JP2020048982A - Autonomous travel type cleaning device - Google Patents

Abstract

To provide an autonomous travel type cleaning device that can improve efficiency of cleaning.SOLUTION: A floor cleaning device 10 comprises: a suction nozzle 18 comprising a rotary brush 26 for sweeping a floor, and for sucking suction objects collected by the rotary brush 26; an extension nozzle 19 comprising an extension brush 19A for sweeping the floor, and for sucking suction objects collected by the extension brush 19A; and a collection box 16 comprising a suction port 168, and for collecting the suction objects sucked by the suction nozzle 18 and the extension nozzle 19 from the suction port 168. The extension nozzle 19 is provided so as to be capable of protruding laterally with respect to a travel direction of the floor cleaning device 10.SELECTED DRAWING: Figure 12

Description

  The present invention relates to an autonomous traveling type cleaning device capable of autonomous traveling, and more particularly to an autonomous traveling type cleaning device including a collection box for collecting suctioned substances such as sucked dust.

  2. Description of the Related Art Conventionally, an autonomous traveling type cleaning device called a cleaning robot has been known. This cleaning device cleans the surface to be cleaned by autonomously traveling on the surface to be cleaned, such as a floor surface, while sucking in dust from the suction port of the suction nozzle directed toward the surface to be cleaned and sucking dust on the surface to be cleaned. I do. The sucked dust (sucked matter) is collected in a dust collection box attached to the cleaning device.

  In recent years, due to labor shortages and soaring labor costs, there is a shortage of cleaning personnel for cleaning concourses at stations and airports, and a wide range of spaces such as shopping malls. Therefore, the introduction of an industrial autonomous traveling cleaning device (see Patent Literature 1) designed to perform autonomous traveling and having high cleaning ability and high safety is in progress. This type of autonomous traveling cleaning device has a collision avoidance function that can safely move so as not to collide with a pedestrian, an obstacle, a wall, or the like.

JP 2018-112917 A

  However, the conventional industrial autonomous traveling cleaning device can clean a narrow passage, but travels a certain distance from a wall surface in consideration of safety, and thus an uncleaned area is easily generated. If the area to be cleaned is wide, the running time and the running distance become long, and the battery may run out.

  An object of the present invention is to provide an autonomous traveling type cleaning device capable of improving cleaning efficiency.

  The present invention is an autonomous traveling type cleaning device that cleans the surface to be cleaned while autonomously traveling on the surface to be cleaned. The autonomous traveling type cleaning device includes: a drive transmission unit that transmits a traveling force of the autonomous traveling type cleaning device in a traveling direction to the surface to be cleaned while maintaining a traveling posture of the device body; and a first cleaning unit that sweeps the surface to be cleaned. A second suction brush provided with a rotating brush, for suctioning the first suctioned matter collected by the first rotating brush, and a second rotating brush for sweeping the surface to be cleaned; An expansion nozzle for sucking an object; and a collection box including an intake port, and a collection box for collecting the first suction object and the second suction object sucked by the suction nozzle and the expansion nozzle from the intake port, The extension nozzle is provided so as to protrude laterally with respect to the traveling direction.

  According to this configuration, for example, the extended nozzle protrudes to the side of the autonomous traveling type cleaning device when traveling along a passage with a wide passage width or a passage near a wall, and the autonomous traveling type cleaning device when the passage width is small. Will be accommodated. Thus, the length of the nozzle for sucking dust can be adjusted according to the width of the passage, so that the cleaning efficiency can be improved.

  In the autonomous traveling cleaning device of the present invention, the extended nozzle is held at a position not protruding laterally from the autonomous traveling cleaning device, and a position protruding laterally from the autonomous traveling cleaning device. Is provided so as to be able to change the attitude to the second attitude held by the camera.

  In the self-propelled cleaning device of the present invention, the extension nozzle changes from the first posture to the second posture when the self-propelled cleaning device travels at a preset location on a traveling route.

  Thus, for example, the extended nozzle protrudes to the side of the autonomous traveling type cleaning device when traveling through a preset narrow passage width or a passage near a wall.

  In the autonomous traveling cleaning apparatus of the present invention, the cleaning device further includes a holding member that applies a biasing force to the expansion nozzle to hold the expansion nozzle in the second posture, wherein the holding member applies an external force to the expansion nozzle. When the external nozzle is rotated from the second position in the direction in which the external force is applied against the urging force when the external nozzle is no longer applied, the expansion nozzle is Return to the second posture by the force.

  According to this configuration, when the extension nozzle comes into contact with an obstacle while the autonomous traveling cleaning device is traveling with the extension nozzle protruding to the side, the extension nozzle rotates backward. Thereby, the damage of the extension nozzle can be prevented.

  In the autonomous traveling type cleaning device of the present invention, the holding member is formed of a tension coil spring, one end of the tension coil spring is fixed to the extension nozzle, and the elastic tension coil spring moves the extension nozzle. A tensile force is applied to the expansion nozzle so as to maintain the second attitude.

  Thereby, even if the extension nozzle rotates, it is possible to return to the second posture and maintain the second posture.

  In the autonomous traveling cleaning device of the present invention, the intake port includes a first intake port provided on a bottom surface of the collection box, and a second intake port provided on a side surface of the collection box. Collecting the first suctioned material sucked by the suction nozzle from the first suction port when the expansion nozzle is in the first posture, stopping the collection by the expansion nozzle, When the expansion nozzle is in the second posture, the first suctioned material sucked by the suction nozzle is collected from the first suction port, and the second suctioned material sucked by the expansion nozzle is collected. Collect from the second inlet.

  According to this configuration, when the expansion nozzle is in the first position, dust is sucked by the suction nozzle, and when the expansion nozzle is in the second position, dust is sucked by the suction nozzle and the expansion nozzle. Aspirate. Therefore, the efficiency of cleaning can be improved.

  In the autonomous traveling cleaning device of the present invention, when the extension nozzle is in the first position, the air flow path from the extension nozzle to the collection box is shut off, and the extension nozzle is in the second position. Then, the air flow path from the expansion nozzle to the collection box is communicated.

  Accordingly, when the extended nozzle is in the first position, the intake is shut off from the extended nozzle, so that it is possible to prevent a decrease in suction force at the intake nozzle.

  According to the present invention, it is possible to improve the efficiency of cleaning.

FIG. 1 is a perspective view showing the front appearance of a floor cleaning device according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing a configuration of the floor cleaning device. FIG. 3 is a perspective view showing the appearance of the rear side of the floor surface cleaning device, and shows a state in which the expansion nozzle is disposed in the storage posture. FIG. 4 is a perspective view showing the appearance of the rear side of the floor cleaning device, showing a state in which the extension nozzle is arranged in a side cleaning posture. FIG. 5 is a perspective view showing the internal structure of the floor cleaning device. FIG. 6 is an enlarged view of a main part VI in FIG. FIG. 7 is a perspective view illustrating a configuration of a support holder included in the floor cleaning device. 8A and 8B are side views of a rear portion of the floor cleaning device. FIG. 8A is a diagram illustrating a state in which a collection box of the floor cleaning device is mounted, and FIG. It is a figure showing the state where it was removed from the cleaning device. FIG. 9 is a schematic diagram showing a cross section taken along a cutting line XII-XII in FIG. FIG. 10 is a diagram illustrating a flap opening / closing mechanism included in the floor cleaning device. FIG. 11 is a perspective view illustrating a configuration of a collection box provided in the floor cleaning device. 12A and 12B are diagrams illustrating a state of a change in the attitude of an extension nozzle provided in the floor cleaning device. FIG. 12A is a diagram of the floor cleaning device viewed from the rear, and FIG. 12B is a diagram illustrating the floor cleaning device. FIG. 4 is a view of the device viewed from above. FIG. 13 is a schematic view of the rotation mechanism of the expansion nozzle viewed from above. FIG. 14 is a schematic view of the rotation mechanism of the expansion nozzle viewed from the rear.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the following embodiment is an example in which the present invention is embodied, and does not limit the technical scope of the present invention. In the following description, the vertical direction D1, the front-rear direction D2, the left-right direction, or the width direction D3 shown in each drawing is used.

[Floor surface cleaning device 10]
FIG. 1 is a perspective view showing the front appearance of a floor cleaning apparatus 10 according to an embodiment of the present invention. The floor surface cleaning device 10 (an example of the autonomous traveling type cleaning device of the present invention) autonomously travels forward (in the traveling direction) on the floor surface 23 (cleaning surface) of a concourse such as an airport, a station, or a shopping mall. It is an autonomous traveling type cleaning device that automatically cleans the floor surface 23, generates a suction force for sucking air by a blower or the like, and sucks dust and dirt on the floor surface together with the air by the suction force. This is a device that separates dust by a filter and collects the dust in a collection box 16 (see FIG. 2). The floor cleaning device 10 automatically cleans while traveling on the floor 23 based on various types of cleaning information such as a traveling route, a cleaning area, a cleaning time zone, a return position for charging, and the like input in advance. .

  The floor surface cleaning device 10 is merely an example of the autonomous traveling type cleaning device of the present invention, and the present invention cleans the road surface while autonomously traveling on a road surface such as an outdoor walking road or a car road. It is also applicable to cleaning devices.

  FIG. 2 is a schematic diagram illustrating a configuration of the floor cleaning device 10. As shown in FIGS. 1 and 2, the floor cleaning device 10 includes an apparatus main body 11 and functional units provided on the apparatus main body 11. Specifically, the apparatus main body 11 includes a traveling unit 12 (an example of a drive transmission unit of the present invention), a motor 13, a battery 14, an intake unit 15, a collection box 16 (an example of a collection box of the present invention), and a support holder. 17, an intake nozzle 18 (an example of an intake nozzle of the present invention), an extended nozzle 19 (an example of an extended nozzle of the present invention), an operation unit 20, a display panel 21, a holder moving mechanism 50, a control unit 40, and the like are provided. I have.

  As shown in FIG. 1, the apparatus main body 11 has an exterior cover 11A constituting the exterior. Further, as shown in FIG. 2, the apparatus main body 11 has a chassis 11B at a lower portion thereof. The chassis 11B is provided substantially parallel to the floor surface 23. A support frame for supporting each of the above-described functional units is appropriately provided inside the apparatus main body 11.

  As shown in FIG. 2, the traveling unit 12 is provided at a lower part of the apparatus main body 11. The traveling portion 12 transmits the traveling force in the traveling direction to the floor surface 23 while maintaining the traveling posture of the apparatus main body 11, and is attached to the chassis 11B. The traveling section 12 has a pair of traveling wheels 121 and four casters 122.

  The wheels 121 are rotatably supported at both ends in the width direction D3 at the center in the front-rear direction of the chassis 11B. The four casters 122 are for maintaining the running posture of the apparatus main body 11, and are rotatably supported by both ends of a front end of the chassis 11B and both ends of a rear end of the chassis 11B. With the floor cleaning device 10 placed on the floor 23, the outer peripheral surfaces of the wheels 121 and the casters 122 are supported by the floor 23. Thereby, the apparatus main body 11 is maintained in the running posture shown in FIGS.

  The output shaft of the motor 13 is connected to the rotation shaft of the wheel 121 via a transmission mechanism such as a reduction gear. For this reason, when the motor 13 is driven and its rotational driving force is output from the output shaft, the rotational driving force of the motor 13 is transmitted to the wheels 121. In the present embodiment, the motor 13 is individually provided for each of the pair of wheels 121. Therefore, the rotation speed of each wheel 121 is controlled by controlling the driving of each motor 13 individually. For example, when the rotation speed of each wheel 121 is controlled at a constant speed, the floor cleaning device 10 proceeds straight, and when the rotation speed of each wheel 121 is controlled to a different speed, the wheel 121 having the lower rotation speed is controlled. Then, the floor cleaning device 10 turns.

  The intake unit 15 is provided inside the apparatus main body 11 above a battery 14 described later. The intake unit 15 generates a suction force for sucking air from an intake nozzle 18 described later, and includes a plurality of intake fans 151 (blowers), an intake manifold 152, and an exhaust manifold 153. The intake manifold 152 has three intake ports 154 provided side by side in the width direction D3, and a flexible hose 24 for intake is connected to each of the intake ports 154. Further, one side of an exhaust pipe (not shown) is connected to the exhaust manifold 153. The other side of the exhaust pipe is connected to the chassis 11B, and the exhaust port is disposed in a space between the chassis 11B and the floor 23. Thus, when the intake fan 151 is driven, air is sucked from the intake port at the tip of each flexible hose 24, and the air is supplied to the flexible hose 24, the intake manifold 152, the intake fan 151, the exhaust manifold 153, and the exhaust pipe. Through the exhaust port to the outside.

  The battery 14 is provided at the center of the apparatus main body 11. The battery 14 supplies driving power to the motor 13 and the intake fan 151. Further, the battery 14 includes a motor 62 (see FIG. 9) for rotationally driving the rotating brush 26 described later, a motor 30 (see FIG. 13) for rotationally driving the extended nozzle 19 described later, and an extended brush 19A described later. Driving power is supplied to each of the rotation driving motors 19C (see FIG. 14). The battery 14 supplies driving power to a motor 56 (see FIG. 9) for lifting and lowering the holder moving mechanism 50 described later.

  As shown in FIG. 2, the collection box 16 is provided on the back of the apparatus main body 11. The collection box 16 is covered with a cover 161 in a state where the collection box 16 is attached to the apparatus main body 11. A support holder 17 for detachably supporting the collection box 16 is provided on the back side of the apparatus main body 11, and the collection box 16 is detachably mounted on the support holder 17. Note that the cover 161 is attached to the support holder 17.

  The support holder 17 is provided with three intake ports 174. The intake port 174 extends through the front side surface of the support holder 17 and reaches the outlet of the collection box 16. The end of the flexible hose 24 is connected to each of the intake ports 174. An intake nozzle 18 is provided below the support holder 17, and an extension nozzle 19 is provided on a side of the support holder 17. Each nozzle 18, 19 passes through a collection box 16. Thus, when the intake unit 15 is driven, the air sucked from each of the intake nozzle 18 and the expansion nozzle 19 flows into the flexible hose 24 through the collection box 16. The details of the collection box 16, the support holder 17, and the suction nozzle 18 will be described later.

  FIG. 3 and FIG. 4 are perspective views showing the appearance of the rear side of the floor cleaning device 10. As shown in FIGS. 3 and 4, the extension nozzle 19 is provided on the left side of the support holder 17. On the left side of the support holder 17, a storage section 176 described later is provided, and the expansion nozzle 19 can be stored in the storage section 176. The expansion nozzle 19 is supported by the support holder 17. Specifically, the expansion nozzle 19 is placed in the storage position (the position shown in FIGS. 1 and 3) in which the storage portion 176 is stored (an example of the first position of the present invention) and the left side (side direction) of the storage portion 176. ) Can be changed between a side cleaning posture (the posture shown in FIGS. 4 and 7) that can clean the floor 23 on the left side of the apparatus main body 11 by falling down (an example of the second posture of the present invention). In this way, it is supported by the support holder 17. In the present embodiment, the extension nozzle 19 is rotatably supported between the accommodation posture and the side cleaning posture with the vicinity of the lower end of the support holder 17 as the center of rotation. Note that FIG. 3 shows a state in which the extension nozzle 19 is arranged in the accommodation posture, and FIG. 4 shows a state in which the extension nozzle 19 is arranged in the side cleaning posture. The details of the expansion nozzle 19 will be described later.

  The operation unit 20 is provided at an upper portion on the back surface of the apparatus main body 11. The operation unit 20 is attached to the outer cover 11A. The operation unit 20 is a device operated by an operator, and is, for example, a terminal device having a touch panel capable of performing a touch operation. Various types of cleaning information (information such as a travel route, a cleaning area, a cleaning time zone, and a return position) for the floor cleaning device 10 can be input from the operation unit 20. The input cleaning information is transferred to the control unit 40 and used for traveling control by the control unit 40.

  The display panel 21 is provided on a front surface of the apparatus main body 11. The display panel 21 is, for example, a liquid crystal panel. The control unit 40 displays various announcement information on the display panel 21 during cleaning. The announcement information is, for example, information indicating that cleaning is being performed, guidance information regarding a floor being cleaned, and the like.

  The holder moving mechanism 50 is provided inside the apparatus main body 11, and is provided on the back side of the apparatus main body 11, as shown in FIG. The holder moving mechanism 50 supports the support holder 17 so as to be movable in the vertical direction D1, and transmits a driving force in the vertical direction D1 to the support holder 17 to move the support holder 17 in the vertical direction D1. In the present embodiment, when a maintenance instruction is input from the operation unit 20, the control unit 40 controls the motor 56 to raise the support holder 17, which is disposed at the cleaning position as an initial position, and To be placed. Then, the support holder 17 is held at the maintenance position. Thereafter, when a maintenance end signal is input, the control unit 40 controls the motor 56 to lower the support holder 17 so as to dispose the support holder 17 at the cleaning position. When the remaining battery level falls below the threshold value, the floor cleaning device 10 returns to the return position, and the control unit 40 controls the motor 56 to move the support holder 17 up to the charging position. When the support holder 17 is located at the charging position, the floor cleaning device 10 is connected to a charger (not shown), and the charging process of the battery 14 is started.

  The control unit 40 is provided on an upper part of the apparatus main body 11. The control unit 40 runs the floor cleaning device 10, drives the suction fan 151 of the suction unit 15, drives the rotary brush 26 and the expansion brush 19 A, drives the expansion nozzle 19, moves the support holder 17 up and down by the holder moving mechanism 50, The display of the display panel 21 is controlled. The control unit 40 includes, for example, control devices such as a CPU, a ROM, and a RAM, and a storage medium or a storage device such as an HDD or a flash memory. The CPU is a processor that executes various arithmetic processing. The ROM is a nonvolatile memory in which control programs such as a BIOS and an OS for causing the CPU to execute various processes are stored in advance. The RAM is a volatile or non-volatile memory that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 40 executes the various control programs stored in the ROM or the storage device in advance by the CPU, thereby driving the floor cleaning device 10, driving the intake fan 151, and controlling the rotation of the rotary brush 26 and the extension brush 19A. Driving, driving of the extension nozzle 19, lifting and lowering of the support holder 17, and the like are controlled.

[Support holder 17]
5 and 6 are perspective views showing the floor cleaning device 10 from which the outer cover 11A has been removed. As shown in FIGS. 5 and 6, a support holder 17 is provided on the back side of the floor cleaning device 10. Inside the apparatus main body 11, a plate-like vertical frame 11C extending upward from the rear end of the chassis 11B is provided. The support holder 17 is attached to the vertical frame 11C. In the present embodiment, as described later, the support holder 17 is supported by the vertical frame 11C of the apparatus main body 11 so as to be movable in the vertical direction D1.

  FIG. 7 is a perspective view illustrating the configuration of the support holder 17. As shown in FIG. 7, the support holder 17 has a base portion 171 extending in the up-down direction D1, and a box housing portion 172 fixed to the base portion 171.

  The base portion 171 is formed by bending a sheet metal, and includes a base plate 171A attached to the vertical frame 11C, and side plates 171B and 171C that project rearward from both ends in the width direction D3 of the base plate 171A. It is configured. At the upper end of the base plate 171A, three intake ports 174 (see FIG. 2) for connecting the ends of the flexible hose 24 are attached. The intake port 174 is formed in a cylindrical shape protruding forward from the base plate 171A.

  Three communication holes 175 are formed at the upper end of the rear surface of the base plate 171A. The communication hole 175 is formed at a position corresponding to the intake port 174. With the collection box 16 mounted in the box storage section 172, a discharge port 167 (see FIG. 9) provided on the side surface of the collection box 16 is connected to the communication hole 175. As a result, the flexible hose 24 and the collection box 16 are connected so that the collection box 16 can be sucked.

  The collection box 16 is provided with an air filter 169 (see FIG. 9) that collects and removes dust and other debris from the air discharged from the discharge port 167 and turns the air into clean air. As the air filter 169, for example, a chemical filter, a HEPA filter, an ULPA filter, or the like can be used.

  The box housing section 172 supports the collection box 16 in a detachable manner. The box accommodating portion 172 is fixed to a rear surface of the base portion 171, and is arranged at the center of the base portion 171 in the width direction D3. The box housing portion 172 is formed by bending a sheet metal, and includes a mounting plate 172A fixed to the base portion 171 and side plates 172B and 172C that protrude rearward from both ends of the mounting plate 172A in the width direction D3. It is composed of Since the length of the box housing portion 172 is shorter than the width of the base portion 171 in the width direction D3, the box housing portion 172 is a space surrounded by the side plate 171B and the side plate 171C of the base portion 171 as shown in FIG. To be housed.

  As shown in FIG. 7, the rear side of the box housing portion 172 is open, and the upper side is also open. Therefore, as shown in FIG. 8, the collection box 16 can be lifted obliquely upward and rearward with respect to the box storage portion 172 with the door (not shown) provided on the cover 161 opened. The collection box 16 can be easily removed from the section 172. Here, FIG. 8 is a side view of the rear part of the floor cleaning device 10, FIG. 8A shows a state in which the collection box 16 is mounted on the box storage part 172, and FIG. , The collection box 16 has been removed from the box storage section 172.

  As shown in FIG. 7, a rectangular opening 177 long in the width direction D3 is formed in the bottom surface 172D of the box housing portion 172. The opening 177 communicates with an intake nozzle 18 described later. In a state where the collection box 16 is mounted in the box storage portion 172, an intake port 168 provided on the bottom surface 16A of the collection box 16 (see FIGS. 8B and 11) (an example of a first intake port of the present invention). Are aligned with the openings 177. Thereby, the intake nozzle 18 and the collection box 16 communicate with each other, and dust (an example of the first suctioned material of the present invention) sucked up together with the air from the intake nozzle 18 can be collected in the collection box 16 through the intake port 168. In a state in which the collection box 16 is removed from the box housing section 172, the rotating brush 26 can be viewed from vertically above, and is exposed to the outside.

  An opening 178 (see FIG. 7) communicating with the expansion nozzle 19 is formed below the left side plate 172B of the box housing portion 172. In a state where the collection box 16 is mounted in the box storage portion 172, the side intake port 161 (see FIG. 11) provided on the side surface 16C on the side of the collection box 16 (see FIG. 11) is an example. It is aligned with opening 178. As a result, the expansion nozzle 19 and the collection box 16 communicate with each other, and dust (an example of the second suctioned material of the present invention) sucked up with the air from the expansion nozzle 19 can be collected in the collection box 16 through the side air inlet 161. .

[Collection Box 16]
The collection box 16 collects dust (dust) such as dust sucked from a suction port 181 (see FIG. 8) of the suction nozzle 18 described later, and has a hollow box shape inside. . As shown in FIGS. 6 and 11, the collection box 16 is formed in a thin rectangular shape in the front-rear direction D2. As shown in FIG. 8, a sheet-like flap 163 for opening and closing the intake port 168 is provided inside the collection box 16. The flap 163 is made of an elastic synthetic resin such as PET resin.

  The front end of the flap 163 is fixed to the bottom surface 16A of the collection box 16, and extends rearward and obliquely upward from the fixed end. The extension end of the flap 163 is in contact with the rear side surface 16 </ b> B of the collection box 16. The extending end of the flap 163 is a free end, and can swing about the fixed end of the flap 163.

  Since such a flap 163 is provided, when air is not being taken, the flap 163 is biased toward the side surface 16B by its elasticity. Therefore, the extending end of the flap 163 is in contact with the side surface 16B, and the intake port 168 is covered by the flap 163. Therefore, the garbage collected in the collection box 16 does not leak out from the intake port 168 to the outside. Also, when the collection box 16 is removed from the box storage section 172, the dust does not leak out from the suction port 168 because the flap 163 covers the suction port 168.

  On the other hand, when the intake fan 151 is driven and the intake is performed, the inside of the collection box 16 becomes a negative pressure, whereby air flows into the inside from the intake port 168. Due to the inflow of air at this time, the flap 163 is bent forward against the urging force on the side surface 16B side. As a result, the intake port 168 is no longer covered by the flap 163, and the intake air is smoothly sucked into the inside from the intake port 168. When the driving of the intake fan 151 is stopped, the flap 163 is returned to the original state, and covers the intake port 168 again.

  As another embodiment, the drive of the flap 163 may be controlled by the control unit 40. For example, as shown in FIG. 10, a solenoid 164 is provided below the flap 163. The solenoid 164 is rotatably supported by the support holder 17 so as to protrude upward from the opening 177 of the box housing portion 172. When the collection box 16 is mounted in the box storage portion 172, the upper end of the solenoid 164 comes into contact with the lower surface of the flap 163. The control unit 40 drives the intake fan 151 and gives a predetermined driving force (current) to the solenoid 164. As a result, the solenoid 164 rotates to push the flap 163 upward and open the intake port 168. When the control unit 40 stops driving the intake fan 151 and the solenoid 164, the solenoid 164 returns to the original position, and the flap 163 covers the intake port 168 again.

[Intake nozzle 18]
As shown in FIG. 8, the intake nozzle 18 is a part that sucks up dust and other dust from the floor surface 23 together with air when the intake fan 151 operates. The intake nozzle 18 has an intake port 181 at a position separated from the floor surface 23 by a predetermined gap ΔT. That is, the suction port 181 is arranged at a position spaced apart from the floor surface 23 by a gap ΔT. The suction nozzle 18 is provided at a lower end of the support holder 17. In the present embodiment, the intake nozzle 18 is formed integrally with the box housing portion 172 of the support holder 17.

  The intake nozzle 18 has a shape that is long in the width direction D3, and is configured by a rectangular cylindrical outer peripheral wall 182 that protrudes downward from the outer periphery of the bottom surface 172D of the box housing portion 172. That is, the intake nozzle 18 and the box housing portion 172 are vertically separated by the bottom surface 172D (see FIG. 7). In other words, the collection box 16 and the box storage 172 that supports the collection box 16 are provided vertically above the intake nozzle 18. The lower side of the outer peripheral wall 182 is open and forms the above-described suction port 181.

  A sheet-like sealing member 185 having elasticity and extending to the floor surface 23 is provided at the rear edge of the suction port 181 of the suction nozzle 18. The seal member 185 has a rectangular shape that is long in the width direction D3, and is joined to the entire area of the suction port 181 in the width direction D3. The gap ΔT between the rear edge of the suction port 181 and the floor surface 23 is closed by the seal member 185.

  A pair of rotating brushes 26 (26A, 26B) (first rotating brushes of the present invention) are rotatably provided on the intake nozzle 18. The rotating brushes 26 are arranged side by side in the front-back direction D2. The rotating shaft 261 (see FIG. 9) of each rotating brush 26 is rotatably supported by penetrating side plates 184 (see FIG. 9) at both ends of the intake nozzle 18 in the width direction D3. In the present embodiment, an example in which a pair of rotating brushes 26 are provided on the intake nozzle 18 will be described. However, the number of rotating brushes 26 is not limited to one pair (two), and one or three or more rotating brushes 26 may be used. There may be.

  As shown in FIG. 9, the support holder 17 is provided with a motor 62 that supplies a driving force to the rotating brush 26. Here, FIG. 9 is a schematic diagram showing a cross section taken along a cutting line XII-XII in FIG. The motor 62 is provided in a housing 179 provided between the side plate 172C and the side plate 171C. The rotation driving force of the motor 62 is transmitted to the rotation shaft 261 via a transmission mechanism 64 composed of a plurality of gears. When the motor 62 is driven by the control unit 40 when the floor cleaning device 10 is running, the rotating brush 26 is rotated, and the collection of dust on the floor 23 is performed well.

  Of the pair of rotating brushes 26, a rotating roller 60 is rotatably supported on a rotating shaft 261 of a rotating brush 26A located on the front side. The rotating rollers 60 are attached to both ends of the rotating shaft 261. More specifically, as shown in FIG. 9, the rotating rollers 60 are attached to both ends of a rotating shaft 261 protruding outward from the side plate 184 of the intake nozzle 18 in the width direction D3.

  The rotary roller 60 is provided on the support holder 17 such that the outer peripheral surface is located between the peripheral portion of the suction port 181 and the floor surface 23. That is, as illustrated in FIG. 9, when the floor cleaning device 10 is in the running posture illustrated in FIG. 1, the rotating roller 60 protrudes downward from the edge of the suction port 181, but does not contact the floor 23. I haven't.

  Here, the collection box 16 is detachably attached to the support holder 17 as described above. Specifically, the collection box 16 is placed and mounted on the bottom surface 172D (see FIG. 7) of the box storage portion 172. For this reason, the intake port 168 (see FIG. 11) provided on the bottom surface 16A of the collection box 16 is directly connected to the opening 177 formed on the bottom surface 172D of the box storage portion 172. The intake nozzle 18 is provided vertically below the opening 177, and the intake nozzle 18 is provided with a rotating brush 26. For this reason, the collection box 16 is arranged vertically above the rotating brush 26 via the opening 177. As a result, dust swept and collected by the rotating brush 26 is sucked vertically upward together with air from the intake nozzle 18, and is directly collected in the collection box 16 through the opening 177 and the intake port 168. Thus, the intake port 168 of the collection box 16 is provided at a position facing the rotating brush 26.

  As described above, in the present embodiment, the intake port 168 of the collection box 16 is provided so as to face the rotating brush 26 vertically above (directly above) the rotating brush 26. According to this configuration, when the collection box 16 is removed from the box storage portion 172, the rotating brush 26 is exposed to the outside through the opening 177 as shown in FIG. For this reason, the user can easily see the rotating brush 26 from above, and can grasp the current state of the rotating brush 26. Therefore, for example, when dusts adhere to the rotating brush 26 or a problem occurs, the user can easily remove the collection box 16 from the box housing portion 172 and perform maintenance on the rotating brush 26. As described above, the user can easily access the rotating brush 26, so that the maintainability of the rotating brush 26 can be improved.

  Further, in the present embodiment, the intake port 168 of the collection box 16 communicates directly with the intake nozzle 18. According to this configuration, the dust sucked up together with the air from the intake nozzle 18 is directly collected in the collection box 16 without passing through piping or the like. For this reason, there is no clogging of the trash on the path moving from the intake nozzle 18 to the collection box 16. Further, since the moving distance of the refuse can be reduced, the suction efficiency can be improved.

  As another embodiment, the intake port 168 may be provided on the front or rear side surface of the collection box 16 and may be provided at a position facing the rotating brush 26 on the side (side) of the rotating brush 26. Good. According to this configuration, when the collection box 16 is removed from the box housing portion 172, the user can visually check the rotating brush 26 from the side, and can perform maintenance on the rotating brush 26.

[Expansion nozzle 19]
When the floor cleaning device 10 travels in a preset location (passage) on a traveling route, the extension nozzle 19 changes its posture from the housing posture to the side cleaning posture. For example, when the expansion nozzle 19 travels along a passage having a wide passage width or a passage near a wall, the posture of the expansion nozzle 19 changes from the accommodation posture to the side cleaning posture. The control unit 40 acquires the current position of the floor cleaning device 10 and, when the current position matches a preset position, attaches the extension nozzle 19 to the motor 30 (see FIGS. 7, 13, and 14). A first control signal (drive signal) for changing the storage posture to the side cleaning posture is output. The motor 30 rotates the expansion nozzle 19 by a driving force according to the first control signal to change the expansion nozzle 19 to the side cleaning posture. The control unit 40 also controls the motor 30 to change the extension nozzle 19 from the side cleaning posture to the storage posture when the current position of the floor cleaning device 10 is away from a preset position. (Drive signal). The motor 30 rotates and drives the expansion nozzle 19 by the driving force according to the second control signal to change the expansion nozzle 19 to the accommodation posture.

  The control unit 40 may control the attitude of the extension nozzle 19 based on the detection result of a sensor (not shown) provided in the floor cleaning device 10. For example, the control unit 40 outputs the first control signal when the sensor detects a wide passage width exceeding a predetermined passage width or when a wall is detected. The control unit 40 outputs the second control signal when the sensor detects a narrow passage width equal to or smaller than a predetermined passage width or when an obstacle is detected.

  FIG. 12A is a schematic diagram illustrating a state where the extension nozzle 19 changes its posture from the storage posture to the side cleaning posture. The expansion nozzle 19 rotates around the rotation axis C1 in the direction of the floor surface 23 based on the first control signal to change to the side cleaning posture. According to the floor cleaning device 10 provided with the expansion nozzle 19, when the expansion nozzle 19 is in the storage position, it is possible to clean a narrow passage, and when the expansion nozzle 19 is in the side cleaning position. , A wide area can be cleaned by the rotating brush 26 (the first rotating brush of the present invention) and the expanding brush 19A (the second rotating brush of the present invention).

  Further, the expansion nozzle 19 is further supported so as to be rotatable rearward in the traveling direction from the side cleaning posture. For example, as shown in FIG. 12 (B), when the expansion nozzle 19 comes into contact with an obstacle or the like while the floor cleaning device 10 is running with the expansion nozzle 19 in the side cleaning posture, the expansion nozzle 19 It rotates backward about the rotation axis C2. Thereby, the damage of the expansion nozzle 19 can be prevented. When the floor cleaning device 10 passes an obstacle, the extension nozzle 19 rotates forward around the rotation axis C2 and returns to the original position.

  FIGS. 13 and 14 are schematic diagrams illustrating a specific configuration of the expansion nozzle 19. The extension nozzle 19 is rotatably connected to extension nozzle holders 31 and 32. As shown in FIG. 13, one end of the extended nozzle holder 31 is fixed to an opening 178 (see FIG. 7) of the box housing portion 172, and one end of the extended nozzle holder 32 is inserted into the other end. I have. The extended nozzle holder 32 is connected to the extended nozzle holder 31 so as to be rotatable about a rotation axis C1 (see FIGS. 13 and 14). As shown in FIG. 14, the other end of the extended nozzle holder 32 is inserted into the extended nozzle 19. The extension nozzle 19 is connected to the extension nozzle holder 32 so as to be rotatable about a rotation axis C2 (see FIG. 13). The extended nozzle holder 32 is connected to a belt 30A that transmits the rotational driving force of the motor 30.

  The control unit 40 includes various processing units such as a position acquisition unit 411, a traveling control unit 412, and an extended nozzle control unit 413. The control unit 40 functions as the various processing units by executing various processes according to various control programs by the CPU. Further, a part or all of the processing units included in the control unit 40 may be configured by an electronic circuit.

  The position acquisition unit 411 acquires the current position of the floor cleaning device 10. The travel control unit 412 controls the travel of the floor cleaning device 10, the driving of the intake fan 151, the elevation of the support holder 17, and the like, as described above. For example, the traveling control unit 412 controls the traveling of the floor cleaning device 10 according to a preset traveling route based on the current position acquired by the position acquiring unit 411.

  The extension nozzle control unit 413 outputs the first control signal and the second control signal based on the current position acquired by the position acquisition unit 411. When the first control signal or the second control signal is input to the motor 30 from the extension nozzle control unit 413, the motor 30 is driven to rotate the extension nozzle holder 32 about the rotation axis C1 via the belt 30A. Drive. Thereby, the expansion nozzle 19 switches between the accommodation posture and the side cleaning posture.

  The extension nozzle holder 32 is provided with an opening 32A (see FIG. 13), and when the extension nozzle 19 changes from the accommodation position to the side cleaning position, the opening 32A communicates with the internal space of the extension nozzle holder 31. I do. Thereby, the internal spaces of the extended nozzle holders 31 and 32 communicate, and the extended nozzle 19 and the collection box 16 communicate. That is, when the extension nozzle 19 is in the side cleaning posture, an air flow path from the extension nozzle 19 to the collection box 16 is formed. Thus, the dust sucked up together with the air from the expansion nozzle 19 can be collected in the collection box 16 through the side air inlet 161 (see FIG. 11).

  When the extended nozzle holder 32 is rotated and the extended nozzle 19 is in the storage posture, the position of the opening 32A is shifted from the position of the internal space of the extended nozzle holder 31, so that the distance from the extended nozzle 19 to the collection box 16 is increased. The air flow path is shut off. Accordingly, when the expansion nozzle 19 is in the storage position, the collection box 16 collects dust sucked by the suction nozzle 18 from the suction port 168, while the expansion nozzle 19 is in the side cleaning position. In the state described above, dust collected by the suction nozzle 18 is collected from the suction port 168, and dust collected by the expansion nozzle 19 is collected from the side suction port 161.

  In this manner, the floor cleaning device 10 collects the dust sucked by the suction nozzle 18 and the dust sucked by the extension nozzle 19 in the collection box 16 through different paths. In addition, when the expansion nozzle 19 is in the side cleaning posture, the floor cleaning device 10 stops driving the suction nozzle 18 and drives only the expansion nozzle 19 to be sucked by the expansion nozzle 19. You may collect only trash.

  As shown in FIG. 14, the extension nozzle 19 is provided with a coil spring 19B (an example of a holding member of the present invention). One end of the coil spring 19B is fixed to the extension nozzle holder 32, and the other end is fixed to the main body (outer frame) of the extension nozzle 19. The coil spring 19B holds the expansion nozzle 19 so as to be disposed in a direction perpendicular to the traveling direction of the floor cleaning device 10, that is, on an extension of the rotary brush 26. For example, the coil spring 19B is formed of a tension coil spring, and is provided so that a tension force acts when the extension nozzle 19 is at a position (holding position) shown in FIG. According to this configuration, when an external force is applied to the expansion nozzle 19 due to an obstacle or the like while the floor cleaning device 10 is traveling, the expansion nozzle 19 moves rearward about the rotation axis C2 against the tensile force of the coil spring 19B. To rotate. When the extension nozzle 19 separates from the obstacle, the extension nozzle 19 rotates around the rotation axis C2 by the tensile force of the coil spring 19B and returns to the holding position. In the present embodiment, the coil spring 19B is illustrated as an example of the elastic member. However, for example, a rubber string having elasticity made of rubber or the like can be applied instead of the coil spring 19B.

  As shown in FIG. 14, a motor 19C is provided in the expansion nozzle 19, and a control signal (drive signal) is input to the motor 19C from the traveling control unit 412 of the control unit 40. The motor 19C drives the extended brush 19A to rotate by a driving force according to the control signal.

  According to the above-described configuration, when the expansion nozzle 19 collides with an obstacle, the expansion nozzle 19 can rotate in a direction to reduce the collision force, so that damage to the expansion nozzle 19 and the obstacle can be prevented. In addition, since the expansion nozzle 19 can also rotate in the traveling direction, even if an obstacle collides with the rear side of the expansion nozzle 19, damage can be prevented by performing the same rotation operation.

  The extension nozzle 19 may be provided on the right side of the support holder 17 or may be provided on both the right and left sides of the support holder 17. When the extension nozzles 19 are provided on the left and right, the control unit 40 (the extension nozzle control unit 413) may control the two extension nozzles 19 individually. Further, the expansion nozzle 19 may be provided so as to be able to manually switch between the accommodation posture and the side cleaning posture.

10: Floor cleaning device 11: Device main body 12: Running unit 13: Motor 14: Battery 15: Intake unit 16: Collection box 16A: Bottom surface 16B: Side surface 16C: Side surface 18: Intake nozzle 19: Expansion nozzle 19A: Expansion brush 19B : Coil spring 19C: Motor 26: Rotating brush 30: Motor 31: Extended nozzle holder 32: Extended nozzle holder 40: Control unit 161: Side intake port 163: Flap 164: Solenoid 167: Discharge port 168: Intake port 172: Box storage section 411: position acquisition unit 412: travel control unit 413: extended nozzle control unit

Claims (7)

An autonomous traveling type cleaning device that cleans the surface to be cleaned while autonomously traveling on the surface to be cleaned,
A drive transmission unit that transmits a conveying force in the traveling direction of the autonomous traveling type cleaning device to the surface to be cleaned while maintaining the traveling posture of the apparatus main body,
An intake nozzle that includes a first rotating brush that sweeps the surface to be cleaned, and that sucks a first suction object collected by the first rotating brush;
An extended nozzle that includes a second rotating brush that sweeps the surface to be cleaned, and sucks a second suction object collected by the second rotating brush;
A collection box comprising an intake port, for collecting the first and second suctioned substances sucked by the suction nozzle and the expansion nozzle from the intake port;
With
The autonomous traveling cleaning device, wherein the extension nozzle is provided so as to protrude laterally with respect to the traveling direction.   The extension nozzle has a first posture held at a position not protruding laterally from the autonomous traveling cleaning device, and a second posture held at a position laterally protruded from the autonomous traveling cleaning device. The autonomous traveling cleaning device according to claim 1, wherein the cleaning device is provided so as to be changeable.   The autonomous traveling cleaning device according to claim 2, wherein the extension nozzle changes from the first posture to the second posture when the autonomous traveling cleaning device travels at a preset location on a traveling route. . A holding member that applies a biasing force to the expansion nozzle to hold the expansion nozzle in the second position,
The holding member, when an external force is applied to the expansion nozzle, rotates the expansion nozzle in the direction in which the external force is applied from the second posture against the urging force, and the external force is applied to the expansion nozzle. Returning the expansion nozzle to the second posture by the urging force when the expansion nozzle is no longer applied;
The autonomous traveling cleaning device according to claim 2. The holding member is configured by a tension coil spring,
One end of the tension coil spring is fixed to the expansion nozzle,
The tension coil spring applies a tension to the extension nozzle so as to maintain the extension nozzle in the second position.
The autonomous traveling cleaning device according to claim 4. The intake port includes a first intake port provided on a bottom surface of the collection box, and a second intake port provided on a side surface of the collection box,
The collection box,
When the expansion nozzle is in the first posture, the first suctioned material sucked by the suction nozzle is collected from the first suction port, and collection by the expansion nozzle is stopped.
When the expansion nozzle is in the second posture, the first suctioned material sucked by the suction nozzle is collected from the first suction port, and the second suctioned material sucked by the expansion nozzle is collected. Collecting from the second inlet,
The autonomous traveling type cleaning device according to claim 2.   When the expansion nozzle is in the first position, the air flow path from the expansion nozzle to the collection box is shut off, and when the expansion nozzle is in the second position, the expansion nozzle is closed from the collection box. The autonomous traveling-type cleaning device according to claim 6, wherein the air passages are communicated with each other.

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