Bed cleaning machine

Abstract

To flexibly control a principal brush device and a secondary brush device of a floor surface cleaning machine.SOLUTION: On a floor surface cleaning machine (1), a secondary brush device (75) for raking dust on a floor surface (FL) by a secondary brush (76) protruding from a machine body side surface, a principal brush device (71) for sending the dust raked to a machine body inner side to a suction port by a principal brush (72), and a control part for controlling the secondary brush device and the principal brush device are provided. The secondary brush device switches the secondary brush into a storage state and a use state by oscillating the secondary brush in an inward and outward direction. The control part separately controls a pressure contact operation of the secondary brush with the floor surface and a rotating operation by the secondary brush device and a pressure contact operation of the principal brush with the floor surface and a rotating operation by the principal brush device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , , ,

[0005] , ,

[0001] The present invention relates to a floor cleaning machine.

Background Art

[0002] Conventionally, a floor cleaning machine equipped with a main brush device and a side brush device has been known (see, for example, Patent Document 1). The floor cleaning machine described in Patent Document 1 contacts the main brush with the floor inside the machine body by the main brush device, and contacts the side brush with the floor outside the machine body by the side brush device to widen the cleaning width. Similar to the main brush device, the side brush device is also attached to the lower surface of the machine body. When the cleaning starts, the side brush is pulled out to the outside of the machine body and contacts the floor, and when the cleaning ends, the side brush is separated from the floor and stored inside the machine body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the floor cleaning machine described in Patent Document 1, the floor is cleaned by the main brush and the side brush during floor cleaning, but it is desirable to be able to change the timing of widening the cleaning width according to the cleaning situation and the like.

[0005] Therefore, the present invention has been made in view of such points, and an object thereof is to provide a floor cleaning machine capable of flexibly controlling the main brush device and the side brush device.

Means for Solving the Problems

[0006] The floor cleaning machine of the present invention uses a side brush protruding from the side surface of the machine body to From the front of the side of the aircraft to the interior sweep up A pair of left and right rotating in opposite directions. The system comprises a side brush device, a main brush device that sends dust and debris swept into the interior of the machine to the suction port using a main brush, and a control unit that controls the side brush device and the main brush device. The side brush device swings the side brush in an inward and outward direction to switch between a retracted state and an operational state of the side brush, and the control unit separately controls the side brush device's pressing action against the floor and rotational action of the side brush, and the main brush device's pressing action against the floor and rotational action of the main brush. Furthermore, when the aircraft turns left or right, the rotation speed of the outer side brushes is maintained, and the rotation speed of the inner side brushes is changed to decrease below the rotation speed of the outer side brushes according to the turning angle of the aircraft. In this configuration, the side brushes swing outwards from the machine body, thereby widening the cleaning width of the main brush. Furthermore, since the pressure and rotational movements of the side brush device and the main brush device can be controlled separately, the cleaning width can be widened at any time during cleaning depending on the cleaning situation. In this way, the side brush device and the main brush device can be controlled flexibly. Furthermore, the aircraft's path does not become unstable due to the rotational load of the side brushes when turning. The rotation speed of the side brushes can be appropriately adjusted according to the aircraft's turning angle. Another floor cleaning machine of the present invention comprises a side brush device that sweeps up dust from the floor surface with side brushes protruding from the side of the machine body, a main brush device that sends the dust swept into the inside of the machine body to the suction port with a main brush, and a control unit that controls the side brush device and the main brush device. The side brush device swings the side brush in an inward and outward direction of the machine body to switch between a retracted state and an out-of-use state of the side brush, the side brush is rotated by a side brush motor, and the control unit separately controls the pressing and rotational operation of the side brush by the side brush device against the floor surface and the pressing and rotational operation of the main brush by the main brush device against the floor surface, and determines the minimum rotation speed of the side brush to be "high," "medium," or "low" according to the combination of the machine's travel speed ("high" or "low") and the current value of the side brush motor ("high" or "low"). With this configuration, the side brush swings outward from the machine body, thereby widening the cleaning width by the main brush. Furthermore, since the side brush device and the main brush device can be controlled separately for pressure and rotation, the cleaning width can be widened at any time during cleaning depending on the cleaning situation. In addition, the rotation load of the side brushes offsets the running load of the machine, further maintaining both cleaning performance and running performance.

[0007] The floor cleaning machine described above is equipped with an obstacle sensor that detects obstacles in the direction of travel, and the side brush device switches between the retracted state and the deployed state of the side brush without the obstacle sensor entering its detection range. With this configuration, even when the floor cleaning machine is cleaning while autonomously moving, the obstacle sensor will not mistakenly detect the side brush as an obstacle when the side brush is switched between the retracted state and the deployed state.

[0008] The floor cleaning machine described above is equipped with a memory unit that stores a cleaning plan in which cleaning conditions are set for each point along the travel path. The control unit autonomously travels according to the cleaning plan and controls the cleaning of the floor surface. The cleaning plan includes cleaning conditions for the main brush device and cleaning conditions for the side brush device, and the cleaning conditions for the side brush device include the timing for switching between the stored state and the used state of the side brush. With this configuration, the floor cleaning machine can be trained to perform cleaning using the side brush in learning mode, and in reproduction mode, it can reproduce whether or not the cleaning width is widened by the side brush according to the points along the travel path. [Effects of the Invention]

[0014] According to the present invention, the side brush device and the main brush device can be flexibly controlled according to the cleaning conditions and other factors. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view of the cleaning device according to this embodiment. [Figure 2] This is a plan view of the floor cleaning machine according to this embodiment. [Figure 3] This is a front view of the floor cleaning machine according to this embodiment. [Figure 4] This is a side view of the floor cleaning machine according to this embodiment. [Figure 5] This is a control block diagram of the floor cleaning machine according to this embodiment. [Figure 6] This is a perspective view of the side brush device of an embodiment. [Figure 7] This is a plan view of the side brush device of this embodiment. [Figure 8] This is a side view of the side brush device of this embodiment. [Figure 9] This is a control block diagram of the control unit and storage unit of this embodiment. [Figure 10] This figure shows an example of the movement of the floor cleaning machine according to this embodiment. [Figure 11] This is an explanatory diagram of the rotational movement of the floor cleaning machine of this embodiment. [Figure 12] It is an explanatory diagram of the rotational speed control of the side brush of this embodiment. [Figure 13] It is a diagram showing an example of setting the minimum rotational speed of the side brush of this embodiment.

Embodiment for Carrying Out the Invention

[0016] Hereinafter, the side brush device and the floor cleaning machine of this embodiment will be described 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. Note that FIG. 2(A) shows the storage state of the side brush, and FIG. 2(B) shows the use state of the side brush, respectively.

[0017] As shown in FIG. 1, the floor cleaning machine 1 is a cleaning machine that performs dry cleaning while autonomously traveling on the floor surface, and is used in commercial facilities, manufacturing factories, railway stations, airports, hotels, offices, hospitals, schools, etc. A pair of rear wheels 4 as auxiliary wheels and front wheels 3 as drive wheels are provided below the body 2 of the 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. A side brush 76 with a substantially vertical rotation axis is attached to each side brush device 75, and a main brush (roll brush) 72 with a horizontal rotation axis is attached to the main brush device 71.

[0018] In each side brush device 75, the side brush 76 protruding from the side of the machine body sweeps the dust on the floor surface FL (see Fig. 3) towards the inside of the machine body. In the main brush device 71, the dust swept towards the inside of the machine body is sent to the suction port (not shown) by the main brush 72. The main brush 72 is located at the lower part of the machine body and is a cylindrical so-called roll brush having a rotating shaft extending in the left-right direction parallel to the floor surface FL. The cleaning width by the main brush 72 is widened by the side brush 76. A bucket 5 for storing 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 on the front side of the handle 11. A bumper 7 is provided as a buffer device on the lower front side of the machine body 2.

[0019] Various cameras, sensors, etc. are provided on the outer surface of the machine body. A front camera 37a, a step sensor 44, and an ultrasonic sensor 45a are provided on the front surface of the machine body. A pair of left and right side cameras 37b and ultrasonic sensors 45b are provided on both side surfaces of the machine body. A rear camera 37c (see Fig. 5) is provided on the rear surface of the machine body. The upper part of the bumper 7 on the front surface of the machine body is recessed, 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 surface of the machine body. It is possible to recognize the surrounding environment of the floor cleaning machine 1 and detect obstacles by these cameras and sensors.

[0020] As shown in Figs. 2(A) and (B), a pair of left and right side brush devices 75 are provided at the front part of the floor cleaning machine 1, and the storage state and the use state of the pair of left and right side brushes 76 are switched. The brush disk 77 of each side brush 76 is attached to the lower surface of the side brush motor 28, and innumerable brush hairs 79 extend radially from the brush disk 77. In the storage state of the side brush 76, the brush disk 77 is positioned inside the machine body, and only a part of the brush hairs 79 is exposed from the side surface of the machine body. In the use state of the side brush 76, the brush disk 77 is positioned outside the machine body, and most of the brush hairs 79 are exposed from the side surface of the machine body.

[0021] As shown in Figure 3, when the side brush 76 is viewed from the front in use, the axis of rotation C of the side brush 76 is tilted slightly outward with respect to the perpendicular Z of 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 away from the floor surface FL. As shown in Figure 4, when the side brush 76 is viewed from the side in use, the axis of rotation C of the side brush 76 is tilted slightly forward with respect to the perpendicular Z of 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 away from the floor surface FL.

[0022] The left side brush 76 rotates clockwise, and the right side brush 76 rotates counterclockwise (see Figure 2(B)). In other words, the left and right side brushes 76 rotate in opposite directions to sweep dust from the floor surface FL inward from the front of the side of the machine. The front outer part of the brush bristles 79 of the side brush 76 is in strong contact with the floor surface FL, and the inward rotation of the front of the side brush 76 collects dust inside the machine. On the other hand, the rear inner part of the brush bristles 79 of the side brush 76 is away from the floor surface FL, so the outward rotation of the rear of the side brush 76 makes it difficult for dust to be swept out to the outside of the machine. The brush bristles 79 are made of flexible wire, and when the brush bristles 79 come into contact with the floor surface FL, the brush bristles 79 bend to conform to the floor surface FL.

[0023] As shown in Figure 5, the floor cleaning machine 1 is equipped with a travel unit 15, a travel 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 storage unit 61. The travel unit 15, travel operation unit 21, cleaning unit 24, operation display unit 31, microphone 32, speaker 33, communication unit 34, power supply unit 35, imaging unit 36, and measurement unit 41 are electrically connected to the control unit 51 and the storage unit 61 via an interface 67 and a bus 68. The storage 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 part of the machine.

[0024] The driving unit 15 includes 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 move the floor cleaning machine 1. The amount of travel and the direction of travel are detected by the drive encoders 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 driving operation unit 21 includes a handle sensor 22 and an accelerator sensor 23. The handle sensor 22 detects the oscillation 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).

[0025] The cleaning unit 24 includes 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 Figure 1), and the main brush cylinder 27 raises and lowers the main brush 72. The main brush 72 rotates in a forward direction (clockwise when viewed from the right side) so that the collected dust is fed into the bucket 5. The side brush motor 28 rotates the side brush 76 (see Figure 1), and the side brush cylinder 29 raises and lowers the side brush 76 via a wire 98 (see Figure 6), which will be described later, and also swings it in the inward and outward directions of the machine body 2. The side brush motors 28 consist of a right side brush motor 28a and a left side brush motor 28b, corresponding to the left and right side brushes 76.

[0026] The operation display unit 31 displays an operation screen on the operation panel 13 that accepts operator input. The operation screen allows the operator 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 from the surrounding area of ​​the floor cleaning machine 1, and the speaker 33 emits an alarm sound from the floor cleaning machine 1. The communication unit 34 communicates wirelessly between the floor cleaning machine 1 and an external terminal. Alternatively, a portable terminal such as a smartphone that can be attached to or detached 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) and a charging circuit, and power is supplied to each part of the device from the power supply unit 35.

[0027] 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 captures the area in front of the floor cleaning machine 1, the pair of left and right side cameras 37b capture the left and right sides of the floor cleaning machine 1, and the rear camera 37c captures the area behind the floor cleaning machine 1. Each camera 37a-37c captures an image of the area around the floor cleaning machine 1, and the cleaning status of the floor cleaning machine 1 is recorded by a drive recorder or the like. In addition, the images captured by cameras 37a-37c may be analyzed to recognize the surrounding environment of the floor cleaning machine 1, restricted areas, obstacles, etc.

[0028] The measurement unit 41 includes 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 walls and obstacles. The bumper sensor 43 detects contact between the bumper 7 (see Figure 1) and walls and obstacles. The step sensor 44 detects steps in the floor surface FL. The ultrasonic sensors 45a-45c detect obstacles in front of the floor cleaning machine 1, obstacles to the left and right sides, and obstacles diagonally in front of the floor cleaning machine 1 within a short distance range from the floor cleaning machine 1. These various sensors detect the surrounding environment of the floor cleaning machine 1.

[0029] The memory unit 61 stores cleaning plans with cleaning conditions set for each point along the travel route, as well as other parameters. The cleaning plan includes cleaning conditions for each motor, such as the blower motor 25, cleaning conditions for the main brush device 71, and cleaning conditions for the side brush device 75, in addition to the travel route. The cleaning conditions for the main brush device 71 include the rotation speed of the main brush 72, whether or not it makes contact with the floor surface FL, and the strength of that contact. The cleaning conditions for the side brush device 75 include the rotation speed of the side brush 76, as well as the timing for switching between the retracted and used states of the side brush 76.

[0030] The control unit 51 provides overall control over all parts of the device. The control unit 51 controls the cleaning of the floor surface (FL) while the device autonomously travels according to the cleaning plan. The control unit 51 is composed of a processor, and the memory unit 61 is composed of various storage media. The processor reads programs and various data from the storage media and performs various processes. Processors such as CPUs (Central Processing Units) and GPUs (Graphics Processing Units) are used. Storage media such as ROMs (Read Only Memory), RAMs (Random Access Memory), HDDs (Hard Disk Drives), and flash memory are used.

[0031] This floor cleaning machine 1 has three operating modes: manual mode, learning mode, and reproduction mode. In manual mode, the operator manually operates the floor cleaning machine 1 to clean the floor surface (FL). In learning mode, the operator manually operates the floor cleaning machine 1 to teach it a cleaning plan. In reproduction mode, the floor cleaning machine 1 autonomously moves across the floor surface (FL) and cleans, reproducing the cleaning plan. In addition to cleaning according to the cleaning plan learned in learning mode, the floor cleaning machine 1 can also clean according to a pre-created cleaning plan.

[0032] As described above, the floor cleaning machine 1 is equipped with a pair of left and right side brush devices 75 that extend from both sides of the machine body, with a pair of left and right side brushes 76 that rotate on a substantially vertical rotation axis to widen the cleaning width. Although the cleaning width is widened by the side brushes 76, the side brushes 76 make it easier for the floor cleaning machine 1 to collide with obstacles on its sides. Also, obstacles are not always reliably detected by ultrasonic sensors 45a-45c, etc. Therefore, in the floor cleaning machine 1 of this embodiment, the side brushes 76 are oscillated at a position behind the pivot point of the side brushes 76 in the direction of travel (oscillation axis 84 (see Figure 10)), and if the side brushes 76 collide with an obstacle, the side brushes 76 are moved inward into the machine body.

[0033] The detailed configuration of the side brush device will be described below. Figure 6 is a perspective view of the side brush device of this embodiment. Figure 7 is a plan view of the side brush device of this embodiment. Figure 8 is a side view of the side brush device of this embodiment. Figures 6(A) to 8(A) show the side brush in its stored state, and Figures 6(B) to 8(B) show the side brush in use. In the following description, the right-side side brush device will be described, but the left-side side brush device is configured similarly (with a symmetrical shape).

[0034] As shown in Figures 6(A) and 6(B), the side brush device 75 is attached to the chassis 81 of the aircraft body 2. The chassis 81 is formed in a roughly L-shape when viewed from above by a vertical frame 82 and a horizontal frame 83, and a storage area for the side brush device 75 is secured inside the vertical frame 82 and the horizontal frame 83. The vertical frame 82 is formed in an inverted L-shape when viewed in cross-section, and the horizontal frame 83 is formed in a C-shape when viewed in cross-section. A part of the upper plate of the vertical frame 82 is cut out to avoid the side brush device 75 (side brush motor 28) in the storage area. The upper and lower plates at the tip of the horizontal frame 83 support the oscillating arm 85 via an oscillating shaft 84.

[0035] One end of the oscillating arm 85 extends inward from the oscillating shaft 84, and a hook portion 86 is formed at the tip of that end. The vertical frame 82 is connected to the hook portion 86 of the oscillating arm 85 via a spring 87. The other end of the oscillating arm 85 protrudes rearward from the oscillating shaft 84, and a bracket 89 is connected to the tip of that other end of the oscillating arm 85 via a parallel link mechanism 88 so as to be able to move up and down. A plate-shaped stopper 91 is provided on the side plate at the tip of the horizontal frame 83, and the oscillation of the side brush 76 is restricted when the other end of the oscillating arm 85 abuts against the stopper 91.

[0036] A side brush motor 28 is attached to the bracket 89, and the brush disc 77 of the side brush 76 is fixed to the rotation axis (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 of the oscillating arm 85, and the oscillating arm 85 causes the side brush 76 to oscillate in the inward and outward directions of the machine body 2 around the oscillating axis 84. In addition, the spring 87 pulls one end of the oscillating arm 85, pushing the side brush 76 on the other end of the oscillating arm 85 outwards, and the stopper 91 abuts against the other end of the oscillating arm 85, defining the limit of the outward oscillation of the side brush 76 to the machine body.

[0037] A support base 93 is provided on the upper plate of the horizontal frame 83, and a slider 94 is mounted on the support base 93. A pair of slits 95 are formed on the upper surface of the support base 93 in the direction of the slider 94's movement, and a pair of protrusions 106 of the slider 94 are inserted into the pair of slits 95 of the support base 93. The pair of slits 95 of the support base 93 are formed to be wider in the direction of advancement, allowing for some play in the slider 94's sliding in the advancement direction. A tilting link 97 is connected to the tip 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 of the slider 94 and the tilting link 97.

[0038] The tilting link 97 has an elongated hole 99 formed in the forward and backward direction, into which a horizontally oriented connecting shaft 96 is inserted. The tip end of the tilting link 97 is connected to the upper surface of the bracket 89 via a connecting member 101. The connecting member 101 is formed from a plate material with a U-shaped cross-section, and the tip end of the tilting link 97 is connected to a pair of vertical plates of the connecting member 101 via a connecting shaft 102. The bottom plate of the connecting member 101 is rotatably supported on the upper surface of the bracket 89 via a vertical axis (not shown). In addition, a guide roller (guide) 103 is provided on the upper plate of the horizontal frame 83 to support the forward and backward movement of the tilting link 97 from below.

[0039] These support bases 93, sliders 94, tilting links 97, connecting members 101, guide rollers 103, etc., form a conversion mechanism 92 that converts the pulling force of the wire 98 into the lifting force of the bracket 89. The wire 98 moves the side brush 76 up and down in conjunction with the bracket 89 via the conversion mechanism 92, between a raised position away from the floor surface FL and a lowered position in contact with the floor surface FL. The wire 98 also swings the side brush 76 in conjunction with the bracket 89 between a stowed position inside the machine and a used position outside the machine. The side brush device 75 is configured so that the stowed state and the used state of the side brush 76 can be switched by the wire 98.

[0040] As shown in Figure 7(A), a spring 87 is connected to the bracket 89 via a swing arm 85. The tensile force F1 of the spring 87 causes a moment M1 to act on the bracket 89 outward, with the swing axis 84 of the swing arm 85 as the pivot point. On the other hand, a wire 98 is connected to the bracket 89 via a tilt link 97, etc. The traction force F2 of the wire 98 causes a moment M2 to act on the bracket 89 inward, with the swing axis 84 of the swing arm 85 as the pivot point. In this way, the bracket 89 is pulled by the wire 98 against the reaction force of the spring 87.

[0041] When the side brush 76 is retracted, the wire 98 is strongly pulled, and the moment M2 inside the machine is greater than the moment M1 outside the machine acting on the bracket 89. As a result, the wire 98 pulls the side brush 76 inward through the bracket 89, and the brush disc 77 of the side brush 76 is retracted inside the machine. At this time, the brush disc 77 is located behind the pivot axis 84 of the pivot arm 85 in the direction of travel of the floor cleaning machine 1. Also, the pivot axis 84 of the pivot arm 85 is located inward from the outer edge traced by the brush bristles 79 of the side brush 76.

[0042] As shown in Figures 7(A) and 8(A), when the wire 98 is strongly pulled, the connecting shaft 96 of the slider 94 and the tilting link 97 is positioned in a 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 tilting link 97 is supported from below by both the support base 93 and the guide roller 103. Because the tilting link 97 is in a horizontal position, the bracket 89 is positioned in a 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 and retracted inside the machine body by the pulling of the wire 98.

[0043] As shown in Figure 7(B), when the side brush 76 is in use, the tension of the wire 98 is loosened, and the moment M2 inside the machine is smaller than the moment M1 outside the machine acting on the bracket 89. As a result, the tensile force F1 of the spring 87 pushes the side brush 76 outwards through the bracket 89, causing the brush disc 77 of the side brush 76 to protrude outwards. The protrusion of the side brush 76 from the side of the machine widens the cleaning width of the floor cleaning machine 1. The swing arm 85 abuts against the stopper 91, and the swing of the side brush 76 is restricted by the stopper 91.

[0044] At this time, the brush disc 77 is positioned behind the pivot axis 84 of the oscillating arm 85 in the direction of travel of the floor cleaning machine 1. Also, the pivot axis 84 of the oscillating arm 85 is positioned inward from the outer edge traced by the brush bristles 79 of the side brush 76. The oscillating motion of the side brush 76 is restricted by the stopper 91 so that the side brush 76 oscillates behind the pivot axis 84 of the oscillating arm 85 in the direction of travel. Due to the oscillating motion of the side brush 76, even if the side brush 76 collides with an obstacle, the side brush 76 is deflected inward from the machine. In addition, the pivot axis 84 of the oscillating arm 85 is positioned inside the bumper 7 (see Figure 10), preventing the pivot axis 84 from colliding with obstacles.

[0045] When the side brush 76 is in use, a running load R1 acts on the side brush 76 in the opposite direction to the direction of travel due to the movement of the floor cleaning machine 1. The running load R1 increases the moment M2 inside the machine at the bracket 89, so in order to increase the moment M1 outside the machine, the tensile force F1 of the spring 87 needs to be increased. Incidentally, the rotation of the side brush 76 acts a rotational load R2 at the contact point between the side brush 76 and the floor surface FL. The rotational load R2 increases the moment M1 outside the machine, so when the floor cleaning machine 1 is stopped or moving at a low speed, it is not necessary to excessively increase the tensile force F1 of the spring 87. Note that the rotational load R2 changes according to the friction with the floor surface FL.

[0046] As shown in Figures 7(B) and 8(B), when the tension on the wire 98 is released, the connecting shaft 96 of the slider 94 and the tilting link 97 is positioned relative to the guide roller 103 in the forward direction. The slider 94 is supported from below by the support base 93, but the tilting link 97 detaches from the support base 93 and the guide roller 103. As the tilting link 97 assumes an inclined position, the bracket 89 is positioned in a lowered position, and the side brush 76 held by the bracket 89 partially contacts the floor surface FL. At this time, the weight of the side brush 76 held by the bracket 89, the side brush motor 28, and the bracket 89 itself acts on the wire 98, and in this way, when the tension on the wire 98 is released, the side brush 76 descends and protrudes outward from the machine body. Furthermore, the lowered position of the bracket 89 is defined by a lower stopper (not shown) so that the brush bristles 79 of the side brush 76 contact the floor surface FL and bend appropriately. The lower stopper can be manually adjusted vertically to accommodate the shortening of the brush bristles (79) due to wear.

[0047] Because the slit 95 of the support base 93 is formed to be wider in the direction of advancement, the slider 94 and the tilting link 97 are formed to swing slightly outward from the machine body as the slider 94 slides in the direction of advancement. When the side brush 76 and bracket 89 swing outward from the machine body, the slider 94 and tilting link 97 slide in the direction of advancement, and the bracket 89 moves the slider 94 and tilting link 97 outward from the machine body. The swinging of the side brush 76 and bracket 89 is not restricted by the slider 94 and tilting link 97, and the swinging of the side brush 76 and bracket 89 in the inward and outward directions of the machine body 2 is permitted.

[0048] The side brush device 75 uses a simple configuration with a wire 98 to raise and lower the side brush 76 and to swing it inward and outward relative to the machine body 2. The pulling force of the wire 98 is converted into an upward force of the bracket 89 via a conversion mechanism 92. The bracket 89 rises due to the pulling force of the wire 98, and the bracket 89 is 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 unnecessary, allowing for a thinner side brush device 75 and ensuring greater flexibility in the layout of the surrounding components of the side brush device 75.

[0049] In particular, as shown in Figures 8(A) and 8(B), an ultrasonic sensor 45c is provided on the side of the machine. Because the side brush device 75 of this embodiment is formed in a thin shape, the side brush device 75 switches between the retracted state and the used state of the side brush 76 without entering the detection range of the ultrasonic sensor 45c. When the floor cleaning machine 1 is cleaning while autonomously moving, the switching between the retracted state and the used state of the side brush 76 does not affect the detection state of the ultrasonic sensor 45c. In other words, the ultrasonic sensor 45c does not mistakenly detect the side brush 76 as an obstacle.

[0050] As shown in Figure 8(B), the slider 94 is connected to the elongated hole 99 of the tilting link 97 via a connecting shaft 96. Therefore, even if the side brush 76 collides with an obstacle and is pushed inward into the machine, the relative inclination and connection position of the slider 94 and the tilting link 97 change, allowing the side brush 76 to remain lowered. In other words, unlike when the wire 98 is strongly pulled, even if the side brush 76 collides with an obstacle and the bracket 89 is swung inward into the machine, the side brush 76 does not move upward from the floor surface FL, and cleaning can continue while the side brush 76 remains in contact with the floor surface FL.

[0051] If the lowered position of the side brush 76 is unstable, it is possible to separately install a spring or the like on the bracket 89 to apply a downward force to force 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 installed to constantly apply an upward force.

[0052] Next, the detailed configuration of the control unit and memory unit of the main unit will be described. Figure 9 is a control block diagram of the control unit and memory unit of this embodiment. The reference numerals from Figures 1 to 4 will be used as appropriate in this explanation.

[0053] As shown in Figure 9, the control unit 51 is equipped with a cleaning control unit 52, a travel control unit 53, a SLAM control unit 54, a travel route creation unit 55, an environmental map creation unit 56, and a cleaning plan creation unit 57. The storage unit 61 is equipped with a cleaning condition storage unit 62, a travel route storage unit 63, an environmental map storage unit 64, and a cleaning plan storage unit 65. The cleaning control unit 52 separately controls the pressing and rotational operation of the side brushes 76 by the side brush device 75 against the floor surface FL, and the pressing and rotational operation of the main brush 72 by the main brush device 71 against the floor surface FL. This allows the operator to arbitrarily set the widening timing of the side brushes 76 according to the cleaning situation, etc.

[0054] The cleaning control unit 52 controls the manual operation of the floor cleaning machine 1 by the operator during learning mode. The control contents of the cleaning control unit 52 are stored in the cleaning condition storage unit 62 as teaching data. This teaching data includes the suction force of the suction blower, the rotation speed of the main brush 72, the rotation speed of the side brushes 76, the widening timing by the side brushes 76, etc. The travel control unit 53 controls the manual travel of the floor cleaning machine 1 by the operator during learning mode. The control contents of the travel control unit 53 are stored in the cleaning condition storage unit 62 as teaching data. This teaching data includes the travel speed, etc.

[0055] The SLAM control unit 54 performs 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 the travel path of the floor cleaning machine 1 by connecting multiple self-positions arranged in chronological order. The environment map creation unit 56 creates an environment map by connecting multiple local maps arranged in chronological order. The travel path is stored as teaching data in the travel path storage unit 63, and the environment map is stored as teaching data in the environment map storage unit 64.

[0056] Furthermore, either a two-dimensional LRF or a three-dimensional LRF may be used as the LRF42. Two-dimensional data may be acquired by a two-dimensional LRF, or three-dimensional data may be acquired by a three-dimensional LRF or by vertical oscillation of a two-dimensional LRF. That is, a two-dimensional travel route may be created by the travel route creation unit 55, or a three-dimensional travel route may be created by the travel route creation unit 55. In addition, 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.

[0057] The cleaning plan creation unit 57 creates a cleaning plan by associating various teaching data at predetermined time intervals 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 the suction force of the suction blower, the rotation speed of the main brush 72, the rotation speed of the side brush 76, the widening timing by the side brush 76, etc., are set at each point from the start to the end of the travel route to create the cleaning plan. The cleaning plan is stored in the cleaning plan storage unit 65. In addition to the cleaning plan learned in the learning mode, the cleaning plan storage unit 65 also stores cleaning plans that have been created in advance.

[0058] Furthermore, when the system switches from learning mode to reproduction mode, the cleaning control unit 52 reads a cleaning plan from the cleaning plan storage unit 65 during reproduction mode and controls the autonomous cleaning of the floor cleaning machine 1 according to the cleaning plan. The travel control unit 53 reads the travel path included in the cleaning plan from the cleaning plan storage unit 65 during reproduction mode and controls the autonomous travel of the floor cleaning machine 1 according to the travel path. The floor cleaning machine 1 autonomously travels along the travel path, cleaning the floor surface FL with the main brush 72 and side brushes 76. In this way, the floor cleaning machine 1 is controlled by the cleaning control unit 52 and the travel control unit 53, thereby reproducing the cleaning plan read from the cleaning plan storage unit 65.

[0059] The operation of the floor cleaning machine will now be explained. Figure 10 shows an example of the operation of the floor cleaning machine of this embodiment. Figure 10(A) shows the operation state when a columnar protruding wall is detected, and Figure 10(B) shows the operation state when a low-height obstacle is not detected.

[0060] As shown in Figure 10(A), a portion of the wall surface 104 protrudes inward in a columnar shape in front of the floor cleaning machine 1 in the direction of travel. By training the floor cleaning machine 1 to clean along the wall surface 104 during learning runs, the floor cleaning machine 1 can reproduce cleaning along the wall surface 104 during reproduction runs. At this time, the widening of the cleaning width by the side brushes 76 is also reproduced. The floor surface FL is cleaned by the main brush 72 and side brushes 76 while maintaining a constant distance from the wall surface by measuring the distance of the LRF42 (see Figure 5). Even if a portion of the wall surface 104 protrudes inward, the floor cleaning machine 1 travels in such a way that the side brushes 76 avoid the protruding portion of the wall surface.

[0061] As shown in Figure 10(B), a low obstacle 105 is placed in front of the floor cleaning machine 1 in the direction of travel. In the learning run, the floor cleaning machine 1 has not learned the presence of the obstacle 105, and in the reproduction run, the obstacle 105 is outside the detection range of the LRF42 and ultrasonic sensor 45c (see Figure 5). As a result, the right side brush 76 collides with the obstacle 105, but the side brush 76 is swung inward against the reaction force of the spring 87 (see Figure 7). Once the side brush 76 has passed the obstacle 105, the spring 87 pushes the side brush 76 back outward. Even if the side brush 76 collides with the obstacle 105, damage to the components is suppressed because the side brush 76 escapes inward.

[0062] This section describes the control of the rotation speed of the side brushes during the rotation of a floor cleaning machine. Figure 11 is an explanatory diagram of the rotation operation of the floor cleaning machine in this embodiment. Figure 12 is an explanatory diagram of the rotation speed control of the side brushes in this embodiment. Figure 13 is a diagram showing an example of setting the minimum rotation speed of the side brushes in this embodiment. Figure 12(A) shows an example of continuously changing the rotation speed of the side brushes, and Figure 12(B) shows an example of changing the rotation speed of the side brushes in steps.

[0063] When the floor cleaning machine 1 is moving while rotating the left and right side brushes 76, the rotational load of the side brushes 76 may cause instability in autonomous movement along the travel path. For example, when the floor cleaning machine 1 turns to the right, the rotation of the right side brush 76 applies a load to the turning of the floor cleaning machine 1, and the rotation of the left side brush 76 assists the turning of the floor cleaning machine 1. Also, when the floor cleaning machine 1 turns to the right, the left side brush 76 passes in the same place as the right side brush 76 before and after the turn, so it is not necessary 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 in a different place before and after the turn, so if the rotation speed of the left side brush 76 is not maintained at a high level, there is a risk of leaving dust behind.

[0064] Therefore, it is not always desirable for the left and right side brushes 76 to be set to the same rotation speed, and it is desirable to have a difference in the rotation speed of the left and right side brushes 76 when the floor cleaning machine 1 turns. Accordingly, 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 that of the outer side brush 76 when the floor cleaning machine 1 turns left or right. This prevents the autonomous driving along the travel path from becoming unstable due to the rotation load of the side brushes 76 when the floor cleaning machine 1 turns. In addition, it is possible to learn the change in the rotation speed of the side brushes 76 during learning driving.

[0065] 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 wheel 3 is adjusted to 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 wheel 3 is adjusted to 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.

[0066] In this case, as shown in Figure 12(A), the rotation speed of the side brush 76 may be continuously changed by the cleaning control unit 52 in accordance with the oscillation angle of the handle 11. Alternatively, as shown in Figure 12(B), the rotation speed of the side brush 76 may be changed in steps by the cleaning control unit 52 in accordance with the oscillation angle of the handle 11. By controlling the rotation speed of the side brush 76 in this way, the rotation speed of the side brush 76 can be appropriately adjusted in accordance with the turning angle of the floor cleaning machine 1. Here, the oscillation angle of the handle 11 was used as an indicator of 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.

[0067] As mentioned above, the running load R1 and rotational load R2 (Figure 7(B)) acting on the side brush 76 change depending on the 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, and the rotational load R2 decreases. 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 rotates and moves outward on the floor surface FL, increasing the rotational load R2. Since this rotational load R2 acts on the side brush 76 in the opposite direction to the running load R1, increasing the rotational speed of the side brush 76 can offset the imbalance in the moment related to the swing arm 85 of the side brush 76, along with the running load R1, by the rotational load R2.

[0068] Therefore, it is preferable to measure the current value of the side brush motor 28, which changes according to the friction coefficient between the floor surface FL and the side brush 76, before the floor cleaning machine 1 is driven, and to control the rotation speed of the side brush 76 according to the current value of the side brush motor 28 and the driving speed. However, the rotation speed of the side brush 76 also affects the cleaning performance, and if the rotation speed of the side brush 76 is set too high, it can lead to damage to 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 based on the driving speed of the floor cleaning machine 1 and the current value of the side brush motor 28.

[0069] For example, as shown in Figure 13, when the current value of the side brush motor 28 is "low" and the travel speed is "low," it indicates that the friction coefficient and the travel load R1 are small. Therefore, the minimum rotation speed of the side brush 76 is set to "medium" so that the rotational load R2 does not become too large relative to the travel load R1, and the outward moment on the oscillating arm 85 does not become excessive. When the current value of the side brush motor 28 is "low" and the travel speed is "high," it indicates that the friction coefficient is small but the travel load R1 is large, and the outward moment on the oscillating arm 85 decreases. Therefore, the minimum rotation speed of the side brush 76 is set to "high" so that the rotational load R2 offsets the decrease in the outward moment on the oscillating arm 85 caused by the travel load R1.

[0070] When the current value of the side brush motor 28 is "high" and the travel speed is "low," it indicates that the coefficient of friction is high but the travel load R1 is small. Therefore, the minimum rotational speed of the side brush 76 is set to "low" so that the rotational load R2 does not become too large relative to the travel load R1, and the outward moment on the oscillating arm 85 does not become excessive. When the current value of the side brush motor 28 is "high" and the travel speed is "high," it indicates that the coefficient of friction and the travel load R1 are large, and the outward moment on the oscillating arm 85 is balanced to some extent. Therefore, the minimum rotational speed of the side brush 76 is set to "medium" so that the outward moment on the oscillating arm 85 is stable due to the balance between the rotational load R2 and the travel load R1.

[0071] If the moment on the outward side of the machine related to the oscillating arm 85 is not excessive and is close to a balanced state, the traction force of the spring 87 will act appropriately, and even if the side brush 76 collides with an obstacle during operation, the side brush 76 will only receive a small reaction force corresponding to the traction force of the spring 87 and will be able to move into a retracted state, thus minimizing damage to the parts.

[0072] The minimum rotation speed can be set to "low" which is 25% of the maximum rotation speed, "medium" which is 35% of the maximum rotation speed, and "high" which is 45% of the maximum rotation speed. Furthermore, if the rotation speed of the side brush 76 is controlled when the floor cleaning machine 1 is turned as described above, the cleaning control unit 52 may control the rotation speed of the side brush 76 to be at or above the minimum rotation speed. For example, if the minimum rotation speed of the side brush 76 is set to 25% of the maximum rotation speed, even if the handle 11 is moved by 30 degrees or more, the rotation speed of the side brush 76 will not fall below 25% of the maximum rotation speed (see Figures 12(A) and (B)).

[0073] As described above, according to this embodiment, the side brush 76 swings outward from the machine body, thereby widening the cleaning width of the main brush 72. Furthermore, since the pressure contact operation and rotation operation of the side brush device 75 and the main brush device 71 can be controlled separately, the cleaning width can be widened at any timing during cleaning according to the cleaning situation. In this way, the side brush device 75 and the main brush device 71 can be controlled flexibly.

[0074] Furthermore, in this embodiment, the rotation speed of the inner side brush 76 is reduced compared to the rotation speed of the outer side brush 76, so that the travel path does not become unstable due to the rotational load of the side brushes 76 when the floor cleaning machine 1 turns. In addition, the rotation speed of the side brushes 76 can be appropriately adjusted according to the turning angle of the floor cleaning machine 1.

[0075] In this embodiment, the floor cleaning machine is equipped with a pair of left and right side brush devices, but the floor cleaning machine may also be equipped with a single side brush device. In this case as well, it is 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 or right, the cleaning control unit controls the rotation speed of the inner side brush to decrease below the maximum rotation speed. Furthermore, even with a single side brush device, the side brush can be swung inward and outward by a wire, and the side brush can also be raised and lowered.

[0076] Furthermore, in this embodiment, the cleaning control unit reduces the rotation speed of the inner side brush below the maximum rotation speed when the machine turns left or right, but it is sufficient to reduce the rotation speed of the inner side brush below the rotation speed of the outer side brush. For example, if the cleaning control unit reduces the rotation speed of the inner side brush below the rotation speed of the outer side brush when the machine turns left or right, it may also reduce the rotation speed of the outer side brush below the maximum rotation speed.

[0077] Furthermore, in this embodiment, the oscillation of the side brush is restricted by the oscillation arm hitting the stopper, but the stopper only needs to be formed to define the limit of the oscillation of the side brush toward the outside of the machine body. For example, the side brush may be restricted by the bracket or the side brush hitting the stopper.

[0078] Furthermore, in this embodiment, the spring is formed to pull one end of the oscillating arm, but the spring only needs to be formed to push the side brush outwards from the machine body. For example, the spring may push the other end of the oscillating arm or the bracket, thereby pushing the side brush outwards from the machine body.

[0079] Furthermore, in this embodiment, the pivot center of the swing arm is located inside the bumper, but if the pivot center of the swing arm is located inside the aircraft body, it is possible to prevent the pivot center of the swing arm from colliding with an obstacle. For example, the pivot center of the swing arm may be located behind the bumper.

[0080] Furthermore, in this embodiment, the conversion mechanism is formed by 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 lifting force of the bracket.

[0081] Furthermore, in this embodiment, the floor cleaning machine has the function of autonomously navigating according to a learned plan, but it is not necessary for the floor cleaning machine to have the function of autonomous navigation.

[0082] Furthermore, in this embodiment, the environment map is created by SLAM, but the environment map may also be created by V-SLAM or LiDAR-SLAM, or the environment map may be prepared in advance by the operator.

[0083] Furthermore, in this embodiment, the operator manually operates the cleaning device by holding its handle, but the operator may also remotely operate the cleaning device manually using a display terminal.

[0084] Furthermore, in this embodiment, the side brush device and main brush device of the floor cleaning machine are not limited to the above configuration. The configuration of the side brush device is not particularly limited as long as it is configured to sweep up dust from the floor surface with side brushes protruding from the side of the machine body. The configuration of the main brush device is not particularly limited as long as it is configured to send the dust swept into the inside of the machine body to the suction port with the main brush.

[0085] Furthermore, in this embodiment, a function to control 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, but may be a non-transient storage medium such as an optical disc, magneto-optical disc, or flash memory.

[0086] Although this embodiment has been described, other embodiments may include combinations of the above embodiments and modifications, either entirely or partially.

[0087] Furthermore, the technology of the present invention is not limited to the embodiments described above, and may be modified, substituted, or transformed in various ways without departing from the spirit of the technical idea. Moreover, if the technical idea can be realized in a different way by advances in the technology or by other derived technologies, it may be implemented by that method. Accordingly, the claims cover all embodiments that may fall within the scope of the technical idea. [Industrial applicability]

[0088] As described above, the technology of the present invention is useful for floor cleaning machines used for cleaning large work areas such as commercial facilities, manufacturing plants, railway stations, airports, hotels, offices, hospitals, and schools, as well as for industrial robots suitable for automated work in work areas, such as autonomous cleaning devices. [Explanation of Symbols]

[0089] 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

Claims

1. A pair of side brush devices, one on each side, rotate in opposite directions to sweep dust from the floor surface towards the interior from the front of the aircraft's side, with side brushes protruding from the sides of the aircraft. The main brush device sends the dust and debris gathered inside the aircraft to the suction port using the main brush, The system comprises a control unit that controls the side brush device and the main brush device, The side brush device swings the side brush in an inward and outward direction within the aircraft body to switch between the retracted state and the operational state of the side brush. A floor cleaning machine characterized in that the control unit separately controls the pressing and rotating operation of the side brushes on the floor surface by the side brush device and the pressing and rotating operation of the main brush on the floor surface by the main brush device, and maintains the rotation speed of the outer side brushes when the machine turns left or right, and changes the rotation speed of the inner side brushes to be lower than the rotation speed of the outer side brushes according to the swing angle of the handle or the steering angle of the front wheels of the machine.

2. A side brush device that uses side brushes protruding from the side of the aircraft to sweep up dust from the floor surface, The main brush device sends the dust and debris gathered inside the aircraft to the suction port using the main brush, The system comprises a control unit that controls the side brush device and the main brush device, The side brush device swings the side brush in an inward and outward direction within the aircraft body to switch between the retracted state and the operational state of the side brush. The aforementioned side brush is rotated by a side brush motor. A floor cleaning machine characterized in that the control unit separately controls the pressing and rotating operation of the side brushes on the floor surface by the side brush device and the pressing and rotating operation of the main brush on the floor surface by the main brush device, and determines the minimum rotation speed of the side brushes to be "high," "medium," or "low" according to the combination of the machine's travel speed being "high" or "low" and the current value of the side brush motor being "high" or "low."

3. Equipped with an obstacle sensor that detects obstacles in the direction of travel, The floor cleaning machine according to claim 1 or 2, characterized in that the side brush device switches between the retracted state and the operational state of the side brush without entering the detection range of the obstacle sensor.

4. It is equipped with a memory unit that stores a cleaning plan in which cleaning conditions are set for each point along the travel route. The control unit controls the cleaning of the floor surface while autonomously driving according to the cleaning plan. The cleaning plan includes cleaning conditions for the main brush device and cleaning conditions for the side brush device. The floor cleaning machine according to claim 1 or 2, characterized in that the cleaning conditions for the side brush device include a timing for switching between the stored state and the used state of the side brush.

Images