Cleaning device

Abstract

To provide a cleaning device optimal for cleaning a cleaning object surface such as a window surface.SOLUTION: A cleaning device includes a cleaning liquid applicator for applying a cleaning liquid to a cleaning object surface, an actuator for moving the cleaning liquid applicator, with it pressed against the cleaning object surface, a boundary detection part for detecting that the cleaning liquid applicator moved by the actuator has reached a boundary of a cleaning range of the cleaning object surface, and an actuator control part, when it is detected that the cleaning liquid applicator has reached the boundary of the cleaning range, controlling the actuator to define an uncleaned part in the cleaning range as a next moving path of the cleaning liquid applicator by the actuator.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to a cleaning device. [Background technology]

[0002] A cleaning robot that automatically cleans the exterior walls of buildings such as office buildings is known (see, for example, Patent Document 1). This type of cleaning robot is equipped with a cleaning unit such as a rubber squeegee or a rotating brush. This cleaning unit is pressed against, for example, a window surface, which is an example of a surface to be cleaned. By lowering the cleaning robot while the cleaning unit is pressed against the window surface, the window surface is cleaned. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2010-284179 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] In conventional cleaning robots, as illustrated in Patent Document 1, when the cleaning robot is lowered and the cleaning unit wipes the window surface, the entire window surface cannot be wiped unless, for example, the width of the cleaning unit is the same as the width of the window. In order to wipe the entire window surface, for example, an operator must precisely manipulate the lifting device that suspends the cleaning robot to move the cleaning robot's position precisely.

[0005] The present invention has been made in view of the above circumstances, and aims to provide a cleaning device suitable for cleaning surfaces such as window surfaces. [Means for solving the problem]

[0006] A cleaning device according to one embodiment of the present invention comprises: a cleaning liquid applicator for applying cleaning liquid to a surface to be cleaned; an actuator for moving the cleaning liquid applicator while pressing it against the surface to be cleaned; a boundary detection unit for detecting when the cleaning liquid applicator moved by the actuator has reached the boundary of the cleaning range of the surface to be cleaned; and an actuator control unit that, when it is detected that the cleaning liquid applicator has reached the boundary of the cleaning range, controls the actuator so that the uncleaned portion within the cleaning range becomes the next path for the cleaning liquid applicator to move by the actuator. The actuator control unit moves the cleaning solution coating body to the cleaning start point, while maintaining a distance from the surface to be cleaned, and then brings the cleaning solution coating body into contact with the surface to be cleaned at the cleaning start point to begin cleaning.

[0007] In one embodiment of the present invention, the actuator can move, for example, a cleaning fluid applicator in a plane that includes a first axis perpendicular to the surface to be cleaned, and second and third axes parallel to and intersecting the surface to be cleaned. More specifically, the actuator control unit can apply cleaning fluid to the surface to be cleaned by moving the cleaning fluid applicator in a first direction along the first axis, pressing the cleaning fluid applicator against the surface to be cleaned, moving the cleaning fluid applicator pressed against the surface to be cleaned along the second axis, or moving the cleaning fluid applicator in a predetermined oblique direction inclined with respect to the second axis, such that it displaces the cleaning fluid applicator in the second direction along the third axis to the extent that it displaces it in the second axis direction, and when the boundary detection unit detects that the cleaning fluid applicator has reached the boundary of the cleaning range, the actuator control unit can move the cleaning fluid applicator in a third direction opposite to the second direction toward the uncleaned area, and apply cleaning fluid to the uncleaned area by moving the cleaning fluid applicator that has been moved toward the uncleaned area along the second axis or in a predetermined oblique direction.

[0008] In one embodiment of the present invention, when the actuator control unit moves the cleaning fluid coater toward an uncleaned area, for example, it moves the cleaning fluid coater in a direction opposite to the first direction to separate the cleaning fluid coater from the area to be cleaned, so as not to move the already cleaned area within the area to be cleaned while the cleaning fluid coater is pressed against the area to be cleaned.

[0009] In one embodiment of the present invention, the actuator control unit moves the cleaning liquid applicator to the first corner of the cleaning range based on the detection result by the boundary detection unit, for example. Starting from the first corner, the cleaning liquid applicator pressed against the cleaning target surface is moved along the first boundary line of the cleaning range, and the movement of the cleaning liquid applicator in the third direction towards the uncleaned portion and the movement of the cleaning liquid applicator pressed against the cleaning target surface along the second axis or a predetermined diagonal direction are repeated. When the boundary detection unit detects that the cleaning liquid applicator has reached the second corner of the cleaning range facing the first corner, the cleaning liquid applicator pressed against the cleaning target surface is moved along the second boundary line of the cleaning range facing the first boundary line.

[0010] In one embodiment of the present invention, the boundary detection unit may be configured to detect that the cleaning liquid applicator has reached the boundary of the cleaning range when it detects that the cleaning liquid applicator moved by the actuator has contacted the end of the cleaning target surface, or when the cleaning liquid applicator has moved to the limit position of the movable range.

[0011] The cleaning device according to one embodiment of the present invention may further include a housing and a suction unit that suction-fixes the housing to the surface of a structure including the cleaning target surface.

[0012] In one embodiment of the present invention, the suction unit is provided, for example, only at the lower part of the housing.

[0013] The cleaning device according to one embodiment of the present invention may further include a storage unit that stores the cleaning liquid, a supply unit that supplies the cleaning liquid stored in the storage unit to the cleaning liquid applicator, and a recovery unit that recovers at least a part of the cleaning liquid supplied to the cleaning liquid applicator into the storage unit.

[0014] The cleaning device according to one embodiment of the present invention may further include a wiper that wipes off the deposits on the cleaning target surface coated with the cleaning liquid, and a support body that supports the cleaning liquid applicator and the wiper in a positional relationship such that when the cleaning liquid applicator presses against the cleaning target surface, the wiper also presses against the cleaning target surface.

[0015] In one embodiment of the present invention, when a wiper pressed against a surface to be cleaned is moved by an actuator together with a cleaning liquid applicator, the wiper is supported at one end so as to be tiltable in a plane parallel to the surface to be cleaned, with one end in the longitudinal direction of the wiper as a fulcrum.

Effect of the Invention

[0016] According to the cleaning device according to one embodiment of the present invention, a cleaning device suitable for cleaning a surface to be cleaned such as a window surface is provided.

Brief Description of the Drawings

[0017] [Figure 1] It is a perspective view of a cleaning device according to one embodiment of the present invention. [Figure 2] It is an enlarged perspective view obtained by enlarging a part of the perspective view of FIG. 1. [Figure 3] It is a front view of a cleaning device according to one embodiment of the present invention. [Figure 4] It is a rear view of a cleaning device according to one embodiment of the present invention. [Figure 5] It is a top view of a cleaning device according to one embodiment of the present invention. [Figure 6] It is a left side view of a cleaning device according to one embodiment of the present invention. [Figure 7] It is a right side view of a cleaning device according to one embodiment of the present invention. [Figure 8] It is a schematic diagram for explaining a circulation mechanism incorporated in a cleaning device according to one embodiment of the present invention. [Figure 9A] It is a diagram showing a procedure for setting a cleaning main body part according to one embodiment of the present invention to an initial position. [Figure 9B] It is a diagram showing a procedure for setting a cleaning main body part according to one embodiment of the present invention to an initial position. [Figure 9C] It is a diagram showing a procedure for setting a cleaning main body part according to one embodiment of the present invention to an initial position. [Figure 10]This figure shows a flowchart of the cleaning start column set processing performed by the processor in one embodiment of the present invention. [Figure 11A] Figure 10 is an explanatory diagram of the cleaning start row set process. [Figure 11B] Figure 10 is an explanatory diagram of the cleaning start row set process. [Figure 11C] Figure 10 is an explanatory diagram of the cleaning start row set process. [Figure 11D] Figure 10 is an explanatory diagram of the cleaning start row set process. [Figure 12] This figure shows a flowchart of a window cleaning process performed by a processor in one embodiment of the present invention. [Figure 13A] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13B] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13C] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13D] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13E] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13F] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13G] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13H] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13I] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13J] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13K] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13L] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13M] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13N] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 13O] Figure 12 is an explanatory diagram of the window cleaning process. [Figure 14] This figure shows a cleaning method in a modified example of the present invention. [Figure 15] This is a perspective view showing a part of a cleaning device including a wiper according to a modified version of the present invention. [Figure 16] This is a schematic diagram showing the operation of the wiper during cleaning in a modified version of the present invention. [Modes for carrying out the invention]

[0018] A cleaning device according to one embodiment of the present invention will be described in detail with reference to the drawings.

[0019] Figure 1 is a perspective view of a cleaning device 1 according to one embodiment of the present invention. Figure 2 is an enlarged perspective view of a part of the perspective view of Figure 1 (cleaning main body 100). Figure 3 is a front view of the cleaning device 1. Figure 4 is a rear view of the cleaning device 1. Figure 5 is a top view of the cleaning device 1. Figure 6 is a left side view of the cleaning device 1. Figure 7 is a right side view of the cleaning device 1.

[0020] In this embodiment, the surface to be cleaned by the cleaning device 1 is, for example, a flat window surface provided in a building (an example of a structure). The surface to be cleaned by the cleaning device 1 is not limited to a flat surface, but may also be a curved surface. Furthermore, the surface to be cleaned is not limited to a window surface, but may also be a tile, wall, floor, mirror, etc.

[0021] In the following explanation, during cleaning, the axis perpendicular to the window surface is defined as the Z-axis (an example of the first axis), and the two axes parallel to the window surface (in other words, perpendicular to the Z-axis) and perpendicular to each other are defined as the Y-axis (an example of the second axis) and the X-axis (an example of the third axis), respectively. The mutually perpendicular X-axis, Y-axis, and Z-axis form a left-handed system.

[0022] During cleaning, the X and Z axes are horizontal, and the Y axis is vertical. In the following explanation, the direction along the Z axis approaching the window surface is referred to as the +Z direction (an example of the first direction along the first axis), and the direction along the Z axis moving away from the window surface is referred to as the -Z direction (an example of the opposite direction to the first direction). Furthermore, the vertically upward direction and the vertically downward direction are referred to as the +Y direction and the -Y direction, respectively. Also, the right direction and the left direction are referred to as the +X direction and the -X direction, respectively.

[0023] Please note that the directional designations are used for convenience to explain the relative positional relationships of the constituent elements and do not indicate absolute directions.

[0024] In general terms, the cleaning device 1 cleans the window surface by pressing a rotating brush against the window surface and moving it along the surface. When the cleaning device 1 detects that the rotating brush has reached the window frame, it moves the rotating brush to an uncleaned area of ​​the window surface and cleans that area by pressing the rotating brush against the uncleaned area and moving it along the surface. The cleaning device 1 cleans the entire window surface by repeating this operation.

[0025] Thus, according to the cleaning device 1 of this embodiment, the entire window surface can be automatically cleaned even when the width of the rotating brush differs from the window width. There is no need for an operator to perform precise mechanical operations to wipe the entire window surface.

[0026] The cleaning device 1 includes a frame 10 (an example of a housing) that supports each part. The frame 10 supports a 3-axis actuator 20. The cleaning main body 100 for cleaning the window surface is also supported on the frame 10 so as to be movable in the X, Y, and Z axes by the 3-axis actuator 20.

[0027] The 3-axis actuator 20 includes an X-axis actuator 22, a Y-axis actuator 24, and a Z-axis actuator 26.

[0028] The X-axis actuator 22 is an actuator that moves the cleaning body 100 in the +X and -X directions, and is, for example, a moving mechanism including a rack and pinion. The pinion is attached to the cleaning body 100 so as to move integrally with the cleaning body 100 in the X-axis direction. As the pinion moves on a rack formed extending in the X-axis direction, the cleaning body 100 moves in the +X or -X direction.

[0029] The Y-axis actuator 24 is an actuator that moves the cleaning body 100 in the +Y and -Y directions, and is a moving mechanism that includes a ball screw attached to a cable chain 32 suspended from the frame 10. The ball screw included in the Y-axis actuator 24 includes a nut and a screw shaft formed extending in the Y-axis direction. The cable chain 32 houses various wirings for the 3-axis actuator 20.

[0030] The Y-axis actuator 24 supports the arm 12. The arm 12 supports the cleaning body 100. The arm 12 is supported on a screw shaft via a nut. Therefore, as the nut moves along the screw shaft, the cleaning body 100 supported on the arm 12 moves in the +Y direction or the -Y direction.

[0031] To elaborate, the rack included in the X-axis actuator 22 is also supported on the screw axis so that it can move in the Y-axis direction together with the cleaning body 100. Therefore, when the cleaning body 100 moves in the Y-axis direction, the rack also moves integrally with the cleaning body 100.

[0032] The Z-axis actuator 26 is an actuator that moves the cleaning body 100 in the +Z and -Z directions, and is a moving mechanism that includes, for example, a ball screw provided on the arm 12. The ball screw included in the Z-axis actuator 26 includes a nut and a screw shaft that extends in the Z-axis direction. The cleaning body 100 is supported on the screw shaft via this nut. Therefore, as this nut moves along the screw shaft, the cleaning body 100 moves in the +Z or -Z direction.

[0033] In this way, the 3-axis actuator 20 (an example of an actuator) can move the cleaning body 100, which includes the rotating brush 106 (described later), within the XY plane, which includes the Z axis (an example of the first axis) perpendicular to the window surface WS (an example of the surface to be cleaned), and the Y axis (an example of the second axis) and X axis (an example of the third axis) parallel to and intersecting with the window surface WS.

[0034] It should be noted that the above-described configuration of the 3-axis actuator 20 is merely one example. In other words, there is a degree of freedom in the configuration of the 3-axis actuator 20, and various design modifications are possible.

[0035] Frame 10 supports box 40. Box 40 houses an LSI (Large Scale Integration), a battery, etc. The LSI includes, for example, a processor that controls the operation of the cleaning device 1, a communication module that communicates with a remote controller operated by an operator, etc. The battery supplies power to each part of the cleaning device 1. For convenience, the processor is denoted as 200. Also, in Figure 1, the processor 200 is shown with a dashed line.

[0036] The cleaning device 1 is suspended, for example, from a lifting device installed on the roof of a building. When the cleaning device 1 is suspended from a lifting device in this way, its posture may become unstable due to wind. Therefore, the cleaning device 1 is provided with a pair of suction pads 52 (an example of suction parts) at the bottom of the frame 10 to suction and fix the frame 10 to the exterior wall or window surface of the building.

[0037] A pair of Z-axis actuators 50 are supported at the bottom of the frame 10. The Z-axis actuators 50 are moving mechanisms that include ball screws, similar to, for example, the Z-axis actuator 26. The suction pad 52 is supported on the screw shaft via a nut that forms the ball screw. As a result, the suction pad 52 moves in the +Z or -Z direction as this nut moves along the screw shaft.

[0038] Thus, at the lower part of the frame 10, a pair of suction pads 52 are supported by a Z-axis actuator 50 so as to be movable in the Z-axis direction.

[0039] The suction pad 52 is, for example, a vacuum suction pad. The air inside the suction pad 52 is sucked out by a suction mechanism (not shown), creating a vacuum inside the suction pad 52. The resulting vacuum force fixes the frame 10 to the exterior wall or window surface of the building.

[0040] By fixing the frame 10 to the exterior wall or window surface using a pair of suction pads 52 at the left and right positions of the lower part of the cleaning device 1 suspended from the lifting device, the cleaning device 1 maintains a stable posture even when, for example, the wind blows. Therefore, it is not necessary to install guide rails on the exterior wall surface of the building to allow the cleaning device 1 to move along the exterior wall surface of the building.

[0041] For example, the suction pad 52 may be the Takopad (registered trademark) of Unicube Tecnos Co., Ltd. However, the suction pad 52 is not limited to a vacuum suction pad. The suction pad 52 may also be, for example, a magnetic suction pad.

[0042] There is concern that suction marks from the suction pads 52 may remain on the exterior walls and window surfaces of the building. Therefore, in this embodiment, the suction pads 52 are provided only on the lower part of the frame 10.

[0043] The cleaning device 1 cleans each window surface of the building from the upper floors to the lower floors. Therefore, any suction marks left on the lower side of the frame 10 are wiped away as the cleaning device 1 descends the building.

[0044] A pair of casters 62 are provided on the upper part of the frame 10. Additionally, a pair of casters 62 are provided on the lower part of the frame 10.

[0045] The operator can change the position of the cleaning device 1 by operating the lifting device. When the cleaning device 1 is raised, lowered, or moved left or right, the casters 62 roll along the outer wall surface of the building. By providing the casters 62 on the frame 10, the cleaning device 1 can be moved smoothly along the outer wall surface, and the frame 10 and the cleaning main body 100 can be prevented from colliding with the outer wall surface, while ensuring that the clearance with the outer wall surface is maintained as set.

[0046] The cleaning device 1 incorporates a circulation mechanism for circulating the cleaning solution. Figure 8 shows a schematic diagram illustrating this circulation mechanism. The circulation mechanism recovers and filters the cleaning solution used to clean the window surface, making it reusable. Because the cleaning solution can be reused, the amount of cleaning solution loaded into the cleaning device 1 can be kept to a minimum. Since the total weight of the cleaning device 1, including the cleaning solution, is reduced, a small lifting device can be used, for example.

[0047] Figure 8 also shows the internal structure of the cleaning unit 100. As shown in Figure 8, the cleaning unit 100 includes, for example, a resin support 102. The support 102 supports the spray nozzle 104, the rotating brush 106, the brush drive unit 108, the wipers 110 and 112, the collection port 114, the wastewater collection channel 116, and the filter 118.

[0048] The frame 10 supports the tank 72 and the pump 74.

[0049] Tank 72 is an example of a storage section for containing the cleaning solution CL. The cleaning solution CL is, for example, a cleaning solution for the surface to be cleaned (e.g., for windows), water, or a mixture of detergent and water.

[0050] The tank 72 is detachable from the frame 10. The operator can clean the tank 72 after removing it from the frame 10 and also replenish the tank 72 with cleaning fluid CL.

[0051] Pump 74 is an example of a pumping unit that pumps the cleaning liquid CL contained in the tank 72. Pump 74 is an electric pump that, for example, uses an electric motor to draw up and push out the cleaning liquid CL from the tank 72.

[0052] The cleaning fluid CL, pumped by the pump 74, flows through the hose 76 and is discharged to the spray nozzle 104. The hose 76 is housed in the cable chain 34. The cable chain 34 also houses a hose 78 (described later) which forms the recovery path for the cleaning fluid CL.

[0053] The spray nozzle 104 is an example of a discharge unit that sprays (discharges) the cleaning fluid CL, which is pumped by the pump 74, toward the rotating brush 106. Multiple spray nozzles 104 are arranged at predetermined intervals in the direction of the rotation axis AX of the rotating brush 106 (the X-axis direction, and also parallel to the window surface WS, which is an example of a surface to be cleaned).

[0054] Thus, the tank 72, pump 74, and spray nozzle 104 function as a supply unit that supplies cleaning fluid CL to the rotating brush 106.

[0055] The rotating brush 106 is an example of a cleaning fluid applicator that applies cleaning fluid CL to the window surface WS, and is rotatably supported by the support 102. The rotating brush 106 includes a brush member 106A that is pressed against the window surface WS. The brush member 106A carries the cleaning fluid CL sprayed from the spray nozzle 104.

[0056] The cleaning fluid CL is sprayed onto the brush member 106A from each of the multiple spray nozzles 104 arranged in the direction of the rotation axis AX. As a result, the rotating brush 106 becomes wet, with the cleaning fluid CL evenly distributed along its entire length.

[0057] When the brush member 106A is pressed against the window surface WS, it applies the supported cleaning solution CL to the window surface WS. The brush member 106A is made of bristles made of, for example, plant-based, animal-based, metal, or synthetic fibers.

[0058] The rotating brush 106 is removably supported by the support 102. Here, the required function of the rotating brush 106 changes depending on the material of the surface to be cleaned (e.g., window, tile, wall, floor, mirror material, etc.). The operator can replace the rotating brush 106 with one that has the optimal cleaning member, taking into account the material of the window surface WS. Examples of cleaning members other than the brush member 106A include cloth members and sponge-like elastic members.

[0059] The brush drive unit 108 includes a rotary motor 108A and a transmission member 108B. The transmission member 108B is, for example, a chain that transmits the driving force of the rotary motor 108A to the shaft 106B of the rotary brush 106. When the rotary motor 108A rotates, its driving force is transmitted to the shaft 106B via the transmission member 108B. As a result, the rotary brush 106 rotates around the rotation axis AX (with the shaft 106B as the axis of rotation).

[0060] When the rotating brush 106 is pressed against the window surface WS and a driving force is transmitted to it, it rotates on the window surface WS, rubbing against it. In other words, the brush drive unit 108 is an example of a rotation drive unit that causes the rotating brush 106, which is pressed against the window surface WS, to rotate on the window surface WS.

[0061] By applying the cleaning solution CL, the loosened dirt is scrubbed away by the rotating brush 106. Therefore, not only relatively easy-to-remove dust stains such as sand and pollen, but also solid substances such as bird droppings and long-standing oil stains can be removed from the window surface WS.

[0062] The wiper 110 includes a wiper rubber 110A that deforms to conform to the window surface WS when pressed against it. The wiper rubber 110A, which has high adhesion and conformability to the window surface WS which is the wiping surface, wipes away the dirty water SW, which is residue remaining on the window surface WS to which the cleaning fluid CL has been applied.

[0063] The wiper rubber 110A is removably supported by the support 102. Therefore, the operator can replace a deteriorated wiper rubber 110A with a new one. The operator can also switch to wiper rubbers 110A of different sizes depending on the area of ​​wastewater SW they want to wipe at once.

[0064] The support 102 includes a wall portion 102A that covers half the circumference of the rotating brush 106 (above, behind, and below the rotating brush 106). Here, "behind the rotating brush 106" refers to the position that faces the window surface WS with the rotating brush 106 in between when the rotating brush 106 is pressed against the window surface WS.

[0065] The wall portion 102A receives the cleaning liquid CL that is scattered from the rotating brush 106. This prevents the cleaning liquid CL from scattering into the surrounding area.

[0066] Thus, the wall portion 102A is an example of a guard portion that receives the cleaning liquid CL scattered from the rotating brush 106.

[0067] U-shaped grooves 102B are formed on the surface of the wall portion 102A. In Figure 8, hatching is applied to the U-shaped grooves 102B for convenience. The U-shaped grooves 102B are formed extending from the upper end to the lower end of the wall portion 102A. Multiple U-shaped grooves 102B are formed, for example, at predetermined intervals in the direction of the rotation axis AX.

[0068] The cleaning liquid CL that is scattered from the rotating brush 106 and adheres to the U-shaped channel 102B flows downward within the U-shaped channel 102B. Near the lower end of the U-shaped channel 102B, a collection port 114 is provided to receive the cleaning liquid CL that has flowed down within the U-shaped channel 102B.

[0069] The collection port 114 is connected to the tank 72 via the wastewater collection channel 116 and hose 78. Therefore, the cleaning solution CL received at the collection port 114 is dripped into the tank 72.

[0070] Thus, the U-shaped channel 102B is a groove formed in the wall portion 102A, and is an example of a groove that guides the cleaning liquid CL that has been splashed and adhered from the rotating brush 106 into the tank 72. The U-shaped channel 102B, the recovery port 114, the wastewater recovery channel 116, and the hose 78 form a recovery section that recovers at least a portion of the cleaning liquid CL supplied to the rotating brush 106 into the tank 72.

[0071] In the cleaning device 1, the cleaning solution CL used to clean the window surface WS can be recovered and reused by the recovery unit. Therefore, the amount of cleaning solution CL used can be kept to a minimum.

[0072] For example, if the cleaning solution CL runs out while cleaning the windows on the upper floors of a building, the cleaning device 1 must be lowered to the ground and the cleaning solution CL must be replenished. In the cleaning device 1 according to this embodiment, a small amount of cleaning solution CL is required for cleaning, so the cleaning solution CL is less likely to run out. Therefore, for example, the cleaning of the building windows can be completed without lowering the cleaning device 1 to the ground to replenish the cleaning solution CL.

[0073] The more wastewater SW flows over the window surface WS and falls below the window surface WS, the lower the recovery rate of the cleaning solution CL becomes. Therefore, the cleaning device 1 is equipped with a wiper 112.

[0074] The wiper 112 includes a wiper rubber 112A that deforms to conform to the window surface WS when pressed against it. The wiper rubber 112A, which has high conformability to the window surface WS, receives the dirty water SW flowing down the window surface WS.

[0075] The wiper rubber 112A is inclined downwards toward the collection port 114 (see Figure 8). Therefore, the wastewater SW received by the wiper rubber 112A flows toward the collection port 114.

[0076] The wiper rubber 112A is also removably supported by the support 102. Therefore, the operator can replace a deteriorated wiper rubber 112A with a new one.

[0077] A filter 118 is installed between the wastewater collection channel 116 and the hose 78. The filter 118 removes waste contained in the wastewater SW that flows from the wiper rubber 112A and the U-shaped channel 102B into the collection port 114. In other words, the wastewater SW flows through the wastewater collection channel 116 and is filtered by the filter 118. The cleaning liquid CL separated from the wastewater SW by filtration by the filter 118 is collected in the tank 72.

[0078] The filter 118 is detachable from the support 102. The operator can clean and reattach the filter 118 after removing it from the support 102, or replace it with a new filter 118.

[0079] Thus, in this embodiment, the cleaning solution CL contained in the wastewater SW flowing down the window surface WS can also be recovered. Therefore, the cleaning solution CL is recovered with a high recovery rate.

[0080] Furthermore, in cleaning device 1, the amount of wastewater SW discharged outside cleaning device 1 is reduced by recovering and reusing the cleaning solution CL. Therefore, the workload for wastewater disposal is reduced.

[0081] The support 102 supports the rotating brush 106 (an example of a cleaning fluid coated body) and the wipers 110 and 112 in such a positional relationship that when the rotating brush 106 presses against the window surface WS, the wipers 110 and 112 also press against the window surface WS. Therefore, when cleaning the window surface WS, the cleaning main unit 100 moves on the window surface WS in the -Y direction (downward vertical direction) as the rotating brush 106, which is soaked in cleaning fluid CL, presses against the window surface WS, and the wipers 110 and 112 also press against the window surface WS.

[0082] In this embodiment, the rotating brush 106, wipers 110 and 112 all press against the window surface WS at the same time. Therefore, the cleaning device 1 simultaneously removes dirt with the rotating brush 106, wipes away dirty water with the wiper 110, and collects the dirty water SW with the wiper 112. By using the cleaning device 1, the window surface WS can be cleaned with high work efficiency.

[0083] The rotating brush 106 may rotate clockwise or counterclockwise.

[0084] When the rotating brush 106 is rotated clockwise, the direction of movement (-Y direction) of the rotating brush 106 relative to the window surface WS aligns with the direction of rotation, increasing the force with which the rotating brush 106 rubs against the window surface WS. As a result, the cleaning ability is improved.

[0085] Depending on the shape of the window surface WS, it may be preferable to rotate the rotating brush 106 clockwise, or it may be preferable to rotate it counterclockwise. The operator can efficiently clean the window surface WS by appropriately changing the rotation direction of the rotating brush 106, for example, by remote control.

[0086] The rotational speed of the rotating brush 106 may be variable. The operator can change the rotational speed of the rotating brush 106 by remote control, for example, using a remote controller. Increasing the rotational speed of the rotating brush 106 improves cleaning performance, for example. Decreasing the rotational speed of the rotating brush 106 reduces the power consumption of the rotating motor 108A, for example.

[0087] Figures 9 to 13 illustrate a specific method for cleaning the window surface WS using the cleaning device 1. First, Figures 9A to 9C show the procedure for setting the cleaning main unit 100 to its initial position. The initial position setting procedure shown in Figures 9A to 9C is mainly performed by the operator. Note that this procedure is just one example. Alternatively, the cleaning device 1 may perform this procedure automatically using, for example, image recognition or sensors.

[0088] The operator, for example, visually confirms the position of the cleaning device 1 using a camera installed on the cleaning device 1 or by eye, and operates the lifting device to move the cleaning device 1 to the vicinity of the window, as shown in Figure 9A. As will be described later, each time the cleaning device 1 detects the window frame, which is the boundary of the cleaning area, it moves the cleaning main unit 100 to the uncleaned area and automatically cleans the window surface WS sequentially. Therefore, the position of the cleaning device 1 relative to the window does not need to be precisely determined. Consequently, the operator does not need to operate the lifting device with precision.

[0089] The operator moves the cleaning device 1 near the window and, for example, operates a remote controller to attach the cleaning device 1 to the exterior wall surface of the building.

[0090] Specifically, the processor 200 drives each Z-axis actuator 50 in response to instructions from the operator (remote controller). As a result, each suction pad 52 moves in the +Z direction and comes into contact with the outer wall surface of the building, etc., as shown in Figure 9B.

[0091] The Z-axis actuator 50 is equipped with a torque sensor that detects the torque acting on the output shaft of the built-in motor. For example, when the torque detected by the torque sensor exceeds a threshold T, the processor 200 detects that the suction pad 52 has come into contact with the exterior wall surface of a building or the like.

[0092] The processor 200 uses a suction mechanism to suck the air out of the suction pad 52, creating a vacuum inside the suction pad 52.

[0093] Next, the processor 200 drives each Z-axis actuator 50 to move each suction pad 52 a small distance in the -Z direction. At this time, if the suction pad 52 is firmly fixed to the exterior wall surface, it will not detach from the exterior wall surface. On the other hand, if the suction pad 52 is not firmly fixed to the exterior wall surface, it will detach from the exterior wall surface. In the latter case, the operator operates the remote controller again to reattach the cleaning device 1 to the exterior wall surface of the building.

[0094] As mentioned above, the positioning of the cleaning device 1 relative to the window surface WS by the lifting device does not need to be precise. On the other hand, the cleaning main unit 100 that cleans the window surface WS needs to be located within the window frame. Therefore, the operator moves the cleaning main unit 100 into the window frame (for example, the central part of the window surface WS) by operating a remote controller, for example, as shown in Figure 9C.

[0095] Figure 10 shows a flowchart of the cleaning start column set process executed by the processor 200. Figures 11A to 11D show explanatory diagrams of the cleaning start column set process shown in Figure 10. When the processor 200 receives a cleaning start instruction from, for example, an operator (remote controller), it starts executing the cleaning start column set process shown in Figure 10.

[0096] In Figures 11A to 11D and Figures 13A to 13O (hereinafter referred to as "explanatory diagrams"), the coordinate system is omitted for convenience. Each explanatory diagram is a view of the window surface WS from the front, similar to Figure 9A. Therefore, the orientation of the coordinate system in each explanatory diagram is the same as in Figure 9A. Also, for convenience, each explanatory diagram omits the illustration of the entire cleaning device 1 and shows a schematic diagram of the cleaning main body 100. In each explanatory diagram, the direction of movement of the cleaning main body 100 is indicated by an arrow. The +Z and -Z directions are perpendicular to the plane of the paper and are therefore difficult to indicate with arrows. Therefore, for convenience, the +Z direction is indicated by an upward diagonal arrow, and the -Z direction is indicated by a downward diagonal arrow.

[0097] As shown in Figure 10, the processor 200 detects the position of the window surface WS in the Z-axis direction relative to the cleaning body 100 (step S101).

[0098] For example, the processor 200 drives the Z-axis actuator 26 to move the cleaning body 100 in the +Z direction. As shown in Figure 11A, the cleaning body 100, having moved in the +Z direction, comes into contact with the window surface WS.

[0099] The Z-axis actuator 26 is equipped with a torque sensor, similar to the Z-axis actuator 50. For convenience, the torque detected by the torque sensor of the Z-axis actuator 26 will be referred to as "torque value Z". For example, if the torque value Z is equal to the threshold T... Z When this value is exceeded, the processor 200 detects that the cleaning unit 100 (more specifically, the rotating brush 106, wipers 110 and 112) has come into contact with the window surface WS.

[0100] For example, when the torque value Z is a threshold T, the processor 200 Z The amount of movement of the cleaning unit 100 in the +Z direction when this value is exceeded may be stored in the work area of ​​the memory as the position of the window surface WS in the Z-axis direction.

[0101] If, for example, the rotating brush 106 moves while in contact with the window surface WS before cleaning the window surface WS, the rotating brush 106 will drag dirt along as it moves across the window surface WS. Therefore, the processor 200 separates the cleaning unit 100 from the window surface WS (step S102).

[0102] For example, the processor 200 drives the Z-axis actuator 26 to move the cleaning body 100 a predetermined distance in the -Z direction, as shown in Figure 11B. This moves the cleaning body 100 away from the window surface WS.

[0103] The processor 200 sets the cleaning unit 100 to the initial position of the cleaning start row on the window surface WS (step S103).

[0104] For example, the processor 200 drives the X-axis actuator 22 to move the cleaning body 100 in the -X direction. As a result, the cleaning body 100 moves to the left window frame WF, as shown in Figure 11C. L They make contact.

[0105] The X-axis actuator 22 is equipped with a torque sensor, similar to the Z-axis actuator 50. For convenience, the torque detected by the torque sensor of the X-axis actuator 22 will be referred to as "torque value X". For example, if the torque value X is at a threshold T...X When it exceeds, the processor 200 detects that the cleaning main body 100 has come into contact with the left window frame WF L and makes a contact.

[0106] Next, the processor 200 drives the Y-axis actuator 24 to move the cleaning main body 100 in the +Y direction. As a result, as shown in FIG. 11D, the cleaning main body 100 comes into contact with the upper window frame WF U and is set at the corner C1, which is the initial position of the cleaning start row.

[0107] Similar to the Z-axis actuator 50, the Y-axis actuator 24 is provided with a torque sensor. For the sake of convenience, the torque detected by the torque sensor of the Y-axis actuator 24 is denoted as "torque value Y". For example, when the torque value Y exceeds the threshold value T Y the processor 200 detects that the cleaning main body 100 has come into contact with the upper window frame WF U and makes a contact.

[0108] Here, the window frame surrounding the window surface WS is an example of a boundary that defines the cleaning range of the cleaning target surface. That is, the processor 200 operates as a boundary detection unit that detects that the cleaning main body 100 including the rotary brush 106 (an example of a cleaning liquid application body) has reached the window frame (an example of a boundary of the cleaning range) based on the torque value X or the torque value Y.

[0109] Further, the processor 200 operates as an actuator control unit that controls the three-axis actuator 20 (an example of an actuator). The processor 200 operating as an actuator control unit moves the cleaning main body 100 including the rotary brush 106 (an example of a cleaning liquid application body) to the corner C1 (an example of the first corner of the cleaning target surface) based on the detection result by the boundary detection unit.

[0110] In the present embodiment, the cleaning start row of the window surface WS is set on the left window frame WF L side, and then window cleaning is performed in order from the left window frame WF L side to the right window frame WF R side. In another embodiment, the cleaning start row of the window surface WS is the right window frame WFR It is set to the side, and then the right window frame WF R From the side, left window frame WF L Window cleaning may be carried out sequentially, facing outwards.

[0111] Figure 12 shows a flowchart of the window cleaning process performed by the processor 200. Figures 13A to 13O show explanatory diagrams of the window cleaning process shown in Figure 12. Once the cleaning start column set process shown in Figure 10 is completed, the processor 200 starts executing the window cleaning process shown in Figure 12.

[0112] As shown in Figure 12, the processor 200 brings the cleaning body 100 into contact with the window surface WS (step S201).

[0113] For example, the processor 200 drives the Z-axis actuator 26 when the torque value Z is above a threshold T. Z Move the cleaning unit 100 in the +Z direction until it exceeds a certain point. This causes the cleaning unit 100 to come into contact with the window surface WS, and the rotating brush 106 to press against the window surface WS (see Figure 13A).

[0114] The processor 200 drives the Y-axis actuator 24 to clean the cleaning start row of the window surface WS (step S202).

[0115] For example, the processor 200 operates the pump 74 to supply cleaning fluid CL to the rotating brush 106 and drives the brush drive unit 108 to rotate the rotating brush 106. In this state, the processor 200 drives the Y-axis actuator 24. The processor 200 then checks if the torque value Y is above the threshold T. Y The cleaning unit 100, with the rotating brush 106 pressed against the window surface WS, is moved in the -Y direction until it exceeds a certain point. As a result, the starting row of the window surface WS is cleaned, and the cleaning unit 100 moves towards the lower window frame WF as shown in Figure 13B. D They make contact.

[0116] In this way, the 3-axis actuator 20 (an example of an actuator) moves the rotating brush 106 (an example of a cleaning fluid applicator) while pressing it against the window surface WS (an example of a surface to be cleaned). Furthermore, the processor 200, which acts as the actuator control unit, uses the corner C1 (an example of a first corner) as a pivot point to move the rotating brush 106, which is pressed against the window surface WS, to the left window frame WF L By moving along the line (for example, along the first boundary line), the starting row for cleaning the window surface WS is cleaned.

[0117] The processor 200 determines whether the cleaning unit 100 has reached the final row of the window surface WS to be cleaned (step S203).

[0118] For example, the processor 200 drives the Z-axis actuator 26 to move the cleaning body 100 a predetermined distance in the -Z direction, as shown in Figure 13C. This moves the cleaning body 100 away from the window surface WS. Next, the processor 200 drives the X-axis actuator 22 to move the cleaning body 100 a predetermined distance in the +X direction (an example of a third direction opposite to the second direction).

[0119] The processor 200, while the cleaning unit 100 is moving in the +X direction, sets a threshold T X When a torque value X exceeding this value is detected, the cleaning unit 100 moves to the right window frame WF R Upon contact with the window surface WS (see Figure 13I), the processor determines that the cleaning unit 100 has reached the final row of the window surface WS to be cleaned (step S203: YES). Furthermore, while the cleaning unit 100 is moving in the +X direction, the processor determines that the threshold T X If a torque value X exceeding this value is not detected, the cleaning unit 100 will move to the right window frame WF R Since it is not in contact with the window surface WS (see Figure 13D), it is determined that the cleaning unit 100 has not reached the final row of the window surface WS (Step S203: NO).

[0120] Here, the specified distance is less than the width of the rotating brush 106 (length in the X-axis direction). If the travel distance of the cleaning unit 100 in the +X direction is large (for example, greater than the width of the rotating brush 106), uncleaned areas will be created between the cleaning rows, and dirt is more likely to remain between the cleaning rows. If the travel distance of the cleaning unit 100 in the +X direction is small (for example, less than the width of the rotating brush 106), adjacent cleaning rows will partially overlap, so uncleaned areas will not be created between the cleaning rows, and dirt will be less likely to remain as described above, resulting in a better cleaning finish. In addition, the wider the overlap of adjacent cleaning rows, the better the cleaning finish. The narrower the overlap of adjacent cleaning rows, the faster the cleaning speed.

[0121] The processor 200 separates the cleaning unit 100 from the window surface WS as preparation for moving the cleaning unit 100 in the +X direction. This prevents the rotating brush 106 from dragging dirt along the window surface WS.

[0122] Thus, when the processor 200, which operates as an actuator control unit, moves the cleaning body 100, including the rotating brush 106 (an example of a cleaning fluid applicator), toward the uncleaned area, it moves the rotating brush 106 in the -Z direction (an example of the opposite direction to the first direction) to separate the rotating brush 106 from the window surface WS (an example of a surface to be cleaned) so that the already cleaned portion within the window surface WS is not moved while the rotating brush 106 is pressed against the window surface WS.

[0123] If the cleaning unit 100 has not reached the final cleaning row of the window surface WS (step S203: NO), the processor 200 sets the cleaning unit 100 to the cleaning start position of the next cleaning row of the window surface WS (step S204).

[0124] For example, the processor 200 drives the Y-axis actuator 24 when the torque value Y is above a threshold T. Y Move the cleaning unit 100 in the +Y direction until it exceeds the upper window frame WF. As a result, as shown in Figure 13E, the cleaning unit 100 moves to the upper window frame WF. UIt then makes contact with the threshold T. Next, the processor 200 drives the Z-axis actuator 26 so that the torque value Z is equal to the threshold T. Z The cleaning unit 100 is moved in the +Z direction until it exceeds a certain point. This causes the cleaning unit 100 to come into contact with the window surface WS, and the rotating brush 106 to press against the window surface WS (see Figure 13F), completing the setting to the starting position for the next cleaning row.

[0125] The processor 200 cleans the cleaning row that was set to the cleaning start position in step S204 (i.e., the next cleaning row) (step S205).

[0126] For example, the processor 200 operates the pump 74 to supply cleaning fluid CL to the rotating brush 106 and drives the brush drive unit 108 to rotate the rotating brush 106. In this state, the processor 200 drives the X-axis actuator 22 and the Y-axis actuator 24. The processor 200 moves the cleaning body 100 in a combined direction of the -X direction and the -Y direction (see Figure 13G). This combined direction is a direction in which the cleaning body 100 is displaced in the -X direction (an example of the second direction) to the extent that it is displaced in the -Y direction (an example of the second axis direction), and is an example of a predetermined oblique direction inclined with respect to the Y axis. For convenience, this combined direction is referred to as the "approximately Y-axis direction". In the example in Figure 13G, the approximate Y-axis direction is slightly diagonally downward and to the left.

[0127] To elaborate, the processor 200 moves the cleaning unit 100 in the -Y direction while simultaneously moving it slightly in the -X direction. As a result, the rotating brush 106, which is pressed against the window surface WS, applies the cleaning solution CL to the window surface WS and removes dirt from the window surface WS, while most of the dirty water SW remaining on the window surface WS is wiped away by the wiper 110, and some is pushed away in the +X direction.

[0128] As the cleaning unit 100 wipes the window surface WS to the right (+X direction), any dirty water SW that could not be wiped away by the wiper 110 is pushed to the right (in other words, towards the uncleaned area). This makes it less likely for any residue to remain on the cleaned area, resulting in an improved cleaning finish.

[0129] In step S205, the processor 200 may simply move the cleaning unit 100 in the -Y direction. In this case as well, the cleaning row will be cleaned.

[0130] For convenience, the operation of moving the cleaning unit 100 in the -Z direction, as shown in Figure 13C, will be referred to as "Operation 1". The operation of moving the cleaning unit 100 a specified distance in the +X direction, as shown in Figure 13D, will be referred to as "Operation 2". The operation of moving the cleaning unit 100 in the +Y direction, as shown in Figure 13E, will be referred to as "Operation 3". The operation of moving the cleaning unit 100 in the +Z direction, as shown in Figure 13F, will be referred to as "Operation 4". The operation of moving the cleaning unit 100 in a combined direction of the -X and -Y directions, as shown in Figure 13G, will be referred to as "Operation 5". In Figure 13H, Operations 1 to 5 (in other words, the directions of movement of the cleaning unit 100) are indicated by arrows.

[0131] The processor 200 controls the 3-axis actuator 20 and repeats operations 1 to 5, as shown in Figure 13H, until it detects that the window surface WS has reached the final cleaning row.

[0132] Thus, when it is detected that the cleaning body 100, including the rotating brush 106 (an example of a cleaning fluid application body), has reached the window frame of the window surface WS (an example of a cleaning area boundary), the processor 200, which acts as an actuator control unit, controls the 3-axis actuator 20 (an example of an actuator) so that the next cleaning row (an example of an uncleaned area) within the window surface WS becomes the next path for the cleaning body 100 to move.

[0133] In addition, the processor 200, which operates as an actuator control unit, moves the cleaning body 100, which includes a rotating brush 106 (an example of a cleaning fluid application body), in the +Z direction (an example of a first direction along the first axis), thereby pressing the rotating brush 106 against the window surface WS (an example of a surface to be cleaned), and the rotating brush 106 pressed against the window surface WS is moved to the left window frame WF L By moving along the boundary (an example along the boundary line of the surface to be cleaned), the cleaning solution CL is applied to the window surface WS. The boundary detection unit moves the cleaning unit 100 to the lower window frame WFD When it is detected that (an example of a cleaning area boundary) has been reached, the processor 200 moves the cleaning unit 100 in the +X direction (an example of a third direction opposite to the second direction) toward the next cleaning row (an example of an uncleaned area), and moves the cleaning unit 100 that has been moved toward the uncleaned area along the Y axis (an example of along the second axis) or approximately in the Y axis direction (an example of a predetermined diagonal direction), thereby applying the cleaning solution CL to the next cleaning row.

[0134] As shown in Figure 13I, the cleaning unit 100 is located on the right window frame WF R When the cleaning unit makes contact with the window surface WS and reaches the final cleaning row (step S203: YES), the processor 200 sets the cleaning unit 100 at the cleaning start position (corner C2) of the final cleaning row of the window surface WS (step S206). Corner C2 is one of the corners of the window surface WS and is located opposite corner C1.

[0135] For example, the processor 200 drives the Y-axis actuator 24 when the torque value Y is above a threshold T. Y Move the cleaning unit 100 in the +Y direction until it exceeds the upper window frame WF. As a result, as shown in Figure 13J, the cleaning unit 100 moves to the upper window frame WF. U It then makes contact with the threshold T. Next, the processor 200 drives the Z-axis actuator 26 so that the torque value Z is equal to the threshold T. Z The cleaning unit 100 is moved in the +Z direction until it exceeds a certain point. This causes the cleaning unit 100 to come into contact with the window surface WS, and the rotating brush 106 to press against the window surface WS (see Figure 13K), completing the setting of the final row of cleaning to its cleaning start position.

[0136] The processor 200 cleans the cleaning row that has been set to corner C2 in step S206 (i.e., the last row to be cleaned) (step S207).

[0137] For example, the processor 200 operates the pump 74 to supply cleaning fluid CL to the rotating brush 106 and drives the brush drive unit 108 to rotate the rotating brush 106. In this state, the processor 200 drives the Y-axis actuator 24. The processor 200 then checks if the torque value Y is above the threshold T. Y The cleaning unit 100, with the rotating brush 106 pressed against the window surface WS, is moved in the -Y direction until it exceeds a certain point. As a result, the final row of the window surface WS is cleaned, and the cleaning unit 100 moves to the lower window frame WF as shown in Figure 13L. D After making contact, the cleaning of the entire window surface is completed.

[0138] In this way, the processor 200, which operates as an actuator control unit, repeatedly moves the cleaning body 100, including the rotating brush 106 (an example of a cleaning fluid applicator), in the +X direction (an example of a third direction) toward the next cleaning row (an example of an uncleaned area), and moves the rotating brush 106, which is pressed against the window surface WS (an example of a surface to be cleaned), along the Y axis (an example of a second axis) or approximately in the Y axis direction (an example of a predetermined diagonal direction). When the boundary detection unit detects that the cleaning body 100 has reached a corner C2 (an example of a second corner) opposite a corner C1 (an example of a first corner), the processor 200 moves the rotating brush 106, which is pressed against the window surface WS, toward the left window frame WF L (An example of the first boundary line) and the right window frame WF facing it R Move it along the (for example, along the second boundary line).

[0139] Processor 200 performs a termination operation (step S208).

[0140] For example, the processor 200 drives the Z-axis actuator 26 to move the cleaning body 100 a predetermined distance in the -Z direction, as shown in Figure 13M. This separates the cleaning body 100 from the window surface WS. After separating from the window surface WS, the processor 200 drives the X-axis actuator 22 and the Y-axis actuator 24 to move the cleaning body 100 to a predetermined initial position, as shown in Figure 13N. Next, the processor 200 introduces air into the suction pad 52 to break the vacuum inside the suction pad 52, releasing its suction fixation to the exterior wall surface of the building. The processor 200 then moves the released suction pad 52 in the -Z direction using the Z-axis actuator 50, as shown in Figure 13O, to pull it away from the exterior wall surface.

[0141] With the above steps, cleaning of one window surface WS is completed. The operator then operates the lifting device to move the cleaning device 1 to the vicinity of the next window surface WS.

[0142] As described above, according to the cleaning device 1 of one embodiment of the present invention, each time the cleaning main unit 100 detects that it has reached the window frame, the cleaning main unit 100 moves to the uncleaned portion of the window surface WS and cleans that portion. The cleaning device 1 automatically repeats this operation, thereby cleaning the entire window surface WS. Therefore, the cleaning device 1 can automatically clean window surfaces WS (and other surfaces to be cleaned) of various shapes and sizes, regardless of whether the width of the rotating brush 106 matches or does not match the window width. There is no need for an operator to perform precise mechanical operations to wipe the entire window surface WS.

[0143] The range of motion of the cleaning unit 100 depends on the dimensions of the cleaning device 1. Now, consider the case of cleaning a window surface WS or a glass wall without a window frame that is larger than the range of motion of the cleaning unit 100. In this case, the cleaning device 1 cleans the window surface WS within the range of motion of the cleaning unit 100. Then, the operator operates the lifting device to move the cleaning device 1 to the areas that could not be cleaned within the range of motion of the cleaning unit 100. The cleaning device 1 then cleans the window surface WS at the new position. This makes it possible to clean the entire window surface WS, even if it is larger than the range of motion of the cleaning unit 100.

[0144] Furthermore, if the physical boundary defining the cleaning area (e.g., a window frame) is not within the cleaning area, the processor 200 cannot detect the cleaning area boundary based on torque detection. In this case, the processor 200 detects the limit position of the movable range of the cleaning unit 100 as the cleaning area boundary.

[0145] As an example, let's describe the case where the cleaning unit 100 is set to the initial position of the cleaning start row in the cleaning range (see step S103 in Figure 10). In this case, the processor 200 moves the cleaning unit 100 as far as it will go in the -X direction and as far as it will go in the +Y direction. The processor 200 sets the limit position in the -X direction and the limit position in the +Y direction as the initial position of the cleaning start row. In this way, the processor 200, which operates as a boundary detection unit, detects that the cleaning unit 100 has reached the boundary of the cleaning range (in this case, the initial position of the cleaning start row) when the cleaning unit 100, including the rotating brush 106 (an example of a cleaning fluid applicator), has moved to the limit position of its movable range.

[0146] The above is a description of exemplary embodiments of the present invention. Embodiments of the present invention are not limited to those described above, and various modifications are possible within the scope of the technical idea of ​​the present invention. For example, embodiments of the present invention also include combinations of embodiments explicitly shown in the specification or obvious embodiments as appropriate.

[0147] In the above embodiment, a torque sensor is used to detect contact between the cleaning unit 100 and the window frame, but the present invention is not limited to this configuration. In another embodiment, the torque sensor may be replaced with another type of sensor (pressure sensor, capacitance sensor, etc.) that detects contact between the cleaning unit 100 and the window frame.

[0148] In the above embodiment, the wiper 110 is fixed to the support 102, but the present invention is not limited to this configuration. In another embodiment, the wiper 110 may be movable relative to the support 102.

[0149] For example, the wiper 110 may be configured to tilt at an angle during cleaning. As the cleaning unit 100 wipes the window surface WS to the right (+X direction), the tilted wiper 110 pushes any unwiped dirty water SW to the right (in other words, towards the uncleaned area). Since it is less likely for any residue to remain on the cleaned area, the cleaning finish is improved.

[0150] Figure 14 shows a cleaning method using a cleaning device 1 according to a modified version of the present invention. In the cleaning device 1 according to the modified version, the wiper 110 is tilted at an angle during cleaning.

[0151] In the modified example, the wiper 110 is initially positioned parallel to the rotating brush 106, similar to the embodiment described above, with its longitudinal direction coinciding with the rotating brush 106. As shown in Figure 14, when the rotating brush 106 and wiper 110, pressed against the window surface WS, are pulled downward in the vertical direction (-Y direction), an external force (specifically, the frictional force between the window surface WS and the wiper 110) acts on the wiper 110. The wiper 110, subjected to this external force, tilts from its initial position (with its longitudinal direction pointing in the direction of the X axis) to a direction non-parallel to the rotating brush 106 (with its longitudinal direction at an angle to the X axis), using its end 110B as a pivot point, within the plane parallel to the window surface WS (XY plane).

[0152] When the rotating brush 106 and wiper 110 are pressed against the window surface WS and pulled down vertically, the rotating brush 106 applies the cleaning solution CL to the window surface WS, and the dirt loosened by the cleaning solution CL applied to the window surface WS is rubbed off by the rotating brush 106.

[0153] Of the wastewater SW remaining on the window surface WS, some flows down the window surface WS and is collected in the tank 72 via the collection port 114. Of the wastewater SW that is wiped away by the wiper 110 without flowing down the window surface WS, some drips down during wiping and is collected in the tank 72 via the collection port 114, while the remainder does not drip down during wiping and is pushed to the right (see arrow E in Figure 14) on the window surface WS by the wiper 110, which is tilted by external force and pulled vertically downwards.

[0154] The cleaning unit 100 wipes the window surface WS vertically downward (-Y1 direction), then moves slightly to the right (+X direction) and wipes the window surface WS vertically downward again (-Y2 direction). The cleaning device 1 repeats this operation. In other words, the cleaning device 1 wipes the window surface WS to the right.

[0155] The diagonally tilted wiper 110 pushes and collects any remaining dirty water SW on the window surface WS to the right (+X direction). In other words, by configuring the wiper 110 to wipe away the dirty water SW in a diagonally tilted position when wiping downwards, as illustrated in Figure 14, the cleaning device 1 can push and collect the dirty water SW on the window surface WS in the wiping direction (+X direction) with just a simple motion of wiping the window surface WS vertically downwards. Therefore, it is possible to eliminate or minimize any remaining dirty water SW on the window surface WS.

[0156] Figure 15 is a perspective view showing a part of the modified cleaning unit 100 and the movable mechanism of the wiper 110. Figure 16 is a schematic diagram showing the operation of the wiper 110 when window cleaning is performed using the modified cleaning unit 100. The upper, middle, and lower sections of Figure 16 are denoted as upper section F1, middle section F2, and lower section F3, respectively.

[0157] As shown in Figure 15, the wiper 110 is pivotally supported on the support 102 by a connector so that it can tilt around its end 110B as a pivot point. More specifically, as shown in Figures 15 and 16, the wiper 110 is pin-joined to the support 102 at its end 110B by a pin 120 (an example of a connector). That is, the support 102 supports the wiper 110 at its end 110B so that it can tilt around its longitudinal end 110B (an example of one end) as a pivot point. Thus, in this modified example, the case where the connection is made by pin joint will be described as an example of a connection method.

[0158] As shown in Figure 16, upper panel F1, the wiper 110 is initially positioned with its longitudinal direction facing the X-axis.

[0159] When the cleaning unit 100 is pressed against the window surface WS and pulled downward vertically, the frictional force between the wiper rubber 110A, which has deformed to follow the window surface WS, and the window surface WS acts as an external force on the wiper 110. As shown in the middle diagram F2 of Figure 16, the wiper 110, under the external force, moves and tilts in a direction that is non-parallel to the rotating brush 106, with its end 110B as the pivot point, from its initial position (see upper diagram F1 of Figure 16) in a plane parallel to the window surface WS (XY plane).

[0160] The wiper 110 is mechanically connected to the support 102 by an elastic member 130 at the end 110B and the opposite end 110C.

[0161] The elastic member 130 is an example of a restricting part that regulates the amount of tilt of the wiper 110 with the longitudinal end 110B of the wiper 110 as the pivot point. The elastic member 130 is, for example, a rubber member, with one end joined to the support 102 with adhesive or the like, and the other end joined to the longitudinal end 110C of the wiper 110 with adhesive or the like. The elastic member 130 may also be a spring.

[0162] As the wiper 110 begins to tilt from its initial position (see upper diagram F1 in Figure 16) with its end 110B as the pivot point, the end 110C of the wiper 110 moves away from the support 102 in the +Y direction. As a result, the elastic member 130 that mechanically connects the end 110C and the support 102 is pulled by both, and extends beyond its natural length (see middle diagram F2 in Figure 16).

[0163] The elastic member 130 stretches until the internal force balances the external force acting through the wiper 110, and does not stretch any further. Therefore, the tilting motion of the wiper 110 is restricted by the elastic member 130, which mechanically connects the end portion 110C and the support 102.

[0164] Dirty water SW adhering to the window surface WS is pushed to the right (see arrow E in the middle diagram F2 of Figure 16) by the wiper 110, which is pulled downwards in a tilted position due to external force. As a result, any remaining dirty water SW on the window surface WS is pushed to the right and collected. Therefore, any remaining dirty water SW on the window surface WS can be eliminated or minimized.

[0165] By selecting an elastic member 130 with an appropriate modulus of elasticity, the angle of the wiper 110 when wiping the window surface WS vertically downwards can be set to an appropriate angle. An appropriate angle is, for example, an angle at which the diagonally tilted wiper 110 can easily push and collect the wastewater SW to the right.

[0166] When the wiper 110 is separated from the window surface WS, the external force acting on the wiper 110 ceases. As a result, the elastic member 130 returns to its natural length, and the wiper 110 returns from its tilted position (see F2 in the middle section of Figure 16) to its initial position (see F3 in the lower section of Figure 16). In other words, the wiper 110 automatically retracts to its initial position.

[0167] Thus, in this modified configuration, when an external force is applied to the wiper 110 by moving it together with the rotating brush 106 by the three-axis actuator 20 while the wiper 110 is pressed against the window surface WS, the wiper 110 begins to tilt from its initial position with its end 110B as the pivot point. At the same time, the elastic member 130 extends from its natural length due to the external force acting through the wiper 110. When the elastic member 130 extends to the point where the internal force balances the external force, the tilting motion of the wiper 110 with its end 110B as the pivot point is restricted. When the external force acting on the wiper 110 ceases, the elastic member 130 returns to its natural length, and the wiper 110 returns from its tilted position to its initial position. [Explanation of symbols]

[0168] 1:Cleaning device 10: Frame 12: Arm 20: 3-axis actuator 22: X-axis actuator 24: Y-axis actuator 26: Z-axis actuator 32, 34: Cable chain 40: Box 50: Z-axis actuator 52: Suction pad 62: Caster 72: Tank 74: Pump 76, 78: Hose 100: Cleaning main unit 102:Support 102A: Wall part 102B: U-shaped groove 104: Spray nozzle 106: Rotating brush 106A: Brush component 106B: Shaft 108: Brush drive unit 108A: Rotary motor 108B: Transmission member 110, 112: Wiper 110A, 112A: Wiper rubber 114: Collection port 116: Sewage collection route 118: Filter 120: Pin 130: Elastic member 200: Processor

Claims

1. A cleaning solution applicator for applying the cleaning solution to the surface to be cleaned, An actuator that moves the cleaning solution coating body while pressing it against the surface to be cleaned, A boundary detection unit detects when the cleaning solution applicator moved by the actuator reaches the boundary of the cleaning range of the surface to be cleaned, The system includes an actuator control unit that, when it is detected that the cleaning solution coated object has reached the boundary of the cleaning area, controls the actuator to make the uncleaned portion within the cleaning area the next path for the cleaning solution coated object to move by the actuator, The actuator control unit, The cleaning solution coating body is moved to a cleaning start point while maintaining a distance from the surface to be cleaned, and at the cleaning start point, the cleaning solution coating body is brought into contact with the surface to be cleaned and cleaning is started. Cleaning equipment.

2. The actuator can move the cleaning fluid coating body within a plane that includes a first axis perpendicular to the surface to be cleaned, and second and third axes parallel to and intersecting the surface to be cleaned. The actuator control unit, By moving the cleaning solution coating body in a first direction along the first axis, the cleaning solution coating body is pressed against the surface to be cleaned. The cleaning liquid is applied to the surface to be cleaned by moving the cleaning liquid applicator, which is pressed against the surface to be cleaned, along the second axis, or by moving the cleaning liquid applicator in a predetermined oblique direction inclined with respect to the second axis, such that it is displaced in the second axis direction. When the boundary detection unit detects that the cleaning solution coated body has reached the boundary of the cleaning area, the cleaning solution coated body is moved toward the uncleaned area in a third direction opposite to the second direction. The cleaning solution applicator, which has been moved to the uncleaned area, is moved along the second axis or in the predetermined diagonal direction to apply the cleaning solution to the uncleaned area. The cleaning device according to claim 1.

3. The actuator control unit, When moving the cleaning solution coating body toward the uncleaned portion, move the cleaning solution coating body in the opposite direction to the first direction to separate it from the surface to be cleaned, so that the already cleaned portion within the surface to be cleaned does not move while the cleaning solution coating body is pressed against the surface to be cleaned. The cleaning device according to claim 2.

4. The actuator control unit, Based on the detection result by the boundary detection unit, the cleaning solution coating body is moved to the first corner of the cleaning area. Starting from the first corner, the cleaning solution coated body pressed against the surface to be cleaned is moved along the first boundary line of the cleaning area. The cleaning solution coating body is repeatedly moved in the third direction toward the uncleaned portion and the cleaning solution coating body is repeatedly moved along the second axis or in the predetermined oblique direction while pressed against the surface to be cleaned. When the boundary detection unit detects that the cleaning solution coating body has reached the second corner of the cleaning area, which is opposite the first corner, the cleaning solution coating body pressed against the surface to be cleaned is moved along the second boundary line of the cleaning area, which is opposite the first boundary line. The cleaning device according to claim 2.

5. The boundary detection unit detects that the cleaning liquid applicator, moved by the actuator, has come into contact with the edge of the surface to be cleaned, or that the cleaning liquid applicator has reached the boundary of the cleaning area when it moves to the limit position of its movable range. The cleaning device according to claim 1.

6. The casing and The system further includes a suction part for adsorbing and fixing the housing to the surface of a structure, including the surface to be cleaned. The cleaning device according to claim 1.

7. The suction part is provided only at the lower part of the housing. The cleaning device according to claim 6.

8. A storage section for containing the cleaning solution, A supply unit that supplies the cleaning liquid contained in the storage unit to the cleaning liquid coated body, The system further includes a recovery unit for recovering at least a portion of the cleaning liquid supplied to the cleaning liquid coated body into the storage unit. The cleaning device according to claim 1.

9. A wiper for wiping off any deposits on the surface to be cleaned to which the cleaning solution has been applied, The system further comprises a support that supports the cleaning liquid coating body and the wiper, such that when the cleaning liquid coating body is pressed against the surface to be cleaned, the wiper also presses against the surface to be cleaned. A cleaning device according to any one of claims 1 to 8.

10. The support is configured to allow the wiper to tilt at one end, such that when the wiper, pressed against the surface to be cleaned, is moved together with the cleaning fluid applicator by the actuator, the wiper moves and tilts in a plane parallel to the surface to be cleaned, with one end of the wiper in the longitudinal direction acting as a pivot point. The cleaning device according to claim 9.

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