, for example, the roller motor 25, the right drive wheel motor 36 and the left drive wheel motor 37 have different diameters. Alternatively, the sheet 34 can be smoothly wound around the roller 16 by executing this embodiment even when the motor needs to be repeatedly driven and stopped as a countermeasure against heat generation of the motor.

In addition, the operation of this embodiment can be performed not only when the sheet 34 is wound around the roller 16, but also when the main body 1 is performing the cleaning operation.
(Example 2)
Next, Embodiment 2 will be described. Since the structure, control, etc. of the autonomously traveling cleaner of Embodiment 2 are all the same as those of Embodiment 1, description thereof will be omitted. Embodiment 2 is mainly characterized by the structure of the cloth side fastener of the cloth member 31 .

FIG. 14 is a partially enlarged view of the raised portion 33 shown in FIG. A plurality of hairs 40 are formed on the surface of the raised portion 33 . The bristles 40 may be straight, curved, hooked or looped, with all or most of the bristles 40 slanted in one direction. For example, when the roller 16 is rotated to wind the sheet 34 around the roller 16 as shown in FIGS. there is

More specifically, when the sheet 34 is arranged below the roller 16 shown in FIG . 13 and the roller 16 is rotated counterclockwise in FIG. The bristles 40 are slanted toward the lower side of the roller, i.e., toward the sheet 34 side.

On the other hand, when removing the sheet 34 from the roller 16, the roller 16 is rotated clockwise in FIG . At this time, when the tongue 15 hits the sheet 34 in the direction in which the bristles 40 are inclined and the tip of the tongue 15 abuts the tip of the bristles 40, the bristles 40 are raised and the sheet 34 can be easily separated from the roller 16. ing.

Thus, since the plurality of bristles 40 of the raised portion 33 are inclined in one direction, the sheet 34 is easily attached to the roller 16 when the roller 16 is rotated clockwise or counterclockwise, and the roller The sheet 34 can be easily peeled off from 16. - 特許庁

In this embodiment, the bristles 40 of the raised portion 33 are inclined, but the roller top portion 28, the first hook-and-loop fastener 29, the second hook-and-loop fastener 30, etc. can be configured similarly.

Further, in this embodiment, the raised portion 33 is formed on a part of the cloth member 31, but the raised portion 33 may be formed on the entire cloth member 31. FIG.
(Example 3)
Next, the present Embodiment 3 will be described. Since the autonomously traveling cleaner of Example 3 is an embodiment using the autonomously traveling cleaners of Examples 1 and 2, the description of the same configuration will be omitted, and only the different parts will be described.

In Embodiment 3, the main body 1 winds the dedicated second cloth member 41 around the roller 16 and further performs an operation for moistening the entire second cloth member 41 .

More specifically, the main body 1 is advanced by driving the right drive wheel 13 and the left drive wheel 14 while the roller 16 around which the second cloth member 41 is wound is stopped. When the main body 1 is moved forward, water is sprayed onto the floor surface from the spray holes 22, and the water is wiped off by the second cloth member 41. - 特許庁After water is spouted from the spouting hole 22 a given number of times for a given time, the roller 16 is rotated by a given angle to spout water from the spouting hole 22 onto the floor surface. Wipe off. By repeating this operation, the entire second cloth member 41 wound around the roller 16 is moistened. As a result, the floor surface can be wiped clean with the wet second cloth member 41 .

FIG. 15 is a perspective view showing a state in which the second cloth member 41 is wound around the roller 16. As shown in FIG.

FIG. 16 is a flowchart for explaining the operation of the third embodiment, and FIG. 17 is a timing chart for explaining the operation of the third embodiment.

First, before implementing the third embodiment, the controller 35 controls the roller motor 25 to set the rotation start position of the roller 16 to a predetermined position. Detection of the predetermined position of the roller 16 can be realized by using the roller sensor 38 as described in the first embodiment. Alternatively, the user may rotate the roller 16 to set the rotation start position of the roller 16 to a predetermined position.

In step S31, the control unit 35 advances the main body 1 by driving the right driving wheel motor 36 and the left driving wheel motor 37, and advances the process to step S32. At this time, the roller 16 is not rotating.

In step S32, the control unit 35 controls the pump 26 to spray water onto the floor surface at a predetermined number of times and a predetermined amount of water during a predetermined period of time.

Specifically, the control unit 35 controls the pump 26 so that 0.2 m per second
1 of water is spouted from the spout 22 onto the floor. At this time, the main body 1 is moving forward at a speed of 8 cm/second (first water spraying process).

In step S33, if the controller 35 determines that water has been sprayed onto the floor a predetermined number of times (for example, 24 times), the process proceeds to step S34; otherwise, the process returns to step S32. In other words, when the operation of spouting 0.2 ml of water from the spout 22 onto the floor surface in step S32 is performed 24 times per second, the controller 35 advances the process to step S34.

In step S<b>34 , the control unit 35 controls the pump 26 to spray water onto the floor for a predetermined time, a predetermined number of times, and a predetermined amount of water. Specifically, the controller 35 controls the pump 26 to spout 0.4 ml of water from the spout 22 onto the floor every 27 seconds. At this time, the main body 1 is moving forward at a speed of 15 cm/second (second water spraying process).

In subsequent step S35, if the controller 35 determines that water has been sprayed onto the floor a predetermined number of times (for example, 11 times), the process proceeds to step S36; otherwise, the process returns to step S34. That is, when the operation of sprinkling 0.4 ml of water onto the floor in step S34 is performed 11 times every 27 seconds, the control unit 35 advances the process to step S36.

In step S36, the controller 35 rotates the roller 16 by 30 degrees by controlling the roller motor 25, and advances the process to step S37. Note that the control unit 35 counts the number of times the roller 16 is rotated by 30 degrees.

At this time, the main body 1 may be moved forward, or the main body 1 may be temporarily stopped and the rollers 16 may be rotated by 30 degrees.

In step S37, the control unit 35 controls the pump 26 to spray water onto the floor surface at a predetermined number of times and a predetermined amount of water for a predetermined period of time. Specifically, the controller 35 controls the pump 26 to spout 0.4 ml of water from the spout 22 onto the floor every 13 seconds. At this time, the main body 1 is moving forward at a speed of 15 cm/sec (third water spraying process).

In subsequent step S38, if the control unit 35 determines that water has been sprayed onto the floor a predetermined number of times (for example, 10 times), the process proceeds to step S39; otherwise, the process returns to step S37. That is, when the operation of sprinkling 0.4 ml of water onto the floor in step S38 is performed 10 times in total every 13 seconds, the control unit 35 advances the process to step S39.

In step S39, the control unit 35 controls the pump 26 to spray water onto the floor surface at a predetermined number of times and a predetermined amount of water during a predetermined period of time. Specifically, the controller 35 controls the pump 26 to spout 0.4 ml of water from the spout 22 onto the floor every 27 seconds. At this time, the main body 1 is moving forward at a speed of 15 cm/sec (fourth water jetting process).

In subsequent step S40, if the controller 35 determines that water has been sprayed onto the floor a predetermined number of times (for example, seven times), the process proceeds to step S41; otherwise, the process returns to step S39. That is, when the operation of sprinkling 0.4 ml of water onto the floor in step S39 is performed seven times in total every 13 seconds, the control unit 35 advances the process to step S41.

In step S41, if the control unit 35 determines that the number of times the roller is rotated 30 degrees counted in step S36 has reached a predetermined value (for example, 10 times), the process ends. Return processing to

As described above, in the third embodiment, the control unit 35 rotates the roller 16 by 30 degrees after performing the first water fountain process and the second water fountain process once, and performs the third water fountain process and the fourth water fountain process. water fountain process multiple times. If the first fountain process and the second fountain process are defined as the first fountain process, and the third fountain process and the fourth fountain process are defined as the second fountain process, the first fountain process , the operation of rotating the roller 16 by 30 degrees and the second water spraying process are performed a plurality of times.

In addition, in the first water fountain process, water is sprayed a plurality of times at a short time interval (every 1 second) with a water fountain volume of 0.2 ml, and in the second water fountain process, the time interval is longer than that of the first water fountain process (every 27 seconds). , water is sprayed a plurality of times with a larger amount of water (0.4 ml) than in the first water treatment. Furthermore, in the third fountain process and the fourth fountain process, water is sprayed a plurality of times with the same amount of water as the second water amount.

FIG. 17 is a timing chart showing the operation explained in the flowchart of FIG.

In FIG. 17, in the first water fountain process, water is sprayed 24 times per second with a water fountain time of 0.05 seconds and a water fountain volume of 0.2 ml. At this time, the running speed of the main body 1 is 8 cm/sec.

In the second water fountain process, water is sprayed 11 times every 27 seconds with a water fountain time of 0.1 seconds and a water volume of 0.4 ml. At this time, the running speed of the main body 1 is 15 cm/sec.

In the third water fountain process, water is sprayed 10 times every 13 seconds with a water fountain time of 0.1 seconds and a water volume of 0.4 ml. At this time, the running speed of the main body 1 is 15 cm/sec.

In the fourth water fountain process, the water is sprayed seven times every 27 seconds with a water fountain time of 0.1 seconds and an amount of water of 0.4 ml. At this time, the running speed of the main body 1 is 15 cm/sec.

The roller 16 rotates 30 degrees after finishing the first water fountain treatment and the second water fountain treatment. After that, the third water fountain treatment and the fourth water fountain treatment are performed ten times, and the roller 16 rotates 330 degrees. The roller 16 rotates 360 degrees in one round, but in the third embodiment it rotates only up to 330 degrees. This is because there is no need to spray water in the areas where the roller tops 28 of the rollers 16 are.

Regarding Example 3, it is also possible to carry out as follows.

In the third embodiment, the operation until the roller 16 makes approximately one rotation has been described, but this operation may be repeated several times.

In the third embodiment, the second cloth member 41 is wound around the roller 16, but a sheet-like member may be wound around the roller 16, or a sheet-like member may be wound around the second cloth member 41. You can wear it.

In the third embodiment, the water is sprayed onto the floor surface, but the water may be sprayed onto the roller 16. With such a structure, the second cloth member 41 wound around the roller 16 can be moistened. .

The amount of water to be sprayed, the number of times of water to be sprayed, and the time of water to be sprayed in Example 3 are values considered to be optimal for moistening the second cloth member 41, but it is also possible to change these values.

INDUSTRIAL APPLICABILITY The autonomously traveling vacuum cleaner and the water spraying method of the present invention can be widely used in household electric vacuum cleaners, commercial autonomous traveling cleaners used in offices, factories, and the like.

1 Main body 2 Bumper 3 Tank 4 Operation unit 5 Power button 6 Start button 7 Seat removal button 8 Dry button 9 Wet button 10 Front sensor 11 Side sensor 12 Battery 13 Right driving wheel 14 Left driving wheel 15 Tongue 16 Roller 17 Floor sensor 18 Roller mounting portion 19 Roller support member 20 Roller lid 21 Roller lateral opening 22 Spout hole 23 Base 24 Cover 25 Roller motor 26 Pump 27 Circuit board 28 Roller top 29 First hook-and-loop fastener 30 Second hook-and-loop fastener 31 Cloth member 32 Hole Part 33 Raised part 34 Seat 35 Control part 36 Right drive wheel motor 37 Left drive wheel motor 38 Roller sensor 39 Notification part 40 Hair 41 Second cloth member 42 Storage part

Claims (7)

a main body, driving wheels and rollers arranged on the bottom surface of the main body;
a fountain for spraying water onto the floor surface or the roller;
a pump for spouting water from the spout;
a driving wheel motor for driving the driving wheel, a roller motor for rotating the roller, and a control unit,
A cloth or sheet for cleaning the floor surface can be attached to the roller,
The control unit performs a water fountain process. The water fountain process drives the driving wheel motor to advance the main body while the rollers are stopped, and controls the pump while the main body is moving forward to discharge water from the water fountain. Autonomous vacuum cleaner, including spraying process. When water is spouted from the spray hole a predetermined number of times, the control unit controls the roller motor to rotate the roller at a predetermined angle, and then the pump so that water is spouted from the spray hole a predetermined number of times. The autonomous traveling cleaner according to claim 1, which controls the The water fountain process includes a first water fountain process and a second water fountain process with different numbers of water fountains,
3. The method according to claim 1, wherein after executing the first water spraying step, the control unit controls the roller motor to rotate the roller by a predetermined angle and performs the second water spraying step a plurality of times. The described autonomously traveling vacuum cleaner. The first fountain process includes a first fountain treatment and a second fountain treatment,
The second fountain process includes a third fountain treatment and a fourth fountain treatment,
After finishing the first water fountain process and the second water fountain process, the control unit controls the roller motor to rotate the roller by a predetermined angle, the third water fountain process, and the fourth water fountain process. 4. The autonomous traveling cleaner according to claim 3, wherein the water fountain process is executed multiple times. 5. The autonomously traveling cleaner according to claim 4, wherein the number of times the water is sprayed in the first water supply process is different from the number of times water is sprayed in the second to fourth water supply processes. 6. The autonomy according to claim 4 or 5, wherein the amount of water spray from one nozzle hole in the first water fountain process is different from the amount of water spray from one nozzle hole in the second to fourth water fountain processes. traveling vacuum cleaner. The amount of water sprayed from each of the second to fourth nozzle holes is the same,
7. The method according to claim 6, wherein the amount of water sprayed from one nozzle hole in each of the second to fourth water fountain processes is larger than the amount of water sprayed from one water hole in the first water fountain process. autonomous running vacuum cleaner.

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