JPH08256960A - Working device - Google Patents

Abstract

PURPOSE: To provide a floor cleaner capable of always performing the optimum coating of solution and preventing a floor after work from being stained by a wheel. CONSTITUTION: This cleaner is provided with forward movement measuring wheels 3a, 3b in front of a working part 7 which performs the work, and backward movement measuring wheels 5a, 5b at the rear side of the working part 7. The measuring wheels 3a, 3b, 5a and 5b measure the advancing speed of a device, and a liquid agent is dropped from liquid agent drop nozzles 11a-11d at a speed bused on a measured advancing speed, and nonwoven cloth rotary plates 9a-9b are rotated at a speed based on the measured advancing speed, and the liquid agent is applied. Such control is performed that the forward movement measuring wheels 3a, 3b come into contact with a floor and the backward movement measuring wheels 5a, 5b are separated from the floor when the device moves forward, and also, the backward movement measuring wheels 5a, 5b come into contact with the floor and the forward movement measuring wheels 3a, 3b are separated from the floor when the device is moved backward. In this way, the floor on which the work is performed is prevented from being stained by the measuring wheels.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work device for performing work on a target surface, and more particularly to a work device for performing work such as cleaning on a floor surface.

[0002]

2. Description of the Related Art Heretofore, there has been known a floor cleaning device for cleaning the floor of hospitals, offices, schools, factories, etc., and applying a floor disinfectant solution. A conventional floor cleaning device has a tank for containing a solution, is a device for dropping the solution from the tank by an operator's manual operation, and applies the dropped solution to the floor surface with a rotating sponge or brush.

[0003]

However, in the conventional floor surface cleaning device, since the wheels of the device pass through the floor surface after cleaning, the surface after cleaning by the wheels is contaminated. was there.

Furthermore, in the conventional floor cleaning device,
There was a problem that the floor surface could not be cleaned well depending on how the device was used.

Therefore, the present invention solves the above problems,
An object of the present invention is to provide a working device in which a target surface after performing work is not contaminated by wheels.

Another object of the present invention is to provide a working device in which anyone can apply an appropriate liquid agent to a floor surface.

Still another object of the present invention is to provide an autonomous vehicle equipped with a working device capable of appropriately applying a liquid agent to a floor surface.

[0008]

A working apparatus according to a first aspect of the present invention is a working apparatus having a working unit for working on a target surface, the working unit being provided at each of a front portion and a rear portion of the working portion. A first state in which the wheel and the wheel provided at the front of the working unit are in contact with the target surface and the wheel provided at the rear of the working unit is separated from the target surface, and the wheel provided at the rear of the working unit And a wheel switching means for switching the position of the wheel so that two states, namely, a second state in which the wheel is grounded on the target surface and the wheel provided in the front part of the working unit is separated from the target surface can be taken. Is.

According to a second aspect of the present invention, there is provided a working device for applying a liquid agent to the floor surface while moving on the floor surface. The working device is in contact with the floor surface and rotates about a rotary shaft extending in a direction intersecting with the floor surface. A rotating body having a shape having a defect portion with respect to a coating area circle formed by the rotation, a liquid agent supply means controlled so as to drop the liquid agent directly onto the floor surface without dropping on the rotating body, and a working device. Moving speed detecting means for detecting the moving speed of the rotating body with respect to the floor surface, and the rotation speed of the rotating body or the movement of the working device such that the value obtained by dividing the rotating speed of the rotating body by the moving speed of the working device falls within a predetermined range. Control means for controlling the speed. The predetermined range is equal to or more than a limit value that does not leave unpainted on the liquid application surface on the floor surface, and the amount of the liquid agent dripped with respect to the movement distance of the working device does not exceed the limit of the liquid agent supply capacity of the liquid agent supply means. It is below such a limit value.

In the working apparatus according to a third aspect, a plurality of rotating bodies in the working apparatus according to the second aspect are provided adjacent to each other, and the coating area circles of the plurality of adjacent rotating bodies partially overlap each other. It rotates with a phase difference.

According to a fourth aspect of the present invention, there is provided the work device according to the second aspect, wherein the determining means determines whether or not work is being performed within a predetermined range, and the determining means is within the predetermined range. Warning means for issuing a warning when it is determined that the value is not being worked.

A working apparatus according to a fifth aspect is the working apparatus according to the second aspect, further including traveling means for causing the working apparatus to travel by itself, the moving speed detecting means detecting a moving speed of the traveling means, and the control means. The number of rotations of the rotating body is controlled based on the detected moving speed.

A working apparatus according to a sixth aspect is the working apparatus according to the second aspect, further including traveling means for causing the working apparatus to travel by itself, the moving speed detecting means detecting a moving speed of the traveling means, and the control means. The moving speed is controlled so as to satisfy the value in the predetermined range in a state where the rotating body is rotated at a predetermined rotation speed.

According to a seventh aspect of the present invention, there is provided a working apparatus for applying a liquid agent to the floor surface while moving the floor surface,
A rotating body that abuts on the floor surface and applies a liquid agent while rotating about a rotation axis extending in a direction intersecting with the floor surface, a moving speed detecting means for detecting a moving speed of the working device with respect to the floor surface, and a measurement of the moving speed. And a control unit that controls the rotation speed of the rotating body according to the value.

[0015]

In the working apparatus according to the first aspect, the wheels provided at the front of the working unit are in contact with the target surface and the wheels provided at the rear of the working unit are in a first state in which the wheels are separated from the target surface. , The position of the wheel is such that the wheel provided at the rear of the working unit is in contact with the target surface and the wheel provided at the front of the working unit is in the second state where the wheel is separated from the target surface. Can be switched.

In the working apparatus according to the second aspect of the present invention, the working device is rotated about an axis of rotation which is in contact with the floor surface and extends in a direction intersecting with the floor surface, and has a defective portion with respect to a coating area circle formed by the rotation. The value obtained by dividing the number of rotations of the shaped rotating body by the moving speed of the working device is equal to or greater than the limit value that does not leave unpainted on the liquid agent application surface on the floor surface, and the liquid agent is dropped with respect to the moving distance of the working device. The amount is controlled to an appropriate value below the limit value that does not exceed the limit of the liquid supply capability of the liquid supply means.

In the working device according to claim 3, the working device according to claim 2 has a plurality of rotating bodies, and the phase difference between the plurality of adjacent rotating bodies is such that the coating area circles partially overlap each other. Is rotated.

In the working device according to claim 4, it is judged whether or not the working device according to claim 2 is working with a value within a predetermined range, and the work with a value within the predetermined range is performed. If not done, a warning is issued.

In the working apparatus according to a fifth aspect, the working apparatus according to the second aspect is self-propelled, its moving speed is detected, and the number of rotations of the rotating body is controlled based on the moving speed.

In the working device according to claim 6, the working device according to claim 2 is self-propelled, its moving speed is detected, and a value within a predetermined range is set in a state in which the rotating body is rotated at a predetermined rotation speed. Control the moving speed to meet.

In the working apparatus according to the seventh aspect, the moving speed of the working apparatus with respect to the floor surface is detected, and the rotational speed of the rotating body is controlled according to the moving speed.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a conceptual diagram for explaining the operation of a floor cleaning device in a first embodiment of the present invention.

Referring to the drawing, the floor cleaning device comprises a working section 7 for working on the floor surface, and a forward measuring wheel 3a provided on the forward side (front part) of the apparatus with respect to the working section 7. , 3b
And the reverse measurement wheels 5a and 5b provided on the backward side (rear part) of the device with respect to the working unit 7.

The working unit 7 includes liquid agent dropping nozzles 11a to 11d for dropping the liquid agent onto the floor surface, and nonwoven fabric rotary plates 9a to 9d for applying the dropped liquid agent onto the floor surface.

By rotating the nonwoven fabric rotary plates 9a to 9d by a rotary shaft extending in a direction orthogonal to the floor surface, the liquid agent dripped by the liquid agent dropping nozzles 11a to 11d is applied to the floor surface to clean the floor surface. Be done.

As the liquid agent to be dropped, a chemical cleaning liquid, a disinfecting liquid, an abrasive containing polishing powder, a liquid wax, or simple water can be used. As a result, by using the floor cleaning device, the types of floor cleaning can be performed such as wiping dirt, applying disinfectant, polishing the floor, and waxing. In addition, it is possible to dry wipe by cutting off the supply of the liquid agent.

The front and rear measuring wheels 3a, 3b, 5a, 5b detect the traveling speed of the device. The nonwoven fabric rotary plates 9a to 9d are rotated and the liquid agent is supplied at a speed based on the detected traveling speed.

When the device moves forward, the forward measuring wheel 3a,
3b is in contact with the floor surface, and the reverse measurement wheels 5a and 5b are controlled to be separated from the floor surface.

On the other hand, when the device is moving backward, the reverse measuring wheel 5
The a and 5b are in contact with the floor surface, and the forward measurement wheels 3a and 3b are controlled to be separated from the floor surface.

As a result, the wheels do not pass over the floor surface after cleaning, so that the operator can perform the work without soiling the cleaned floor surface by the wheels.

This device is mainly used in hospitals, offices, schools, such as those using mops and self-propelled cleaning vehicles.
Used for floor cleaning in factories. By using this device, it is possible to perform cleaning work evenly and evenly in every corner of the floor, which is not possible with the conventional device, by the operation feeling of mopping.

FIG. 2 is a block diagram showing the construction of the floor cleaning device according to the first embodiment of the present invention.

Referring to the figure, the floor cleaning device is a control unit 13 for controlling the entire device, and a measurement wheel encoder 29 which is interlocked with the forward and reverse measurement wheels to measure the rotation speed of the measurement wheel.
A rotary motor 27 of a rotating body that rotates the nonwoven fabric rotating plate (rotating body) at a speed based on the rotating speed of the measurement wheel encoder 29; a rotary body encoder 25 that measures the rotating speed of the nonwoven fabric rotating plate; A drip timing pulse disk 23 that rotates with the rotation of the rotary plate, a liquid agent supply pump 21 that drips the liquid agent on the floor surface through a liquid agent nozzle, a liquid agent dropping amount adjustment volume 19 that adjusts the liquid agent dropping amount, and a battery 103. And a power switch 105.

The control unit 13 includes a dropping pulse control unit 17 for issuing a pulse, which is a timing for dropping the liquid agent, to the liquid agent supply pump 21 based on signals from the dropping timing pulse disk 23 and the liquid agent dropping amount adjusting volume 19, and a measuring wheel encoder. 29 and a rotary body rotation drive control unit 15 that controls a rotary motor 27 of the rotary body based on signals from the rotary body encoder 25.

Specifically, the rotary drive control unit 15 controls the rotary motor 27 of the rotary body so that the rotational speed of the nonwoven fabric rotary plate changes in proportion to the rotational speed of the measuring wheel. As a result, the higher the moving speed of the floor cleaning device is, the higher the rotating speed of the nonwoven fabric rotating plate is. Therefore, even if the moving speed of the floor cleaning device is changed, the operator can always perform cleaning under the same conditions. The relationship between the number of rotations of the rotating body and the moving speed of the floor cleaning device will be described later.

The battery 103 supplies a current to the control unit 13 via the power switch 105. FIG. 3 shows the first of the present invention.
FIG. 4 is a perspective view for explaining a mechanism for rotating the non-woven fabric rotary plate of the floor cleaning device in the embodiment of FIG. 4, and FIG. 4 is a plan view showing a mechanism for rotating each of the non-woven fabric rotary plates of FIG.

Referring to the drawing, the nonwoven fabric rotary plate drive motor 53
The force generated by the rotation of the non-woven fabric rotating plates 9a-9d is transmitted to the non-woven fabric rotating plates 9a-9d through the drive pulley 55 and the rotary plate (both teeth) timing belt 43.
Each of d rotates in the direction shown by the arrow in FIG. 4 while overlapping the cleaning range. Nonwoven rotating plate 9a-9d
The pulse disk 39 and the rotary encoder 45 also rotate with each rotation of the. The photo interrupter 41 emits a pulse current by detecting the defective portion 61 of the pulse disk. The liquid agent in the liquid agent tank 33 fixed to the tank holder 35 is dropped from the liquid agent dropping nozzles 11a to 11d to the floor surface by the liquid agent dropping pump in the control device 37 according to the pulse current. As a result, the nonwoven fabric rotating plates 9a to 9d
Is in an appropriate position (position where the liquid agent is directly dropped on the floor surface without hitting the nonwoven fabric rotary plates 9a to 9d), the liquid agent is dropped.

An idle pulley 57 is provided to apply an appropriate tension to the rotary plate timing belt 43.

A non-woven fabric 51 is attached to each of the non-woven fabric rotary plates 9a to 9d by a non-woven fabric holding clip 49.

The cover 59 covers the non-woven fabric rotating plates 9a to 9d and other non-woven fabric rotating mechanisms. An operator operates the floor surface cleaning device with a grip grip 31 including operation switches.

FIG. 5 is a side view showing a state in which the floor surface cleaning device in the first embodiment is moving backward, and FIG. 6 shows a state in which the floor surface cleaning device in the first embodiment is moving forward. It is a side view.

Referring to FIG. 5, a nonwoven fabric 51 is fixed by a nonwoven fabric holding clip 49 to the nonwoven fabric rotating plate 9 of the floor cleaning device. The nonwoven fabric rotary plate 9 is engaged with the floor cleaning device body by the nonwoven fabric rotary plate attachment / detachment positioning pin 69 and the rotary plate holding magnet 63. The leaf spring 65 urges the non-woven fabric rotary plate 9 with a force that follows the floor surface. As a result, the non-woven fabric 51 fixed to the non-woven fabric rotating plate 9 rotates following the floor surface.

The forward measurement wheel 3, the reverse measurement wheel 5, and the measurement wheel encoder 29 are engaged with the rocking plate 87. The swing plate 87 is engaged with the handle 131 by the pin 135. The swing plate 87 rotates about the swing rotation center 67 as an axis. Therefore, as shown in FIG. 5, the operator pulls the handle 131 in the direction of the arrow in order to move the floor cleaning device backward, so that the swing plate 8 is moved.
7 rotates clockwise from the neutral state by an angle θ ₁ . As a result, the forward measurement wheel 3 leaves the floor, and the reverse measurement wheel 5 contacts the floor. The reverse measurement wheel 5 rotates as the device moves backward due to friction with the floor. The rotation of the reverse measurement wheel 5 is
It is transmitted to the measurement wheel encoder 29 by the speed measurement timing belt 71 wound around the forward measurement wheel 3, the reverse measurement wheel and the measurement wheel encoder 29.

On the other hand, as shown in FIG. 6, when the operator pushes the handle 131 in the direction of the arrow to move the floor cleaning device forward, the swing plate 87 moves counterclockwise from the neutral state by the angle θ _2. Rotate. As a result, the forward measurement wheel 3 contacts the floor, the reverse measurement wheel 5 moves away from the floor, and the rotation of the forward measurement wheel 3 is transmitted to the measurement wheel encoder 29.

FIG. 7 is a block diagram showing the construction of the floor surface cleaning device according to the second embodiment of the present invention.

The floor cleaning apparatus in this embodiment is characterized in that the forward / backward movement of the apparatus is detected by a switch and the front and rear measuring wheels are switched by a measuring wheel switching motor.

Referring to FIG. 7, the floor surface cleaning apparatus in the second embodiment detects the forward / backward movement of the apparatus in addition to the apparatus configuration of the floor surface cleaning apparatus in the first embodiment shown in FIG. And automatic forward / reverse changeover switch 7 for switching the measuring wheel
9 and a measuring wheel switching motor 81 for switching the measuring wheels
And a measurement wheel switching switch 82 for detecting the end of switching of the measurement wheels, and the control unit 13 further includes a measurement wheel switching control unit 77.

The measuring wheel changeover detection switch 82 includes a forward movement side changeover detection switch 101 and a reverse movement side changeover detection switch 99.

FIG. 8 is a plan view showing the measuring wheel switching mechanism of the floor surface cleaning device in the second embodiment, and FIG. 9 illustrates the state in which the floor surface cleaning device in the second embodiment is moving forward. FIG. 10 is a side view for explaining a state in which the floor surface cleaning device in the second embodiment is moving backward.

Referring to the drawings, the nonwoven fabric rotating plate 9 (9a-9
Since the mechanism for rotating d) is the same as that of the first embodiment, the description thereof will not be repeated here.

The forward traveling measuring wheels 3 (3a, 3b) and the backward traveling measuring wheels 5 (5a, 5b) are engaged with the swing plate 87 (87a, 87b). The rotations of both measurement wheels 3 and 5 are transmitted to the measurement wheel encoder 29 by a speed measurement timing belt 71 that is wound around the forward measurement wheel 3, the reverse measurement wheel 5 and the measurement wheel encoder 29.

The handle 131 is engaged with the guide hole 93 by a slide pin 91 fixed to the handle. As shown in FIG. 9, the guide hole 93 has a long hole shape that extends back and forth so that the slide pin 91 can move therein. The slide pin 91 moves back and forth in the guide hole 93 when the operator applies a force to the handle back and forth.

When the slide pin 91 moves forward in the guide hole 93, the handle 131 and the forward automatic changeover switch 83 come into contact with each other. Further, when the slide pin 91 moves rearward in the guide hole 93, a part of the handle 131 comes into contact with the reverse automatic changeover switch 85. As a result, forward / backward movement of the device is detected.

The forward / reverse automatic changeover switches 83, 85 correspond to the forward / reverse automatic changeover switch 79 in the block diagram of FIG.

The switching of the measuring wheels is performed by transmitting the force from the measuring wheel switching motor 81 to the oscillating plates 87a and 87b via the measuring wheel switching gear 95 which is locked to the oscillating plates 87a and 87b. .

Referring to FIG. 9, when the apparatus moves forward, a forward force is applied to the handle 131 by the operator.
The slide pin 91 that engages with the handle 131 moves forward in the guide hole 93. As a result, the forward automatic changeover switch 83 is turned on. In response to this, the measurement wheel switching control unit 77 of FIG. 7 controls the measurement wheel switching motor 81 so that the swing plate 87 tilts forward.

At this time, when the forward side changeover detection switch 101 detects contact with the measuring wheel switching gear 95, the measuring wheel switching motor 81 is controlled to stop.

As a result, when the device is moving forward, the forward measuring wheel 3
Touches the floor, and the reverse measurement wheel 5 moves away from the floor.

Referring to FIG. 10, since the operator applies a backward force to the handle 131 when the device moves backward, the handle 1
The slide pin 91 engaging with 31 moves rearward in the guide hole 93. As a result, the reverse automatic changeover switch 85
Is turned on, and the measurement wheel switching motor 81 is driven until the measurement wheel switching gear 95 comes into contact with the reverse side switching detection switch 99. As a result, the forward measurement wheel 3
Moves away from the floor, and the reverse measurement wheel 5 contacts the floor.

FIG. 11 is a block diagram showing the construction of the floor surface cleaning device according to the third embodiment of the present invention.

The floor cleaning apparatus in this embodiment is characterized in that the measuring wheels are switched by the manual operation of the operator. That is, in the second embodiment shown in FIG. 7, the measurement wheels are switched by the forward / backward automatic changeover switch 79, but in the present embodiment, the forward / backward automatic changeover switch 79 in FIG.
Instead of the above, a forward / rearward travel manual changeover switch 119 is provided as shown in FIG. In addition, forward / reverse manual selector switch 1
19 also has the function of a power switch.

As shown in FIG. 12, the forward / backward manual change-over switch 119 is provided on the grip 31 together with the liquid drop amount adjusting volume 19. As a result, in this embodiment, the front and rear measuring wheels are switched by the operator.

The second mechanism is a mechanism for switching the measuring wheels by a motor.
Since it is the same as the embodiment described above, the description will not be repeated here.

FIG. 13 is a block diagram showing the construction of the floor cleaning device in the fourth embodiment of the present invention.

Referring to FIG. 13, the floor surface cleaning apparatus in this embodiment does not include the forward / reverse automatic changeover switch 79 as compared with the floor surface cleaning apparatus shown in FIG. Further, the floor cleaning apparatus in this embodiment includes the control unit 13 with a rotation direction determination unit 121 for the measurement wheel that determines the rotation direction of the measurement wheel.

The rotating direction discriminating unit 121 of the measuring wheel discriminates the rotating direction of the measuring wheel based on the signal from the measuring wheel encoder 29. Since the rotation direction of the measuring wheel is based on the forward / backward movement of the device, the forward / backward movement of the device is determined by this, and the rotation direction determination unit 121 of the measuring wheel notifies the measuring wheel switching control unit 77 of a signal for switching the measuring wheel. Is sent to switch the measuring wheels.

Although the measuring wheels are switched by the measuring wheel switching motor 81, this switching mechanism is the same as that of the second embodiment, and the description thereof will not be repeated here.

FIG. 14 is a block diagram showing the construction of the floor cleaning device in the fifth embodiment of the present invention.

Referring to the drawing, the floor cleaning apparatus in the present embodiment has the configuration of the floor cleaning apparatus of FIG. 7, a traveling motor 107 for traveling the apparatus, and a traveling speed for adjusting the traveling speed. The controller 13 further includes a travel speed adjusting volume 115, and the controller 13 further includes a travel controller 117 that controls the travel motor 107.

In the floor cleaning apparatus of this embodiment, the traveling motor 107 reduces the labor load of the cleaning work.

FIG. 15 is a plan view showing the measuring wheel switching mechanism of the floor cleaning device in the fifth embodiment.

Referring to the drawing, the floor surface cleaning apparatus in the present embodiment, in addition to the mechanism of the second embodiment shown in FIG. 8, includes a traveling motor 107 for traveling the apparatus and a traveling motor 107. Further provided is a traveling drive timing belt 109 for transmitting force.

Further, as wheels, there are provided forward measuring wheels / forward traveling wheels 111a, 111b for measuring and traveling, and backward measuring wheels / reverse traveling wheels 113a, 113b.

In the figure, the slide pin 91 moves in the guide hole 93, whereby the forward automatic changeover switch 83
The fact that the reverse automatic changeover switch 85 operates is the same as in the second embodiment.

Referring to FIG. 14, automatic forward / reverse switching (detection)
The measuring wheel switching control unit 77 drives the measuring wheel switching motor 81 by a signal from the switch 79. The timing of ending the switching of the measuring wheels is detected by the measuring wheel switch detection switch 82. The detection signal of the measurement wheel switching detection switch 82 is sent to the measurement wheel switching control unit 77 to stop the driving of the measurement wheel switching motor 81. Further, the traveling control unit 117 controls the traveling motor 107 by determining whether the device is moving forward or backward based on the signal from the measurement wheel changeover detection switch 82. Further, the speed of the travel motor 107 is controlled by the travel speed adjusting volume 115 via the travel control unit 117.

The power switch 105, the traveling speed adjusting volume 115 and the liquid dropping amount adjusting volume 19 are arranged on the grip grip 31 as shown in FIG.

FIG. 17 is a block diagram showing the construction of the floor cleaning device in the sixth embodiment of the present invention.

Referring to the figure, the floor cleaning apparatus in this embodiment has a forward / backward manual changeover switch 119 instead of the forward / backward automatic changeover switch 79 of the floorside cleaning apparatus in the fifth embodiment shown in FIG. It is characterized by having. As shown in FIG. 18, the forward / backward manual change-over switch 119 is provided on the grip grip 31 with the traveling speed adjusting volume 115.
And the liquid agent dropping amount adjusting volume 19.
Based on the operation of the forward / reverse switching switch 119 by the operator,
The traveling direction of the device is switched by the measuring wheel and the traveling motor 107.

As shown in FIG. 18, the forward / reverse selector switch 119 has the function of "stop" in addition to "forward" and "reverse".
Have a position of. When the operator selects this "stop" position, the traveling control unit 117 stops the traveling motor 107 in response to the signal. At the same time, the measuring wheel switching control unit 77 controls the measuring wheel switching motor 81 so that both the forward measuring wheel and the backward measuring wheel are separated from the floor. In this state, the measurement wheels are both separated from the floor, and only the nonwoven fabric rotating plate (rotating body) rotates with the traveling motor 107 stopped, and the liquid agent is supplied. Therefore, the operator performs the same mopping work as in the conventional case. Cleaning work can be performed by moving the device back and forth and left and right with the capacity. To stop the nonwoven fabric rotating plate, the operator may turn off the power with the power switch 105.

FIG. 19 is a block diagram showing the construction of the floor surface cleaning device according to the seventh embodiment of the present invention.

Referring to the drawing, the floor surface cleaning apparatus in this embodiment does not include the forward / backward automatic changeover switch 79 as compared with the floor surface cleaning apparatus in the fifth embodiment shown in FIG.

The traveling control unit 117 measures the load of the traveling motor 107. If the load on the traveling motor 107 is greater than or equal to a predetermined value, it indicates that the operator has applied a force in a direction opposite to the traveling direction of the apparatus. Therefore, the traveling control unit 117 sets the measuring wheel switching control unit 77 to the measuring wheel. Send a signal to switch. As a result, the measuring wheels are switched.

FIG. 20 is a block diagram showing the construction of the floor cleaning device in the eighth embodiment of the present invention.

Referring to the figure, the floor surface cleaning device in this embodiment is different from the floor surface cleaning device shown in FIG. A traveling wheel encoder 127 for detecting is provided. Further, the control unit 13 includes a rotation speed difference calculation unit 129 between the measurement wheel and the traveling wheel, which calculates a rotation speed difference between the measurement wheel and the traveling wheel.

FIG. 21 is a plan view showing the measuring wheel switching mechanism of the floor cleaning device in the eighth embodiment.

Referring to the drawings, the floor surface cleaning apparatus in this embodiment is composed of nonwoven fabric rotating plates 9a to 9d, forward running wheels 123a and 123b which come into contact with the floor surface when moving forward, and backward running wheels 125a which come into contact with the floor surface when moving backward. 125b, a traveling motor 107 for driving the front and rear traveling wheels via a traveling drive timing belt 109, and a traveling wheel speed measurement timing belt 13
Front and rear running wheels 123a, 123b, 125
traveling wheel encoder 127 for detecting rotation of a and 125b
And the forward measurement wheel 3 that comes into contact with the floor while the device is moving forward and rotates independently of the front and rear running wheels, and comes into contact with the floor while the device is moving backward.
The reverse measurement wheel 5 that rotates independently of the front and rear traveling wheels, the measurement wheel encoder 29 that measures the rotation of the front and rear measuring wheels via the speed measurement timing belt 71, and the front and rear traveling wheels 1
23a, 123b, 125a, 125b and rocking plates 87a, 87b for engaging the front and rear measuring wheels 3, 5, etc., and a measuring wheel switching motor 81 for driving the rocking plates via the measuring wheel switching gear 95. .

The traveling wheel encoder 127 is the traveling motor 10
7, the measurement wheel encoder 29 rotates based on the change in the positions of the apparatus and the floor. While the device is traveling normally, the rotation of the traveling wheel encoder 127 and the rotation speed of the measuring wheel encoder 29 are substantially the same, but when the operator applies a force in a direction opposite to the traveling direction of the device. A deviation occurs between the rotation speed of the traveling wheel encoder 127 and the rotation speed of the measurement wheel encoder 29. As a result, the rotational speed difference calculation unit 129 between the measured wheel and the running wheel in FIG. 20 calculates the difference between the rotational speed of the running wheel encoder 127 and the rotational speed of the measured wheel encoder 29. If the difference is larger than a predetermined value, the traveling direction is It is judged that the change has occurred, and a signal for switching the running direction and the measuring wheel is sent to the measuring wheel switching control unit
Send to 7. As a result, the traveling direction and the measuring wheel are switched.

Next, the number of rotations of the nonwoven fabric rotating body is set to N (rpm).
And the moving speed V (mm / s) of the cleaning device will be described. FIG. 22 is a diagram showing a result of an experiment conducted to know the optimum range of the rotation speed N and the moving speed of the nonwoven fabric rotating body. With reference to FIG. 22, ⊚, ○, Δ and × indicate that the cleaning results are excellent, good, good and bad, respectively. From the figure, it can be seen that the optimum cleaning result is obtained when the rotation speed N and the moving speed V are equal, and there is a problem when either one is too large or too small with respect to the other. The result of quantifying this state is shown in FIG.

Referring to FIG. 23, [nonwoven fabric rotation speed N] =
Predetermined application of the liquid agent is possible within a certain range from the line of [moving speed V], but when the moving speed V is faster than the rotation speed N, unpainted residue occurs (N ≦ 0.5 V, below. Call Case A).

On the other hand, if the rotation speed N is too high with respect to the moving speed V, the liquid agent dropping time per one rotation of the nonwoven fabric rotating body becomes short, exceeding the liquid agent dropping ability of the liquid agent supply pump, and a predetermined coating thickness cannot be obtained. Or, only the front end of the non-woven fabric is contaminated and the cleaning ability is reduced (N ≧ 1.455 V, hereinafter referred to as case C). On the other hand, 0.5V ≦ N <1.45
The range of 5 V is called Case B, and a particularly suitable range of Case B is called Case D. Here, in case D, N = (1
Within the range of ± 0.1) V.

Next, the coating state of each case will be described. (A) Case A FIG. 24 is a diagram showing a coating state with one non-woven fabric rotating body in case A. With reference to FIG. 24, application is performed by rotating one nonwoven fabric rotating body 151 in the direction of arrow a while moving the device in the direction of arrow b in the figure.
It is a figure which shows the locus | trajectory of 51. In the figure, the shaded area indicates the area coated on only one side 151a of the nonwoven fabric rotating body 151, and the dotted line area indicates the other side 151 of the nonwoven fabric rotating body 151.
The area | region applied only with b is shown, and the cross-hatching part shows the area | region applied with both parts 151a and 151b of the nonwoven fabric rotary body 151.

FIG. 25 is a diagram showing a region surrounded by A in FIG. FIG. 25 is a diagram showing a state on which floor surface the liquid agent dropped from the liquid agent dropping nozzle 153 is extended by the nonwoven fabric rotating body 151. Figure 25
Referring to (A), each numeral in the figure is a number for displaying what kind of nonwoven fabric rotating body 151 rotates when the device is moved in the direction of arrow b, Each numerical position indicates the center position of the nonwoven fabric rotating body 151 at that time. On the other hand, a region 153 is a diagram showing a dropping range of the liquid agent dropping nozzle 11, and each number in the figure corresponds to a number showing a rotational position of the nonwoven fabric rotating body 151. That is, 1 corresponds to the liquid drop start position, and 7 corresponds to the end of drop.

To facilitate understanding of the drawing, FIG. 25 (B) shows the relationship between the position of the non-woven fabric rotating body 151 and the position of the liquid agent dropping nozzle 154 at the start of dropping the liquid agent shown in FIG. As shown in the figure, at the start of the dropping of the liquid agent, the liquid agent dropping nozzle is present on the left side of the rotation center of the nonwoven fabric rotating body 5, and the dropped liquid agent is applied to the floor surface by the other side 151b of the nonwoven fabric rotating body 151.

Returning to FIG. 24 again, in this case, as shown by S in the figure, a gap which is not applied is formed on the floor surface, and an unpainted portion is generated. This example is 110mm long
It is a figure which shows the state which applied the floor surface on condition of the following using the non-woven fabric rotation body 151 of this.

Nonwoven fabric rotation speed: N (rpm) = N / 60 (rps) Time per rotation: T (s) = 60 / N (s) Movement amount per rotation: L (mm) Movement speed: V (Mm / s) = L / T (mm / s) = LN
/ 60 (mm / s) In this example, the 165 mm device moves while the nonwoven fabric rotating body 151 makes one rotation.

The limit value of Case A is where S (gap) in FIG. 24 disappears, and is a limit value at which no unpainted portion is left on the floor surface.

(B) Case B Next, Case B will be described with reference to FIG. Also in this case, the moving direction of the apparatus and the rotating direction of the nonwoven fabric rotating body 151 are the same as in the case A. In case B, the area coated with the liquid agent on one side 151a of the nonwoven fabric rotating body 151 and the area coated on the other side 151b always overlap so that the gap s as in case A does not occur.

In case B, the non-woven fabric rotating body 151
During one rotation of the above, half of the case A is moved by 82.5 mm. In such a state, as shown in the figure, the unwiped length d in the direction intersecting the advancing direction b of the apparatus in the overlapping region is about 7 mm. In practice, since the non-woven fabric rotating bodies 151 are provided adjacent to each other, if the adjacent non-woven fabric rotating bodies 151b are provided so as to interfere with a value that covers the unwiping dimension d, for example, 10 mm, no unwiping occurs.

(C) Case C Next, case C will be described. FIG. 27 is a diagram showing an example of case C. Also in FIG. 27, the moving direction b of the device
And the rotating direction a of the nonwoven fabric rotating body 151, the liquid agent application region 15
3 is the same as the previous case.

In case C, the non-woven fabric rotating body 151
The device has moved 41.25 mm during one revolution of the.
When such a coating is applied, the coating can be performed neatly without leaving any uncoated portion, but since only the tip of the nonwoven fabric rotating body 151 comes into contact with a new portion, only that portion becomes dirty and the cleaning efficiency is improved. Is reduced. Further, as is clear from the figure, since the liquid agent dropping area becomes extremely narrow, it is necessary to stop the dropping immediately after the liquid agent is dropped. In a pump for dropping a liquid agent, it is difficult to stop the discharge immediately after discharging the liquid agent because the rotor of the pump has inertial force. Therefore, it is difficult to make the liquid agent dropping region 153 narrower than this.

The limit value of case C is shown in FIG.
It is the value determined by the experiment shown in. (D) Case D Next, the case D which is the optimum coating condition will be described. FIG. 28 is a schematic diagram showing a coating state in case D.
Referring to FIG. 28, in case D, the device moves 60 mm while the nonwoven fabric rotating body 151 makes one rotation. In this case, the floor surface is wiped by 30 mm from the tip of the nonwoven fabric rotating body 151, and more than half the area of the nonwoven fabric rotating body 151 having a total length of 110 mm comes into contact with a new area. The number of 30 mm depends on the radius of the nonwoven fabric rotating body 151.

Returning to FIG. 23 again, in case A, unpainted portions occur as shown in FIG. Since this is not preferable, it is preferable to issue a warning to the operator when the moving speed of the device is faster than the rotation speed of the nonwoven fabric rotating body. FIG. 29 is a schematic diagram showing a cleaning device equipped with such a warning light. FIG. 29 corresponds to FIG. 3 shown in the first embodiment, but unlike the case of FIG. 3, the tank holder 35, the liquid agent tank 33, and the control device 37 are housed in the main body 161, and with respect to the main body 161. The working unit 7 is held in a cantilever shape. The warning light 163 is the main body 16
1 is provided on the upper surface. This allows the operator to judge whether his / her application work is appropriate.

Next, an example of the work speed when ten workers operate the apparatus according to the present invention five times each is shown in FIG.
0 is shown. The value of this working speed is the number of revolutions N of the nonwoven fabric rotating body.
Is a value at 150 rpm. Referring to FIG. 30,
Is the average value V _'ave = 339.4mm / s of work rate, the actual work rate is found to be quite fast. Therefore, N = 0.44V is included in the case A from FIG. 23, and the warning is always issued. In such a case, it can be dealt with by increasing the coefficient (increasing the rotational speed of the nonwoven fabric rotating body) so as to be in a range (N> 0.5V) in which no uncoated portion remains.

Returning to FIG. 23 again, although the area of case D is set as an appropriate application area, it is necessary to set an area having a smaller inclination than the range of case D in consideration of FIG. 30 until a warning is issued. The moving speed of is faster, which is preferable in terms of work efficiency. This is also considered to be an appropriate setting because it is the direction in which the worker approaches the general work speed.

Next, a preferable method of applying the floor surface will be described. FIG. 31 (A) is a schematic diagram when a coating operation is performed in one direction using a plurality of nonwoven fabric rotating bodies. FIG.
As shown in FIG. 1 (A), when the running direction b of the apparatus and the rotation direction a of the nonwoven fabric rotating body are set as shown in the figure, it becomes possible to apply the floor surface while keeping both ends substantially linear. Therefore, it is possible to apply a good-looking liquid agent. On the contrary, as shown in FIG. 31 (B), the rotation direction of the nonwoven fabric rotating body is a ′ (the opposite direction of a).
If it is set, both ends will be jagged and the appearance will be deteriorated.

Next, description will be given of a case where the working unit in which the rotational speed N and the moving speed V of the nonwoven fabric rotating body described above are appropriately set is mounted on an autonomous vehicle. In the above-mentioned embodiment, the worker himself / herself performs the work while adjusting the moving speed V of the apparatus, but in the autonomous traveling vehicle, the autonomous traveling vehicle itself performs the appropriate application as described above.

FIG. 32 is a schematic diagram showing an entire autonomous vehicle equipped with the above-mentioned working unit. The autonomous vehicle 200
A working unit 207 provided on the front side of the main body unit 201 is included. The working unit 207 includes four nonwoven fabric rotating plates 209a to 209d and nonwoven fabric rotating plates 209a to 209 similar to FIG.
liquid agent dropping nozzles 211a to 21 provided adjacent to d
1d and.

FIG. 33 shows the autonomous vehicle 200 shown in FIG.
It is a block diagram showing the principal part of. With reference to FIG. 32, the autonomous vehicle 200 includes a moving mechanism 221 for moving the autonomous vehicle 200 itself, a wiping mechanism 222 including a working unit 207, and a liquid agent dropping mechanism 223 for dropping a liquid agent.
And control units 228 to 23 for controlling the moving mechanism 221, the wiping mechanism 222, and the liquid agent dropping mechanism 223.
And a control unit 224 including 0. The traveling speed signal from the speed detecting unit 231 which receives the signal from the moving mechanism 221 and detects the speed of the autonomous vehicle 200 is fed back to the control unit 224, and the rotation speed of the nonwoven fabric rotating body is rotated from the wiping mechanism 222. It is fed back via the detection unit 232, and the autonomous vehicle 200 applies the liquid agent under the appropriate conditions described above in accordance with these two values. Speed detector 231
Detects the rotation of the moving wheel 205 that constitutes the moving mechanism 221, obtains the moving speed (distance), and controls the rotational speed of the nonwoven fabric rotating body. The rotation detector 232 detects the rotation of the nonwoven fabric rotating body that constitutes the wiping mechanism 222. Specifically, the rotation (the angle) of the nonwoven fabric rotating bodies 209a to 209d is detected to control the liquid agent dropping timing.

The control unit 224 is also connected to the communication unit 225, the storage unit 226 and the obstacle sensor 227 included in the autonomous traveling vehicle 200, and performs data communication and the like.

The communication unit 225 is basically an "autonomous" vehicle and is not normally used. However, it is used when operating the remote control to teach the work area and when notifying the supervisor or the management computer of the error occurrence.

The communication unit 225 is also used to receive the work route. There is also a method (teaching method) of setting the work procedure (route plan) by actually operating it with the remote control and storing it in the autonomous vehicle 200, but the route is created on the personal computer and the contents are autonomously run. You may send it to the car. In this case, the communication unit 225 receives the data.

The storage unit 226 stores the taught contents (moving route, moving speed, work contents at each position),
Used for reading during work.

The obstacle sensor 227 is a non-contact type sensor for detecting an unexpected obstacle appearing on the movement route. Infrared rays or ultrasonic waves are used.

Next, the specific operation of the autonomous vehicle 200 will be described. FIG. 34 is a flowchart showing an example of setting the range of the moving speed of the autonomous traveling vehicle with respect to the predetermined rotation speed of the nonwoven fabric rotating body 151. When the operation starts, the wiping mechanism 222 is rotated on the spot for a few seconds to drop the liquid agent (step S11, the following steps are omitted). In this way, the nonwoven fabric is impregnated with the solution, and the movement (work) is started (S
12). If the movement is suddenly started without performing such a treatment, the solution does not sufficiently penetrate into the nonwoven fabric of the wiping mechanism 222, and a faint portion is generated on the floor surface. Then, the autonomous vehicle is accelerated until it enters the set speed range (S13, S
14). When the speed is within the set speed range (Yes in S14
s), a certain control is performed there, and the coating operation is started (S15, S16). When the work is near the end, the work is decelerated while performing the work until it reaches the set speed range (S17, S18). When the work speed deviates from the set speed range (Yes in S18), the work is stopped (S19).

In the constant speed control (S15),
The speed control unit 22 detects the moving speed by the speed detection unit 231 and returns to the set range if it deviates from the preset speed range.
Accelerate and decelerate at 8. Such a control is necessary because the floor may move out of the set speed range depending on the inclination of the floor, the friction coefficient between the floor and the wiping mechanism 222, the viscosity of the solution, and the like.

Further, when the direction is changed or the like, the wiping mechanism 222 is rotated (the liquid agent is not dropped) even if the wiping mechanism 222 is temporarily stopped. This is because if the rotation of the wiping mechanism 222 is stopped, the frictional force between the wiping mechanism 222 and the floor will increase when the wiping mechanism 222 is moved next time. This tendency is particularly strong in the case of a solution having a high viscosity such as wax.

Although the present invention has been described by taking the cleaning work on the floor as an example in the embodiments, the present invention can be applied to an apparatus which works not only on the floor but also on the wall.

It is also possible to implement the present invention in an apparatus for applying paint, for example, in addition to cleaning.

Further, in the embodiment, the rocking plate is used as the method of switching the measuring wheels, but the measuring wheels may be switched by moving the front and rear measuring wheels up and down by an actuator or the like.

From the above embodiments, protection of the invention of the following items can be considered. (1) Liquid agent dropping means for dropping the liquid agent on the floor surface, rotating means for rotating the rotor to spread the liquid agent on the floor surface with a rotating body, and speed measuring means for measuring the traveling speed of the floor cleaning device. In a floor cleaning device having a control means for controlling the amount of liquid drop and the number of rotations of the rotating body according to the measured value of the traveling speed, the speed measuring means has a measuring wheel on the front side and the rear side of the rotating body, When the cleaning device moves forward, the measurement wheel on the rear side of the rotating body is separated from the floor surface and the measurement wheel on the front side is grounded on the floor surface.When the cleaning device moves backward, the measurement wheel on the front side of the rotating body is separated from the floor surface. A floor cleaning device comprising a measurement wheel switching means for switching the rear measurement wheel so as to contact the floor surface.

(2) In order to allow the operator to control the movement of the floor surface, the handle is extended from the floor cleaning device main body, the grip portion is arranged at the tip of this side, and the floor grip is performed by the operator who grips the grip portion. (1) characterized in that it has a forward / backward movement detecting means for detecting whether the surface cleaning device is going forward or backward, and the measuring wheel switching means is operated by the forward / backward movement detecting means. Floor cleaning equipment.

(3) The measuring wheel of the speed measuring means is connected to a running means for running the cleaning device forward or backward in conjunction with the measuring wheel switching means. The floor surface cleaning device according to (1) or (2).

(4) The forward / backward movement detecting means detects the relative deviation generated in the mounting portion of the handle of the floor cleaning device depending on whether the operator pushes the floor cleaning device forward or pulls it backward. The floor cleaning device according to (2) or (3), characterized in that it detects whether the floor cleaning device is going forward or backward.

(5) The forward / backward movement detecting means detects whether the floor cleaning device is moving forward or backward by detecting the rotation direction of the measuring wheel grounded on the floor. The floor surface cleaning device according to (2) or (3), which is characterized.

(6) The cleaning device has traveling means for activating traveling wheels for traveling in the forward direction or the backward direction, and the rotational speed difference between the traveling wheels and the measuring wheel when traveling by the traveling means. The forward-backward movement detecting means for detecting whether the operator is trying to move the floor cleaning device forward or backward.
The floor cleaning device according to (2).

(7) The load fluctuation of the traveling means which has traveling means for operating the traveling wheels for moving the cleaning device forward or backward and drives the traveling wheels when traveling by the traveling means. Whether the worker is going to move the floor cleaning device forward by the forward / backward movement detecting means for detecting
Alternatively, the floor surface cleaning device according to (3) is characterized by detecting whether the vehicle is going backward.

(8) In order to allow the operator to control the movement of the floor surface, the handle is extended from the floor cleaning device main body, the grip portion is provided at the tip of the handle, and the handle is switched to the grip portion or in the vicinity thereof. A switch means is provided, and the measurement wheel switching means is operated by operating the switch, (2)
Alternatively, the floor cleaning device according to (3).

(9) The forward / backward changeover switch means is provided with a changeover switch for stopping forward / backward movement. When the switch is changed to stop, the traveling means is stopped and the measuring wheel changeover means is operated to move forward and backward. The floor surface according to (8), characterized in that both of the measuring wheels for use are stopped at a position floating from the floor surface, and the rotating body is rotated at a predetermined rotation speed while dropping a predetermined amount of the liquid agent. Cleaning device.

(10) The measuring wheel switching means is provided with rocking shafts equidistantly between the front and rear measuring wheels of the rotating body.
By swinging with a drive motor, either the front side or the rear side measuring wheel of the rotating body is switched so as to be grounded on the floor surface, according to any one of (1) to (9). Floor cleaning device.

The floor cleaning device described in (1) to (10) has the following actions. In the floor surface cleaning device according to (1), when the moving speed of the floor surface cleaning device becomes faster, the amount of liquid agent dropped per unit time is increased, and the number of rotations of the rotating body for spreading the liquid material on the floor surface is extended. Increase. Further, when the moving speed of the floor cleaning device is measured, it is switched so that the floor side measuring wheel to be cleaned is always in contact even if the floor cleaning device moves forward or backward.

In addition to the function of (1), the floor surface cleaning device described in (2) has a handle and a grip portion, and the forward / backward movement detecting means detects the forward or backward movement of the device.

The floor surface cleaning device described in (3) performs traveling by the traveling means in addition to the action of (1) or (2).

In the floor surface cleaning device described in (4), in addition to the action of (2) or (3), the operator pushes the cleaning device forward or pulls it backward to attach the handle. It is automatically detected by the position deviation of the part. Alternatively, the operator automatically detects the angular displacement of the mounting portion of the handle when the handle is raised or laid down.

In the floor surface cleaning device described in (5), in addition to the action of (2) or (3), the operation of the operator pushing the cleaning device forward or backward is performed by rotating the measuring wheel. Automatically detect by direction.

In addition to the function of (2), the floor surface cleaning device described in (6) allows the traveling wheel to be pushed or pulled in a direction opposite to the direction in which the worker is traveling by the traveling means. When a difference in rotational speed between the measuring wheel and the measuring wheel is detected, the traveling wheel that is in contact with the floor surface and the measuring wheel are switched to automatically switch between forward and backward traveling.

In addition to the function of (3), the floor surface cleaning device described in (7) allows the worker to push or pull the device in a direction opposite to the direction in which the running means moves. When the load on the wheels increases and an increase in the current that drives the traveling drive motor is detected, the traveling wheel that is in contact with the floor surface and the measurement wheel are switched, and the forward / backward traveling is automatically switched.

In the floor surface cleaning device described in (8), in addition to the function of (2) or (3), a worker operates a switch to give a work instruction for forward / backward movement.

In the floor surface cleaning device described in (9), in addition to the function of (8), both the forward and backward measuring wheels are floated from the floor surface by the switch operation of the operator. The rotating body rotates at a predetermined rotation speed while dropping a predetermined liquid agent.

The floor surface cleaning device described in (10) is (1)
In addition to the operation of the floor surface cleaning device described in any one of (9) to (9), the measurement wheel is switched by the drive motor.

The floor surface cleaning device described in (1) to (10) has the following effects. In the floor surface cleaning device described in (1), even if the moving speed of the floor surface cleaning device changes, the liquid agent can always be dripped and spread under the same conditions. In addition, the floor that has been cleaned will not be soiled with measuring wheels.

The floor surface cleaning device described in (2) has improved operability in addition to the effect of (1). In the floor surface cleaning device described in (3), in addition to the effect described in (1) or (2), the labor load of the operator due to the load load of the floor surface cleaning device is reduced.

The floor surface cleaning device described in (4) has improved operability in addition to the effect of (2) or (3).

The floor surface cleaning device described in (5) has improved operability in addition to the effect of the floor surface cleaning device described in (2) or (3).

The floor surface cleaning device described in (6) has improved operability in addition to the effect of (2). The floor cleaning device described in (7) has improved operability in addition to the effect of (3).

The floor surface cleaning device described in (8) has improved operability in addition to the effect of (2) or (3).

In addition to the effect described in (8), the floor surface cleaning device described in (9) allows an operator to move the device back and forth and left and right in the same manner as a conventional mop work to perform cleaning work. It will be possible.

The floor surface cleaning device described in (10) is (1)
In addition to the effect described in any one of (9) to (9), the efficiency of switching the measuring wheels is improved.

[0148]

The working apparatus according to the first aspect of the present invention can prevent the wheels from passing over the target surface on which the work is performed, and can perform the work without soiling the target surface on which the work is performed.

In the working apparatus according to the second aspect, since the number of rotations of the rotating body and the moving speed of the apparatus are set to have a predetermined relationship, anyone can perform an appropriate coating work.

In the working apparatus according to the third aspect, the working apparatus has a plurality of rotating bodies and is rotated with a phase difference from each other so that the coating area circles of the plurality of adjacent rotating bodies partially overlap each other. Therefore, appropriate coating work can be performed at once at a wide range.

In the working apparatus according to the fourth aspect of the present invention, if the work is performed under the condition that the proper coating is performed, a warning is issued, so that the inappropriate coating work is not performed.

In the working apparatus according to the fifth aspect, the working apparatus according to the second aspect is self-propelled, and the rotation speed of the rotating body is controlled so that the moving speed of the working apparatus is detected and the rotation speed becomes a predetermined rotation speed according to the moving speed. To be done. As a result, an appropriate liquid agent can be applied to the floor surface in the self-propelled working device.

In the working device according to claim 6, the working device according to claim 2 is self-propelled, and the moving speed of the working device so as to satisfy a predetermined range in a state where the rotating body is rotating at a predetermined rotation speed. Is controlled. As a result, an appropriate liquid agent can be applied to the floor surface in the self-propelled working device.

In the working apparatus according to the seventh aspect, the number of rotations of the rotating body is controlled to be appropriate according to the moving speed of the working apparatus, so that an appropriate coating operation can be performed.

[Brief description of drawings]

FIG. 1 is a conceptual diagram for explaining an operation of a floor surface cleaning device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a device configuration of a floor work device according to the first embodiment of the present invention.

FIG. 3 is a perspective view for explaining a mechanism for rotating the nonwoven fabric rotary plate of the floor surface cleaning device according to the first embodiment of the present invention.

FIG. 4 is a plan view showing a mechanism for rotating each of the nonwoven fabric rotary plates of FIG. 3;

FIG. 5 is a side view showing a state in which the floor surface cleaning device in the first embodiment is moving backward.

FIG. 6 is a side view showing a state in which the floor surface cleaning device in the first embodiment is moving forward.

FIG. 7 is a block diagram showing a device configuration of a floor surface cleaning device in a second embodiment of the present invention.

FIG. 8 is a plan view showing a measuring wheel switching mechanism of a floor cleaning device according to a second embodiment of the present invention.

FIG. 9 is a side view for explaining a state where the floor surface cleaning device in the second embodiment of the present invention is moving forward.

FIG. 10 is a side view for explaining a state in which the floor surface cleaning device in the second embodiment of the present invention is moving backward.

FIG. 11 is a block diagram showing a device configuration of a floor cleaning device according to a third embodiment of the present invention.

FIG. 12 is a view showing a grip grip of a floor surface cleaning device according to a third embodiment of the present invention.

FIG. 13 is a block diagram showing a device configuration of a floor surface cleaning device according to a fourth embodiment of the present invention.

FIG. 14 is a block diagram showing a device configuration of a floor surface cleaning device according to a fifth embodiment of the present invention.

FIG. 15 is a plan view showing a measuring wheel switching mechanism of a floor surface cleaning device according to a fifth embodiment of the present invention.

FIG. 16 is a view showing a grip grip of a floor surface cleaning device according to a fifth embodiment of the present invention.

FIG. 17 is a block diagram showing a device configuration of a floor surface cleaning device according to a sixth embodiment of the present invention.

FIG. 18 is a view showing a grip grip of a floor surface cleaning device in a sixth embodiment.

FIG. 19 is a block diagram showing a device configuration of a floor surface cleaning device in a seventh embodiment of the present invention.

FIG. 20 is a block diagram showing a device configuration of a floor surface cleaning device according to an eighth embodiment of the present invention.

FIG. 21 is a plan view showing a measuring wheel switching mechanism of a floor surface cleaning device according to an eighth embodiment of the present invention.

FIG. 22 is a diagram showing actual work results of the rotation speed of the nonwoven fabric rotating body and the moving speed of the apparatus.

FIG. 23 is a graph showing a coating state according to the rotation speed and the moving speed of the nonwoven fabric rotating body.

FIG. 24 is a schematic diagram showing the state shown in case A of FIG. 23.

FIG. 25 is a view showing a portion indicated by A in FIG. 24.

FIG. 26 is a view showing a work state shown in case B of FIG. 23.

FIG. 27 is a view showing a work state shown in case C of FIG. 23.

FIG. 28 is a diagram showing a work state shown in case D of FIG. 23;

FIG. 29 is a schematic diagram in the case where a speed warning lamp is provided in the working device.

FIG. 30 is a diagram showing actual data of the work device.

FIG. 31 is a diagram showing (A) a preferred working method and (B) an unfavorable working method.

FIG. 32 is a schematic diagram showing an appearance of an autonomous vehicle.

FIG. 33 is a block diagram showing a main part of an autonomous vehicle.

FIG. 34 is a flowchart showing the control contents of the autonomous vehicle.

[Explanation of symbols]

 3 Forward measuring wheel 5 Reverse measuring wheel 7 Working part 9 Nonwoven fabric rotating plate 11 Liquid material dropping nozzle 13 Control part 15 Rotation drive control part 17 Rotating drive control part 17 Dropping pulse control part 19 Liquid material dropping amount adjusting volume 21 Liquid material supplying pump 23 Dropping timing pulse disk 25 Encoder of Rotating Body 27 Rotating Motor of Rotating Body 29 Measuring Wheel Encoder 31 Grip Grip 33 Liquid Agent Tank 35 Tank Holder 37 Controller 39 Pulse Disc 41 Photointerrupter 43 Rotating Plate Timing Belt 45 Rotating Encoder 47 Pulley 51 Nonwoven 53 Nonwoven Rotating Plate Drive Motor 55 Drive pulley 61 Defect portion 65 Leaf spring 67 Swing rotation center 71 Speed measurement timing belt 77 Measuring wheel changeover control section 79 Automatic forward / reverse changeover switch 81 Measuring wheel changeover motor 82 Measuring wheel changeover switch 83 Previous Automatic changeover switch 85 Reverse automatic changeover switch 87 Swing plate 91 Slide pin 93 Guide hole 95 Measuring wheel switching gear 107 Traveling motor 109 Traveling drive timing belt 111 Forward measuring wheel / forward traveling wheel 113 Reverse measuring wheel / reverse traveling wheel 117 Traveling control 119 Forward / reverse selector switch 121 Measuring wheel rotation direction determination unit 123 Forward traveling wheel 125 Reverse traveling wheel 127 Traveling wheel encoder 129 Rotational speed difference calculation unit between measuring wheel and traveling wheel 131 Pattern 133 Traveling wheel speed measurement timing belt 200 Autonomous Traveling vehicle 221 Moving mechanism 222 Wiping mechanism 223 Dropping mechanism 224 Control unit 225 Communication unit 226 Storage unit 227 Obstacle sensor

Front page continuation (72) Inventor Shigeru Yokota 2-3-13 Azuchi-cho, Chuo-ku, Osaka, Osaka International Building Minolta Co., Ltd. (72) Nowakazu Kawagoe 2-3-3 Azuchi-cho, Chuo-ku, Osaka No. 13 Osaka International Building Minolta Co., Ltd.

Claims (7)

[Claims] 1. A working device having a working unit for working on a target surface, wherein wheels are provided at a front portion and a rear portion of the working unit, and wheels provided at a front portion of the working unit. Is in contact with the target surface, and the wheel provided at the rear of the working portion is separated from the target surface in a first state, and the wheel provided at the rear of the working portion is grounded at the target surface, and A working device, comprising: a wheel switching unit that switches the position of the wheel so that the wheel provided at the front of the working unit can be in two states, a second state in which the wheel is separated from the target surface. 2. A working device for applying a liquid agent to the floor surface while moving the floor surface, the working device contacting the floor surface and rotating about a rotation axis extending in a direction intersecting with the floor surface. A rotating body having a shape having a defect portion with respect to a coating area circle formed by the rotation, and a liquid agent supplying means controlled so as to drop the liquid agent directly onto the floor surface without dropping onto the rotating body. A moving speed detecting means for detecting a moving speed of the working device with respect to the floor surface; and the rotation speed such that a value obtained by dividing the number of rotations of the rotating body by the moving speed of the working device falls within a predetermined range. And a means for controlling the number of rotations of the body or the moving speed of the working device, wherein the predetermined range is equal to or more than a limit value that does not leave unpainted on the liquid agent application surface on the floor surface and the movement of the working device. The dropping amount of the liquid agent with respect to the distance is Agents working device, characterized in that it is below the limit value is not exceeded, the limit of the liquid supply capacity of the supply means. 3. A plurality of the rotating bodies are provided adjacent to each other, and the coating area circles of the plurality of adjacent rotating bodies rotate with a phase difference so as to partially overlap each other. Item 2. The working device according to item 2. 4. The work device further comprises a judging means for judging whether or not a work within a value within the predetermined range is carried out, and the judging means carries out a work within a value within the predetermined range. The working device according to claim 2, further comprising a warning unit that issues a warning when it is determined that the work is not performed. 5. The working device further includes traveling means for causing the working device to travel by itself, the moving speed detecting means detects a moving speed of the traveling means, and the control means is based on the detected moving speed. The work device according to claim 2, wherein the number of rotations of the rotating body is controlled by a lever. 6. The working device further includes traveling means for allowing the working device to travel by itself, the moving speed detecting means detects a moving speed of the traveling means, and the control means rotates the rotating body in a predetermined rotation. The working apparatus according to claim 2, wherein the moving speed is controlled so as to satisfy the value in the predetermined range in a state of being rotated by a number. 7. A working device for performing a work of applying a liquid agent to the floor surface while moving the floor surface, the working device contacting the floor surface and rotating around a rotation axis extending in a direction intersecting with the floor surface. While applying a rotating body for applying the liquid agent, a moving speed detecting means for detecting a moving speed of the working device with respect to the floor surface, and a controlling means for controlling the number of rotations of the rotating body according to the measured value of the moving speed. A working device having: