US20140230179A1 - Self-propelled ion generator and cleaning robot - Google Patents

Self-propelled ion generator and cleaning robot Download PDF

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Publication number
US20140230179A1
US20140230179A1 US14/240,199 US201214240199A US2014230179A1 US 20140230179 A1 US20140230179 A1 US 20140230179A1 US 201214240199 A US201214240199 A US 201214240199A US 2014230179 A1 US2014230179 A1 US 2014230179A1
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United States
Prior art keywords
self
main body
ion generator
body enclosure
propelled
Prior art date
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Abandoned
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US14/240,199
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English (en)
Inventor
Takashi Matsubara
Jitsuo Sakamoto
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Sharp Corp
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Sharp Corp
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Assigned to SHARP KABUSHIKI KAISHA reassignment SHARP KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SAKAMOTO, JITSUO, MATSUBARA, TAKASHI
Publication of US20140230179A1 publication Critical patent/US20140230179A1/en
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/04—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids for using the exhaust air for other purposes, e.g. for distribution of chemicals in a room, for sterilisation of the air
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4097—Means for exhaust-air diffusion; Exhaust-air treatment, e.g. air purification; Means for sound or vibration damping
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409—Rigid filtering receptacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/22—Mountings for motor fan assemblies
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to a self-propelled ion generator that feeds out ions while being self-propelled on a floor surface.
  • the present invention also relates to a cleaning robot that feeds out ions while being self-propelled on a floor surface and performing cleaning.
  • a conventional self-propelled ion generator is disclosed as a cleaning robot in patent document 1.
  • This cleaning robot is self-propelled on a floor surface with drive wheels provided in a main body enclosure that is substantially circular in plan view.
  • the main body enclosure is formed to be thin such that its height is low.
  • an ion generation device that generates ions is arranged within the main body enclosure.
  • the ion generation device discharges ions into a duct communicating with a discharge port open to the circumferential surface of the main body enclosure.
  • ions are fed out through the discharge port.
  • the cleaning robot also can clean a floor surface.
  • a suction port is open to the bottom surface of the main body enclosure, and on the circumferential surface of the main body enclosure, an exhaust port is open backward with respect to the direction of travel at the time of cleaning.
  • an electric blower and a dust collection portion are provided within the main body enclosure.
  • the drive wheels, the ion generation device and the ion blower are driven.
  • the main body enclosure is self-propelled on an indoor floor surface by the rotation of the drive wheels, and ions are fed out through the discharge port by the ion generation device and the ion blower.
  • ions are fed out through the discharge port by the ion generation device and the ion blower.
  • the conventional self-propelled ion generator feeds out ions over a surrounding area in travel.
  • the conventional cleaning robot described above can feed out ions even in a state where the cleaning robot is stopped by the operation of a user, the cleaning robot does not automatically identify the place where the distribution of ions is needed. Thus, it is disadvantageously impossible to effectively distribute ions to the place where the effects of ions such as deodorizing and disinfecting are needed.
  • the present invention is made in view of the foregoing problems; an object of the present invention is to provide a self-propelled ion generator and a cleaning robot that can effectively distribute ions to the area in which the ions are needed.
  • a self-propelled ion generator including: a main body enclosure to which a suction port and an exhaust port are open and which is self-propelled on a floor surface; an electric blower which is arranged within the main body enclosure; an ion generation device which discharges ions into an exhaust flow passage between the electric blower and the exhaust port; and an environment detection device which detects a surrounding environment of the main body enclosure, where the self-propelled ion generator remains, for a given time, in a specific place specified based on the surrounding environment of the main body enclosure detected by the environment detection device, and feeds out an air current containing the ions through the exhaust port by drive of the ion generation device and the electric blower.
  • the main body enclosure of the self-propelled ion generator is self-propelled on the floor surface, and when the electric blower is driven, the air current is sucked through the suction port open to the main body enclosure.
  • the air current sucked into the main body enclosure is passed through the electric blower, and ions are discharged by the ion generation device through the exhaust flow passage.
  • the air current containing the ions is fed out into the room through the exhaust port open to the main body enclosure.
  • the main body enclosure remains, for the given time, in the specific place specified based on the surrounding environment detected by the environment detection device, and feeds out the air current containing the ions through the exhaust port.
  • the “specific place” described herein can be set at the place specified based on the surrounding environment of the main body enclosure detected by the environment detection device, for example, the state of air in the surrounding area.
  • the specific place can be set at, for example, as described later, the place where odor detected by the odor sensor is present or the place where humidity detected by the humidity sensor is high; however, the specific place is not limited to these places.
  • the “given time” refers to a predetermined and arbitrary time during which the main body enclosure remains in the same place.
  • the environment detection device is an odor sensor that detects odor in a surrounding area of the main body enclosure, and the self-propelled ion generator remains, for the given time, regarding, as the specific place, a detection place based on detection of an odor of a predetermined threshold value or more by the odor sensor, and feeds out the air current containing the ions through the exhaust port.
  • the self-propelled ion generator remains in the specific place where the odor of the predetermined threshold value or more is present and feeds out the air current containing ions.
  • the self-propelled ion generator distributes ions mainly to, for example, a place where odor is present.
  • the environment detection device is a humidity sensor that detects humidity in a surrounding area of the main body enclosure, and the self-propelled ion generator remains, for the given time, regarding, as the specific place, a detection place based on detection of a humidity of a predetermined threshold value or more by the humidity sensor, and feeds out the air current containing the ions through the exhaust port.
  • the self-propelled ion generator remains in the specific place where the humidity of the predetermined threshold value or more is present and feeds out the air current containing ions.
  • the self-propelled ion generator distributes ions mainly to, for example, a place where humidity is high.
  • the environment detection device is a map that describes the specific place in a surrounding area of an installation place of the self-propelled ion generator, and the self-propelled ion generator remains, for the given time, in the specific place described in the map, and feeds out the air current containing the ions through the exhaust port.
  • the self-propelled ion generator remains in the specific place previously described in the map where ions are needed, and feeds out the air current containing ions.
  • the self-propelled ion generator distributes ions mainly to, for example, a place where odor is present or a place where humidity is high previously described in the map.
  • the self-propelled ion generator configured as described above includes a human detection sensor which detects presence of a person, and displaces the main body enclosure based on detection information from the human detection sensor such that a direction in which the person is present differs from a direction in which air is exhausted through the exhaust port.
  • the self-propelled ion generator when the self-propelled ion generator detects a person, the self-propelled ion generator exhausts air in a direction in which the person is not present. Thus, it is possible to prevent air exhausted through the exhaust port from directly hitting the person.
  • the self-propelled ion generator configured as described above includes a movable louver which can change the direction in which the air is exhausted through the exhaust port, and displaces the movable louver so as to change, according to a speed of travel when the main body enclosure is self-propelled, the direction in which the air is exhausted through the exhaust port.
  • the self-propelled ion generator exhausts air in a different direction according to the speed of travel when the main body enclosure is self-propelled.
  • the self-propelled ion generator distributes ions to a different region according to the speed of travel.
  • the self-propelled ion generator configured as described above displaces the movable louver such that it is possible to exhaust air upward when the main body enclosure travels as compared with when the main body enclosure is stopped.
  • the self-propelled ion generator distributes ions to a wider region.
  • a cleaning robot where the self-propelled ion generator configured as described above includes a dust collection portion that collects dust of an air current sucked through the suction port by drive of the electric blower.
  • the main body enclosure of the cleaning robot is self-propelled on the floor surface, and when the electric blower is driven, the air current containing the dust is sucked through the suction port open to the main body enclosure.
  • the dust contained in the air current is collected in the dust collection portion.
  • the air current in which the dust has been removed in the dust collection portion is passed through the electric blower, and the ions are discharged by the ion generation device through the exhaust flow passage.
  • the air current containing the ions is fed out into the room through the exhaust port open to the main body enclosure.
  • the main body enclosure remains, for the given time, in the specific place specified based on the surrounding environment detected by the environment detection device, and feeds out the air current containing the ions through the exhaust port.
  • the self-propelled ion generator and the cleaning robot remain, for the given time, in the specific place specified based on the surrounding environment, and feeds out the air current containing the ions through the exhaust port.
  • the ions mainly to the specific place, for example, a place where odor is present or a place where humidity is high.
  • the self-propelled ion generator and the cleaning robot that can effectively distribute the ions to the place where the ions are needed.
  • FIG. 1 A perspective view of a cleaning robot (self-propelled ion generator) according to an embodiment of the present invention
  • FIG. 2 A vertical cross-sectional side view of the cleaning robot shown in FIG. 1 ;
  • FIG. 3 An enlarged vertical cross-sectional side view of a front portion of the cleaning robot shown in FIG. 2 ;
  • FIG. 4 is a vertical cross-sectional side view showing a state where the dust collection portion of the cleaning robot of FIG. 2 is removed;
  • FIG. 5 is a perspective view of a motor unit of the cleaning robot shown in FIG. 2 ;
  • FIG. 6 is a block diagram showing the configuration of the cleaning robot of FIG. 1 ;
  • FIG. 7 is a flowchart showing an operation of detecting odor by the cleaning robot of FIG. 1 ;
  • FIG. 8 is a flowchart showing an operation of detecting humidity by the cleaning robot of FIG. 1 ;
  • FIG. 9 is a flowchart showing an operation of a travel map by the cleaning robot of FIG. 1 ;
  • FIG. 10 is a flowchart showing an operation of human detection by the cleaning robot of FIG. 1 .
  • FIGS. 1 to 10 An embodiment of the present invention will be described below with reference to FIGS. 1 to 10 .
  • a cleaning robot will be described as an example of a self-propelled ion generator.
  • FIG. 1 is a perspective view of the cleaning robot
  • FIG. 2 is a vertical cross-sectional side view of the cleaning robot
  • FIG. 3 is an enlarged vertical cross-sectional side view of a front portion of the cleaning robot
  • FIG. 4 is a vertical cross-sectional side view showing a state where the dust collection portion of the cleaning robot is removed
  • FIG. 5 is a perspective view of a motor unit of the cleaning robot
  • FIG. 6 is a block diagram showing the configuration of the cleaning robot.
  • the cleaning robot 1 includes a main body enclosure 2 that is substantially circular in plan view and that is self-propelled by driving the drive wheels 5 with a battery 13 (see FIG. 2 for each of them).
  • a lid portion 3 is provided that is opened and closed when the dust collection portion 30 (see FIG. 2 ) is removed and inserted.
  • a pair of drive wheels 5 protruding from the bottom surface are arranged in the main body enclosure 2 .
  • the rotational shaft of the drive wheel 5 is arranged on the center line C of the main body enclosure 2 .
  • the main body enclosure 2 is moved forward or backward whereas when both of the drive wheels 5 are rotated in opposite directions, the main body enclosure 2 is rotated about the center line C at the same place without being moved, that is, the drive wheels 5 are pivoted.
  • the drive wheels 5 are driven by a travel motor 51 (see FIG. 6 ).
  • a suction port 6 is provided in the bottom surface.
  • the suction port 6 is formed to face a floor surface F by the open surface of a concave portion 8 that is provided in the form of a concave in the bottom surface of the main body enclosure 2 .
  • a rotation brush 9 rotating about a horizontal rotational shaft is arranged, and on each side of the concave portion 8 , a side brush 10 rotating about a vertical rotational shaft is arranged.
  • a front wheel 15 in the shape of a roller is provided in front of the concave portion 8 .
  • a rear wheel 16 that is formed with a freely moving wheel is provided. The cleaning is performed with the front wheel 15 normally separated from the floor surface F and with the rotation brush 9 , the drive wheels 5 and the rear wheel 16 in contact with the floor surface F.
  • the front wheel 15 makes contact with a step that appears in its course, and thus the main body enclosure 2 easily moves over the step.
  • a charging terminal 4 that charges the battery 13 is provided.
  • the main body enclosure 2 is self-propelled and is moved back to a charging stage 40 provided indoors, and the charging terminal 4 makes contact with a terminal portion 41 provided on the charging stage 40 , with the result that the battery 13 is charged.
  • the charging stage 40 which is normally connected to a commercial power supply, is provided along a side wall S of the interior of the room.
  • the dust collection portion 30 which collects dust, is arranged.
  • the dust collection portion 30 is held within a dust collection room 39 provided in the main body enclosure 2 .
  • the dust collection room 39 is formed as an isolation room that is covered with its four peripheral surfaces and bottom surface, and the wall surfaces except the front wall are blocked.
  • a first air intake passage 11 communicating with the concave portion 8 and a second air intake passage 12 communicating with a motor unit 20 that is arranged on the upper portion of the concave portion 8 and that will be described later are led out.
  • the dust collection portion 30 is arranged on the center line C of the main body enclosure 2 , and as shown in FIG. 4 , can be removed and inserted by opening of the lid portion 3 of the main body enclosure 2 .
  • an upper portion cover 32 having a filter 33 is attached to the upper surface of a dust container 31 that is shaped tubular with a bottom.
  • the upper portion cover 32 is locked by a movable locking portion 32 a to the dust container 31 , and can be removed from the dust container 31 by the operation of the locking portion 32 a .
  • an inflow passage 34 that is open to an inflow port 34 a at an end and that communicates with the first air intake passage 11 is led out.
  • an inflow portion 34 is provided that is continuous with the inflow passage 34 and that guides the air current downward by being bent.
  • an outflow passage 35 that is open to an outflow port 35 a at an end and that communicates with the second air intake passage 12 is led out.
  • packing (not shown) is provided that is closely in contact with the front wall of the dust collection room 39 .
  • the front wall of the dust collection room 39 is formed as an inclination surface, and thus it is possible to prevent the degradation of the packing by the sliding of the dust collection portion 30 at the time of the insertion and removal of the dust collection portion 30 .
  • a control substrate 14 that includes a CPU 14 a (see FIG. 6 ) which will be described later is arranged.
  • a control circuit including the CPU 14 a that controls the individual portions of the cleaning robot 1 is provided in the control substrate 14 .
  • the removable battery 13 is arranged in a lower portion of the back of the dust collection room 39 . The battery 13 is charged through the charging terminal 4 by the charging stage 40 , and supplies power to the control substrate 14 to supply power to the individual motor portions of the drive wheels 5 , the rotation brush 9 , the side brush 10 , an electric blower 22 and the like.
  • the motor unit 20 In the front portion of the main body enclosure 2 , the motor unit 20 is arranged. As shown in FIG. 5 , the motor unit 20 includes a housing 21 that is formed with a resin molded item and the electric blower 22 held within the housing 21 .
  • the electric blower 22 is formed with a turbo fan that is covered with a motor case 22 a.
  • an intake port (not shown) is open to one end in the direction of its shaft, and an exhaust port (not shown) is open to two places in its circumferential surface.
  • an opening portion 23 is provided that is opposite the intake port of the motor case 22 a and that communicates with the second air intake passage 12 .
  • a first exhaust passage 24 a and a second exhaust passage 24 b are provided that communicate with the exhaust ports of the motor case 22 a .
  • the first and second exhaust passages 24 a and 24 b communicate with an exhaust port 7 (see FIGS. 2 and 3 ) provided in the upper surface of the main body enclosure 2 .
  • the exhaust port 7 extends in a lateral direction that is perpendicular to the front/back direction of the main body enclosure 2 .
  • an ion generation device 25 that includes a pair of electrodes (not shown) is arranged.
  • a voltage of an alternating-current waveform or an impulse waveform is applied to the electrodes of the ion generation device 25 , and ions generated by the corona discharge of the electrodes are discharged into the first exhaust passage 24 a , that is, an exhaust flow passage between the electric blower 22 and the exhaust port 7 .
  • a positive voltage is applied to one of the electrodes, and hydrogen ions produced by the corona discharge are combined with water in the air to generate positive ions formed with H + (H 2 O) m .
  • a negative voltage is applied to the other electrode, and oxygen ions produced by the corona discharge are combined with water in the air to generate negative ions formed with O 2 ⁇ (H 2 O) n .
  • m and n are arbitrary natural numbers.
  • H + (H 2 O) m and O 2 ⁇ (H 2 O) n are aggregated on the surfaces of airborne bacteria and odor components in the air to surround them.
  • [.OH] hydroxyl radical
  • H 2 O 2 hydrogen peroxide
  • a movable louver 17 is arranged outside the exhaust port 7 and downstream in the direction of air circulation. As with the exhaust port 7 , the louver 17 extends in a lateral direction that is perpendicular to the front/back direction of the main body enclosure 2 . The louver 17 slides about an axis line extending in the lateral direction that is perpendicular to the front/back direction of the main body enclosure 2 , and thus it is possible to change its angle. The louver 17 receives a control signal from the control substrate 14 , and thereby can change the direction in which air is exhausted through the exhaust port 7 to an up/down direction.
  • the cleaning robot 1 displaces the louver 17 , and thereby can change, according to the speed of travel when the main body enclosure 2 is self-propelled, the direction in which air is exhausted through the exhaust port 7 .
  • the cleaning robot 1 displaces the louver 17 upward such that it is possible to exhaust air upward when the cleaning robot 1 travels as compared with when the main body enclosure 2 is stopped.
  • the louver 17 is displaced according to a state of each of predetermined low-speed travel and high-speed travel, and thus it is also possible to change the direction in which air is exhausted through the exhaust port 7 at the time of each of the low-speed travel and the high-speed travel.
  • the control substrate 14 is formed with the CPU 14 a shown in FIG. 6 and other unillustrated electronic components.
  • the CPU 14 a is a central processing unit, and controls, based on programs and data stored and input in and to a storage portion 18 and the like, constituent elements such as the electric blower 22 , the ion generation device 25 , the travel motor 51 and the louver 17 to realize a series of cleaning operation and ion feeding operation.
  • the cleaning robot 1 includes a motor driver 22 a for driving the electric blower 22 , a motor driver 51 a for driving the travel motor 51 and a control unit 17 a for driving the louver 17 .
  • the CPU 14 a transmits the control signal to each of the motor driver 22 a , the motor driver 51 a and the control unit 17 a to drive the electric blower 22 , the travel motor 51 and the louver 17 .
  • the CPU 14 a also receives, from an operation panel (not shown), condition settings for the operation of the cleaning robot 1 by the user, and stores them in the storage portion 18 and the like. Furthermore, the storage portion 18 can store a travel map 18 a for the surrounding area of the installation place of the cleaning robot 1 . In the travel map 18 a , the user or the cleaning robot 1 itself can previously and automatically record information on the travel such as a travel route and a travel speed of the cleaning robot 1 .
  • the cleaning robot 1 includes an odor sensor 52 and a humidity sensor 53 as environment detection devices that detect the surrounding environment of the main body enclosure 2 .
  • the odor sensor 52 detects odor in the surrounding area of the main body enclosure 2 .
  • the odor sensor 52 is formed with, for example, a semiconductor or contact combustion odor sensor, and is arranged in the vicinity of the exterior of the device for detecting odor outside the cleaning robot 1 .
  • the CPU 14 a is connected through a control unit 52 a to the odor sensor 52 , and obtains, based on an output obtained from the odor sensor 52 , information on odor in the surrounding area of the outside of the main body enclosure 2 .
  • the humidity sensor 53 detects a humidity in the surrounding area of the main body enclosure 2 .
  • the humidity sensor 53 is formed with, for example, a capacitance type or electrical resistance type humidity sensor using a polymer humidity-sensitive material, and is arranged in the vicinity of the exterior of the device in order to detect a relative humidity outside the cleaning robot 1 .
  • the CPU 14 a is connected through a control unit 53 a to the humidity sensor 53 , and obtains, based on an output obtained from the humidity sensor 53 , information on humidity in the surrounding area of the outside of the main body enclosure 2 .
  • a place where an odor of a predetermined threshold value or more is present and a place where a humidity of a predetermined threshold value or more is present are previously described as specific places related to the environment in the surrounding area of the installation place of the cleaning robot 1 . Since the CPU 14 a determines that based on the surrounding environment of the main body enclosure, these specific places are the specified places, as with the odor sensor 52 and the humidity sensor 53 , the travel map 18 a plays a role as the environment detection device that detects the surrounding environment of the main body enclosure 2 .
  • the cleaning robot 1 also includes a human detection sensor 54 for detecting the presence of a person in the surrounding area of the main body enclosure 2 .
  • the human detection sensor 54 is formed with a human detection sensor that detects the presence of a person with, for example, infrared rays, ultrasound or visible light, and is arranged in the vicinity of the exterior of the device in order to detect the presence of a person outside the cleaning robot 1 .
  • the CPU 14 a is connected through a control unit 54 a to the human detection sensor 54 , and obtains, based on an output obtained from the human detection sensor 54 , information on the presence of a person in the surrounding area of the outside of the main body enclosure 2 .
  • the cleaning robot 1 configured as described above, when an instruction is provided to perform the cleaning operation, the electric blower 22 , the ion generation device 25 , the drive wheels 5 , the rotation brush 9 and the side brush 10 are driven.
  • the main body enclosure 2 is self-propelled in a predetermined range with the rotation brush 9 , the drive wheels 5 and the rear wheel 16 in contact with the floor surface F, and sucks an air current containing dust on the floor surface F through the suction port 6 .
  • the dust on the floor surface F is raised by the rotation of the rotation brush 9 and is guided into the concave portion 8 . Dust on the side of the suction port 6 is guided into the suction port 6 by the rotation of the side brush 10 .
  • the air current sucked through the suction port 6 is, as indicated by an arrow A1, passed backward along the first air intake passage 11 , and flows into the dust collection portion 30 through the inflow port 34 a . Dust is collected by the filter 33 from the air current flowing into the dust collection portion 30 , and the air current flows out from the dust collection portion 30 through the outflow port 35 a . Thus, the dust is collected and deposited within the dust container 31 .
  • the air current flowing out of the dust collection portion 30 is, as indicated by an arrow A2, passed forward along the second air intake passage 12 , and flows into the electric blower 22 of the motor unit 20 through the opening portion 23 .
  • the air current passing through the electric blower 22 is passed along the first exhaust passage 24 a and the second exhaust passage 24 b .
  • the air current passing along the first exhaust passage 24 a contains ions discharged by the ion generation device 25 .
  • the air current containing the ions are exhausted through the exhaust port 7 provided in the upper surface of the main body enclosure 2 as indicated by an arrow A3 diagonally upwardly to the back.
  • the interior of the room is cleaned, and the ions contained in the exhausted air of the self-propelled main body enclosure 2 are spread over the interior of the room, with the result that disinfecting and deodorizing are performed in the interior of the room.
  • the air since the air is exhausted upward through the exhaust port 7 , the dust on the floor surface F is prevented from being raised, and thus it is possible to enhance the cleanliness of the interior of the room.
  • the cleaning robot 1 can simultaneously perform the cleaning operation and the ion feeding operation, and also can individually perform the cleaning operation and the ion feeding operation.
  • both of the drive wheels 5 When both of the drive wheels 5 are rotated in opposite directions, the main body enclosure 2 is rotated about the center line C to change its direction, and the drive wheels 5 are pivoted.
  • the main body enclosure 2 can be self-propelled in the entire desired range, and also can be self-propelled without avoiding an obstruction.
  • Both of the drive wheels 5 may be reversed with respect to when the cleaning robot 1 moves forward to make the main body enclosure 2 move backward.
  • the main body enclosure 2 When the cleaning is completed, the main body enclosure 2 is self-propelled and moved back to the charging stage 40 .
  • the charging terminal 4 makes contact with the terminal portion 41 to charge the battery 13 .
  • the cleaning robot 1 performs unique operations based on information obtained from the odor sensor 52 , the humidity sensor 53 and the travel map 18 a , which are the environment detection devices, and the human detection sensor 54 .
  • the main body enclosure 2 remains, for a given time, in a specific place specified based on the surrounding environment detected by the environment detection device, and feeds out the air current containing ions through the exhaust port 7 .
  • the operations will be described with reference to operational flows shown in FIGS. 7 to 10 .
  • FIG. 7 is a flowchart showing the operation of detecting odor by the cleaning robot 1 .
  • the CPU 14 a When the operation of the cleaning robot 1 is started (start of FIG. 7 ), the CPU 14 a operates the odor sensor 52 through the control unit 52 a while performing the cleaning and the ion feeding by making the main body enclosure 2 travel (step # 101 in FIG. 7 ). Then, whether or not the odor sensor 52 detects the odor of the predetermined threshold value or more is determined (step # 102 ). The threshold value for odor is predetermined and stored in the storage portion 18 and the like. If the odor sensor 52 does not detect the odor of the predetermined threshold value or more (no in step # 102 ), the process returns to step # 101 where the detection of odor by the odor sensor 52 is continued.
  • step # 104 If the odor sensor 52 detects the odor of the predetermined threshold value or more (yes in step # 102 ), the CPU 14 a controls the travel motor 51 through the motor driver 51 a to stop the travel of the main body enclosure 2 (step # 103 ). Then, a time measurement using a time measurement portion (not shown) is started (step # 104 ).
  • step # 106 a given time, for example, 30 seconds has elapsed is determined (step # 106 ).
  • the given time previously set at 30 seconds is an arbitrary time during which the main body enclosure 2 remains in the same place, can be arbitrarily set as necessary and is stored in the storage portion 18 and the like.
  • the cleaning robot 1 repeats the pivoting operation in step # 105 .
  • the cleaning robot 1 remains, for a given time, regarding, as the specific place, the detection place based on the fact that the odor sensor 52 detects the odor of the predetermined threshold value or more, and feeds out the air current containing ions through the exhaust port 7 .
  • step # 106 If 30 seconds have elapsed (yes in step # 106 ), the cleaning robot 1 completes the time measurement and the pivoting operation (step # 107 ). Then, the cleaning robot 1 restarts the normal travel (step # 108 ), and the process returns to step # 101 where the detection of odor by the odor sensor 52 is continued.
  • FIG. 8 is a flowchart showing the operation of detecting humidity by the cleaning robot 1 .
  • the CPU 14 a operates the humidity sensor 53 through the control unit 53 a while performing the cleaning and the ion feeding by making the main body enclosure 2 travel (step # 201 in FIG. 8 ). Then, whether or not the humidity sensor 53 detects the humidity of the predetermined threshold value or more is determined (step # 202 ).
  • the threshold value for humidity is predetermined and stored in the storage portion 18 and the like. If the humidity sensor 53 does not detect the humidity of the predetermined threshold value or more (no in step # 202 ), the process returns to step # 201 where the detection of humidity by the humidity sensor 53 is continued.
  • step # 204 If the humidity sensor 53 detects the humidity of the predetermined threshold value or more (yes in step # 202 ), the CPU 14 a controls the travel motor 51 through the motor driver 51 a to stop the travel of the main body enclosure 2 (step # 203 ). Then, a time measurement using the time measurement portion (not shown) is started (step # 204 ).
  • the cleaning robot 1 rotates both of the drive wheels 5 in opposite directions, and thus the main body enclosure 2 is pivoted about the center line C at the same place without being moved (step # 205 ). Then, whether or not with respect to the time measurement started in step # 204 , a given time, for example, 30 seconds has elapsed is determined (step # 206 ).
  • the given time previously set at 30 seconds is an arbitrary time during which the main body enclosure 2 remains in the same place, can be arbitrarily set as necessary and is stored in the storage portion 18 and the like.
  • the cleaning robot 1 repeats the pivoting operation in step # 205 .
  • the cleaning robot 1 remains, for a given time, regarding, as the specific place, the detection place based on the fact that the humidity sensor 53 detects the humidity of the predetermined threshold value or more, and feeds out the air current containing ions through the exhaust port 7 .
  • step # 206 If 30 seconds have elapsed (yes in step # 206 ), the cleaning robot 1 completes the time measurement and the pivoting operation (step # 207 ). Then, the cleaning robot 1 restarts the normal travel (step # 208 ), and the process returns to step # 201 where the detection of humidity by the humidity sensor 53 is continued.
  • FIG. 9 is a flowchart showing the operation of the travel map 18 a by the cleaning robot 1 .
  • the CPU 14 a When the operation of the cleaning robot 1 is started (start of FIG. 9 ), the CPU 14 a performs the checking of the travel map 18 a while performing the cleaning and the ion feeding by making the main body enclosure 2 travel (step # 301 in FIG. 9 ). Then, whether or not the cleaning robot 1 reaches the place where the odor of the predetermined threshold value or more is present or the place where the humidity of the predetermined threshold value or more is present is determined based on the present location of the main body enclosure 2 and the information described in the travel map 18 a (step # 302 ).
  • the place where the odor of the predetermined threshold value or more is present and the place where the humidity of the predetermined threshold value or more is present are previously described as the specific place related to the environment in the surrounding area of the installation place of the cleaning robot 1 , and are stored in the storage portion 18 and the like. If the main body enclosure 2 does not reach the specific place related to the surrounding environment (no in step # 302 ), the process returns to step # 301 where the travel is continued while the travel map 18 a is being checked.
  • step # 302 If the main body enclosure 2 reaches the specific place related to the surrounding environment (yes in step # 302 ), the CPU 14 a controls the travel motor 51 through the motor driver 51 a to stop the travel of the main body enclosure 2 (step # 303 ). Then, a time measurement using the time measurement portion (not shown) is started (step # 304 ).
  • the cleaning robot 1 rotates both of the drive wheels 5 in opposite directions, and thus the main body enclosure 2 is pivoted about the center line C at the same place without being moved (step # 305 ). Then, whether or not with respect to the time measurement started in step # 304 , a given time, for example, 30 seconds has elapsed is determined (step # 306 ).
  • the given time previously set at 30 seconds is an arbitrary time during which the main body enclosure 2 remains in the same place, can be arbitrarily set as necessary and is stored in the storage portion 18 and the like.
  • the cleaning robot 1 repeats the pivoting operation in step # 305 .
  • the cleaning robot 1 remains, for a given time, in the specific place, that is, the place where the odor of the predetermined threshold value or more is present or the place where the humidity of the predetermined threshold value or more is present described in the travel map 18 a , and feeds out the air current containing ions through the exhaust port 7 .
  • step # 306 If 30 seconds have elapsed (yes in step # 306 ), the cleaning robot 1 completes the time measurement and the pivoting operation (step # 307 ). Then, the cleaning robot 1 restarts the normal travel (step # 308 ), and the process returns to step # 301 where the travel is continued while the travel map 18 a is being checked.
  • the cleaning robot 1 may be moved to the specific place to remain for a given time when the operation of the cleaning robot 1 is started or completed.
  • FIG. 10 is a flowchart showing the operation of human detection by the cleaning robot 1 .
  • the CPU 14 a operates the human detection sensor 54 through the control unit 54 a while performing the cleaning and the ion feeding by making the main body enclosure 2 travel (step # 401 in FIG. 10 ). Then, whether or not the human detection sensor 54 detects the presence of a person in the direction in which air is exhausted through the exhaust port 7 is determined (step # 402 ). If the human detection sensor 54 does not detect the presence of a person in the direction in which air is exhausted through the exhaust port 7 (no in step # 402 ), the process returns to step # 401 where the detection of a person by the human detection sensor 54 is continued.
  • step # 402 If the human detection sensor 54 detects the presence of a person in the direction in which air is exhausted through the exhaust port 7 (yes in step # 402 ), the cleaning robot 1 changes the rotation speed of both of the drive wheels 5 such that the main body enclosure 2 is moved while being rotated (step # 403 ). Then, whether or not the direction in which the person detected by the human detection sensor 54 is present coincides with the direction in which air is exhausted through the exhaust port 7 is determined (step # 404 ).
  • the cleaning robot 1 While the direction in which the person is present coincides with the direction in which air is exhausted through the exhaust port 7 (yes in step # 404 ), the cleaning robot 1 repeats the rotation movement operation in step # 403 . Thus, the cleaning robot 1 displaces the main body enclosure 2 based on detection information from the human detection sensor 54 such that the direction in which the person is present differs from the direction in which air is exhausted through the exhaust port 7 .
  • step # 404 If the direction in which the person is present fails to coincide with the direction in which air is exhausted through the exhaust port 7 (no in step # 404 ), the cleaning robot 1 completes the rotation movement operation (step # 405 ). Then, the cleaning robot 1 restarts the normal travel (step # 406 ), and the process returns to step # 401 where the detection of a person by the human detection sensor 54 is continued.
  • the cleaning robot 1 includes the ion generation device 25 that discharges ions into the first exhaust passage 24 a within the main body enclosure 2 and the environment detection devices (for example, the odor sensor 52 , the humidity sensor 53 and the travel map 18 a ) that detect the surrounding environment of the main body enclosure 2 , remains, for a given time, in the specific place specified based on the surrounding environment of the main body enclosure 2 detected by the environment detection device and feeds out the air current containing ions through the exhaust port 7 .
  • the cleaning robot 1 can automatically identify the place where the ion distribution is needed to remain there, and thus it is possible to effectively distribute ions to the identified and desired place.
  • the environment detection device is the odor sensor 52 that detects odor in the surrounding area of the main body enclosure 2 , and the cleaning robot 1 remains in the specific place where the odor of the predetermined threshold value or more is present and feeds out the air current containing ions.
  • the cleaning robot 1 can distribute ions mainly to a place where odor is present.
  • the environment detection device is the humidity sensor 53 that detects humidity in the surrounding area of the main body enclosure 2 , and the cleaning robot 1 remains in the specific place where the humidity of the predetermined threshold value or more is present and feeds out the air current containing ions.
  • the cleaning robot 1 can distribute ions mainly to a place where humidity is high.
  • the environment detection device is the travel map 18 a that describes the specific place in the surrounding area of the installation place of the cleaning robot 1 , and the cleaning robot 1 remains in the specific place previously described in the travel map 18 a where ions are needed and feeds out the air current containing ions.
  • the cleaning robot 1 can distribute ions mainly to a place where odor is present and a place where humidity is high previously described in the travel map 18 a.
  • the “specific place” described above can be set at the place specified based on the surrounding environment of the main body enclosure 2 detected by the environment detection device, for example, the state of air in the surrounding area.
  • the specific place can be set at, for example, as described above, the place where odor detected by the odor sensor 52 is present or the place where humidity detected by the humidity sensor 53 is high; however, the specific place is not limited to these places.
  • the cleaning robot 1 displaces the main body enclosure 2 based on detection information from the human detection sensor 54 such that the direction in which a person is present differs from the direction in which air is exhausted through the exhaust port 7 , when the cleaning robot 1 detects a person, the cleaning robot 1 exhausts air in a direction in which the person is not present. Thus, it is possible to prevent air exhausted through the exhaust port 7 from directly hitting the person and thereby prevent the person from having an uncomfortable feeling.
  • the cleaning robot 1 displaces the movable louver 17 to change, according to the speed of travel when the main body enclosure 2 is self-propelled, the direction in which air is exhausted through the exhaust port 7 , ions are distributed to a different region according to the speed of travel.
  • the cleaning robot 1 displaces the louver 17 such that it is possible to exhaust air upward when the main body enclosure 2 travels as compared with when the main body enclosure 2 is stopped.
  • the cleaning robot 1 distributes ions to a wider region.
  • the main body enclosure 2 of the cleaning robot 1 remains, for a given time, in the specific place specified based on the surrounding environment detected by the environment detection device and feeds out the air current containing ions through the exhaust port 7 .
  • the cleaning robot 1 can automatically identify the place where the ion distribution is needed, and thus it is possible to effectively distribute ions to the specified and desired place.
  • the cleaning robot 1 that is a self-propelled ion generator which can effectively distribute ions to the place where the ions are needed.
  • the present invention can be utilized for a self-propelled ion generator and a cleaning robot that are self-propelled on a floor surface.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Disinfection, Sterilisation Or Deodorisation Of Air (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Manipulator (AREA)
US14/240,199 2011-10-07 2012-09-07 Self-propelled ion generator and cleaning robot Abandoned US20140230179A1 (en)

Applications Claiming Priority (3)

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JP2011223149A JP5165784B1 (ja) 2011-10-07 2011-10-07 自走式イオン発生機及び掃除ロボット
JP2011-223149 2011-10-07
PCT/JP2012/072843 WO2013051365A1 (ja) 2011-10-07 2012-09-07 自走式イオン発生機及び掃除ロボット

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US20140230179A1 true US20140230179A1 (en) 2014-08-21

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US (1) US20140230179A1 (ja)
JP (1) JP5165784B1 (ja)
CN (1) CN103841870B (ja)
TW (1) TWI505805B (ja)
WO (1) WO2013051365A1 (ja)

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JP2013081604A (ja) 2013-05-09
WO2013051365A1 (ja) 2013-04-11
JP5165784B1 (ja) 2013-03-21
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