U.S. patent application number 14/240199 was filed with the patent office on 2014-08-21 for self-propelled ion generator and cleaning robot.
This patent application is currently assigned to SHARP KABUSHIKI KAISHA. The applicant listed for this patent is Takashi Matsubara, Jitsuo Sakamoto. Invention is credited to Takashi Matsubara, Jitsuo Sakamoto.
Application Number | 20140230179 14/240199 |
Document ID | / |
Family ID | 48043533 |
Filed Date | 2014-08-21 |
United States Patent
Application |
20140230179 |
Kind Code |
A1 |
Matsubara; Takashi ; et
al. |
August 21, 2014 |
SELF-PROPELLED ION GENERATOR AND CLEANING ROBOT
Abstract
A cleaning robot (1) that is a self-propelled ion generator
includes: a main body enclosure (2) to which a suction port (6) and
an exhaust port (7) are open and which is self-propelled on a floor
surface; an electric blower (22) which is arranged within the main
body enclosure (2); an ion generation device (25) which discharges
ions into a second exhaust passage (24b) between the electric
blower (22) and the exhaust port (7); and environment detection
devices which detect the surrounding environment of the main body
enclosure (2), 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 (2) detected by
the environment detection device, and feeds out an air current
containing the ions through the exhaust port (7) by drive of the
ion generation device (25) and the electric blower (22).
Inventors: |
Matsubara; Takashi;
(Osaka-shi, JP) ; Sakamoto; Jitsuo; (Osaka-shi,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Matsubara; Takashi
Sakamoto; Jitsuo |
Osaka-shi
Osaka-shi |
|
JP
JP |
|
|
Assignee: |
SHARP KABUSHIKI KAISHA
Osaka-shi, Osaka
JP
|
Family ID: |
48043533 |
Appl. No.: |
14/240199 |
Filed: |
September 7, 2012 |
PCT Filed: |
September 7, 2012 |
PCT NO: |
PCT/JP2012/072843 |
371 Date: |
February 21, 2014 |
Current U.S.
Class: |
15/319 |
Current CPC
Class: |
A47L 9/2805 20130101;
A47L 2201/022 20130101; A47L 7/04 20130101; A47L 11/4097 20130101;
A47L 9/2836 20130101; A47L 9/22 20130101; A47L 2201/04 20130101;
A47L 11/24 20130101; A47L 9/1427 20130101; A47L 2201/06 20130101;
A47L 9/1409 20130101 |
Class at
Publication: |
15/319 |
International
Class: |
A47L 7/04 20060101
A47L007/04 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 7, 2011 |
JP |
2011-223149 |
Claims
1. A self-propelled ion generator comprising: 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, wherein 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.
2. The self-propelled ion generator of claim 1, wherein 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.
3. The self-propelled ion generator of claim 1, wherein 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.
4. The self-propelled ion generator of claim 1, wherein 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.
5. The self-propelled ion generator of claim 1 further comprising:
a human detection sensor which detects presence of a person,
wherein the self-propelled ion generator 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.
6. The self-propelled ion generator of claim 1 further comprising:
a movable louver which can change the direction in which the air is
exhausted through the exhaust port, wherein the self-propelled ion
generator 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.
7. The self-propelled ion generator of claim 6, wherein the
self-propelled ion generator 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.
8. A cleaning robot, wherein the self-propelled ion generator of
claim 1 includes a dust collection portion that collects dust of an
air current sucked through the suction port by drive of the
electric blower.
Description
TECHNICAL FIELD
[0001] 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.
BACKGROUND ART
[0002] 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.
Here, in order to clean an area under a table or the like, the main
body enclosure is formed to be thin such that its height is
low.
[0003] In the conventional cleaning robot described above, 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. By the drive of
an ion blower arranged within the duct, ions are fed out through
the discharge port.
[0004] 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. Within the main body enclosure, an
electric blower and a dust collection portion are provided.
[0005] In the cleaning robot configured as described above, when an
ion feeding operation is started, 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.
Thus, it is possible to perform deodorizing and disinfecting
indoors.
[0006] When the cleaning operation is started, an air current
containing dust is sucked by the electric blower through the
suction port. The dust contained in the air current is collected in
the dust collection portion, and the air current in which the dust
has been removed is passed through the electric blower and is
exhausted backward through the exhaust port of the circumferential
surface.
RELATED ART DOCUMENT
Patent Document
[0007] Patent document 1: JP-A-2005-46616 (pages 4 to 8 and FIG.
4)
DISCLOSURE OF THE INVENTION
Problems to be Solved by the Invention
[0008] However, the conventional self-propelled ion generator feeds
out ions over a surrounding area in travel. Thus, it is
disadvantageously impossible to effectively distribute ions to the
desired place and hence expect the effects of ions such as
deodorizing and disinfecting.
[0009] Although 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.
[0010] 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.
Means for Solving the Problem
[0011] To achieve the foregoing problems, according to the present
invention, there is provided 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.
[0012] In this configuration, 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.
[0013] 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.
[0014] In the self-propelled ion generator configured as described
above, 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.
[0015] In this configuration, 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. Hence, the self-propelled ion generator
distributes ions mainly to, for example, a place where odor is
present.
[0016] In the self-propelled ion generator configured as described
above, 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.
[0017] In this configuration, 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. Hence, the self-propelled ion
generator distributes ions mainly to, for example, a place where
humidity is high.
[0018] In the self-propelled ion generator configured as described
above, 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.
[0019] In this configuration, 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.
Hence, 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.
[0020] 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.
[0021] In this configuration, 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.
[0022] 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.
[0023] In this configuration, 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. Thus, the
self-propelled ion generator distributes ions to a different region
according to the speed of travel.
[0024] 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.
[0025] In this configuration, as the speed of travel of the main
body enclosure is increased, the self-propelled ion generator
distributes ions to a wider region.
[0026] According to the present invention, there is provided 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.
[0027] In this configuration, 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.
Advantages of the Invention
[0028] In the configuration of the present invention, 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. Thus, it is possible to
distribute the ions mainly to the specific place, for example, a
place where odor is present or a place where humidity is high.
Hence, it is possible to provide the self-propelled ion generator
and the cleaning robot that can effectively distribute the ions to
the place where the ions are needed.
BRIEF DESCRIPTION OF DRAWINGS
[0029] FIG. 1 A perspective view of a cleaning robot
(self-propelled ion generator) according to an embodiment of the
present invention;
[0030] FIG. 2 A vertical cross-sectional side view of the cleaning
robot shown in FIG. 1;
[0031] FIG. 3 An enlarged vertical cross-sectional side view of a
front portion of the cleaning robot shown in FIG. 2;
[0032] 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;
[0033] FIG. 5 is a perspective view of a motor unit of the cleaning
robot shown in FIG. 2;
[0034] FIG. 6 is a block diagram showing the configuration of the
cleaning robot of FIG. 1;
[0035] FIG. 7 is a flowchart showing an operation of detecting odor
by the cleaning robot of FIG. 1;
[0036] FIG. 8 is a flowchart showing an operation of detecting
humidity by the cleaning robot of FIG. 1;
[0037] FIG. 9 is a flowchart showing an operation of a travel map
by the cleaning robot of FIG. 1; and
[0038] FIG. 10 is a flowchart showing an operation of human
detection by the cleaning robot of FIG. 1.
DESCRIPTION OF EMBODIMENTS
[0039] An embodiment of the present invention will be described
below with reference to FIGS. 1 to 10. Here, a cleaning robot will
be described as an example of a self-propelled ion generator.
[0040] A dust collection operation will first be described while
the structure of the cleaning robot that is the example of the
self-propelled ion generator according to the embodiment of the
present invention is being described with reference to FIGS. 1 to
6. 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; and FIG. 6 is a block diagram showing
the configuration of the cleaning robot.
[0041] As shown in FIG. 1, 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). On the upper surface of the main
body enclosure 2, a lid portion 3 is provided that is opened and
closed when the dust collection portion 30 (see FIG. 2) is removed
and inserted.
[0042] As shown in FIG. 2, in the main body enclosure 2, a pair of
drive wheels 5 protruding from the bottom surface are arranged. The
rotational shaft of the drive wheel 5 is arranged on the center
line C of the main body enclosure 2. When both of the drive wheels
5 are rotated in the same direction, 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).
[0043] In the front portion of the main body enclosure 2 on the
front side of the direction of the movement at the time of
cleaning, 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. Within
the concave portion 8, 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.
[0044] In front of the concave portion 8, a front wheel 15 in the
shape of a roller is provided. At the back end of the main body
enclosure 2, 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.
[0045] At the back end of the circumferential surface of the main
body enclosure 2, 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.
[0046] Within the main body enclosure 2, 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. To the front wall of the dust collection room 39, 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.
[0047] 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. In the dust collection portion 30, 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 32a to the dust container 31, and can be removed from the
dust container 31 by the operation of the locking portion 32a.
Thus, it is possible to discard dust deposited in the dust
container 31.
[0048] To the peripheral surface of the dust container 31, an
inflow passage 34 that is open to an inflow port 34a at an end and
that communicates with the first air intake passage 11 is led out.
Within the dust container 31, an inflow portion 34 is provided that
is continuous with the inflow passage 34 and that guides the air
current downward by being bent. To the peripheral surface of the
upper portion cover 32, an outflow passage 35 that is open to an
outflow port 35a at an end and that communicates with the second
air intake passage 12 is led out.
[0049] Around the inflow port 34a and the outflow port 35a, packing
(not shown) is provided that is closely in contact with the front
wall of the dust collection room 39. Thus, the interior of the dust
collection room 39 holding the dust collection portion 30 is
hermetically sealed. 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.
[0050] In an upper portion of the back of the dust collection room
39 within the main body enclosure 2, a control substrate 14 that
includes a CPU 14a (see FIG. 6) which will be described later is
arranged. In the control substrate 14, a control circuit including
the CPU 14a that controls the individual portions of the cleaning
robot 1 is provided. In a lower portion of the back of the dust
collection room 39, the removable battery 13 is arranged. 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.
[0051] 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
22a.
[0052] In the motor case 22a of the electric blower 22, 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. In the front surface of the housing 21, an
opening portion 23 is provided that is opposite the intake port of
the motor case 22a and that communicates with the second air intake
passage 12. On both sides of the electric blower 22 in the housing
21, a first exhaust passage 24a and a second exhaust passage 24b
are provided that communicate with the exhaust ports of the motor
case 22a. The first and second exhaust passages 24a and 24b
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.
[0053] In the first exhaust passage 24a, 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 24a, that is, an exhaust
flow passage between the electric blower 22 and the exhaust port
7.
[0054] 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.sup.+(H.sub.2O).sub.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.sub.2.sup.-(H.sub.2O).sub.n. Here, m and n are arbitrary
natural numbers. H.sup.+(H.sub.2O).sub.m and
O.sub.2.sup.-(H.sub.2O).sub.n are aggregated on the surfaces of
airborne bacteria and odor components in the air to surround
them.
[0055] As shown in formulas (1) to (3), [.OH] (hydroxyl radical)
and H.sub.2O.sub.2 (hydrogen peroxide) that are active species are
aggregated and generated on the surface of microorganisms and the
like to break down airborne bacteria and odor components. Here, m'
and n' are arbitrary natural numbers. Hence, by generating positive
ions and negative ions and feeding out them through the exhaust
port 7, it is possible to perform disinfecting and deodorizing
indoors.
H.sup.+(H.sub.2O).sub.m+O.sub.2.sup.-(H.sub.2O).sub.n.fwdarw..OH+1/2O.su-
b.2+(m+n)H.sub.2O (1)
H.sup.+(H.sub.2O).sub.m+H.sup.+(H.sub.2O).sub.m'+O.sub.2.sup.-(H.sub.2O)-
.sub.n+O.sub.2.sup.-(H.sub.2O).sub.n'.fwdarw.2.OH+O.sub.2+(m+m'+n+n')H.sub-
.2O (2)
H.sup.+(H.sub.2O).sub.m+H.sup.+(H.sub.2O).sub.m'O.sub.2.sup.-(H.sub.2O).-
sub.n+O.sub.2.sup.-(H.sub.2O).sub.n'.fwdarw.H.sub.2O.sub.2+O.sub.2+(m+m'+n-
+n')H.sub.2O (3)
[0056] 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.
[0057] Then, 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. For example, 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.
[0058] Here, in order to control the overall operation of the
cleaning robot 1, the control substrate 14 is formed with the CPU
14a shown in FIG. 6 and other unillustrated electronic components.
The CPU 14a 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.
[0059] The cleaning robot 1 includes a motor driver 22a for driving
the electric blower 22, a motor driver 51a for driving the travel
motor 51 and a control unit 17a for driving the louver 17. The CPU
14a transmits the control signal to each of the motor driver 22a,
the motor driver 51a and the control unit 17a to drive the electric
blower 22, the travel motor 51 and the louver 17.
[0060] The CPU 14a 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
18a for the surrounding area of the installation place of the
cleaning robot 1. In the travel map 18a, 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.
[0061] 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.
[0062] 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 14a is
connected through a control unit 52a 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.
[0063] 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
14a is connected through a control unit 53a 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.
[0064] In the travel map 18a, 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 14a 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 18a plays a role as
the environment detection device that detects the surrounding
environment of the main body enclosure 2.
[0065] 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 14a is connected through a control unit
54a 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.
[0066] In 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. Thus, 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.
Here, 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.
[0067] 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 34a. 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 35a. 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.
[0068] The air current passing through the electric blower 22 is
passed along the first exhaust passage 24a and the second exhaust
passage 24b. The air current passing along the first exhaust
passage 24a contains ions discharged by the ion generation device
25. Then, 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. Thus, 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. Here, 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.
[0069] As described above, 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.
[0070] 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.
Thus, 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.
[0071] When the cleaning is completed, the main body enclosure 2 is
self-propelled and moved back to the charging stage 40. Thus, the
charging terminal 4 makes contact with the terminal portion 41 to
charge the battery 13.
[0072] Then, the cleaning robot 1 performs unique operations based
on information obtained from the odor sensor 52, the humidity
sensor 53 and the travel map 18a, which are the environment
detection devices, and the human detection sensor 54. For example,
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.
[0073] An operation of detecting odor by the cleaning robot 1 will
first be described with reference to the flow shown in FIG. 7. FIG.
7 is a flowchart showing the operation of detecting odor by the
cleaning robot 1.
[0074] When the operation of the cleaning robot 1 is started (start
of FIG. 7), the CPU 14a operates the odor sensor 52 through the
control unit 52a 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.
[0075] If the odor sensor 52 detects the odor of the predetermined
threshold value or more (yes in step #102), the CPU 14a controls
the travel motor 51 through the motor driver 51a 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).
[0076] Then, 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 #105). Then, whether or not with respect to the time
measurement started in step #104, 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.
[0077] Until 30 seconds have elapsed (no in step #106), the
cleaning robot 1 repeats the pivoting operation in step #105. Thus,
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.
[0078] 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.
[0079] Then, an operation of detecting humidity by the cleaning
robot 1 will be described with reference to the flow shown in FIG.
8. FIG. 8 is a flowchart showing the operation of detecting
humidity by the cleaning robot 1.
[0080] When the operation of the cleaning robot 1 is started (start
of FIG. 8), the CPU 14a operates the humidity sensor 53 through the
control unit 53a 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.
[0081] If the humidity sensor 53 detects the humidity of the
predetermined threshold value or more (yes in step #202), the CPU
14a controls the travel motor 51 through the motor driver 51a 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).
[0082] Then, 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.
[0083] Until 30 seconds have elapsed (no in step #206), the
cleaning robot 1 repeats the pivoting operation in step #205. Thus,
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.
[0084] 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.
[0085] Then, an operation of the travel map 18a by the cleaning
robot 1 will be described with reference to the flow shown in FIG.
9. FIG. 9 is a flowchart showing the operation of the travel map
18a by the cleaning robot 1.
[0086] When the operation of the cleaning robot 1 is started (start
of FIG. 9), the CPU 14a performs the checking of the travel map 18a
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
18a (step #302). In the travel map 18a, 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 18a is being checked.
[0087] If the main body enclosure 2 reaches the specific place
related to the surrounding environment (yes in step #302), the CPU
14a controls the travel motor 51 through the motor driver 51a 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).
[0088] Then, 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.
[0089] Until 30 seconds have elapsed (no in step #306), the
cleaning robot 1 repeats the pivoting operation in step #305. Thus,
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 18a, and feeds out the air current containing
ions through the exhaust port 7.
[0090] 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 18a is being checked.
[0091] In addition to the method of remaining for a given time when
the specific place described in the travel map 18a is reached in
the middle of the operation of the cleaning robot 1 over the entire
installation place as described above, 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.
[0092] Then, an operation of human detection by the cleaning robot
1 will be described with reference to the flow shown in FIG. 10.
FIG. 10 is a flowchart showing the operation of human detection by
the cleaning robot 1.
[0093] When the operation of the cleaning robot 1 is started (start
of FIG. 10), the CPU 14a operates the human detection sensor 54
through the control unit 54a 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.
[0094] 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).
[0095] 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.
[0096] 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.
[0097] As described above, the cleaning robot 1 includes the ion
generation device 25 that discharges ions into the first exhaust
passage 24a 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 18a) 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. In this way, 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.
[0098] Moreover, in the cleaning robot 1, 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. Hence, the cleaning robot 1 can distribute ions mainly to a
place where odor is present.
[0099] Moreover, in the cleaning robot 1, 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. Hence, the cleaning robot 1 can
distribute ions mainly to a place where humidity is high.
[0100] Moreover, in the cleaning robot 1, the environment detection
device is the travel map 18a 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 18a where ions are needed
and feeds out the air current containing ions. Hence, 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 18a.
[0101] 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.
[0102] Since 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.
[0103] Since 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. In particular,
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.
Thus, as the speed of travel of the main body enclosure 2 is
increased, the cleaning robot 1 distributes ions to a wider region.
Hence, in a wider region, it is possible to expect the effects of
ions such as deodorizing and disinfecting.
[0104] In the configuration of the present embodiment of the
present invention, 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. In this way, 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. Thus, it is possible to provide
the cleaning robot 1 that is a self-propelled ion generator which
can effectively distribute ions to the place where the ions are
needed.
[0105] Although the embodiment of the present invention has been
described above, the range of the present invention is not limited
to this range; various modifications are possible without departing
from the spirit of the invention.
INDUSTRIAL APPLICABILITY
[0106] The present invention can be utilized for a self-propelled
ion generator and a cleaning robot that are self-propelled on a
floor surface.
LIST OF REFERENCE SYMBOLS
[0107] 1 Cleaning robot (self-propelled ion generator) [0108] 2
main body enclosure [0109] 5 drive wheel [0110] 6 suction port
[0111] 7 exhaust port [0112] 8 concave portion [0113] 9 rotation
brush [0114] 10 side brush [0115] 11 first air intake passage
[0116] 12 second air intake passage [0117] 13 battery [0118] 14
control substrate [0119] 14a CPU [0120] 17 louver [0121] 18 storage
portion [0122] 18a travel map (environment detection device, map)
[0123] 20 motor unit [0124] 21 housing [0125] 22 electric blower
[0126] 23 opening portion [0127] 24a first exhaust passage [0128]
24b second exhaust passage (exhaust flow passage) [0129] 25 ion
generation device [0130] 30 dust collection portion [0131] 31 dust
container [0132] 51 travel motor [0133] 52 odor sensor (environment
detection device) [0134] 53 humidity sensor (environment detection
device) [0135] 54 human detection sensor
* * * * *