Side brush device and floor cleaning machine

Abstract

To provide a side brush device which can be suppressed from being damaged, even when contacting an obstacle.SOLUTION: A side brush device (75) protrudes a side brush 76 from a side face of a machine body, the side brush rotating around a substantially vertical rotary axis, for widening a cleaning width. The side brush device comprises: an oscillation arm (85) for oscillating the side brush in an inside / outside direction of the machine body; a spring (87) for pressing the side brush to outside of the machine body; and a stopper (91) for regulating an oscillation limit of the side brush to outside of the machine body. For oscillating the side brush on a rear side of the advance direction relative to the oscillation center of the oscillation arm, oscillation of the oscillation arm is regulated by the stopper.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a side brush device and a floor cleaning machine. [Background technology]

[0002] Conventionally, floor cleaning machines equipped with a side brush device at the front of a vehicle are known (see, for example, Patent Document 1). In the side brush device described in Patent Document 1, the side brushes are attached to the underside of a brush deck, and a link mechanism, actuator, and electric motor are installed on the upper surface of the brush deck. The link mechanism and actuator cause the side brushes to swing up and down and left and right, and the electric motor causes the side brushes to rotate. When the side brushes are not in use, they are stored on the underside of the floor cleaning machine, and when they are in use, the side brushes are pulled out from the floor cleaning machine to widen the cleaning width. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-082807 Summary of the Invention [Problem to be solved by the invention]

[0004] In the side brush device described in Patent Document 1, if the side brush collides with an obstacle while the floor cleaner is cleaning, an excessive load is applied to the link mechanism, actuator, etc., which may damage various parts of the device.

[0005] Therefore, the present invention has been made in consideration of these points, and its object is to provide a side brush device and a floor cleaning machine in which each part of the device will not be damaged even if the side brush comes into contact with an obstacle. [Means for solving the problem]

[0006] The side brush device of the present invention is a side brush device that extends a cleaning width by projecting a side brush that rotates on a substantially vertical rotation axis from the side of the machine body, and includes a swing arm that swings the side brush inward and outward from the machine body, a spring that pushes the side brush toward the outside of the machine body, and a stopper that defines the swing limit of the side brush toward the outside of the machine body. a bracket that holds the side brush at the tip end of the swing arm; a wire that pulls the bracket against the reaction force of the spring; and a link mechanism that connects the bracket to the swing arm so that the bracket can move up and down. and the stopper restricts the swing of the side brush so that the side brush swings rearward in the traveling direction from the swing center of the swing arm. When the wire is pulled, the side brush rises and is stored inside the machine body, and when the wire is released, the side brush descends and is protruded outside the machine body. With this configuration, the side brushes can swing rearward in the direction of travel from the swing center of the swing arm, so even if the side brushes hit an obstacle, they can be pushed back into the vehicle interior, minimizing damage to the side brush device. The impact between the side brushes and the obstacle is absorbed by the spring, and the spring can return the side brushes to the outside of the vehicle after the vehicle has passed the obstacle. Furthermore, when the wire is pulled, the side brush is raised together with the bracket and stored inside the vehicle body against the reaction force of the spring. When the wire is released, the side brush is lowered together with the bracket and pushed outward by the reaction force of the spring. In this way, the side brush can be raised and lowered and swung inward and outward with a simple structure using a wire. Since a complex structure is not required on the bracket, the side brush device can be made thinner and flexibility in the layout of peripheral components of the side brush device can be ensured.

[0007] In the above-described side brush device, the swing center of the swing arm is located inside the machine body. This configuration prevents the swing center of the swing arm from colliding with an obstacle.

[0009] The side brush device described above includes a conversion mechanism that converts the pulling force of the wire into a pulling force for the bracket, and the bracket rises due to the pulling force of the wire and falls due to the weight of the side brush including the bracket. With this configuration, by converting the pulling force of the wire into a pulling force for the bracket, the side brush device does not need a drive source for vertical movement, and the side brush device can be made thinner.

[0010] In the above-described side brush device, the conversion mechanism includes a slider attached to the tip of the wire, a tilt link connecting the slider and the bracket, and a guide supporting the tilt link's forward and backward movement from below, such that when the connection position between the slider and the tilt link is positioned further back than the guide, the tilt link assumes a horizontal position and the bracket rises, and when the connection position between the slider and the tilt link is positioned further forward than the guide, the tilt link assumes an inclined position and the bracket descends. With this configuration, the pulling force of the wire can be converted into a pulling force for the bracket with a simple configuration using the slider, tilt link, and guide.

[0011] In the above-described side brush device, the tilt link has a long hole formed in the forward / backward direction, and the slider is connected to the long hole of the tilt link via a connecting shaft. With this configuration, even if the side brush collides with an obstacle and is pushed into the interior of the aircraft, the relative tilt of the slider and the tilt link and the connecting position change, so the side brush can be kept lowered and will not rise as would occur if the side brush were to swing into the interior of the aircraft due to the pulling of the wire.

[0012] In the above-described side brush device, the conversion mechanism has a support base on which the slider is mounted, a pair of slits formed on the upper surface of the support base in the direction of advancement and retreat of the slider, a pair of protrusions of the slider are inserted into the pair of slits, and the pair of slits of the support base are formed wider in the direction of advancement. With this configuration, there is play in the sliding of the slider in the direction of advancement, and the swinging of the side brush and bracket in the inward and outward directions of the machine body is not restricted by the slider and tilting link.

[0013] The floor cleaning machine of the present invention includes the above-described side brush device, a main brush device that cleans floor surfaces with a main brush inside the machine body, and a control unit that controls each part of the machine body. With this configuration, the cleaning width of the main brush can be expanded by the side brush. Also, damage to the side brush device due to collision between the side brush and an obstacle can be reduced.

[0014] The floor cleaning machine is provided with an obstacle sensor that detects obstacles ahead in the direction of travel, and the side brushes are switched between a stored state and an in-use state by the side brush device when the obstacle does not enter the detection range of the obstacle sensor. With this configuration, when the floor cleaning machine is cleaning while autonomously traveling, even if the side brushes are switched between a stored state and an in-use state, the obstacle sensor will not erroneously detect the side brushes as an obstacle.

[0015] The floor cleaning machine is provided with a memory unit that stores a cleaning plan in which cleaning conditions are set for each point on a travel route, and the control unit controls the cleaning of floor surfaces while autonomously traveling according to the cleaning plan, and the cleaning conditions for the main brush device and the side brush device are set in the cleaning plan, and the timing for switching between the stored state and the used state of the side brushes is set as the cleaning conditions for the side brush device. With this configuration, cleaning using the side brushes can be learned in the learning mode of the floor cleaning machine, and whether or not the cleaning width is widened by the side brushes can be reproduced in the reproduction mode of the floor cleaning machine depending on the point on the travel route.

[0016] In the floor cleaning machine described above, the side brush devices are a pair of left and right side brush devices that rotate in opposite directions to sweep dust from the front sides of the machine body toward the interior, and the control unit reduces the rotation speed of the inner side brush compared to the rotation speed of the outer side brush when the machine body turns left or right. With this configuration, the rotation load of the side brushes does not cause the machine body to become unstable when turning.

[0017] In the floor cleaning machine, the side brush unit is a single unit that rotates to sweep dust from the floor surface from the front side of the machine body to the inside, and the control unit reduces the rotation speed of the inner side brush when the machine body turns left or right. With this configuration, the rotation load of the side brush does not cause the machine to become unstable when turning.

[0018] In the floor cleaning machine described above, the control unit changes the rotation speed of the side brushes in accordance with the turning angle of the machine body. With this configuration, the rotation speed of the side brushes can be appropriately adjusted in accordance with the turning angle of the machine body.

[0019] In the floor cleaning machine described above, the side brushes are rotated by a side brush motor, and the control unit determines the rotation speed of the side brushes based on the traveling speed of the machine and the current value of the side brush motor. With this configuration, the rotation speed of the side brushes can be appropriately adjusted according to the traveling speed of the machine and the condition of the floor surface so that the traveling load of the machine is offset by the rotation load of the side brushes.

[0020] In the floor cleaning machine described above, the control unit determines the minimum rotation speed of the side brushes based on the traveling speed of the machine body and the current value of the side brush motor. With this configuration, the traveling load of the machine body is offset by the rotation load of the side brushes, thereby maintaining both cleaning performance and traveling performance. [Effects of the Invention]

[0021] According to the present invention, damage to the side brush device can be suppressed even if the side brush collides with an obstacle. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a perspective view of a cleaning device according to an embodiment of the present invention. [Figure 2] 1 is a plan view of a floor cleaning machine according to an embodiment of the present invention; [Figure 3] FIG. 2 is a front view of the floor cleaning machine of the present embodiment. [Figure 4]FIG. 2 is a side view of the floor cleaning machine of the present embodiment. [Figure 5] FIG. 2 is a control block diagram of the floor cleaning machine of the present embodiment. [Figure 6] FIG. 2 is a perspective view of the side brush device according to the embodiment. [Figure 7] FIG. 2 is a plan view of the side brush device of the present embodiment. [Figure 8] FIG. 2 is a side view of the side brush device of the present embodiment. [Figure 9] FIG. 2 is a control block diagram of a control unit and a storage unit according to the present embodiment. [Figure 10] 5A and 5B are diagrams illustrating an example of a traveling operation of the floor cleaning machine of the present embodiment. [Figure 11] 5A and 5B are explanatory diagrams of a turning operation of the floor cleaning machine of the present embodiment. [Figure 12] 5A and 5B are diagrams illustrating control of the rotation speed of the side brush according to the embodiment. [Figure 13] 10A and 10B are diagrams illustrating an example of setting the minimum rotation speed of the side brush according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0023] The side brush device and floor cleaning machine of this embodiment will be described below with reference to the drawings. Fig. 1 is a perspective view of the floor cleaning machine of this embodiment. Fig. 2 is a plan view of the floor cleaning machine of this embodiment. Fig. 3 is a front view of the floor cleaning machine of this embodiment. Fig. 4 is a side view of the floor cleaning machine of this embodiment. Fig. 5 is a control block diagram of the floor cleaning machine of this embodiment. Fig. 2(A) shows the side brushes in a stored state, and Fig. 2(B) shows the side brushes in a used state.

[0024] As shown in Figure 1, floor cleaning machine 1 is a cleaning machine that performs dry cleaning while autonomously traveling on floor surfaces, and is used in commercial facilities, manufacturing plants, train stations, airports, hotels, offices, hospitals, schools, etc. Front wheels 3 serving as drive wheels and a pair of rear wheels 4 serving as auxiliary wheels are provided on the bottom of the body 2 of floor cleaning machine 1. A pair of left and right side brush devices 75 are provided on the left and right sides of the front wheels 3, and a main brush device 71 is provided behind the front wheels 3. Each side brush device 75 is equipped with a side brush 76 whose rotation shaft is oriented approximately vertically, and main brush device 71 is equipped with a main brush (roll brush) 72 whose rotation shaft is oriented horizontally.

[0025] A pair of side brushes 76 rotate in contact with the floor surface FL (see FIG. 3) to sweep up dust inside the device, and inside the device, the main brush 72 rotates in contact with the floor surface FL to send the dust to a suction port (not shown). The cleaning width of the main brush 72 is widened by the side brushes 76. A bucket 5 for collecting dust is provided behind the main brush 72, and a blower motor 25 for driving a suction blower (not shown) is provided above the bucket 5. A handle 11 and an accelerator grip 12 are provided on the upper rear side of the machine body 2, and an operation panel 13 is provided in front of the handle 11. A bumper 7 is provided on the lower front side of the machine body 2 as a shock absorber.

[0026] Various cameras, sensors, etc. are provided on the exterior of the machine body. A forward camera 37a, a step sensor 44, and an ultrasonic sensor 45a are provided on the front of the machine body, a pair of left and right side cameras 37b and an ultrasonic sensor 45b are provided on both sides of the machine body, and a rear camera 37c (see FIG. 5) is provided on the rear of the machine body. There is a recess above the bumper 7 on the front of the machine body, and an LRF (Laser Range Finder) 42 (see FIG. 3) and a pair of left and right ultrasonic sensors 45c as corner sensors are provided in the recess on the front of the machine body. These cameras and sensors enable the floor cleaning machine 1 to recognize the surrounding environment and detect obstacles.

[0027] As shown in Figures 2(A) and 2(B), a pair of left and right side brush devices 75 are provided at the front of the floor cleaning machine 1, and a pair of left and right side brushes 76 can be switched between a stored state and an in-use state. The brush disc 77 of each side brush 76 is attached to the underside of the side brush motor 28, and countless brush bristles 79 extend radially from the brush disc 77. When the side brushes 76 are in the stored state, the brush disc 77 is positioned inside the machine body, with only some of the brush bristles 79 exposed from the side of the machine body. When the side brushes 76 are in the in-use state, the brush disc 77 is positioned outside the machine body, with most of the brush bristles 79 exposed from the side of the machine body.

[0028] As shown in Figure 3, when the side brush 76 is viewed from the front while in use, the rotation axis C of the side brush 76 is tilted slightly outward with respect to a line perpendicular to the floor surface FL. In the front view, the outer bristles 79 of the side brush 76 are in contact with the floor surface FL, while the inner bristles 79 of the side brush 76 are spaced apart from the floor surface FL. As shown in Figure 4, when the side brush 76 is viewed from the side while in use, the rotation axis C of the side brush 76 is tilted slightly forward with respect to a line perpendicular to the floor surface FL. In the side view, the front bristles 79 of the side brush 76 are in contact with the floor surface FL, while the rear bristles 79 of the side brush 76 are spaced apart from the floor surface FL.

[0029] The left side brush 76 rotates clockwise, and the right side brush 76 rotates counterclockwise (see Figure 2(B)). That is, the left and right side brushes 76 rotate in opposite directions to each other to sweep dust from the floor surface FL from the front sides of the machine body to the interior. The front outer sides of the bristles 79 of the side brushes 76 are in strong contact with the floor surface FL, and the inward rotation of the front parts of the side brushes 76 collects dust inside the machine body. On the other hand, the rear inner sides of the bristles 79 of the side brushes 76 are away from the floor surface FL, making it difficult for dust to be swept out to the outside of the machine body by the outward rotation of the rear parts of the side brushes 76. The bristles 79 are formed from flexible wire, and when the bristles 79 come into contact with the floor surface FL, the bristles 79 bend to follow the floor surface FL.

[0030] 5, the floor cleaning machine 1 is provided with a traveling unit 15, a traveling operation unit 21, a cleaning unit 24, an operation display unit 31, a microphone 32, a speaker 33, a communication unit 34, a power supply unit 35, an imaging unit 36, a measurement unit 41, a control unit 51, and a memory unit 61. The control unit 51 and the memory unit 61 are electrically connected to the traveling unit 15, the traveling operation unit 21, the cleaning unit 24, the operation display unit 31, the microphone 32, the speaker 33, the communication unit 34, the power supply unit 35, the imaging unit 36, and the measurement unit 41 via an interface 67 and a bus 68. The memory unit 61 is electrically connected to the control unit 51 via the bus 68. Electrical signals are transmitted and received between the control unit 51 and each unit of the machine.

[0031] The traveling unit 15 has a drive motor 16, a drive encoder 17, a steering motor 18, and a steering sensor 19. The drive motor 16 rotates the front wheels 3 (see Figure 1) to travel the floor cleaning machine 1. The travel distance and direction are detected by a drive encoder 17 connected to the pair of left and right rear wheels 4. The steering motor 18 steers the front wheels 3 horizontally, and the steering sensor 19 detects the steering angle of the front wheels 3. The traveling operation unit 21 has a handle sensor 22 and an accelerator sensor 23. The handle sensor 22 detects the swing angle of the handle 11 (see Figure 1), and the accelerator sensor 23 detects the rotation angle of the accelerator grip 12 (see Figure 1).

[0032] The cleaning unit 24 has a blower motor 25, a main brush motor 26, a main brush cylinder 27, a pair of left and right side brush motors 28, and a pair of left and right side brush cylinders 29. The blower motor 25 drives a suction blower (not shown). The main brush motor 26 rotates the main brush 72 (see FIG. 1), and the main brush cylinder 27 raises and lowers the main brush 72. The side brush motor 28 rotates the side brushes 76 (see FIG. 1), and the side brush cylinder 29 raises and lowers the side brushes 76 and swings them inward and outward relative to the machine body 2 via wires 98 (see FIG. 6), which will be described later. The side brush motor 28 is composed of a right side brush motor 28a and a left side brush motor 28b, corresponding to the left and right side brushes 76.

[0033] The operation display unit 31 displays an operation screen, etc., on the operation panel 13, which accepts operations from the operator. The operation screen is used to select the operating mode of the floor cleaning machine 1 and input various settings to the floor cleaning machine 1. The microphone 32 collects sounds around the floor cleaning machine 1, and the speaker 33 emits an alarm sound from the floor cleaning machine 1. The communication unit 34 wirelessly communicates between the floor cleaning machine 1 and an external terminal. Note that a mobile terminal such as a smartphone that is detachable from the floor cleaning machine 1 may function as the operation display unit 31, microphone 32, speaker 33, and communication unit 34. The power supply unit 35 has a battery (not shown), a charging circuit, etc., and power is supplied from the power supply unit 35 to each unit of the device.

[0034] The imaging unit 36 ​​has a front camera 37a, a pair of left and right side cameras 37b, and a rear camera 37c. The front camera 37a images the front of the floor cleaning machine 1, the pair of left and right side cameras 37b images the left and right sides of the floor cleaning machine 1, and the rear camera 37c images the rear of the floor cleaning machine 1. Images of the surroundings of the floor cleaning machine 1 are captured by each of the cameras 37a-37c, and the cleaning status of the floor cleaning machine 1 is recorded by a drive recorder or the like. The images captured by the cameras 37a-37c may also be analyzed to recognize images of the surrounding environment of the floor cleaning machine 1, restricted areas, obstacles, etc.

[0035] The measurement unit 41 has an LRF 42, a bumper sensor 43, a step sensor 44, and ultrasonic sensors 45a-45c. The LRF 42 measures the distance and angle from the floor cleaning machine 1 to a wall or obstacle. The bumper sensor 43 detects contact between the bumper 7 (see FIG. 1) and the wall or obstacle. The step sensor 44 detects steps on the floor surface FL. The ultrasonic sensors 45a-45c detect obstacles in front of the floor cleaning machine 1, on the left and right sides, and diagonally forward within a short distance from the floor cleaning machine 1. The surrounding environment of the floor cleaning machine 1 is detected by these various sensors.

[0036] The memory unit 61 stores a cleaning plan in which cleaning conditions are set for each point on the travel route, as well as other parameters. In addition to the travel route, the cleaning plan sets cleaning conditions for each motor such as the blower motor 25, cleaning conditions for the main brush device 71, cleaning conditions for the side brush device 75, etc. The cleaning conditions for the main brush device 71 include the rotation speed of the main brush 72 and whether or not and how strongly the side brush 72 is pressed against the floor surface FL. The cleaning conditions for the side brush device 75 include the rotation speed of the side brush 76 and the timing for switching the side brush 76 between its stored state and its used state, etc.

[0037] The control unit 51 controls all parts of the device. The control unit 51 controls the cleaning of the floor surface FL while the robot autonomously travels according to a cleaning plan. The control unit 51 is made up of a processor, and the storage unit 61 is made up of various storage media. The processor reads out programs and various data from the storage media and performs various processes. The processor may be a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like. The storage media may be a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a flash memory, or the like.

[0038] This floor cleaning machine 1 is provided with three operating modes: manual mode, learning mode, and reproduction mode. In manual mode, an operator manually operates the floor cleaning machine 1 to clean the floor surface FL. In learning mode, an operator manually operates the floor cleaning machine 1 to have the floor cleaning machine 1 learn a cleaning plan. In reproduction mode, the floor cleaning machine 1 cleans while autonomously traveling over the floor surface FL so as to reproduce the cleaning plan. In addition to cleaning according to a cleaning plan learned in learning mode, the floor cleaning machine 1 can also clean according to a cleaning plan that has been created in advance.

[0039] As described above, the floor cleaning machine 1 is provided with a pair of left and right side brush devices 75 that extend from both sides of the machine body and rotate on a substantially vertical rotation shaft to widen the cleaning width. The side brushes 76 widen the cleaning width, but the side brushes 76 also make the floor cleaning machine 1 more susceptible to colliding with obstacles on the sides. Furthermore, ultrasonic sensors 45a-45c and the like do not always reliably detect obstacles. Therefore, in the floor cleaning machine 1 of this embodiment, the side brushes 76 are swung rearward in the traveling direction from the swing center of the side brushes 76 (swing shaft 84 (see FIG. 10)), so that if the side brushes 76 collide with an obstacle, the side brushes 76 are retracted into the machine body.

[0040] The detailed configuration of the side brush device will be described below. Fig. 6 is a perspective view of the side brush device of this embodiment. Fig. 7 is a plan view of the side brush device of this embodiment. Fig. 8 is a side view of the side brush device of this embodiment. Figs. 6(A) to 8(A) show the side brushes in a stored state, and Figs. 6(B) to 8(B) show the side brushes in use. In the following explanation, the right-side side brush device will be described, but the left-side side brush device is configured in the same way (with a symmetrical shape).

[0041] As shown in Figures 6(A) and 6(B), the side brush device 75 is attached to a chassis 81 of the machine body 2. The chassis 81 is formed by vertical frames 82 and horizontal frames 83 in a generally L-shape when viewed from above, and a storage area for the side brush device 75 is secured inside the vertical frames 82 and horizontal frames 83. The vertical frames 82 are formed in an inverted L-shape when viewed in cross section, and the horizontal frames 83 are formed in a C-shape when viewed in cross section. A portion of the upper plate of the vertical frame 82 is cut out so as to avoid the side brush device 75 (side brush motor 28) within the storage area. A swing arm 85 is supported by a swing shaft 84 on the upper and lower plates at the tip ends of the horizontal frame 83.

[0042] One end of the swing arm 85 extends from the swing shaft 84 into the machine body, and a hook 86 is formed at the tip of one end of the swing arm 85. The vertical frame 82 is connected to the hook 86 of the swing arm 85 via a spring 87. The other end of the swing arm 85 protrudes rearward from the swing shaft 84, and a bracket 89 is connected to the tip of the other end of the swing arm 85 via a parallel link mechanism 88 so that the bracket 89 can move up and down. A plate-shaped stopper 91 is provided on the side plate at the tip side of the horizontal frame 83, and the other end of the swing arm 85 abuts against the stopper 91, thereby restricting the swing of the side brush 76.

[0043] The side brush motor 28 is attached to the bracket 89, and the brush disc 77 of the side brush 76 is fixed to a rotation shaft (not shown) of the side brush motor 28. In this way, the side brush 76 is held by the bracket 89 on the other end side of the swing arm 85, and the swing arm 85 swings the side brush 76 inward and outward from the machine body 2 around the swing shaft 84. In addition, one end side of the swing arm 85 is pulled by the spring 87, and the side brush 76 on the other end side of the swing arm 85 is pushed outward from the machine body, and a stopper 91 hits the other end of the swing arm 85, defining the limit of swing of the side brush 76 outward from the machine body.

[0044] A support base 93 is provided on the upper plate of the horizontal frame 83, and a slider 94 is placed on the support base 93. A pair of slits 95 is formed in the upper surface of the support base 93 in the direction of advancement and retreat of the slider 94, and a pair of protrusions 106 of the slider 94 is inserted into the pair of slits 95 of the support base 93. The pair of slits 95 of the support base 93 are formed wider in the advancement direction, allowing play for the slider 94 to slide in the advancement direction. A tilt link 97 is connected to the tip side of the slider 94 via a connecting shaft 96 so as to be able to swing up and down, and the tip of a wire 98 is connected to the connecting shaft 96 between the slider 94 and the tilt link 97.

[0045] The tilt link 97 has an elongated hole 99 formed in the forward / backward direction, and a horizontal connecting shaft 96 is inserted into the elongated hole 99. The tip end of the tilt link 97 is connected to the upper surface of the bracket 89 via a connecting member 101. The connecting member 101 is formed of a plate material with a U-shaped cross section, and the tip end of the tilt link 97 is connected to a pair of vertical plates of the connecting member 101 via connecting shafts 102. The bottom plate of the connecting member 101 is rotatably supported on the upper surface of the bracket 89 via a vertical shaft (not shown). In addition, a guide roller (guide) 103 that supports the forward / backward movement of the tilt link 97 from below is provided on the upper plate of the horizontal frame 83.

[0046] The support base 93, slider 94, tilting link 97, connecting member 101, guide roller 103, etc. form a conversion mechanism 92 that converts the pulling force of the wire 98 into a pulling force of the bracket 89. The side brush 76 is raised and lowered integrally with the bracket 89 by the wire 98 via the conversion mechanism 92 between an elevated position away from the floor surface FL and a elevated position in contact with the floor surface FL. The side brush 76 is also swung integrally with the bracket 89 by the wire 98 between a stored position inside the machine body and an in-use position outside the machine body. The side brush device 75 is configured so that the side brush 76 can be switched between a stored state and an in-use state by the wire 98.

[0047] As shown in Figure 7(A), a spring 87 is connected to a bracket 89 via a swing arm 85. A tensile force F1 of the spring 87 causes a moment M1 to act on the bracket 89 toward the outside of the aircraft, with the swing shaft 84 of the swing arm 85 serving as a fulcrum. Meanwhile, a wire 98 is connected to the bracket 89 via a tilt link 97 and the like. A pulling force F2 of the wire 98 causes a moment M2 to act on the bracket 89 toward the inside of the aircraft, with the swing shaft 84 of the swing arm 85 serving as a fulcrum. In this way, the bracket 89 is pulled by the wire 98 against the reaction force of the spring 87.

[0048] When the side brushes 76 are in the stored state, the wire 98 is pulled strongly, and a moment M2 inside the machine body is greater than a moment M1 acting on the bracket 89 outside the machine body. As a result, the side brushes 76 are pulled into the machine body via the bracket 89 by the wire 98, and the brush discs 77 of the side brushes 76 are stored inside the machine body. At this time, the brush discs 77 are located rearward of the swing shaft 84 of the swing arm 85 in the direction of travel of the floor cleaning machine 1. In addition, the swing shaft 84 of the swing arm 85 is located inside the outer edge described by the brush bristles 79 of the side brushes 76.

[0049] 7(A) and 8(A), when the wire 98 is pulled strongly, the connecting shaft 96 between the slider 94 and the tilt link 97 is positioned in the retracted direction relative to the guide roller 103. As a result, the slider 94 is supported from below by the support base 93, and the tilt link 97 is supported from below by the support base 93 and the guide roller 103. Because the tilt link 97 is in a horizontal position, the bracket 89 is positioned in the raised position, and the side brush 76 held by the bracket 89 is lifted above the floor surface FL. In this way, the side brush 76 is raised by the pulling of the wire 98 and stored inside the machine body.

[0050] As shown in Figure 7(B), when the side brush 76 is in use, the tension on the wire 98 is relaxed, and the moment M2 inside the machine body is smaller than the moment M1 outside the machine body acting on the bracket 89. As a result, the tensile force F1 of the spring 87 pushes the side brush 76 outward via the bracket 89, causing the brush discs 77 of the side brush 76 to protrude outward. The side brush 76 protruding from the side of the machine body widens the cleaning width of the floor cleaning device 1. The swinging arm 85 hits the stopper 91, which restricts the swinging of the side brush 76.

[0051] At this time, the brush disc 77 is located rearward of the swing shaft 84 of the swing arm 85 in the direction of travel of the floor cleaning machine 1. Furthermore, the swing shaft 84 of the swing arm 85 is located inside the outer edge of the brush bristles 79 of the side brush 76. The swing of the side brush 76 is restricted by a stopper 91 so that the side brush 76 swings rearward of the swing shaft 84 of the swing arm 85 in the direction of travel. Due to the swing of the side brush 76, even if the side brush 76 collides with an obstacle, the side brush 76 is allowed to escape inside the machine body. Furthermore, the swing shaft 84 of the swing arm 85 is located inside the bumper 7 (see FIG. 10), preventing the swing shaft 84 from colliding with an obstacle.

[0052] When the side brushes 76 are in use, a traveling load R1 acts on the side brushes 76 in the opposite direction to the traveling direction as the floor cleaning device 1 travels. Because the traveling load R1 increases the moment M2 inside the device body on the bracket 89, it is necessary to increase the tensile force F1 of the spring 87 in order to increase the moment M1 outside the device body. Meanwhile, as the side brushes 76 rotate, a rotational load R2 acts on the contact point between the side brushes 76 and the floor surface FL. Because the rotational load R2 increases the moment M1 outside the device body, it is not necessary to make the tensile force F1 of the spring 87 excessively strong when the floor cleaning device 1 is stopped or traveling at a low speed. The rotational load R2 changes depending on the friction with the floor surface FL.

[0053] As shown in FIGS. 7B and 8B , when the tension on the wire 98 is released, the connecting shaft 96 between the slider 94 and the tilting link 97 is positioned in the advancing direction relative to the guide roller 103. The slider 94 is supported from below by the support base 93, but the tilting link 97 disengages from the support base 93 and the guide roller 103. Because the tilting link 97 is in an inclined position, the bracket 89 is positioned in a lowered position, and the side brush 76 held by the bracket 89 comes into partial contact with the floor surface FL. At this time, the weights of the side brush 76 held by the bracket 89, the side brush motor 28, the bracket 89 itself, and the like act on the wire 98. Thus, when the tension on the wire 98 is released, the side brush 76 descends and protrudes outward from the machine body. The lowered position of the bracket 89 is determined by a lower stopper (not shown) so that the bristles 79 of the side brush 76 contact the floor surface FL and bend appropriately. The lower stopper can be manually adjusted in its vertical position to accommodate shortening of the brush bristles 79 due to wear.

[0054] Because the slit 95 of the support base 93 is formed to be wider in the advancing direction, the slider 94 and the tilt link 97 are formed to be able to swing slightly outward from the machine body as the slider 94 slides in the advancing direction. When the side brush 76 and bracket 89 swing outward from the machine body, the slider 94 and the tilt link 97 slide in the advancing direction, and are moved outward by the bracket 89. The swinging of the side brush 76 and bracket 89 is not restricted by the slider 94 and the tilt link 97, and the side brush 76 and bracket 89 are allowed to swing inward and outward from the machine body 2.

[0055] The side brush device 75 has a simple configuration using a wire 98 to raise and lower the side brush 76 and swing it inward and outward relative to the machine body 2. The traction force of the wire 98 is converted into a pulling force for the bracket 89 via a conversion mechanism 92, so that the bracket 89 is raised by the traction force of the wire 98 and lowered by the weight of the side brush 76 (including its surrounding components). As a result, a drive source for raising and lowering the side brush 76 together with the bracket 89 is not required, allowing the side brush device 75 to be made thinner and ensuring flexibility in the layout of the surrounding components of the side brush device 75.

[0056] In particular, as shown in Figures 8(A) and 8(B), an ultrasonic sensor 45c is provided on the side of the machine body. Because the side brush device 75 of this embodiment is formed to be thin, the side brush device 75 switches the side brushes 76 between the stored state and the use state without entering the detection range of the ultrasonic sensor 45c. When the floor cleaning device 1 is cleaning while autonomously traveling, switching the side brushes 76 between the stored state and the use state does not affect the detection state of the ultrasonic sensor 45c. In other words, the ultrasonic sensor 45c will not erroneously detect the side brushes 76 as an obstacle.

[0057] As shown in Figure 8(B), the slider 94 is connected to an elongated hole 99 of the tilt link 97 via a connecting shaft 96. Therefore, even if the side brush 76 collides with an obstacle and is pushed into the interior of the machine, the relative tilt and connecting position of the slider 94 and the tilt link 97 change, allowing the side brush 76 to remain lowered. In other words, unlike when the wire 98 is pulled strongly, even if the side brush 76 collides with an obstacle and the bracket 89 is swung into the interior of the machine, the side brush 76 will not move upward from the floor surface FL, and the side brush 76 can continue to contact the floor surface FL and continue cleaning.

[0058] If the lowered position of the side brush 76 is unstable, a spring or the like may be separately provided to the bracket 89 to apply a downward force to forcibly bring the side brush 76 into contact with the floor surface FL. Conversely, if the weight of the side brush 76 is large, a damper or the like may be provided to constantly apply an upward force.

[0059] Next, the detailed configuration of the control unit and storage unit of the device main body will be described. Fig. 9 is a control block diagram of the control unit and storage unit of this embodiment. Note that the reference numerals in Figs. 1 to 4 will be used appropriately in the description.

[0060] 9, the control unit 51 includes a cleaning control unit 52, a travel control unit 53, a SLAM control unit 54, a travel path creation unit 55, an environmental map creation unit 56, and a cleaning plan creation unit 57. The memory unit 61 includes a cleaning condition memory unit 62, a travel path memory unit 63, an environmental map memory unit 64, and a cleaning plan memory unit 65.

[0061] The cleaning control unit 52 controls the operator's manual operation of the floor cleaning machine 1 during the learning mode. The control details by the cleaning control unit 52 are stored as teaching data in the cleaning condition storage unit 62. This teaching data includes the suction power of the suction blower, the rotation speed of the main brush 72, the rotation speed of the side brushes 76, the width expansion timing by the side brushes 76, etc. The travel control unit 53 controls the operator's manual travel of the floor cleaning machine 1 during the learning mode. The control details by the travel control unit 53 are stored as teaching data in the cleaning condition storage unit 62. This teaching data includes the travel speed, etc.

[0062] The SLAM control unit 54 executes SLAM in real time to estimate the self-position of the floor cleaning machine 1 and create a local map based on the distance and angle from obstacles around the floor cleaning machine 1 measured by the LRF 42. The travel path creation unit 55 creates a travel path for the floor cleaning machine 1 by connecting multiple self-positions arranged in chronological order. The environmental map creation unit 56 creates an environmental map by connecting multiple local maps arranged in chronological order. The travel path is stored as teaching data in the travel path memory unit 63, and the environmental map is stored as teaching data in the environmental map memory unit 64.

[0063] Note that a two-dimensional type LRF or a three-dimensional type LRF may be used as LRF 42. Two-dimensional data may be acquired by a two-dimensional type LRF, or three-dimensional data may be acquired by a three-dimensional type LRF or by the up-and-down swing of a two-dimensional type LRF. That is, a two-dimensional travel path may be created by the travel path creation unit 55, or a three-dimensional travel path may be created by the travel path creation unit 55. Furthermore, a two-dimensional environmental map may be created by the environmental map creation unit 56, or a three-dimensional environmental map may be created by the environmental map creation unit 56.

[0064] The cleaning plan creation unit 57 creates a cleaning plan by associating various teaching data with each step at a predetermined time interval from the start to the end of the learning mode. In this case, the travel route of the floor cleaning machine 1 is reflected in the environmental map, and a cleaning plan is created by setting the suction power of the suction blower, the rotation speed of the main brush 72, the rotation speed of the side brushes 76, the width expansion timing by the side brushes 76, etc. at each point from the start point to the end point of the travel route. The cleaning plan is stored in the cleaning plan storage unit 65. In addition to the cleaning plans learned in the learning mode, the cleaning plan storage unit 65 also stores cleaning plans created in advance.

[0065] Furthermore, when the learning mode is changed to the reproduction mode, the cleaning control unit 52 reads a cleaning plan from the cleaning plan memory unit 65 during the reproduction mode, and controls the autonomous cleaning of the floor cleaning machine 1 in accordance with the cleaning plan. The travel control unit 53 reads a travel route included in the cleaning plan from the cleaning plan memory unit 65 during the reproduction mode, and controls the autonomous travel of the floor cleaning machine 1 in accordance with the travel route. While the floor cleaning machine 1 autonomously travels along the travel route, it cleans the floor surface FL with the main brush 72 and side brushes 76. In this way, the cleaning plan read from the cleaning plan memory unit 65 is reproduced by controlling the floor cleaning machine 1 by the cleaning control unit 52 and the travel control unit 53.

[0066] The traveling operation of the floor cleaning machine will now be described. Figure 10 is a diagram showing an example of the traveling operation of the floor cleaning machine of this embodiment. Figure 10(A) shows the traveling state when a pillar-like protruding wall is detected, and Figure 10(B) shows the traveling state when a low obstacle cannot be detected.

[0067] As shown in Figure 10(A), a portion of the wall surface 104 protrudes in a pillar-like shape toward the room ahead in the traveling direction of the floor cleaning machine 1. By having the floor cleaning machine 1 learn how to clean along the wall surface 104 during learning travel, cleaning along the wall surface 104 is also reproduced by the floor cleaning machine 1 during reproduction travel. At this time, the widening state of the cleaning width by the side brushes 76 is also reproduced. The main brush 72 and the side brushes 76 clean the floor surface FL while maintaining a constant distance from the wall surface through distance measurement by the LRF 42 (see Figure 5). Even if a portion of the wall surface 104 protrudes into the room, the floor cleaning machine 1 travels so that the side brushes 76 avoid the protruding part of the wall surface.

[0068] As shown in FIG. 10(B), a low obstacle 105 is placed ahead of the floor cleaning machine 1 in the direction of travel. During the learning run, the floor cleaning machine 1 has not learned the presence of the obstacle 105, and during the reproduction run, the obstacle 105 is out of the detection range of the LRF 42, ultrasonic sensor 45c (see FIG. 5), and the like. As a result, the right side brush 76 collides with the obstacle 105, but the side brush 76 is swung inside the machine body against the reaction force of the spring 87 (see FIG. 7). Once the side brush 76 passes the obstacle 105, the spring 87 pushes the side brush 76 back outward from the machine body. Even if the side brush 76 collides with the obstacle 105, the side brush 76 moves away inside the machine body, thereby minimizing damage to the components.

[0069] The rotation speed control of the side brushes when the floor cleaning machine is turning will now be described. Fig. 11 is an explanatory diagram of the turning operation of the floor cleaning machine of this embodiment. Fig. 12 is an explanatory diagram of the rotation speed control of the side brushes of this embodiment. Fig. 13 is a diagram showing an example of setting the minimum rotation speed of the side brushes of this embodiment. Note that Fig. 12(A) shows an example of continuously changing the rotation speed of the side brushes, and Fig. 12(B) shows an example of changing the rotation speed of the side brushes in stages.

[0070] When the floor cleaning device 1 travels while rotating the left and right side brushes 76, the rotational load of the side brushes 76 may cause the autonomous travel along the travel path to become unstable. For example, when the floor cleaning device 1 is turned to the right, the rotation of the right side brush 76 applies a load to the turning of the floor cleaning device 1, and the rotation of the left side brush 76 assists the turning of the floor cleaning device 1. Furthermore, when the floor cleaning device 1 turns to the right, the left side brush 76 passes through the same places as the right side brush 76 before and after the turn, so there is no need to maintain a high rotation speed for the right side brush 76 to sweep up dust. On the other hand, the left side brush 76 passes through different places before and after the turn, so if the rotation speed of the left side brush 76 is not maintained high, there is a risk that dust will be left behind.

[0071] For this reason, it is not necessarily desirable to always set the left and right side brushes 76 to the same rotation speed, and it is desirable to set a difference in the rotation speed between the left and right side brushes 76 when the floor cleaning machine 1 turns. Therefore, the cleaning control unit (control unit) 52 of this embodiment may control the rotation speed of the inner side brush 76 to be lower than the rotation speed of the outer side brush 76 when the floor cleaning machine 1 turns left or right. This prevents the rotation load of the side brushes 76 from making the autonomous traveling along the traveling route unstable when the floor cleaning machine 1 turns. Furthermore, it is also possible to have the change in the rotation speed of the side brushes 76 learned during learning traveling.

[0072] For example, as shown in Figure 11(A), when the steering wheel 11 is moved 15 degrees to the right, the steering angle of the front wheels 3 is adjusted 45 degrees to the right. At this time, the rotation speed of the left side brush 76 is maintained at the maximum rotation speed (100%), and the rotation speed of the right side brush 76 is reduced to 75% of the maximum rotation speed. As shown in Figure 11(B), when the steering wheel 11 is moved 30 degrees to the right, the steering angle of the front wheels 3 is adjusted 90 degrees to the right. At this time, the rotation speed of the left side brush 76 is maintained at the maximum rotation speed, and the rotation speed of the right side brush 76 is reduced to 25% of the maximum rotation speed.

[0073] In this case, as shown in Fig. 12(A), the cleaning control unit 52 may continuously change the rotation speed of the side brush 76 in accordance with the swing angle of the handle 11. As shown in Fig. 12(B), the cleaning control unit 52 may change the rotation speed of the side brush 76 in steps in accordance with the swing angle of the handle 11. By controlling the rotation speed of the side brush 76 in this way, it is possible to appropriately adjust the rotation speed of the side brush 76 in accordance with the turning angle of the floor cleaning machine 1. Here, the swing angle of the handle 11 is used as an index indicating the turning angle of the floor cleaning machine 1, but the rotation speed of the side brush 76 may also be changed in accordance with the steering angle of the front wheels 3.

[0074] As described above, the rolling load R1 and rotational load R2 ( FIG. 7B ) acting on the side brush 76 change depending on the state of friction between the floor surface FL and the side brush 76. If the coefficient of friction between the floor surface FL and the side brush 76 is low, the side brush 76 slides on the floor surface FL, reducing the rotational load R2. On the other hand, if the coefficient of friction between the floor surface FL and the side brush 76 is high, the side brush 76 moves toward the outside of the machine body while rotating on the floor surface FL, increasing the rotational load R2. Because this rotational load R2 acts on the side brush 76 in the opposite direction to the rolling load R1, increasing the rotational speed of the side brush 76 allows the rotational load R2 to offset the rolling load R1 and the moment imbalance associated with the swing arm 85 of the side brush 76.

[0075] For this reason, it is preferable to measure the current value of the side brush motor 28, which changes depending on the coefficient of friction between the floor surface FL and the side brush 76, before the floor cleaning machine 1 starts to travel, and to control the rotation speed of the side brush 76 depending on the current value of the side brush motor 28 and the traveling speed. However, the rotation speed of the side brush 76 also affects cleaning performance, and setting the rotation speed of the side brush 76 too high could damage the floor surface FL and the brush bristles 79. Therefore, the cleaning control unit (control unit) 52 of this embodiment may determine the minimum rotation speed of the side brush 76 depending on the traveling speed of the floor cleaning machine 1 and the current value of the side brush motor 28.

[0076] For example, as shown in FIG. 13 , when the current value of the side brush motor 28 is "low" and the traveling speed is "low," this indicates that the friction coefficient and traveling load R1 are small. Therefore, the minimum rotation speed of the side brush 76 is set to "medium" so that the rotation load R2 does not become too large relative to the traveling load R1, causing the moment of the swing arm 85 in the outward direction of the machine body to become excessively large. When the current value of the side brush motor 28 is "low" and the traveling speed is "high," this indicates that the friction coefficient is small but the traveling load R1 is large, causing the moment of the swing arm 85 in the outward direction of the machine body to decrease. Therefore, the minimum rotation speed of the side brush 76 is set to "high" so that the rotation load R2 offsets the decrease in the moment of the swing arm 85 in the outward direction of the machine body due to the traveling load R1.

[0077] When the current value of the side brush motor 28 is "high" and the traveling speed is "low," this indicates that the friction coefficient is high but the traveling load R1 is small. Therefore, the minimum rotation speed of the side brush 76 is set to "low" so that the rotational load R2 does not become too large relative to the traveling load R1, preventing the moment of the swing arm 85 in the outward direction of the machine body from becoming excessively large. When the current value of the side brush motor 28 is "high" and the traveling speed is "high," this indicates that the friction coefficient and the traveling load R1 are large, and the moment of the swing arm 85 in the outward direction of the machine body is balanced to some extent. Therefore, the minimum rotation speed of the side brush 76 is set to "medium" so that the moment of the swing arm 85 in the outward direction of the machine body, which is caused by the balance between the rotational load R2 and the traveling load R1, is stabilized.

[0078] If the moment on swing arm 85 toward the outside of the machine body is not excessive and is close to a balanced state, the tractive force of spring 87 acts appropriately, and even if side brush 76 collides with an obstacle while traveling, side brush 76 can move to a retracted state by simply receiving a small reaction force corresponding to the tractive force of spring 87, thereby minimizing damage to parts.

[0079] The minimum rotation speed "low" may be set to 25% of the maximum rotation speed, the minimum rotation speed "medium" to 35% of the maximum rotation speed, and the minimum rotation speed "high" to 45% of the maximum rotation speed. Furthermore, when the rotation speed of the side brush 76 is controlled when the floor cleaning device 1 is turning as described above, the cleaning control unit 52 may control the rotation speed to be equal to or higher than the minimum rotation speed of the side brush 76. For example, if the minimum rotation speed of the side brush 76 is set to 25% of the maximum rotation speed, the rotation speed of the side brush 76 is controlled so that it does not become less than 25% of the maximum rotation speed even if the handle 11 is moved 30 degrees or more (see FIGS. 12(A) and (B)).

[0080] As described above, according to this embodiment, the side brushes 76 can swing rearward in the direction of travel from the swing center of the swing arm 85, so even if the side brushes 76 collide with an obstacle, the side brushes 76 can be deflected toward the inside of the machine body, minimizing damage to the side brush device 75. The impact between the side brushes 76 and the obstacle is absorbed by the springs 87, and the side brushes 76 can be returned to the outside of the machine body by the springs 87 after the floor cleaning device 1 has passed the obstacle.

[0081] Furthermore, when the wire 98 is pulled, the side brush 76 is raised and stored inside the machine body, and when the pulling of the wire 98 is released, the side brush 76 is lowered and pushed out to the outside of the machine body. Since the side brush device 75 does not require a drive source for vertical movement, the side brush device 75 can be made thinner and flexibility in the layout of the peripheral members of the side brush device 75 can be ensured.

[0082] In this embodiment, the floor cleaning machine is provided with a pair of left and right side brush devices, but the floor cleaning machine may also be provided with a single side brush device. In this case, it is still possible to control the rotation speed of the side brushes when the floor cleaning machine turns. For example, when the floor cleaning machine turns left and right, the cleaning control unit controls the rotation speed of the inner side brush to be reduced below the maximum rotation speed. Furthermore, even with a single side brush device, the side brush can be swung inward and outward from the machine body by a wire and raised and lowered.

[0083] In this embodiment, the cleaning control unit reduces the rotation speed of the inner side brush below the maximum rotation speed when the vehicle turns left or right, but it is sufficient that the rotation speed of the inner side brush be reduced below the rotation speed of the outer side brush. For example, as long as the cleaning control unit reduces the rotation speed of the inner side brush below the rotation speed of the outer side brush when the vehicle turns left or right, it may also reduce the rotation speed of the outer side brush below the maximum rotation speed.

[0084] In this embodiment, the swinging of the side brush is restricted by the swing arm hitting the stopper, but the stopper may be formed to define the limit of swinging of the side brush outward from the vehicle body. For example, the side brush may be restricted by the bracket or the side brush hitting the stopper.

[0085] In this embodiment, the spring is configured to pull one end of the swing arm, but the spring may be configured to push the side brush toward the outside of the machine body. For example, the spring may push the other end of the swing arm or the bracket, thereby pushing the side brush toward the outside of the machine body.

[0086] In addition, in this embodiment, the swing center of the swing arm is located inside the bumper, but if the swing center of the swing arm is located inside the vehicle body, the swing center of the swing arm can be prevented from colliding with an obstacle. For example, the swing center of the swing arm may be located behind the bumper.

[0087] In addition, in this embodiment, the conversion mechanism is formed using a support base, slider, tilting link, guide roller, etc., but the conversion mechanism may be configured in any way as long as it is capable of converting the pulling force of the wire into the pulling force of the bracket.

[0088] Furthermore, in this embodiment, the floor cleaning machine has the function of autonomously traveling according to the learning plan, but the floor cleaning machine does not necessarily have to have the function of autonomously traveling.

[0089] Furthermore, in this embodiment, the environmental map is created by SLAM, but the environmental map may also be created by V-SLAM or LiDAR-SLAM, or the environmental map may be prepared in advance by the operator.

[0090] Furthermore, in this embodiment, the operator manually operates the cleaning device by holding the handle, but the operator may also manually operate the cleaning device remotely using a display terminal.

[0091] Furthermore, in this embodiment, the floor cleaning machine controls the rotation speed of the side brushes, but if the floor cleaning machine is provided with a side brush device, it is not necessary to control the rotation speed of the side brushes.

[0092] In this embodiment, a function for controlling the rotation speed of the side brushes may be added by installing a program in the floor cleaning machine. These programs are stored in a storage medium. The storage medium is not particularly limited, and may be a non-transitory storage medium such as an optical disk, a magneto-optical disk, or a flash memory.

[0093] Although the present embodiment has been described, other embodiments may be obtained by combining the above-described embodiments and modifications in whole or in part.

[0094] Furthermore, the technology of the present invention is not limited to the above-described embodiments, and may be variously modified, substituted, or altered within the scope of the spirit of the technical idea. Furthermore, if the technical idea can be realized in a different way due to technological advances or other derived technologies, it may be implemented using that method. Therefore, the claims cover all embodiments that may fall within the scope of the technical idea. [Industrial Applicability]

[0095] As described above, the technology of the present invention is useful for floor cleaning machines used to clean large work areas in commercial facilities, manufacturing plants, train stations, airports, hotels, offices, hospitals, schools, etc., and for industrial robots suitable for automated work in work areas, such as autonomously traveling cleaning devices. [Explanation of symbols]

[0096] 1: Floor cleaning machine 2: Aircraft 28: Side brush motor 45c: Ultrasonic sensor (obstacle sensor) 52: Cleaning control unit (cleaning control unit) 65: Cleaning plan memory unit (memory unit) 71: Main brush device 72: Main brush 75: Side brush device 76: Side brush 84: Oscillation axis (oscillation center) 85: Swing arm 87: Spring 88: Parallel link mechanism (link mechanism) 89: Bracket 91: Stopper 92: Conversion mechanism 93: Support stand 94: Slider 95: Slit 96:Connection shaft 97: Tilt link 98: Wire 99: Long hole 103: Guide roller (guide) 106: Protrusion

Claims

1. A side brush device that extends the cleaning width by projecting a side brush that rotates on a substantially vertical rotation shaft from the side of the machine body, a swing arm that swings the side brush inward and outward directions of the machine body; a spring that pushes the side brushes outward from the aircraft body; a stopper that defines a limit of swinging of the side brush toward the outside of the aircraft body; a bracket that holds the side brush at the tip end of the swing arm; a wire that pulls the bracket against the reaction force of the spring; a link mechanism that connects the bracket to the swing arm so as to be movable up and down; The stopper restricts the swing of the side brush so that the side brush swings rearward in the traveling direction from the swing center of the swing arm, The side brush device is characterized in that the side brush is raised and stored inside the machine body by pulling the wire, and the side brush is lowered and protruded outside the machine body by releasing the pulling of the wire.

2. 2. The side brush device according to claim 1, wherein the center of swing of the swing arm is located inside the machine body.

3. a conversion mechanism for converting the pulling force of the wire into a pulling force of the bracket, 3. The side brush device according to claim 1, wherein the bracket rises due to the pulling force of the wire and falls due to the weight of the side brush including the bracket.

4. The conversion mechanism is a slider attached to the tip of the wire; a tilt link connecting the slider and the bracket; a guide that supports the forward and backward movement of the tilt link from below, When the connection position between the slider and the tilt link is positioned in a retracted direction from the guide, the tilt link assumes a horizontal position and the bracket rises, 4. The side brush device according to claim 3, wherein when the connecting position between the slider and the tilt link is positioned further forward than the guide, the tilt link is inclined and the bracket descends.

5. The tilt link is formed with a long hole in the forward / backward direction, 5. The side brush device according to claim 4, wherein the slider is connected to the long hole of the tilt link via a connecting shaft.

6. The conversion mechanism is a support base on which the slider is placed, a pair of slits are formed on the upper surface of the support base in the advancing / retreating direction of the slider, and a pair of protrusions of the slider are inserted into the pair of slits; 6. The side brush device according to claim 4, wherein the pair of slits in the support base are formed to widen in the advancing direction.

7. The side brush device according to any one of claims 1 to 6, a main brush device that cleans the floor surface with a main brush inside the machine body; A floor cleaning machine characterized by comprising: a control unit that controls each part of the machine body.

8. An obstacle sensor is provided to detect obstacles ahead in the traveling direction, 8. The floor cleaning machine according to claim 7, wherein the side brushes are switched between the storage state and the use state by the side brush device without entering the detection range of the obstacle sensor.

9. a storage unit that stores a cleaning plan in which cleaning conditions are set for each point on the travel route; The control unit controls cleaning of the floor surface while autonomously traveling according to a cleaning plan, cleaning conditions for the main brush device and cleaning conditions for the side brush device are set in the cleaning plan; 9. The floor cleaning machine according to claim 7, wherein the cleaning condition for the side brush device includes a timing for switching the side brush between a stored state and a use state.

10. the side brush devices are a pair of left and right side brush devices that rotate in opposite directions to each other to scrape dust on the floor surface from the front of the side of the machine body to the inside, 10. The floor cleaning machine according to claim 7, wherein the control unit reduces the rotation speed of the inner side brush to be lower than the rotation speed of the outer side brush when the machine body turns left or right.

11. The side brush device is a single side brush device that rotates to sweep dust from the front side of the machine body to the inside, 10. The floor cleaning machine according to claim 7, wherein the control unit reduces the rotation speed of the side brush located on the inside when the machine body turns left or right.

12. 12. The floor cleaning machine according to claim 10, wherein the control unit changes the rotation speed of the side brushes in accordance with a turning angle of the machine body.

13. The side brushes are rotated by a side brush motor, 13. The floor cleaning machine according to claim 7, wherein the control unit determines the number of rotations of the side brushes based on a traveling speed of the machine body and a current value of the side brush motor.

14. The floor cleaning machine according to claim 13, wherein the control unit determines the minimum rotation speed of the side brushes based on a traveling speed of the machine body and a current value of the side brush motor.

15. A floor cleaning machine equipped with a side brush device that extends a cleaning width by projecting a side brush that rotates on a substantially vertical rotation axis from the side of the machine body, and an obstacle sensor that detects obstacles ahead in the direction of travel, The side brush device a swing arm that swings the side brush inward and outward directions of the machine body; a spring that pushes the side brushes outward from the aircraft body; a stopper that defines a limit of swinging of the side brush toward the outside of the aircraft body; a bracket that holds the side brush at the tip end of the swing arm; a wire that pulls the bracket against the reaction force of the spring; a link mechanism that connects the bracket to the swing arm so as to be movable up and down; The stopper restricts the swing of the side brush so that the side brush swings rearward in the traveling direction from the swing center of the swing arm, By pulling the wire, the side brushes rise and are stored inside the aircraft body, and by releasing the wire, the side brushes descend and are protruded outside the aircraft body. A floor cleaning machine, characterized in that the side brushes are switched between a stored state and a use state by the side brush device without entering the detection range of the obstacle sensor.

Images