Surface treatment equipment, sheets, and liquids

Abstract

To provide a surface treatment device capable of continuously treating a surface to be treated with an unused sheet without requiring a user to execute sheet replacement work frequently.SOLUTION: A body part 2 of a surface treatment device 1 includes: a sheet contact body 40 composed of a roller for causing a sheet 23 to come in contact with a floor surface 55; motors 20 and 21 for wheels for rotating wheels 6 and 7; a motor 22 for moving a sheet for moving a contact part of the sheet 23 in contact with the floor surface 55 to a position where it is brought into non-contact with the floor surface 55; and a control part 10 for executing control to drive the motors 20 and 21 for wheels and control to drive the motor 22 for moving a sheet. The control method for driving includes a first control method for starting the movement of the sheet 23 between the start of the movement of the body part 2 and the stop, and a second control method for keeping the movement of the sheet 23 stopped between the start of the movement of the body part 2 and the stop.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a surface processing device, and more particularly to a surface processing device that collects and processes dust from a surface such as a floor by wiping. [Background technology]

[0002] Patent document 1 describes an autonomous robot with a mobile drive system configured to autonomously move a cleaning element over a cleaning surface to perform a floor cleaning task. The robot comprises a housing supported for movement over the cleaning surface, on which a first collection device, a liquid applicator, a smearing element, a scrubbing element, and a second collection device are mounted. The first collection device is configured to collect particulate matter loosened from the cleaning surface across a cleaning width. The liquid applicator is configured to apply a cleaning liquid to the cleaning surface. The smearing element is configured to smear the cleaning liquid applied to the cleaning surface to spread the cleaning liquid evenly over the cleaning surface. The scrubbing element is configured to scrub the cleaning surface. The second collection device is configured to collect waste liquid from the cleaning surface, including the cleaning liquid applied by the liquid applicator and any contaminants removed from the cleaning surface by the cleaning liquid. When the housing is moved in a forward direction, the first collection device precedes the liquid applicator, the liquid applicator precedes the smearing element, the liquid applicator precedes the scrubbing element, and the scrubbing element precedes the second collection device on the cleaning surface. The scrubbing element contacts the cleaning surface during a cleaning operation to agitate the cleaning liquid applied to the cleaning surface, and by agitating the cleaning liquid, mixes the cleaning liquid with contaminants so as to emulsify, break down, or chemically react with the contaminants, and is configured to be replaceable by a user or automatically replenished.

[0003] That is, the scrubbing element precedes the second collection device, the liquid applicator precedes the scrubbing element and the smearing element, and the first collection device precedes the liquid applicator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-200724 A Summary of the Invention [Problem to be solved by the invention]

[0005] The scrubbing element is configured to be replaced by the user. In order to perform long-term cleaning by the autonomous robot, the user must periodically replace the scrubbing element to clean it. Therefore, there was a constraint that the user must be near the autonomous robot. In addition, since a method for realizing a configuration in which the liquid is automatically replenished had not been disclosed, there was a demand for its realization. In addition, if the autonomous robot moves forward and crashes into a wall, the liquid applicator precedes the second recovery device, so that the second recovery device cannot arrive at a position where the cleaning liquid applied by the liquid applicator can be recovered, and there is a case in which the cleaning liquid applied by the liquid applicator cannot be recovered. Therefore, in order to avoid such a situation, in a room where there are obstacles such as walls, desks, and chairs in the forward direction of the autonomous robot, there was a problem that the operation of the liquid applicator must be restricted near the obstacles.

[0006] According to one aspect of the present disclosure, there is provided a surface treatment device capable of automatically supplying unused sheets to perform surface treatment such as floor wiping for a long period of time, and further, there is provided a surface treatment device capable of performing surface treatment such as wiping even near a wall. [Means for solving the problem]

[0007] The surface treatment device of the present invention is a surface treatment device having a main body unit that moves over a surface to be treated and treats the surface to be treated, characterized in that the main body unit comprises a first sheet storage section that stores a long sheet, a second sheet storage section that stores the long sheet that has moved from the first sheet storage section, a sheet drive section that pulls out the long sheet from the first sheet storage section and moves it toward the second sheet storage section while the main body unit is moving forward, a sheet contact body that rotates and contacts one side of the long sheet that moves from the first sheet storage section to the second sheet storage section while the main body unit is moving forward as the long sheet moves, thereby bringing the other side of the long sheet into contact with the surface to be treated, a wheel unit, and a housing that holds the first sheet storage section, the second sheet storage section, the sheet drive section, the sheet contact body, and the wheel unit. The main body is not limited to a self-propelled type, and may be a type that moves when subjected to an external force. The main body does not have to be an integral part. A part of the main body may be configured to be detachable from the other parts. For example, the first sheet storage section, the second sheet storage section, and the sheet contact body, or a part including all or a part of these, may be unitized, and this unit may be configured to be detachable from the remaining part of the main body, that is, to be replaceable as a whole unit. The sheet drive section does not need to move the long sheet all the time while the main body section is moving forward, but it may move the long sheet at least for a part of the time while the main body section is moving. The forward movement is not limited to a straight forward movement, but also includes a right turn forward movement and a left turn forward movement. The term "rotating in association with the movement of the long sheet" includes not only the case where the roller rotates in association with the movement of the long sheet, but also the case where the roller rotates at the same peripheral speed as the movement speed of the long sheet. The wheel portion may be any part that comes into contact with the surface to be treated and contributes to the movement of the main body portion, and is not limited to a wheel that makes rolling contact with the surface to be treated; it may be something that has a function equivalent to a wheel, such as a belt assembly consisting of a pair of rollers and an endless belt that moves between the pair of rollers. The surface treatment device is not limited to a device that wipes and cleans the surface to be treated, but also includes a device that brings about some change to the surface to be treated by moving a long sheet in contact with the surface to be treated, such as a device that waxes the surface to be treated using a long sheet impregnated with wax. Effect of the Invention

[0008] According to the present invention, when the main body moves, an unused portion of the long sheet is supplied to the surface to be treated, and the unused portion of the supplied long sheet can be brought into contact with the surface to be treated. This allows surface treatment such as cleaning of the surface to be treated, such as a floor, to be performed using the unused, for example, clean, sheet portion. Moreover, if the main body is made to be automatically movable, surface treatment such as cleaning can be performed for a long period of time without human intervention. Furthermore, if the sheet contact body does not rotate with the movement of the long sheet, the long sheet will slide on the sheet contact body when moving, and the movement will not be smooth due to friction, that is, a problem may occur in which the sheet contact body hinders the movement of the long sheet. However, according to the present invention, the sheet contact body is configured to rotate with the movement of the long sheet, so that no slip occurs between the long sheet and the sheet contact body when the long sheet moves, and the long sheet can be moved smoothly. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view of a floor mopping machine according to an embodiment of the present invention; [Diagram 2] ZZ cross section of Figure 1 [Diagram 3] A detailed view of the part shown in FIG. 1 excluding the housing and the long sheet. [Figure 4] FIG. 2 shows the floor mopping machine shown in FIG. 1 in a state where it is moved away from the wall. [Diagram 5] FIG. 2 shows the floor mopping machine shown in FIG. 1 in close proximity to a wall. [Figure 6] FIG. 2 is a diagram showing the relationship between the travel distance of the floor wiper shown in FIG. 1 and the travel distance of the long sheet attached to the floor wiper and the elapsed time. [Figure 7] A diagram showing the state in which the floor wiper shown in Figure 1 is cleaning the floor surface (state U) [Figure 8] FIG. 2 shows the state in which the floor wiper shown in FIG. 1 is cleaning the floor surface (state V). [Figure 9] FIG. 2 is a diagram showing a state in which a long sheet is attached to a first cylindrical member in the floor wiping machine shown in FIG. [Figure 10] Block diagram of the floor mopping machine shown in Figure 1 [Figure 11] FIG. 2 is a cross-sectional view showing a state in which an attachment tool is attached to a long sheet wound around a first cylindrical member in the floor wiping machine shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] In FIG. 1, a floor mopping machine 1, which is an embodiment of the surface treatment device of the present invention, includes a main body 2 having a housing 2a that is substantially rectangular in plan view. An opening / closing cover 3, an operation unit 4, and a display unit 5 are provided on the top surface of the housing 2a, and a first wheel 6 (shown by a broken line), a second wheel 7 (shown by a broken line), an electric circuit unit 8, and a battery 9 are provided inside the housing 2a. The electric circuit unit 8 has a control unit 10 (shown in FIG. 10). The first wheel 6 and the second wheel 7 are examples of a wheel unit. The main body 2 will be described with the directions indicated by the arrows C1, C2, and C3 in FIG. 1 and FIG. 2 as up, down, left, and right.

[0012] 2 will be described. The main body 2 further includes a container 15, a tube 16, a liquid ejector 17, a first motor 20, a second motor 21 (illustrated in FIG. 10), a long sheet 23, a first cylindrical member 24, a second cylindrical member 25, a first sheet accommodating section 27, a sheet contact section 29, and a second sheet accommodating section 31. The first sheet accommodating section 27 includes a first roller 33, a second roller 34, a third roller 35, and a first spring 36. The sheet contact section 29 includes a third cylindrical member 40, which is an example of a sheet contact body, a fourth roller 41, a fifth roller 42, a sixth roller 43, a fourth shaft 44 (illustrated in FIG. 3), a fifth shaft 45 (illustrated in FIG. 3), a sixth shaft 46 (illustrated in FIG. 3), a belt 47, and a mounting plate 48. The second sheet storage section 31 has a seventh roller 50, an eighth roller 51, a ninth roller 52, and a second spring 53. The floor wiper 1 shown in FIG. 2 is movably placed on a floor surface (such as a wooden floor, tile, or laminate floor surface) 55, which is an example of a flat surface to be treated. Note that components other than the housing 2a of the main body 2, that is, the wheel section (first wheel 6, second wheel 7), the first sheet storage section 27, the sheet contact section 29, the second sheet storage section 31, and the sheet drive section 60 (control section 10, third motor 22, and eighth roller 51) described later, are all directly or indirectly held by the housing 2a. Note that in this specification, "held" means to hold directly or indirectly.

[0013] The details will be described using both FIG. 1 and FIG. 2. The opening and closing lid 3 can be freely opened by the user. When the opening and closing lid 3 is opened in the direction of the arrow A (shown in FIG. 2), the container 15 is exposed. In FIG. 2, the opening and closing lid 3 is shown in an open state by a two-dot chain line. The container 15 contains a liquid such as a cleaning liquid (such as a mixed liquid containing water, oil, or alcohol). The tube (liquid supply unit) 16 is hollow, and one end is connected to the bottom of the container 15 and the other end is connected to the liquid ejector 17, and supplies the liquid contained in the container 15 to the liquid ejector 17. When the liquid ejector 17 operates, the liquid ejector 17 ejects an appropriate amount of the supplied liquid toward the long sheet 23. If the amount of ejection is too large, the liquid will drip from the long sheet and liquid marks will remain on the floor. If the amount of ejection is too small, the effect of dissolving and lifting up dirt will be reduced. The liquid ejector 17 is supplied with the liquid stored in the container 15 through the tube 16. The liquid ejector 17 has a first ejection port 17a, a second ejection port 17b, a third ejection port 17c, and a fourth ejection port 17d (all shown in FIG. 1) for ejecting the liquid, and the liquid supplied from the container 15 is ejected from each of the ejection ports 17a, 17b, 17c, and 17d, so that the liquid can be uniformly applied to the entire width of the long sheet 23 (the entire width in the direction perpendicular to the direction of the arrow C). The liquid ejected from the liquid ejector 17 is indicated by 17e (see FIG. 2). If the liquid is continuously ejected from each of the ejection ports 17a, 17b, 17c, and 17d, too much liquid is applied to the long sheet 23, and sometimes the liquid drips from the long sheet 23. In this embodiment, the liquid is ejected intermittently to ensure that the amount of liquid ejected is appropriate.

[0014] The first wheel 6 is connected to the first motor 20. The second wheel 7, which is parallel to the first wheel 6 and has the same diameter as the first wheel 6, is connected to the second motor 21. The first wheel 6 and the second wheel 7 are wheels that rotate while in contact with the floor surface 55 when traveling on the floor surface 55. For example, when the main body 2 is placed on the floor surface 55, if the first motor 20 and the second motor operate so that the first wheel 6 and the second wheel 7 rotate at the same rotation speed and in the same direction, if the first wheel 6 and the second wheel 7 rotate forward (in the direction of arrow B shown in FIG. 2), the main body 2 moves in the direction of arrow C (shown in FIGS. 1 and 2), that is, forward (this movement is called forward movement). If the first wheel 6 and the second wheel 7 rotate at the same rotation speed and rotate backward (in the opposite direction to arrow B), the main body 2 moves in the opposite direction of arrow C, that is, backward (this movement is called forward movement). If the rotation speed of the second wheel 7 is higher than that of the first wheel 6 and both are rotating forward, the main body 2 moves in the direction of arrow D (as shown in FIG. 1, this movement is called right turn forward). If the rotation speed of the second wheel 7 is lower than that of the first wheel 6 and both are rotating forward, the main body 2 moves in the direction of arrow E (as shown in FIG. 1, this movement is called left turn forward). If the rotation speed of the second wheel 7 is higher than that of the first wheel 6 and both are rotating backward, the main body 2 moves in the opposite direction of arrow D (this movement is called right turn backward). If the rotation speed of the second wheel 7 is lower than that of the first wheel 6 and both are rotating backward, the main body 2 moves in the opposite direction of arrow E (this movement is called left turn backward). In this specification, when it is simply referred to as forward, it basically includes straight forward, right turn forward, and left turn forward, and when it is simply referred to as backward, it basically includes immediately after, right turn backward, and left turn backward.

[0015] The long sheet 23 has a predetermined length and is made of a material such as polyester, nylon, rayon, or cotton, and is formed into a long and narrow strip shape from a woven or knitted fabric made by weaving or knitting fibers, or from a nonwoven fabric such as paper or felt that is not woven or knitted. One end 23e (shown in FIG. 9) of the long sheet 23 is held and fixed by a first cylindrical member 24, which is an example of a first holding member that holds one end of the long sheet 23, and is wound multiple times in a counterclockwise direction in FIG. 2. The other end of the long sheet 23 that extends from the upper side of the first cylindrical member 24 and passes through the surface of the third cylindrical member 40 is held and fixed by a second cylindrical member 25, which is an example of a second holding member that holds the other end of the long sheet 23, and is wound multiple times in a clockwise direction in FIG. 2. The first cylindrical member 24, the third cylindrical member 40 and the second cylindrical member 25 are all disposed so that their axial directions are parallel to the left-right direction perpendicular to the front-rear direction, and the long sheet 23 moves in the front-rear direction within the main body 2 from the first cylindrical member 24 through the third cylindrical member 40 toward the second cylindrical member 25. When the long sheet 23 is attached to the main body 2, in a plan view (as shown in FIG. 1), the right end 40a and the left end 40b of the third cylindrical member 40 protrude by P to the right and left sides respectively from the housing 2a, and further, the long sheet 23 is attached so that the right end and the left end both protrude by Q from the third cylindrical member 40.

[0016] In addition, the protrusion amount of the first cylindrical member 24 protruding in the same direction from the housing 2a and the protrusion amount of the second cylindrical member 25 protruding in the same direction from the housing 2a are both set to be less than P relative to the protrusion amount P. The reason for this is to avoid a situation in which, when the main body 2 moves forward parallel to the wall while moving inside the room for cleaning, the first cylindrical member 24 or the second cylindrical member 25 comes into contact with the wall before the third cylindrical member 40, making it impossible to clean the corners of the room.

[0017] The first roller 33 and the second roller 34 are disposed apart from each other and rotatably held by the housing 2a. One end of the first spring 36 is in contact with or fixed to a bearing of the third roller 35 rotatably held by the housing 2a. The other end of the first spring 36 is in contact with or fixed to the housing 2a. The first roller 33, the second roller 34, and the third roller 35 are in contact with the long sheet 23 wound around the outer periphery of the first cylindrical member 24. Since the number of turns of the long sheet 23 wound around the first cylindrical member 24 increases the diameter, the first spring 36 is compressed and the third roller 35 urges the long sheet 23 wound around the first cylindrical member 24 toward the first roller 33 and the second roller 34. If the number of turns of the long sheet 23 wound around the first cylindrical member 24 is small, the diameter will be small, so while the first spring 36 stretches, the third roller 35 urges the long sheet 23 wound around the first cylindrical member 24 toward the first roller 33 and the second roller 34.

[0018] Therefore, regardless of the amount of the long sheet 23 wound around the first cylindrical member 24, the long sheet 23 wound around the first cylindrical member 24 is contained between the first roller 33, the second roller 34, and the third roller 35 so that it does not easily slip out from between those rollers.

[0019] The seventh roller 50 is rotatably held by the housing 2a. The eighth roller 51, which is disposed apart from the seventh roller 50 and connected to the third motor 22, has an uneven surface and is driven to rotate by the third motor 22. One end of the second spring 53 is in contact with or fixed to the bearing of the ninth roller 52, which is rotatable. The other end of the second spring 53 is in contact with or fixed to the housing 2a. The seventh roller 50, the eighth roller 51, and the ninth roller 52 are in contact with the long sheet 23 wound around the outer periphery of the second cylindrical member 25. Since the number of turns of the long sheet 23 wound around the second cylindrical member 25 increases, the long sheet 23 has a large diameter. Therefore, while the second spring 53 is compressed, the ninth roller 52 urges the long sheet 23 wound around the second cylindrical member 25 toward the seventh roller 50 and the eighth roller 51. Since the number of turns of the long sheet 23 wound around the second cylindrical member 25 is smaller, the long sheet 23 has a smaller diameter, and as the second spring 53 expands, the ninth roller 52 urges the long sheet 23 wound around the second cylindrical member 25 toward the seventh roller 50 and the eighth roller 51. In Fig. 2, the long sheet 23 is wound more around the first cylindrical member 24, giving it a larger diameter, and the long sheet 25 is wound less around the second cylindrical member 25, giving it a smaller diameter.

[0020] When the third motor 22 operates, the eighth roller 51 rotates in the direction of the arrow F. The eighth roller 51 is in contact with the long sheet 23 wound around the second cylindrical member 25, and since the eighth roller 51 has an uneven surface, the second cylindrical member 25 rotates in the direction of the arrow G in conjunction with the rotation of the eighth roller 51. The long sheet 23 is drawn into the second cylindrical member 25 from the direction of the arrow H, and while being wound around the second cylindrical member 25 and becoming thicker in diameter, the long sheet 23 is wound around the second cylindrical member 25 and collected. The third cylindrical member 40 rotates in the direction of the arrow J in conjunction with the long sheet 23 being sent out in the direction of the arrow H, and the fourth roller 41 and the fifth roller 42 in contact with the third cylindrical member 40 also rotate in conjunction with the long sheet 23. In addition, a belt 47 is stretched between the third cylindrical member 40 and the sixth roller 43, and the belt 47 rotates in conjunction with the rotation of the third cylindrical member 40, and the sixth roller 43 rotates in the direction of arrow K in conjunction with the rotation of the belt 47. When the long sheet 23 moves in the direction of arrow L from the first cylindrical member 24 side to the third cylindrical member 40 side, the first cylindrical member 24 rotates in the direction of arrow M and becomes thinner in diameter. The reduction in the amount of the long sheet 23 wound around the first cylindrical member 24 is equal to the increase in the amount of the long sheet 23 wound around the second cylindrical member 25.

[0021] The third motor 22 is provided with a worm, and a worm wheel is provided on the eighth roller 51 or the rotating shaft (not shown) of the eighth roller 51. Therefore, when the third motor 22 rotates, the eighth roller 51 rotates, but the third motor 22 does not rotate even if the eighth roller 51 is intentionally rotated. In other words, if the long sheet 23 is attached to the main body 2, the second cylindrical member 25 will not rotate in either the forward direction (arrow G direction) or the reverse direction even if the second cylindrical member 25 is intentionally rotated. If the control unit 10 controls the rotation of the third motor 22 so that the eighth roller 51 rotates only in the arrow F direction, the long sheet 23 is wound around the second cylindrical member 25 in only one direction, and the second cylindrical member 25 does not rotate in the reverse direction, so that no slack is generated in the long sheet 23 between the third cylindrical member 40 and the second cylindrical member 25 and in the long sheet 23 between the third cylindrical member 40 and the first cylindrical member 24.

[0022] The third cylindrical member 40, which is the sheet contact body, is made of an elastic body made of an elastic material. The third cylindrical member 40, on which the long sheet 23 is wound from about the 5 o'clock direction to about the 9 o'clock direction, is compressed by Y due to the weight of the main body 2. At the same time, the long sheet 23 forms a contact width X with the floor surface 55. If the third cylindrical member 40 is a rigid body, Y becomes almost zero and X becomes infinitely narrow (becomes a line). When the third cylindrical member 40 is crushed by Y, the long sheet 23 is pressed against the floor surface 55 via the third cylindrical member 40. When the main body 2 moves in this state, the long sheet 23 pressed against the floor surface 55 by the third cylindrical member 40 rubs against the floor surface 55 and acquires dirt on the floor surface 55. Note that the third cylindrical member 40 does not need to be made of an elastic body in its entirety, and only its outer periphery may be made of an elastic body. In this case, the thickness of the elastic layer at the outer periphery can be set to a thickness at which the weight of the main body 2 causes the desired amount of crushing Y or more. In addition, the elastic material can be, for example, rubber or sponge, and urethane or silicone can be used as the material. In the above-mentioned embodiment, the weight of the main body 2 is supported by the wheel parts 6, 7 and the third cylindrical member 40, and the weight of the main body 2 is applied to the third cylindrical member 40 to compress the elastic body, but for example, the third cylindrical member 40 may be rotatably supported by a shaft, and the shaft may be compressed and deformed by biasing it toward the floor surface 55 by an elastic means such as a spring, one end of which is supported by the housing 2a.

[0023] In addition, the third cylindrical member 40 protrudes forward by N from the most distal end position of the housing 2a. When the main body 2 advances in the direction of the arrow C, if there is a wall ahead in the forward direction, the long sheet 23 wound around the third cylindrical member 40 will collide with the wall before the housing 2a. By ensuring the gap N between the housing 2a and the wall, it is possible to prevent the housing 2a from colliding with the wall and the long sheet 23 wound around the third cylindrical member 40 from not reaching the corner. In other words, the long sheet 23 can reach the corner (corner) where the wall and the floor meet, so that cleaning can be performed. In addition, as described above, since the third cylindrical member 40 is formed of an elastic body, the third cylindrical member 40 is elastically deformed, and the long sheet 23 can reach the corner formed by the floor surface 55 and the wall.

[0024] When the long sheet 23 is fed from the first cylindrical member 24 side to the second cylindrical member 25 side, the first cylindrical member 24, in which the number of turns of the long sheet 23 is reduced, becomes thinner from a thick state, and the second cylindrical member 25, in which the number of turns of the long sheet 23 is increased, becomes thicker from a thin state. The outer diameter of the first cylindrical member 24 around which the long sheet 23 is wound after the long sheet 23 is fed from the first cylindrical member 24 around which the long sheet 23 is wound in large amounts, is indicated by a two-dot chain line 60a. Also, the outer diameter of the second cylindrical member 25 around which the long sheet 23 is wound after the long sheet 23 is wound in large amounts around the second cylindrical member 25 around which the long sheet 23 is wound in small amounts is indicated by a two-dot chain line 60b.

[0025] In addition, when the first cylindrical member 24 is in a large diameter state, the long sheet 23 between the first cylindrical member 24 and the third cylindrical member 40 is designated as 23a. When the first cylindrical member 24 is in a small diameter state, the long sheet 23 between the first cylindrical member 24 and the third cylindrical member 40 is designated as 23b. When the second cylindrical member 25 is in a small diameter state, the long sheet 23 between the second cylindrical member 25 and the third cylindrical member 40 is designated as 23c. When the second cylindrical member 25 is in a large diameter state, the long sheet 23 between the second cylindrical member 25 and the third cylindrical member 40 is designated as 23d. When the first cylindrical member 24 is reduced in diameter from a large diameter state, the portion from the liquid ejector 17 to the long sheet 23 changes from the long sheet 23a to the long sheet 23b, but the degree of change is so small that the liquid ejected from the liquid ejector 17 does not fail to reach the long sheet 23.

[0026] The liquid ejected by the liquid ejector 17 is for the purpose of supplying the long sheet 23 impregnated with the liquid to the floor surface 55. To achieve this purpose, the liquid may be ejected onto the long sheet 23 wound around the first cylindrical member 24. Alternatively, the liquid may be ejected onto the surface of the third cylindrical member 40 and transferred to the long sheet 23 in contact therewith. When the liquid ejector 17 is not used, the long sheet 23 may contain liquid in advance. In this case, since the liquid impregnated in the long sheet 23 may evaporate, it is better to form a sealed structure around the long sheet 23 wound around the first cylindrical member 24.

[0027] If the long sheet 23 contains the liquid ejected from the liquid ejector 17, it can perform wet cleaning on the floor surface 55, and if it does not contain the liquid ejected from the liquid ejector 17, it can perform dry cleaning on the floor surface 55.

[0028] Next, the sheet contact portion 29 will be described in detail with reference to FIG. 3. FIG. 3 is a plan view partially illustrating the periphery of the right end portion 40a of the third cylindrical member 40, with the housing 2a and the long sheet 23 removed from the state of FIG. 1. A fourth shaft 44, a fifth shaft 45, and a sixth shaft 46 are fixed to a mounting plate 48 fixed directly or indirectly to the housing 2a. The fourth roller 41 is rotatably supported on the fourth shaft 44, the fifth roller 42 having the same diameter as the fourth roller 41 is rotatably supported on the fifth shaft 45, and the sixth roller 43 is rotatably supported on the sixth shaft 46. A belt 47 is stretched between the sixth roller 43 (shown by a broken line) and the third cylindrical member 40. The tension of the belt 47 pulls the third cylindrical member 40 toward the fourth roller 41 and the fifth roller 42 fixed to the housing 2a. Therefore, the third cylindrical member 40 is rotatably held by the housing 2a. The belt 47 is configured to sink from the surface of the third cylindrical member 40 by the thickness of the belt 47, so that the surface of the third cylindrical member 40 that is not sunk and the surface of the belt 47 are substantially flush with each other. The fourth roller 41, the fifth roller 42, the sixth roller 43, the fourth shaft 44, the fifth shaft 45, the sixth shaft 46, the belt 47, and the mounting plate 48 shown in Fig. 3 are also provided in a similar manner on the left end portion 40b side of the third cylindrical member 40.

[0029] FIG. 4 is a view of a part of the main body 2 shown in FIG. 2 as seen from the front, and is a cross-sectional view taken at the position of the central axis extending in the longitudinal direction (left-right direction) of the third cylindrical member 40. Therefore, the front direction of the figure coincides with the direction of arrow C. Using this FIG. 4, the case of cleaning the floor surface 55 near the corner of the room will be described. The left end portion 40b of the third cylindrical member 40 protrudes from the housing 2a by P. Further, the long sheet 23 protrudes from the left end portion 40b of the third cylindrical member 40 by Q. Let the distance from the left end portion 40b of the third cylindrical member 40 to the wall 65 be R1 (where the relationship Q < R1 holds). The long sheet 23 is pressed against the floor surface 55 by the third cylindrical member 40, and the long sheet 23 can contact the floor surface 55 to clean the floor surface 55. The range of Q is such that the long sheet 23 is not pressed against the floor surface 55 side by the third cylindrical member 40, and the long sheet 23 lightly touches the floor surface 55 to capture dust. In the range from the left end of the long sheet 23 to the wall 65, since the long sheet 23 does not touch at all, the floor surface 55 cannot be cleaned. Note that the right end portion 40a of the third cylindrical member 40 also protrudes from the housing 2a by P, and the long sheet 23 protrudes from the right end portion 40a of the third cylindrical member 40 by Q. Therefore, regarding floor cleaning, the situation on the right end portion 40a side of the third cylindrical member 40 is the same as that on the left end portion 40b side of the third cylindrical member 40 described above.

[0030] Next, an explanation will be given with reference to FIG. 5. FIG. 5 shows the case where R1 shown in FIG. 4 becomes R2 (where the relationship R2 < Q holds). Using this FIG. 5, the case of cleaning the floor surface 55 near the corner of the room will be described. The left end portion 40b of the third cylindrical member 40 protrudes from the housing 2a by P. Further, the long sheet 23 protrudes from the left end portion 40b of the third cylindrical member 40 by Q. Let the distance from the left end portion 40b of the third cylindrical member 40 to the wall 65 be R2. When the long sheet 23 is pressed against the floor surface 55 side by the third cylindrical member 40, the long sheet 23 can clean the floor surface 55 while being in contact with the floor surface 55. Since R2 < Q, the long sheet 23 hits the wall 65, but since the long sheet 23 is soft, it can bend upward from the left end portion 40b of the third cylindrical member 40, thereby bringing R2 closer to zero. Even when R2 becomes zero, the housing 2a does not come into contact with the wall 65. As a result, since the long sheet 23 can be pressed against the floor surface 55 side near the wall 65 by the third cylindrical member 40, the long sheet 23 can clean the floor surface 55 near the wall 65.

[0031] Thus, in the present embodiment, the third cylindrical member 40 is protruded from the housing 2a in the width direction of the main body portion 2, that is, in the left - right direction (the axial direction of the first cylindrical member 24, the second cylindrical member 25, and the third cylindrical member 40), and further, the long sheet 23 is protruded from the third cylindrical member 40 in the width direction of the main body portion 2. Therefore, the cleaning of the corner of the room due to the housing 2a hitting the wall 65 is not hindered. Even if the long sheet 23 is not protruded from the third cylindrical member 40 in the width direction of the main body portion 2, wiping cleaning inside the room can be performed, but it is not suitable for cleaning near the wall.

[0032] Next, the moving distance of the main body portion 2 and the moving distance of the long sheet 23 when the main body portion 2 moves will be described.

[0033] The case of dry cleaning will be described. If the main body 2 continues moving forward (not limited to moving forward in a straight line, but also including moving forward by turning right and left) for a first predetermined time from the start of forward movement, the third motor 22 starts and starts moving the long sheet 23 after the first predetermined time has elapsed from the start of forward movement of the main body 2. If the main body 2 continues moving forward for a second predetermined time from the start of the third motor 22, the third motor 22 stops after operating for the second predetermined time. If the main body 2 moves backward (not limited to moving forward directly, but also including moving backward by turning right and left) or stops within the second predetermined time from the start of the third motor 22, the third motor 22 stops with a delay of Δt from the end of the forward movement of the main body 2.

[0034] In the case of wet cleaning, before the movement of the main body 2 starts, liquid is supplied from the liquid injector 17 to the long sheet 23, and then the third motor 22 operates until the portion of the long sheet 23 containing the liquid is positioned between the third cylindrical member 40 and the floor surface 55, and then stops. Then, the movement of the main body 2 starts.

[0035] The following describes the amount of movement of the main body 2 and the amount of movement of the long sheet 23 in the case of dry cleaning, including the above-mentioned contents, with reference to Fig. 6. In Fig. 6, when the third motor 22 is stopped, the long sheet 23 does not move, and when the third motor 22 is operating, the long sheet 23 moves.

[0036] FIG. 6 shows the time and distance traveled (the distance traveled by the main body 2 and long sheet 23) when the floor mopping machine 1 moves forward and backward on a flat floor surface to perform dry cleaning. The horizontal axis represents time, and the vertical axis represents the distance traveled. A case in which the main body 2 moves forward and backward will be described. The starting point of the main body 2 is set to S0. The distance from S0 to the first point is set to S1. The distance from S0 to the second point is set to S2. The distance from S0 to the third point is set to S3. S3 is longer than S2, and S2 is longer than S1. Furthermore, the distance traveled by the main body 2 per unit time when moving forward and backward is set to θ1, and the distance traveled by the long sheet 23 per unit time is set to θ2. θ1 is greater than θ2.

[0037] The main body 2 is stopped at S0 between time t0 and time t1, and the third motor 22 is also stopped. After time t1, the main body 2 starts moving forward toward the first point, and when the main body 2 starts and the time becomes t2 (the time from t1 to t2 is defined as T1), the main body 2 continues moving forward, so the third motor 22 starts and starts moving the long sheet 23. That is, at time t2, it is considered that the main body 2 has moved for the predetermined time T1 and a predetermined amount of dust has been captured by the long sheet 23, so the long sheet 23 is moved to supply an unused sheet portion to the sheet contact body 40.

[0038] At time t3 (the time that has elapsed from the start of the third motor 22 to t3 is T2), the main body 2 continues to move forward, but since the time T2 has elapsed since the time t2 at time t3, the third motor 22 stops and the movement of the long sheet 23 stops. It is desirable that T2 is a time required for the portion of the long sheet 23 in contact with the sheet contact body 40 to be completely replaced with an unused sheet portion or a time longer than that. After that, the main body 2 passes the first point, and since the main body 2 continues to move forward even after the time T1 has elapsed since the third motor 22 stopped, the third motor 22 starts again (at time t4) after the time T1 has elapsed since the third motor 22 stopped, and the movement of the long sheet 23 begins. After that, when the main body 2 arrives at the second point and stops at time t5, the third motor 22 stops after Δt has elapsed since the main body 2 stopped, although only T2 or less has elapsed since the start of operation. The fact that the long sheet 23 is moving means that a predetermined amount of dust has been captured by the long sheet 23, and the movement of the long sheet 23 is continued for Δt in order to sufficiently replace the used sheet portion capturing the predetermined amount of dust with an unused sheet portion. When the main body 23 stops moving while the long sheet 23 is moving, the movement of the long sheet 23 is continued for Δt, and the movement of the main body 2 is kept stopped during that time, that is, until the movement of the long sheet 23 is completed. This is because, for example, if the backward movement is started before the movement of the long sheet 23 is completed, there is a risk that dust will be left behind on the floor surface 55.

[0039] After the main body 2 stops at the second point, at time t6 the main body 2 starts moving backward, and at time t7 the main body 2 arrives at the first point and stops. The third motor 22 is not operated while moving backward. At time t8 the main body 2 starts moving forward again toward the third point beyond the second point.

[0040] The main body 2 starts moving forward at time t8, and when time t9 arrives, the third motor 22 starts moving because T1 has elapsed since the main body 2 started moving forward. The main body 2 passes the second point, and when time t10 arrives, the main body 2 arrives at the third point and stops. At time t10, only T2 or less has elapsed since the third motor 22 started to start, so the third motor 22 stops at time t11, which is Δt after the main body 2 stops. After the third motor 22 stops at time t11, the main body 2 resumes moving forward at time t12 and stops at time t13. In this case, the time from when the main body 2 resumes moving forward to when it stops (the time from time t12 to time t13) is less than T1, so the third motor 22 remains stopped, and the long sheet 23 remains stopped moving after time t11. At t13, the forward movement time of the main body 2 is equal to or shorter than T1, so that only a predetermined amount of dust has been captured by the long sheet 23, and therefore, after t13, the movement of the main body 2 can be resumed while the movement of the long sheet 23 remains stopped. If the main body 2 changes from forward movement to stopped movement while the long sheet 23 is moving, the movement of the long sheet 23 continues until the time Δt has elapsed after the main body 2 has stopped, but during that time the main body 2 remains stopped and does not move forward or backward. Also, although not shown in FIG. 6, if the long sheet 23 is not moving at the time the main body 2 changes from forward movement to stopped movement, the stop of the movement of the long sheet 23 can continue.

[0041] 6, when wet cleaning is performed, the liquid ejector 17 operates for a predetermined time just before the third motor 22 starts to wet the long sheet 23, and as the third motor 22 starts to operate, the wet long sheet 23 comes into contact with the sheet contact body 29 and then with the floor surface 55, thereby enabling wet cleaning to be performed. The ejection by the liquid ejector 17 is performed from just before the third motor 22 starts to start after the main body 2 starts to move forward, until the third motor 22 stops.

[0042] Now, let us consider Fig. 7. Fig. 7 shows the state between time t1 and time t2 in Fig. 6 (referred to as state U). The main body 2 has advanced in the direction of arrow C, and dust particles that were on the floor surface 55 have accumulated and become dust particles 80a at the boundary between the long sheet 23 that is in close contact with the surface of the third cylindrical member 40 and the floor surface 55. As the dust particles 80a are a result of the accumulation of multiple dust particles, dust particles 80b, 80c, 80d, and 80e that are on the floor surface 55 and have not yet come into contact with the long sheet 23 are sufficiently smaller than the accumulated dust particles 80a.

[0043] 8 will be described. FIG. 8 shows a state between t2 and t3 in FIG. 6 (referred to as state V). As the main body 2 advances in the direction of the arrow C, the long sheet 23 moves with the rotation of the third cylindrical member 40 in the direction of the arrow J due to the operation of the third motor 22, so that the dust 80a in contact with the long sheet 23 is captured by the long sheet 23 and is separated from the floor surface 55 by the movement of the long sheet accompanied by the rotation of the third cylindrical member 40 in the direction of the arrow J. At the boundary between the long sheet 23 in close contact with the surface of the third cylindrical member 40 and the floor surface 55, new dust 80b and dust 80c are accumulated and integrated, becoming larger than the dust 80b and dust 80c shown in FIG. 7. As the main body 2 advances and the long sheet 23 moves, the dust 80b and dust 80c are successively captured by the long sheet 23, and the floor surface 55 is cleaned.

[0044] No dust adheres to one surface (referred to as the back surface) of the long sheet 23 that comes into contact with the third cylindrical member 40, and the other surface (referred to as the front surface) of the long sheet 23, which is the surface opposite to the back surface, has the acquired dust adhered to it. The long sheet 23 that has passed through the third cylindrical member 40 is wound around the second cylindrical member 25, and the surface to which the dust adheres is wound so as to face the axis of the third cylindrical member 25, i.e., facing inward. In other words, the seventh roller 50, the eighth roller 51, and the ninth roller 52 do not come into contact with the surface to which the dust adheres, and therefore, it is possible to avoid the occurrence of a situation in which the dust moves to the surfaces of the seventh roller 50, the eighth roller 51, and the ninth roller 52, thereby preventing smooth rotation. In addition, the long sheet 23 wound around the second cylindrical member 25 is wound so that the surface to which the acquired dust adheres faces the axis of the third cylindrical member 25, and therefore the dust is prevented from falling from the long sheet 23 onto the floor surface 55. In addition, in order to prevent dust from falling onto the floor surface 55 from the long sheet 23 that has passed through the third cylindrical member 40, the positioning position of the second cylindrical member 25 is determined so that the surface of the long sheet 23 that has passed through the third cylindrical member 40 faces upward (not toward the floor surface 55).

[0045] When the main body 2 moves forward in the direction of arrow C, the long sheet 23 on the surface of the third cylindrical member 40 moves in the same direction (arrow W direction) as the main body 2 moves between the third cylindrical member 40 and the floor surface 55 (at a position passing the sheet contact body 40, i.e., at a position contacting the floor surface 55) by the operation of the third motor 22. In other words, the rotation direction of the first wheel 6 and the second wheel 7 and the rotation direction of the third cylindrical member 40 are opposite to each other.

[0046] 9 will be described. FIG. 9 illustrates a first turn 23f of the long sheet 23 wound around the first cylindrical member 24, a second turn 23g of the long sheet 23, and a first holding portion 67 that holds one end 23e of the long sheet 23 on the surface of the first cylindrical member 24. The first cylindrical member 24 has a recess 24a that accommodates the one end 23e of the long sheet 23. After the one end 23e of the long sheet 23 is accommodated in the recess 24a of the first cylindrical member 24, the first holding portion 67 covers both the one end 23e of the long sheet 23 and the first cylindrical member 24 across the first cylindrical member 24, so that the one end 23e of the long sheet 23 is held in the recess 24a of the first cylindrical member 24. The first retaining portion 67 can be realized in various configurations, such as a sheet having an adhesive surface on the opposing surface facing the surface of the first cylindrical member 24, or a spring member pressing one end 23e of the long sheet 23 against the surface of the first cylindrical member 24 to prevent one end 23e of the long sheet 23 from slipping out of the recess 24a of the first cylindrical member 24.

[0047] The other end of the long sheet 23 is held by a second holding portion (not shown) on the second cylindrical member 25, but the method for fixing the other end of the long sheet 23 to the second cylindrical member 25 is the same as the configuration for holding the one end 23e described above, so a description thereof will be omitted. Also, the first holding portion 67 and the second holding portion do not necessarily have to be realized with the same configuration, and may be appropriately selected based on costs and the size of the surrounding space.

[0048] FIG. 10 will be described. The control unit 10 is connected to the operation unit 4, the display unit 5, the battery 9, the liquid ejector 17, the first motor 20, the second motor 21, the third motor 22, the water level detector 70, the sheet detector 73, the information processor 74, and the camera unit 75. The control unit 10, the third motor 22, and the eighth roller 51 constitute a sheet drive unit 60. The movement of the long sheet 23 shown in FIG. 6 is controlled by this sheet drive unit 60. The sheet drive unit 60 stores the above T1, T2, Δt, θ2 (the moving speed of the long sheet 23) and the sheet movement rule in advance, measures the elapsed time from the start of rotation of the first motor 20 and the elapsed time from the stop of rotation using a timer, measures the elapsed time from the start of rotation of the third motor 22 and the elapsed time from the stop of rotation, and controls the rotation of the third motor (start of rotation, stop of rotation, rotation speed) based on the above, thereby realizing the above sheet movement control. The control unit 10 is realized as an LSI, which is a typical integrated circuit. The method of integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. A Field Programmable Gate Array (FPGA) that can be programmed after LSI manufacture, or a reconfigurable processor that can reconfigure the connections and circuit cells inside the LSI may be used.

[0049] The operation unit 4 has a switch for turning on and off the power supply of the main body unit 2. It also has a function for starting and stopping the operation of the main body unit 2. When an operation for starting the operation of the main body unit 2 is performed, the control unit 10 controls the main body unit 2 to start floor wiping while moving forward and backward in the room. When an operation for ending the operation is performed, the movement of the main body unit 2 is stopped. When the power supply of the main body unit 2 is turned on, the display unit 5 is controlled by the control unit 10 to display the volume of the liquid contained in the container 15 and the remaining capacity information of the battery 9. The battery 9 supplies power to the operation unit 4, the display unit 5, the liquid ejector 17, the water level detection unit 70, the first motor 20, the second motor 21, the third motor 22, the sheet detection unit 73, the information processing unit 74, and the camera 75 under the control of the control unit 10. The water level detection unit 70 is provided in the container 15 and detects the volume of the liquid in the container 15. When the amount of liquid falls below a predetermined amount, a message indicating that the remaining amount is below the predetermined amount is displayed on the display unit 5 to inform the user that the remaining amount of liquid is low.

[0050] By operating the operation unit 4, it is possible to select between dry cleaning, which does not contain liquid, and wet cleaning, which does cleaning with a small amount of liquid, and the liquid ejector 17 performs the ejection operation described above only when wet cleaning is selected. If the water level detection unit 70 detects that the water level is below a predetermined amount, the user cannot select wet cleaning.

[0051] The sheet detection unit 73 is provided in the first sheet storage unit 27, and detects whether the long sheet 23 is wound around the surface of the first cylindrical member 24 or whether the thickness of the wound long sheet 23 is a predetermined amount. Whether the long sheet 23 is wound around the surface of the first cylindrical member 24 can be determined, for example, by detecting whether the surface of the first cylindrical member 24 is exposed. If the sheet detection unit 73 determines that there is no long sheet 23 on the surface of the first cylindrical member 24 or that the thickness of the wound long sheet 23 is equal to or less than a predetermined amount, the third motor 22 is controlled not to operate, and the display unit 5 displays a message informing the user that there is no long sheet 23 on the first cylindrical member 24.

[0052] The information processing unit 74 processes position information of the main body unit 2 obtained from the photographing information captured by the camera unit 75, and processes information to instruct the first motor 20, the second motor 21, and the third motor 22 to eliminate uncleaned areas in the room. This makes it possible to clean the entire room. The camera unit 75 is provided inside the main body unit 2. When the main body unit 2 moves to every corner of the room by combining forward and backward movements, the camera unit 75 controlled by the control unit 10 photographs the surroundings, and from the photographed photographing information, it is possible to detect in which direction and how far the main body unit 2 has moved from the starting position.

[0053] 11 is a diagram showing a state in which an attachment 77 is attached to the long sheet wound around the first cylindrical member 24. When the C-shaped attachment 77 is attached to cover the long sheet 23 wound around the first cylindrical member 24, except for the portion extending toward the second cylindrical member 25, the long sheet 23 is prevented from being unwound from the first cylindrical member 24. This improves the ease of handling of the first cylindrical member having the long sheet 23 before it is accommodated in the first sheet accommodating section 27. Of course, when the first cylindrical member 24 having the long sheet 23 is accommodated in the first sheet accommodating section 27, the attachment 77 is removed. The C-shape refers to a shape having an opening 77a, in which the angle α formed by the line segment connecting the first end 77b, which is an end of the opening 77a and contacts the long sheet 23, and the center of the first cylindrical member 24, and the line segment connecting the second end 77c, which is an end of the opening 77a of the mounting tool 77 and contacts the long sheet 23, and the center of the first cylindrical member 24, is less than 180 degrees, and the distance D1 between the first end 77b and the second end 77c is smaller than the diameter D2 formed by the long sheet 23 wrapped around the first cylindrical member 24. If α is 180 degrees or more, even if the mounting tool 77 is attached so as to cover the long sheet 23, it will easily come off to the right in FIG. 11. If α is less than 180 degrees, in order to come off to the right in FIG. 11, the opening 77a must be expanded until the distance D1 between the first end 77b and the second end 77c becomes D2 or more.

[0054] Next, the operation when cleaning floor surface 55 in a room will be described.

[0055] When the user operates the operation unit 4 to turn on the power supply of the main body 2, the main body 2 becomes movable. Furthermore, when the user operates the operation unit 4 to select the wet cleaning mode or the dry cleaning mode, whether or not liquid is to be ejected from the liquid ejector 17 during the subsequent movement operation is determined. Furthermore, when the user operates the operation unit 4 to perform a start operation, if it is detected that the long sheet 23 is attached to the main body 2 and that the long sheet 23 is wrapped around the surface of the first cylindrical member 24, the main body 2 can start moving. By controlling the first motor 20 and the second motor 21 while processing the photographic information captured by the camera unit 75, the main body 2 moves autonomously within the room. When the main body 2 moves, the long sheet 23 pressed against the floor surface by the third cylindrical member 40 cleans the floor surface. 1, during cleaning, the long sheet 23 moves in the front-rear direction of the main body 2, i.e., the width direction of the long sheet 23 is the left-right direction of the main body 2, and the first wheel 6 and the second wheel 7 are arranged to be located within the width area of ​​the long sheet when viewed from the front of the main body 2, so that when the main body 2 moves forward to perform cleaning, the first wheel 6 and the second wheel 7 run on the floor surface already cleaned by the long sheet 23, preventing dust on the floor surface from adhering to the first wheel 6 and the second wheel 7. During cleaning, if the dry cleaning mode is selected in the operation before starting, liquid is not injected from the liquid ejector 17, and if the wet cleaning mode is selected, liquid is injected from the liquid ejector 17.

[0056] The operation of the long sheet 23 will be described. When the third motor 22 operates and the second cylindrical member 25 around which the long sheet 23 is wound rotates in the direction of the arrow G, the long sheet 23 wound around the first cylindrical member 24 is pulled out from the first cylindrical member 24 and pressed against the floor surface by the third cylindrical member 40 to clean the floor surface. In the case of wet cleaning, the long sheet 23, which is not in contact with the floor surface and contains the liquid sprayed from the liquid ejector 17, comes into contact with the floor surface to clean the floor surface. The only difference between dry cleaning and wet cleaning is whether or not the liquid is ejected from the liquid ejector 17. By repeating this operation, the long sheet 23 that is not in contact with the floor surface is sequentially supplied, and the supplied long sheet 23 can be brought into contact with the floor surface to clean the floor surface, so that the floor surface can be cleaned cleanly. By keeping the dirty long sheet 23 in contact with the floor surface, it is possible to prevent the long sheet 23 from being unable to pick up dirt from the floor surface.

[0057] Next, the replacement operation of the long sheet 23 will be described. The explanation will start from the state in which the long sheet 23 is attached to the main body 2 as shown in Fig. 2. When the first cylindrical member 24 housed in the first sheet housing section 27 is pulled out in the direction of the arrow C, the first spring 36 is compressed and the first cylindrical member 24 starts to move in the direction of the arrow C. When the maximum diameter part of the wound part of the long sheet 23 wound around the first cylindrical member 24 passes through an imaginary line connecting the center of the second roller 34 and the center of the third roller 35, removal from the first sheet housing section 27 is completed. Furthermore, when the second cylindrical member 25 housed in the second sheet housing section 31 is pulled out in the direction opposite to the arrow H, the second spring 53 is compressed and the second cylindrical member 25 begins to move in the direction opposite to the arrow H, and when the maximum diameter part of the wound part of the long sheet 23 wound around the second cylindrical member 25 passes an imaginary line connecting the center of the seventh roller 50 and the center of the ninth roller 52, removal from the second sheet housing section 31 is complete. The long sheet 23 can be attached to the main body section 2 by performing the above-mentioned removal operations in reverse order.

[0058] In order to make it easier to attach and detach the long sheet 23, it is desirable to aggregate and consolidate a plurality of parts. If the first cylindrical member 24, the first sheet accommodating section 27, the sheet contact section 29, the second sheet accommodating section 31, the second cylindrical member 25, and the long sheet 23 are aggregated and an integrated component (called a cleaning cartridge) 80 is made detachable from the main body 2, the time required for replacement by the user can be shortened. For example, the configuration for transmitting power from the third motor 22 to the eighth roller 51 may be such that a worm is provided on the third motor 22 and a worm wheel is provided coaxially with the rotation axis of the eighth roller 51. When the cleaning cartridge is removed, the meshing between the worm and the worm wheel is released, and when the cleaning cartridge is attached to the main body 2, the worm and the worm wheel can be meshed. The cleaning cartridge may include at least the first cylindrical member 24 that holds one end 23a of the long sheet 23 and the second cylindrical member 25 that holds the other end, and may add components or change the form as appropriate. In this case, if the long sheet 23 wound around the first cylindrical member 24 is covered with the above-mentioned attachment 77 so as to exclude the portion pulled out toward the second cylindrical member 25, the long sheet 23 can be prevented from unwinding from the first cylindrical member 24, and the first cylindrical member 24 or the cleaning cartridge 80 having the long sheet 23 can be easily handled.

[0059] The main body 2 does not need to be an integrated body in which each component is integrated, but a part of the main body 2 may be unitized and this unit may be configured to be detachable from the remaining part of the main body 2. For example, the first sheet accommodating section 27, the sheet contact body 40 (or the sheet contact section 29), and the second sheet accommodating section 31 may be one unit, or a part of these three may be one unit, or all or a part of these three and another part may be one unit. The above-mentioned cleaning cartridge is an example of such a unit.

[0060] In addition, in order to rotate the second cylindrical member 25 to move the long sheet 23, the eighth roller 51, to which the driving force generated by the third motor 22 is transmitted, is pressed against the surface of the long sheet 23 wound around the second cylindrical member 25 to move the long sheet 23. However, as an alternative to the method of applying a force to the long sheet 23 by the 8th roller 51, an 8th roller spaced away from the surface of the long sheet 23 and a new roller are provided in addition to the 8th roller, and a belt member is stretched between the new roller and the 8th roller, and this belt member is pressed against the surface of the long sheet 23 wound around the second cylindrical member 25 and rotated. This ensures a large contact area between the long sheet 23 and the belt member, making it easier to avoid slippage (a state in which the long sheet 23 wound around the second cylindrical member 25 does not move even when the 8th roller 51 rotates), and makes it possible to more reliably apply a moving force to the long sheet 23 (or a rotating force to the second cylindrical member 25). The long sheet 23 may be moved by directly rotating the second cylindrical member 25.

[0061] Note that the wet cleaning described in this embodiment does not refer to wetting the long sheet 23 with water, wringing it out, and then wiping the surface to be cleaned, but rather refers to supplying the long sheet 23 with enough liquid so that it does not need to be wrung out, and moving it in contact with the surface to be cleaned to capture and collect dust on the surface to be cleaned.

[0062] Note that, between the first cylindrical member 24 and the third cylindrical member 40, a roller member with which the long sheet 23 comes into contact may be provided as appropriate to change the path of the long sheet 23. Also, between the second cylindrical member 25 and the third cylindrical member 40, a roller member with which the long sheet 23 comes into contact may be provided as appropriate to change the path of the long sheet 23.

[0063] Moreover, the sheet contact body 40 has been described as being configured as a cylindrical member, but this is not necessarily the case.

[0064] The above-mentioned embodiment will now be summarized. In the following, the operation and effect will be described assuming that the surface treatment device of the present invention is configured as a floor wiper for cleaning floor surfaces.

[0065] The first invention is a surface treatment device having a main body that moves over a surface to be treated and treats the surface, the main body comprising a first sheet storage section for storing a long sheet, a second sheet storage section for storing the long sheet that has moved from the first sheet storage section, a sheet drive section for drawing out the long sheet from the first sheet storage section and moving it toward the second sheet storage section while the main body section moves forward, a sheet contact body that rotates and contacts one side of the long sheet that moves from the first sheet storage section to the second sheet storage section while the main body section moves forward, as the long sheet moves, and brings the other side of the long sheet into contact with the surface to be treated, a wheel section, and a housing that holds the first sheet storage section, the second sheet storage section, the sheet contact body, the sheet drive section, and the wheel section. For example, the first sheet storage section contains a first holding member that holds one end of the long sheet. The second sheet storage section contains a second holding member that holds the other end of the long sheet.

[0066] According to this configuration, when the main body moves on the floor surface, the long sheet that captures and collects dust on the floor surface moves while contacting the sheet contact body that rotates as the long sheet moves, so there is no slippage between the long sheet and the sheet contact body when the long sheet moves, and the long sheet that contacts the sheet contact body can be smoothly switched from a used part (a part that has already contacted the floor surface) to an unused part (a part that has not yet contacted the floor surface). This allows the floor surface to be wiped clean using unused long sheets in sequence.

[0067] A second invention is the first invention, wherein a part or the whole of the sheet contact body is arranged forward of the first sheet accommodating portion and the second sheet accommodating portion.

[0068] According to this configuration, the long sheet in contact with the sheet contact body can reach a forward position before the first sheet storage section and the second sheet storage section, so that when the main body section moves forward while cleaning, if there is an obstacle ahead, the long sheet in contact with the sheet contact body can reach the base (nearby) of the obstacle before the first sheet storage section or the second sheet storage section collides with the obstacle. Therefore, the area that can be cleaned can be expanded, such as being able to clean the base of the obstacle, and the so-called unwiped area can be reduced.

[0069] The third invention is the first or second invention, wherein a part or all of the sheet contact body is positioned forward of the foremost end position of the housing when the main body moves forward. Note that the sheet contact body may be disposed so that a part or all of it is positioned forward of the foremost end position of the housing, or may be configured to move forward so that a part or all of it is positioned forward of the foremost end position of the housing when the main body moves forward.

[0070] According to this configuration, the long sheet in contact with the sheet contact body can reach a forward position before the housing of the main body, so that when the main body moves forward while cleaning, if there is an obstacle ahead, the long sheet in contact with the sheet contact body can reach the base (nearby) of the obstacle before the housing collides with the obstacle. Therefore, the area that can be cleaned can be expanded, such as being able to clean the base of an obstacle, and the so-called unwiped area can be reduced.

[0071] A fourth invention is the first or second invention, wherein a part or all of the sheet contact body is located at a position where it is exposed forward of the foremost end position of the housing when the main body is viewed from above when the main body is moved forward. Note that the sheet contact body may be disposed at a position where it is exposed forward of the foremost end position of the housing, or may be configured to move forward to a position where it is exposed forward of the foremost end position of the housing when the main body is moved forward.

[0072] The effects of this configuration are similar to those of the third aspect of the invention.

[0073] A fifth invention is any one of the first to fourth inventions, wherein the long sheet moves in the front-rear direction of the main body, the sheet contact body is disposed forward of the wheel section, and the wheel section is disposed within the width area of ​​the long sheet when the main body is viewed from the front. Note that "the long sheet moves in the front-rear direction of the main body" means that the direction of movement of the long sheet when it moves from the first sheet storage section to the second sheet storage section via the sheet contact body is the front-rear direction of the main body, that is, the sheet moves with the width direction of the sheet (the direction perpendicular to the longitudinal direction of the long sheet) coinciding with the left-right direction of the main body.

[0074] According to this configuration, when the main body moves forward, the wheel part passes through the area where the long sheet that contacts the sheet contact body on the floor surface has passed, so the wheel part can be prevented from becoming dirty. If the wheel part does not become dirty, dirt can be prevented from falling off the wheel part and the floor surface after cleaning can be prevented from becoming dirty.

[0075] The sixth invention is any one of the first to fifth inventions, wherein the sheet contact body has an elastic body on its outer periphery, and the weight of the main body acts on the sheet contact body to compressively deform the elastic body on the treated surface.

[0076] According to this configuration, the weight of the main body presses the long sheet against the floor surface via the sheet contact body, so that even if dirt that is relatively difficult to remove adheres to the floor surface, the dirt can be removed by rubbing it hard. Also, by compressing and deforming the elastic body on the floor surface, the contact area of ​​the long sheet with the floor surface can be increased, allowing for more reliable cleaning.

[0077] The seventh invention is any one of the first to sixth inventions, wherein the long sheet that has passed through the sheet contact body moves toward the second sheet storage section with the other side of the long sheet facing up, and in the second sheet storage section, the long sheet is wound up with the other side facing inward. Note that "with the other side of the long sheet facing up" means that the other side does not face the floor surface when the main body section is placed on the floor surface, and includes the case where the other side faces straight up, as well as the case where the other side faces diagonally upward. Also, "wound up with the other side facing inward" means that one side of the long sheet is wound up while exposed facing outward, and the other side of the long sheet faces one side of the wound long sheet and is layered on top of that side and wound up.

[0078] This configuration can prevent dust captured by the long sheet from falling onto the floor. In addition, when the long sheet (used long sheet portion) containing the captured dust is stored in the second sheet storage section, the used surface (surface in contact with the floor surface) is not exposed to the outside, so that dust captured and acquired on the floor surface after cleaning can be prevented from falling from the long sheet.

[0079] An eighth invention is any one of the first to seventh inventions, wherein the sheet driving section is configured to move the long sheet such that, when the main body section moves forward a predetermined distance, the moving distance of the long sheet while the main body section moves the predetermined distance is shorter than the predetermined distance. Here, the "moving distance of the long sheet" means the distance the long sheet moves from the first sheet storage section to the second sheet storage section, i.e., the length of the sheet passing through the sheet contact body.

[0080] According to this configuration, it is possible to supply an unused long sheet to the sheet contact body while reducing the amount of reduction in the unused portion of the long sheet, so that a wide area can be cleaned using a long sheet of a finite length.

[0081] The ninth invention is any one of the first to eighth inventions, wherein the sheet drive unit is configured to move the long sheet at a moving speed slower than the moving speed of the main body unit when the main body unit moves forward.

[0082] According to this configuration, it is possible to supply an unused long sheet to the sheet contact body while reducing the amount of reduction in the unused portion of the long sheet, so that a wide area can be cleaned using a long sheet of a finite length.

[0083] A tenth aspect of the present invention is any one of the first to ninth aspects of the present invention, wherein the sheet driving unit is configured to keep the long sheet stopped for a predetermined period of time when the main body starts moving forward with the long sheet stopped. Note that the "predetermined period" may be a period determined by any method, and may be, for example, a period until a predetermined time has elapsed or a period until the main body moves forward a predetermined distance.

[0084] With this configuration, when the main body moves forward, a predetermined amount of dust can be accumulated on the long sheet before the long sheet begins to move, making it possible to clean a wide area using a long sheet of a finite length.

[0085] The eleventh invention is any one of the first to tenth inventions, wherein the sheet driving unit starts moving the long sheet after a predetermined period of time has elapsed since the main body unit started moving forward, and stops the movement of the long sheet even if the main body unit is moving forward after the predetermined period of time has elapsed since the main body unit started moving. The "predetermined period" may be a period determined by any method. For example, it may be a period until a predetermined time has elapsed, or a period until the main body unit moves forward by a predetermined distance. The "predetermined period" in the "predetermined period after the main body unit starts moving forward" and the "predetermined period after the long sheet starts moving" may be periods of the same length or may be periods of different lengths. In addition, when the "predetermined period" is set to a period until the main body unit moves forward by a predetermined distance to control the movement of the long sheet, the forward distance may be detected, for example, by detecting the number of rotations of the wheel unit when the main body unit moves forward, and the movement of the long sheet may be controlled based on the detected forward distance.

[0086] According to this configuration, the long sheet can be stopped as appropriate even while the main body is moving, so that a wide area can be cleaned using a long sheet of a finite length.

[0087] A twelfth invention is any one of the first to eleventh inventions, wherein when the main body stops moving forward while the long sheet is moving, the sheet drive unit continues moving the long sheet for a predetermined period after the main body stops moving forward, and then stops moving the long sheet. Note that the "predetermined period" may be a period determined by any method, and may be, for example, a period until a predetermined time has elapsed.

[0088] According to this configuration, when the main body unit stops moving forward, the portion of the long sheet that is in contact with the sheet contact portion can be switched from the used portion of the long sheet to the unused portion, so that when the main body unit moves forward or backward again after stopping, cleaning can be resumed with the unused portion of the long sheet.

[0089] The 13th invention is any one of the first to 12th inventions, wherein the sheet drive unit is configured so that, when the main body unit stops moving forward while the long sheet is stopped moving, the sheet drive unit continues to stop the movement of the long sheet at least while the main body unit is stopped moving.

[0090] In a state where the main body part is moving forward but the long sheet is stopped, only a predetermined amount of dust has been captured on the long sheet, and even when the main body part starts moving forward again after stopping, the portion of the long sheet that is in contact with the floor surface can continue to be used to capture dust. Therefore, according to the above configuration, by continuing to stop the movement of the long sheet at least while the main body part is stopped moving, it is possible to avoid moving the long sheet unnecessarily and supplying the unused portion to the sheet contact body, and it is possible to reduce the reduction in the unused portion of the long sheet.

[0091] The fourteenth invention is any one of the first to thirteenth inventions, wherein the main body has a sheet movement suppressing portion that suppresses the movement of the long sheet from the first sheet storage portion toward the second sheet storage portion due to friction with the treated surface when the main body is moving backward. In the above-mentioned embodiment, the sheet movement suppressing portion is configured by the first spring 36 and the third roller 35. The first spring 36 presses the third roller against the long sheet 23 wound around the first cylindrical member 24, thereby preventing the first cylindrical member 24 from easily rotating.

[0092] According to this configuration, when the main body section moves backward, the long sheet that is pushed by the sheet contact body and contacts the treated surface can be prevented from moving from the first sheet accommodating section to the second sheet accommodating section due to friction with the treated surface, and as a result, the unused portion of the long sheet can be prevented from being supplied to the sheet contact section, thereby preventing a reduction in the unused portion of the sheet.

[0093] The 15th invention is any one of the first to fourteenth inventions, wherein the main body portion is configured to have a container for holding a liquid, and a liquid application portion for applying the liquid held in the container to the long sheet before it reaches the sheet contact portion.

[0094] According to this configuration, wet cleaning can be performed by wiping the floor surface with a long sheet containing liquid, and the floor surface can be cleaned more thoroughly. Furthermore, if the liquid contains alcohol, the floor surface can be cleaned more thoroughly and disinfected.

[0095] A sixteenth aspect of the present invention is a cleaning cartridge constituting a part of any one of the first to fifteenth surface treatment devices, which is detachable from the housing and includes the long sheet, a first holding member for holding one end of the long sheet, and a second holding member for holding the other end of the long sheet. Note that "detachable from the housing" means that the cleaning cartridge is detachable from a part of the main body other than the cleaning cartridge.

[0096] According to this configuration, when replacing a used long sheet with a new long sheet, the time required for the user to perform the replacement can be reduced.

[0097] A seventeenth aspect of the invention is a surface treatment device comprising a first sheet storage section in which a long sheet is stored, a second sheet storage section in which the long sheet is stored, a sheet contact section that contacts the long sheet, and a movable main body section having the first sheet storage section, the second sheet storage section, and the sheet contact section, wherein the long sheet attached to the main body section moves from the first sheet storage section to the second sheet storage section via the sheet contact section, and when the main body section moves on a moving surface, the long sheet also contacts the moving surface while contacting the sheet contact section. More specifically, the first sheet storage section contains a first holding member that holds one end of the long sheet. The first sheet storage section contains a second holding member that holds the other end of the long sheet.

[0098] According to this configuration, an unused (new) long sheet can be supplied to the moving surface (floor surface), and when the main body moves, the supplied long sheet can be brought into contact with the floor. This allows dry cleaning of the floor using a clean long sheet. Moreover, if the main body is made to be automatically movable, unmanned cleaning can be performed for long periods of time.

[0099] The 18th invention is the 17th invention, wherein the distance traveled by the long sheet from the first sheet accommodating section toward the sheet contact section when the main body section moves from the first predetermined position to the second predetermined position is smaller than the distance traveled by the main body section from the first predetermined position to the second predetermined position, or the distance traveled by the long sheet from the sheet contact section toward the second sheet accommodating section when the main body section moves from the first predetermined position to the second predetermined position is smaller.

[0100] According to this configuration, while supplying an unused (new) long sheet to the sheet contact area, the amount of reduction in the unused portion of the long sheet can be reduced, making it possible to clean a wide area with a long sheet of a finite length.

[0101] The 19th invention is the 17th or 18th invention, wherein when the main body portion moves from a first predetermined position to a second predetermined position, the sheet contact portion is configured to be closer to the second predetermined position than the first sheet accommodating portion and the second sheet accommodating portion.

[0102] According to this configuration, the long sheet can be made to arrive at the second predetermined position before the first and second storage units, so that the second predetermined position, which is part of the moving surface (floor surface), can be reliably cleaned.

[0103] The 20th invention is any one of the 17th to 19th inventions, wherein when the main body portion moves from a first predetermined position to a second predetermined position, the sheet contact portion is configured to be closer to the second predetermined position than the outermost shape of the main body portion.

[0104] According to this configuration, if there is an obstacle ahead, the sheet contact portion can reach the base of the obstacle before the main body collides with the obstacle, so that the base of the obstacle can be cleaned as well, thereby widening the area that can be cleaned and reducing the area that is left unwiped.

[0105] The 21st invention is any one of the 17th to 20th inventions, wherein the main body portion has wheels, and the sheet contact portion is configured to face the moving surface when the wheels are on the moving surface, and to be positioned at a position closer to the moving surface than the first sheet storage portion and the second sheet storage portion.

[0106] According to this configuration, when the main body is on the moving surface, the long sheet can be reliably brought into contact with the moving surface.

[0107] The 22nd invention is any one of the 17th to 21st inventions, wherein when a portion of the long sheet is in contact with the sheet contact portion, the first sheet accommodating portion is configured to accommodate one end side of the long sheet in a folded or rolled state, or the second sheet accommodating portion is configured to accommodate the other end side of the long sheet in a rolled state.

[0108] With this configuration, used long sheets can be stored in an orderly rolled state rather than piled up in a random manner, and by saving space in the storage area, the main body can be made smaller, resulting in a low-cost device.

[0109] The 23rd invention is any one of the 17th to 22nd inventions, wherein the sheet contact portion has a cylindrical member whose outermost surface is made of an elastic material, and when the main body portion is on the moving surface, the long sheet contacting the cylindrical member is pressed against the moving surface as the cylindrical member is crushed to contact the moving surface.

[0110] According to this configuration, by pressing the long sheet against the moving surface, even if dirt that is relatively difficult to remove adheres to the moving surface, it is possible to perform strong scrubbing to remove the dirt and clean it.

[0111] The 24th invention is any one of the 17th to 23rd inventions, wherein the back surface of the long sheet contacts the sheet contact portion while the opposite side of the back surface does not contact the sheet contact portion, and the long sheet that has passed through the sheet contact portion is stored in the second sheet storage portion with the opposite side of the long sheet hidden.

[0112] With this configuration, dust captured and picked up from the moving surface by the long sheet stored in the second sheet storage section can be prevented from falling onto the moving surface that has already been cleaned, eliminating the need to redo the cleaning.

[0113] A twenty-fifth invention is any one of the seventeenth to twenty-fourth inventions, wherein the long sheet that has passed through the sheet contact portion is configured so that the back surface faces the moving surface.

[0114] According to this configuration, it is possible to prevent dust captured and picked up by the long sheet from the moving surface from falling onto the moving surface that has already been cleaned, so there is no need to redo the cleaning.

[0115] The 26th invention is any one of the 17th to 25th inventions, further comprising a reverse movement prevention means for preventing the long sheet stored in the second sheet storage section from moving reversely toward the sheet contact section.

[0116] According to this configuration, the long sheet that has picked up dust is prevented from being sent to the contact section after being collected in the second sheet storage section, so that the floor can always be cleaned with an unused long sheet.

[0117] The 27th invention, in any one of the 17th to 26th inventions, has a container for containing a liquid, a liquid supply section for supplying the liquid contained in the container to the liquid ejector, and a liquid ejector for ejecting the liquid, and is configured so that the liquid ejected from the liquid ejector is applied to the long sheet located between the first sheet storage section and the sheet contact section.

[0118] According to this configuration, wet cleaning can be performed by wiping the floor with a long sheet soaked in liquid, so that the floor can be cleaned more thoroughly.

[0119] The 28th invention is a cleaning cartridge that is detachable from a main body part having wheels and processes a moving surface along which the wheels move, comprising a first holding member for holding one end of a long sheet, a second holding member for holding the other end of the long sheet, and a sheet contact portion for contacting the long sheet, wherein the long sheet is movable from the first holding member to the second holding member via the sheet contact portion, and is configured so that the long sheet also contacts the moving surface along which the main body part moves while contacting the sheet contact portion.

[0120] According to this configuration, an unused (new) long sheet can be supplied to the moving surface (floor surface), and the supplied long sheet can be brought into contact with the floor when the main body moves. This allows dry cleaning of the floor using a clean long sheet. Moreover, if the main body is made to be automatically movable, unmanned cleaning can be performed for long periods of time.

[0121] The 29th invention is the 28th invention, wherein when the main body portion moves from a first predetermined position to a second predetermined position, the sheet contact portion is configured to be closer to the second predetermined position than the first retaining member and the second retaining member.

[0122] According to this configuration, the long sheet can reach the second predetermined position before the first and second holding members, so that the second predetermined position, which is part of the moving surface (floor surface), can be reliably cleaned.

[0123] The 30th invention is the 28th or 29th invention, wherein when the main body portion moves from a first predetermined position to a second predetermined position, the sheet contact portion is configured to be closer to the second predetermined position than the outermost shape of the main body portion.

[0124] According to this configuration, if there is an obstacle ahead, the sheet contact portion can reach the base of the obstacle before the main body collides with the obstacle, so that the base of the obstacle can be cleaned as well, thereby widening the area that can be cleaned and reducing the area that is left unwiped.

[0125] The 31st invention is any one of the 28th to 30th inventions, wherein the seat contact portion is configured to face the moving surface when the wheel is on the moving surface, and to be positioned at a position closer to the moving surface than the first retaining member and the second retaining member.

[0126] According to this configuration, when the main body is on the moving surface, the long sheet can be reliably brought into contact with the moving surface along which the main body moves.

[0127] The 32nd invention is any one of the 28th to 31st inventions, wherein when a part of the long sheet is in contact with the sheet contact portion, the first holding member is configured to hold one end side of the long sheet in a rolled state, or the second holding member is configured to hold the other end side of the long sheet in a rolled state.

[0128] With this configuration, used long sheets can be held in an orderly rolled state rather than piled up in a random manner, and by reducing the space required for holding, the main body can be made smaller, resulting in a low-cost device.

[0129] The 33rd invention is any one of the 28th to 32nd inventions, wherein the sheet contact portion has a cylindrical member whose outermost surface is made of an elastic material, and when the main body portion is on the moving surface, the long sheet contacting the cylindrical member is pressed against the moving surface as the cylindrical member is crushed to contact the moving surface.

[0130] According to this configuration, by pressing the long sheet against the moving surface, even if dirt that is relatively difficult to remove adheres to the moving surface, it is possible to perform strong scrubbing to remove the dirt and clean it.

[0131] The 34th invention is any one of the 28th to 33rd inventions, wherein the back surface of the long sheet contacts the sheet contact portion while the opposite side of the back surface does not contact the sheet contact portion, and the long sheet that has passed through the sheet contact portion is stored in the second sheet storage portion with the opposite side of the long sheet hidden.

[0132] With this configuration, dust captured and picked up from the moving surface by the long sheet held by the second holding member can be prevented from falling onto the moving surface that has been cleaned, eliminating the need to redo the cleaning.

[0133] The 35th invention is any one of the 28th to 34th inventions, wherein the long sheet that has passed through the sheet contact portion is configured to be parallel or inclined with respect to the moving surface so that the opposite surface that does not contact the moving surface faces the moving surface.

[0134] According to this configuration, it is possible to prevent dust captured and picked up by the long sheet from the moving surface from falling onto the moving surface that has already been cleaned, so there is no need to redo the cleaning. [Explanation of symbols]

[0135] 1 Surface treatment equipment 2 Main unit 2a Case 6,7 Wheel section 17 Liquid Injector 23 Long Sheet 24 First holding member (first cylindrical member) 25 Second holding member (second cylindrical member) 27 First seat storage area 29 Sheet contact area 31 Second seat storage area 40 Sheet contact body (third cylindrical member) 55 Treated surface 60 Seat drive unit 65 Wall

Claims

1. A surface treatment device that moves on a surface to be treated and wipes the surface to be treated with a sheet attached thereto, The body portion includes: A wheel is disposed on the bottom side of the main body and runs on the surface to be treated; a sheet contact body that includes a rotatable roller extending in a direction intersecting the running direction of the wheel and that brings the sheet wound around the roller into contact with the surface to be treated; a wheel motor for rotating the wheels; a sheet moving motor for moving a contact portion of the sheet in contact with the surface to a position where the contact portion does not contact the surface; A control unit, the sheet is wound around the sheet contact body such that the movement of the sheet and the rotation of the sheet contact body move together, The seat is movable while the main body is traveling, the seat contact body is disposed on a bottom side of the main body portion and in front of the wheel to support the main body portion, When the main body portion moves to move the sheet, the sheet is moved while being pressed against the treatment surface with a predetermined pressure by the weight of the main body portion, the control unit controls the driving of the wheel motor and the driving of the sheet moving motor while maintaining a state in which the sheet contact body presses the sheet against the treatment surface, The control method for driving the wheel motor and the seat movement motor includes a first control method for repeatedly moving and stopping the seat between the start and stop of the movement of the main body unit, and a second control method for continuing the stopped state of the main body unit until the seat reaches a stopped state when the main body unit goes from a moving state to a stopped state between the start and stop of the movement of the seat, and characterized in that used sheet portions are replaced with unused sheet portions by moving the seat.

2. A surface treatment device that moves on a surface to be treated and wipes the surface to be treated with a sheet attached thereto, The body portion includes: A wheel is disposed on the bottom side of the main body and runs on the surface to be treated; a sheet contact body that includes a rotatable roller extending in a direction intersecting the running direction of the wheel and that brings the sheet wound around the roller into contact with the surface to be treated; a wheel motor for rotating the wheels; a sheet moving motor that moves a non-contact portion of the sheet that has not yet reached the surface to be treated to a position where the non-contact portion will come into contact with the surface to be treated; A control unit, the sheet is wound around the sheet contact body such that the movement of the sheet and the rotation of the sheet contact body move together, The seat is movable while the main body is traveling, the seat contact body is disposed on a bottom side of the main body portion and in front of the wheel to support the main body portion, When the main body portion moves to move the sheet, the sheet is moved while being pressed against the treatment surface with a predetermined pressure by the weight of the main body portion, the control unit controls the driving of the wheel motor and the driving of the sheet moving motor while maintaining a state in which the sheet contact body presses the sheet against the treatment surface, The control method for driving the wheel motor and the seat movement motor includes a first control method for repeatedly moving and stopping the seat between the start and stop of the movement of the main body unit, and a second control method for continuing the stopped state of the main body unit until the seat reaches a stopped state when the main body unit goes from a moving state to a stopped state between the start and stop of the movement of the seat, and characterized in that used sheet portions are replaced with unused sheet portions by moving the seat.

3. 3 . The surface treatment device according to claim 1 , wherein the control method includes a third control method for keeping the movement of the sheet stopped from when the movement of the main body is started to when the movement of the main body is stopped.

Images