JP-7856475-B2 - floor cleaning machine

JP7856475B2JP 7856475 B2JP7856475 B2JP 7856475B2JP-7856475-B2

Inventors

川口靖博
田中芳浩
林大貴

Assignees

アマノ株式会社

Dates

Publication Date: 20260511
Application Date: 20220419

Claims (4)

A pair of side brush devices, one on each side, rotate in opposite directions to sweep dust from the floor surface towards the interior from the front of the aircraft's side, with side brushes protruding from the sides of the aircraft. The main brush device sends the dust and debris gathered inside the aircraft to the suction port using the main brush, The system comprises a control unit that controls the side brush device and the main brush device, The side brush device swings the side brush in an inward and outward direction within the aircraft body to switch between the retracted state and the operational state of the side brush. A floor cleaning machine characterized in that the control unit separately controls the pressing and rotating operation of the side brushes on the floor surface by the side brush device and the pressing and rotating operation of the main brush on the floor surface by the main brush device , and maintains the rotation speed of the outer side brushes when the machine turns left or right, and changes the rotation speed of the inner side brushes to be lower than the rotation speed of the outer side brushes according to the swing angle of the handle or the steering angle of the front wheels of the machine .
A side brush device that uses side brushes protruding from the side of the aircraft to sweep up dust from the floor surface, The main brush device sends the dust and debris gathered inside the aircraft to the suction port using the main brush, The system comprises a control unit that controls the side brush device and the main brush device, The side brush device swings the side brush in an inward and outward direction within the aircraft body to switch between the retracted state and the operational state of the side brush. The aforementioned side brush is rotated by a side brush motor. A floor cleaning machine characterized in that the control unit separately controls the pressing and rotating operation of the side brushes on the floor surface by the side brush device and the pressing and rotating operation of the main brush on the floor surface by the main brush device, and determines the minimum rotation speed of the side brushes to be "high,""medium," or "low" according to the combination of the machine's travel speed being "high" or "low" and the current value of the side brush motor being "high" or "low ."
Equipped with an obstacle sensor that detects obstacles in the direction of travel, The floor cleaning machine according to claim 1 or 2 , characterized in that the side brush device switches between the retracted state and the operational state of the side brush without entering the detection range of the obstacle sensor.
It is equipped with a memory unit that stores a cleaning plan in which cleaning conditions are set for each point along the travel route. The control unit controls the cleaning of the floor surface while autonomously driving according to the cleaning plan. The cleaning plan includes cleaning conditions for the main brush device and cleaning conditions for the side brush device. The floor cleaning machine according to claim 1 or 2, characterized in that the cleaning conditions for the side brush device include a timing for switching between the stored state and the used state of the side brush.

Description

This invention relates to a floor cleaning machine. Conventionally, floor cleaning machines equipped with a main brush device and a side brush device are known (see, for example, Patent Document 1). The floor cleaning machine described in Patent Document 1 uses the main brush device to bring the main brush into contact with the floor surface inside the machine body, and the side brush device to bring the side brushes into contact with the floor surface outside the machine body, thereby widening the cleaning width. Similar to the main brush device, the side brush device is also mounted on the underside of the machine body. At the start of cleaning, the side brushes are pulled out to the outside of the machine body and made contact with the floor surface, and at the end of cleaning, the side brushes are separated from the floor surface and stored inside the machine body. Special table 2015-506812 publication This is a perspective view of the cleaning device according to this embodiment.This is a plan view of the floor cleaning machine according to this embodiment.This is a front view of the floor cleaning machine according to this embodiment.This is a side view of the floor cleaning machine according to this embodiment.This is a control block diagram of the floor cleaning machine according to this embodiment.This is a perspective view of the side brush device of an embodiment.This is a plan view of the side brush device of this embodiment.This is a side view of the side brush device of this embodiment.This is a control block diagram of the control unit and storage unit of this embodiment.This figure shows an example of the movement of the floor cleaning machine according to this embodiment.This is an explanatory diagram of the rotational movement of the floor cleaning machine of this embodiment.This is an explanatory diagram of the rotation speed control of the side brush in this embodiment.This figure shows an example of setting the minimum rotation speed of the side brush in this embodiment. The side brush device and floor cleaning machine of this embodiment will be described below with reference to the drawings. Figure 1 is a perspective view of the floor cleaning machine of this embodiment. Figure 2 is a plan view of the floor cleaning machine of this embodiment. Figure 3 is a front view of the floor cleaning machine of this embodiment. Figure 4 is a side view of the floor cleaning machine of this embodiment. Figure 5 is a control block diagram of the floor cleaning machine of this embodiment. Note that Figure 2(A) shows the side brush in its stored state, and Figure 2(B) shows the side brush in its usage state. As shown in Figure 1, the floor cleaning machine 1 is a cleaning machine that autonomously moves across floors and performs dry cleaning. It is used in commercial facilities, manufacturing plants, railway stations, airports, hotels, offices, hospitals, schools, etc. The lower part of the floor cleaning machine 1's body 2 is equipped with front wheels 3 as drive wheels and a pair of rear wheels 4 as auxiliary wheels. A pair of side brush devices 75 are provided on the left and right sides of the front wheels 3, and a main brush device 71 is provided behind the front wheels 3. Each side brush device 75 is fitted with a side brush 76 with a rotation axis oriented approximately vertically, and the main brush device 71 is fitted with a main brush (roll brush) 72 with a rotation axis oriented horizontally. In each side brush device 75, dust from the floor surface FL (see Figure 3) is drawn in by side brushes 76 protruding from the side of the machine body. In the main brush device 71, the dust drawn inward is sent to the suction port (not shown) by the main brush 72. The main brush 72 is located at the bottom of the machine body and is a cylindrical, so-called roll brush with a rotating shaft extending horizontally parallel to the floor surface FL. The cleaning width of the main brush 72 is widened by the side brushes 76. A bucket 5 for collecting dust is provided behind the main brush 72, and a blower motor 25 for driving a suction blower (not shown) is provided above the bucket 5. A handle 11 and an accelerator grip 12 are provided on the upper rear side of the machine body 2, and an operation panel 13 is provided in front of the handle 11. A bumper 7 is provided on the lower front side of the machine body 2 as a shock absorber. The exterior of the machine is equipped with various cameras and sensors. The front of the machine has a forward camera 37a, a step sensor 44, and an ultrasonic sensor 45a. A pair of side cameras 37b and ultrasonic sensors 45b are located on both sides of the machine, and a rear camera 37c (see Figure 5) is located on the rear of the machine. The upper part of the front bumper 7 is recessed, and an LRF (Laser Range Finder) 42 (see Figure 3) and a pair of left and right ultrasonic sensors 45c, which function as corner sensors, are installed in this recess. These cameras and sen