Autonomous Vacuum Cleaner

Abstract

To propose an autonomous vacuum cleaner capable of sterilizing dust to be stored during cleaning and also facilitating sterilization in places to which the cleaner moves during cleaning.SOLUTION: An autonomous vacuum cleaner 1 includes: a main body 5 having a suction port 34; an electric blower 38 for generating negative pressure in a suction air passage 39 communicating with the suction port 34; a dust container 37 being a part of the suction air passage 39 so as to collect dust to be sucked by negative pressure which actuates on the suction port 34; a movement part 11 for moving the main body 5; a storage tank 16 arranged in the main body 5 so as to store electrolytic water; and a first supply part 18 for supplying electrolytic water stored in the storage tank 16 to an outside of the main body 5; and a second supply part 19 for supplying electrolytic water stored in the storage tank 16 to the suction air passage 39.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE The present invention relates to an autonomous vacuum cleaner. [Background technology]

[0002] There is known a vacuum cleaner equipped with a sterilization device that can be attached to the suction port of the vacuum cleaner body. The sterilization device generates electrolytic water mist and sends the electrolytic water mist into the paper bag through the suction port. The sterilization device can be attached to the suction port of the vacuum cleaner body when the vacuum cleaner is not being used for cleaning. Dust accumulated in the paper bag is exposed to the electrolytic water mist and sterilized. At this time, the paper bag contains electrolytic water. The paper bag containing the electrolytic water sterilizes the air passing through the paper bag by exposing it to the electrolytic water. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-175043 A Summary of the Invention [Problem to be solved by the invention]

[0004] With conventional vacuum cleaners, the sterilization device must be attached to the main body of the vacuum cleaner once cleaning is finished.

[0005] Therefore, conventional vacuum cleaners cannot sterilize the inside of the vacuum cleaner body while cleaning, nor can they sterilize the outside of the vacuum cleaner body while cleaning.

[0006] Therefore, the present invention proposes an autonomous vacuum cleaner that can sterilize the inside and outside of the vacuum cleaner body during cleaning. [Means for solving the problem]

[0007] In order to solve the above problems, an autonomous electric vacuum cleaner according to an embodiment of the present invention includes a main body having a suction port, an intake air duct extending from the suction port, an electric blower connected to an end of the intake air duct and generating negative pressure at the suction port via the intake air duct, a dust collecting section formed in a part of the intake air duct and collecting dust sucked into the intake air duct through the suction port, a storage tank provided in the main body for storing electrolytic water, a first supply section for supplying the electrolytic water stored in the storage tank to the outside of the main body, and a supply section for supplying the electrolytic water stored in the storage tank to the outside of the main body while the electric blower is in operation. 、 diameter 10 Atomization to contain particles smaller than micrometers , upstream of the dust collecting section The electrolytic water supply system includes a second supply unit that supplies the electrolytic water directly to the intake air duct, and a moisture absorption unit that is provided in the intake air duct and absorbs the mist of the electrolytic water flowing through the intake air duct before it reaches the electric blower. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a right side view of the autonomous vacuum cleaner according to the embodiment of the present invention. [Diagram 3] FIG. 2 is a bottom view of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 4] FIG. 2 is a plan view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a side view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 6] FIG. 4 is a plan view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 7] FIG. 4 is a side view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 8] FIG. 2 is a schematic diagram of a second supply unit of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 9] FIG. 13 is a schematic diagram of a second supply unit of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 10] FIG. 1 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention. [Figure 11] FIG. 4 is a diagram showing an example of the relationship between the amount of water in the storage tank and the voltage applied to the electrodes in the autonomous vacuum cleaner according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of an autonomous vacuum cleaner according to the present invention will be described with reference to Figures 1 to 11. Note that in the various drawings, the same or corresponding components are denoted by the same reference numerals.

[0010] FIG. 1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0011] As shown in Fig. 1, an autonomous vacuum cleaner 1 according to this embodiment, a so-called robot cleaner, moves autonomously by consuming power from a secondary battery 6 mounted in a main body 5. The autonomous vacuum cleaner 1 moves around the floor surface (hereinafter referred to as "surface to be cleaned f") of a place to be cleaned (hereinafter referred to as "area to be cleaned A"), and moves comprehensively through area to be cleaned A to perform cleaning. After a cleaning operation, the autonomous vacuum cleaner 1 returns autonomously to a station 8 and waits for the next cleaning operation.

[0012] The station 8 can be installed on the surface f to be cleaned in the area A to be cleaned. The station 8 electrically connects to the autonomous vacuum cleaner 1 by guiding it to a predetermined position. The station 8 functions as a so-called charging stand. The station 8 includes a power cord 9 that conducts power from a commercial AC power source to the secondary battery 6 when connected to the autonomous vacuum cleaner 1. The power cord 9 is an electric circuit that transmits power to the secondary battery 6.

[0013] The autonomous vacuum cleaner 1 that has returned to the station 8 charges the secondary battery 6, for example, while waiting for the next cleaning operation. In this case, the autonomous vacuum cleaner 1 saves the user the trouble of charging, and can respond to sudden cleaning operations requested by the user.

[0014] FIG. 2 is a right side view of the autonomous vacuum cleaner according to the embodiment of the present invention.

[0015] FIG. 3 is a bottom view of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0016] 2 and 3, a solid arrow F indicates the forward direction of the autonomous vacuum cleaner 1.

[0017] As shown in Figure 1, as well as Figures 2 and 3, the autonomous vacuum cleaner 1 of this embodiment comprises a main body 5, a moving unit 11 that moves the main body 5, a cleaning unit 12 that cleans the surface f to be cleaned below the main body 5, a detection unit 13 that detects objects to be detected around the main body 5, a control unit 15 that controls the operation of the autonomous vacuum cleaner 1, and a secondary battery 6 that supplies power to each part of the autonomous vacuum cleaner 1.

[0018] The autonomous vacuum cleaner 1 also includes a storage tank 16 provided in the main body 5 for storing water, an electrolytic water generating unit 17 for electrolyzing the water stored in the storage tank 16 to generate electrolytic water, a first supply unit 18 for supplying the electrolytic water stored in the storage tank 16 to the outside of the main body 5, and a second supply unit 19 for supplying the electrolytic water stored in the storage tank 16 into the main body 5.

[0019] The main body 5 includes a main body case 21 made of, for example, synthetic resin, and a bumper 22 provided on a side surface of the main body case 21. The main body case 21 is an outer shell of the main body 5. The bumper 22 is provided on a side surface of the main body case 21.

[0020] The main body 5 has a flat cylindrical shape, in other words, a disk shape. The main body 5, which is substantially circular in plan view, can reduce the turning radius during turning compared to other shapes. In addition, in plan view, the main body 5 may be a square shape or a figure of constant width whose diametric width is always constant, such as a Reuleaux triangle.

[0021] The main body case 21 and the storage tank 16 cooperate to define the outline of the main body 5 in a plan view. In this embodiment, the main body case 21 and the storage tank 16 have an arc-shaped outline cut by a chord in a plan view. The arc-shaped outline of the main body case 21 and the arc-shaped outline of the storage tank 16 are combined with each other at their respective chords to draw the circular outline of the main body 5. Even if the main body 5 has a shape other than a circle, the outline of the main body case 21 and the outline of the storage tank 16 are combined with each other to draw the outline of the main body 5. Note that it is preferable that the storage tank 16 is located inside the trajectory drawn by the outline of the main body case 21 when the main body 5 is turned (spin turn, neutral turn, counter-rotation turn).

[0022] The height of the main body case 21 and the height of the storage tank 16 are substantially the same. The height of the main body case 21 and the height of the storage tank 16 may be different. For example, the height of the storage tank 16 may be higher than the height of the main body case 21, and the storage tank 16 may protrude upward. The height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be recessed. Furthermore, the height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be mounted on the upper surface of the main body case 21. In such a case, the upper surface of the main body case 21 may have a step-like difference between the part where the storage tank 16 is mounted and the other parts. It is preferable that the height of the upper surface of the storage tank 16 and the upper surface of the main body case 21 substantially match when the storage tank 16 is mounted on the main body case 21.

[0023] The moving part 11 includes a plurality of drive wheels 26, a plurality of electric motors 27 for individually driving the respective drive wheels 26, and driven wheels 28 for supporting the main body 5 on the surface to be cleaned f together with the drive wheels 26.

[0024] Each drive wheel 26 transmits a force for moving the main body 5 to the surface f to be cleaned. Each drive wheel 26 rotates about an axis extending in the width direction (left-right width direction) of the main body 5. The multiple drive wheels 26 include at least a pair of drive wheels 26. The axles of the pair of drive wheels 26 are arranged substantially on the same line. The autonomous vacuum cleaner 1 can move straight and turn by the pair of drive wheels 26. The drive wheels 26 are pressed against the surface f to be cleaned by a suspension device (so-called suspension). The autonomous vacuum cleaner 1 may be provided with caterpillars instead of the drive wheels 26.

[0025] Each electric motor 27 independently drives each drive wheel 26. The autonomous vacuum cleaner 1 moves straight (forward or backward) by rotating the left and right drive wheels 26 in the same direction, and turns (right or left) by rotating the left and right drive wheels 26 in different directions. In addition, the autonomous vacuum cleaner 1 can adjust the forward or backward speed by increasing or decreasing the output of the left and right drive wheels 26, and can adjust the turning radius by making the output of the left and right drive wheels 26 different.

[0026] The driven wheels 28 are disposed at the front and approximately the center in the width direction of the lower part of the main body 5. The driven wheels 28 are circular rotating bodies, such as casters. The driven wheels 28 change direction following the forward movement, backward movement, and turning of the autonomous vacuum cleaner 1, stabilizing the movement of the autonomous vacuum cleaner 1. The center of gravity of the autonomous vacuum cleaner 1 supported by the drive wheels 26 and the driven wheels 28 is preferably disposed inside a triangle formed by the pair of drive wheels 26 and the driven wheels 28. This allows the autonomous vacuum cleaner 1 to move stably.

[0027] The cleaning unit 12 cleans dust on the surface f to be cleaned directly below the main body 5 and around it. The cleaning unit 12 includes a suction cleaning unit 31 that generates negative pressure to suck in dust on the surface f to be cleaned, and a wiping cleaning unit 32 that wipes or polishes the surface f to be cleaned below the main body 5.

[0028] The suction cleaning section 31 comprises an inlet 34 provided on the bottom surface of the main body 5, a rotating brush 35 arranged at the inlet 34, a brush motor 36 that rotates the rotating brush 35, a dust container 37 as a dust collection section provided in the main body 5, and an electric blower 38 housed within the main body 5 and fluidly connected to the dust container 37.

[0029] The air passage that extends from the suction port 34 through the dust container 37 to the suction side of the electric blower 38 is an suction air passage 39 that is fluidly connected to the suction side of the electric blower 38. The suction air passage 39 includes an upstream air passage 39u that extends from the suction port 34 to the dust container 37, and a downstream air passage 39d that extends from the dust container 37 to the electric blower 38.

[0030] The air passage from the exhaust side of electric blower 38 to the exhaust port of main body 5 is exhaust air passage 41 that is fluidly connected to the discharge side of electric blower 38. The exhaust air from electric blower 38 is exhausted to the outside of main body 5 through exhaust air passage 41.

[0031] The suction port 34 sucks in dust together with air by the negative pressure generated by the electric blower 38. The suction port 34 is disposed forward of the wiping part 32 in the forward direction F. The suction port 34 extends in the width direction of the main body 5. In other words, the opening width of the suction port 34 in the left-right direction is greater than the opening width of the suction port 34 in the front-rear direction. Since the bottom surface of the main body 5 faces the surface f to be cleaned during autonomous movement, the suction port 34 can easily suck in dust on the surface f to be cleaned or dust that the rotating brush 35 has swept up from the surface f to be cleaned.

[0032] The rotation center line of the rotating brush 35 is oriented in the width direction of the autonomous vacuum cleaner 1. When the autonomous vacuum cleaner 1 is placed on the surface f to be cleaned in a movable state, the rotating brush 35 comes into contact with the surface f to be cleaned. Therefore, the rotating brush 35 that is driven to rotate stirs up dust on the surface f to be cleaned. The stirred-up dust is efficiently sucked into the suction port 34.

[0033] The brush motor 36 rotates the rotating brush 35 in a forward or reverse direction. The forward rotation direction of the rotating brush 35 is a rotation direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving forward. The reverse rotation direction of the rotating brush 35 is a rotation direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving backward.

[0034] The dust container 37 is a part of the suction air passage 39. The dust container 37 accumulates dust sucked from the suction port 34 by the suction negative pressure generated by the electric blower 38. The dust container 37 is a filter that filters and collects dust, or a separation device that accumulates dust by inertial separation such as centrifugal separation (cyclone separation) or straight separation (a separation method that separates dust and air by the difference in inertial force between straight-moving air and dust). The dust container 37 is detachable from the main body 5. The dust container 37 has a lid that can be opened and closed. A user can remove the dust container 37 from the main body 5 and open the lid of the dust container 37 to easily discard the dust accumulated in the dust container 37, or clean or wash the dust container 37.

[0035] The electric blower 38 is driven by consuming power from the secondary battery 6. The electric blower 38 draws air from the dust container 37 to generate a negative suction pressure. The negative pressure generated in the dust container 37 acts on the suction port 34. The main body 5 has an exhaust port through which the exhaust air of the electric blower 38 flows out to the outside of the main body 5.

[0036] The wiping part 32 is disposed at the bottom of the main body 5, rearward of the suction port .

[0037] In the forward direction of the autonomous vacuum cleaner 1 (solid arrow F in FIG. 2), the suction port 34 and the wiping member 43 are aligned from front to back, and the suction port 34 is disposed in front of the wiping member 43. Therefore, when the autonomous vacuum cleaner 1 moves forward, the suction port 34 moves ahead of the wiping member 43. Therefore, the wiping unit 32 wipes the surface to be cleaned after the dust has been removed by the suction unit 31.

[0038] The wiping unit 32, for example, wipes or polishes the surface f to be cleaned below the main body 5. The wiping unit 32 includes a wiping member attachment portion 45 to which the wiping member 43 can be attached and detached, and the wiping member 43.

[0039] The wiping member attachment part 45 is a base to which the sheet-shaped wiping member 43 is attached using a hook-and-loop fastener, the sheet-shaped wiping member 43 is wrapped around it, or a part of the wiping member 43 is inserted into an insertion port to fix it. The wiping member attachment part 45 brings the wiping member 43 into contact with the surface f to be cleaned in a state in which the autonomous vacuum cleaner 1 is placed on the surface f to be cleaned. The wiping member attachment part 45 itself may also be detachable from the autonomous vacuum cleaner 1.

[0040] The wiping member 43 is a wiping sheet made of a fiber material such as a woven fabric or a nonwoven fabric. The wiping member 43 is a variety of cleaning tools having moisture absorption properties, such as a wiper sheet, a duster cloth, a dusting cloth, and a mop (a mass of fibers at the tip excluding the handle). The material of the wiping member 43 is a synthetic fiber such as natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, and nylon 46, and polyolefin fiber such as polyethylene and polypropylene. The wiping member 43 may be a sponge. The wiping member 43 may also have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, superabsorbent resin, polymer absorbent) as an integral part. The wiping member 43 having a member made of a superabsorbent polymer as an integral part can hold a larger amount of electrolytic water.

[0041] The wiping member 43 can be attached and detached to the bottom surface of the wiping member attachment portion 45. When the autonomous vacuum cleaner 1 is placed in a movable state on the surface f to be cleaned, the wiping unit 32 comes into contact with the surface f to be cleaned. It is preferable that the wiping unit 32 is pressed against the surface f to be cleaned with a pressure that does not cause the drive wheels 26 to spin freely on the surface f to be cleaned. An elastic member such as a foamed resin is provided between the wiping unit 32 and the bottom surface of the main body 5. This elastic member presses the wiping unit 32 against the surface f to be cleaned with a uniform pressure.

[0042] The wiping member 43 is also one aspect of the first supply unit 18 that supplies electrolytic water to the outside of the main body 5. The wiping member 43, in a state where it is wet with the electrolytic water supplied from the electrolytic water generator 17, wipes the surface f to be cleaned with water.

[0043] Furthermore, when the electrolytic water is supplied to the surface f to be cleaned without passing through the wiping member 43, the wiping member 43 can also wipe off the electrolytic water sprayed on the surface f to be cleaned.

[0044] That is, the wiping member 43 can be used for so-called wet wiping, in which the electrolytic water is absorbed and moistened and the electrolytic water is applied to the surface f to be cleaned, and can also be used for so-called dry wiping, in which the electrolytic water sprayed on the surface f to be cleaned is wiped off. In other words, the autonomous vacuum cleaner 1 sprays or applies electrolytic water containing hypochlorous acid to the surface f to be cleaned as it moves, and disinfects the surface f to be cleaned.

[0045] Whether the wiping by the wiping member 43 is a dry wipe or a wet wipe depends on the amount of electrolytic water sprayed from the electrolytic water generator 17 onto the surface to be cleaned f and the amount of electrolytic water supplied from the electrolytic water generator 17 to the wiping member 43. For example, if the amount of electrolytic water sprayed on the floor surface is small, the electrolytic water evaporates before it moistens the wiping member 43. In such a case, the dry wiping by the wiping member 43 continues. If the amount of electrolytic water sprayed on the floor surface is large, the electrolytic water does not evaporate completely and moistens the wiping member 43. In such a case, the dry wiping by the wiping member 43 will eventually transition from dry wiping to wet wiping.

[0046] The detection unit 13 detects a detectable object approaching the main body 5 as the main body 5 moves, or a detectable object coming into contact with the main body 5. The detection unit 13 includes a camera unit 51 provided on the main body 5 for capturing images of the surroundings of the autonomous vacuum cleaner 1, a proximity detection unit 52 provided on the main body 5 for detecting that the main body 5 has approached an object other than the autonomous vacuum cleaner 1, i.e., a detectable object, and a contact detection unit 53 provided on the main body 5 for detecting that the main body 5 has come into contact with an object other than the autonomous vacuum cleaner 1, i.e., a detectable object.

[0047] The camera unit 51 is provided on the front side of the main body 5 and captures an image in front of the autonomous vacuum cleaner 1, that is, in the direction of travel when moving forward.

[0048] Instead of or in addition to the camera unit 51, the autonomous vacuum cleaner 1 may be provided with a distance measuring device 55 that obtains depth information in the shooting range using a principle different from that of a stereo camera.

[0049] The proximity detection unit 52 is, for example, an infrared sensor or an ultrasonic sensor. The proximity detection unit 52 using an infrared sensor includes a light-emitting element that emits infrared rays and a light-receiving element that receives the light and converts it into an electrical signal. The proximity detection unit 52 emits infrared rays from the light-emitting element, receives the infrared rays reflected by the detected object with the light-receiving element and converts it into electricity, and when the converted electricity reaches a certain level or more, it detects that the detected object has approached within a certain distance before the main body 5 comes into contact with the detected object. The proximity detection unit 52 using an ultrasonic sensor detects the detected object using ultrasonic waves instead of infrared rays.

[0050] The contact detection unit 53 is a so-called bumper sensor. The contact detection unit 53 is linked to the bumper 22 that absorbs the impact on the main body 5 when the moving main body 5 comes into contact with the detected object. When the bumper 22 comes into contact with the detected object, it is displaced so as to be pushed toward the inside of the main body 5. The contact detection unit 53 detects the displacement of the bumper 22 and detects that the main body 5 has come into contact with the detected object. The contact detection unit 53 includes, for example, a microswitch that is turned on and off depending on the displacement of the bumper 22, or an infrared sensor or ultrasonic sensor that measures the amount of displacement of the bumper 22 without contact.

[0051] The secondary battery 6 stores power consumed by each part of the autonomous vacuum cleaner 1, including the power supply circuits of the moving unit 11, the cleaning unit 12, the detection unit 13, the control unit 15, and the electrolytic water generating unit 17. The secondary battery 6 supplies power to each part of the autonomous vacuum cleaner 1, including the moving unit 11, the cleaning unit 12, the detection unit 13, and the control unit 15. The secondary battery 6 is, for example, a lithium ion battery, and has a control circuit that controls charging and discharging. This control circuit outputs information regarding charging and discharging of the secondary battery 6 to the control unit 15.

[0052] The storage tank 16 is a container for storing water or salt water. The water stored in the storage tank 16 may be tap water. The storage tank 16 is preferably detachable from the main body 5 to increase the convenience of water supply. The storage tank 16 is provided with a lid that can be opened and closed. The storage tank 16 can easily be supplied with water or salt water by opening the lid.

[0053] The electrolytic water generating unit 17, for example, electrolyzes water to generate electrolytic water in which ozone is dissolved, or electrolyzes salt water to generate electrolytic water in which hypochlorous acid (HClO, Hypochlorous Acid) is dissolved. In Japan, the Water Supply Act stipulates that tap water that is readily available at home contains chlorine. The Water Supply Act of Japan stipulates that the concentration of chlorine in tap water must be at least 1 / 10 ppm (parts per million by mass, milligrams per liter) (Article 17, item 3 of the Enforcement Regulations of the Water Supply Act (Ministry of Health, Labour and Welfare Ordinance) based on Article 22 of the Water Supply Act). The electrolytic water generating unit 17 can easily generate electrolytic water containing hypochlorous acid by electrolyzing tap water in Japan. The electrolytic water generating unit 17 includes electrodes 61 including a positive electrode and a negative electrode, and a power supply circuit that applies a voltage to the electrodes 61 with power supplied from the secondary battery 6.

[0054] The electrode 61 of the electrolytic water generating unit 17 is made of a material that does not easily dissolve in water, such as titanium or platinum. To promote electrolysis, the electrode 61 may support a platinum group metal such as iridium, platinum, or ruthenium, or an oxide thereof. Chemical species such as hydrogen peroxide, active oxygen, and OH radicals are generated in the electrolytic water. The electrode 61 is provided in the storage tank 16.

[0055] The electrolytic water generating unit 17 may be a single-chamber type without a partition between the positive and negative electrodes, or a multi-chamber type including a two-chamber type with a partition between the positive and negative electrodes, or a three-chamber type. The single-chamber type electrolytic water generating unit 17 neutralizes the acidic ionized water generated on the positive electrode side and the alkaline ionized water generated on the negative electrode side to generate electrolytic water containing hypochlorous acid at an appropriate concentration. On the other hand, the multi-chamber type electrolytic water generating unit 17 generates acidic ionized water in the chamber that houses the positive electrode and generates alkaline ionized water in the chamber that houses the negative electrode.

[0056] Furthermore, compared to a multi-chamber type, which can result in uneven usage of the acidic ionized water and alkaline ionized water, resulting in the burden of disposing of whichever ionized water remains, a single-chamber type may be more convenient for users.

[0057] Meanwhile, the inventors have found that the surface to be cleaned f can be disinfected by diffusing or spraying electrolytic water having a hypochlorous acid concentration of 5 ppm or more at a supply rate of 1 / 10 microliter per square centimeter or more to the surface to be cleaned f. Therefore, the electrolytic water generating unit 17 electrolyzes water having a chlorine concentration of 1 / 10 ppm or more, that is, water that meets the criteria for tap water under the Japanese Water Supply Act, to generate electrolytic water having a hypochlorous acid concentration of 5 ppm or more.

[0058] The autonomous vacuum cleaner 1 may not include the electrolytic water generating unit 17. In other words, the autonomous vacuum cleaner 1 may store the generated electrolytic water in the storage tank 16 and use it to disinfect the area A to be cleaned.

[0059] The first supply unit 18 supplies electrolytic water to the surface f to be cleaned at a supply rate of at least one tenth of a microliter per square centimeter so that the electrolytic water can be diffused or sprayed. The first supply unit 18 supplies electrolytic water to at least one of the wiping member 43 and the surface f to be cleaned. The first supply unit 18 includes a pipe 62 for conducting electrolytic water from the storage tank 16, a first supply mechanism 63 for supplying electrolytic water from the storage tank 16 to the wiping member 43, and a second supply mechanism 65 for supplying electrolytic water from the storage tank 16 to the surface f to be cleaned. The first supply unit 18 may include either the first supply mechanism 63 or the second supply mechanism 65.

[0060] The first supply mechanism 63 includes a first supply port 71 that supplies electrolytic water to the rear surface of the wiping member 43, and a first opening / closing valve 72 that is provided midway through the piping 62 and controls the supply and cut-off of electrolytic water to the first supply port 71.

[0061] There may be a plurality of first supply ports 71. For example, the first supply ports 71 are preferably arranged in a row in the width direction of the main body 5, i.e., in the width direction of the wiping member 43. The first supply ports 71 arranged in this manner can moisten a wide range of the wiping member 43 with electrolytic water. The first supply port 71 may be an elongated flat opening having a long side extending in the width direction of the main body 5.

[0062] The first on-off valve 72 is a so-called solenoid valve. The first supply mechanism 63 supplies electrolytic water at the height difference between the water level of the electrolytic water in the storage tank 16 and the first supply port 71, that is, the head difference, by opening the first on-off valve 72. The first supply mechanism 63 may be provided with a pump that pumps up the electrolytic water in the storage tank 16 instead of the first on-off valve 72. The first supply mechanism 63 may also be a flow path that simply discharges the electrolytic water in the storage tank 16, such as a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the diameter of the orifice is appropriately set in order to obtain the required supply amount of electrolytic water (supply amount per unit time).

[0063] The second supply mechanism 65 includes a second supply port 73 that sprays electrolytic water onto the surface to be cleaned f, and a second opening / closing valve 74 that is provided midway along the piping 62 and that switches on and off the supply of electrolytic water to the second supply port 73.

[0064] The second supply port 73 is, for example, a nozzle capable of spraying electrolytic water. The electrolytic water is supplied to the surface f to be cleaned that is sandwiched between the suction port 34 and the wiping member 43. In other words, the first supply unit 18 supplies the electrolytic water from the second supply port 73 to the surface f to be cleaned that is sandwiched between the suction port 34 and the wiping member 43.

[0065] There may be a plurality of second supply ports 73. For example, the second supply ports 73 are preferably arranged in a row in the width direction of the main body 5, that is, in the width direction of the wiping member 43. The second supply ports 73 arranged in this manner spray the electrolytic water over a wider range as the main body 5 moves forward. The second supply port 73 may be an elongated, flat nozzle having a long side extending in the width direction of the main body 5.

[0066] The second on-off valve 74 is a so-called solenoid valve. The second supply mechanism 65 supplies electrolytic water at the height difference between the water level of the electrolytic water in the storage tank 16 and the second supply port 73, that is, the head difference, by opening the second on-off valve 74. The second supply mechanism 65 may be provided with a pump that pumps up the electrolytic water in the storage tank 16 instead of the second on-off valve 74. The second supply mechanism 65 may also be a flow path that simply discharges the electrolytic water in the storage tank 16, such as a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the diameter of the orifice is appropriately set in order to obtain the required supply amount of electrolytic water (supply amount per unit time).

[0067] The first supply unit 18 also includes a third supply mechanism 66 that supplies electrolytic water from the storage tank 16 to the atmosphere surrounding the main body 5. The third supply mechanism 66 includes a first atomization device 75 that atomizes the electrolytic water and supplies it to the atmosphere surrounding the main body 5, and a first water guide path 76 that guides the electrolytic water to the first atomization device 75.

[0068] The first atomization device 75 is provided on the top of the storage tank 16. The first atomization device 75 diffuses or scatters the atomized electrolytic water from the top of the storage tank 16 into the atmosphere surrounding the main body 5.

[0069] The first atomization device 75 uses various atomization methods, such as a heating type that heats electrolytic water to atomize it, an ultrasonic type that vibrates electrolytic water with ultrasonic waves to atomize it, a spray using the Venturi effect, for example, a method of atomizing electrolytic water with a sprayer, electrostatic atomization that atomizes electrolytic water using corona discharge, and a water crushing type that disperses electrolytic water with a high-speed rotating propeller or the like to crush water molecules. In any method, the first atomization device 75 atomizes electrolytic water to include fine particles having a diameter of 100 micrometers or less, and more preferably, atomizes electrolytic water to include fine particles having a diameter of 10 micrometers or less.

[0070] The first water conducting path 76 is a rope or a cord that draws up the electrolytic water in the storage tank 16 by capillary action, for example.

[0071] The second supply unit 19 supplies the electrolytic water stored in the storage tank 16 to the suction air passage 39. The second supply unit 19 may supply the electrolytic water to the upstream air passage 39u connecting the suction port 34 and the dust container 37, may supply the electrolytic water stored in the storage tank 16 to the dust container 37, or may supply the electrolytic water to the downstream air passage 39d connecting the dust container 37 and the electric blower 38. In other words, the second supply unit 19 supplies the electrolytic water stored in the storage tank 16 to at least one of the upstream air passage 39u connecting the suction port 34 and the dust container 37, the inside of the dust container 37, and the downstream air passage 39d connecting the dust container 37 and the electric blower 38.

[0072] The second supply unit 19 vaporizes the electrolytic water and supplies the electrolytic water to at least one of the upstream air passage 39u connecting the suction port 34 and the dust container 37, the inside of the dust container 37, and the downstream air passage 39d connecting the dust container 37 and the electric blower 38. The second supply unit 19 includes a second atomization device 77 that atomizes the electrolytic water and supplies it to at least one of the upstream air passage 39u, the dust container 37, and the downstream air passage 39d connecting the dust container 37 and the electric blower 38, and a second water guide path 78 that guides the electrolytic water from the storage tank 16 to the second atomization device 77.

[0073] The second atomization device 77 may be exposed to the upstream air passage 39u itself or a space connected to the upstream air passage 39u, may be exposed to the dust container 37 itself or a space connected to the dust container 37, or may be exposed to the downstream air passage 39d itself or a space connected to the downstream air passage 39d. The second atomization device 77 diffuses or scatters the atomized electrolytic water to at least one of the upstream air passage 39u, the dust container 37, and the downstream air passage 39d.

[0074] Here, the "space connected to the upstream air passage 39u," the "space connected to the dust container 37," and the "space connected to the downstream air passage 39d" include portions where the negative suction pressure generated by the electric blower 38 acts to create sufficient air flow, and also include portions where the negative suction pressure generated by the electric blower 38 acts but the air does not flow sufficiently due to the negative suction pressure, causing the air flow to stagnate.

[0075] The second atomization device 77 uses various atomization methods, such as a heating type that heats and atomizes electrolytic water, an ultrasonic type that vibrates electrolytic water with ultrasonic waves to atomize it, a spray using the Venturi effect, for example, a method of atomizing electrolytic water with a sprayer, electrostatic atomization that atomizes electrolytic water using corona discharge, and a water crushing type that disperses electrolytic water with a high-speed rotating propeller or the like to crush water molecules. In any method, the second atomization device 77 atomizes electrolytic water to include fine particles having a diameter of 100 micrometers or less, and more preferably, atomizes electrolytic water to include fine particles having a diameter of 10 micrometers or less.

[0076] The second water guide path 78 may be, for example, a pipe connecting the storage tank 16 and the second atomization device 77, or may be a rope or cord that sucks up the electrolytic water in the storage tank 16 by capillary action, for example, and guides it to the second atomization device 77.

[0077] In addition, instead of or in addition to the second atomization device 77, the second supply unit 19 may be provided with a water retaining body 79 that vaporizes the electrolytic water in at least one of the upstream air duct 39u connecting the suction port 34 and the dust container 37, the inside of the dust container 37, and the downstream air duct 39d connecting the dust container 37 and the electric blower 38.

[0078] The water holding body 79 is connected to the storage tank 16 through the same or different water conducting path as the second atomization device 77. The water holding body 79 absorbs the electrolytic water supplied through the water conducting path and becomes in a state of containing the electrolytic water. A part of the water holding body 79 is in contact with the electrolytic water passing through the water conducting path connecting the storage tank 16 and the water holding body 79. A part of the water holding body 79 may be in direct contact with the electrolytic water in the storage tank 16 without passing through the water conducting path. The other part of the water holding body 79 may be exposed to the upstream air duct 39u itself or a space connected to the upstream air duct 39u, may be exposed to the dust container 37 itself or a space connected to the dust container 37, or may be exposed to the downstream air duct 39d itself or a space connected to the downstream air duct 39d.

[0079] The water-retaining body 79 retains electrolytic water by its water-absorbing property. In addition, the water-retaining body 79 sucks up the electrolytic water in the water-conducting path connecting the storage tank 16 and the water-retaining body 79 by its water-absorbing property. In other words, the autonomous vacuum cleaner 1 supplies electrolytic water to at least one of the upstream air duct 39u connecting the suction port 34 and the dust container 37, the inside of the dust container 37, and the downstream air duct 39d connecting the dust container 37 and the electric blower 38 by bringing a water-absorbing member into contact with the electrolytic water. The water-retaining body 79 can suck up and move the liquid by capillary action even if the supply location of the electrolytic water (the upstream air duct 39u, the dust container 37, or the downstream air duct 39d) is located higher than the storage tank 16. By changing the degree of water-absorbing property and the size of the water-retaining body 79, it is possible to adjust the suction force and height and avoid oversupply. The water-retaining body 79 may be disposed lower than the storage tank 16. In this case, the electrolytic water is easily supplied to the water holding body 79 by the hydraulic head difference.

[0080] The water-retaining body 79 is, for example, a woven fabric or a nonwoven fabric. The material of the water-retaining body 79 is a synthetic fiber such as natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, nylon 46, and polyolefin fiber such as polyethylene and polypropylene. The water-retaining body 79 may be a sponge. The water-retaining body 79 may also have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, superabsorbent resin, polymer absorbent) as an integral part. The water-retaining body 79 having a member made of a superabsorbent polymer as an integral part can hold more electrolytic water of the target.

[0081] The electrolytic water is vaporized until the vapor pressure of the gas in the suction air duct 39 reaches the saturated vapor pressure. The vaporized electrolytic water reaches the dust container 37 through the suction air duct 39 and sterilizes the dust accumulated in the dust container 37.

[0082] The water holding body 79 can vaporize electrolytic water by the air flow in the upstream air passage 39u and inside the dust container 37, and supply the electrolytic water to the dust container 37. The electrolytic water vaporized by the air flow sterilizes dust accumulated in the dust container 37. A part of the electrolytic water passes through the dust container 37 by the negative suction pressure, reaches the electric blower 38, and sterilizes the exhaust air of the electric blower 38. The water holding body 79 can vaporize electrolytic water by the air flow in the downstream air passage 39d, passes through the dust container 37, reaches the electric blower 38, and sterilizes the exhaust air of the electric blower 38. The water holding body 79 can vaporize electrolytic water in the upstream air passage 39u, inside the dust container 37, and downstream air passage 39d, and supply the electrolytic water to the dust container 37, when the electric blower 38 is stopped. The vaporized electrolytic water diffuses within the suction air duct 39 and sterilizes the dust accumulated in the dust container 37 .

[0083] When the second supply unit 19 is provided in the downstream air passage 39d, the electrolytic water is vaporized while the electric blower 38 is in operation, thereby sterilizing the exhaust air from the electric blower 38. In other words, when the second supply unit 19 is provided in the downstream air passage 39d, the entire amount of vaporized electrolytic water is used to sterilize the exhaust air blown out from the autonomous vacuum cleaner 1 while the electric blower 38 is in operation, and the dust accumulated in the dust container 37 can be sterilized while the electric blower 38 is stopped.

[0084] On the other hand, when the second supply unit 19 is provided in the upstream air passage 13u or the dust container 37, the second supply unit 19 can vaporize the electrolytic water by the air flow in the suction air passage 39 and supply the electrolytic water to the dust container 37. The electrolytic water vaporized by the air flow in the suction air passage 39 sterilizes the dust accumulated in the dust container 37. In addition, a part of the electrolytic water that has reached the dust container 37 passes through the dust container 37 by the suction negative pressure and reaches the electric blower 38 to sterilize the exhaust air of the electric blower 8.

[0085] The autonomous vacuum cleaner 1 includes a moisture absorbing unit 80 that is provided in the suction air passage 39 and absorbs electrolytic water (moisture) sucked into the suction air passage 39 by the suction negative pressure. When electrolytic water is sucked into the suction air passage 39, the moisture absorbing unit 80 absorbs the electrolytic water before it reaches the electric blower 38, thereby preventing the electrolytic water from reaching the electric blower 38. The moisture absorbing unit 80 is, for example, a woven fabric or a nonwoven fabric. The material of the moisture absorbing unit 80 is a synthetic fiber such as natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, nylon 46, and polyolefin fiber such as polyethylene and polypropylene. The moisture absorbing unit 80 may be a sponge. The moisture absorbing unit 80 may also have a member made of a superabsorbent polymer (superabsorbent polymer, SAP, so-called absorbent polymer, superabsorbent resin, polymer absorbent) as an integral part. The moisture absorbing portion 80, which is integrally formed from a highly water-absorbent polymeric member, can retain a larger amount of electrolytic water.

[0086] The moisture absorbing unit 80 may be provided in the upstream air passage 39u of the suction air passage 39, or in the downstream air passage 39d. The moisture absorbing unit 80 may be provided inside the dust container 37. It is sufficient that the moisture absorbing unit 80 is provided downstream of the second atomization device 77 and the water retention body 79 in the air flow. In other words, the moisture absorbing unit 80 is closer to the electric blower 38 in the suction air passage 39 than the second atomization device 77 and the water retention body 79. The moisture absorbing unit 80 may also serve as a filter for the dust container 37 that separates dust from the dust-containing air sucked into the suction air passage 39.

[0087] Next, the storage tank 16 will be described in detail. In the first example of the storage tank 16A (hereinafter simply referred to as "storage tank 16A") and the second example of the storage tank 16B (hereinafter simply referred to as "storage tank 16B"), the same components are denoted by the same reference numerals, and duplicated descriptions will be omitted.

[0088] FIG. 4 is a plan view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0089] FIG. 5 is a side view of a reservoir of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0090] 4 and 5, a first example of a storage tank 16A according to this embodiment has a D-shaped appearance with a portion of the disk-shaped main body 5 cut away in a plan view, and has substantially the same height as the main body 5 in a side view. The storage tank 16A is surrounded by an arc continuing to the side surface of the main body 5 and a chord connecting both ends of the arc. The chord portion of the storage tank 16A faces a portion of the outer surface of the main body 5.

[0091] The storage tank 16A includes a plurality of separable and connectable containers 81. The plurality of containers 81 include a first container portion 82A for storing water before electrolysis and a second container portion 83A for accommodating the electrodes 61 of the electrolytic water generating unit 17.

[0092] The first container portion 82A and the second container portion 83A of the storage tank 16A are separated horizontally and adjacent to each other. The first container portion 82A and the second container portion 83A may be separated horizontally and connected horizontally, or may be separated vertically and connected vertically. In the storage tank 16A that can be separated and connected horizontally, the first container portion 82A and the second container portion 83A are separated by moving them apart horizontally and connected by moving them closer to each other horizontally. In the storage tank 16A that can be separated and connected vertically, the first container portion 82A and the second container portion 83A are separated by sliding them up and down.

[0093] The height of the second container portion 83A is substantially the same as the height of the first container portion 82A. The volume of the second container portion 83A is smaller than the volume of the first container portion 82A. The second container portion 83A is a rectangular container including a part of the chord of the storage tank 16A, and the first container portion 82A is a container having a shape in which a rectangle including a part of the chord is cut out, including the arc portion of the storage tank 16A and the remaining part of the chord. The first container portion 82A is connected to the second container portion 83A so as to cover the left and right side surfaces and the back surface of the second container portion 83A.

[0094] Moreover, the storage tank 16A is detachable from the main body 5. In other words, the first container portion 82A and the second container portion 83A are detachable from the main body 5 in an integrated state. The first container portion 82A and the second container portion 83A may be detachable individually. Either the first container portion 82A or the second container portion 83A may be detachable from the main body 5, and the other may be integrated with the main body 5.

[0095] Water can be easily supplied to the detachable first container part 82A by removing it from the main body 5. In addition, when supplying water, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashing thereon.

[0096] The electrode 61 and the container itself can be easily washed by removing the detachable second container part 83A from the main body 5. In addition, during washing, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashed thereon.

[0097] The storage tank 16A, which can be attached and detached as a single unit, can easily supply water to the first container portion 82A and wash the second container portion 83A at the same time.

[0098] A water inlet 85 for introducing water into the container and a lid 86 for opening and closing the water inlet 85 are provided at the top of the first container portion 82A. A user can easily supply water to the first container portion 82A by opening the lid 86. In addition, a user can easily prevent water from leaking from the first container portion 82A by closing the lid 86.

[0099] The bottom of the second container portion 83A is provided with an electrolytic water supply port 87 connected to the first supply portion 18. The top of the second container portion 83A is provided with an air hole for removing air from inside the container. The air hole may be open to the outside of the second container portion 83A, or may be connected to the first container portion 82A. Inside the second container portion 83A, a water level gauge 88 is provided for detecting the amount of water stored in the second container portion 83A, i.e., the water level (electrolytic water liquid level).

[0100] The water level gauge 88 may be of either a contact type or a non-contact type. The contact type water level gauge 88 may employ a known system, such as a float type that measures the water level based on the vertical position of a float provided in the second container portion 83A, or a capacitance type that measures the water level by detecting the capacitance between a pair of electrodes. The non-contact type water level gauge 88 may employ a known system that measures the water level using, for example, radio waves, ultrasonic waves, or light waves.

[0101] A joint 89 that fluidly connects both containers is provided at the bottom of the first container portion 82A and the second container portion 83A. The joint 89 connects the half on the first container portion 82A side and the half on the second container portion 83A side to open the water passage. The half on the first container portion 82A side and the half on the second container portion 83A side close the passage in a non-connected state to prevent the water (electrolyzed water) in the container from leaking out. It is preferable that the joint 89 is easily connected with the connection of the first container portion 82A and the second container portion 83A, and is easily separated with the separation of the first container portion 82A and the second container portion 83A. For example, in the storage tank 16A that can be separated and connected in the horizontal direction, the joint 89 has a half provided at the bottom of the side wall of the first container portion 82A and a half provided at the bottom of the side wall of the second container portion 83A. In the storage tank 16A which can be separated and connected vertically, the fitting 89 has a half body provided on the bottom wall of either the first container portion 82A or the second container portion 83A, and a half body provided on a connecting pipe extending downward from the other of the first container portion 82A or the second container portion 83A to either the first container portion 82A or the second container portion 83A.

[0102] At least when the water level of the water stored in the first container portion 82A is higher than the water level of the water or electrolytic water stored in the second container portion 83A, the water in the first container portion 82A is supplied to the second container portion 83A. In other words, the storage tank 16A supplies the water stored in the first container portion 82A to the second container portion 83A by the head difference between the first container portion 82A and the second container portion 83A. That is, every time the electrolytic water generated in the second container portion 83A is consumed, the water stored in the first container portion 82A is supplied to the second container portion 83A. Therefore, the water level of the first container portion 82A and the water level of the second container portion 83A are balanced.

[0103] The electrode 61 of the electrolytic water generating unit 17 is plate-shaped and extends in the vertical direction. In other words, the normal line of the electrode 61 is oriented in the horizontal direction. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrodes and the negative electrodes are arranged alternately in the direction of the normal line.

[0104] The positive and negative electrodes of the electrode 61 of the electrolytic water generating unit 17 can also be used as the water level gauge 88. The electrode 61, which extends vertically, changes in proportion between the portion submerged in water (in the electrolytic water) and the portion exposed to the gas in the second container unit 83A as the water level (electrolytic water level) in the second container unit 83A changes. This change in proportion changes the value of the current flowing between the positive and negative electrodes of the electrode 61. The electrolytic water generating unit 17 estimates the amount of water stored in the storage tank 16 based on the change in the value of the current flowing between the positive and negative electrodes of the electrode 61.

[0105] The first supply unit 18, i.e., the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66, are provided in the storage tank 16A, but may be provided in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16A, the piping 62 of the first supply unit 18 is integrated with the storage tank 16A and reaches the first supply mechanism unit 63 and the second supply mechanism unit 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping 62 of the first supply unit 18 reaches the first supply mechanism unit 63 and the second supply mechanism unit 65 from the storage tank 16A through the main body 5. When the third supply mechanism unit 66 is provided in the storage tank 16A, the first water guide path 76 of the first supply unit 18 is provided in the storage tank 16A and reaches the third supply mechanism unit 66. In the case where the third supply mechanism 66 is provided in the main body 5, the first water guide path 76 of the first supply unit 18 reaches the third supply mechanism 66 from the storage tank 16A through the main body 5.

[0106] FIG. 6 is a plan view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0107] FIG. 7 is a side view of a reservoir of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0108] As shown in Figures 6 and 7, a second example storage tank 16B according to this embodiment includes a first container portion 82B for storing water before electrolysis and a second container portion 83B for accommodating an electrode 61 of the electrolytic water generating unit 17.

[0109] The first container portion 82B and the second container portion 83B of the storage tank 16B are separated vertically and stacked. The first container portion 82B and the second container portion 83B may be separated horizontally and connected horizontally, or may be separated vertically and connected vertically. The storage tank 16B that can be separated and connected horizontally is separated and connected by sliding the first container portion 82B and the second container portion 83B horizontally. The storage tank 16B that can be separated and connected vertically is separated by moving the first container portion 82B and the second container portion 83B away from each other in the vertical direction, and connected by moving them closer to each other in the vertical direction.

[0110] In a plan view, the shape of the second container portion 83B is substantially the same as the shape of the first container portion 82B. The height of the second container portion 83B is lower than the height of the first container portion 82B. The volume of the second container portion 83B is smaller than the volume of the first container portion 82B. The first container portion 82B is connected to the second container portion 83B so as to cover the top surface of the second container portion 83B.

[0111] Moreover, the storage tank 16B is detachable from the main body 5. In other words, the first container portion 82B and the second container portion 83B are detachable from the main body 5 in an integrated state. The first container portion 82B and the second container portion 83B may be detachable individually. Either the first container portion 82B or the second container portion 83B may be detachable from the main body 5, and the other may be integrated with the main body 5.

[0112] Water can be easily supplied to the detachable first container part 82B by removing it from the main body 5. In addition, when supplying water, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control part 15, from being damaged by water splashing thereon.

[0113] The electrode 61 and the container itself can be easily washed by removing the detachable second container part 83B from the main body 5. In addition, during washing, it is possible to prevent electrical components in the main body 5, such as the electric blower 38, and electronic components, such as the control unit 15, from being damaged by water splashed thereon.

[0114] The storage tank 16B which can be attached and detached as a single unit can easily supply water to the first container portion 82B and wash the second container portion 83B at the same time.

[0115] A water inlet 85 for introducing water into the container and a lid 86 for opening and closing the water inlet 85 are provided at the top of the first container portion 82B. A user can easily supply water to the first container portion 82B by opening the lid 86. In addition, a user can easily prevent water from leaking from the first container portion 82B by closing the lid 86.

[0116] An electrolytic water supply port 87 connected to the first supply unit 18 is provided at the bottom of the second container portion 83B. An air hole for removing air from inside the container is provided at the top of the second container portion 83B. The air hole may be open to the outside of the second container portion 83B, or may be connected to the first container portion 82B. A water level gauge 88 for measuring the water level (amount of water, amount of electrolytic water) inside the second container portion 83B is provided inside the second container portion 83B.

[0117] A joint 89 that fluidly connects both containers is provided at the bottom of the first container portion 82B and the top of the second container portion 83B. The joint 89 connects the half on the first container portion 82B side and the half on the second container portion 83B side to open the water passage. The half on the first container portion 82B side and the half on the second container portion 83B side close the passage in the unconnected state to prevent the water (electrolyzed water) in the container from leaking out. It is preferable that the joint 89 is easily connected with the connection of the first container portion 82B and the second container portion 83B, and is easily separated with the separation of the first container portion 82B and the second container portion 83B. For example, in the storage tank 16B that can be separated and connected vertically, the joint 89 has a half provided on the bottom wall of the first container portion 82B and a half provided on the ceiling wall of the second container portion 83B. In a storage tank 16B that can be separated and connected horizontally, a fitting 89 has a half body provided at either the bottom of the side wall of the first container portion 82B or the top of the bottom wall of the second container portion 83B, and a half body provided on a connecting pipe extending from the other of the first container portion 82B and the second container portion 83B to the side of either the first container portion 82B or the second container portion 83B.

[0118] The storage tank 16B supplies the water stored in the first container portion 82B to the second container portion 83B by the height difference between the first container portion 82B and the second container portion 83B, that is, the head difference. Every time the electrolytic water generated in the second container portion 83B is consumed, the water stored in the first container portion 82B is supplied to the second container portion 83B. In the storage tank 16A of the first example, the water level of the first container portion 82A and the water level of the second container portion 83A continue to be balanced, while in the storage tank 16B of the second example, the second container portion 83A is maintained full while water remains in the first container portion 82B.

[0119] The electrode 61 of the electrolytic water generating unit 17 is plate-shaped and extends horizontally. In other words, the normal of the electrode 61 is oriented vertically. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrodes and the negative electrodes are arranged alternately in the direction of the normal.

[0120] The first supply unit 18, i.e., the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66, may be provided in the storage tank 16B or may be provided in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16B, the piping 62 of the first supply unit 18 is integrated with the storage tank 16B and reaches the first supply mechanism unit 63 and the second supply mechanism unit 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping 62 of the first supply unit 18 reaches the first supply mechanism unit 63 and the second supply mechanism unit 65 from the storage tank 16B through the main body 5. When the third supply mechanism unit 66 is provided in the storage tank 16B, the first water guide path 76 of the first supply unit 18 is provided in the storage tank 16B and reaches the third supply mechanism unit 66. In the case where the third supply mechanism 66 is provided in the main body 5, the first water guide path 76 of the first supply unit 18 reaches the third supply mechanism 66 from the storage tank 16B through the main body 5.

[0121] The autonomous vacuum cleaner 1 can also store generated electrolytic water in the storage tank 16. In this case, the storage tank 16 does not need to include multiple containers 81. That is, the storage tank 16 can be a single tank. In addition, when the autonomous vacuum cleaner 1 does not include the electrolytic water generating unit 17, the water supply port 85 of the storage tank 16 is used as a liquid supply port that can replenish generated electrolytic water.

[0122] Next, a detailed description will be given of the second supply unit 19. In the second supply unit 19A of the first example (hereinafter simply referred to as "second supply unit 19A") and the second supply unit 19 of the second example (hereinafter simply referred to as "second supply unit 19B"), the same components are denoted by the same reference numerals, and duplicated descriptions will be omitted.

[0123] FIG. 8 is a schematic diagram of a second supply unit of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0124] As shown in FIG. 8, the second supply unit 19A of the autonomous vacuum cleaner 1 according to this embodiment includes a first shielding device 91 that limits the period during which electrolytic water is supplied.

[0125] The first shielding device 91 can limit the period during which the electrolytic water is supplied to a predetermined period. For example, the period during which the electrolytic water is supplied is limited based on the presence or absence of dust passing through the downstream air passage 39u or the amount of dust accumulated in the dust container 37.

[0126] For example, when dust is passing through the upstream air passage 39u, the first shielding device 91 cuts off air communication between the upstream air passage 39u and the second atomization device 77 to prevent the supply of electrolytic water into the upstream air passage 39u. In other cases, for example, when the electric blower 38 is stopped and no negative suction pressure is generated, the first shielding device 91 exposes the second atomization device 77 to the upstream air passage 39u to allow the supply of electrolytic water into the upstream air passage 39u.

[0127] In addition, when the amount of dust accumulated in the dust container 37 is, for example, half full, i.e., less than 50 percent, the first shielding device 91 cuts off air communication between the inside of the dust container 37 and the second atomization device 77 to prevent the supply of electrolytic water into the dust container 37, and in other cases, i.e., when the amount of dust is 50 percent or more, the first shielding device 91 exposes the second atomization device 77 inside the dust container 37 to enable the supply of electrolytic water into the dust container 37.

[0128] A dust detector 92 is used to detect the passage of dust through the upstream air passage 39u and the amount of dust accumulated in the dust container 37. The dust detector 92 includes, for example, a light-emitting element and a light-receiving element that detects the light emitted by the light-emitting element. The dust detector 92 detects the presence or absence of dust flowing through the upstream air passage 39u by detecting a change in the amount of light passing through the upstream air passage 39u. The dust detector 92 detects the presence or absence of dust passing through the upstream air passage 39u by detecting with the light-receiving element the frequency and time that dust passing through the upstream air passage 39u blocks the light emitted by the light-emitting element. The dust detector 92 also detects the amount of dust accumulated in the dust container 37 by detecting a change in the amount of light passing through the dust container 37. Dust detector 92 detects the amount of dust accumulated in dust container 37 by detecting with a light receiving element the frequency and time that dust accumulated in dust container 37 blocks the light emitted by the light emitting element. Since dust detector 92 detects the presence or absence of dust with light, it does not increase the pressure loss in upstream air passage 39u or reduce the capacity of dust container 37.

[0129] The first shielding device 91 includes a storage section 95 that partitions a space connected to the upstream air passage 39u and stores the second atomization device 77 therein, an openable and closable door section 96 that allows or blocks ventilation between the storage section 95 and the upstream air passage 39u, and an open / close drive section 97 that opens and closes the door section 96.

[0130] The storage section 95 may store a water retaining body 79 in place of or in addition to the second atomization device 77.

[0131] Door portion 96 is provided at the boundary between upstream air passage 39u and accommodation portion 95. Door portion 96 is preferably a sliding door, for example. A sliding door makes it easier to secure the space required for opening and closing compared to a hinged door. Door portion 96 may also be a bellows-type shutter. A shutter can further reduce the space required for opening and closing compared to a sliding door.

[0132] It is preferable that a surface 96a of the door portion 96 on the upstream air passage 39u side is continuous with an inner surface of the upstream air passage 39u. By making the surface 96a of the door portion 96 on the upstream air passage 39u side continuous with the inner surface of the upstream air passage 39u, turbulence of the flow downstream of the door portion 96 is suppressed, and resistance when the door portion 96 is opened or closed can be suppressed.

[0133] When the door portion 96 is closed, it blocks ventilation between the upstream air passage 39u and the storage unit 95, and when it is open, it allows ventilation between the upstream air passage 39u and the storage unit 95. When ventilation between the upstream air passage 39u and the storage unit 95 is blocked, the electrolyzed water atomized by the second atomization device 77 is not supplied to the upstream air passage 39u. When ventilation between the upstream air passage 39u and the storage unit 95 is allowed, the electrolyzed water atomized by the second atomization device 77 is supplied to the upstream air passage 39u.

[0134] The opening / closing drive unit 97 includes a drive source for opening and closing the door unit 96, for example, an opening / closing motor 98. The opening / closing motor 98 transmits a driving force for opening and closing the door unit 96 via, for example, a gear provided on an output shaft and a rack provided on the door unit 96.

[0135] The first shielding device 91 can also be applied to the second supply unit 19 that supplies electrolytic water to the dust container 37. In other words, the first shielding device 91 may include a storage unit 95 that divides a space connected to the dust container 37 and stores the second atomization device 77, an openable and closable door unit 96 that allows or blocks ventilation between the storage unit 95 and the dust container 37, and an open / close drive unit 97 that opens and closes the door unit 96.

[0136] FIG. 9 is a schematic diagram of a second supply unit of a second example of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0137] As shown in Figure 9, the second supply unit 19B of the autonomous vacuum cleaner 1 in this embodiment supplies electrolytic water from outside the suction port 34 to the suction air duct 39 by carrying it along with the flow of air sucked in by the negative pressure acting on the suction port 34.

[0138] In FIG. 9, the first supply unit 18 is omitted.

[0139] The second supply unit 19B supplies electrolytic water from the bottom surface of the main body 5 toward the suction port 34. The second supply unit 19B includes a pipe 101 connected to the storage tank 16, a supply port 102 disposed on the bottom surface of the main body 5 for discharging electrolytic water, and a third atomization device 103 for atomizing the electrolytic water in the pipe 101. That is, the second supply unit 19B of the second example does not supply electrolytic water to the upstream air passage 39u or the dust container 37 in the main body 5 like the second supply unit 19A of the first example, but supplies electrolytic water from the suction port 34 connected to the upstream air passage 39u. That is, the second supply unit 19B of the second example simply supplies electrolytic water to the vicinity of the suction port 34, and causes the electrolytic water to be sucked in by the suction negative pressure acting on the suction port 34. Therefore, unlike second supply section 19A of the first example, second supply section 19B of the second example does not need to have a water guide path inside main body 5 that connects to upstream air passage 39u, dust container 37, or downstream air passage 39d.

[0140] In addition, the second supply unit 19B includes a second shielding device 105 that limits the period during which the electrolytic water is supplied.

[0141] The third atomization device 103 uses various atomization methods, such as a heating type that heats electrolytic water to atomize it, an ultrasonic type that vibrates electrolytic water with ultrasonic waves to atomize it, a spray using the Venturi effect, for example, a method of atomizing electrolytic water with a sprayer, electrostatic atomization that atomizes electrolytic water using corona discharge, and a water crushing type that disperses electrolytic water with a high-speed rotating propeller or the like to crush water molecules. In any method, the third atomization device 103 atomizes electrolytic water to include fine particles with a diameter of 100 micrometers or less, and more preferably, atomizes electrolytic water to include fine particles with a diameter of 10 micrometers or less.

[0142] The supply port 102 is, for example, a nozzle capable of spraying electrolytic water. There may be a plurality of supply ports 102. For example, the supply ports 102 are preferably arranged in a row in the width direction of the suction port 34. The supply port 102 may also be an elongated, flat nozzle having a long side in the width direction of the suction port 34.

[0143] The second shielding device 105 includes a shielding member 106 that is provided closer to the suction port 34 than the supply port 102 , and a shielding drive unit 107 that drives the shielding member 106 .

[0144] The shielding member 106 is a blade made of synthetic rubber such as natural rubber or silicone rubber. It is preferable that the shielding member 106 extends continuously across the entire width of the opening of the suction port 34. The shielding member 106 can move between a protruding position (shielding member 106 shown by a solid line in FIG. 9) where it contacts the surface to be cleaned f and blocks the flow of air sucked from the supply port 102 to the suction port 34, and a retracted position (shielding member 106 shown by a two-dot chain line in FIG. 9) where it is away from the surface to be cleaned f and allows the flow of air sucked from the supply port 102 to the suction port 34. The shielding member 106 in the protruding position blocks the electrolytic water discharged from the supply port 102 before it reaches the suction port 34.

[0145] The shielding drive unit 107 includes a drive source, for example, a shielding motor 108, for causing the shielding member 106 to protrude and retract. The shielding motor 108 transmits a drive force for causing the shielding member 106 to protrude and retract via, for example, a gear provided on an output shaft and a rack provided on the shielding member 106.

[0146] In addition, the second supply mechanism 65 of the first supply unit 18, which supplies electrolytic water from the storage tank 16 to the surface f to be cleaned, may also serve as the second supply unit 19B. In this case, a part of the electrolytic water supplied to the surface f to be cleaned from the second supply port 73 of the second supply mechanism 65 is supplied to the suction air duct 39 from outside the suction port 34 by riding on the flow of air sucked in by the negative pressure acting on the suction port 34. The second shielding device 105 limits the supply period of the electrolytic water sucked from the second supply port 73 of the second supply mechanism 65 to the suction port 34.

[0147] FIG. 10 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention.

[0148] As shown in FIG. 10 in addition to FIGS. 2 to 3, the autonomous vacuum cleaner 1 of this embodiment includes a motor 27 of the moving unit 11, a brush motor 36 and an electric blower 38 of the suction cleaning unit 31, a detection unit 13, a control unit 15, a secondary battery 6, an electrolytic water generation unit 17, and a first supply unit 18, as well as a communication unit 111.

[0149] The communication unit 111 includes a transmission unit 111a that transmits an infrared signal to the station 8, and a reception unit 111b that receives an infrared signal transmitted from the station 8 or a remote controller. The transmission unit 111a includes, for example, an infrared light emitting element. The reception unit 111b includes, for example, a phototransistor.

[0150] The camera unit 51 of the detection unit 13 is, for example, a digital camera. That is, the camera unit 51 includes an image sensor 51a (image sensor) that converts a captured image into an electric signal, and an optical system 51b that forms an image on the image sensor 51a. The image sensor 51a is, for example, a charge-coupled device image sensor (CCD image sensor) or a complementary metal-oxide-semiconductor image sensor (CMOS image sensor). Therefore, the autonomous vacuum cleaner 1 can instantly handle the digital data of the image captured by the camera unit 51. That is, the image captured by the camera unit 51 can be compressed into a predetermined data format, converted into a binary image, or converted into grayscale by using, for example, an image processing circuit. The camera unit 51 captures, for example, an image in the visible light region. The image in the visible light region has a better image quality than, for example, an image in the infrared region, and can easily provide the user with information that can be seen without performing complicated image processing.

[0151] Camera unit 51 is a so-called stereo camera. Images captured by camera unit 51 overlap in a shooting range that includes a position forward of an extension of the center line of autonomous vacuum cleaner 1 in the width direction. Camera unit 51 can obtain information on the depth (the distance from autonomous vacuum cleaner 1) in the shooting range. An image including depth information is called a "distance image."

[0152] Camera unit 51 may be provided with a lighting device such as an LED (Light Emitting Diode) or a light bulb. The lighting device illuminates a part or the whole of the shooting range of camera unit 51. The lighting device enables camera unit 51 to obtain an appropriate image even in a dark place such as behind an obstacle such as furniture or in a dark environment such as at night.

[0153] A large number of pixels are arranged on the light receiving surface of the image sensor 51a. Each pixel on the light receiving surface converts the light it receives into an electrical signal. By integrating the information on the light received by each pixel according to the position of each pixel, an image showing the scene captured by the camera unit 51 is obtained. A typical image sensor 51a captures color images. A color image is expressed by mixing three colors, for example, red, green, and blue.

[0154] The distance measurement device 55 includes a light-emitting unit 55a that irradiates light onto a range for which depth information is to be obtained, and a light-receiving unit 55b that receives the reflected light of the light irradiated from the light-emitting unit 55a. The autonomous vacuum cleaner 1 can obtain distance information from the autonomous vacuum cleaner 1 to a detected object based on the time difference between when the light-emitting unit 55a starts emitting light and when the light-receiving unit 55b receives the reflected light. The light-emitting unit 55a irradiates, for example, infrared light or visible light.

[0155] The control unit 15 includes, for example, a central processing unit (CPU), an auxiliary storage device (for example, a read only memory, ROM) that stores various calculation programs and parameters executed (processed) by the central processing unit, and a main storage device (for example, a random access memory, RAM) in which a working area for the programs is dynamically secured. The auxiliary storage device is preferably rewritable, such as a non-volatile memory.

[0156] The control unit 15 is electrically connected to the motor 27 of the moving unit 11, the brush motor 36 and the electric blower 38 of the suction cleaning unit 31, the detection unit 13, the secondary battery 6, the first shielding device 91, the dust detector 92, the second shielding device 105, and the communication unit 111. The control unit 15 controls the motor 27 of the moving unit 11, the brush motor 36 and the electric blower 38 of the suction cleaning unit 31, the detection unit 13, and the secondary battery 6 in response to commands received from the station 8 and the remote controller via the communication unit 111, and performs autonomous operation and autonomous movement of the autonomous vacuum cleaner 1.

[0157] The control unit 15 includes an autonomous movement control unit 121 that controls the autonomous movement of the autonomous vacuum cleaner 1, and a detection control unit 122 that controls the operation of the detection unit 13. The autonomous movement control unit 121 and the detection control unit 122 are calculation programs.

[0158] The autonomous movement control unit 121 includes a map information memory unit 123 that stores environmental map information (Environment Map) of the cleaning area A, a movement control unit 125 that controls the operation of the electric motor 27 of the moving unit 11, and a suction cleaning control unit 126 that controls the operation of the brush motor 36 of the suction cleaning unit 31 and the electric blower 38.

[0159] The map information storage unit 123 is a collection of data constructed in a storage area secured in the auxiliary storage device, and has an appropriate data structure. The map information storage unit 123 is read from the auxiliary storage device to the main storage device for use, and is updated as appropriate before being overwritten in the auxiliary storage device.

[0160] The environmental map information is information used for the autonomous movement of the autonomous vacuum cleaner 1, and is information including the shape of the area in which the autonomous vacuum cleaner 1 can move at least in the place to be cleaned. The environmental map information is constructed as a collection of neatly arranged rectangles, for example, each having a side length of 10 centimeters. The environmental map information may be prepared in advance when the autonomous vacuum cleaner 1 is used, or may be created at the same time as self-location estimation by Simultaneous Localization and Mapping (SLAM). The environmental map information may be created and updated during the process of movement associated with cleaning operation. When creating the environmental map information by SLAM, the autonomous vacuum cleaner 1 preferably includes various sensors such as an encoder in addition to the detection unit 13. The movement control unit 125 creates the environmental map information based on information acquired from the detection unit 13 and various sensors.

[0161] The movement control unit 125 controls the movement unit 11 based on the environmental map information to autonomously move the autonomous vacuum cleaner 1. The movement control unit 125 controls the magnitude and direction of the current flowing through the electric motor 27 to rotate the electric motor 27 forward or reverse. The movement control unit 125 controls the drive of the drive wheel 26 by rotating the electric motor 27 forward or reverse.

[0162] The suction cleaning control unit 126 individually controls the brush motor 36 and the electric blower 38. The suction cleaning control unit 126 also controls the first shielding device 91 of the second supply unit 19A and the second shielding device 105 of the second supply unit 19B. The suction cleaning control unit 126 controls the first shielding device 91 (or the second shielding device 105) based on the detection result of the dust detector 92, and switches between supplying electrolytic water to the dust container 37 and cutting off the supply.

[0163] Detection control unit 122 controls the operation of camera unit 51. Detection control unit 122 causes camera unit 51 to capture images at predetermined time intervals. Detection control unit 122 stores the images captured by camera unit 51 in detection result storage unit 127. Images captured by camera unit 51 are secured in detection result storage unit 127 in the main storage device. Detection result storage unit 127 stores the images captured by camera unit 51. Detection result storage unit 127 has a capacity capable of storing multiple images.

[0164] The detection result storage unit 127 may store image information representing an image captured by the camera unit 51 without processing, or may store image information processed to reduce the data size as long as information necessary for image analysis processing is left. The image information stored in the detection result storage unit 127 may be, for example, an image captured by the camera unit 51 converted into grayscale (hereinafter, referred to as "image" as in the original image captured by the camera unit 51). In the case of a grayscale image, the pixel value of the image coincides with the luminance value. When storing an image converted into grayscale, the control unit 15 can allocate a smaller memory area capacity, i.e., a smaller resource, to the detection result storage unit 127 than when storing the original image. In addition, when the image converted into grayscale is used for subsequent analysis processing, the control unit 15 can reduce the load on the central processing unit compared to when processing the original image. Image processing including grayscaling of the image may be executed by the camera unit 51. By executing image processing by the camera unit 51, the load on the central processing unit is reduced.

[0165] In addition, the detection control unit 122 controls turning on and off of the lighting device. The lighting device brightens the image, facilitating analysis processing and improving accuracy.

[0166] Furthermore, the detection control unit 122 stores in the detection result storage unit 127 the detection result of the proximity detection unit 52, that is, the approach of the detected object to the main body 5 and the distance between the detected object and the main body 5 at that time.

[0167] Furthermore, the detection control unit 122 stores the detection result of the contact detection unit 53, that is, the fact that the object to be detected has contacted the main body 5, in the detection result storage unit 127.

[0168] The electrolytic water generating unit 17 applies a voltage between the positive and negative electrodes of the electrode 61 while the moving unit 11 is moving the main body 5, and electrolyzes the water stored in the storage tank 16 (storage tank 16A, storage tank 16B) with the power of the secondary battery 6 to generate electrolytic water. Here, the electrolytic water generating unit 17 may generate electrolytic water while the moving unit 11 is moving the main body 5, or may generate electrolytic water for a predetermined period while the moving unit 11 is moving the main body 5. The predetermined period is not particularly limited and can be set appropriately. For example, the predetermined period may be determined according to the concentration of hypochlorous acid contained in the generated electrolytic water, the amount of water stored in the storage tank 16 (storage tank 16A, storage tank 16B), the remaining amount of the secondary battery 6, etc., as described in detail below.

[0169] Furthermore, while the moving unit 11 is not moving the main body, the electrolytic water generating unit 17 may apply a voltage between the positive and negative electrodes of the electrode 61 to electrolyze the water stored in the storage tank 16 (storage tank 16A, storage tank 16B) with the power of the secondary battery 6 to generate electrolytic water. For example, when the main body is stopped in the cleaning area A or when the main body is connected to the station 8, a voltage may be applied between the positive and negative electrodes of the electrode 61 to generate electrolytic water.

[0170] Incidentally, in the storage tank 16A, when the water level of the second container portion 83A is lower than the water level of the first container portion 82A, the water of the first container portion 82A is immediately supplied to the second container portion 83A by the head difference. In the storage tank 16B, when the water level of the second container portion 83B is not full, the water of the first container portion 82A is immediately supplied to the second container portion 83B by the head difference. Therefore, when the water or electrolytic water in the storage tank 16 is insufficient, if the first container portions 82A and 82B are replenished with water, the water before electrolysis generally flows into the second container portions 83A and 83B, and the hypochlorous acid concentration of the electrolytic water in the second container portions 83A and 83B decreases.

[0171] Therefore, it is preferable that the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that electrolytic water containing hypochlorous acid of a desired concentration can be obtained before the movement of the main body 5 is started. For example, in a state in which the second container parts 83A and 83B are filled with water before electrolysis, the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water containing hypochlorous acid of a desired concentration, for example, 5 ppm or more. For example, the electrolytic water generating unit 17 starts generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water containing hypochlorous acid of 5 ppm by applying a voltage of 7.5 volts to the water before electrolysis of the full amount of the second container parts 83A and 83B. The electrolytic water generating unit 17 may start generating electrolytic water before the moving unit 11 moves the main body 5 so that time can be secured to obtain electrolytic water based on the water volume of the second container parts 83A and 83B measured by the water level gauge 88.

[0172] In addition, in order to obtain electrolyzed water containing hypochlorous acid of a desired concentration early after the movement of the main body 5 is started, the electrolyzed water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrode 61 that is larger than in other cases, at least until a predetermined time has elapsed since the moving unit 11 started to move the main body 5. The voltage value at this time is called a high voltage value. For example, the electrolyzed water generating unit 17 applies a high voltage value, for example a voltage of 10 volts, to the electrode 61 until a time has elapsed in which electrolyzed water containing 5 ppm of hypochlorous acid is obtained from the full amount of water before electrolysis in the second container parts 83A and 83B. The electrolyzed water generating unit 17 may apply a high voltage value to the electrode 61 until a time has elapsed in which electrolyzed water is obtained based on the amount of water in the second container parts 83A and 83B measured by the water level gauge 88.

[0173] Furthermore, the electrolytic water generating unit 17 may change the voltage value applied between the positive and negative electrodes of the electrode 61 based on the remaining amount of water stored in the storage tank 16, specifically, in the second container portions 83A and 83B.

[0174] FIG. 11 is a diagram showing an example of the relationship between the amount of water in the storage tank and the voltage applied to the electrodes in the autonomous vacuum cleaner according to the embodiment of the present invention.

[0175] As shown in FIG. 11, when the amount of water stored in the storage tank 16 is greater than a predetermined first threshold value, for example, 80 percent of the full water volume, the electrolytic water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrode 61 that is greater than the other cases, at least until a predetermined time has elapsed since the moving unit 11 started moving the main body 5, so that electrolytic water containing hypochlorous acid of a desired concentration can be obtained early. For example, the electrolytic water generating unit 17 applies a high voltage value to the electrode 61 until a time has elapsed in which electrolytic water containing 5 ppm of hypochlorous acid is obtained from water before electrolysis that is 80 percent of the full water volume of the second container parts 83A and 83B. The electrolytic water generating unit 17 may apply a high voltage value to the electrode 61 until a time has elapsed in which electrolytic water is obtained based on the water volume of the second container parts 83A and 83B measured by the water level gauge 88.

[0176] In other words, the electrolytic water generating unit 17 increases the voltage value applied between the positive and negative electrodes of the electrode 61 at least until a predetermined time has elapsed since the moving unit 11 began to move the main body 5, or when the amount of water stored in the storage tank 16 is greater than a predetermined first threshold value.

[0177] In addition, in the region where the amount of water stored in storage tank 16 is greater than a predetermined first threshold value, the voltage applied to electrode 61 may be constant as shown in Fig. 9, or may change according to the amount of water stored in storage tank 16. When the voltage is changed according to the amount of water stored in storage tank 16, the voltage applied to electrode 61 increases as the amount of water stored in storage tank 16 increases.

[0178] In addition, when the amount of water stored in the storage tank 16 is less than a predetermined second threshold, for example, 20 percent of the full water amount, in order to suppress consumption of power of the secondary battery 6, the electrolytic water generating unit 17 applies a voltage value between the positive and negative electrodes of the electrode 61 that is smaller than in other cases. The voltage value at this time is called a small voltage value. For example, the electrolytic water generating unit 17 applies a small voltage value, for example, a voltage of 5 volts, between the positive and negative electrodes of the electrode 61. The electrolytic water generating unit 17 may apply a voltage of a small voltage value between the positive and negative electrodes of the electrode 61 until a time has elapsed in which electrolytic water is obtained based on the water amount of the second container parts 83A and 83B measured by the water level gauge 88.

[0179] In addition, in a region where the amount of water stored in storage tank 16 is less than a predetermined second threshold, the voltage applied to electrode 61 may be constant as shown in Fig. 9, or may change depending on the amount of water stored in storage tank 16. In a region where the amount of water stored in storage tank 16 is equal to or greater than a predetermined second threshold and equal to or less than a first threshold, the voltage applied to electrode 61 may also be constant as shown in Fig. 9, or may change depending on the amount of water stored in storage tank 16. When the voltage is changed depending on the amount of water stored in storage tank 16, the voltage applied to electrode 61 increases as the amount of water stored in storage tank 16 increases.

[0180] Furthermore, when the entire amount of water stored in the storage tank 16 has been electrolyzed, the electrolyzed water generating unit 17 does not need to apply a voltage between the positive and negative electrodes of the electrode 61. For example, after a voltage of 7.5 volts is applied to the full amount of water before electrolysis in the second container parts 83A and 83B, and a time has elapsed during which electrolyzed water containing 5 ppm of hypochlorous acid is obtained, the electrolyzed water generating unit 17 does not apply a voltage between the positive and negative electrodes of the electrode 61.

[0181] Furthermore, when the remaining amount of power charged in the secondary battery 6 is less than a predetermined remaining amount, the electrolytic water generating unit 17 does not apply a voltage between the positive and negative electrodes of the electrode 61. The predetermined remaining amount is set to a predetermined ratio to the discharge capacity of the secondary battery 6, for example, 20 percent. The predetermined remaining amount may be calculated based on the environmental map information of the cleaning area A, and may be an estimated value of the remaining amount that can cover the calculated power required to return to the station 8 as a charging base, or may be a value that includes a safety factor in the estimated value.

[0182] The first supply unit 18 supplies the electrolytic water in the storage tank 16 to the surface to be cleaned f below the main body 5 or to the wiping unit 32 to sterilize the area to be cleaned A. The first supply unit 18 controls the second opening / closing valve 74 and the first opening / closing valve 72 of the wiping unit 32 to control the amount of electrolytic water supplied from the storage tank 16 (storage tank 16A, storage tank 16B) to the surface to be cleaned f or the wiping member 43.

[0183] The second supply units 19, 19A supply the electrolytic water in the storage tank 16 to at least one of the upstream air duct 39u and the inside of the dust container 37, and sterilize the dust accumulated in the dust container 37. The second supply unit 19A controls the opening / closing drive unit 97 of the first shielding device 91 to control the supply amount of the electrolytic water supplied from the storage tank 16 (storage tank 16A, storage tank 16B) to at least one of the upstream air duct 39u and the inside of the dust container 37.

[0184] The second supply unit 19B supplies the electrolytic water in the storage tank 16 toward the suction port 34 to sterilize the dust accumulated in the dust container 37. The second supply unit 19B controls the shielding drive unit 107 of the second shielding device 105 to control the supply amount of the electrolytic water supplied from the storage tank 16 (storage tank 16A, storage tank 16B) to the suction port 34.

[0185] The first supply unit 18 and the second supply units 19, 19A, and 19B start supplying electrolyzed water after the concentration of hypochlorous acid contained in the electrolyzed water reaches, for example, 5 ppm. The concentration of hypochlorous acid contained in the electrolyzed water may be estimated from the relationship between the amount of water that can be stored in the second container parts 83A and 83B and the voltage applied to the electrode 61 of the electrolyzed water generating unit 17, or may be measured using a sensor capable of measuring the concentration of hypochlorous acid. For example, the first supply unit 18 and the second supply units 19, 19A, and 19B start supplying electrolyzed water after the time required to generate electrolyzed water containing 5 ppm of hypochlorous acid by applying a voltage of 7.5 volts to the full amount of water before electrolysis in the second container parts 83A and 83B has elapsed. In addition, the first supply unit 18 and the second supply units 19, 19A, 19B may start supplying electrolyzed water after the time required to generate electrolyzed water has elapsed based on the water volume in the second container units 83A, 83B measured by the water level gauge 88.

[0186] As described above, the autonomous vacuum cleaner 1 according to this embodiment includes the first supply unit 18 that supplies the electrolytic water stored in the storage tank 16 to the outside of the main body 5, and the second supply units 19, 19A, 19B that supply the electrolytic water stored in the storage tank 16 to at least one of the upstream air duct 39u and the inside of the dust container 37. Therefore, the autonomous vacuum cleaner 1 can sterilize the places where it moves during cleaning, and can sterilize dust that accumulates during cleaning.

[0187] Moreover, the autonomous vacuum cleaner 1 according to this embodiment includes at least one of the second supply unit 19, 19A having the second atomizing device 77 that supplies electrolytic water in a mist form, and the second supply unit 19B having the third atomizing device 103. Therefore, the autonomous vacuum cleaner 1 can atomize electrolytic water containing hypochlorous acid and supply it to at least one of the upstream air duct 39u and the inside of the dust container 37, and easily sterilize the dust accumulated in the dust container 37. Furthermore, the autonomous vacuum cleaner 1 atomizes the electrolytic water to appropriately supply the amount of electrolytic water to the upstream air duct 39u and the inside of the dust container 37, thereby preventing the dust in the dust container 37, the inner surface of the upstream air duct 39u, and the inner surface of the dust container 37 from becoming unnecessarily wet.

[0188] Furthermore, the autonomous vacuum cleaner 1 according to this embodiment includes at least one of the second supply units 19, 19A having a water holding body 79 that vaporizes electrolytic water, and the second supply unit 19B having a water holding body 79 that vaporizes electrolytic water. Therefore, the autonomous vacuum cleaner 1 vaporizes electrolytic water containing hypochlorous acid and supplies it to at least one of the upstream air duct 39u and the inside of the dust container 37, and can easily disinfect dust accumulated in the dust container 37. Furthermore, the autonomous vacuum cleaner 1 vaporizes the electrolytic water to appropriately supply the amount of electrolytic water to the upstream air duct 39u and the inside of the dust container 37, thereby preventing the dust in the dust container 37, the inner surface of the upstream air duct 39u, and the inner surface of the dust container 37 from becoming unnecessarily wet.

[0189] Furthermore, the autonomous vacuum cleaner 1 according to this embodiment includes second supply units 19A and 19B that limit the period during which electrolytic water is supplied. Therefore, whether the autonomous vacuum cleaner 1 atomizes the electrolytic water and supplies it to at least one of the interiors of the upstream air passage 39u and the dust container 37, or whether the autonomous vacuum cleaner 1 vaporizes the electrolytic water and supplies it to at least one of the interiors of the upstream air passage 39u and the dust container 37, the amount of electrolytic water supplied to the interiors of the upstream air passage 39u and the dust container 37 is appropriate, thereby preventing the dust in the dust container 37, the inner surface of the upstream air passage 39u, and the inner surface of the dust container 37 from becoming unnecessarily wet.

[0190] Furthermore, the autonomous vacuum cleaner 1 according to this embodiment includes the first shielding device 91 or the second shielding device 105 that limits the period during which electrolytic water is supplied. Therefore, the autonomous vacuum cleaner 1 can easily and appropriately control the amount of electrolytic water supplied to the upstream air duct 39u and the inside of the dust container 37.

[0191] Moreover, the autonomous vacuum cleaner 1 according to this embodiment has a water supply port 85 (liquid supply port) that can be replenished with electrolytic water. Therefore, the autonomous vacuum cleaner 1 does not have an electrolytic water generating unit 17 inside itself, but can replenish the storage tank 16 with electrolytic water generated outside, for example, at a station 8 having the electrolytic water generating unit 17, to sterilize the places where it moves during cleaning and sterilize dust that accumulates during cleaning.

[0192] Furthermore, the autonomous vacuum cleaner 1 according to this embodiment includes a second supply unit 19B that supplies electrolytic water from the outside of the suction port 34 to the suction air duct 39 by carrying the electrolytic water on the flow of air sucked in by the negative pressure acting on the suction port 34. Therefore, the autonomous vacuum cleaner 1 can sterilize dust in the dust container 37 extremely easily without providing an upstream air duct 39u or a water guide path leading to the dust container 37 in the main body 5.

[0193] Therefore, the autonomous vacuum cleaner 1 according to this embodiment is capable of sterilizing dust that accumulates during cleaning, and can easily sterilize the areas it moves to during cleaning.

[0194] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0195] 1...autonomous vacuum cleaner, 5...main body, 6...secondary battery, 8...station, 9...power cord, 11...moving unit, 12...cleaning unit, 13...detection unit, 15...control unit, 16, 16A, 16B...storage tank, 17...electrolyzed water generating unit, 18...first supply unit, 19, 19A, 19B...second supply unit, 21...main body case, 22...bumper, 26...driving wheel, 27...electric motor, 28...driven wheel, 31...suction cleaning unit, 32...cleaning unit, 34...suction port, 35...rotating brush, 36...blow brush motor, 37...dust container, 38...electric blower, 39...suction duct, 39u...upstream duct, 39d...downstream duct, 41...exhaust duct, 43...cleaning member, 45...wiping member attachment portion, 51...camera portion, 51a...imaging element, 51b...optical system, 52...proximity detector, 53...contact detector, 55...distance measuring device, 55a...light emitter, 55b...light receiver, 61...electrode, 62...piping, 63...first supply mechanism portion, 65...second supply mechanism portion, 66...third supply mechanism part, 71...first supply port, 72...first opening / closing valve, 73...second supply port, 74...second opening / closing valve, 75...first atomization device, 76...first water guide path, 77...second atomization device, 78...second water guide path, 79...water retaining body, 80...moisture absorbing part, 81...container, 82A, 82B...first container part, 83A, 83B...second container part, 85...water supply port, 86...lid, 87...supply port, 88...water level gauge, 89...joint, 91...first shielding device, 92...dust detector, 95...storage part, 96...door part, 96 a...surface of the door section on the suction air duct side, 97...opening / closing drive section, 98...opening / closing motor, 101...piping, 102...supply port, 103...third atomization device, 105...second shielding device, 106...shielding member, 107...shielding drive section, 108...shielding motor, 111...communication section, 111a...transmitter, 111b...receiver, 121...autonomous movement control section, 122...detection control section, 123...map information storage section, 125...movement control section, 126...suction cleaning control section, 127...detection result storage section.

Claims

1. A main body having a suction port; An intake air passage extending from the intake port; an electric blower connected to an end of the intake air passage and configured to generate a negative pressure at the intake port through the intake air passage; a dust collecting section formed in a part of the suction air passage and configured to collect dust sucked into the suction air passage through the suction port; A storage tank provided in the main body for storing electrolytic water; A first supply unit that supplies the electrolytic water stored in the storage tank to the outside of the main body; A second supply unit that, during operation of the electric blower, converts the electrolytic water stored in the storage tank into a mist containing fine particles having a diameter of 10 micrometers or less, and supplies the mist directly to the intake air duct upstream of the dust collecting unit; and a moisture absorbing section provided in the suction air duct that absorbs the mist of electrolytic water flowing through the suction air duct before it reaches the electric blower.

2. The autonomous vacuum cleaner according to claim 1 , wherein the second supply unit includes an atomizing device that atomizes the electrolytic water.

3. The autonomous vacuum cleaner according to claim 1 or 2, wherein the second supply unit limits a period during which the electrolytic water is supplied.

4. The autonomous vacuum cleaner according to claim 3 , wherein the second supply unit includes a shielding device for limiting a period during which the electrolytic water is supplied.

5. The autonomous vacuum cleaner according to claim 1 , wherein the storage tank has a liquid supply port through which the electrolytic water can be replenished.

6. The autonomous vacuum cleaner according to claim 1 , further comprising an electrolytic water generating unit that electrolyzes water to generate the electrolytic water stored in the storage tank.

Images