JPH10314088A - Self-advancing type cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a cleaner which can exactly and easily identify the extent of uncleanness of a cleaning surface to be cleaned and which can meet with an improved cleaning efficiency and quality. SOLUTION: In a self-advancing type cleaner equipped with an advancing device, sprinkling a cleaning liquid on the surface to be cleaned, wiping by a rotating brush the surface to be cleaned and recovering soiled water on the cleaning surface into a reservoir tank 38, a soiled water turbidity detector 56 which detects light transmittance of soiled water on the way of recovering soiled water, is provided. Accordingly, the turbidity of soiled water can be detected from the light transmittance of the soiled water and the extent of uncleanness of the floor can be ascertained by the turbidity of the soiled water. Furthermore, from the extent of the uncleanness of the floor ascertained, the device can be controlled and improvement in cleaning efficiency and quality can be attempted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaning device, and more particularly to a cleaning device which sprinkles a cleaning liquid from a storage tank onto a surface to be cleaned and brushes the surface with a rotating brush. The present invention relates to a self-propelled cleaning device that collects cleaning liquid after the recovery into a storage tank via a wastewater recovery system.

[0002]

2. Description of the Related Art Conventionally, in a self-propelled cleaning device that automatically cleans a surface to be cleaned such as a floor while automatically traveling, the degree of dirt on the surface to be cleaned is automatically recognized and the degree of dirt is high. There is a control method in which the traveling speed is reduced on the surface to be cleaned and the portion is intensively cleaned.

Various methods have been proposed for automatically detecting the degree of contamination on the surface to be cleaned. For example, a light reflection detection method that detects the degree of contamination of the surface to be cleaned based on the amount of light reflected on the surface to be cleaned, or the degree of contamination of the surface to be cleaned in front of the traveling route by image processing using a CCD camera or the like. There is an image recognition method to detect.

Japanese Unexamined Patent Publication No. 8-22322 discloses a floor cleaning vehicle that detects dirt on a surface to be cleaned by the above-described light reflection detection method and controls the traveling speed in accordance with the detected degree of dirt. The front surface of the floor cleaning car has a light reflecting portion including a light projecting portion for irradiating light to the surface to be cleaned and a light receiving portion for receiving the reflected light of the light irradiated from the light projecting portion to the surface to be cleaned. A detection sensor is provided.

When the amount of reflected light received by the light receiving portion of the light reflection detection sensor is small, it is determined that the degree of contamination on the surface to be cleaned is large, and when the amount of reflected light is large, the degree of contamination on the floor surface is determined. Judge is small.

[0006]

The light reflection detecting sensor has a method of projecting light onto the surface to be cleaned as described above and detecting the degree of contamination on the surface to be cleaned based on the amount of reflected light. Therefore, the greater the distance between the light reflection detection sensor and the surface to be cleaned, the greater the amount of turbulent light caused by irregularities on the surface to be cleaned and the like, resulting in a decrease in detection accuracy.

Therefore, in order to minimize the distance between the light reflection detection sensor and the floor surface and improve the detection accuracy, it is necessary to provide the light reflection detection sensor at a position closer to the surface to be cleaned.

However, since the self-propelled cleaning device performs cleaning while traveling, the distance between the light reflection detection sensor and the floor surface changes due to undulation of the surface to be cleaned, and the distance is extremely small. May damage the light reflection detection sensor due to contact with the floor surface.

In addition, the light reflection detection sensor causes various changes in the angle with respect to the floor surface due to swelling of the floor surface during traveling. Therefore, even if the degree of dirt is the same, the amount of reflected light received changes due to the difference in angle, and there is a problem that it is difficult to accurately detect the degree of dirt.

Further, in the light reflection detecting sensor, the amount of reflected light to be detected is easily influenced by the color and material of the surface to be cleaned. There is a problem that it is difficult to accurately detect the actual degree of dirt on the surface to be cleaned because the amount of light reflection is different even if the degree of dirt is the same as that of the surface to be cleaned in the matte state without the surface. Also, when the surface to be cleaned has a pattern, the amount of reflected light is different, and similarly, it is difficult to accurately detect the actual degree of contamination.

The same applies to an image processing method using a CCD camera or the like. The image processing method is susceptible to disturbances such as adjustment of light and shadows of objects, and it is difficult to accurately recognize the degree of contamination on the surface to be cleaned. is there.

That is, the above-described methods for detecting the degree of contamination of the surface to be cleaned, such as the light reflection method and the image processing method, can be used when cleaning the surface to be cleaned under certain conditions. It does not accurately recognize the degree of contamination of the actual surface to be cleaned when used under a variety of conditions, and is applied to a cleaning device that performs cleaning by self-propelled in a cleaning range having various disturbances as described above. It is difficult to do.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to improve the cleaning efficiency and cleaning quality by accurately and easily recognizing the degree of dirt on a surface to be cleaned. It is to provide a cleaning device that can perform the cleaning.

[0014]

According to a first aspect of the present invention, there is provided a self-propelled cleaning device according to the first aspect of the present invention, wherein a turbidity of sewage is collected in a sewage collection system for collecting sewage on a surface to be cleaned. Turbidity detecting device for detecting turbidity. Therefore, dirt on the surface to be cleaned can be directly detected without being affected by the uneven shape, color, and material of the surface to be cleaned, and the degree of the dirt can be accurately and easily recognized.

In the self-propelled cleaning device according to the second aspect, the storage tank has a partition wall that is divided into a cleaning liquid tank that stores the cleaning liquid and a sewage tank that stores the collected sewage.
Thereby, two chambers can be formed in one storage tank, and the cleaning liquid and the sewage can be stored in each chamber, and the mixing of the cleaning liquid and the sewage can be prevented.

In the self-propelled cleaning device according to a third aspect, a partition wall for dividing the inside of the storage tank into a cleaning liquid tank and a sewage tank is made of a flexible material. Thus, the washing tank and the sewage tank have a variable volume structure in which the respective volumes can be changed by the flexible deformation of the partition wall.

Therefore, the volume of the cleaning liquid tank can be reduced by the amount of the sprinkled cleaning liquid, and the volume of the sewage tank can be increased by the amount of the collected sewage. This allows
The storage tank can store more cleaning liquid or sewage than a storage tank having the same volume. Therefore, the continuous cleaning time of the present apparatus can be extended.

Further, the size of the storage tank can be reduced as compared with the case where a washing tank and a sewage tank having the same fixed volume are provided, and the entire apparatus can be downsized.

According to a fourth aspect of the present invention, in the self-propelled cleaning device, at least a part of the sewage recovery line is a light-transmitting conduit, and the sewage turbidity detecting device determines the light transmission amount of the light-transmitting conduit. It is a sewage sensor to detect. This makes it possible to detect the light transmittance of the sewage collected through the light-transmitting conduit.

When the light transmittance of the sewage is high, the turbidity of the sewage is low. When the light transmittance is low, the turbidity of the sewage is determined to be high. The degree of contamination on the cleaning surface is low, and when the turbidity is high, it can be determined that the degree of contamination is high.

Therefore, the degree of contamination on the surface to be cleaned can be accurately and easily detected without being affected by the uneven shape, color, or material of the surface to be cleaned.

A self-propelled cleaning device according to a fifth aspect of the present invention includes a light projecting element and a light receiving element in which the sewage sensor is disposed to face each other with a light transmitting pipe therebetween. The light emitting element emits a predetermined amount of light toward the light receiving element, and the light receiving element receives light emitted from the light emitting element.

Therefore, it is possible to detect the light transmittance of the sewage collected through the light transmitting pipe. Therefore, similarly to the operation of the fourth aspect, the degree of contamination on the surface to be cleaned can be accurately and easily detected.

The self-propelled cleaning device according to the present invention performs control for increasing the pressing force of the rotating brush against the surface to be cleaned in accordance with the increase in the turbidity detected by the sewage turbidity detecting device. Thus, the surface to be cleaned having a high degree of contamination can be wiped by the brush with a stronger pressing force. Therefore, the portion can be cleaned intensively and carefully, and cleaning can be performed according to the degree of contamination of the surface to be cleaned. Thereby, cleaning efficiency and cleaning quality can be improved.

The self-propelled cleaning device according to the present invention performs control for reducing the traveling speed in accordance with an increase in the turbidity detected by the sewage turbidity detecting device. As a result, the surface to be cleaned having a high degree of contamination can be cleaned for a longer period of time and intensively cleaned. Therefore, cleaning according to the degree of contamination of the surface to be cleaned can be performed, and cleaning efficiency and cleaning quality can be improved.

The self-propelled cleaning device according to claim 8 performs control to increase the number of rotations of the rotating brush as the turbidity detected by the sewage turbidity detecting device increases. Thereby, stronger wiping can be performed on the surface to be cleaned having a high degree of contamination. Therefore, cleaning according to the degree of contamination of the surface to be cleaned can be performed, and cleaning efficiency and cleaning quality can be improved.

The self-propelled cleaning device according to the ninth aspect has a reciprocating brush that reciprocates by pressing on the surface to be cleaned instead of the rotating brush. Thus, it is possible to wipe the surface to be cleaned in the same manner as the rotating brush.

The self-propelled cleaning device according to the tenth aspect performs control for increasing the number of reciprocating movements of the reciprocating brush in accordance with an increase in turbidity detected by the sewage turbidity detecting device. Thereby, stronger wiping can be performed on the surface to be cleaned having a high degree of contamination. Therefore, cleaning according to the degree of contamination of the surface to be cleaned can be performed, and cleaning efficiency and cleaning quality can be improved.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment to which the self-propelled cleaning device of the present invention is applied will be described below with reference to the drawings.
1 is a front view of the self-propelled cleaning device 10, FIG. 2 is a side view of FIG. 1, and FIG. 3 is a bottom view of FIG.

As shown in FIGS. 1 and 2, the self-propelled cleaning device 10 is almost entirely covered with an exterior cover except for the lower portion so that the appearance is entirely rounded. It is designed so that the cleaning work scene blends into the surrounding atmosphere and gives the appearance of safety.

As shown in FIG. 3, the planar shape of the self-propelled cleaning device 10 is formed so as to be substantially circular, and the inside diameter of the self-propelled cleaning device 10 is defined by the front-rear length. It is formed so as to fit in the whole. An operation handle 11 is provided at the upper rear of the self-propelled cleaning device 10 so that the operator can press the self-propelled cleaning device 10 when moving the same.

The self-propelled cleaning device 10 includes a traveling device 20 for autonomously traveling on a floor to be cleaned while detecting and avoiding obstacles and the like in a cleaning range, and a cleaning device for cleaning the floor. 30 and a control device 50 for controlling them.

FIG. 4 is a perspective explanatory view schematically showing the internal arrangement of the self-propelled cleaning device 10. As shown in FIG. As shown,
A traveling device 20 is disposed below the self-propelled cleaning device 10, a storage tank 38 for storing cleaning liquid and sewage is disposed in an upper front portion, and a control device 50 is disposed in an upper rear portion.

The traveling device 20 is provided below the self-propelled cleaning device 10, and as shown in FIGS. 1 to 3, traveling drive wheels 21 provided on the left and right of the center position in the front-rear direction.
The front and rear casters 22 and 23 are provided at the front and rear, respectively, and are swingable by 360 ° in accordance with the traveling of the self-propelled cleaning device 10.

As shown in FIG. 3, the drive wheel 21 is connected to a drive motor 24 via a speed reducer inside the drive wheel 21. The drive motor 24 is an encoder 25 for detecting the rotational position of the drive wheel 21. have.

The front caster 22 has, for example, a swing arm type suspension mechanism that allows vertical movement so that the drive wheel 21 does not float up from the floor surface and slip or the like against unevenness on the floor surface. I have.

The traveling steering of the self-propelled cleaning device 10 is performed by the difference in the number of revolutions of the left and right drive wheels 21, and the direction change is performed by rotating the left and right drive wheels 21 in opposite directions.
By spinning in place.

The self-propelled cleaning device 10 detects obstacles in front of the vehicle body and left and right sides at the front position of the front caster 22, and detects obstacles on the vehicle body side at the rear position of the rear caster 23. Is provided with an obstacle sensor 26 that detects the position of the vehicle.

The cleaning device 30 is provided below the self-propelled cleaning device 10 and is a scrubber means 31 for brushing the floor surface, and a water sprinkler for sprinkling cleaning liquid and suctioning and collecting waste water after brushing by the scrubber means. Collection means 35.

As shown in FIGS. 2 and 3, the scrubber means 31 is fixed to the lift plate 32 and the lift plate 32 disposed below the drive wheel 21 at the lower part of the self-propelled cleaning device 10. A brush motor 33 and a rotary brush 3 that is rotated by the brush motor 33 and wipes the floor when it comes into contact with the floor (hereinafter simply referred to as brushing).
4 is provided.

The brush motor 33 is connected to the lift plate 32
There are provided a total of three on the front side and the left and right sides on the rear side, and the rotating brush 34 is detachably mounted.

The rotating brush 34 has a base connected to the brush motor 33 and a brush portion, and has a structure that can be easily attached to and detached from the brush motor 33. Then, it can be easily replaced at the time of maintenance of the rotating brush 34 or according to the condition of the floor surface to be cleaned, for example, a floor surface with many irregularities such as concrete or a floor surface with less irregularities such as marble. .

The lift plate 32 has a lift structure which can be moved by a cylinder motor (not shown) toward and away from the floor surface and positioned. The lift position of the lift plate 32 with respect to the floor is variously set according to the traveling speed of the self-propelled cleaning device 10 and the degree of contamination of the floor.

For example, when the lift position of the lift plate 32 is set to a strong pressing position closer to the floor, the rotating brush 34 can be pressed with a strong pressing force against the floor. The floor can be brushed with a strong force. Further, when the lift position of the lift plate 32 is set at a position where the lift plate 32 is weakly pressed away from the floor, the rotating brush 34 can be pressed with a weak pressing force against the floor, and the floor can be pressed with a weak force. Surface brushing can be performed.

FIG. 5 shows the sprinkling and collecting means 35 of the cleaning device 30.
FIG. 4 is an explanatory diagram functionally illustrating the above.

As shown in FIG. 5, the water spray recovery means 35 includes a water spray part 36 for spraying the cleaning liquid, and a scrubber means 3.
1 includes a squeegee section 37 for sucking and collecting the sewage after brushing, and a storage tank 38 for storing the washing liquid to be sprinkled and the collected sewage.

The storage tank 38 is internally partitioned into two chambers, a washing liquid tank 40 and a sewage tank 41, by a flexible partition wall 39 made of a flexible material. The partition wall 39 has a volume variable structure that can freely follow and deform according to the difference in the amount of liquid stored in the cleaning liquid tank 40 and the sewage tank 41 and change the volume of the cleaning liquid tank 40 and the sewage tank 41. ing.

The storage tank 38 communicates with a blower motor 42 for forcibly discharging the air inside the storage tank 38 to create a negative pressure in the storage tank 38, and a sewage suction passage 43, one of which communicates with the squeegee section 37. doing. Further, a water sprinkling section 36 communicates with a lower position of the cleaning liquid tank 40.

The water sprinkling section 36 has one end communicating with the storage tank 38 and the other end sprinkling water on the floor surface, and a self-propelled type of the cleaning liquid in the storage tank 38 in the middle of the system of the sprinkling pipe 44. A watering pump 45 for controlling watering by a predetermined amount set in advance according to the operation of the cleaning device 10.

As shown in FIGS. 3 and 4, the squeegee portion 37 is formed in a substantially semicircular shape at the lower rear portion of the self-propelled cleaning device 10 so as to surround the rear portion of the self-propelled cleaning device 10 from outside. It is formed to have a curved shape. It has a base portion of a U-shaped member having a predetermined width and an open lower surface, and one end of a sewage suction passage 43 is opened at an upper surface portion on the center rear end side.

On the outer peripheral side and inner peripheral side of the base portion, a wiper made of a flexible plate material having a predetermined thickness, for example, a rubber plate material, which comes into close contact with the floor surface and collects sewage on the floor surface. Part 46
The wiper portion 46a on the outer peripheral side is formed longer on the floor surface side than the wiper portion 46b on the inner peripheral side.

The squeegee section 37 is detachably provided on the lift plate 32 via a mechanism that permits swinging in the left-right direction.

Accordingly, the lift plate 32 can be used for cleaning.
When the squeegee 37 descends, the wiper portion 46 of the squeegee portion 37 can come into contact with the floor surface, and when the squeegee portion 37 moves forward, sewage can be collected at the left and right center position, that is, the rear end side in the traveling direction. It is possible to prevent wastewater from leaking from the left and right sides of the part 37, and it is possible to efficiently collect wastewater on the floor surface.

Also, since the self-propelled cleaning device 10 changes direction due to the semi-circular shape as described above, contact with obstacles on the floor can be suppressed, and the lift can be reduced. The swing connection structure with the plate 32 can cope with an emergency contact with an obstacle.

Therefore, the sprinkling and collecting means 35 having the above structure can make the inside of the storage tank 38 have a negative pressure by the blower motor 42, and collects the sewage on the floor from the squeegee section 37 by the negative pressure of the storage tank 38. It can be accommodated in the sewage tank 41 via the sewage collection passage 43.

Further, due to the deformation of the partition wall 39, a larger amount of washing liquid or waste water can be stored as compared with the storage tank 38 having the same volume, and the continuous cleaning time of the present apparatus can be extended. it can.

Therefore, the size of the storage tank can be reduced as compared with the case where the washing tank and the sewage tank having the same fixed volume are provided, and the entire self-propelled cleaning device 10 can be downsized.

As shown in FIG. 4, the control device 50 is housed in the upper rear portion of the self-propelled cleaning device 10 and is controlled by a main controller 51, an operation panel 52, a driving motor driver 53, and a cleaning device driver 54. It is configured.

FIG. 6 is a control system diagram of the self-propelled cleaning device 10. As shown, the main controller 5
1, the input side is connected to the obstacle sensor 26, the turbidity detector 56, and the operation panel 52, and the output side is connected to the drive motor driver 53, the cleaning device driver 54, the cylinder motor driver 55, and the cylinder motor 47. .

The main controller 51 outputs a control signal to each driver based on the input data signal. The drive motor driver 53 receiving the control signal outputs a drive signal to each drive motor 24 connected to the left and right drive wheels 21. Therefore, the drive motor 24 rotates the drive wheel 21 by a predetermined rotation, and the traveling speed and traveling steering of the self-propelled cleaning device 10 are controlled.

The cleaning device driver 54 includes the scrubber unit 3
A driving signal is output to one brush motor 33 to rotate the brush motor 33 at a predetermined number of rotations, thereby rotating the rotary brush 34 connected and connected.

The cylinder motor driver 55 outputs a drive signal for driving the cylinder motor 47 to drive the cylinder motor 47 by a predetermined movement amount, and
Is moved in the direction of contacting with and separating from the floor surface to perform positioning control.

An operation panel 52 is provided on the rear upper surface of the self-propelled cleaning device 10 so that an operator can input set values of various data. For example, the cleaning range can be set arbitrarily.

Next, the turbidity detecting section 56 which is one of the characteristic components of the present invention will be described. Turbidity detector 56
As shown in FIG. 5, the sewage suction passage 43 is provided substantially vertically in the middle of the system of the sewage suction passage 43 communicating between the squeegee section 37 and the storage tank 38.

The turbidity detecting section 56 includes a squeegee section 37
The turbidity of the sewage passing through the sewage suction passage 43 is detected by suction and recovery from the sewage. FIG. 7 shows the turbidity detector 5
FIG. 6 is an explanatory view conceptually showing the principle of turbidity detection by No. 6; The portion of the sewage suction passage 43 where the turbidity detecting section 56 is provided is formed by a transparent pipe section 43a that is a light-transmitting pipe that allows light to pass therethrough.

The turbidity detecting section 56 has a light projecting element 57 for irradiating a predetermined amount of light and a light receiving element 58 for receiving the projected light and detecting it as a received light amount. The element 57 and the light receiving element 58 are arranged at positions facing each other with the transparent pipe portion 43a therebetween.

The principle of turbidity detection by the turbidity detecting section 56 will be briefly described. First, the turbidity detecting section 56 emits a constant amount of light from the light emitting element 57 during recovery of sewage. Then, the projected light passes through the sewage present in the transparent conduit via the lens and is received by the light receiving element 58, and the light transmittance of the sewage is calculated from the amount of light received by the light receiving element 58.

Therefore, when the transparency of the collected wastewater is low, the light transmittance is low, and when the transparency is high, the light transmittance is high. Thereby, the turbidity detecting unit 56 can easily determine the degree of contamination of the floor surface. Therefore, the degree of dirt on the floor surface can be accurately recognized without being affected by the pattern, material, and unevenness of the floor surface.

Next, a control method according to the degree of contamination of the floor of the self-propelled cleaning device 10 will be described below. The self-propelled cleaning device 10 according to the present embodiment detects the degree of dirt on the floor surface, and determines the traveling speed S of the traveling device 20 according to the degree of dirt.
And control for adjusting the pressing force P and the number of rotations R of the rotating brush 34.

For example, in places where the degree of dirt on the floor surface is high, the traveling speed P is reduced, the rotating brush is pressed strongly against the floor surface, and the rotating speed R of the rotating brush is increased more than the normal rotating speed. The cleaning speed is increased in places where the degree of dirt is low.
4 is lightly pressed against the floor surface and the number of rotations R of the rotating brush 34.
Is controlled so that cleaning is easily performed by setting the normal rotation speed. Thereby, cleaning efficiency and cleaning quality can be improved.

Hereinafter, a first example of the control method according to the present embodiment will be described. FIG. 8 is a flowchart for controlling the traveling device according to the detection signal of the turbidity detection unit, and FIG. 9 is a graph showing the control relationship between the degree of contamination of the floor surface and the traveling speed of the traveling device according to the flowchart of FIG. is there.

In the first embodiment, the self-propelled cleaning device 1
0 is 2 of the low speed SPL and the medium speed SPM.
The type of traveling speed SP can be selected, and is selected according to the degree of contamination on the floor surface.

As the pressing force PU of the rotating brush 34, two types of pressing force, a strong pressing force PUH and a weak pressing force PUL, are set, and the lift plate 32 is positioned at a position close to the floor surface. Pressing force position PUHp or strong pressing force position P
It is set depending on whether it is a weak pressing force position PULp which is a position more distant from the floor surface than UHp.

The rotating speed R of the rotating brush 34 is set to a normal rotating speed Rs and a high-speed rotating speed Rh. When the lift position of the lift plate 32 is the strong pressing force position PUHp, the high rotating speed Rh is The setting is such that the normal rotation speed Rs is selected when the position is the weak pressing force position PULp.

First, in the flowchart of FIG. 8, in step (hereinafter simply referred to as "S") 101, the current traveling speed of the self-propelled cleaning device 10 is set to the low traveling speed SP.
It is determined whether or not the speed is L, and if it is determined that the speed is the low speed SPL (YES), the process proceeds to S102, and the speed is not the low speed SPL (NO), that is, the middle speed SP.
If it is determined to be M, the process proceeds to S105.

In S102 and S105, the degree of contamination of the floor is determined. Here, the light transmittance of the sewage passing through the sewage suction passage 43 is detected by the turbidity detector 56, and is compared with a preset value. As the set values, two types are set, level 1 where the transmittance is high and level 2 where the transmittance is low, and the degree of contamination of the floor surface is determined based on these levels.

In S102, it is determined whether the transmittance is at least level 2 or not. If it is determined that the level does not exceed level 2 (NO), the process proceeds to S103. S
At 103, control is performed to set the traveling speed SP to the medium traveling speed SPM, and when the process proceeds from S102, the speed is increased from the low traveling speed SPL to the medium traveling speed SPM (C → D in FIG. 9). .

Then, the lift plate 32 is raised from the strong pressing force position PUHp to the weak pressing force position PULp by the control of the cylinder motor as the traveling speed is increased. Thereby, the pressing force PU of the rotating brush 34 against the floor surface is reduced from the strong pressing force PUH to the weak pressing force PUL. Further, the rotation speed R of the rotating brush is changed from the high rotation speed Rh to the normal rotation speed Rs.

If it is determined in S102 that the level is equal to or higher than level 2 (YES), the flow shifts to S104. S
At 104, control is performed to set the traveling speed SP to the low traveling speed SPL. In this case, the low traveling speed SPL is maintained (C in FIG. 9). Then, the lift plate 32 is maintained at the strong pressing force position PUHp, and the pressing force PU of the rotating brush 34 is maintained at the strong pressing force PUH. Further, the rotation speed R of the rotating brush 34 is maintained at a high rotation speed Rh.

In S105, the degree of contamination on the floor surface is level 1
It is determined whether or not: Here, when it is determined that the level is equal to or lower than the level 1 (YES), the process proceeds to S103. In S103, the traveling speed SP is changed to the medium traveling speed SP.
When the control is shifted from M to S105, the medium traveling speed SPM is maintained (A in FIG. 9). Then, the lift plate 32 is maintained at the weak pressing force position PULp, and the pressing force PU of the rotating brush 34 is reduced to the weak pressing force PULp.
, And the rotation speed R is normally maintained at the rotation speed Rs.

If it is determined in S105 that the level is not lower than the level 1 (NO), the flow shifts to S104. S
At 104, control is performed to set the traveling speed SP to the low traveling speed SPL. In this case, the traveling speed is reduced from the medium traveling speed SPM to the low traveling speed SPL (A → B in FIG. 9).

The lift plate 32 is lowered from the weak pressing force position PULp to the strong pressing force position PUHp by the control of the cylinder motor as the traveling speed SP is reduced. Accordingly, the pressing force PU of the rotating brush 34 against the floor surface is increased from the weak pressing force PUL to the strong pressing force PUH, and the rotation speed R of the rotating brush 34 is increased from the normal rotation speed Rs to the high rotation speed Rh. . Then, this routine ends (return).

FIG. 10 is a table showing the relationship between the traveling speed SP controlled according to the above-described flowchart and the degree of contamination on the floor. As shown in the figure, the current traveling speed SP is controlled by the degree of dirt detected by the turbidity detector 56 to control the low traveling speed SPM or the medium traveling speed SPM.

By performing the above control, the cleaning robot can accurately recognize the degree of dirt on the floor, and can easily clean the floor with low dirt.
Cleaning of the floor surface with a high degree of contamination can be performed intensively and carefully. Therefore, cleaning efficiency and cleaning quality can be improved.

Next, a second example of the control method according to the present embodiment will be described below. What is characteristic in this embodiment is that a high speed running speed SPH, which is a running speed higher than the medium speed running speed SPM, is added, and an intermediate pressing force PUM is added to the pressing force PU of the rotating brush.

The intermediate pressing force PUM is equal to the lift plate 32
The lifting position is determined by the strong pressing force position PUHp and the weak pressing force position P.
It is set between ULp. In addition, the rotation speed R of the rotating brush 34 is set to the weak pressing force PUL, the intermediate pressing force PU.
Three types of low rotation speed RL, medium rotation speed RM, and high rotation speed RH are set corresponding to M and the strong pressing force PUH, respectively.

FIG. 11 is a flowchart for controlling the traveling device 20 in accordance with the detection signal of the turbidity detector 56, and FIG.
12 is a graph showing the relationship between the degree of contamination of the floor and the traveling speed SP of the traveling device 20 according to the flowchart of FIG.

First, in S201, it is determined whether or not the current traveling speed SP of the self-propelled cleaning device 10 is the high-speed traveling speed SPH. If it is determined that the current traveling speed is not the high-speed traveling SPH (NO), The process proceeds to S202 to specify the traveling speed SP, and proceeds to S205 when it is determined that the traveling speed SPH is the high traveling speed SPH (YES).

In S202, it is determined whether or not the traveling speed SP is the medium traveling speed SPM.
If not (NO), it is determined that the vehicle is running at the low speed SPL, and the process proceeds to S203. If the speed is medium speed SPM (YES), the process proceeds to S207.

In steps S203, S205, and S207, the degree of contamination on the floor surface is determined. Here, the light transmittance of the sewage passing through the sewage suction passage 43 is detected by the turbidity detector 56, and is compared with a preset value.
As the set values, three types of level 1 to level 3 are set, and the transmittance decreases as the number of levels increases, that is,
This indicates that the degree of contamination on the floor surface is high.

In S203, the degree of contamination of the floor surface is level 3
It is determined whether the level is less than or equal to
If it is determined to be (ES), the process proceeds to S204. S20
In step 4, control is performed to set the traveling speed SP to the medium traveling speed SPM, and when the process proceeds from S203, the speed is increased from the low traveling speed SPL to the medium traveling speed SPM (D → E in FIG. 12). .

Then, as the traveling speed SP increases, the lift plate 32 is raised from the strong pressing force position PUHp to the intermediate pressing force position PUMp, and the pressing force PU of the rotating brush 34 against the floor surface is increased from the strong pressure PUH to the intermediate pressure position PUMP. Pressing force P
The pressure is reduced to UM. Also, the rotation speed R of the rotating brush 34
Is reduced from the high rotation speed RH to the middle rotation speed RM by the control of the brush motor 33.

If it is determined in step S203 that the level is not lower than level 3 (NO), that is, it is determined that level 3 is exceeded, the process proceeds to step S208. In S208, control is performed to set the traveling speed SP to the low traveling speed SPL, and in this case, the traveling speed SP is maintained at the low traveling speed SPL (in FIG. 12,
D). Then, the lift plate 32 is in the strong pressing force position PU.
Hp, and the pressing force PU of the rotating brush 34 against the floor surface is maintained at the strong pressing force PUH. Further, the rotation speed R of the rotating brush 34 is maintained at a high rotation speed RH.

In S205, the degree of soiling of the floor is level 1
It is determined whether or not: Here, when it is determined from the detected light transmittance of the wastewater that the level is equal to or less than the level 1 (YES), the process proceeds to S206.

In S206, control is performed to set the traveling speed SP to the high traveling speed SPH. In this case, the traveling speed SP is maintained at the high traveling speed SPH (A in FIG. 12). Then, the lift plate 32 is maintained at the weak pressing force position PULp, and the pressing force PU of the rotating brush 34 against the floor surface is set to the weak pressing force PUL.
L is maintained. Further, the rotation speed R of the rotating brush 34 is maintained at a low rotation speed RL.

If it is determined in S205 that the level is not equal to or lower than level 1 (NO), that is, it is determined that level 1 is exceeded, the process proceeds to S204. In S204, the traveling speed SP
Is controlled to the medium traveling speed SPM. In this case, the speed is reduced from the high traveling speed SPH to the medium traveling speed SPM (A → B in FIG. 12).

Then, as the traveling speed SP decreases, the lift plate 32 descends from the weak pressing force position PULp to the intermediate pressing force position PUMp. Thereby, the rotating brush 3
4, the pressing force PU against the floor surface is increased from the weak pressure PUL to the intermediate pressing force PUM, and the rotation speed R of the rotating brush 34 is increased from the low rotation speed RL to the middle rotation speed RM.

In S207, the degree of contamination of the floor surface is level 2
It is determined whether or not it is less than or equal to, and if it is determined from the light transmittance of the detected sewage that it is not below level 2 (NO), S
Move to 208.

At S208, control is performed to set the traveling speed SP to the low traveling speed SPL. In this case, the traveling speed is reduced from the medium traveling speed SPM to the low traveling speed SPL (FIG. 12).
Medium, B → C). Then, as the traveling speed SP is reduced, the lift plate 32 is lowered from the intermediate pressing force position PUMp to the strong pressing force position PUHp.

Thus, the pressing force PU of the rotating brush 34 against the floor surface is changed from the intermediate pressing force PUM to the strong pressing force PUH.
And the rotation speed R of the rotating brush 34 is set to a middle rotation speed RM.
The speed is increased to a high rotation speed RH.

If it is determined in step S207 that the level exceeds level 2 (YES), the flow shifts to step S206. S
At 206, control is performed to set the traveling speed SP to the high traveling speed SPH. In this case, the speed is increased from the medium traveling speed SPM to the high traveling speed SPH (E → F in FIG. 12).

The lift plate 32 is raised from the intermediate pressing force position PUMp to the weak pressing force position PULp. Accordingly, the pressing force PU of the rotating brush 34 against the floor surface is reduced from the intermediate pressing force PUM to the weak pressing force PUL, and the rotation speed R of the rotating brush 34 is reduced from the middle rotation speed RM to the low rotation speed RL. Then, this routine ends (return).

FIG. 13 is a table showing the traveling speed SP controlled by the above-described flowchart and the degree of contamination on the floor surface. As shown in the drawing, the current traveling speed SP is controlled to any one of the low traveling speed SPM, the medium traveling speed SPM, and the high traveling speed SPH depending on the degree of contamination detected by the turbidity detecting unit 56. Have been.

By performing the above control, the cleaning robot can more accurately recognize the degree of contamination on the floor surface than in the first embodiment. Thereby, the cleaning efficiency and the cleaning quality can be further improved.

The self-propelled cleaning device 10 is manually operated by pushing two operating levers 11 disposed at the rear of the self-propelled cleaning device 10 shown in FIGS. Can also be used to move. At this time, control is performed to adjust the pressing force PU of the rotating brush 34 of the scrubber means 31 according to the detected degree of contamination of the floor surface.

Further, the present invention is not limited to the above-described embodiment, and various changes and combinations can be made without changing the gist of the present invention. For example, in the present embodiment, when the traveling speed SP is the low traveling speed SPL, the control for brushing with the strong pressing force PUH is performed. However, the traveling speed SP is adjusted according to the stain state of the floor surface or the like. Only the pressing force PU of the brushing is changed without changing, or the pressing force P of the brushing is changed by changing only the traveling speed SP.
The floor may be cleaned without changing U.

Further, in this embodiment, the case where the brushing of the floor surface by the cleaning device is performed using the rotating brush has been described, but a reciprocating brush reciprocating with respect to the floor surface is used instead of the rotating brush. The same operation and effect can be obtained. For example, a reciprocating brush that can swing by a predetermined width in the left-right direction perpendicular to the traveling direction of the self-propelled cleaning device may be provided, and control for brushing the floor surface during forward traveling may be performed.

Further, the pressing force of the reciprocating brush against the floor may be adjusted according to the degree of contamination of the floor, thereby improving the cleaning efficiency and the cleaning quality as in the above-described embodiment. It becomes possible.

[0109]

As described above, according to the self-propelled cleaning device of the present invention, the turbidity of the collected sewage after spraying the cleaning liquid and brushing with the rotating brush is determined by the light transmittance. By making the determination, the degree of contamination on the surface to be cleaned can be accurately and easily recognized, and the cleaning can be performed by selecting an appropriate cleaning method according to the degree of contamination.

[Brief description of the drawings]

FIG. 1 is an explanatory front view of a self-propelled cleaning device.

FIG. 2 is an explanatory side view of FIG. 1;

FIG. 3 is an explanatory bottom view of FIG. 1;

FIG. 4 is an explanatory diagram functionally showing a water sprinkling recovery unit of the cleaning device.

FIG. 5 is a perspective explanatory view schematically showing an internal configuration of the self-propelled cleaning device.

FIG. 6 is a control system diagram of the self-propelled cleaning device.

FIG. 7 is an explanatory diagram conceptually showing a principle of turbidity detection by a turbidity detecting unit.

FIG. 8 is a flowchart for controlling a traveling device according to a detection signal of a turbidity detection unit.

9 is a graph showing the relationship between the degree of contamination on the floor surface and the traveling speed of the traveling device according to the flowchart of FIG.

FIG. 10 is a table showing the speed controlled by the flowchart of FIG. 8 and the degree of contamination on the floor surface.

FIG. 11 is a flowchart for controlling a traveling device according to a detection signal of a turbidity detection unit.

12 is a graph showing the relationship between the degree of contamination of the floor and the traveling speed of the traveling device according to the flowchart of FIG.

FIG. 13 is a table showing the speed controlled by the above-described flowchart and the degree of contamination of the floor surface.

[Explanation of symbols]

 Reference Signs List 10 cleaning robot 20 traveling device 30 cleaning device 32 lift plate 34 rotating brush 38 storage tank 39 partition wall 40 cleaning liquid tank 41 sewage tank 43 sewage suction passage 43a transparent piping section 56 turbidity detecting section (turbidity detecting device)

Claims (10)

[Claims] 1. A cleaning device, comprising: a traveling device for spraying cleaning liquid from a storage tank onto a surface to be cleaned, and wiping the wastewater on the surface to be cleaned by wiping it with a rotating brush rotating on the surface to be cleaned. An automatic cleaning device, comprising: a self-propelled cleaning device that collects water in the storage tank via a path; 2. The storage tank according to claim 1, wherein the storage tank has a partition wall that divides the inside of the storage tank into a cleaning liquid tank that stores a cleaning liquid and a sewage tank that stores the collected sewage. Self-propelled cleaning device. 3. The self-propelled cleaning device according to claim 2, wherein a partition wall dividing the inside of the storage tank into a cleaning liquid tank and a sewage tank is made of a flexible material. 4. The sewage recovery system according to claim 1, wherein at least a part of the sewage recovery line is a light-transmitting pipe, and the sewage turbidity detecting device is a sewage sensor for detecting a light transmission amount of the light-transmitting pipe. The self-propelled cleaning device according to claim 1. 5. The sewage sensor according to claim 1, further comprising: a light-emitting element disposed opposite to the light-transmitting pipe via a light-transmitting conduit; and a light-receiving element for detecting an amount of light emitted from the light-emitting element. The self-propelled cleaning device according to claim 4. 6. A control for increasing a pressing force of a rotating brush against a surface to be cleaned in accordance with an increase in turbidity detected by the sewage turbidity detecting device.
A self-propelled cleaning device according to item 1. 7. The self-propelled cleaning device according to claim 1, wherein a control for reducing a traveling speed is performed in accordance with an increase in turbidity detected by the sewage turbidity detecting device. 8. The self-propelled cleaning device according to claim 1, wherein control is performed to increase the number of revolutions of the rotating brush in accordance with an increase in turbidity detected by the sewage turbidity detecting device. 9. The self-propelled cleaning device according to claim 1, wherein a reciprocating brush that reciprocates by pressing on a surface to be cleaned is used instead of the rotating brush. 10. The self-propelled cleaning device according to claim 9, wherein control is performed to increase the number of reciprocating movements of the reciprocating brush in accordance with an increase in turbidity detected by the turbidity detecting device.