JP7516010B2 - Autonomous Vacuum Cleaner - Google Patents

Description

An embodiment of the present invention relates to an autonomous vacuum cleaner.

Cleaning robots are known that apply a cleaning solution from a spray nozzle to a surface to be cleaned and wipe or scrub the surface to be cleaned using a pad held in contact with the surface to be cleaned.

JP 2018-86423 A

However, there is still room for further investigation into the effectiveness of wiping or scrubbing with a cleaning solution to disinfect areas.

The present invention proposes an autonomous vacuum cleaner that can move around the area to clean and disinfect the area.

In order to solve the above problems, an autonomous vacuum cleaner according to an embodiment of the present invention includes a main body, a moving unit that moves the main body, a storage tank provided in the main body for storing water, an electrolytic water generation unit that electrolyzes the water stored in the storage tank to generate electrolytic water, and a supply unit that supplies the generated electrolytic water to the outside of the main body, wherein the main body has a main body case, and the main body case and the storage tank cooperate to define the outline of the autonomous vacuum cleaner in a planar view, and the storage tank includes a first container portion that stores the water before electrolysis and a second container portion that houses electrodes of the electrolytic water generation unit, the first container portion and the second container portion are adjacent to each other, the first container portion is detachable from the main body , and is separable and connectable to the second container portion, and the voltage value applied to the electrodes of the electrolytic water generation unit is made higher than in other cases until a predetermined time has elapsed since the moving unit started to move the main body .

1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention; FIG. 2 is a right side view of the autonomous vacuum cleaner according to the embodiment of the present invention. FIG. 2 is a bottom view of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 2 is a plan view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 2 is a side view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 4 is a plan view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 4 is a side view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 1 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention. FIG. 4 is a diagram showing an example of the relationship between the amount of water in the storage tank and the voltage applied to the electrodes in the autonomous vacuum cleaner according to the embodiment of the present invention.

An embodiment of an autonomous vacuum cleaner according to the present invention will be described with reference to Figures 1 to 9. Note that the same or corresponding components are denoted by the same reference numerals in the various drawings.

Figure 1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 1, the autonomous vacuum cleaner 1 according to this embodiment, a so-called robot cleaner, moves autonomously by consuming power from a secondary battery 6 mounted in a main body 5. The autonomous vacuum cleaner 1 moves around the floor surface (hereinafter referred to as "surface to be cleaned f") of the cleaning location (hereinafter referred to as "area to be cleaned A"), and moves comprehensively through area to be cleaned A to perform cleaning. After a cleaning operation, the autonomous vacuum cleaner 1 returns autonomously to a station 8 to wait for the next cleaning operation.

The station 8 can be installed on the surface f to be cleaned in the area A to be cleaned. The station 8 can be electrically connected to the autonomous vacuum cleaner 1 by guiding it to a predetermined position. The station 8 functions as a so-called charging stand. The station 8 includes a power cord 9 that conducts power from a commercial AC power source to the secondary battery 6 when connected to the autonomous vacuum cleaner 1. The power cord 9 is an electrical path that transmits power to the secondary battery 6.

The autonomous vacuum cleaner 1 that has returned to the station 8 charges the secondary battery 6, for example, while waiting for the next cleaning operation. In this case, the autonomous vacuum cleaner 1 saves the user the trouble of charging, and can respond to sudden cleaning operations requested by the user.

Figure 2 is a right side view of an autonomous vacuum cleaner according to an embodiment of the present invention.

Figure 3 is a bottom view of an autonomous vacuum cleaner according to an embodiment of the present invention.

Note that the solid arrow F in Figures 2 and 3 indicates the forward direction of the autonomous vacuum cleaner 1.

As shown in Fig. 1, as well as Fig. 2 and Fig. 3, the autonomous vacuum cleaner 1 according to this embodiment includes a main body 5, a moving unit 11 that moves the main body 5, a cleaning unit 12 that cleans the surface to be cleaned f below the main body 5, a detection unit 13 that detects objects to be detected around the main body 5, a control unit 15 that controls the operation of the autonomous vacuum cleaner 1, and a secondary battery 6 that supplies power to each part of the autonomous vacuum cleaner 1.

The autonomous vacuum cleaner 1 also includes a storage tank 16 provided in the main body 5 for storing water, an electrolytic water generating unit 17 for generating electrolytic water by electrolyzing the water stored in the storage tank 16, and a supply unit 18 for supplying the generated electrolytic water to the outside of the main body 5.

The main body 5 includes a main body case 21 made of, for example, synthetic resin, and a bumper 22 provided on the side of the main body case 21. The main body case 21 is the outer shell of the main body 5. The bumper 22 is provided on the side of the main body case 21.

The main body 5 has a flattened cylindrical shape, in other words, a disk shape. The main body 5, which is substantially circular in plan view, can reduce the turning radius during turning compared to other shapes. In addition, in plan view, the main body 5 may be shaped like a square, or may be a figure of constant width whose diametric width is always constant, such as a Reuleaux triangle.

The main body case 21 and the storage tank 16 cooperate to define the outline of the main body 5 in a plan view. In this embodiment, the main body case 21 and the storage tank 16 have an arc-shaped outline cut by a chord in a plan view. The arc-shaped outline of the main body case 21 and the arc-shaped outline of the storage tank 16 combine with each other at their respective chords to draw the circular outline of the main body 5. Even if the main body 5 has a shape other than a circle, the outline of the main body case 21 and the outline of the storage tank 16 combine to draw the outline of the main body 5. It is preferable that the storage tank 16 is located inside the trajectory drawn by the outline of the main body case 21 when the main body 5 is turned (spin turn, neutral turn, counter-rotation turn).

The height of the main body case 21 and the height of the storage tank 16 are substantially the same. The height of the main body case 21 and the height of the storage tank 16 may be different. For example, the height of the storage tank 16 may be higher than the height of the main body case 21, and the storage tank 16 may protrude upward. The height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be recessed. Furthermore, the height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be mounted on the upper surface of the main body case 21. In such a case, the upper surface of the main body case 21 may have a step-like difference between the part where the storage tank 16 is mounted and the other parts. It is preferable that the height of the upper surface of the storage tank 16 and the upper surface of the main body case 21 are substantially the same when the storage tank 16 is mounted on the main body case 21.

The moving unit 11 is equipped with a number of drive wheels 26, a number of electric motors 27 that individually drive each of the drive wheels 26, and driven wheels 28 that, together with the drive wheels 26, support the main body 5 on the surface to be cleaned f.

Each drive wheel 26 transmits a force that moves the main body 5 to the surface to be cleaned f. Each drive wheel 26 rotates about an axis extending in the width direction (left-right width direction) of the main body 5. The multiple drive wheels 26 include at least a pair of drive wheels 26. The axles of the pair of drive wheels 26 are arranged substantially on the same line. The autonomous vacuum cleaner 1 can move straight and turn by the pair of drive wheels 26. The drive wheels 26 are pressed against the surface to be cleaned f by a suspension device (so-called suspension). The autonomous vacuum cleaner 1 may be equipped with caterpillars instead of the drive wheels 26.

Each electric motor 27 drives each drive wheel 26 independently. The autonomous vacuum cleaner 1 moves straight (forward or backward) by rotating the left and right drive wheels 26 in the same direction, and turns (right or left) by rotating the left and right drive wheels 26 in different directions. The autonomous vacuum cleaner 1 can also adjust the forward or backward speed by increasing or decreasing the output of the left and right drive wheels 26, and can adjust the turning radius by differentiating the output of the left and right drive wheels 26.

The driven wheels 28 are located at approximately the center in the width direction and at the front of the lower part of the main body 5. The driven wheels 28 are circular rotating bodies, such as casters. The driven wheels 28 change direction following the forward movement, backward movement, and turning of the autonomous vacuum cleaner 1, stabilizing the movement of the autonomous vacuum cleaner 1. It is preferable that the center of gravity of the autonomous vacuum cleaner 1 supported by the drive wheels 26 and the driven wheels 28 is located inside the triangle formed by the pair of drive wheels 26 and the driven wheels 28. This allows the autonomous vacuum cleaner 1 to move stably.

The cleaning unit 12 cleans dust on the surface f to be cleaned directly below the main body 5 and around it. The cleaning unit 12 includes a suction cleaning unit 31 that creates negative pressure to suck in dust on the surface f to be cleaned, and a wiping cleaning unit 32 that wipes or polishes the surface f to be cleaned below the main body 5.

The suction cleaning unit 31 includes a suction port 34 provided on the bottom surface of the main body 5, a rotating brush 35 arranged at the suction port 34, a brush motor 36 that rotates the rotating brush 35, a dust container 37 provided in the main body 5, and an electric blower 38 housed within the main body 5 and fluidly connected to the dust container 37.

The air passage that runs from the suction port 34 through the dust container 37 to the suction side of the electric blower 38 is the suction air passage 39 that is fluidly connected to the suction side of the electric blower 38. The suction air passage 39 includes an upstream air passage 39u that runs from the suction port 34 to the dust container 37, and a downstream air passage 39d that runs from the dust container 37 to the electric blower 38.

The air passage from the exhaust side of the electric blower 38 to the exhaust port of the main body 5 is an exhaust air passage 41 that is fluidly connected to the discharge side of the electric blower 38. The exhaust air from the electric blower 38 is exhausted to the outside of the main body 5 through the exhaust air passage 41.

The suction port 34 sucks in dust along with air due to the negative pressure generated by the electric blower 38. The suction port 34 is located forward of the wiping part 32 in the forward direction F. The suction port 34 extends in the width direction of the main body 5. In other words, the opening width of the suction port 34 in the left-right direction is greater than the opening width of the suction port 34 in the front-rear direction. Because the bottom surface of the main body 5 faces the surface f to be cleaned during autonomous movement, the suction port 34 can easily suck in dust on the surface f to be cleaned, or dust that the rotating brush 35 has swept up from the surface f to be cleaned.

The center line of rotation of the rotating brush 35 is oriented in the width direction of the autonomous vacuum cleaner 1. When the autonomous vacuum cleaner 1 is placed in a movable state on the surface f to be cleaned, the rotating brush 35 comes into contact with the surface f to be cleaned. Therefore, the rotating brush 35 that is driven to rotate scoops up dust on the surface f to be cleaned. The scooped up dust is efficiently sucked into the suction port 34.

The brush motor 36 rotates the rotating brush 35 forward or reverse. The forward rotation direction of the rotating brush 35 is the rotation direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving forward. The reverse rotation direction of the rotating brush 35 is the rotation direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving backward.

The dust container 37 accumulates dust sucked in from the suction port 34 by the negative suction pressure generated by the electric blower 38. The dust container 37 is a separation device that accumulates dust by using a filter that filters and collects dust, or by inertial separation such as centrifugal separation (cyclone separation) or straight-line separation (a separation method that separates dust from air by the difference in inertial force between the straight-line air and dust). The dust container 37 is detachable from the main body 5. The dust container 37 has a lid that can be opened and closed. A user can remove the dust container 37 from the main body 5 and open the lid of the dust container 37 to easily discard the dust accumulated in the dust container 37, or clean or wash the dust container 37.

The electric blower 38 is driven by consuming power from the secondary battery 6. The electric blower 38 draws in air from the dust container 37 to generate a negative suction pressure. The negative pressure generated in the dust container 37 acts on the suction port 34. The main body 5 has an exhaust port that allows the exhaust air from the electric blower 38 to flow outside the main body 5.

The wiping unit 32 is located at the bottom of the main body 5, behind the suction port 34.

In the forward direction of the autonomous vacuum cleaner 1 (solid arrow F in FIG. 2), the suction port 34 and the wiping member 43 are aligned from front to back, and the suction port 34 is positioned in front of the wiping member 43. Therefore, when the autonomous vacuum cleaner 1 moves forward, the suction port 34 moves ahead of the wiping member 43. Therefore, the wiping unit 32 wipes the surface to be cleaned after dust has been removed by the suction unit 31.

The wiping unit 32, for example, wipes or polishes the surface to be cleaned f below the main body 5. The wiping unit 32 includes a wiping member attachment portion 45 to which the wiping member 43 can be attached and detached, and the wiping member 43.

The wiping member attachment section 45 is a base on which the sheet-shaped wiping member 43 is attached using a hook-and-loop fastener, the sheet-shaped wiping member 43 is wrapped around it, or a part of the wiping member 43 is inserted into an insertion port. The wiping member attachment section 45 brings the wiping member 43 into contact with the surface to be cleaned f when the autonomous vacuum cleaner 1 is placed on the surface to be cleaned f. The wiping member attachment section 45 itself may also be detachable from the autonomous vacuum cleaner 1.

The wiping member 43 is a wiping sheet made of a fiber material such as a woven fabric or a nonwoven fabric. The wiping member 43 is a variety of cleaning tools that have moisture absorption properties, such as a wiper sheet, a duster cloth, a dusting cloth, or a mop (a mass of fibers at the tip excluding the handle). The material of the wiping member 43 is a synthetic fiber such as natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, or nylon 46, or polyolefin fiber such as polyethylene or polypropylene. The wiping member 43 may be a sponge. The wiping member 43 may also have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, superabsorbent resin, or polymer absorbent) as an integral part. The wiping member 43 that has a member made of a superabsorbent polymer as an integral part can hold a larger amount of electrolytic water.

The wiping member 43 can be attached and detached to the bottom surface of the wiping member attachment portion 45. When the autonomous vacuum cleaner 1 is placed in a movable state on the surface f to be cleaned, the wiping unit 32 comes into contact with the surface f to be cleaned. It is preferable that the wiping unit 32 is pressed against the surface f to be cleaned with a pressure that does not cause the drive wheels 26 to spin freely on the surface f to be cleaned. An elastic member such as foamed resin is provided between the wiping unit 32 and the bottom surface of the main body 5. This elastic member presses the wiping unit 32 against the surface f to be cleaned with a uniform pressure.

The wiping member 43 is also one aspect of the supply unit 18 that supplies the electrolytic water generated by the electrolytic water generator 17 to the outside of the main body 5. The wiping member 43, wet with the electrolytic water supplied from the electrolytic water generator 17, wipes the surface to be cleaned f.

Furthermore, when the electrolytic water generated by the electrolytic water generating unit 17 is supplied to the surface to be cleaned f without passing through the wiping member 43, the wiping member 43 can also wipe off the electrolytic water sprayed on the surface to be cleaned f.

In other words, the wiping member 43 can be used for wet wiping, in which the electrolytic water is absorbed and moistened, and for applying the electrolytic water to the surface f to be cleaned, and can also be used for dry wiping, in which the electrolytic water sprayed on the surface f to be cleaned is wiped off. In other words, the autonomous vacuum cleaner 1 sprays or applies electrolytic water containing hypochlorous acid to the surface f to be cleaned as it moves, sterilizing the surface f to be cleaned.

Whether the wiping by the wiping member 43 is a dry wipe or a wet wipe depends on the amount of electrolytic water sprayed from the electrolytic water generating unit 17 onto the surface to be cleaned f and the amount of electrolytic water supplied from the electrolytic water generating unit 17 to the wiping member 43. For example, if the amount of electrolytic water sprayed on the floor surface is small, the electrolytic water evaporates before it moistens the wiping member 43. In such a case, the dry wiping by the wiping member 43 continues. If the amount of electrolytic water sprayed on the floor surface is large, the electrolytic water moistens the wiping member 43 without evaporating completely. In such a case, the dry wiping by the wiping member 43 will eventually transition from a dry wipe to a wet wipe.

The detection unit 13 detects a detectable object approaching the main body 5 as the main body 5 moves, or a detectable object coming into contact with the main body 5. The detection unit 13 includes a camera unit 51 provided on the main body 5 for capturing images of the surroundings of the autonomous vacuum cleaner 1, a proximity detection unit 52 provided on the main body 5 for detecting that the main body 5 has approached an object other than the autonomous vacuum cleaner 1, i.e., a detectable object, and a contact detection unit 53 provided on the main body 5 for detecting that the main body 5 has come into contact with an object other than the autonomous vacuum cleaner 1, i.e., a detectable object.

The camera unit 51 is provided on the front of the main body 5 and captures images of the area ahead of the autonomous vacuum cleaner 1, i.e., the direction in which it travels when moving forward.

Instead of or in addition to the camera unit 51, the autonomous vacuum cleaner 1 may be equipped with a distance measurement device 55 that obtains depth information in the shooting range using a different principle than that of a stereo camera.

The proximity detection unit 52 is, for example, an infrared sensor or an ultrasonic sensor. A proximity detection unit 52 that uses an infrared sensor includes a light-emitting element that emits infrared rays and a light-receiving element that receives the light and converts it into an electrical signal. The proximity detection unit 52 emits infrared rays from the light-emitting element, receives the infrared rays reflected by the detected object with the light-receiving element and converts it into electricity, and when the converted electricity reaches a certain level or more, it detects that the detected object has come within a certain distance before the main body 5 comes into contact with the detected object. A proximity detection unit 52 that uses an ultrasonic sensor detects the detected object using ultrasonic waves instead of infrared rays.

The contact detection unit 53 is a so-called bumper sensor. The contact detection unit 53 is linked to the bumper 22, which absorbs the impact on the main body 5 when the moving main body 5 comes into contact with a detected object. When the bumper 22 comes into contact with a detected object, it is displaced so as to be pushed inward into the main body 5. The contact detection unit 53 detects the displacement of the bumper 22 and detects that the main body 5 has come into contact with the detected object. The contact detection unit 53 includes, for example, a microswitch that is turned on and off depending on the displacement of the bumper 22, or an infrared sensor or ultrasonic sensor that measures the amount of displacement of the bumper 22 without contact.

The secondary battery 6 stores the power consumed by each part of the autonomous vacuum cleaner 1, including the power supply circuits of the moving unit 11, the cleaning unit 12, the detection unit 13, the control unit 15, and the electrolytic water generating unit 17. The secondary battery 6 supplies power to each part of the autonomous vacuum cleaner 1, including the moving unit 11, the cleaning unit 12, the detection unit 13, and the control unit 15. The secondary battery 6 is, for example, a lithium ion battery, and has a control circuit that controls charging and discharging. This control circuit outputs information regarding the charging and discharging of the secondary battery 6 to the control unit 15.

The storage tank 16 is a container for storing water or salt water. The water stored in the storage tank 16 may be tap water. It is preferable that the storage tank 16 is detachable from the main body 5 to increase the convenience of supplying water. The storage tank 16 has a lid that can be opened and closed. The storage tank 16 can easily be supplied with water or salt water by opening the lid.

The electrolytic water generating unit 17, for example, electrolyzes water to generate electrolytic water in which ozone is dissolved, or electrolyzes salt water to generate electrolytic water in which hypochlorous acid (HClO, Hypochlorous Acid) is dissolved. In Japan, the Water Supply Act stipulates that tap water that is readily available at home contains chlorine. In Japan, the Water Supply Act stipulates that the concentration of chlorine in tap water must be at least 1/10 ppm (parts per million by mass, milligrams per liter) (Article 17, item 3 of the Enforcement Regulations of the Water Supply Act (Ministry of Health, Labour and Welfare Ordinance) based on Article 22 of the Water Supply Act). The electrolytic water generating unit 17 can easily generate electrolytic water containing hypochlorous acid by electrolyzing Japanese tap water. The electrolytic water generating unit 17 includes electrodes 61 including a positive electrode and a negative electrode, and a power supply circuit that applies a voltage to the electrodes 61 with power supplied from the secondary battery 6.

The electrode 61 of the electrolytic water generating unit 17 is made of a material that does not easily dissolve in water, such as titanium or platinum. To promote electrolysis, the electrode 61 may support a platinum group metal such as iridium, platinum, or ruthenium, or an oxide thereof. Chemical species such as hydrogen peroxide, active oxygen, and OH radicals are generated in the electrolytic water. The electrode 61 is provided in the storage tank 16.

The electrolyzed water generating unit 17 may be a single-chamber type with no partition between the positive and negative electrodes, or a multi-chamber type including a two-chamber type with a partition between the positive and negative electrodes, or a three-chamber type. The single-chamber type electrolyzed water generating unit 17 neutralizes the acidic ionized water generated on the positive electrode side and the alkaline ionized water generated on the negative electrode side to generate electrolyzed water containing an appropriate concentration of hypochlorous acid. On the other hand, the multi-chamber type electrolyzed water generating unit 17 generates acidic ionized water in the chamber housing the positive electrode and alkaline ionized water in the chamber housing the negative electrode.

In addition, the single-chamber type may be more convenient for users than the multi-chamber type, which may result in uneven usage of the acidic ionized water and alkaline ionized water, resulting in the burden of disposing of whichever ionized water remains.

The inventors have discovered that the surface to be cleaned f can be disinfected by diffusing or spraying electrolytic water with a hypochlorous acid concentration of 5 ppm or more at a supply rate of 1/10 microliter per square centimeter or more onto the surface to be cleaned f. Therefore, the electrolytic water generating unit 17 electrolyzes water with a chlorine concentration of 1/10 ppm or more, that is, water that meets the criteria for tap water under the Japanese Water Supply Act, to generate electrolytic water with a hypochlorous acid concentration of 5 ppm or more.

The supply unit 18 supplies electrolytic water to the surface f to be cleaned at a supply rate of at least one tenth of a microliter per square centimeter so that the electrolytic water can be diffused or sprayed. The supply unit 18 supplies electrolytic water to at least one of the wiping member 43 and the surface f to be cleaned. The supply unit 18 includes a pipe that guides the electrolytic water from the storage tank 16, a first supply mechanism 63 that supplies the electrolytic water from the storage tank 16 to the wiping member 43, and a second supply mechanism 65 that supplies the electrolytic water from the storage tank 16 to the surface f to be cleaned. The supply unit 18 may include either the first supply mechanism 63 or the second supply mechanism 65.

The first supply mechanism 63 includes a first supply port 71 that supplies electrolytic water to the rear surface of the wiping member 43, and a first opening/closing valve 72 that is provided in the middle of the piping and that supplies and cuts off the supply of electrolytic water to the first supply port 71.

There may be multiple first supply ports 71. For example, it is preferable that the first supply ports 71 are arranged in a row in the width direction of the main body 5, i.e., in the width direction of the wiping member 43. The first supply ports 71 arranged in this manner can moisten a wide area of the wiping member 43 with electrolytic water. The first supply port 71 may also be an elongated, flat opening with a long side extending in the width direction of the main body 5.

The first on-off valve 72 is a so-called solenoid valve. The first supply mechanism 63 opens the first on-off valve 72 to supply electrolytic water at the height difference between the water level of the electrolytic water in the storage tank 16 and the first supply port 71, that is, the head difference. The first supply mechanism 63 may be equipped with a pump that pumps up the electrolytic water in the storage tank 16 instead of the first on-off valve 72. The first supply mechanism 63 may also be a flow path that simply discharges the electrolytic water in the storage tank 16, such as a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the diameter of the orifice is appropriately set to obtain the required supply amount of electrolytic water (supply amount per unit time).

The second supply mechanism 65 includes a second supply port 73 that sprays electrolytic water onto the surface to be cleaned f, and a second opening/closing valve 74 that is provided midway through the piping and that supplies and cuts off the supply of electrolytic water to the second supply port 73.

The second supply port 73 is, for example, a nozzle capable of spraying electrolytic water. The electrolytic water is supplied to the surface f to be cleaned that is sandwiched between the suction port 34 and the wiping member 43. In other words, the supply unit 18 supplies electrolytic water from the second supply port 73 to the surface f to be cleaned that is sandwiched between the suction port 34 and the wiping member 43.

There may be multiple second supply ports 73. For example, it is preferable that the second supply ports 73 are arranged in a row in the width direction of the main body 5, i.e., in the width direction of the wiping member 43. The second supply ports 73 arranged in this manner spray electrolytic water over a wider area as the main body 5 moves forward. The second supply port 73 may also be an elongated, flat nozzle having a long side extending in the width direction of the main body 5.

The second on-off valve 74 is a so-called solenoid valve. The second supply mechanism 65 opens the second on-off valve 74 to supply electrolytic water at the height difference between the water level of the electrolytic water in the storage tank 16 and the second supply port 73, that is, the head difference. The second supply mechanism 65 may be equipped with a pump that pumps up the electrolytic water in the storage tank 16 instead of the second on-off valve 74. The second supply mechanism 65 may also be a flow path that simply discharges the electrolytic water in the storage tank 16, such as a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the diameter of the orifice is appropriately set to obtain the required supply amount of electrolytic water (supply amount per unit time).

The supply unit 18 also includes a third supply mechanism 66 that supplies electrolytic water from the storage tank 16 to the atmosphere surrounding the main body 5. The third supply mechanism 66 includes an atomizer 76 that atomizes the electrolytic water and supplies it to the atmosphere surrounding the main body 5, and a water guide path 77 that guides the electrolytic water to the atomizer 76.

The atomizing device 76 is provided at the top of the storage tank 16. The atomizing device 76 diffuses or sprays the atomized electrolytic water from the top of the storage tank 16 into the atmosphere surrounding the main body 5.

The atomizing device 76 uses various atomizing methods, such as a heating type that heats and atomizes the electrolytic water generated by the electrolytic water generating unit 17, an ultrasonic type that vibrates the electrolytic water generated by the electrolytic water generating unit 17 with ultrasonic waves to atomize it, a method that atomizes the electrolytic water generated by the electrolytic water generating unit 17 with a spray using the Venturi effect, for example, a sprayer, an electrostatic atomization that atomizes the electrolytic water generated by the electrolytic water generating unit 17 using corona discharge, and a water crushing type that disperses the electrolytic water using a high-speed rotating propeller or the like to crush the water molecules. In any method, the atomizing device 76 atomizes the electrolytic water to include fine particles having a diameter of 100 micrometers or less, and more preferably, the electrolytic water to include fine particles having a diameter of 10 micrometers or less.

The water conducting path 77 is a rope or cord that draws up the electrolytic water in the storage tank 16, for example, by capillary action.

The autonomous vacuum cleaner 1 is provided with a moisture absorbing section 79 that is provided in the suction air duct 39 and absorbs electrolytic water (moisture) sucked into the suction air duct 39 by the suction negative pressure. When electrolytic water is sucked into the suction air duct 39, the moisture absorbing section 79 absorbs the electrolytic water before it reaches the electric blower 38, thereby preventing the electrolytic water from reaching the electric blower 38. The moisture absorbing section 79 is, for example, a woven fabric or a nonwoven fabric. The material of the moisture absorbing section 79 is a synthetic fiber such as natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, nylon 46, and polyolefin fiber such as polyethylene and polypropylene. The moisture absorbing section 79 may be a sponge. The moisture absorbing section 79 may also have a member made of a superabsorbent polymer (superabsorbent polymer, SAP, so-called absorbent polymer, superabsorbent resin, polymer absorbent) as an integral part. The moisture absorbing part 79, which has an integral member made of highly absorbent polymer, can hold a larger amount of electrolytic water.

The moisture absorbing section 79 may be provided in the upstream air passage 39u of the intake air passage 39, or in the downstream air passage 39d. The moisture absorbing section 79 may be provided in the dust container 37. The moisture absorbing section 79 may also serve as a filter for the dust container 37 that separates dust from the dust-laden air sucked into the intake air passage 39.

Next, the storage tank 16 will be described in detail. Note that in the first example of the storage tank 16A (hereinafter simply referred to as "storage tank 16A") and the second example of the storage tank 16B (hereinafter simply referred to as "storage tank 16B"), the same components are given the same reference numerals, and duplicated descriptions will be omitted.

Figure 4 is a plan view of a storage tank of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

Figure 5 is a side view of a storage tank of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in Figures 4 and 5, the storage tank 16A of the first example according to this embodiment has a D-shaped appearance in plan view with a portion of the disk-shaped main body 5 cut out, and has substantially the same height as the main body 5 in side view. The storage tank 16A is surrounded by an arc that continues to the side of the main body 5 and a chord that connects both ends of this arc. The chord portion of the storage tank 16A faces a portion of the outer surface of the main body 5.

The storage tank 16A includes multiple containers 81 that can be separated and connected. The multiple containers 81 include a first container portion 82A that stores water before electrolysis and a second container portion 83A that houses the electrode 61 of the electrolytic water generating unit 17.

The first container section 82A and the second container section 83A of the storage tank 16A are separated horizontally and adjacent to each other. The first container section 82A and the second container section 83A may be separated horizontally and connected horizontally, or may be separated vertically and connected vertically. A storage tank 16A that can be separated and connected horizontally is separated by moving the first container section 82A and the second container section 83A apart horizontally and connected by moving them closer together horizontally. A storage tank 16A that can be separated and connected vertically is separated and connected by sliding the first container section 82A and the second container section 83A up and down.

The height of the second container portion 83A is substantially the same as the height of the first container portion 82A. The volume of the second container portion 83A is smaller than the volume of the first container portion 82A. The second container portion 83A is a rectangular container that includes a part of the chord of the storage tank 16A, and the first container portion 82A is a container that includes the arc portion of the storage tank 16A and the remaining part of the chord, and has a shape in which a rectangle including a part of the chord has been cut out. The first container portion 82A is connected to the second container portion 83A so as to cover the left and right side surfaces and the back surface of the second container portion 83A.

The storage tank 16A is also detachable from the main body 5. In other words, the first container portion 82A and the second container portion 83A are detachable from the main body 5 in an integrated state. The first container portion 82A and the second container portion 83A may be detachable individually. Either the first container portion 82A or the second container portion 83A may be detachable from the main body 5, and the other may be integral with the main body 5.

The removable first container portion 82A can be easily supplied with water by removing it from the main body 5. In addition, when supplying water, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashing on them.

The removable second container part 83A can be easily cleaned by removing it from the main body 5, allowing the electrode 61 and the container itself to be easily washed. In addition, during cleaning, it is possible to prevent electrical components inside the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashing on them.

The storage tank 16A, which can be attached and detached as a single unit, can easily supply water to the first container portion 82A and clean the second container portion 83A at the same time.

The top of the first container portion 82A is provided with a water inlet 85 for introducing water into the container, and a lid 86 for opening and closing the water inlet 85. A user can easily supply water to the first container portion 82A by opening the lid 86. In addition, a user can easily prevent water from leaking from the first container portion 82A by closing the lid 86.

The bottom of the second container portion 83A is provided with an electrolytic water supply port 87 connected to the supply portion 18. The top of the second container portion 83A is provided with an air hole for removing air from inside the container. The air hole may be open to the outside of the second container portion 83A, or may be connected to the first container portion 82A. Inside the second container portion 83A, a water level gauge 88 is provided to detect the amount of water stored in the second container portion 83A, i.e., the water level (electrolytic water liquid level).

The water level gauge 88 may be of either a contact type or a non-contact type. The contact type water level gauge 88 may employ a known system, such as a float type that measures the water level based on the vertical position of a float provided in the second container portion 83A, or a capacitance type that measures the water level by detecting the capacitance between a pair of electrodes. The non-contact type water level gauge 88 may employ a known system that measures the water level using, for example, radio waves, ultrasound, or light waves.

A joint 89 that fluidly connects the first container portion 82A and the second container portion 83A is provided at the bottom of the first container portion 82A and the second container portion 83A. The joint 89 connects the half of the first container portion 82A side and the half of the second container portion 83A side to open the water passage. The half of the first container portion 82A side and the half of the second container portion 83A side close the passage in the unconnected state to prevent the water (electrolyzed water) in the container from leaking out. It is preferable that the joint 89 is easily connected with the connection of the first container portion 82A and the second container portion 83A, and is easily separated with the separation of the first container portion 82A and the second container portion 83A. For example, in a storage tank 16A that can be separated and connected horizontally, the joint 89 has a half provided at the bottom of the side wall of the first container portion 82A and a half provided at the bottom of the side wall of the second container portion 83A. In the storage tank 16A, which can be separated and connected vertically, the joint 89 has a half that is attached to the bottom wall of either the first container portion 82A or the second container portion 83A, and a half that is attached to a connecting pipe that extends downward from the other of the first container portion 82A or the second container portion 83A to either the first container portion 82A or the second container portion 83A.

At least when the water level of the water stored in the first container portion 82A is higher than the water level of the water or electrolytic water stored in the second container portion 83A, the water in the first container portion 82A is supplied to the second container portion 83A. In other words, the storage tank 16A supplies the water stored in the first container portion 82A to the second container portion 83A due to the head difference between the first container portion 82A and the second container portion 83A. In other words, each time the electrolytic water generated in the second container portion 83A is consumed, the water stored in the first container portion 82A is supplied to the second container portion 83A. Therefore, the water level of the first container portion 82A and the water level of the second container portion 83A are balanced.

The electrode 61 of the electrolytic water generating unit 17 is plate-shaped and extends in the vertical direction. In other words, the normal of the electrode 61 is oriented in the horizontal direction. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrodes and negative electrodes are arranged alternately in the direction of the normal.

The positive and negative electrodes of the electrode 61 of the electrolytic water generating unit 17 can also be used as the water level gauge 88. The electrode 61, which extends vertically, changes in proportion to the portion submerged in water (in the electrolytic water) and the portion exposed to the gas in the second container 83A as the water level (electrolytic water level) in the second container 83A changes. This change in proportion changes the value of the current flowing between the positive and negative electrodes of the electrode 61. The electrolytic water generating unit 17 estimates the amount of water stored in the storage tank 16 based on the change in the value of the current flowing between the positive and negative electrodes of the electrode 61.

The supply unit 18, i.e., the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66, are provided in the storage tank 16A, but may be provided in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16A, the piping of the supply unit 18 is integrated with the storage tank 16A and reaches the first supply mechanism unit 63 and the second supply mechanism unit 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping of the supply unit 18 reaches the first supply mechanism unit 63 and the second supply mechanism unit 65 from the storage tank 16A through the main body 5. When the third supply mechanism unit 66 is provided in the storage tank 16A, the water guide path 77 of the supply unit 18 is provided in the storage tank 16A and reaches the third supply mechanism unit 66. When the third supply mechanism 66 is provided in the main body 5, the water guide path 77 of the supply unit 18 runs from the storage tank 16A through the main body 5 to the third supply mechanism 66.

Figure 6 is a plan view of a storage tank of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention.

Figure 7 is a side view of a storage tank of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in Figures 6 and 7, the second example of the storage tank 16B according to this embodiment includes a first container portion 82B that stores water before electrolysis and a second container portion 83B that houses the electrode 61 of the electrolytic water generating unit 17.

The first container portion 82B and the second container portion 83B of the storage tank 16B are separated vertically and stacked. The first container portion 82B and the second container portion 83B may be separated horizontally and connected horizontally, or may be separated vertically and connected vertically. A storage tank 16B that can be separated and connected horizontally is separated and connected by sliding the first container portion 82B and the second container portion 83B horizontally. A storage tank 16B that can be separated and connected vertically is separated by moving the first container portion 82B and the second container portion 83B away from each other in the vertical direction, and connected by moving them closer to each other in the vertical direction.

In a plan view, the shape of the second container portion 83B is substantially the same as the shape of the first container portion 82B. The height of the second container portion 83B is less than the height of the first container portion 82B. The volume of the second container portion 83B is less than the volume of the first container portion 82B. The first container portion 82B is connected to the second container portion 83B so as to cover the top surface of the second container portion 83B.

The storage tank 16B is detachable from the main body 5. In other words, the first container portion 82B and the second container portion 83B are detachable from the main body 5 in an integrated state. The first container portion 82B and the second container portion 83B may be detachable individually. Either the first container portion 82B or the second container portion 83B may be detachable from the main body 5, and the other may be integral with the main body 5.

The removable first container portion 82B can be easily supplied with water by removing it from the main body 5. In addition, when supplying water, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashing on them.

The removable second container part 83B can be removed from the main body 5 to easily clean the electrode 61 and the container itself. In addition, during cleaning, it is possible to prevent electrical components inside the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashing on them.

The storage tank 16B, which can be attached and detached as a single unit, can easily supply water to the first container portion 82B and clean the second container portion 83B at the same time.

The top of the first container portion 82B is provided with a water inlet 85 for introducing water into the container, and a lid 86 for opening and closing the water inlet 85. A user can easily supply water to the first container portion 82B by opening the lid 86. In addition, a user can easily prevent water from leaking from the first container portion 82B by closing the lid 86.

The bottom of the second container portion 83B is provided with an electrolytic water supply port 87 connected to the supply portion 18. The top of the second container portion 83B is provided with an air hole for removing air from inside the container. The air hole may be open to the outside of the second container portion 83B, or may be connected to the first container portion 82B. Inside the second container portion 83B, a water level gauge 88 is provided to measure the water level (water volume, electrolytic water volume) inside the second container portion 83B.

A joint 89 that fluidly connects the two containers is provided at the bottom of the first container portion 82B and the top of the second container portion 83B. The joint 89 connects the half on the first container portion 82B side and the half on the second container portion 83B side to open the water passage. The half on the first container portion 82B side and the half on the second container portion 83B side close the passage when not connected, preventing the water (electrolyzed water) in the container from leaking out. It is preferable that the joint 89 is easily connected when the first container portion 82B and the second container portion 83B are connected, and is easily separated when the first container portion 82B and the second container portion 83B are separated. For example, in a storage tank 16B that can be separated and connected vertically, the joint 89 has a half provided on the bottom wall of the first container portion 82B and a half provided on the ceiling wall of the second container portion 83B. In the storage tank 16B, which can be separated and connected horizontally, the joint 89 has a half body attached to either the bottom of the side wall of the first container portion 82B or the top of the bottom wall of the second container portion 83B, and a half body attached to a connecting pipe extending from the other of the first container portion 82B and the second container portion 83B to the side of either the first container portion 82B or the second container portion 83B.

The storage tank 16B supplies the water stored in the first container portion 82B to the second container portion 83B by the height difference between the first container portion 82B and the second container portion 83B, i.e., the head difference. Each time the electrolyzed water generated in the second container portion 83B is consumed, the water stored in the first container portion 82B is supplied to the second container portion 83B. In the first example of the storage tank 16A, the water level of the first container portion 82A and the water level of the second container portion 83A are constantly balanced, while in the second example of the storage tank 16B, the second container portion 83A is maintained full while water remains in the first container portion 82B.

The electrode 61 of the electrolytic water generating unit 17 is plate-shaped and extends horizontally. In other words, the normal of the electrode 61 is oriented vertically. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrodes and negative electrodes are arranged alternately in the direction of the normal.

The supply unit 18, i.e., the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66, may be provided in the storage tank 16B or in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16B, the piping of the supply unit 18 is integrated with the storage tank 16B and reaches the first supply mechanism unit 63 and the second supply mechanism unit 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping of the supply unit 18 reaches the first supply mechanism unit 63 and the second supply mechanism unit 65 from the storage tank 16B through the main body 5. When the third supply mechanism unit 66 is provided in the storage tank 16B, the water guide path 77 of the supply unit 18 is provided in the storage tank 16B and reaches the third supply mechanism unit 66. When the third supply mechanism 66 is provided in the main body 5, the water guide path 77 of the supply unit 18 runs from the storage tank 16B through the main body 5 to the third supply mechanism 66.

Figure 8 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 8 in addition to FIG. 2 to FIG. 3, the autonomous vacuum cleaner 1 according to this embodiment includes a motor 27 of the moving unit 11, a brush motor 36 and an electric blower 38 of the suction cleaning unit 31, a detection unit 13, a control unit 15, a secondary battery 6, an electrolytic water generating unit 17, and a supply unit 18, as well as a communication unit 91.

The communication unit 91 includes a transmitter 91a that transmits infrared signals to the station 8, and a receiver 91b that receives infrared signals transmitted by the station 8 or a remote controller. The transmitter 91a includes, for example, an infrared light emitting element. The receiver 91b includes, for example, a phototransistor.

The camera unit 51 of the detection unit 13 is, for example, a digital camera. That is, the camera unit 51 includes an image sensor 51a that converts a captured image into an electrical signal, and an optical system 51b that forms an image on the image sensor 51a. The image sensor 51a is, for example, a charge-coupled device image sensor (CCD image sensor) or a complementary metal-oxide-semiconductor image sensor (CMOS image sensor). Therefore, the autonomous vacuum cleaner 1 can instantly handle the digital data of the image captured by the camera unit 51. That is, the image captured by the camera unit 51 can be compressed into a predetermined data format, converted into a binary image, or converted into grayscale by using, for example, an image processing circuit. The camera unit 51 captures, for example, an image in the visible light region. Images in the visible light region have better image quality than images in the infrared region, and can easily provide the user with visible information without complex image processing.

The camera unit 51 is a so-called stereo camera. The images captured by the camera unit 51 overlap in a shooting range that includes a position forward of an extension of the center line of the autonomous vacuum cleaner 1 in the width direction. The camera unit 51 can obtain information on the depth (the distance from the autonomous vacuum cleaner 1) in the shooting range. An image that includes depth information is called a "distance image."

The camera unit 51 may be provided with a lighting device such as an LED (Light Emitting Diode) or a light bulb. The lighting device illuminates part or all of the shooting range of the camera unit 51. The lighting device enables the camera unit 51 to capture appropriate images even in dark places, such as behind furniture or other obstacles, or in dark environments such as at night.

A large number of pixels are arranged on the light receiving surface of the image sensor 51a. Each pixel on the light receiving surface converts the light it receives into an electrical signal. By integrating the light information received by each pixel according to the position of each pixel, an image showing the scene captured by the camera unit 51 is obtained. A typical image sensor 51a captures color images. A color image is expressed by mixing three colors, for example, red, green, and blue.

The distance measurement device 55 includes a light-emitting unit 55a that irradiates light onto the range for which depth information is to be obtained, and a light-receiving unit 55b that receives the reflected light of the light irradiated by the light-emitting unit 55a. The autonomous vacuum cleaner 1 can obtain distance information from the autonomous vacuum cleaner 1 to the detected object based on the time difference between when the light-emitting unit 55a starts emitting light and when the reflected light is received by the light-receiving unit 55b. The light-emitting unit 55a irradiates, for example, infrared light or visible light.

The control unit 15 includes, for example, a central processing unit (CPU), an auxiliary storage device (for example, read only memory, ROM) that stores various calculation programs and parameters executed (processed) by the central processing unit, and a main storage device (for example, random access memory, RAM) in which a working area for the programs is dynamically allocated. It is preferable that the auxiliary storage device is rewritable, such as a non-volatile memory.

The control unit 15 is electrically connected to the motor 27 of the moving unit 11, the brush motor 36 and electric blower 38 of the suction cleaning unit 31, the detection unit 13, the secondary battery 6, and the communication unit 91. The control unit 15 controls the motor 27 of the moving unit 11, the brush motor 36 and electric blower 38 of the suction cleaning unit 31, the detection unit 13, and the secondary battery 6 in response to commands received from the station 8 and the remote controller via the communication unit 91, to perform autonomous operation and autonomous movement of the autonomous vacuum cleaner 1.

The control unit 15 includes an autonomous movement control unit 101 that controls the autonomous movement of the autonomous vacuum cleaner 1, and a detection control unit 102 that controls the operation of the detection unit 13. The autonomous movement control unit 101 and the detection control unit 102 are calculation programs.

The autonomous movement control unit 101 includes a map information storage unit 103 that stores environmental map information (Environment Map) of the area A to be cleaned, a movement control unit 105 that controls the operation of the electric motor 27 of the movement unit 11, and a suction cleaning control unit 106 that controls the operation of the brush motor 36 of the suction cleaning unit 31 and the electric blower 38.

The map information storage unit 103 is a collection of data constructed in a memory area secured in the auxiliary storage device, and has an appropriate data structure. The map information storage unit 103 is read from the auxiliary storage device to the main storage device for use, and is updated as appropriate before being overwritten in the auxiliary storage device.

The environmental map information is information used for the autonomous movement of the autonomous vacuum cleaner 1, and is information including the shape of the area in which the autonomous vacuum cleaner 1 can move at least in the place to be cleaned. The environmental map information is constructed, for example, as a collection of neatly arranged rectangles with each side being 10 centimeters. The environmental map information may be prepared in advance when the autonomous vacuum cleaner 1 is used, or may be created at the same time as self-location estimation by Simultaneous Localization and Mapping (SLAM). The environmental map information may be created and updated during the process of movement associated with cleaning operation. When creating the environmental map information by SLAM, the autonomous vacuum cleaner 1 preferably includes various sensors such as an encoder in addition to the detection unit 13. The movement control unit 105 creates the environmental map information based on the information acquired from the detection unit 13 and various sensors.

The movement control unit 105 controls the movement unit 11 based on the environmental map information to move the autonomous vacuum cleaner 1 autonomously. The movement control unit 105 controls the magnitude and direction of the current flowing through the electric motor 27 to rotate the electric motor 27 forward or reverse. The movement control unit 105 controls the drive of the drive wheels 26 by rotating the electric motor 27 forward or reverse.

The suction cleaning control unit 106 controls the brush motor 36 and the electric blower 38 individually.

The detection control unit 102 controls the operation of the camera unit 51. The detection control unit 102 causes the camera unit 51 to take images at predetermined time intervals. The detection control unit 102 stores the images taken by the camera unit 51 in the detection result storage unit 107. The images taken by the camera unit 51 are secured in the main memory device. The detection result storage unit 107 stores the images taken by the camera unit 51. The detection result storage unit 107 has a capacity capable of storing multiple images.

The detection result storage unit 107 may store image information representing an image captured by the camera unit 51 without processing, or may store image information processed to reduce the data size as long as information necessary for image analysis processing is left. The image information stored in the detection result storage unit 107 may be, for example, an image captured by the camera unit 51 converted into grayscale (hereinafter, referred to as "image" like the original image captured by the camera unit 51). In the case of a grayscale image, the pixel value of the image is equal to the luminance value. When storing an image converted into grayscale, the control unit 15 can allocate a smaller memory area capacity, i.e., a smaller resource, to the detection result storage unit 107 than when storing the original image. In addition, when the image converted into grayscale is used for subsequent analysis processing, the control unit 15 can reduce the load on the central processing unit compared to when processing the original image. Image processing including grayscaling of the image may be performed by the camera unit 51. By performing image processing by the camera unit 51, the load on the central processing unit is reduced.

The detection control unit 102 also controls the turning on and off of the lighting device. The lighting device brightens the image, making it easier to perform the analysis process and improve its accuracy.

Furthermore, the detection control unit 102 stores the detection result of the proximity detection unit 52, i.e., the approach of the detected object to the main body 5, and the distance between the detected object and the main body 5 at that time, in the detection result storage unit 107.

The detection control unit 102 also stores the detection result of the contact detection unit 53, i.e., that the detected object has contacted the main body 5, in the detection result storage unit 107.

For example, while the moving unit 11 is moving the main body 5, the electrolytic water generating unit 17 electrolyzes the water stored in the storage tank 16 (storage tank 16A, storage tank 16B) using power from the secondary battery 6 to generate electrolytic water.

When the water level of the second container section 83A is lower than that of the first container section 82A, the water of the first container section 82A is immediately supplied to the second container section 83A by the head difference. When the water level of the second container section 83B is not full, the water of the first container section 82A is immediately supplied to the second container section 83B by the head difference. Therefore, when the water or electrolytic water in the storage tank 16 is insufficient, if the first container sections 82A and 82B are replenished with water, the water before electrolysis generally flows into the second container sections 83A and 83B, and the hypochlorous acid concentration of the electrolytic water in the second container sections 83A and 83B decreases.

Therefore, it is preferable that the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that electrolytic water containing hypochlorous acid of a desired concentration can be obtained before the movement of the main body 5 is started. For example, in a state where the second container parts 83A and 83B are filled with water before electrolysis, the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water containing hypochlorous acid of a desired concentration, for example, 5 ppm or more. For example, the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water containing 5 ppm of hypochlorous acid by applying a voltage of 7.5 volts to the full amount of water before electrolysis in the second container parts 83A and 83B. The electrolytic water generating unit 17 may start generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water based on the amount of water in the second container parts 83A and 83B measured by the water level gauge 88.

In addition, after the movement of the main body 5 is started, in order to obtain electrolyzed water containing hypochlorous acid of the desired concentration early, the electrolyzed water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrode 61 that is larger than in other cases, at least until a predetermined time has elapsed since the moving unit 11 started to move the main body 5. The voltage value at this time is called a high voltage value. For example, the electrolyzed water generating unit 17 applies a high voltage value, for example a voltage of 10 volts, to the electrode 61 until a time has elapsed in which electrolyzed water containing 5 ppm of hypochlorous acid is obtained from the full amount of water before electrolysis in the second container parts 83A and 83B. The electrolyzed water generating unit 17 may apply a high voltage value to the electrode 61 until a time has elapsed in which electrolyzed water is obtained based on the amount of water in the second container parts 83A and 83B measured by the water level gauge 88.

Furthermore, the electrolytic water generating unit 17 may change the voltage value applied between the positive and negative electrodes of the electrode 61 based on the remaining amount of water stored in the storage tank 16, specifically, in the second container portions 83A and 83B.

Figure 9 shows an example of the relationship between the amount of water in the tank and the voltage applied to the electrodes in an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 9, when the amount of water stored in the storage tank 16 is greater than a predetermined first threshold, for example, 80% of the full water volume, the electrolytic water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrode 61 that is greater than in other cases, at least until a predetermined time has elapsed since the moving unit 11 started to move the main body 5, so that electrolytic water containing hypochlorous acid of a desired concentration can be obtained early. For example, the electrolytic water generating unit 17 applies a high voltage value to the electrode 61 until a time has elapsed in which electrolytic water containing 5 ppm of hypochlorous acid is obtained from water before electrolysis that is 80% of the full water volume of the second container parts 83A and 83B. The electrolytic water generating unit 17 may apply a high voltage value to the electrode 61 until a time has elapsed in which electrolytic water is obtained based on the water volume of the second container parts 83A and 83B measured by the water level gauge 88.

In other words, the electrolytic water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrodes 61 that is greater than in other cases at least until a predetermined time has elapsed since the moving unit 11 started to move the main body 5, or when the amount of water stored in the storage tank 16 is greater than a predetermined first threshold value.

In the region where the amount of water stored in the storage tank 16 is greater than a predetermined first threshold, the voltage applied to the electrode 61 may be constant as shown in FIG. 9, or may vary according to the amount of water stored in the storage tank 16. When the voltage is varied according to the amount of water stored in the storage tank 16, the greater the amount of water stored in the storage tank 16, the greater the voltage applied to the electrode 61.

When the amount of water stored in the storage tank 16 is less than a second predetermined threshold value, for example, 20% of the full water level, the electrolytic water generating unit 17 applies a smaller voltage value between the positive and negative electrodes of the electrode 61 than in other cases in order to reduce power consumption of the secondary battery 6. The voltage value at this time is called a small voltage value. For example, the electrolytic water generating unit 17 applies a small voltage value, for example, a voltage of 5 volts, between the positive and negative electrodes of the electrode 61. The electrolytic water generating unit 17 may apply a small voltage value between the positive and negative electrodes of the electrode 61 until a time has elapsed in which electrolytic water can be obtained based on the amount of water in the second container parts 83A and 83B measured by the water level gauge 88.

In the region where the amount of water stored in the storage tank 16 is less than a predetermined second threshold, the voltage applied to the electrode 61 may be constant as shown in FIG. 9, or may vary depending on the amount of water stored in the storage tank 16. In the region where the amount of water stored in the storage tank 16 is equal to or greater than a predetermined second threshold and equal to or less than a first threshold, the voltage applied to the electrode 61 may be constant as shown in FIG. 9, or may vary depending on the amount of water stored in the storage tank 16. When the voltage is changed depending on the amount of water stored in the storage tank 16, the greater the amount of water stored in the storage tank 16, the greater the voltage applied to the electrode 61.

Furthermore, when the entire amount of water stored in the storage tank 16 has been electrolyzed, the electrolyzed water generating unit 17 does not need to apply a voltage between the positive and negative electrodes of the electrodes 61. For example, after a voltage of 7.5 volts is applied to the full amount of water before electrolysis in the second container sections 83A and 83B, and a time has elapsed during which electrolyzed water containing 5 ppm of hypochlorous acid is obtained, the electrolyzed water generating unit 17 does not apply a voltage between the positive and negative electrodes of the electrodes 61.

In addition, the electrolytic water generating unit 17 does not apply a voltage between the positive and negative electrodes of the electrodes 61 when the remaining amount of power charged in the secondary battery 6 is less than a predetermined remaining amount. The predetermined remaining amount is set to a predetermined ratio of the discharge capacity of the secondary battery 6, for example, 20 percent. In addition, the predetermined remaining amount may be calculated based on the environmental map information of the cleaning area A, and may be an estimate of the remaining amount that can cover the calculated power required to return to the station 8 as a charging base, or this estimate with a safety factor taken into account.

The supply unit 18 supplies the electrolytic water from the storage tank 16 to the surface to be cleaned f below the main body 5 or to the wiping unit 32 to sterilize the area to be cleaned A. The supply unit 18 controls the second opening/closing valve 74 and the first opening/closing valve 72 of the wiping unit 32 to control the amount of electrolytic water supplied from the storage tank 16 (storage tank 16A, storage tank 16B) to the surface to be cleaned f or the wiping member 43.

The supply unit 18 starts supplying electrolyzed water after the concentration of hypochlorous acid contained in the electrolyzed water reaches, for example, 5 ppm. The concentration of hypochlorous acid contained in the electrolyzed water may be estimated from the relationship between the amount of water that can be stored in the second container parts 83A and 83B and the voltage applied to the electrode 61 of the electrolyzed water generating unit 17, or may be measured using a sensor capable of measuring the concentration of hypochlorous acid. For example, the supply unit 18 applies a voltage of 7.5 volts to the full amount of water before electrolysis in the second container parts 83A and 83B, and starts supplying electrolyzed water after the time required to generate electrolyzed water containing 5 ppm of hypochlorous acid has elapsed. The supply unit 18 may also start supplying electrolyzed water after the time required to generate electrolyzed water based on the amount of water in the second container parts 83A and 83B measured by the water level meter 88 has elapsed.

As described above, the autonomous vacuum cleaner 1 according to this embodiment includes an electrolytic water generating unit 17 that generates electrolytic water by electrolyzing water stored in the storage tank 16, and a supply unit 18 that supplies the generated electrolytic water to the outside of the main body 5. Therefore, the autonomous vacuum cleaner 1 can move around the area A to be cleaned to clean, and can also sterilize the area A to be cleaned.

The autonomous vacuum cleaner 1 according to this embodiment also includes multiple containers 81 that can be separated and connected. The multiple containers 81 include first container parts 82A, 82B that store water before electrolysis, and second container parts 83A, 83B that house the electrodes 61 of the electrolytic water generating unit 17. Therefore, the autonomous vacuum cleaner 1 can replenish the storage tank 16 by replenishing the water before electrolysis, for example, tap water, only to the first container parts 82A, 82B that do not house the electrodes 61 of the electrolytic water generating unit 17. This prevents the user from unnecessarily handling the electrodes 61 housed in the second container parts 83A, 83B, and thus prevents damage to the electrodes 61.

Furthermore, the autonomous vacuum cleaner 1 according to this embodiment is provided with first container parts 82A, 82B that are detachable from the main body 5. Therefore, the autonomous vacuum cleaner 1 can replenish the water before electrolysis, for example tap water, to the tank 16 without removing the electrode 61 of the electrolytic water generating unit 17 from the main body 5 and by removing only the first container parts 82A, 82B that do not house the electrode 61 from the main body 5. Therefore, the autonomous vacuum cleaner 1 prevents the user from unnecessarily handling the electrode 61 housed in the second container parts 83A, 83B, thereby preventing damage to the electrode 61 and preventing water from entering the main body 5 that houses the electric blower 38 and the control unit 15 when water is supplied to the tank 16.

The autonomous vacuum cleaner 1 according to this embodiment supplies water stored in the first container portion 82A, 82B to the second container portion 83A, 83B by the head difference between the first container portion 82A, 82B and the second container portion 83A, 83B. Therefore, the autonomous vacuum cleaner 1 can transfer water between the multiple containers 81 with extremely high reliability while dividing the storage tank 16 into multiple containers 81, without consuming energy to transfer water between the multiple containers 81 or requiring a supply means such as a pump.

Furthermore, the autonomous vacuum cleaner 1 according to this embodiment includes second container portions 83A, 83B having a smaller volume than the first container portions 82A, 82B. Therefore, the autonomous vacuum cleaner 1 includes a storage tank 16 with a sufficient capacity to sterilize the entire cleaning area A, and can quickly replenish electrolyzed water as it is consumed.

The autonomous vacuum cleaner 1 according to this embodiment also includes container sections 82A and 83A that are separated horizontally, and an electrode 61 that extends vertically. Therefore, the autonomous vacuum cleaner 1 can accommodate an electrode 61 with a larger surface area within the limited volume of the second container section 83A, improving the efficiency of generating electrolyzed water.

Furthermore, the autonomous vacuum cleaner 1 according to this embodiment may have container parts 82B, 83B that are divided vertically and an electrode 61 that extends horizontally. In this case, the autonomous vacuum cleaner 1 can also accommodate an electrode 61 with a larger surface area within the limited volume of the second container part 83B, thereby improving the efficiency of generating electrolyzed water.

The autonomous vacuum cleaner 1 according to this embodiment also includes a wiping member attachment section 45 to which the wiping member 43 can be detachably attached, and a first supply mechanism section 63 that supplies electrolytic water from the storage tank 16 to the wiping member 43. Therefore, the autonomous vacuum cleaner 1 can wipe the surface to be cleaned f while sterilizing it using the electrolytic water. In addition, since the autonomous vacuum cleaner 1 moistens the wiping member 43 with the electrolytic water, it can also sterilize the wiping member 43 itself.

Furthermore, the autonomous vacuum cleaner 1 according to this embodiment is equipped with a second supply mechanism 65 that supplies electrolytic water from the storage tank 16 to the surface f to be cleaned. Therefore, the autonomous vacuum cleaner 1 can directly disinfect the surface f to be cleaned using electrolytic water.

The autonomous vacuum cleaner 1 according to this embodiment also includes a third supply mechanism 66 that supplies electrolytic water from the storage tank 16 to the atmosphere surrounding the main body 5. As a result, the autonomous vacuum cleaner 1 can sterilize the area A by spraying electrolytic water over a wide area or the entire area of the area A while moving through the area A.

Furthermore, the autonomous vacuum cleaner 1 according to this embodiment is equipped with a mist generating device 76 that mistifies electrolytic water and supplies it to the atmosphere surrounding the main body 5. As a result, the autonomous vacuum cleaner 1 can easily spray electrolytic water over a wide area or the entire area of the area A to be cleaned while moving through the area A to be cleaned, thereby efficiently sterilizing the area A.

Therefore, the autonomous vacuum cleaner 1 according to this embodiment can move around the area A to be cleaned to clean it, and can also sterilize the area A to be cleaned.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims.

1...Autonomous vacuum cleaner, 5...Main body, 6...Secondary battery, 8...Station, 9...Power cord, 11...Moving unit, 12...Cleaning unit, 13...Detection unit, 15...Control unit, 16, 16A, 16B...Storage tank, 17...Electrolyzed water generating unit, 18...Supply unit, 21...Main body case, 22...Bumper, 26...Drive wheel, 27...Motor, 28...Driven wheel, 31...Suction cleaning unit, 32...Wiping cleaning unit, 34...Suction port, 35...Rotary brush, 36...Motor for brush, 37...Dust container, 38...Electric blower, 39...Suction air duct, 39u...Upstream air duct, 39d...Downstream air duct, 41...Exhaust air duct, 43...Wiping member, 45...Wiping member attachment unit, 51...Camera unit, 51a...Imaging element, 51b...Optical system, 52...Proximity detection unit, 53...Connection Touch detection unit, 55...distance measurement device, 55a...light emitting unit, 55b...light receiving unit, 61...electrode, 63...first supply mechanism unit, 65...second supply mechanism unit, 66...third supply mechanism unit, 71...first supply port, 72...first opening and closing valve, 73...second supply port, 74...second opening and closing valve, 76...atomization device, 76...atomization device, 77...water guideway, 79...moisture absorption unit, 81...container, 82A, 82B...first container unit, 83A, 83B...second container unit, 85...water supply port, 86...lid, 87...supply port, 88...water level gauge, 89...joint, 91...communication unit, 91a...transmitter, 91b...receiver, 101...autonomous movement control unit, 102...detection control unit, 103...map information storage unit, 105...movement control unit, 106...suction cleaning control unit, 107...detection result storage unit.

Claims (12)

The main body,
A moving unit that moves the main body;
A storage tank provided in the main body for storing water;
An electrolytic water generating unit that electrolyzes the water stored in the storage tank to generate electrolytic water;
A supply unit that supplies the generated electrolytic water to the outside of the main body,
The main body has a main body case,
the main body case and the storage tank cooperate to define an outline of the autonomous vacuum cleaner in a plan view;
The storage tank includes a first container portion for storing the water before electrolysis and a second container portion for accommodating electrodes of the electrolytic water generating unit,
The first container portion and the second container portion are adjacent to each other,
The first container part is detachable from the main body and separable and connectable to the second container part ;
An autonomous vacuum cleaner in which a voltage value applied to the electrodes of the electrolytic water generating unit is made larger than in other cases until a predetermined time has elapsed since the moving unit began to move the main body. The autonomous vacuum cleaner according to claim 1 , wherein the main body has a main body case having the same height as the height of the storage tank. An autonomous vacuum cleaner according to claim 1 or 2, wherein the storage tank transfers water stored in the first container section to the second container section by using a head difference between the first container section and the second container section. An autonomous vacuum cleaner according to any one of claims 1 to 3, wherein the volume of the second container portion is smaller than the volume of the first container portion. The first container portion and the second container portion are adjacent to each other and separated in the horizontal direction,
5. An autonomous vacuum cleaner as claimed in any one of claims 1 to 4, wherein the electrodes extend vertically. The first container portion and the second container portion are vertically separated and stacked,
5. An autonomous vacuum cleaner according to any one of claims 1 to 4, wherein the electrodes extend horizontally. The supply unit includes:
A wiping member attachment portion to which the wiping member can be attached and detached;
The autonomous vacuum cleaner according to claim 1 , further comprising: a first supply mechanism that supplies the electrolytic water from the storage tank to the wiping member. The body has a suction port,
an electric blower that generates a negative pressure in an intake air passage connected to the intake port;
The autonomous vacuum cleaner according to claim 1 , further comprising: a dust collecting unit that collects dust sucked in by negative pressure acting on the suction port. The autonomous vacuum cleaner according to claim 8, wherein the suction port and the supply unit are arranged in a front-to-rear direction, and the suction port is disposed forward of the supply unit. The autonomous vacuum cleaner according to claim 1 , wherein the supply unit includes a second supply mechanism unit that supplies the electrolytic water from the storage tank to the surface to be cleaned. An autonomous vacuum cleaner according to any one of claims 1 to 9, wherein the supply unit includes a third supply mechanism that supplies the electrolytic water from the storage tank to the atmosphere surrounding the main body. The autonomous vacuum cleaner according to claim 11, wherein the third supply mechanism has a mist generating device that mistifies the electrolytic water and supplies it to the atmosphere surrounding the main body.

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