Platform door washing equipment, connection structure for platform door washing equipment, and platform door washing method

Abstract

To provide a technology which can easily achieve facilitation of conveyance of platform door washing equipment and which enables a larger quantity of liquid to be easily stored in the platform door washing equipment.SOLUTION: Platform door washing equipment 1 comprises: a self-propelled vehicle 2 that is self-propelled on a platform; a brush 3 that is displaceably supported in the self-propelled vehicle 2; a driving source 5 for driving the brush 3 in the self-propelled vehicle 2; a control part 7 for controlling the driving source 5; a water tank vehicle 70 having a water tank 72; and a connection part 26 for connecting the self-propelled vehicle 2 and the water tank vehicle 70 together. The connection part 26 separably connects the water tank vehicle 2 and the self-propelled vehicle 70 together, and the self-propelled vehicle 2 tows the water tank vehicle 70.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a platform door cleaning device for cleaning platform doors installed on station platforms, a platform door cleaning method using the same, and a connecting structure for the platform door cleaning device. [Background technology]

[0002] Vertical platform doors are installed on station platforms to prevent passengers waiting for trains from falling onto the tracks. These platform doors are installed 20 to 30 cm inside the edge of the platform, along the length of the platform (the direction in which the rails are laid), and are equipped with doors that slide open and close on the outside of the train doors, and a vertical wall that functions as a door pocket to store the open doors.

[0003] The doors that make up platform doors are made of, for example, metal materials such as aluminum or iron, glass materials, or resin materials, and after a certain period of time (for example, about six months), dirt accumulates on the surface, causing it to become cloudy. Therefore, these dirty surfaces must be cleaned periodically. For safety reasons, cleaning of these doors must be carried out during limited hours when trains are not in operation. When cleaning these platform doors, workers can easily clean the surface of the doors facing the platform from the platform side, but workers cannot access the opposite side, the track side, making it difficult to clean the surface of the doors facing the track.

[0004] Therefore, Patent Document 1 proposes a cleaning device that can safely clean the track-side surface of the platform door opening and closing doors. This cleaning device is equipped with a sliding part that can slide horizontally along the upper edge of the platform door, a cleaning part that moves horizontally together with the sliding part to clean the surface of the platform door opening and closing doors, and a fixing part that fixes the cleaning part. The cleaning of the track-side (restricted access area side) surface of the platform door opening and closing doors with this kind of cleaning device is performed as follows.

[0005] In other words, the worker attaches the sliding part of the cleaning device horizontally to the upper edge of the opening and closing door, rotates the sliding part to move it together with the cleaning part from a horizontal position to a vertical position, and slides the sliding part together with the cleaning part horizontally along the surface of the opening and closing door, allowing the worker to safely clean the surface on the track side of the opening and closing door without entering the track side (restricted access area side). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 5946175 [Patent Document 2] Patent No. 7366354 Summary of the Invention [Problem to be solved by the invention]

[0007] However, the cleaning device proposed in Patent Document 1 has to rely on manual work by an operator in many respects, which results in poor work efficiency and requires a lot of time and manpower.

[0008] In contrast, the platform door cleaning device in Patent Document 2 can clean the opening and closing doors and vertical walls of the platform doors by rotating a cleaning brush that moves along the platform with a self-propelled cart that runs along the platform, making it possible to clean the entire platform door without requiring a lot of manpower.

[0009] However, the platform door cleaning device in Patent Document 2 does not have a configuration for storing a large amount of liquid to be released during cleaning, and in this respect there is room for improvement. The platform door cleaning device in Patent Document 2 has a small tank mounted on a self-propelled carriage, but if this tank were made larger so that it could store a large amount of liquid, the self-propelled carriage would inevitably become larger. If the self-propelled carriage becomes larger, it would be disadvantageous for workers to transport the platform door cleaning device to the platform.

[0010] The present invention has been made in consideration of the above problems, and one of its purposes is to provide a technology for a platform door cleaning device that can accommodate more liquid while making the self-propelled vehicle smaller and facilitating transportation. [Means for solving the problem]

[0011] One of the present inventions, the platform door cleaning device, A platform door cleaning device that cleans platform doors installed on station platforms, a self-propelled vehicle that self-propels on the platform; a linked vehicle connected to the self-propelled vehicle; a brush held by either the self-propelled vehicle or the linked vehicle; a drive source for driving the brush in the one wheel; a control unit that controls the drive source; a water tank held by the other of the self-propelled vehicle and the linked vehicle; a connecting portion that connects the self-propelled vehicle and the linked vehicle, the coupling section detachably couples the self-propelled vehicle and the linked vehicle; The self-propelled vehicle and the linked vehicle are coupled to each other and move on the platform by at least the driving force of the self-propelled vehicle. [Effects of the Invention]

[0012] According to the technology of the present invention, in a platform door cleaning device, it is possible to make the self-propelled vehicle smaller while being able to accommodate more liquid, and it is also possible to make transportation easier. [Brief explanation of the drawings]

[0013] [Figure 1] Figure 1 is a partial perspective view of the platform showing the platform doors in a closed state. [Figure 2] Figure 2 is a partial perspective view of the platform showing the platform doors in an open state. [Figure 3] FIG. 3 is a side view of the platform door cleaning device according to the first embodiment. [Figure 4] FIG. 4 is a plan view of the platform door cleaning device of FIG. [Figure 5] FIG. 5 is a front view of the self-propelled vehicle in the platform door cleaning device of FIG. [Figure 6] FIG. 6 is a rear view of the motor vehicle of FIG. [Figure 7] FIG. 7 is a side view of the motor vehicle of FIG. [Figure 8] FIG. 8 is a side view of the motor vehicle of FIG. 5 on the opposite side to that of FIG. [Figure 9] FIG. 9 is a plan view of the vehicle of FIG. [Figure 10] FIG. 10 is an explanatory diagram conceptually illustrating the spraying unit and other components of the platform door cleaning device according to the first embodiment. [Figure 11] FIG. 11 is an explanatory diagram conceptually illustrating the electrical configuration of the platform door cleaning device according to the first embodiment. [Figure 12] FIG. 12 is an explanatory diagram showing a state in which the self-propelled vehicle and the water tank car are separated in the platform door cleaning device according to the first embodiment. [Figure 13] Figure 13 is an explanatory diagram illustrating the connection structure of the platform door cleaning device of the first embodiment, where (A) is a diagram showing the connection structure when the self-propelled vehicle and the water tanker vehicle are connected, and (B) is a diagram showing the connection structure when the self-propelled vehicle and the water tanker vehicle are not connected but separated. [Figure 14] FIG. 14 is an explanatory diagram illustrating the positional and dimensional relationships between the self-propelled vehicle and the platform doors during cleaning operation. [Figure 15] FIG. 15(A) is an explanatory diagram for explaining the separating operation, and FIG. 15(B) is an explanatory diagram for explaining the approaching operation. [Figure 16] FIG. 16 is an explanatory diagram showing an example of a home screen displayed on a remote controller mounted on the vehicle of FIG. [Figure 17]Fig. 17(A) is an explanatory diagram illustrating an example of an initial screen of the maintenance mode that is displayed on the remote control when the maintenance mode button is selected while the home screen of Fig. 16 is displayed. Fig. 17(B) is an explanatory diagram illustrating an example of a setting screen that is displayed on the remote control when the system button is pressed while the initial screen of Fig. 17(A) is displayed. [Figure 18] Fig. 18(A) is an explanatory diagram illustrating a screen for a start-up inspection that is displayed on the remote control when a start-up inspection button is selected while the initial screen of Fig. 17(A) is displayed. Fig. 18(B) is an explanatory diagram illustrating a screen for a finish-up inspection that is displayed on the remote control when a finish-up inspection button is selected while the initial screen of Fig. 17(A) is displayed. [Figure 19] Fig. 19(A) is an explanatory diagram illustrating an example of a screen for performing an initial position arrangement process that is displayed on the remote control when an operation to select the cleaning mode button is performed while the home screen of Fig. 16 is displayed. Fig. 19(B) is an explanatory diagram illustrating an example of a screen that is displayed on the remote control when the distance detected by the distance sensor is the appropriate distance. [Figure 20] Figure 20(A) is an explanatory diagram illustrating an example of a screen displayed on the remote control when the platform door cleaning device is too far from the platform door. Figure 20(B) is an explanatory diagram illustrating an example of a screen displayed on the remote control when the platform door cleaning device is too close to the platform door. [Figure 21] Fig. 21(A) is an explanatory diagram illustrating an example of an initial screen for the cleaning process. Fig. 21(B) is an explanatory diagram illustrating an example of a screen displayed on the remote control when the automatic cleaning button is selected while the screen of Fig. 21(A) is displayed. [Figure 22] Fig. 22(A) is an explanatory diagram showing an example of a screen displayed on the remote control when detergent washing is selected while the screen of Fig. 21(B) is displayed. Fig. 22(B) is an explanatory diagram showing an example of a message display prompting the user to place the remote control on the remote control stand. [Figure 23] FIG. 23 is an explanatory diagram showing a display example of the cleaning start screen. [Figure 24] FIG. 24 is an explanatory diagram illustrating a method for cleaning the platform doors on both sides of an island platform. [Figure 25] FIG. 25 is an explanatory diagram showing an example of cleaning the platform doors on both sides of an island platform using a method different from that shown in FIG. [Figure 26] FIG. 26 is a plan view illustrating a platform door cleaning device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] The following [1] to

[22] are examples of inventions included in this disclosure. [1] A platform door cleaning device that cleans platform doors installed on station platforms, a self-propelled vehicle that self-propels on the platform; a linked vehicle connected to the self-propelled vehicle; a brush held by either the self-propelled vehicle or the linked vehicle; a drive source for driving the brush in the one wheel; a control unit that controls the drive source; a water tank held by the other of the self-propelled vehicle and the linked vehicle; a connecting portion that connects the self-propelled vehicle and the linked vehicle, the coupling section detachably couples the self-propelled vehicle and the linked vehicle; The self-propelled vehicle and the linked vehicle are coupled to each other and move on the platform by at least the driving force of the self-propelled vehicle. Platform door cleaning device.

[0015] The platform door cleaning device described above in [1] is configured so that the self-propelled car and the connected car are separably connected, with a brush held in a driveable configuration in one car and a water tank held in the other car. This makes it easier to miniaturize the self-propelled car and to accommodate more liquid than a configuration in which both the water tank and the brush are housed inside the self-propelled car. Furthermore, this platform door cleaning device is configured so that the smaller self-propelled car can be separated from the connected car and transported separately, making it easier for workers to transport them. Meanwhile, the platform door cleaning device allows the car holding the brush and the other car holding the water tank to be coupled together during cleaning, and can move along the platform using the driving force of the self-propelled car. This allows for more liquid to be used while reducing the effort required by workers to transport the liquid needed for cleaning.

[0016] [2] The platform door cleaning device described in [1], wherein the connecting section connects the self-propelled vehicle and the connected vehicle so as to enable the orientation of the connected vehicle relative to the direction of travel of the self-propelled vehicle to be changed.

[0017] The platform door cleaning device described in [2] above can connect the self-propelled vehicle and the connected vehicle so that the orientation of the connected vehicle can be changed relative to the direction of travel of the self-propelled vehicle, making it easier for each of the self-propelled vehicle and the connected vehicle to maneuver more easily, and making it easier to adjust the positional relationship between the vehicle on which the brush is held (one of the vehicles) and the platform door with greater precision.

[0018] [3] The other wheel is provided with an outlet path that is a path for sending liquid from the water tank, an introduction path for introducing the liquid delivered from the water tank is provided on the one vehicle side; Further, a connecting pipe is provided which is a flexible pipe and connects the water tank with the introduction path, The platform door cleaning device according to [1] or [2], wherein the connecting pipe is detachable from at least either the outlet path or the inlet path.

[0019] The platform door cleaning device described in [3] above can transfer liquid from the other car side where the water tank is held to the one car side where the brush is held via a connecting pipe. When separating the self-propelled car and the connected car, this platform door cleaning device can be separated by removing the connecting pipe from the inlet or outlet path, thereby disconnecting the part used to transfer liquid and separating the self-propelled car and the connected car. Furthermore, the connecting pipe is equipped with a flexible tube and is configured so that its direction can be easily changed, making it easy for workers to attach and detach the connecting pipe.

[0020] [4] The one wheel has a storage section that stores a liquid different from the liquid in the water tank, and a liquid outlet, A platform door cleaning device described in any one of [1] to [3], which mixes the liquid in the water tank and the liquid in the storage section and releases it from the release outlet.

[0021] The platform door cleaning device described in [4] above can be configured to mix the liquid in the water tank in the other car (the car in which the water tank is held) with the liquid contained in one car (the car in which the brush is held) and release it from the one car.

[0022] [5] The one car has a first side portion facing the platform door during cleaning and a second side portion opposite the first side portion, The first side surface portion is provided with a recess recessed toward the second side surface portion, A portion of the brush is disposed within the recess, The brush is arranged exposed on the first side surface portion and is supported rotatably around a rotation axis in a direction intersecting the horizontal direction. A platform door cleaning device described in any one of [1] to [4].

[0023] In the platform door cleaning device described in [5] above, one of the cars (the car on which the brush is held) has a first side surface and a second side surface, and the brush is positioned so that it fits into a recess in the first side surface. This platform door cleaning device allows the first side surface to be brought somewhat closer to the platform door, while preventing the brush from protruding too much on the first side surface side, thereby reducing the width of one of the cars in the left-right direction.

[0024] [6] The self-propelled vehicle is: a wheel drive unit that applies a driving force to rotate the wheels; a first wheel that rotates by receiving a driving force from the wheel drive unit; a second wheel rotatably supported on the self-propelled vehicle; a switching unit that switches between a first state in which the first wheel is in contact with a placement surface of the self-propelled vehicle and the second wheel is not in contact with the placement surface, and a second state in which the second wheel is in contact with the placement surface and the first wheel is not in contact with the placement surface; and A platform door cleaning device described in any one of [1] to [5], wherein at least in the second state, the driving force of the wheel drive unit is in a non-transmission state in which it is not transmitted to the second wheel.

[0025] The platform door cleaning device described above in [6] allows the self-propelled vehicle to self-propel when the switching unit is switched to the first state, and when the switching unit is switched to the second state, the first wheel, which is the drive wheel, is separated from the loading surface and the second wheel is brought into contact with the loading surface, allowing the vehicle to be transported in a state where it is disconnected from the driving force of the wheel drive unit.

[0026] [7] A platform door cleaning device comprising: a self-propelled vehicle that moves on a station platform; a coupled vehicle that is coupled to the self-propelled vehicle; a brush held on either the self-propelled vehicle or the coupled vehicle; a drive source that drives the brush on the one vehicle; a control unit that controls the drive source; and a water tank that is held on the other vehicle, either the self-propelled vehicle or the coupled vehicle, and configured to move on the platform by at least the driving force of the self-propelled vehicle when the self-propelled vehicle and the coupled vehicle are coupled to each other; a connecting portion that connects the self-propelled vehicle and the linked vehicle; The coupling section couples the self-propelled vehicle and the linked vehicle in a separable manner. Connecting structure for platform door cleaning equipment.

[0027] The connecting structure for the platform door cleaning device described above in [7] allows the self-propelled car and the connected car to be connected so that they can be separated. If the self-propelled car and the connected car are separable, it is easier to make the self-propelled car smaller and to store more liquid, compared to a configuration in which both the water tank and the brush are housed inside the self-propelled car. Furthermore, if a smaller self-propelled car can be separated from the connected car and transported separately, it is easier for workers to transport them. On the other hand, during cleaning, the self-propelled car and the connected car can move on the platform while connected to each other, at least using the driving force of the self-propelled car, making more liquid available while reducing the effort required by workers to transport the liquid needed for cleaning.

[0028] [8] The connecting portion is capable of swinging horizontally relative to at least one of the self-propelled vehicle and the linked vehicle. [7] A connecting structure for a platform door cleaning device described in [7].

[0029] The connecting structure for the platform door cleaning device described above in [8] is configured so that the connecting part can swing horizontally relative to at least one of the self-propelled car or the connected car, making it easier for each of the self-propelled car and the connected car to turn more easily, and making it easier to adjust the positional relationship between the car on which the brush is held (one of the cars) and the platform door with greater precision.

[0030] [9] The connecting portion has an arm portion that is displaceably provided on one of the self-propelled vehicle and the linked vehicle and that is detachable from any other vehicle, the arm portion is displaceable between a protruding position in which it extends outward from any one of the wheels and a retracted position in which it retracts from the protruding position, A connecting structure for a platform door cleaning device described in [7] or [8], in which, when the arm portion in the protruding position is attached to one of the other cars, the arm portion is capable of swinging horizontally relative to at least one of the self-propelled car or the coupled car.

[0031] The connecting structure for the platform door cleaning device described above in [9] allows the arm portion in a protruding position to swing horizontally when connected, making it easy for the self-propelled car and the connected car to change direction. Moreover, because this connecting structure connects the arm portion in a protruding position extending outward from one of the cars, it is easy to ensure a distance between the main body of the self-propelled car and the main body of the connected car, and even if the self-propelled car and the connected car change direction separately, it is unlikely that the main body of the self-propelled car and the main body of the connected car will come into contact with each other.

[0032]

[10] A platform door cleaning method using the platform door cleaning device described in any one of [1] to [6], a first step of separating the self-propelled vehicle from the coupled vehicle and transporting the self-propelled vehicle from a first remote position outside the platform to a position closer to the platform than the first remote position; a second step of separating the linked vehicle from the self-propelled vehicle and transporting the linked vehicle from a second remote position outside the platform to a position closer to the platform than the second remote position; a third step of coupling the self-propelled vehicle and the coupled vehicle at a position closer to the platform than the first remote position and the second remote position; After the third step, a fourth step of driving the brush by the drive source while the self-propelled car and the linked car are coupled and the self-propelled car is self-propelled along the platform door on the platform; A method for cleaning platform doors, including:

[0033] The platform door cleaning method described above in

[10] uses a platform door cleaning device with a unique structure, and when transporting, the self-propelled car and the linked car can be separated, making it easier to transport each from a remote location to the platform or near the platform.When cleaning, the self-propelled car can tow the linked car, allowing cleaning to be performed while moving independently, so that more liquid can be retained in the water tank and cleaning can be performed with reduced burden on the worker.

[0034]

[11] In the first step, the self-propelled vehicle is transported from outside the platform to the platform; In the second step, the interlocked vehicle is transported from outside the platform to the platform, In the third step, the self-propelled vehicle and the articulated vehicle are coupled together at the platform.

[10] The platform door cleaning method described in

[10] .

[0035] The platform door cleaning method described in

[11] above allows the self-propelled vehicle and the linked vehicle to be transported individually to the platform and then coupled together on the platform, which eliminates or reduces the effort required to move the coupled body of the self-propelled vehicle and the linked vehicle outside the platform, thereby making the transportation work even easier.

[0036]

[12] A platform door cleaning method as described in

[10] or

[11] , which includes a fifth step of supplying water to the water tank after the second step.

[0037] The platform door cleaning method described above in

[12] allows the other car to be transported with even lighter weight, and when cleaning, more water can be stored in the water tank and the combined body of the self-propelled car and the connected car can be self-propelled while cleaning is performed.

[0038]

[13] In a part of the route of the first step, the self-propelled vehicle is moved by being placed on an elevator; A platform door cleaning method according to any one of

[10] to

[12] , wherein the linked car is placed on an elevator and moved along a part of the route of the second step.

[0039] In the platform door cleaning method described above in

[13] , the self-propelled car and the linked car can be separated and loaded into an elevator for transportation to different floors. With this method, even if the combined unit consisting of the self-propelled car and the linked car is too large to fit inside the elevator, as long as the self-propelled car and the linked car can fit inside the elevator individually, the entire unit can be moved to a different floor using the elevator.

[0040]

[14] The self-propelled vehicle is: a wheel drive unit that applies a driving force to rotate the wheels; a first wheel that rotates by receiving a driving force from the wheel drive unit; a second wheel rotatably supported on the self-propelled vehicle; a switching unit that switches between a first state in which the first wheel is in contact with a placement surface of the self-propelled vehicle and the second wheel is not in contact with the placement surface, and a second state in which the second wheel is in contact with the placement surface and the first wheel is not in contact with the placement surface; and a non-transmission state in which the driving force of the wheel drive unit is not transmitted to the second wheel at least in the second state, A platform door cleaning method described in any one of

[10] to

[13] , wherein the switching unit is maintained in the second state in at least a portion of the path of the first step.

[0041] The platform door cleaning method described above in

[14] allows the first wheel, which is the drive wheel, to be separated from the loading surface and the second wheel to be in contact with the loading surface, thereby enabling the vehicle to be transported in a state where it is disconnected from the driving force of the wheel drive unit. This makes it possible to move the vehicle more easily even in places where it is not possible or difficult to move using the driving force of the drive source.

[0042]

[15] The self-propelled vehicle is: a distance sensor that detects the distance between the self-propelled vehicle and the platform door; an adjustment unit that adjusts the traveling direction of the self-propelled vehicle based on the detection result of the distance sensor; Equipped with The adjustment unit adjusts the traveling direction of the self-propelled vehicle so as to maintain a distance between the self-propelled vehicle and the platform door within a predetermined range, based on the distance detected by the distance sensor. [1] to [7]. A platform door cleaning device according to any one of the above.

[0043] The platform door cleaning device described above in

[15] can adjust the direction of the self-propelled vehicle while pulling the connected vehicle so that the distance between the self-propelled vehicle and the platform door is maintained within a predetermined range. If the self-propelled vehicle maintains the distance between the self-propelled vehicle and the platform door while pulling the connected vehicle, the connected vehicle will be more likely to move along a path similar to the trajectory of the self-propelled vehicle, and the connected vehicle can be prevented from getting too close or too far away from the platform door.

[0044]

[16] The self-propelled vehicle has a front wheel, a pair of rear wheels disposed on both the left and right sides, and a pair of traction motors that respectively drive the pair of rear wheels; the adjustment unit includes a pair of the travel motors and the control unit, the distance sensor is provided forward of a center position in a longitudinal direction of the self-propelled vehicle, The control unit controls the rotation speed of each rear wheel independently by controlling the rotation speed of each drive shaft of each of the travel motors based on the distance detected by the distance sensor, and adjusts the direction of movement of the self-propelled vehicle relative to the platform doors.

[15] The platform door cleaning device described in

[15] .

[0045] The platform door cleaning device described above in

[16] can independently control the rotational speed of each rear wheel, and by simply creating a speed difference between the pair of rear wheels, it is easy to move the front wheels quickly left and right, making it easier to adjust the direction of the moving vehicle. Furthermore, if a speed difference causes the front wheels to approach or move away from the platform door, the distance sensor installed at the front can quickly detect the distance from the platform door, preventing the front wheels from getting too close or too far away from the platform door.

[0046]

[17] The self-propelled vehicle has a distance sensor that detects the distance between the self-propelled vehicle and the platform door, The height of the distance sensor is variable. [1] to [7]

[15]

[16] . A platform door cleaning device according to any one of the above.

[0047] The platform door cleaning device described in

[17] above can detect the distance from the moving vehicle to the platform door using a distance sensor. Furthermore, the platform door cleaning device described in

[16] above has a height-adjustable distance sensor, so the height of the distance sensor can be adjusted to suit the shape and height of the door.

[0048]

[18] The one wheel has a storage section that stores a liquid different from the liquid in the water tank, and a liquid outlet, a first pump that transfers the liquid contained in the container; a second pump for transferring the liquid contained in the water tank of the other vehicle; and The control device controls the discharge rate of the liquid contained in the container by adjusting the transfer rate of the first pump, and controls the discharge rate of the liquid contained in the water tank by adjusting the transfer rate of the second pump. [1] to [7] and

[15] to

[17] , the platform door cleaning device.

[0049] The platform door cleaning device described above in

[17] allows the self-propelled car and the linked car to be separated, and during cleaning, the ratio of the liquid discharged from one car to the liquid discharged from the other car can be automatically adjusted by control.

[0050]

[19] The one of the cars is provided with a storage section that stores a liquid different from the liquid in the water tank, and a nozzle that is an outlet for discharging the liquid toward the platform door, The apparatus further includes a switching unit that switches between a first operation in which the liquid in the tank is discharged from the nozzle without discharging the liquid in the storage unit from the nozzle, and a second operation in which the liquid in the storage unit is discharged from the nozzle either alone or together with the liquid in the tank. [1] to [7] and

[15] to

[18] , the platform door cleaning device described in any one of.

[0051] The platform door cleaning device described above in

[19] is capable of separating the self-propelled car and the coupled car, and during cleaning, can switch between an operation of releasing only the liquid contained in the other car from the nozzle, and an operation of releasing the liquid contained in one car from the nozzle alone or together with the liquid in the tank.

[0052]

[20] The self-propelled vehicle has a plurality of front wheels and a plurality of rear wheels; the plurality of front wheels or the plurality of rear wheels are drive wheels, the brush is disposed rearward of the plurality of front wheels and forward of the plurality of rear wheels, a portion of the brush is disposed on one side in the left-right direction of a front wheel at an end portion on one side in the left-right direction of the plurality of front wheels, and is disposed on one side in the left-right direction of a rear wheel at an end portion on one side in the left-right direction of the plurality of rear wheels, another part of the brush that is different from the part is disposed on the other side of the front wheel at the end in the left-right direction and on the other side of the rear wheel at the end in the left-right direction, [1] to [7] and

[15] to

[19] , wherein the lower end position of the brush is lower than the upper end positions of the plurality of front wheels and lower than the upper end positions of the plurality of rear wheels. A platform door cleaning device as described in any one of [1] to [7] and

[15] to

[19] .

[0053] In the platform door cleaning device described in

[20] above, multiple front wheels are arranged in front of the brush and multiple rear wheels are arranged behind the brush, so that the brush can be arranged between the front and rear wheels in the fore-and-aft direction, improving the fore-and-aft balance when the vehicle is self-propelled while holding the brush. Furthermore, in the platform door cleaning device described in

[20] above, a portion of the brush is arranged to one side of the front wheel at the end on one side in the left-right direction and to one side of the rear wheel at the end on one side in the left-right direction, and another portion of the brush is arranged to the other side of the front wheel at the end and to the other side of the rear wheel at the end, so that the brush is prevented from protruding too much to one side in the left-right direction, improving the left-and-right balance when the vehicle is self-propelled while holding the brush, and also achieving the effect of preventing the self-propelled vehicle from becoming too bulky in the left-and-right direction.

[0054]

[21] The one vehicle has a housing; the upper surface of the housing constitutes at least a part of the upper surface of the one vehicle; The brush is disposed so as to be exposed on one side of the housing in the left-right direction, and a portion of the brush is disposed above an upper surface of the housing, A covering member is provided above the upper surface of the housing in the one vehicle, the covering member covering the other side of the part of the brush in the left-right direction. [1] to [7] and

[15] to

[20] . A platform door cleaning device according to any one of the above.

[0055] The platform door cleaning device described above in

[21] can be made more compact and lightweight by reducing the height of the housing. However, in this configuration, part of the brush is positioned above the upper surface, which raises concerns that cleaning fluid or the like may splash from this part to the other side in the left-right direction (the side opposite the platform door). However, this part can be covered with a covering member, which reduces or eliminates the problem of splashing.

[0056]

[22] A detection unit that detects that the platform door cleaning device has reached a predetermined approach state with respect to an object in front of the platform door, the fourth step includes an initial position placement step of placing the self-propelled vehicle at an initial position adjacent to the platform door, and an object placement step of placing a stopping object ahead of the self-propelled vehicle in a traveling direction, After the self-propelled vehicle starts moving along the platform door from the initial position, when the platform door cleaning device detects that the self-propelled vehicle is in the close proximity to the stopping object, the control unit stops the self-propelled vehicle.

[10] to

[14] . A platform door cleaning method according to any one of

[10] to

[14] .

[0057] The platform door cleaning method described in

[22] above allows a moving vehicle to automatically stop by simply placing a stopping object at the desired position. This reduces or eliminates the burden on the worker of having to watch for the vehicle to reach the end position, further improving work efficiency.

[0058] First Embodiment The following description relates to a platform door cleaning device 1 according to the first embodiment. The platform door cleaning device 1 according to the first embodiment is a device capable of cleaning platform doors 100 shown in Figs. 1, 2, etc.

[0059] 1. Platform doors FIG. 1 shows platform doors 100, which are the objects to be cleaned by the platform door cleaning device 1 (see FIG. 3, etc.), and a platform 110 on which the platform doors 100 are installed. FIG. 1 is a partial perspective view of the platform 110, showing the opening / closing door 100A of the platform door 100 in a closed state. FIG. 2 is a partial perspective view of the platform 110, showing the opening / closing door 100A of the platform door 100 in an open state. As shown in these figures, the platform doors 100 are installed on the station platform 110 in a state where they stand upright vertically from the floor of the platform 110.

[0060] The platform 110 is a station platform and a place that functions as a boarding and disembarking area. The platform 110 is a platform provided near the tracks at a station for transportation such as a railway, for passengers to board and disembark trains, or for loading and unloading cargo. The platform 110 has a floor 112 that is higher than the tracks, and passengers and staff can walk on the floor 112.

[0061] The platform doors 100 are intended to prevent passengers waiting for a train 200 (see Figure 2) from falling onto the tracks. The platform doors 100 are installed upright along the longitudinal direction of the platform 110 (the direction in which the rails are laid) at a location 20 to 30 cm inward from the edge of the floor 112 facing the tracks. The platform doors 100 are equipped with a pair of doors 100A that slide open and close on the outside of the door portion of the train 200, and vertical walls 100B that function as door pockets for storing each open door 100A.

[0062] The opening / closing doors 100A are a pair of rectangular plate-like members that open and close a rectangular space S (a space for passengers to get on and off) (see FIG. 2) between two adjacent vertical walls 100B, and are made of, for example, a metal material such as aluminum or iron, a glass material, or a resin material. Each pair of opening / closing doors 100A slides toward each other to close the space S (see FIG. 1), and slides away from each other to open (display) the space S as shown in FIG. 2. Before a train 200 (see FIG. 2) arrives at the platform and until the doors of the train 200 open after arriving at the platform, as shown in FIG. 1, the opening / closing doors 100A close the space S to prevent passengers from falling onto the tracks. Then, as shown in FIG. 2, each opening / closing door 100A slides to open the space S before the doors of the train 200 open when the train 200 arrives at the platform, and then allows passengers to get on and off the train 200 when the doors of the train 200 open. When passengers have thus completed boarding and disembarking the train 200, the doors of the train 200 are closed, and then each opening and closing door 100A slides to close the space S again, after which the train 200 departs.

[0063] Incidentally, the multiple opening / closing doors 100A and vertical walls 100B that make up the platform door 100 accumulate dirt on their surfaces after a certain period of time (for example, about six months), so the surfaces of these opening / closing doors 100A and vertical walls 100B need to be cleaned periodically. This cleaning can be done efficiently and safely by the platform door cleaning device of the present invention.

[0064] 2. Platform door cleaning equipment The platform door cleaning device 1 shown in FIGS. 3 and 4 is capable of cleaning platform doors 100 installed to rise from the floor 112 on the platform 110 of the station shown in FIGS. 1 and 2. As shown in FIGS. 3 and 4, the platform door cleaning device 1 includes a self-propelled vehicle 2 that moves on the platform 110 and a water tank car 70 equipped with a water tank 72. The self-propelled vehicle 2 corresponds to an example of one of the vehicles. The water tank car 70 corresponds to an example of a coupled vehicle and corresponds to an example of the other of the vehicles. The self-propelled vehicle 2 is provided with a displaceably supported brush 3, a drive source 5 that drives the brush 3, a control unit 7 that controls the drive source 5, and a coupling unit 26 that couples the self-propelled vehicle 2 and the water tank car 70. The coupling unit 26 couples the water tank car 70 to the self-propelled vehicle 2 in a separable manner (see FIGS. 3, 12, and 13). During cleaning, the self-propelled vehicle 2 operates to tow the water tank car 70.

[0065] (Configuration for self-propelled driving) The self-propelled vehicle 2 is a vehicle configured to be self-propelled on the platform 110. The self-propelled vehicle 2 has a main body 2A equipped with multiple wheels 10 and configured to be self-propelled, and a brush 3 supported by the main body 2A so that it can be displaced. The brush 3 is supported by the main body 2A in a rotatable configuration. The self-propelled vehicle 2 is desirably sized to be able to be carried in an elevator at the station where the platform 110 is installed. The dimensions of the elevator that carries the self-propelled vehicle 2 are, for example, an entrance width of 900 mm and a front-to-back (depth) length of 1550 mm. Therefore, the left-to-right width of the self-propelled vehicle is desirably less than 900 mm, and the front-to-back length of the self-propelled vehicle is desirably less than 1550 mm. In a typical example, the height of the self-propelled vehicle 2 is 1500 mm, the front-to-back width of the self-propelled vehicle 2 is 1400 mm, and the left-to-right width (depth) of the self-propelled vehicle 2 when cleaning is stopped is 850 mm. Note that the left-to-right width during cleaning is 1065 mm. The platform door 100 to be cleaned has an overall height of approximately 1290 mm and a vertical wall height of 1200 mm. Note that the front-to-back (depth) length of the elevator that carries the self-propelled vehicle 2 may be approximately 1350 mm, so it is more desirable that the front-to-back length of the self-propelled vehicle 2 be 1350 mm or less. Note that, as will be described later, the switching unit 13 is detachable from the housing 4, and by removing the switching unit 13, the self-propelled vehicle 2 can be made even smaller.

[0066] The main body 2A is a portion of the self-propelled vehicle 2 that is configured to be self-propelled, and is the portion of the self-propelled vehicle 2 excluding the brushes 3. As shown in FIG. 4, the main body 2A has a longitudinal frame 2Z that forms the outer shell of the self-propelled vehicle 2. The frame 2Z has a housing 4 configured as a case body that houses various parts, and an internal frame is fixed inside the housing 4. In the frame 2Z, the brushes 3, drive source 5, etc. are attached to the outside of the housing 4, and various parts such as a control unit 7 (FIGS. 7 and 11) are fixed and housed inside the housing 4.

[0067] 5 to 8, rotatable wheels 10 are provided near the four corners of the lower part of the frame portion 2Z, on the front, rear, left and right sides. Furthermore, various parts are attached to the frame portion 2Z, such as a battery 9 for supplying power to the drive source 5 and the control portion 7, travel motors 12C and 12D for providing driving force to some of the wheels 10, a storage portion 43 configured as a tank, a pump portion 48 for transporting liquid, multiple nozzles 46, a distance sensor 56, and an area sensor 57.

[0068] The four wheels 10 are rotatably held on the bottom side of the frame portion 2Z. The front two of the four wheels 10 are front wheels 10A and 10B. The front wheels 10A and 10B are configured as casters that do not receive driving force from the drive source 5. The front wheels 10A and 10B are provided in pairs on both the left and right sides, and each is attached so that it can turn. The direction of the rotation axis of each of the front wheels 10A and 10B can be changed individually when the self-propelled vehicle 2 is self-propelled. It is preferable that the front wheels 10A and 10B are configured as spring casters to absorb and reduce vibrations when going over steps such as tactile paving blocks.

[0069] Of the four wheels 10, the two at the rear are rear wheels 10C, 10D. The rear wheels 10C, 10D are provided in pairs on both the left and right sides. The rear wheels 10C, 10D are each a drive wheel and are rotatably supported. The rear wheels 10C, 10D are independently driven and rotated by a pair of traction motors 12C, 12D. In this manner, the self-propelled vehicle 2 is supported by the four wheels 10 so that it can run along the station platform 110. In a representative example, the rear wheels 10C, 10D of the self-propelled vehicle 2 that runs ahead are drive wheels, so that the following water tank car 70 is positioned closer to the drive wheels, making it easier for the water tank car 70 to follow. Furthermore, even if the front wheels 10A, 10B fall into a ditch or the like while the self-propelled vehicle 2 is moving, the drive of the rear wheels 10C, 10D makes it easy to escape. Furthermore, when moving from the vertical wall 100B (door pocket: Figure 1) of the platform door 100 to the opening / closing door 100A (door section: Figure 1) (i.e., when moving forward and closer to the tracks), the platform door 100 can move closer to the opening / closing door 100A by maneuvering with a small turning radius, with the rear wheels on the platform door 100 side as the center and the front wheels moving closer to the opening / closing door 100A.

[0070] In this specification, when all the wheels 10 used during self-propelled movement are in contact with a predetermined plane, the direction perpendicular to the plane is the up-down direction of the platform door cleaning device 1. For example, when the platform door cleaning device 1 self-propels on the floor 112 of the platform 110, the direction perpendicular to the upper surface of the floor 112 is the up-down direction of the platform door cleaning device 1. In the platform door cleaning device 1, a predetermined direction perpendicular to the up-down direction is the front-rear direction, and a direction perpendicular to the up-down direction and perpendicular to the front-rear direction is the left-right direction. In the representative example described below, the direction parallel to the direction of the axis (rotation axis) of the center of rotation of the brush 3 is the up-down direction. The direction of the rotation axes of the rear wheels 10C, 10D is the left-right direction. The longitudinal direction when the main body 2A is viewed from above is the front-rear direction.

[0071] Each of the travel motors 12C, 12D is electrically connected to receive power from the battery 9. The control unit 7 controls the rotation speed of each of the travel motors 12C, 12D individually, for example, by individually controlling the supply of electricity from the battery 9 to the left and right travel motors 12C, 12D. Because the control unit 7 can individually control the rotation speed of each of the travel motors 12C, 12D, the rotation direction and rotation speed of the left and right rear wheels 10C, 10D are controlled independently. For example, when the control unit 7 rotates the left and right rear wheels 10C, 10D forward or reverse at the same speed, the self-propelled vehicle 2 moves forward or backward in a straight line. When the control unit 7 rotates the left and right rear wheels 10C, 10D at different speeds, the self-propelled vehicle 2 moves forward or backward while turning.

[0072] (Structure for driving brushes) The brush 3 shown in Figures 4 to 6 is a cleaning brush that functions to contact the inner surface (the side opposite the tracks) of the platform door 100, which is the object to be cleaned, and remove dirt from the platform door 100. The brush 3 is cylindrical and extends vertically. The brush 3 is rotatable around a vertical rotation axis X (Figures 8 and 9). As shown in Figure 8, the brush 3 comprises a rotatably supported vertical brush shaft 3A and a brush body 3B attached to the brush shaft 3A. The brush body 3B is made up of a large number of strip-shaped cloth pieces or brush bristles and is configured to have a cylindrical shape as a whole, and is configured so that as it rotates, it spreads radially outward due to centrifugal force.

[0073] As shown in Figures 8 and 9, the brush 3 is supported in a rotatable suspended configuration by a cantilevered arm 18 extending from the frame portion 2Z. As shown in Figure 9, the arm 18 extends in the direction of the center line W in the left-right direction. A drive source 5 for driving and rotating the brush 3 is fixed to the arm 18. In a representative example, a transmission mechanism (not shown) is provided that converts the rotational force of the drive shaft of the drive source 5 into the rotational force of the brush 3. When the drive shaft of the drive source 5 rotates, the drive force (rotational force) of this drive shaft is transmitted to the brush 3 by the transmission mechanism. Due to this transmission, the brush 3 rotates at a rotational speed corresponding to the rotational speed of the drive source 5.

[0074] 8 and 9 is configured as an electric motor that rotates by receiving power from, for example, a battery 9. A control unit 7 shown in FIG. 11 controls the driving and stopping of the driving source 5, and controls the rotation speed of the driving source 5 when the driving source 5 is in operation. For example, the control unit 7 controls the power (supply current) supplied from the battery 9 to the driving source 5, and this control controls the rotation speed of the driving source 5 and the rotation speed of the brush 3.

[0075] As shown in Figures 8 and 9, the housing 4 of the self-propelled vehicle 2 has a first side portion 4A that faces the platform door 100 during cleaning and a second side portion 4B opposite the first side portion 4A. Furthermore, the housing 4 has a front portion 4C that forms the front wall of the self-propelled vehicle 2 and a rear portion 4D that forms the rear wall of the self-propelled vehicle 2. An upper surface portion 4E is also provided to form the upper surface of the housing 4. The upper surface portion 4E forms part of the upper surface of the self-propelled vehicle 2. As shown in Figure 9, the first side portion 4A has a recess 4Z that recesses toward the second side portion 4B. In this configuration, a portion of the brush 3 is disposed within the recess 4Z, and the brush is supported rotatably around a rotation axis X that intersects with the horizontal direction while straddling the inside and outside of the recess 4Z. The brush 3 is disposed exposed on the first side portion 4A side, specifically, on one side of the housing 4 in the left-right direction. A portion of the brush 3 is disposed above the upper surface portion 4E of the housing 4. In the example of Fig. 9, the brush 3 is arranged so that a part of it protrudes to one side in the left-right direction (the right side, which is the platform door side) beyond the first side surface portion 4A. On the other hand, the left-right position of the rotation axis X of the brush 3 is approximately the same as the position of the first side surface portion 4A or is on the other side in the left-right direction (the left side) beyond the first side surface portion 4A. More specifically, as conceptually shown in Fig. 14, the brush shaft 3A is arranged so that a part or all of it fits into the recess 4Z.

[0076] 8 and 9, a covering member 20 is provided above the upper surface 4E of the housing 4 in the self-propelled vehicle 2 so as to cover the other left-right side of a portion of the brush 3. The covering member 20 is arranged so as to partially surround a portion of the upper end side of the brush 3.

[0077] As shown in FIGS. 5 to 9, the motor vehicle 2 has a plurality of front wheels 10A, 10B and a plurality of rear wheels 10C, 10D. The brush 3 is disposed rearward of the front wheels and forward of the rear wheels. A portion of the brush 3 is disposed laterally to one side of the front wheel 10B at one end of the front wheels 10A, 10B in the left-right direction and to one side of the rear wheel 10D at one end of the rear wheels 10C, 10D in the left-right direction. Another portion of the brush 3, different from the portion described above, is disposed laterally to the other side of the front wheel 10B at the end and to the other side of the rear wheel 10D at the end. The lower end of the brush 3 is located below the upper ends of the front wheels 10A, 10B and the upper ends of the rear wheels 10C, 10D.

[0078] (Configuration for injection) The spraying unit 8 shown in Figure 10 is a part that sprays cleaning agent, water, etc. The spraying unit 8 has the function of spraying cleaning agent onto the inner surface of the platform door 100 while rotating the brush 3 to clean the inner surface of the platform door 100. The spraying unit 8 includes a nozzle 46 (Figure 8), a first pump 48A, a second pump 48B, and various pipes 47.

[0079] In the platform door cleaning device 1, a first liquid (e.g., water) is stored in the water tank 72 of the water tank car 70, and a liquid (e.g., a cleaning agent) different from the liquid in the water tank 72 is stored in the storage section 43 of the self-propelled vehicle 2. In a representative example, the storage section 43 functions as a chemical tank. As shown in FIG. 10, a first pump 48A and a second pump 48B are provided in the self-propelled vehicle 2. The first pump 48A is a pump that transfers the liquid (e.g., a cleaning agent) stored in the storage section 43 provided in the self-propelled vehicle 2. The second pump 48B is a pump that transfers the liquid (e.g., water) stored in the water tank 72 of the water tank car 70. The first pump 48A and the second pump 48B are electrically driven, for example, by an electric motor (not shown). The operation of the first pump 48A and the second pump 48B is controlled by the control section 7, and the control section 7 (FIG. 11) individually controls the discharge rate of the first pump 48A and the discharge rate of the second pump 48B.

[0080] 8 and 10, a first side surface 4A of a housing 4 in a motor vehicle 2 is provided with a plurality of nozzles 46 that function as outlets for ejecting liquid, and a pipe 47 is provided as a path for supplying liquid to the plurality of nozzles 46. The nozzles 46 correspond to an example of an outlet. A pipe 47A extends from the storage section 43 shown in FIG. 10 and is connected to a pipe 47C that communicates with the front nozzles 46A and 46B. Meanwhile, a pipe 47Z and a pipe 47B extend from the water tank 72, and the pipe 47B communicates with the pipes 47C and 47G. The downstream side of the pipe 47C branches into two branch pipes 47D and 47E, and each of the two branch pipes 47D and 47E communicates with the nozzles 46A and 46B, respectively.

[0081] A liquid (e.g., a cleaning agent) is sucked up by first pump 48A through pipe 47A extending from storage unit 43 and sent to pipe 47C, and then branches off at two branch pipes 47D and 47E, respectively, and is sprayed from nozzles 46A and 46B. A liquid (e.g., water) is sucked up by second pump 48B through pipes 47Z and 47B extending from water tank 72 and sent to pipe 47C, and then branches off at two branch pipes 47D and 47E, respectively, and is sprayed from nozzles 46A and 46B. In a typical example, during a period when first pump 48A operates to send the cleaning agent in storage unit 43 to pipe 47C and second pump 48B operates to send water in water tank 72 to pipe 47C, the cleaning agent in storage unit 43 and the water in water tank 72 are mixed in pipe 47C to generate a mixed liquid in which the cleaning agent is diluted with water, and the mixed liquid is sprayed from nozzles 46A and 46B.

[0082] A liquid (for example, water) is sucked up by a second pump 48B through pipes 47Z and 47B extending from the water tank 72 and sent to a pipe 47G, which branches into two branch pipes 47H and 47J and is sprayed from nozzles 46C and 46D.

[0083] 10 , plugs 49A, 49B, and 49C for draining water or air are provided in the path from water tank 72 to nozzle 46. Plug 49A is an on-off plug that partially opens and closes first tube 31, which is the outlet path for liquid from water tank 72. When plug 49A is opened, liquid can be discharged from first tube 31 via plug 49A, and when plug 49A is closed, discharge of liquid via plug 49A is blocked. Plug 49B is an on-off plug that opens and closes a portion of tube 47B between mounting portion 32A and pump 48B. When plug 49B is opened, liquid or air can be discharged from tube 47B via plug 49B, and when plug 49B is closed, discharge of liquid or air via plug 49B is blocked. Stopper 49C is an on-off stopper that opens and closes the pipe (pipe 47L in FIG. 10) downstream of pump 48B, and when stopper 49C is opened, liquid and air can be discharged from the pipe (pipe 47L in FIG. 10) downstream of pump 48B via stopper 49C, and when stopper 49C is closed, the discharge of liquid and air via stopper 49C is blocked. Note that pipe 47L may be provided with a structure (for example, a check valve or an on-off valve) that prevents liquid flowing through pipe 47C from flowing through pipe 47L to pipe 47G.

[0084] The control unit 7 controls the discharge rate of the liquid contained in the storage unit 43 by adjusting the transfer rate of the first pump 48A, and controls the discharge rate of the liquid contained in the water tank 72 by adjusting the transfer rate of the second pump 48B. For example, the control unit 7 can increase the degree of dilution of the mixed liquid mixed in the pipe 47 by changing the transfer rate of either the first pump 48A or the second pump 48B so that the rate of increase in the transfer rate of the second pump 48B is relatively greater than the rate of increase in the transfer rate of the first pump 48A. Alternatively, the control unit 7 can decrease the degree of dilution of the mixed liquid mixed in the pipe 47 by changing the transfer rate of either the first pump 48A or the second pump 48B so that the rate of increase in the transfer rate of the second pump 48B is relatively smaller than the rate of increase in the transfer rate of the first pump 48A.

[0085] Furthermore, the control unit 7, the first pump 48A, and the second pump 48B can function as an example of a switching unit, and can switch between a first operation in which the liquid in the water tank 72 is discharged without discharging the liquid in the storage unit 43, and a second operation in which the liquid in the storage unit 43 is discharged alone or together with the liquid in the water tank 72. For example, an example of the first operation is when the control unit 7 stops the operation of the first pump 48A and operates only the second pump 48B. In this case, the liquid in the water tank 72 can be discharged from the nozzle 46 without discharging the liquid in the storage unit 43. On the other hand, an example of the second operation is when the control unit 7 operates both the first pump 48A and the second pump 48B. In this case, the liquid in the storage unit 43 can be discharged from the nozzles 46A and 46B together with the liquid in the water tank 72. Note that the control unit 7 may also perform the second operation by operating the first pump 48A and stopping the operation of the second pump 48B. In this case, only the liquid in the storage unit 43 can be discharged from the nozzles 46A and 46B.

[0086] (Configuration for control) FIG. 11 shows a block diagram of the electrical configuration within the platform door cleaning device 1. The control unit 7 is a device equipped with an information processing device, a storage device, a communication device, and the like, and is typically configured as an electronic control unit (ECU). The control unit 7 controls the drive source 5 that generates the driving force to rotate the brush 3, the travel motors 12C and 12D that rotate and drive the rear wheels 10C and 10D, respectively, the first pump 48A that transfers liquid from the storage unit 43, and the second pump 48B that transfers liquid from the water tank 72. The control unit 7 receives signals and information from a safety bar switch 55, a distance sensor 56, an area sensor 57, and a remote control 60. The control unit 7 can control the current supplied from the battery 9 to each of the drive source 5, the travel motors 12C and 12D, the first pump 48A, and the second pump 48B.

[0087] As shown in FIG. 4, vertically extending safety bars 54 are attached to two locations on the front side of the frame portion 2Z of the self-propelled vehicle 2, one on the left and one on the right. Each safety bar 54 is provided with a safety bar switch 55 that detects contact between the safety bar 54 and a person or an unexpected object. As shown in FIG. 4, the safety bar 54 on one side in the left-right direction (the right side, which is the platform door side) is provided so as to protrude diagonally forward to the right. As shown in FIG. 5, the rod-shaped bar extending in the vertical direction is located forward of the front surface portion 4C and to one side in the left-right direction (the right side) of the first side surface portion 4A. As shown in FIG. 4, the safety bar 54 on the other side in the left-right direction (the left side, which is the opposite side from the platform door side) is provided so as to protrude diagonally forward to the left. As shown in FIG. 5, the rod-shaped bar extending in the vertical direction is located forward of the front surface portion 4C and to one side in the left-right direction (the right side) of the second side surface portion 4B.

[0088] As shown in Figures 8 and 9, a distance sensor 56 for detecting the distance to the platform door 100 being cleaned is installed on the lower part of the right front side (the side facing the platform door 100 during cleaning) of the frame part 2Z of the self-propelled vehicle 2. As shown in Figure 11, each safety bar switch 55 and each distance sensor 56 are electrically connected to the control unit 7 and can output a signal to the control unit 7. The distance sensor 56 measures the distance from the distance sensor 56 to an object present in a predetermined direction (the detection direction of the distance sensor 56) at the height at which the distance sensor 56 is installed. In the self-propelled vehicle 2, the position of the distance sensor 56 is changeable; specifically, the distance sensor 56 is movable up and down, and the height of the distance sensor 56 is changeable. The distance sensor 56 may be configured to be detachable and attachable at a desired height, or may be slidable up and down and fixed at a desired height. If the distance sensor 56 is movable in this manner, for example, when a platform door with an opening or space at an intermediate or low position is to be cleaned, the distance sensor 56 can be installed at a height that avoids the opening or space, making it possible to properly detect the door pocket or door during cleaning. In a typical example, the distance sensor 56 is adjustable in height, for example, within a range from a lower limit height H1 to an upper limit height H2. The lower limit height H1 is, for example, 420 mm, and the upper limit height H2 is, for example, 740 mm. Note that the values ​​of H1 and H2 may be other values. Furthermore, the distance sensor 56 may be slidable from the lower limit height H1 to the upper limit height H2, or may be attached to multiple positions. The adjustable range is not limited to the above example, and may be adjustable over a wider range, for example, from a lower limit height of 220 mm to an upper limit height of 940 mm.

[0089] An emergency stop button 59 is provided on the outer surface of the self-propelled vehicle 2. The emergency stop button 59 is electrically connected to the control unit 7, and when a predetermined operation is performed on the emergency stop button 59 (a pressing operation is a typical example), a predetermined signal is input from the emergency stop button 59 to the control unit 7.

[0090] As shown in FIG. 11 , a remote control 60 is provided in a configuration capable of communicating with the control unit 7. The remote control 60 functions as an operation unit for remotely controlling the travel of the platform door cleaning device 1. As shown in FIG. 7 , the remote control 60 is electrically connected to the main body of the self-propelled vehicle 2 via a cable 51 and is detachably attached to a remote control stand 62. As shown in FIG. 9 , a remote control sensor 58 (see also FIG. 11 ) is provided near the remote control stand 62 to detect that the remote control 60 has been installed on the remote control stand 62. The remote control 60 has an operation input unit for individually driving and controlling a pair of left and right travel motors 12C, 12D to move the platform door cleaning device 1 forward / backward and change direction. An operator can operate the remote control 60 while walking beside the platform door cleaning device 1 to move the platform door cleaning device 1 to the desired position. The remote control 60 may be either wired or wireless. In the example shown in FIG. 7 , the remote control 60 is electrically connected to the main body of the self-propelled vehicle 2 (the parts other than the remote control 60 and cable) via a cable 51. A portion of the cable 51 is held by an arm 53, and the arm 53 is held so as to rotate about a vertical rotation axis Z set at one end of the arm 53. The rotation axis Z is set near the center position of the motor vehicle 2 in the longitudinal direction and on the other side (left side) in the lateral direction. When the arm 53 rotates about the rotation axis Z, the other end of the arm 53 can move forward of the rotation axis Z, the other side in the lateral direction of the rotation axis Z, or behind the rotation axis Z. The cable 51 is exposed from the other end of the arm 53 in a flexible manner, and a remote control 60 is connected to the tip of the cable 51. With this configuration, the cable 51 can be displaced by rotating together with the arm 53, and an operator can move the remote control 60 forward of the rotation axis Z, the other side in the lateral direction of the rotation axis Z, or behind the rotation axis Z while holding the remote control 60. Note that the remote control 60 and its surroundings are not shown in FIGS. 3 and 8.

[0091] (Other configurations of self-propelled vehicles) As shown in Figures 7 and 9, the travel motors and batteries are grouped together at the rear side of the main body 2A to make it more compact. As shown in Figure 7, two travel motors 12C and 12D are arranged rearward of the recessed portion 4Z and above the rear wheels 10C and 10D, respectively, and two batteries 9 are arranged rearward of the recessed portion 4Z and above the two travel motors 12C and 12D, respectively. The control unit 7 is housed in a control box 7A conceptually shown in Figures 5, 7, etc.

[0092] As shown in Figures 5 and 11, the mobile vehicle 2 is provided with an emergency stop button 59, and when the emergency stop button 59 is pressed, the mobile vehicle 2 stops moving and the brush 3 stops rotating. When the emergency stop button 59 is pressed, operation instructions are displayed on the remote control 60. The remote control 60 displays various information such as the operating time of the mobile vehicle 2. Furthermore, by operating the remote control 60, it is possible to switch between automatic cleaning and manual cleaning.

[0093] (Water Tank Truck) As shown in Figures 3 and 4, the water tank car 70 comprises a water tank 72 and a plurality of wheels 74 arranged below the water tank 72, and is configured so that the wheels 74 contact the support surface on which the water tank car 70 is placed (for example, the upper surface of the floor 112 of the platform 110) and can roll so as to support the water tank 72 from below. When the water tank car 70 is towed by the self-propelled vehicle 2 as shown in Figures 3 and 4, the wheels 74 roll on the support surface (the upper surface of the floor 112 in Figures 3 and 4) and move integrally with the support platform 76 and the water tank 72. The water tank car 70 is, for example, 850 mm high, 1100 mm wide in the front-to-rear direction, and 750 mm wide (depth) in the left-to-right direction.

[0094] As shown in Figures 3 and 4, the water tank truck 70 mainly comprises a water tank 72 and a cart 80 on which the water tank 72 is placed and transported. The water tank 72 comprises a box 72A capable of containing liquid and a lid 72B for opening and closing the box 72A. An opening (not shown) is provided on the top surface of the box 72A, and this opening is opened and closed by the lid 72B. This opening functions as an inlet for supplying liquid into the water tank 72; for example, water can be stored in the water tank 72 by inserting a hose into the opening and supplying water through the hose.

[0095] As shown in FIGS. 3 and 4 , the dolly 80 includes a plate-shaped platform 76 and a plurality of wheels 74 rotatably attached to the underside of the platform 76. In the example shown in FIG. 3 , four of the wheels 74 are configured as casters. When placed on a flat surface, the four wheels 74 are configured to rotate about a rotation axis parallel to the plane. Of the four wheels 74, the rotation axes of the two wheels 74 on the front side (the side of the self-propelled vehicle 2) can vary in direction within a positional relationship parallel to the plane. Of the four wheels 74, the two rear wheels 74 are both fixed wheels with the rotation axes oriented in a predetermined direction (specifically, the left-right direction). The two rear wheels 74 are provided with a brake mechanism that switches between a brake-applied state and a brake-released state for the wheels 74. The water tank 72 is detachably attached to the platform 76. There are various possible methods for attaching the water tank 72 to the mounting base 76. For example, as shown imaginarily by the two-dot chain lines in Figures 3 and 4, the water tank 72 and the mounting base 76 may be attached by being wrapped together with a flexible member 77 such as a belt or string, or other attachment methods may be used.

[0096] On the cart 80, a gripping portion 78 is provided behind the water tub 72 (on the opposite side from the connecting portion 26) so as to rise from the mounting base 76. The gripping portion 78 is located behind the water tub 72 and is used by an operator to grip and push the water tank cart 70 when transporting it alone.

[0097] As shown in FIG. 3 , a holding portion 96 for holding a stopping object 98 is provided on the bogie 80 forward of the water tub 72. FIG. 3 shows a state in which the stopping object 98 is placed on the floor 112 of the platform 110 in use, while FIG. 12 shows a state in which the stopping object 98 is held by the holding portion 96. The holding portion 96 has a rising portion configured to rise upward from the mounting base 76 and a bending portion configured to be bent rearward from near the upper end of the rising portion, and functions to hold the plate-shaped stopping object 98 upright between the rising portion and the water tub 72 by the bending portion. The stopping object 98 is a sign configured to be able to be kept upright on the platform 110 as shown in FIG. 3 , and specifically, is made up of two plate-shaped bodies connected in a bifold configuration. A weight locking portion 97 is provided in a cantilevered configuration extending forward from the holding portion 96. The weight locking portion 97 is inserted into a hole in the weight 99 which is formed in an annular (specifically, doughnut) shape, and hooks and holds the weight 99.

[0098] (connected structure) As shown in Figures 3 and 4, the platform door cleaning device 1 has a connecting structure 24 that detachably connects the self-propelled vehicle 2 and the water tanker car 70. In the states shown in Figures 3 and 4, the self-propelled vehicle 2 and the water tanker car 70 are connected by the connecting structure 24, and in the state shown in Figure 12, the self-propelled vehicle 2 and the water tanker car 70 are separated by the connecting structure 24. As shown in Figure 3, the connecting structure 24 has a connecting portion 26 that connects the self-propelled vehicle 2 and the water tanker car 70 so that the orientation of the water tanker car 70 relative to the traveling direction of the self-propelled vehicle 2 can be changed. The connecting portion 26 is capable of swinging horizontally relative to the self-propelled vehicle 2.

[0099] Figure 13 is an explanatory diagram conceptually illustrating an enlarged view of the vicinity of the connecting structure 24. Figure 13(A) shows the connected state, and Figure 13(B) shows the disconnected state. The connecting part 26 includes an arm part 28 that is displaceably mounted on the water tank cart 70, a holding mechanism 27 that holds the arm part 28 displaceably, and a shaft-shaped holding pin 30.

[0100] 3 and 12, the arm unit 28 is attached to and detached from the self-propelled vehicle 2. As shown in Fig. 13, the holding mechanism 27 rotatably holds the arm unit 28 relative to a fixing part 79 that is fixed to the mounting base 76 directly or indirectly via another member, specifically, holds the arm unit 28 rotatably about a horizontal rotation axis Y. The arm unit 28 is configured to be displaceable between a protruding position in which it extends outward from the water tank vehicle 70 as shown in Figs. 3, 4, and 13(A), and a retracted position in which it is retracted from the protruding position as shown in Figs. 12 and 13(B).

[0101] As shown in FIG. 13(B), a hole 28A is provided near the tip of the arm portion 28, and a hole 29A is also provided in the receiving portion 29 provided on the housing 4 of the self-propelled vehicle 2. When coupled as shown in FIG. 13(A), the hole 28A of the arm portion 28 and the hole 29A of the receiving portion 29 are overlapped, and the shaft of the holding pin 30 is inserted into both holes 28A and 29A, thereby coupling them together. The holding pin 30 has an operating portion, and when no operation (e.g., a continuous pressing operation) is performed on the operating portion, the holding pin 30 is locked so as not to come out of the holes 28A and 29A. When the operating portion is operated, the lock is released and the holding pin 30 can be removed from the holes 28A and 29A. When the arm portion 28 is attached to the self-propelled vehicle 2 in the protruding position as shown in FIG. 13(A), the arm portion 28 is able to swing horizontally relative to the self-propelled vehicle 2. Specifically, the shaft of the retaining pin 30 inserted into the holes 28A and 29A extends vertically, and the arm 28 and the receiving portion 29 can rotate horizontally around this vertical shaft. As shown in FIG. 13(A), a through-hole 28B is formed in the arm 28 near the rotation axis Y, and a through-hole 79A is also formed in the fixed portion 79. When the arm 28 is in the retracted position as shown in FIG. 13(B), the through-holes 28B and 79A overlap. By inserting the shaft of the retaining pin 30 into the through-holes 28B and 79A in this state, the retaining pin 30 is retained by the fixed portion 79, and the arm 28 is maintained in the retracted position. In FIG. 13(B), the retaining pin 30 is virtually indicated by a two-dot chain line.

[0102] As shown in Figures 4 and 10, a first pipe 31 is provided on the water tank vehicle 70 side as a path for supplying liquid from the water tank 72 to the water tank 72. The space inside the first pipe 31 is connected to the space inside the water tank 72. A second pipe 32 is provided on the self-propelled vehicle 2 side as a path for introducing liquid. In a typical example, part of the pipe 47B described above is the second pipe 32. A connecting pipe 35 is provided to connect the first pipe 31 and the second pipe 32. The connecting pipe 35 includes a flexible pipe 35B and connects the first pipe 31 and the second pipe 32 so that they can communicate with each other. An attachment part 35A is provided at the end of the connecting pipe 35, which is detachably attached to an attachment part 32A provided at the end of the second pipe 32. 4 and 10 , when the connecting pipe 35 connects the first pipe 31 and the second pipe 32, the liquid in the water tank 72 flows through the first pipe 31 and the connecting pipe 35 to the second pipe 32. Note that in a typical example, the connecting pipe 35 is fixed to the first pipe 31 and is detachable from the second pipe 32, but this configuration is not limited thereto, and the connecting pipe 35 may be fixed to the second pipe 32 and is detachable from the first pipe 31.

[0103] It is preferable that the first pipe 31 be provided with a branch pipe having a drain outlet branching off from the portion connected to the connecting pipe 35. It is also preferable that an on-off valve be provided so that the branch pipe can be opened and closed manually. With this configuration, by opening the on-off valve, water in the water tub 72 is discharged to the outside through the outlet of the branch pipe. It is also preferable that the discharge structure be configured differently as long as the water in the water tub 72 can be discharged to the outside through the outlet and the outlet can be opened and closed by the on-off valve.

[0104] (auxiliary mechanism) In the self-propelled vehicle 2 shown in Fig. 6, the travel motors 12C, 12D correspond to an example of a wheel drive unit and provide a driving force to rotate the wheels 10 (specifically, the rear wheels 10C, 10D). The rear wheels 10C, 10D correspond to an example of a first wheel and are wheels that rotate upon receiving the driving force of the travel motors 12C, 12D (wheel drive unit). On the other hand, the auxiliary wheel 14 corresponds to an example of a second wheel and is rotatably supported on the self-propelled vehicle 2 so that the driving force is not provided from the wheel drive unit via a transmission mechanism.

[0105] In this configuration, the switching unit 13 is configured to switch between a first state in which the rear wheels 10C, 10D are in contact with the placing surface of the self-propelled vehicle 2 but the wheels 14 are not in contact with the placing surface, and a second state in which the wheels 14 are in contact with the placing surface but the rear wheels 10C, 10D are not in contact with the placing surface. The switching unit 13 includes the wheels 14, an operating unit 15, and a displacement mechanism, and when a first operation is performed on the operating unit 15, the displacement mechanism linked to the operation is switched to the first state in which the wheels 14 (training wheels) are raised and separated from the placing surface, and when a second operation is performed on the operating unit 15, the displacement mechanism linked to the operation is switched to the second state in which the wheels 14 are lowered so that the lower ends of the wheels 14 are lower than the lower ends of the rear wheels 10C, 10D, thereby separating the rear wheels 10C, 10D upward from the placing surface and bringing the wheels 14 into contact with the placing surface. In the second state, the driving force of the travel motors 12C, 12D (wheel drive units) is not transmitted to the placement surface, resulting in a non-transmission state. Furthermore, a grip unit 52 having a shaft extending laterally is provided at the rear end of the self-propelled vehicle 2. In the examples of FIGS. 3 and 6, the grip unit 52 is fixed to the housing 4 in the fore-and-aft direction of the self-propelled vehicle 2, near the rear end of the housing 4 and at a position slightly higher than the top surface 4E, with the shaft (rod-shaped portion) extending laterally. When an operator moves the self-propelled vehicle 2 by pushing or pulling it, the operator can move the self-propelled vehicle 2 by applying force toward the front or rear while gripping the grip unit 52.

[0106] The switching unit 13 is detachable from the housing 4. Fig. 3 shows the switching unit 13 detached from the housing 4, and Fig. 7 shows the switching unit 13 attached to the housing 4. In the example of Fig. 7, the switching unit is attached directly to the housing, but it may also be attached indirectly via another member.

[0107] 4. Platform door cleaning method The following description relates to a platform door cleaning method using the platform door cleaning device 1. This platform door cleaning method mainly includes a self-propelled vehicle transport process, a water tanker transport process, a coupling process, a water supply process, a cleaning process, and the like.

[0108] (Switching modes) The platform door cleaning device 1 is configured to be switchable between multiple modes. Specifically, the operator operates the remote controller 60 (hereinafter also referred to as the remote control 60) to switch between cleaning mode, operation mode, and maintenance mode. Specifically, when an initial screen display condition is met, the control unit 7 displays a predetermined initial screen (home screen) as shown in FIG. 16 on the display unit 60A of the remote controller 60. In the example of FIG. 16, a cleaning mode button 60B, an operation mode button 60C, and a maintenance mode button 60D are displayed as the initial screen. When such a display is displayed, if the operator selects one of the buttons, the control unit 7 switches the operation mode of the platform door cleaning device 1 to the mode corresponding to the selected button. For example, if the display unit 60A is configured as a touch panel, the operator selects a button by touching the surface of one of the buttons. However, any other operation method that allows the operator to select a button may also be used.

[0109] When the operation mode button 60C is selected on the initial screen of FIG. 16 , the control unit 7 switches the operation mode of the platform door cleaning device 1 to the operation mode. The operation mode is an operation mode in which the worker can move the self-propelled vehicle 2 by operating the remote control 60. In a representative example, as shown in FIG. 16 , the remote control 60 is provided with a forward button 60W, a reverse button 60X, a right turn button 60Y, and a left turn button 60Z. When any of the buttons is pressed during the operation mode, the control unit 7 drives the travel motors 12C, 12D so as to cause the self-propelled vehicle 2 to perform the operation corresponding to the pressed button. Note that when either the forward button 60W or the reverse button 60X and either the right turn button 60Y or the left turn button 60Z are pressed simultaneously, the control unit 7 causes the self-propelled vehicle 2 to perform the operation corresponding to both pressed buttons (e.g., forward or right turn). With this configuration, an operator can operate the buttons to cause the self-propelled vehicle 2 to perform the desired movement, thereby causing the self-propelled vehicle 2 to travel on electric power and transport the self-propelled vehicle 2. During the steering mode, the control unit 7 makes it possible to steer the self-propelled vehicle 2 using the remote control 60 even if the remote control 60 is not placed on the remote control stand 62, and since restrictions are thus lifted, the operator can move the self-propelled vehicle 2 while holding the remote control 60. With the self-propelled vehicle 2, the remote control 60 can be attached and detached to the main body of the self-propelled vehicle 2, and since the operator can check the remote control 60 and the main body from a position away from the main body when transporting or adjusting the position of the self-propelled vehicle 2, this makes it easy to visually grasp and steer the self-propelled vehicle 2.

[0110] When the maintenance mode button 60D is selected on the initial screen of FIG. 16, the control unit 7 switches the operation mode of the platform door cleaning device 1 to maintenance mode and switches the display on the display unit 60A of the remote control 60 to a screen such as that shown in FIG. 17(A) (the initial screen of the maintenance mode). When the pre-operation inspection button 60E is selected while the screen such as that shown in FIG. 17(A) is displayed, the control unit 7 switches the platform door cleaning device 1 to the "pre-operation inspection" operation mode. The "pre-operation inspection" operation mode is an operation mode that should be performed, for example, when the connection process described below is performed, the first pipe 31, the connecting pipe 35, and the second pipe 32 are connected, and liquid can be supplied from the water tank 72 to the pump 48B. Note that the control unit 7 permits the "pre-operation inspection" operation mode on the condition that the remote control 60 is held on the remote control stand 62; if the remote control 60 is not held, the control unit 7 does not execute part or all of the "pre-operation inspection" operation mode.

[0111] Specifically, when the start-up inspection button 60E is selected while the screen shown in FIG. 17A is displayed, the control unit 7 displays the display screen shown in FIG. 18A on the display unit 60A, displaying a message urging the user to open the valve 49B and close the valve 49B once drainage is confirmed. In a typical example, the valve 49B corresponds to an air vent drain cock. In this configuration, most or all of the interior of the water tub 72 is positioned higher than the valve 49B. Therefore, when the valve 49B is opened with the pump 48B stopped, the liquid in the water tub 72 tends to flow toward the valve 49B. In this case, immediately after the valve 49B is opened, air present between the water tub 72 and the valve 49B is expelled. After the air is expelled, the liquid flowing from the water tub 72 is expelled from the valve 49B. Therefore, when the water begins to drain from the valve 49B, the space between the valve 49B and the water tub 72 is filled with liquid. Furthermore, the control unit 7 also displays a message on the display screen of FIG. 18(A) urging the operator to start the start-up operation when it is confirmed that the liquid is being discharged from the stopper 49B. This display prompts the operator to close the stopper 49B when the liquid is being discharged from the stopper 49B, and then to perform the start-up operation. In the example of FIG. 18(A), the start-up operation is performed by selecting the start-up operation button 60R. When the start-up operation is performed while the screen shown in FIG. 18(A) is displayed, the control unit 7 performs the start-up operation by driving the pump 48B and discharging liquid from the nozzle 46. During the start-up operation, the pump 48B is driven with the liquid filling the space between the stopper 49B and the water tank 72, allowing for smooth liquid transfer. During the start-up operation, the control unit 7 displays a message on the display unit 60A urging the operator to move away from the platform door cleaning device 1, and terminates the start-up operation when a predetermined termination operation (e.g., selecting the stop button (not shown)) is performed.

[0112] If an operation to select the end-of-day inspection button 60F is performed while a screen such as that shown in Figure 17(A) is displayed, the control unit 7 switches the platform door cleaning device 1 to the "end-of-day inspection" operation mode. The "end-of-day inspection" operation mode is an operation mode that should be performed, for example, after the cleaning process described below. The end-of-day inspection is performed when the remote control 60 is held in the remote control stand 62, and is not performed when the remote control 60 is not held. The control unit 7 permits the "end-of-day inspection" operation mode on the condition that the remote control 60 is held in the remote control stand 62, and does not perform part or all of the "end-of-day inspection" operation mode when the remote control 60 is not held.

[0113] Specifically, when the closing inspection button 60F is selected while a screen such as that shown in FIG. 17(A) is displayed, the control unit 7 displays a display screen such as that shown in FIG. 18(B) on the display unit 60A, and displays a message on the display unit 60A instructing the user to open the valves 49A, 49B, and 49C, and to start the closing operation (e.g., by pressing the closing operation start button) once drainage is confirmed. In a typical example, the valves 49A, 49B, and 49C are all drain cocks, and the closing operation is started by selecting the closing operation button 60L. When the closing operation start operation is performed, the control unit 7 drives the pump 48B, causing the nozzle 46 to release any liquid remaining in the pipe, and further performs the closing operation by rotating the brush 3. During the closing operation, the control unit 7 displays a message on the display unit 60A urging the user to move away from the platform door cleaning device 1, and ends the closing operation when a predetermined end operation (e.g., selecting the stop button (not shown)) is performed.

[0114] When the system button 60H is selected while a screen such as that shown in FIG. 17(A) is displayed, the control unit 7 causes the display unit 60A to display a system screen such as that shown in FIG. 17(B). When the wash count button 60J is selected while the system screen is displayed, the control unit 7 causes the display unit 60A to display wash count information. In this case, the control unit 7 performs display control so that the display unit 60A displays, for example, the number of water washes, the number of detergent washes, and the total number of water washes and detergent washes performed by the platform door washing device 1 since a predetermined reference point in time. In a representative example, a "water wash" is a wash in which only water from the water tank 72 is released, and a detergent wash is a wash in which the detergent stored in the storage unit 43 is released.

[0115] When the operating time button 60K is selected while a system screen such as that shown in Fig. 17(B) is displayed, the control unit 7 causes the display unit 60A to display operating time information. In this case, the control unit 7 performs display control so that the display unit 60A displays, for example, the total operating time, cleaning time, and running time of the platform door cleaning device 1 from a predetermined reference point in time. Note that, in a typical example, the total operating time is the time the platform door cleaning device 1 is powered on, the cleaning time is the time the cleaning operation is performed, and the running time is the running time due to cleaning and movement.

[0116] When the cleaning mode button 68B is selected on the initial screen of Fig. 16, the control unit 7 switches the operation mode of the platform door cleaning device 1 to the cleaning mode. The cleaning mode is a mode for performing the initial position arrangement process, cleaning process, etc., which will be described later. The cleaning mode will be described in detail later.

[0117] (Self-propelled vehicle transport process) The self-propelled vehicle transport step corresponds to an example of the first step. The self-propelled vehicle transport step is a step of separating the self-propelled vehicle 2 from the water tank vehicle 70 and transporting it from a first remote position outside the platform 110 to a position closer to the platform 110 than the first remote position. In the self-propelled vehicle transport step, for example, the self-propelled vehicle 2 is transported by setting the self-propelled vehicle 2 to the above-mentioned operation mode and operating the self-propelled vehicle 2 using the remote control 60. The first remote position is, for example, a storage shed away from the platform 110, where the self-propelled vehicle 2 is stored when not in use. In the self-propelled vehicle transport step, the self-propelled vehicle 2 may be transported from outside the platform 110 to a slightly distant position near the platform 110, but it is more preferable to transport it onto the platform 110. The self-propelled vehicle 2 may be moved by being placed on an elevator along part of the route of the self-propelled vehicle transport step. For example, if the platform 110 and the first remote location are on different floors and an elevator is provided along the route, the self-propelled vehicle 2 can be loaded onto the elevator and moved to another floor. Note that the transport of the self-propelled vehicle 2 is not limited to electric travel, and the self-propelled vehicle 2 can also be transported by the worker's force while pushing it. In this case, for example, the switching unit 13 can be maintained in the second state described above along part or all of the route of the self-propelled vehicle transport process, and the worker can transport the self-propelled vehicle 2 by pushing it.

[0118] (Water tank car transport process) The water tank car transport process corresponds to an example of the second process. In the water tank car transport process, the water tank car 70 is separated from the self-propelled vehicle 2 and transported by the worker pushing the water tank car 70 from a second remote location outside the platform 110 to a location closer to the platform 110 than the second remote location. The second remote location may be, for example, a storage shed away from the platform 110, where the water tank car 70 is stored when not in use. In the water tank car transport process, the water tank car 70 may be transported from outside the platform 110 to a slightly distant location near the platform 110, but it is more preferable to transport it onto the platform 110. The water tank car 70 may be moved in an elevator along part of the route of the water tank car transport process. For example, if the platform 110 and the second remote location are on different floors and an elevator is provided along the route, the water tank car 70 may be loaded onto the elevator and moved to another floor. During the water tank car transport process, it is desirable to keep the arm unit 28 in the retracted state at the connecting unit 26. Alternatively, as shown in Figure 12, the water tank car 70 may be transported by an operator pushing it with the stopping object 98 held by the holding unit 96 and the weight 99 held by the weight locking unit 97.

[0119] (Initial position placement process) After the self-propelled vehicle 2 is transported to the platform 110, an initial position placement process is performed. The initial position placement process is a process of placing the self-propelled vehicle 2 at an initial position on the platform 110. The self-propelled vehicle 2 may be placed at the initial position separately from the water tank vehicle 70, or after the coupling process described below, the self-propelled vehicle 2 may be coupled to the water tank vehicle 70 and placed at the initial position. In a representative example, the initial position placement process is performed so that the self-propelled vehicle 2 is placed at the initial position separately from the water tank vehicle 70 before the coupling process.

[0120] Although the positioning of the self-propelled vehicle 2 to its initial position may be performed manually, it is preferable to perform this by operating the remote control 60 to drive the traveling motors 12C, 12D. In a representative example, when an operation to select the cleaning mode button 60B is performed on a display screen such as that shown in FIG. 16, a screen for performing the initial position positioning process is displayed as shown in FIG. 19(A). On the screen for performing the initial position positioning process, the control unit 7 displays information indicating the distance to the platform door 100 based on the distance detected by the distance sensor 56. Specifically, if the distance detected by the distance sensor 56 exceeds a certain value (if the distance from the distance sensor 56 to an object in the direction detected by the distance sensor 56 exceeds a certain value), the control unit 7 causes the display unit 60A to display a screen such as that shown in FIG. 19(A), and displays a message urging the user to move the platform door cleaning device 1 closer to the platform door 100. If the distance detected by the distance sensor 56 is an appropriate distance that is less than an upper limit and greater than a lower limit, the control unit 7 causes the display unit 60A to display a screen such as that shown in FIG. 19(B), which displays information informing the user that the distance is appropriate and a message urging the user to wait. If the distance detected by the distance sensor 56 is less than the above-mentioned certain value but exceeds the upper limit, the control unit 7 causes the display unit 60A to display a screen such as that shown in FIG. 20(A), which displays information informing the user that the platform door cleaning device 1 is far from the platform doors 100 and a message urging the user to move the platform door cleaning device 1 closer to the platform doors 100. If the distance detected by the distance sensor 56 is less than the above-mentioned lower limit, the control unit 7 causes the display unit 60A to display a screen such as that shown in FIG. 20(B), which displays information informing the user that the platform door cleaning device 1 is too close to the platform doors 100 and a message urging the user to move the platform door cleaning device 1 away from the platform doors 100. While the screens such as those shown in Figures 19 and 20 are displayed, the self-propelled vehicle 2 can be moved in the same manner as the self-propelled vehicle 2 is transported in the self-propelled vehicle transport process described above. For example, when buttons 60W, 60X, 60Y, 60Z, etc. are operated, the control unit 7 causes the self-propelled vehicle 2 to move forward, backward, turn right, turn left, etc., depending on the button operated.In the initial position placement process, when the distance between the self-propelled vehicle 2 and the platform door 100 becomes appropriate so that the screen shown in Figure 19(B) is displayed, and a certain period of time has passed in this state, the control unit 7 displays the initial screen of the cleaning process as shown in Figure 21(A).

[0121] (Connection process) The coupling step corresponds to an example of the third step. In the coupling step, the self-propelled vehicle 2 and the water tank vehicle 70 are coupled at a position closer to the platform 110 than the first remote position and the second remote position. For example, if the self-propelled vehicle 2 is transported to the platform 110 in the self-propelled vehicle transport step and the water tank vehicle 70 is transported to the platform 110 in the water tank vehicle transport step, in the coupling step, a worker couples the self-propelled vehicle 2 and the water tank vehicle 70 on the platform 110. Specifically, the worker displaces the arm portion 28 to the protruding state described above and adjusts the positional relationship between the self-propelled vehicle 2 and the water tank vehicle 70 so that the hole portion 28A ( FIG. 13 ) and the hole portion 29A ( FIG. 13 ) overlap, and then inserts the retaining pin 30 into the hole portion 28A, 29A to couple them. Furthermore, the connecting pipe 35 is placed between the first pipe 31 and the second pipe 32 so that the connecting pipe 35 is connected by being interposed between the first pipe 31 and the second pipe 32, by having the attaching portion 35A (FIG. 10) of the connecting pipe 35 attached to the attached portion 32A (FIG. 10). In a typical example, the water tank car 70, which is a coupled vehicle, is manually brought close to the self-propelled vehicle 2 placed in the initial position in the initial position placement step described above, and connected to the self-propelled vehicle 2. Furthermore, in the connecting step, the water tank 72 is brought into a state in which liquid can be supplied to the pump 48B. Specifically, the attaching portion 35A provided at the end of the connecting pipe 35 is attached to the attached portion 32A provided at the end of the second pipe 32, thereby communicating the first pipe 31, connecting pipe 35, and second pipe 32 and allowing liquid to flow through them.

[0122] (Water supply process) The water supply process corresponds to an example of the fifth process. The water supply process is a process of supplying water to the water tank 72. The water supply process may be performed before or after the connection process. The water supply process may be performed after the water tank truck 70 is transported to the platform 110, or may be performed at a location along the way from the second remote location to the platform 110. The water supply process may be performed before, after, or in parallel with the initial position setting process, which will be described later. In the water supply process, a worker inserts a water supply pipe (such as a hose connected to a water supply port (e.g., a waterworks faucet) provided on the platform 110 or near the platform 110) into the water tank 72 through an opening of the water tank 72, and pours water into the water tank 72 through the pipe, thereby supplying water to the water tank 72. The water supply process may be carried out at a location slightly away from the platform 110, but it is more preferable to carry it out on the platform 110, as this reduces the distance that the water tank cart 70, which has become a heavy water tank 72 after filling with water, needs to be manually moved.

[0123] (Stopping object placement process) Before, after, or in parallel with the initial position setting process, a stopping object setting process is carried out in which a stopping object 98 (specifically, a stopping position sign) is placed near the cleaning end position. The cleaning end position is the destination of the self-propelled vehicle 2 set in the initial position setting process, and is a position near the platform doors 100. The stopping object 98 is an object of a height that can be detected by the area sensor 57, and when the self-propelled vehicle 2 moves by itself while the position of the self-propelled vehicle 2 relative to the platform doors 100 is adjusted by control of the cleaning process described below, the stopping object 98 is placed so that it is located on the path of the self-propelled vehicle 2 and is detected by the area sensor 57.

[0124] (Cleaning process) The cleaning process corresponds to an example of the fourth process. In the cleaning process, after the coupling process, the self-propelled vehicle 2 and the water tank car 70 are coupled together, and the self-propelled vehicle 2 is self-propelled along the platform doors 100 on the platform 110 while the brush 3 is driven by the drive source 5. Specifically, the cleaning process is performed after the initial position setting process and the stopping object placement process. In the cleaning process, the platform door cleaning device 1 is self-propelled while the self-propelled vehicle 2 and the water tank car 70 are coupled together, and the brush 3 is displaced to clean the platform doors 100. The cleaning process includes an automatic cleaning process in which the self-propelled vehicle 2 is self-propelled automatically under the control of the control unit 7, and a manual cleaning process in which an operator manually self-propels the self-propelled vehicle 2 by operating an operation unit (typically buttons 60W, 60X, 60Y, 60Z, etc.). Specifically, the automatic cleaning process is a process in which the control unit 7 performs an automatic cleaning operation in an automatic cleaning mode described below, and the manual cleaning process is a process in which the control unit 7 performs a manual cleaning operation in a manual cleaning mode described below. It is desirable to carry out the above-mentioned start-up operation after the above-mentioned connecting step and water supply step and before the cleaning step.

[0125] The control unit 7 displays an initial screen for the cleaning process as shown in FIG. 21(A) upon completion of the initial position placement process. The initial screen in FIG. 21(A) allows the user to select either the automatic cleaning process or the manual cleaning process. The user can select either the automatic cleaning process or the manual cleaning process by selecting either the automatic cleaning button 60M or the manual cleaning button 60N. When the automatic cleaning button 60M is selected while the screen in FIG. 21(A) is displayed (when the automatic cleaning process is selected), the control unit 7 displays a screen as shown in FIG. 21(B). The screen in FIG. 21(B) allows the user to select either the water wash or the detergent wash. The user can select either the water wash or the detergent wash by selecting either the water wash button 60P or the detergent wash button 60Q. Regardless of whether the water wash or the detergent wash is selected on the screen in FIG. 21(B), the cleaning level can be selected. For example, when the detergent wash is selected on the screen in FIG. 21(B), the control unit 7 displays a screen as shown in FIG. 22(A). The screen in FIG. 22(A) allows the user to select the level of washing speed, amount of water, and amount of detergent.

[0126] When a predetermined end operation is performed on the screen of FIG. 22(A) (for example, when the confirmation button is selected), and the remote control 60 is placed on the remote control stand 62, the control unit 7 causes the display unit 60A to display the wash start screen of FIG. 23. When a predetermined end operation is performed on the screen of FIG. 22(A) but the remote control 60 is not placed on the remote control stand 62, a message prompting the user to place the remote control 60 on the remote control stand 62 is displayed on the display unit 60A, as shown in FIG. 22(B). When the remote control 60 is placed on the remote control stand 62 while the screen of FIG. 22(B) is displayed, the control unit 7 causes the display unit 60A to display the wash start screen of FIG. 23. The wash start screen of FIG. 23 displays the settings for the wash method (automatic wash process or manual wash process), course (water wash or detergent wash), wash speed level, water volume level, and detergent volume level. When a start operation is performed on the wash start screen of FIG. 23 (typically, when the start button is selected), the control unit 7 starts the automatic wash operation. The cleaning process performed by the automatic cleaning operation is the automatic cleaning process.

[0127] In this way, the control unit 7 (FIG. 11) performs the automatic cleaning operation by placing the self-propelled vehicle 2 in the initial position and starting the driving of the travel motors 12C, 12D and starting the driving source 5 when a predetermined condition is met. As a result, the self-propelled vehicle 2 moves by itself while towing the water tank vehicle 70, and the brush 3 is driven to rotate. Specifically, when a predetermined operation (a representative example is an operation of touching the start button on the cleaning start screen in FIG. 23) is performed with the remote control 60 placed on the remote control stand 62, the automatic cleaning operation is started, and the self-propelled vehicle 2 starts to move and the brush 3 starts to rotate. Note that if the remote control 60 is not placed on the remote control stand 62, the screen does not transition to the cleaning start screen in FIG. 23 and the cleaning operation is prohibited.

[0128] During the automatic cleaning process, as shown in FIG. 14, the distance sensor 56 detects the distance within a predetermined angular range. The control unit 7 controls the travel motors 12C and 12D to rotate at the same rotation speed to perform straight-line control when the measurement value of the distance sensor 56 is within a predetermined range (a range between a lower limit X1 and an upper limit X2). The difference between the lower limit X1 and the upper limit X2 (the difference between the upper limit X2 and the lower limit X1) must be within half, preferably within one-third, and more preferably within one-quarter of the reference sinking depth of the brush 3. For example, if the reference sinking depth is 100 mm, the difference must be within 50 mm, preferably within 33 mm, and more preferably within 25 mm. The values ​​of the lower limit X1 and the upper limit X2 may be other than these values. The step shown in FIG. 14 is, for example, approximately 140 mm. If the measurement value of the distance sensor 56 falls below the predetermined range, a separating operation (left turning operation) is performed so that the speed of the rear wheel 10D is made faster than the speed of the rear wheel 10C, as described above. For example, as shown in FIG. 15(A), when there is a step where the distance sensor 56 changes from a position where it detects the door 100A to a position where it detects the vertical wall 100B, the measurement value of the distance sensor 56 is likely to change to fall below the lower limit of the predetermined range, and in such a case, a separating operation is performed as conceptually shown in FIG. 15(A). In the separating operation, for example, the speed of the left rear wheel 10C is set to half the speed of the right rear wheel 10D. Furthermore, if the measurement value of the distance sensor 56 falls above the predetermined range, an approaching operation (right turning operation) is performed so that the speed of the rear wheel 10C is made faster than the speed of the rear wheel 10D, as described above. For example, as shown in Fig. 15(B), when there is a step where the distance sensor 56 changes from a position where it detects the vertical wall 100B to a position where it detects the opening and closing door 100A, the measurement value of the distance sensor 56 is likely to change to exceed the upper limit of the predetermined range, and in such a case, an approaching operation is performed as conceptually shown in Fig. 15(B). In the approaching operation, for example, the speed of the right rear wheel 10D is set to 1 / 2 the speed of the left rear wheel 10C.If the measurement value of the distance sensor 56 exceeds a predetermined value that is significantly larger than the upper limit value, or if the measurement value of the distance sensor 56 suddenly fluctuates beyond a certain level, an abnormal state such as the platform doors being open is assumed, and in such cases the control unit 7 stops the automatic cleaning operation. The control unit 7 also stops the automatic cleaning operation if the distance sensor 56 becomes unable to make measurements.

[0129] During the automatic cleaning process, the brush 3 is expected to deform to approximately the standard sinking distance, and the distance from the center to the outer edge is expected to become smaller, as conceptually shown by the cross-hatching in Figure 14. Considering the above-mentioned separation operation, it is desirable to ensure that the radius (bristle length) of the brush 3 is at least twice the expected maximum step height.

[0130] As shown in Figure 6, an emergency stop button 59 is located on the side of the self-propelled vehicle 2 opposite the brush 3. The emergency stop button 59 is located closer to one side of the self-propelled vehicle 2 in the left-right direction (the side opposite the brush 3) than the left-right center, so that an administrator can operate it from the side of the self-propelled vehicle 2 even during the automatic cleaning process. If the emergency stop button 59 is pressed during the automatic cleaning process, the control unit 7 stops the self-propelled vehicle 2 and stops the rotational drive of the brush 3. If the emergency stop button 59 is operated again while the self-propelled vehicle 2 has been stopped by operating the emergency stop button 59, the control unit 7 resumes the self-propelled vehicle 2 and the rotational drive of the brush 3.

[0131] On the other hand, if the manual wash button 60N is selected while the screen of FIG. 21(A) is displayed, the control unit 7 sets the mode to manual wash. Even when the manual wash button 60N is selected on the screen of FIG. 21(A), the control unit 7 displays the screen of FIG. 21(B) to allow selection of either water wash or detergent wash. When either option is selected on the screen of FIG. 21(B), the control unit 7 allows the user to set the wash speed, water volume, and detergent volume levels on the screen of FIG. 22(A). However, in the manual wash mode, if a predetermined end operation is performed on the screen of FIG. 22(A) (for example, if the content confirmation button is selected), the screen transitions to the wash start screen as shown in FIG. 23, regardless of whether the remote control 60 is installed on the remote control stand 62 or not. In other words, in the case of manual wash operation, it is also possible to operate the remote control 60 while holding it without installing it on the remote control stand 62.

[0132] When performing manual cleaning operation in manual cleaning mode, the control unit 7 performs the same operations as the automatic cleaning operation described above, except for some operations (self-propelled operation). On the other hand, in manual cleaning operation, self-propelled operation is performed when a predetermined operation is performed by the operator. The predetermined operation by the operator is, for example, pressing the forward button 60W. Specifically, the control unit 7 performs operations similar to the self-propelled cleaning operation while the forward button 60W is pressed, and stops the self-propelled movement of the self-propelled vehicle 2 and the rotational drive of the brush 3 when the forward button 60W is not pressed.

[0133] Whether during automatic or manual cleaning, the cleaning operation can be paused by performing a predetermined pause operation on the remote control 60. In a typical example, when performing automatic cleaning, the control unit 7 performs display control to display a pause button on the display unit 60A during the automatic cleaning operation, and when an operation to select the pause button is performed during the automatic cleaning operation, the control unit 7 pauses the automatic cleaning operation and performs display control to display a pause screen on the display unit 60A. The pause screen displays a cancel button (e.g., a start button), and when an operation to select the cancel button is performed, the control unit 7 cancels the pause and resumes the automatic cleaning operation. On the other hand, when performing manual cleaning, the control unit 7 performs display control to perform the cleaning operation when a predetermined operation (e.g., an operation to press the forward button 60W) is performed, and pauses the cleaning operation when the predetermined operation is not performed, and displays a pause screen on the display unit 60A.

[0134] Whether performing an automatic or manual cleaning operation, the operation level (e.g., cleaning speed, water volume, detergent volume level) can be changed by operation on the pause screen, and if an operation to change any of the levels is performed, the cleaning operation will resume at the level set by the change operation when the pause is released.

[0135] Whether during automatic cleaning operation or manual cleaning operation, the self-propelled vehicle 2 continuously performs detection using the area sensor 57 while self-propelled, and when an object approaches within a predetermined distance of the area sensor 57, the control unit 7 stops the driving of the travel motors 12C, 12D to stop self-propulsion, stops the rotational driving of the brush 3, and ends the cleaning operation (automatic cleaning operation or manual cleaning operation). Therefore, when the area sensor 57 detects the approach of a stopping object 98 positioned near the end position, the cleaning process (self-propelled cleaning process or manual cleaning process) ends.

[0136] When the control unit 7 has ended the automatic cleaning operation or the manual cleaning operation in response to object detection by the area sensor 57, the control unit 7 may display a predetermined end screen on the display unit 60A. In a typical example, the end screen allows the user to select "Continue cleaning," "Change contents and clean," or "Return to home screen." When "Continue cleaning" is selected on this end screen, the control unit 7 returns the process to the display state of the cleaning start screen in FIG. 23; when "Change contents and clean" is selected, the control unit 7 returns the process to the display state of the cleaning method selection screen in FIG. 22(A); and when "Return to home screen" is selected, the control unit 7 returns the process to the display state of the initial screen (home screen) in FIG. 16.

[0137] (Post-processing process) After the cleaning process, a post-processing process is performed. Note that some other process may be performed between the cleaning process and the post-processing process. The post-processing process is a process of transporting the self-propelled vehicle 2 and the water tank vehicle 70 to a location different from the platform 110. When transporting the self-propelled vehicle 2 and the water tank vehicle 70 in the post-processing process, the self-propelled vehicle 2 and the water tank vehicle 70 are separated and transported separately. Transport of the self-propelled vehicle 2 can be performed in the same manner as the self-propelled vehicle transport process described above. In the post-processing process, the self-propelled vehicle 2 may be transported to the first remote location described above, or may be transported to a location different from the first remote location. Transport of the water tank vehicle 70 can be performed in the same manner as the water tank vehicle transport process described above. In the post-processing process, the water tank vehicle 70 may be transported to the second remote location described above, or may be transported to a location different from the second remote location. If water remains in the water tank 72 of the water tank truck 70, it is desirable to separate the water tank truck 70 from the self-propelled vehicle 2 and move it to a drainage location other than the platform 110 (for example, a washing area with a drain outlet), and open the above-mentioned opening and closing valve to release the water in the water tank 72 into the drainage location.

[0138] (How to move around the platform 1) 24 and 25 are explanatory diagrams illustrating a method for cleaning the platform doors 100 on both sides at a station where the platform 110 is configured as an island platform and the elevator 120 is installed at the middle position in the longitudinal direction of the platform 110. The island platform in Figs. 24 and 25 has tracks (tracks 114X, 114Y) and platform doors (platform doors 100X, 100Y) on both sides in the width direction of the platform 110. In Figs. 24 and 25, the elevator 120 is conceptually shown by a rectangular shape, and the elevator doors 122 are conceptually shown by thick lines.

[0139] In movement method 1 shown in Figure 24, when placing the self-propelled vehicle 2 in its initial position on the platform 110, the worker removes the self-propelled vehicle 2 from the elevator 120 and takes it out through the door 122, and then moves it to the end of one of the platform doors 100X as shown by arrow F11. This end should be the one of the two ends of the platform door 100X that is closer to the door 122 of the elevator 120. Then, by performing the operations (Figures 19 and 20) for carrying out the initial position placement process described above, the self-propelled vehicle 2 is placed in its initial position (first initial position), and the water tank car 70 is coupled to the self-propelled vehicle 2 by performing the coupling process described above either before or after the initial position placement process. After these processes are completed, the cleaning process is carried out by moving from the end of the platform door 100X along the platform door 110X as shown by arrow F12. In addition, when moving the water tank car 70 to near its initial position, it can be moved in the same way as the self-propelled car 2, and when using the elevator 120, it can be taken out through the door 122 and then moved to the end of one of the platform doors 100X as shown by arrow F11.

[0140] If the self-propelled vehicle 2 reaches the end of the platform door 100X (the end opposite the initial position) while moving as shown by arrow F12 and performing the cleaning process, the platform door cleaning device 1 is moved to the vicinity of the platform door 100Y on the opposite side as shown by arrow F13, and an operation for performing the initial position placement process (Figures 19 and 20) is performed near the end of the platform door 100Y, whereby the platform door cleaning device 1 is placed in its initial position (second initial position) on the platform door 100Y side, and then the cleaning process is performed by moving from the end of the platform door 100Y along the platform door 110Y as shown by arrow F14. Then, if the self-propelled vehicle 2 reaches the end of the platform door 100Y (the end opposite the initial position) while performing the cleaning process while moving as shown by arrow F14, the cleaning process is terminated. After the cleaning process is completed, the self-propelled vehicle 2 and water tank car 70 are moved to the elevator 120 as shown by arrow F15.

[0141] If cleaning of the platform door 100 is started from the edge of the platform door 100, as in the above-mentioned movement method 1, the number of operations required for the initial position placement process is minimized to two, but if the elevator 120 and the edge of the platform door 100 are far apart, the time required for movement will be longer.

[0142] (How to move around the platform 2) In movement method 2 shown in Figure 25, when arranging the self-propelled vehicle 2 at its initial position on the platform 110, the worker takes the self-propelled vehicle 2 out of the elevator 120 and takes it out through the door 122, and then moves it to a position near the elevator 120 on one of the platform doors 100X, as shown by arrow F21. Then, by performing the operations (Figures 19 and 20) for carrying out the initial position arrangement process described above, the self-propelled vehicle 2 is arranged in its initial position on the platform door 100X side (the starting point, which is the first initial position), and by carrying out the coupling process described above before or after the initial position arrangement process, the water tank car 70 is coupled to the self-propelled vehicle 2. After completing these processes, the cleaning process is carried out by moving from the intermediate position (starting point) of the platform door 100X along the platform door 110X, as shown by arrow F22. In addition, when moving the water tank car 70 near its initial position (starting point), it can be moved in the same way as the self-propelled car 2, and when using the elevator 120, after it has been taken out through the door 122, it can be moved to the middle position of one of the platform doors 100X, as shown by arrow F21.

[0143] If the self-propelled vehicle 2 reaches the end of the platform door 100X while performing the cleaning process while moving as shown by arrow F22, the platform door cleaning device 1 is moved to the vicinity of the platform door 100Y on the opposite side as shown by arrow F23, and an operation for performing the initial position locating process near the end of the platform door 100Y (FIGS. 19 and 20) is performed, thereby locating the platform door cleaning device 1 at its initial position on the platform door 100Y side (second initial position). The cleaning process is then performed by moving the platform door cleaning device 1 from the end of the platform door 100Y along the platform door 110Y as shown by arrow F24. Then, if the self-propelled vehicle 2 reaches the end of the platform door 100Y (the end opposite to the initial position) while performing the cleaning process while moving as shown by arrow F24, the platform door cleaning device 1 is moved to the vicinity of the platform door 100X on the opposite side as shown by arrow F25, and an operation for performing the initial position locating process near the end of the platform door 100X (FIGS. 19 and 20) is performed, thereby locating the platform door cleaning device 1 at its initial position (third initial position). Thereafter, the cleaning process is performed by moving the platform door cleaning device 1 from the end of the platform door 100X along the platform door 110X as shown by arrow F26, and the cleaning process ends after passing the first initial position (starting point). After the cleaning process is completed, the self-propelled car 2 and the water tank car 70 are moved to the elevator 120 as shown by arrow F27.

[0144] If a method such as the above-mentioned movement method 2 is adopted, the initial position arrangement operation will be performed three times, but the total movement distance can be reduced.

[0145] 5.Example of effects In the platform door cleaning device 1, the water tank car 70 and the self-propelled vehicle 2 are separably connected, which makes it easier to miniaturize the self-propelled vehicle 2 and store more liquid than in a configuration in which the water tank 72 provided in the water tank car 70 is housed inside the self-propelled vehicle 2. Furthermore, as shown in FIG. 12, this platform door cleaning device 1 is configured so that the smaller self-propelled vehicle 2 can be separated from the water tank car 70 and transported separately, making it easier for workers to transport them. Meanwhile, in the platform door cleaning device 1, during cleaning, the water tank car 70 and the self-propelled vehicle 2 are connected as shown in FIGS. 3 and 4, and the self-propelled vehicle 2 operates to tow the water tank car 70, making more liquid available while reducing the effort required by workers to transport the liquid needed for cleaning.

[0146] The platform door cleaning device 1 can connect the self-propelled vehicle 2 and the water tanker vehicle 70 so that the orientation of the water tanker vehicle 70 relative to the direction of travel of the self-propelled vehicle 2 can be changed along the floor 112 of the platform 110, making it easier for each of the self-propelled vehicle 2 and the water tanker vehicle 70 to maneuver more easily and making it easier to adjust the positional relationship between the self-propelled vehicle 2 and the platform door 100 with greater precision.

[0147] The platform door cleaning device 1 is capable of transferring liquid between the separable water tank car 70 and the self-propelled car 2 via the connecting pipe 35 from the water tank car 70 side to the self-propelled car 2 side. When separating the water tank car 70 and the self-propelled car 2, the connecting pipe 35 of this platform door cleaning device 1 can be removed from the second pipe 32 to separate the parts used for transferring liquid, thereby making the water tank car 70 and the self-propelled car 2 independent of each other. Furthermore, the connecting pipe 35 is provided with a flexible pipe 35B and is configured so that the orientation of a portion of it can be easily changed, making it easy for workers to attach and detach the connecting pipe 35.

[0148] The platform door cleaning device 1 can be configured to mix the liquid in the water tank 72, which is configured to be detachable so that it can be towed by the self-propelled vehicle 2, with the liquid contained in the self-propelled vehicle 2 (the liquid in the storage section 43), and release it from the self-propelled vehicle 2.

[0149] In the platform door cleaning device 1, the self-propelled vehicle 2 has a first side surface 4A and a second side surface 4B, and the brush 3 is arranged so as to fit into a recess 4Z provided in the first side surface 4A. This platform door cleaning device 1 can reduce the width of the self-propelled vehicle 2 in the left-right direction by preventing the brush 3 from protruding too much on the first side surface 4A side while allowing the first side surface 4A to be brought somewhat closer to the platform door 100 side.

[0150] The connecting structure 24 is configured so that the connecting portion 26 can swing horizontally relative to the self-propelled vehicle 2, making it easier for each of the self-propelled vehicle 2 and the water tank car 70 to maneuver more easily, and the positional relationship between the self-propelled vehicle 2 and the platform door 100 can be adjusted more precisely.

[0151] 3 and 4, the arm portion 28 in the protruding position of the connecting structure 24 can swing horizontally, making it easy for the self-propelled vehicle 2 and the water tank vehicle 70 to change direction. Moreover, because the connecting structure 24 is connected in a protruding position with the arm portion 28 extending outward from the water tank vehicle 70, it is easy to ensure a distance between the main body 2A of the self-propelled vehicle 2 and the main body of the water tank vehicle 70 (portions other than the arm portion 28), and even if the self-propelled vehicle 2 and the water tank vehicle 70 change direction independently, it is unlikely that the main body 2A of the self-propelled vehicle 2 and the main body of the water tank vehicle 70 will come into contact with each other.

[0152] The above-mentioned platform door cleaning method uses a platform door cleaning device 1 with a distinctive structure, and when transporting, the self-propelled vehicle 2 and the water tank vehicle 70 can be separated and each can be more easily transported from a remote location to the platform 110 or near the platform 110, and when cleaning, the self-propelled vehicle 2 can tow the water tank vehicle 70 and perform cleaning while moving under its own power, which makes it possible to retain more liquid in the water tank 72 and reduce the burden on the worker during cleaning.

[0153] More preferably, the self-propelled vehicle 2 and the water tank vehicle 70 can be transported individually to the platform 110 and then coupled together on the platform 110, thereby eliminating or reducing the effort required to move the coupled body of the self-propelled vehicle 2 and the water tank vehicle 70 outside the platform 110, thereby further simplifying the transportation work.

[0154] Even more preferably, the water tank truck 70 is transported near or to the platform 110, and water is then supplied into the water tank 72 from a faucet or the like located on or near the platform 110, thereby making the water tank truck 70 even lighter for transport, and when cleaning, more water can be stored in the water tank 72 while the combined body of the self-propelled vehicle 2 and the water tank truck 70 is self-propelled while cleaning is performed.

[0155] In the above-described platform door cleaning method, the self-propelled car 2 and the water tank car 70 can be separated and loaded into an elevator for transportation to different floors. According to this method, even if the combined unit of the self-propelled car 2 and the water tank car 70 is too large to fit into an elevator as a whole, as long as the self-propelled car 2 and the water tank car 70 can fit into the elevator individually, the entire combination can be moved to a different floor using the elevator.

[0156] When using the above-described platform door cleaning method, the rear wheels 10C, 10D, which are the drive wheels, may be separated from the placement surface using the switching unit 13, and the wheels 14 (auxiliary wheels) may be brought into contact with the placement surface, disconnected from the driving force of the travel motors 12C, 12D (wheel drive units), during transport. This makes it easy to reduce the burden on workers involved in transporting the self-propelled vehicle 2 with the rear wheels 10C, 10D in contact.

[0157] <Other embodiments> The present invention is not limited to the embodiments described above and illustrated in the drawings. For example, any combination of features of the above-described or following embodiments is possible within a range that does not contradict. Furthermore, any feature of the above-described or following embodiments may be omitted unless explicitly stated as essential. Furthermore, the above-described embodiments may be modified as follows.

[0158] In the platform door cleaning device 1 of the above-described embodiment, the coupled vehicle (water tank car 70) is swingably connected to the self-propelled vehicle 2, but it may also be configured such that the coupled vehicle (water tank car 70) is non-swingably connected to the self-propelled vehicle 2, as in the platform door cleaning device 201 shown in Figure 26. In the example of Figure 26, the self-propelled vehicle 2 and the coupled vehicle (water tank car 70) are connected in a configuration that allows them to change their posture as a unit. In the example of Figure 26, the configuration for attaching and detaching the coupled vehicle (water tank car 70) to the self-propelled vehicle 2 is not particularly limited, and multiple parts may be fixed with connecting members such as screws, or may be fixed by other means.

[0159] In the above-described embodiment, the wheels (drive wheels) of the self-propelled vehicle that receive driving force from the drive source are the rear wheels, but the drive wheels of the self-propelled vehicle 2 may be the front wheels, or both the front and rear wheels may be drive wheels.

[0160] In the above embodiment, the self-propelled vehicle is in the lead and pulls the combined vehicle, but the combined vehicle may be in the lead and the self-propelled vehicle may push the combined vehicle from behind.

[0161] In the above-described embodiment, the linked vehicles are configured to be unable to move on their own, but the linked vehicles may be configured to be able to move on their own, or a rotational driving force may be applied to the drive wheels of the linked vehicles.

[0162] In the above embodiment, the brush 3 is held on the self-propelled vehicle and the water tub 72 is held on the coupled vehicle, but the water tub may be provided on the self-propelled vehicle and the brush may be provided on the coupled vehicle.

[0163] In the above-described embodiment, each pump 48A, 48B is arranged on the self-propelled vehicle side, but both pumps may be arranged on the coupled vehicle side, or one pump may be arranged on the self-propelled vehicle side and the other pump may be arranged on the coupled vehicle side.

[0164] In the above-described embodiment, the battery 9 for supplying power is disposed on the self-propelled vehicle side, but the battery 9 may also be disposed on the linked vehicle side.

[0165] In the above-described embodiment, the arm portion 28 of the connecting portion 26 is displaceably provided on the water tank vehicle 70 and configured to be attached to and detached from the self-propelled vehicle 2, but this configuration is not limiting. The arm portion may be displaceably provided on the self-propelled vehicle and detachably attached to the water tank vehicle. In this case, the arm portion may be swingable relative to the self-propelled vehicle or swingable relative to the water tank vehicle.

[0166] In the above embodiment, the liquid in the water tank 72 is water, but it may be water mixed with a chemical solution.

[0167] In the above-described embodiment, a cylindrical brush 3 is used, which is composed of a brush shaft 3A and a brush body 3B attached to the brush shaft 3A. However, a rotating brush configured by a vertical belt conveyor may be used instead. Alternatively, any other type of brush may be used as long as it is displaceable. Alternatively, the brush 3 may be detachable. For example, a cleaning brush and a wiping brush may be attached and used interchangeably.

[0168] The platform door cleaning device 1 of the above-described embodiment is a brush type particularly suited to cleaning platform doors that open and close plate-shaped doors, and is used to clean platform doors as shown in FIG. 1, but it may also be applied to cleaning platform doors that open and close frame- or bar-shaped doors or fences. The doors and fences to be cleaned are not limited to the horizontal sliding type as shown in FIGS. 1 and 2, but may also be of the lifting type. Furthermore, the doors, fences, and walls to be cleaned by the platform door cleaning device are not limited to the half-height type (a type in which the top does not reach the ceiling) as shown in FIGS. 1 and 2, but may also be of the full-screen type (a type in which the door, fence, wall, etc. reach the ceiling).

[0169] The platform door cleaning device 1 of the above-described embodiment is a system that performs automatic or manual cleaning while proceeding to one side, but by appropriately adding a sensor or the like, it may be possible to perform automatic or manual cleaning while proceeding to the other side. In other words, it may be configured to be able to clean in both directions.

[0170] It should be noted that the embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is not limited to the embodiments disclosed herein, but is intended to include all modifications within the scope indicated by the claims or the scope equivalent to the claims. [Explanation of symbols]

[0171] 1: Platform door cleaning device 2: Self-driving car 3: Brush 4: Housing 4A: 1st side part 4B: 2nd side part 4E:Top part 4Z: Recess 5: Drive source 7: Control section 8: Injection part 9: Battery 10: Wheels 10A: Front wheel 10B: Front wheel 10C: Rear wheel (1st wheel) 10D: Rear wheel (first wheel) 12C: Travel motor (wheel drive unit) 12D: Travel motor (wheel drive unit) 13: Switching section 14: Wheel (2nd wheel) 18: Arm 20: Covering material 24: Connected structure 26:Connection part 28: Arm section 31: First tube (outlet path) 32: Second tube (introduction channel) 32A: Mounted part 35: Connecting pipe 35A: Mounting part 35B: Flexible tube 43: Storage unit 46: Nozzle (discharge port) 48: Pump section 48A: First pump 48B: Second pump 56: Distance sensor 57: Area sensor 60: Remote control 70: Water tank truck 72: Aquarium 77: Flexible member 98: Stopping object 100: Platform doors 110: Home

Claims

1. A platform door cleaning device that cleans platform doors installed on station platforms, a self-propelled vehicle that self-propels on the platform; a linked vehicle connected to the self-propelled vehicle; a brush held by either the self-propelled vehicle or the linked vehicle; a drive source for driving the brush in the one wheel; a control unit that controls the drive source; a water tank held by the other of the self-propelled vehicle and the linked vehicle; a connecting portion that connects the self-propelled vehicle and the linked vehicle, the coupling section detachably couples the self-propelled vehicle and the linked vehicle; The self-propelled vehicle and the linked vehicle are coupled to each other and move on the platform by at least the driving force of the self-propelled vehicle. Platform door cleaning device.

2. The platform door cleaning device according to claim 1, wherein the connecting portion connects the self-propelled vehicle and the connected vehicle so as to enable the orientation of the connected vehicle relative to the direction of travel of the self-propelled vehicle to be changed.

3. The other wheel is provided with an outlet path that is a path for sending liquid from the water tank, an introduction path for introducing the liquid delivered from the water tank is provided on the one vehicle side; Further, a connecting pipe is provided which is a flexible pipe and connects the water tank with the introduction path, 3. The platform door cleaning device according to claim 1, wherein the connecting pipe is detachable from at least one of the outlet path and the inlet path.

4. The one wheel has a container for containing a liquid different from the liquid in the water tank, and a liquid outlet, A platform door cleaning device as described in claim 1 or claim 2, wherein the liquid in the water tank and the liquid in the storage section are mixed and then discharged from the discharge outlet.

5. The one car has a first side surface portion that faces the platform door side during cleaning and a second side surface portion opposite to the first side surface portion, The first side surface portion is provided with a recess recessed toward the second side surface portion, A portion of the brush is disposed within the recess, A platform door cleaning device as described in claim 1 or claim 2, wherein the brush is arranged exposed on the first side portion and is supported rotatably around a rotation axis in a direction intersecting the horizontal direction.

6. The self-propelled vehicle is a wheel drive unit that applies a driving force to rotate the wheels; a first wheel that rotates by receiving a driving force from the wheel drive unit; a second wheel rotatably supported on the self-propelled vehicle; a switching unit that switches between a first state in which the first wheel is in contact with a placement surface of the self-propelled vehicle and the second wheel is not in contact with the placement surface, and a second state in which the second wheel is in contact with the placement surface and the first wheel is not in contact with the placement surface; and A platform door cleaning device as described in claim 1 or claim 2, wherein at least in the second state, the driving force of the wheel drive unit is in a non-transmitted state in which it is not transmitted to the second wheel.

7. a platform door cleaning device comprising: a self-propelled vehicle that moves on a station platform; a coupled vehicle that is coupled to the self-propelled vehicle; a brush that is held on either the self-propelled vehicle or the coupled vehicle; a drive source that drives the brush on the one vehicle; a control unit that controls the drive source; and a water tank that is held on the other of the self-propelled vehicle or the coupled vehicle, and configured to move on the platform by at least the driving force of the self-propelled vehicle while the self-propelled vehicle and the coupled vehicle are coupled to each other; a connecting portion that connects the self-propelled vehicle and the linked vehicle; The coupling section couples the self-propelled vehicle and the linked vehicle in a separable manner. Connecting structure for platform door cleaning equipment.

8. The connecting portion is capable of swinging horizontally relative to at least one of the self-propelled vehicle and the linked vehicle. A connecting structure for a platform door cleaning device according to claim 7.

9. A platform door cleaning method using the platform door cleaning device according to claim 1 or 2, a first step of separating the self-propelled vehicle from the coupled vehicle and transporting the self-propelled vehicle from a first remote position outside the platform to a position closer to the platform than the first remote position; a second step of separating the linked vehicle from the self-propelled vehicle and transporting the linked vehicle from a second remote position outside the platform to a position closer to the platform than the second remote position; a third step of coupling the self-propelled vehicle and the coupled vehicle at a position closer to the platform than the first remote position and the second remote position; a fourth step of driving the brushes by the drive source while the self-propelled car and the coupled car are coupled together and self-propelled along the platform doors on the platform after the third step; A method for cleaning platform doors, including:

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