JPS61280818A - Automatic cleaning apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION A) Field of Industrial Application The present invention relates to an automatic cleaning device constructed by combining a self-propelled vacuum cleaner and a central cleaner.

(Example) Conventional technology Today, housewives often work part-time, and as a result, they have less time to clean the house.
Furthermore, if you have a large floor area, you may not be able to handle it.

In addition, places where many people gather tend to generate trash and the floors tend to get dirty, especially in hotels, hospitals, department stores, supermarkets, banks, etc., where dirt can become noticeable if they are not cleaned every day. Cleaning in this case relies on middle-aged and elderly people and part-time workers, but in some places they work 24 hours a day, and in some places the work environment is poor.Therefore, it is important to develop self-propelled vacuum cleaners that are unmanned and labor-saving. It is requested.

Systems that meet this demand include guided travel systems that run along rails or conductive wires installed on the floor (for example, see Japanese Patent Application Laid-Open No. 149724/1983), and systems that are equipped with a computer or memory to avoid obstacles. An automatic driving system (see, for example, Japanese Patent Laid-Open No. 55-97608) that automatically changes the driving route when a vehicle is detected has already been proposed.

All of these vacuum cleaners are designed to be able to run on their own, but they have the drawbacks of limited scope of use and high cost per unit.

Furthermore, although dust collection can be performed automatically, no consideration has been given to how to dispose of the dust after cleaning has been completed, so the dust collection box must be removed and disposed of in the same way as with conventional vacuum cleaners. There is the annoyance of having to do it.

C) Problems to be Solved by the Invention The technical problem of the present invention is to easily discharge dust collected by an automatic vacuum cleaner.

2) Means for Solving Problems The present invention connects a self-propelled vacuum cleaner to a central cleaner installed in pipes in a room, etc., and collects dust collected by the self-propelled vacuum cleaner into the central cleaner. This solves the problem by letting people absorb the information.

e) Function The dust collected by the self-propelled vacuum cleaner is sucked into the central cleaner, so it can be discharged hygienically and quickly.

Furthermore, since the dust collection box built into the vacuum cleaner can be made smaller, the vacuum cleaner itself can be made smaller and lighter, resulting in lower costs.

To〉〉〉Example The present invention will be described below with reference to embodiments shown in the drawings.

FIG. 1 is an overall system diagram of an automatic cleaning device according to the present invention, in which (1) is a self-propelled vacuum cleaner equipped with a running section, a dust collection section, a position detection section, and a wireless transmission/reception section for controlling these. There is. (2) is a command unit that includes various data processing units using a computer, a transmitter/receiver unit for communicating with the vacuum cleaner (1), communication with the central cleaner (3), and communication functions with the outside. There is. (4) is the communication line with the outside,
(5) is a communication antenna with the vacuum cleaner (1). Hose insertion port (6) of the central cleaner (3) <7
> is installed via piping in a part of the corner of the rooms (8) and (9) to be cleaned, and the self-propelled vacuum cleaner (1) located in the room (9) is connected to the central cleaner (3). It stops above the hose outlet (7) to discharge the collected garbage,
Indicates that garbage is being discharged. (10) shows the travel locus of the self-propelled vacuum cleaner (1).

FIGS. 2 and 3 are a top view and a side view showing the internal structure of the self-propelled vacuum cleaner (1).

The running is on a track type, with left and right caterpillars (IIL).
(IIR) respectively to the left and right travel motors (12L) (12R).
). The traveling motor (12L) (12R
Encoders (13L) and (13R) are attached to the rotating shafts of the wheels (13L) and (13R), respectively, to ensure accurate travel. The caterpillar (IIL) (IIR) has wheels (14
-1>(14-2>...(14-6>), of which (14-6) is a driving wheel.

Dust collection is a vacuum type using a motor, with a suction port (15
), the dust collection box (16), the filter provided in the dust collection box (17L dust collection fan (18) and the dust collection motor 19 that drives the fan, etc.), the dust collection box (16), etc.
There are pressure sensors (20) before and after the filter (17) inside.
)(21) is provided.

Detection of obstacles during travel is performed by ultrasonic sensors <22F) (22R) attached to the front and rear of the self-propelled vacuum cleaner (1). Also, position detection is performed using the encoder (13L) (13L).
R) is used.

(23L) (23R) are batteries in the power supply, and are arranged with consideration to left and right weight balance. (24) is an electric circuit section of the self-propelled vacuum cleaner (1), and (25) is an exterior cover.

Next, the flow of signals in the self-propelled vacuum cleaner (1) will be explained with reference to the block diagram of FIG. 4.

(26) is a transmitting section, (27) is a receiving section, and (28) is a transmitting/receiving antenna. Ultrasonic sensor (22F) (2
2R) measures the distance from the self-propelled vacuum cleaner (1) to obstacles or walls in front and behind, and obtains a signal corresponding to the distance via an ultrasonic sensor drive circuit (29F>(29R)). This signal is input to the transmitting section <26) and transmitted to the command unit (2) from the antenna <28).

(30) is a start switch, and when this switch is pressed, the power cutoff section 31) is released, power is supplied to each section, and the start signal generation circuit (32) is operated to obtain a start signal. This start signal is input to the transmitter (26) and transmitted to the command unit (2) via the antenna (28).

The pressure sensors (20) and (21) measure the pressure before and after the filter (17), and are connected to the pressure sensor drive circuit (
33) Obtain a signal corresponding to the pressure via (34). This signal is input to the transmitter (26) and sent to the antenna (28).
The information is sent to the command unit (2). Encoder (13
L) (13R) is Kit~tabila (1'lL, > (IIR)
The distance traveled is detected by the enhancer detection circuit (
35L) (35R) to obtain a signal corresponding to the distance. This signal is input to the transmitter (26), and the antenna (26)
8) to the command unit (2).

Next, the signal transmitted from the command unit (2) is transmitted to the antenna (
28) and input to the receiving section (27). The receiving section (27) separates the various signals sent and controls the next one.

One is to send a signal to the motor control unit (36L) (36R) to control the travel motors (12L) (12R), and through this, the travel motors (12L) (12R) are controlled and each motor rotates in the normal direction. The self-propelled vacuum cleaner (1) moves forward, backward, turns, runs diagonally, stops, etc. by controlling the rotation speed of reverse rotation. Note that the travel motor (1
The signals from the encoders (13L) (13R), which are fully connected to the rotating shafts of the drive motor control unit (3L) and (12R),
6L) (36R), and the traveling motor (1
2L) (12R) is subjected to feedback control to rotate smoothly. Further, the signal from the receiving section (27) is transmitted to the dust collection motor control section (37), and then controls the dust collection motor (19) from zero to maximum power.

Next, regarding the t-source, self-propelled vacuum cleaner (1)
The battery capacity has been kept to the minimum required to make it smaller and lighter. Therefore, it is necessary to minimize power consumption while the vehicle is stopped or on standby. While stopping and waiting there, the receiving section (27) issues a signal based on the signal from the command device section (2) and activates the power cut-off section (31).
6) Turn off the power to ultrasonic sensors <22F) (22R), etc. In addition, the battery (23L) (23R
) is always energized only to the receiving part (27).If this is done, all the I! It is possible to make use of one's abilities. Furthermore, since the required capacity of the battery is limited to 1 J\, the battery capacity may decrease during cleaning. For this purpose, a battery capacity sensing section (38) is provided, and its output signal is transmitted to the command device section (2) via the transmitting section (26). At this time, the command unit (2)
transmits the following signal to the self-propelled vacuum cleaner (1). If the robot is cleaning, it will temporarily stop cleaning, minimize power consumption, and then drive to a predetermined charging location.

Next, the command section 2 will be explained using the block diagram shown in FIG.

The command unit (2) has an antenna (5) for communicating signals with the self-propelled vacuum cleaner (1). (39) is a receiving section, (40) is a transmitting section, and (41) is a data processing section incorporating various computers. (42) is the keyboard input section, (43) is the light pen input section, (4
4) is a joystick input section. Further, (45) is a display section, and (46) is an external circuit interface section, which can be connected to an external communication line (4) such as a telephone line or an optical fiber communication line. (47) communicates with the central cleaner (3) through the central cleaner interface section.

There are several methods described below for making the self-propelled vacuum cleaner (1) work for the first time after installation.

■Self-propelled method This method is effective when there is no continuous floor such as a hallway or balcony directly connected to the room you want to clean, and you want to clean the entire room.

This run is automatically run while measuring the distance to the wall or obstacle using the ultrasonic sensor (22F> (22R) and encoder (13L) (13R) No. 18), and it runs while sequentially memorizing the shape of the room. Clean the area.Also, try to avoid passing the same path again as much as possible.

However, even if there is a balcony or hallway, it is impossible to tell. Also, you end up cleaning areas that you don't want to be cleaned. Therefore, the preset driving described below is effective.

■Preset driving method keyboard input section (42) or light ben input section (
43) Therefore, the dimensions of the room and the scope of cleaning are preset. As a result, even if there is a balcony, a hallway, or an open door, the cleaning area will not be exposed outside the room. It is also possible to preset the travel trajectory in advance. Being able to preset the travel trajectory is very effective, and places that tend to get particularly dirty, ie, places where sofas, chairs, etc. are placed, are likely to get dirty because people often drop trash. So around that area twice,
You can strengthen the cleaning a third time.

■Joystake driving method In the preset driving mentioned above, the cleaning area was specified using a keyboard or light pen, but in joystaking driving, the operation was made easier so that anyone could handle it. By operating the joystick lever, the self-propelled vacuum cleaner (1) starts running, and by operating the cleaning lever on the joystick, the dust collection motor (19) of the vacuum cleaner (1) is activated. ) rotates with the power according to the command. Then, when you circle the area in the room that you want to clean, it will automatically clean that area from next time onwards.

Of course, it is also possible to specify the travel trajectory using this joystick travel, and it is also possible to increase the frequency of cleaning in heavily soiled areas.

If you specify the cleaning range and travel trajectory using the above-mentioned driving method, you will not need to do any rough work from the next run.You can specify the room you want to clean and press the start switch (30). Just press . Note that the start switch is attached to both the self-propelled vacuum cleaner (1) and the command unit (2). In addition, the cleaning range or travel trajectory is stored in the data processing unit (41) in the command unit (2), and in the external circuit interface unit (46).
It may be stored on an external computer via a telephone line or fiber optic communication line (4).

When the traveling cleaning is completed, the command unit (2) communicates with the central cleaner (3) through the central cleaner interface unit (47) and performs the following operations.

A self-propelled vacuum cleaner (1) is parked on a hose outlet (6) or (7) of a central cleaner (3). Next, a command to operate the hose insertion port is sent to the central cleaner (3) in order to connect the self-propelled vacuum cleaner (1) 4:. The central cleaner (3) operates a mechanism shown in FIG. 6, which will be described later, and sucks up the dust inside the vacuum cleaner (1) (see the broken line in FIG. 6). The central cleaner (3) is a self-propelled vacuum cleaner (
1) Once the dust has been sucked out, the central cleaner (3) and the command unit (2) communicate with each other again to notify the command unit (2) of the completion. In this way, the dust inside the self-propelled vacuum cleaner (1) is discharged.

The self-propelled vacuum cleaner (1) that has operated up to this point has a command unit (2).
), you can go to the next cleaning place or a designated charging place to fully charge your battery in preparation for the next cleaning. Here, the data processing unit (41
) is as follows.

■Ultrasonic sensor, transmitting signals to determine travel path and instruction value to the travel motor, determine instruction value to the dust collection motor, etc. when receiving the encoder signal, ■Self-propelled vacuum cleaner when receiving the pressure sensor Communication with the central cleaner due to the dust amount sensor inside the main body and its ejection instruction and completion of evacuation, ■ Detection of clogged suction port upon reception of pressure sensor (suction port blockage), stop of the dust collection motor, and suction port In other words, in order to prevent this, instructions to start cleaning again after driving, ■ stopping the dust collection motor and moving to a designated charging location due to detection of low battery capacity, ■ cleaning the receiving section, keyboard section, light bench section, and joystick section. For transmitting signals to the signal receiver and transmitting section, for transmitting signals to the display section, and for interfacing with the central cleaner, for leaving part of ■■ to ■ to an external computer, for giving cleaning instructions via telephone line, or for transmitting information in the event of a malfunction. Interface with external line, as well as hose outlet (6) of central cleaner (3) (
7) will be explained with reference to FIG. As mentioned above, (6) and (7) are hose insertion ports, and round holes are made in the floor surface (48). (49) is piping used in the central cleaner (3). (50) is the hose insertion port (6) < 7
＞It is a lid that can be opened and closed by hand when a normal central cleaner hose is inserted, and can be moved in the → direction.

The operation when sucking up dust in the self-propelled vacuum cleaner <1) in the above configuration will be explained.

First, the command unit (2) and the central cleaner (3) communicate, and when the "1 open" signal is generated, the lid opening/closing motor (51)
The joint motor (54) rotates and drives the linear gear notched on the lid (50) through the gear (52) attached to the motor shaft and the intermediate gear (53) to open the lid (50). The motor rotates, and the joint (
57) By driving the linear gear notched on the side, the joint (57) pops out upward and connects to the suction port (15) of the self-propelled vacuum cleaner (1). When this operation is completed, the central cleaner (3) starts suctioning and discharges the dust from the dust collection box (16) inside the vacuum cleaner (1).When this operation is completed, each motor rotates in reverse by an operation opposite to that described above. Te joint (57)
and close the lid (50). Here, (58) is a bellows, and <59> is a band for fixing the bellows (58) to the pipe (49). Further, the bellows (58) is brought into close contact with the joint (57) and the band (59), and the fixing band (59) is brought into close contact with the pipe (49). This is to ensure that the self-propelled vacuum cleaner (1) maintains airtightness when sucking out dirt and allows it to be efficiently discharged.

In addition to ultrasonic waves, a laser transmitter/receiver or an infrared transmitter/receiver may be used for position detection, and although caterpillars are used for running, tire-type wheels may also be used. Further, the command unit (2) may have all the control functions of the central cleaner (3).

Next, the central cleaner will be explained.

FIG. 7 is a block diagram of the central cleaner.

(60) is the central cleaner command unit, which is equipped with a computer (61) and communicates with the command device unit of the self-propelled vacuum cleaner (1) and (2), the self-propelled vacuum cleaner interface unit (62L central cleaner ( A dust collection motor control circuit (64) for controlling the dust collection motor (63) in 3), and a lid opening/closing circuit for controlling the lid opening/closing motor (51) for the hose insertion ports (8) and (7). A joint motor control circuit (66) for controlling the motor control circuit (65) and the joint motor (54).
).

FIG. 8 is an external view of the command unit (2) of the self-propelled vacuum cleaner (1). Since the command unit (2) is small, it cannot be mounted on a desk (
67), there is a first keyboard (68) that can be opened and closed, a CRT display (69) that faces when it is closed, and a second keyboard (70) above them. , a numeric LED (71), and an LED (72) that indicates that cleaning is in progress. In addition to the keyboard mentioned above, various inputs can be made using the light bench (
73) And there is a joystick (74), which includes a stake (75) for determining the path of the self-propelled vacuum cleaner (1) and a knob (76) for collecting dust during cleaning.
) is provided.

Here, the first keyboard (68) is stored in the direction of the arrow,
Because it can be stored in front of the CRT display (69),
Downsizing the command unit, minimizing dust adhesion on the CRT display (69) and first keyboard (68),
It is difficult to see due to dust on the CRT and the first keyboard (
We are trying to improve the reliability of 68). Furthermore, since the CRT display (69) is located at the back of the device, external light is prevented from entering and the display is always easily visible. 1st
The back surface of the keyboard (68) also serves as a cover for the command unit, which reduces the weight of the device.

To ensure the above effect, there is a
A second keyboard and display were installed.

This is kept to the minimum necessary during playback after the light path has been determined once. For example, a numeric keypad and numeric LED to specify the room number.

There is also a start switch, a stop switch, a clear key, and an LED that indicates when the machine is running and cleaning.

゛The light pen (73) and joystick (74) will be stored in the broken line part of the first keyboard (68).

FIG. 9 is a display diagram showing an example of the operation of the self-propelled vacuum cleaner.

This is an example of joystick traveling, and the case where the self-propelled vacuum cleaner (1) is operated for the first time. first,
You will be asked for the room number, so enter 8 here. Next, select one of three options: self-driving [1], preset driving [2], or joystick driving [3]. Here, enter 3 to perform joystick driving. Next, enter the room's maximum dimensions. At this time, the room shape and dimensions are displayed at the top of the display.6 Next, move the joystick (75) of the joystick (74) back and forth, left and right, etc. to move the self-propelled vacuum cleaner (1) on the display, and the travel trajectory 10 I will decide. The travel trajectory 10 is stored as a broken line on the display (69), and in order to operate the dust collection motor for cleaning, it is preferable to turn on the knob (76) in the joystick (74). At this time, the dashed line 10, which is the travel trajectory, is colored red only in the section where the knob (76) is turned on. Also, the - mark indicates the direction of movement, and ←3- indicates the number of cleanings performed three times in the same trajectory. The diagram and explanation shown at the bottom right of the display (69) indicate the meaning of the upper part of the display (69). Here, operate the self-propelled vacuum cleaner (1) on the display by operating the joystick. When there is an obstacle, the actual self-propelled vacuum cleaner (1) is also working, and position signals and obstacle signals are continuously sent to the command unit (2), and if there is an obstacle, the display (69) The self-propelled vacuum cleaner (1) above cannot move forward.

By operating in this way, the data stored in the command unit (2) can be used to automatically run the vehicle from the next time by entering the room number and pressing the start switch on the second keyboard at the top of the command unit. do. This is called playback running.

- FIG. 10 is a flowchart of the "garbage removal routine" for data processing in the self-propelled vacuum cleaner. This is the part that discharges dust to the central cleaner (3), and first it determines whether dust collection is in progress or complete. this is,
The difference is whether the system makes a decision when the dust collection box is full of dust during dust collection, or whether the dust is always ejected once dust collection is complete. FIG. 11 is a flowchart of a "dust suction routine" for data processing in the central cleaner, and is for sucking dust from a self-propelled vacuum cleaner.

g) Effects of the invention According to the invention, the dust collected by the self-propelled i-removal machine can be automatically disposed of by being sucked into the central cleaner, and the dust can be discharged hygienically and quickly. This enables unmanned operation and labor saving.

Furthermore, since the dust collection box inside the self-propelled vacuum cleaner can be made smaller, the vacuum cleaner itself can be made lighter and less expensive.

[Brief explanation of drawings]

The drawings relate to an automatic cleaning device according to the present invention.
The figure is an overall system diagram, Figures 2 and 3 are top and side views showing the internal configuration of the self-propelled vacuum cleaner, Figure 4 is a block diagram of the self-propelled vacuum cleaner, and Figure 5 is the command unit section. Figure 6 is a cross-sectional side view of the main parts when connecting the suction port of a self-propelled vacuum cleaner and the hose outlet of the central cleaner to discharge garbage, and Figure 7 is a block diagram of the central cleaner. Figure 8 is a perspective view of the external appearance of the command unit, Figure 9 is a display diagram showing an example of how the self-propelled vacuum cleaner operates, and Figure 10 is the case where garbage is discharged from the self-propelled vacuum cleaner to the central cleaner. FIG. 11 is a flowchart showing the dust removal routine on the self-propelled vacuum cleaner side, and FIG. 11 is a flowchart showing the dust suction routine on the central cleaner side. (1)...Self-propelled vacuum cleaner, (2)...Command unit,
(3)... Central cleaner, (6) (7)...
Hose outlet, C3) (9)...room.

Claims (1)

[Scope of Claims] 1) A self-propelled vacuum cleaner is connected to a central cleaner installed with piping in a room, etc., and the dust collected by the self-propelled vacuum cleaner is sucked into the central cleaner. Automatic cleaning device. 2) A self-propelled vacuum cleaner and a central cleaner installed with piping in a room, etc. are automatically connected according to a command from a command unit, and the dust collected by the self-propelled vacuum cleaner is sucked into the central cleaner. An automatic cleaning device according to claim 1, characterized in that the automatic cleaning device is configured as follows.