TW201320948A - Self-propelled ion generator and cleaning robot - Google Patents
Self-propelled ion generator and cleaning robot Download PDFInfo
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- TW201320948A TW201320948A TW101135661A TW101135661A TW201320948A TW 201320948 A TW201320948 A TW 201320948A TW 101135661 A TW101135661 A TW 101135661A TW 101135661 A TW101135661 A TW 101135661A TW 201320948 A TW201320948 A TW 201320948A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/04—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids for using the exhaust air for other purposes, e.g. for distribution of chemicals in a room, for sterilisation of the air
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4097—Means for exhaust-air diffusion; Exhaust-air treatment, e.g. air purification; Means for sound or vibration damping
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
- A47L9/1409—Rigid filtering receptacles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
- A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/22—Mountings for motor fan assemblies
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Disinfection, Sterilisation Or Deodorisation Of Air (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Manipulator (AREA)
Abstract
Description
本發明係關於一種一面於地板上自走一面送出離子之自走式離子產生機。又，本發明係關於一種一面於地板上自走執行清掃一面送出離子之清掃機器人。 The present invention relates to a self-propelled ion generator that delivers ions while walking on the floor. Further, the present invention relates to a cleaning robot that sends ions while performing self-propelled cleaning on the floor.
先前之自走式離子產生機係作為清掃機器人而揭示於專利文獻1中。該清掃機器人係於俯視時為大致圓形之本體框體上設置驅動輪而於地板上自走。此時，為清掃桌子等之下方，本體框體形成為高度較低之薄型。 The conventional self-propelled ion generator system is disclosed in Patent Document 1 as a cleaning robot. The cleaning robot is provided with a driving wheel on a substantially circular body frame in a plan view and is self-propelled on the floor. At this time, in order to clean the table or the like, the main body casing is formed into a thin shape having a low height.
上述先前之清掃機器人中，產生離子之離子產生裝置配置於本體框體內。離子產生裝置對連通於在本體框體之周面形成開口之吐出口之管道內釋出離子。藉由配置於該管道內之離子送風機之驅動而自吐出口送出離子。 In the above-described cleaning robot, the ion generating device that generates ions is disposed in the main body casing. The ion generating device releases ions into a pipe that communicates with a discharge port that forms an opening in the circumferential surface of the body casing. The ions are sent out from the spout outlet by the driving of the ion blower disposed in the duct.
又，清掃機器人亦可進行地板之清掃。本體框體之下表面開設有吸入口，於本體框體之周面相對於清掃時之行進方向於後方開設有排氣口。本體框體內設置有電動送風機及集塵部。 In addition, the cleaning robot can also clean the floor. The lower surface of the main body frame is provided with a suction port, and an exhaust port is opened on the circumferential surface of the main body frame with respect to the traveling direction of the cleaning body. An electric blower and a dust collecting portion are disposed in the main body frame.
上述構成之清掃機器人中，離子送出運轉開始後，驅動輪、離子產生裝置及離子送風機被驅動。本體框體藉由驅動輪之旋轉而於室內之地板上自走，利用離子產生裝置及離子送風機自吐出口送出離子。藉此，可進行室內之除臭或除菌。 In the cleaning robot configured as described above, after the ion feeding operation is started, the driving wheel, the ion generating device, and the ion blower are driven. The main body frame self-propelled on the floor of the room by the rotation of the driving wheel, and the ions are sent out from the spout outlet by the ion generating device and the ion blower. Thereby, deodorization or sterilization can be performed indoors.
繼而，清掃運轉開始後，利用電動送風機自吸入口吸入 包含塵埃之氣流。氣流中所含之塵埃由集塵部收集，除塵後之氣流通過電動送風機自周面之排氣口朝後方排氣。 Then, after the cleaning operation starts, the air blower is used to suck in from the suction port. Contains dusty air. The dust contained in the airflow is collected by the dust collecting portion, and the airflow after the dust removal is exhausted toward the rear from the exhaust port of the peripheral surface by the electric blower.
[專利文獻1]日本專利特開2005-46616號公報(第4頁-第8頁、第4圖) [Patent Document 1] Japanese Patent Laid-Open Publication No. 2005-46616 (page 4 - page 8, figure 4)
然而，先前之自走式離子產生機係對移動中之周邊一帶送出離子。藉此，無法對所需位置有效地散佈離子，而有無法期待除臭或除菌等離子功能之問題。 However, previous self-propelled ion generators delivered ions to the surrounding zone in motion. As a result, it is impossible to efficiently disperse ions at a desired position, and there is a problem that a deodorizing or sterilizing plasma function cannot be expected.
又，上述先前之清掃機器人於根據使用者之操作而停止之狀態下仍可送出離子，但其無法自動特定並停止在需進行離子散佈之位置。藉此，有無法對需要除臭或除菌等離子功能之位置有效地散佈離子之問題。 Further, the above-described cleaning robot can still deliver ions in a state of being stopped according to the user's operation, but it cannot be automatically specified and stopped at a position where ion dispersion is required. Thereby, there is a problem that ions cannot be efficiently dispersed at a position where a deodorizing or sterilizing plasma function is required.
本發明係鑒於上述方面而完成者，其目的在於提供一種可對需要離子之位置有效地散佈離子之自走式離子產生機及清掃機器人。 The present invention has been made in view of the above circumstances, and an object thereof is to provide a self-propelled ion generator and a cleaning robot that can efficiently disperse ions at a position where ions are required.
為解決上述課題，本發明之自走式離子產生機之特徵在於包括：本體框體，其開設有吸入口與排氣口並於地板上自走；電動送風機，其配置於上述本體框體內；離子產生裝置，其對上述電動送風機與上述排氣口之間之排氣路徑內釋出離子；及環境檢測裝置，其檢測上述本體框體之周邊環境；且該自走式離子產生機係於基於上述環境檢測裝 置所檢測出之上述本體框體之周邊環境而決定之特定位置停留一定時間，並藉由上述離子產生裝置及上述電動送風機之驅動自上述排氣口送出包含離子之氣流。 In order to solve the above problems, the self-propelled ion generator of the present invention includes: a body frame having a suction port and an exhaust port and self-propelled on the floor; and an electric blower disposed in the body frame; An ion generating device that releases ions into an exhaust path between the electric blower and the exhaust port; and an environment detecting device that detects an environment surrounding the body frame; and the self-propelled ion generator is attached to Based on the above environment detection The specific position determined by the surrounding environment of the main body casing is detected for a predetermined period of time, and the air containing the ions is sent from the exhaust port by the ion generating device and the electric blower.
根據該構成，自走式離子產生機之本體框體於地板上自走，若驅動電動送風機則自開設於本體框體上之吸入口吸入氣流。吸入本體框體內之氣流通過電動送風機，經由排氣路徑，由離子產生裝置釋出離子。包含離子之氣流自開設於本體框體上之排氣口朝室內送出。再者，本體框體於基於環境檢測裝置檢測出之周邊環境而決定之特定位置停留一定時間，並自排氣口送出包含離子之氣流。 According to this configuration, the main body frame of the self-propelled ion generator moves away from the floor, and when the electric blower is driven, the airflow is taken in from the suction port opened in the main body casing. The airflow drawn into the body casing passes through the electric blower, and ions are released by the ion generating device via the exhaust path. The air stream containing ions is sent out indoors from an exhaust port opened on the body casing. Further, the main body casing stays at a specific position determined based on the surrounding environment detected by the environmental detecting device for a certain period of time, and the airflow containing the ions is sent out from the exhaust port.
再者，此處所述之「特定位置」可為環境檢測裝置檢測出之本體框體之周邊環境，例如基於周邊空氣狀態而決定之位置。作為該特定位置，如後述般，例如可為臭味感測器檢測出之漂浮有臭味之位置或濕度感測器檢測出之濕氣較高之位置等，但並非限定於其等。又，「一定時間」係預設之本體框體之任意之滯留時間。 Furthermore, the "specific position" described herein may be the surrounding environment of the main body frame detected by the environment detecting device, for example, the position determined based on the surrounding air state. The specific position may be, for example, a position where the odor sensor detects floating odor or a position where the moisture detected by the humidity sensor is high, as described below, but is not limited thereto. Moreover, "certain time" is an arbitrary retention time of the preset body frame.
又，於上述構成之自走式離子產生機中，特徵在於：上述環境檢測裝置係檢測上述本體框體之周邊臭味之感測器，且基於上述臭味感測器檢測出特定閾值以上之臭味，將其檢測位置作為上述特定位置而停留一定時間，並自上述排氣口送出包含離子之氣流。 Further, in the self-propelled ion generator according to the above aspect, the environmental detecting device is configured to detect a sensor having a peripheral odor of the main body casing, and detect a specific threshold or more based on the odor sensor. The odor is maintained at the specific position for a certain period of time, and a gas stream containing ions is sent from the exhaust port.
根據該構成，自走式離子產生機停留在具有特定閾值以上之特定位置而送出包含離子之氣流。藉此，自走式離子產生機例如對漂浮有臭味之位置重點散佈離子。 According to this configuration, the self-propelled ion generator stays at a specific position having a certain threshold or more and sends out a gas stream containing ions. Thereby, the self-propelled ion generator scatters ions, for example, at a position where the odor is floating.
又，於上述構成之自走式離子產生機中，特徵在於：上述環境檢測裝置係檢測上述本體框體之周邊濕度之濕度感測器，且基於上述濕度感測器檢測出特定閾值以上之濕度，將其檢測位置作為上述特定位置而停留一定時間，並自上述排氣口送出包含離子之氣流。 Further, in the self-propelled ion generator according to the above aspect of the invention, the environment detecting device detects a humidity sensor of a peripheral humidity of the main body casing, and detects a humidity of a specific threshold or more based on the humidity sensor. And stopping the detection position as the specific position for a certain period of time, and sending a gas stream containing ions from the exhaust port.
根據該構成，自走式離子產生機停留在具有特定閾值以上之濕度之特定位置而送出包含離子之氣流。藉此，自走式離子產生機例如對濕氣較高之位置重點散佈離子。 According to this configuration, the self-propelled ion generator stays at a specific position having a humidity equal to or higher than a certain threshold to deliver a gas stream containing ions. Thereby, the self-propelled ion generator scatters ions, for example, at a position where moisture is high.
又，於上述構成之自走式離子產生機中，特徵在於：上述環境檢測裝置係記憶有自走式離子產生機之設置位置周邊之上述特定位置之地圖，且該自走式離子產生機係於上述地圖所記憶之上述特定位置停留一定時間，並自上述排氣口送出包含離子之氣流。 Further, in the self-propelled ion generator according to the above aspect, the environmental detecting device stores a map of the specific position around the installation position of the self-propelled ion generator, and the self-propelled ion generator Waiting for a certain time at the above-mentioned specific location memorized by the map, and sending a stream containing ions from the exhaust port.
根據該構成，自走式離子產生機停留在事先記憶於地圖中之需要離子之特定位置而送出包含離子之氣流。藉此，自走式離子產生機對事先記憶於地圖中之例如漂浮有臭味之位置或高濕度之位置重點散佈離子。 According to this configuration, the self-propelled ion generator stays at a specific position of the desired ions previously stored in the map to send the air stream containing the ions. Thereby, the self-propelled ion generator focuses on the ions which are previously stored in the map, such as floating odors or high humidity.
又，於上述構成之自走式離子產生機中，特徵在於具備檢測人存在之人體感測器，且基於來自上述人體感測器之檢測資訊，以人存在之方向與來自上述排氣口之空氣之排氣方向不同之方式使上述本體框體移位。 Further, the self-propelled ion generator of the above-described configuration is characterized in that it has a human body sensor for detecting the presence of a person, and based on the detection information from the human body sensor, in the direction in which the person exists and from the exhaust port The body frame is displaced in such a manner that the direction of exhaust of the air is different.
根據該構成，若自走式離子產生機檢測出人之存在，則朝無人之方向排氣。藉此，可避免自排氣口排出之空氣直接沖向人體。 According to this configuration, if the self-propelled ion generator detects the presence of a person, it exhausts in the direction of the unmanned person. Thereby, the air discharged from the exhaust port can be prevented from directly rushing to the human body.
又，於上述構成之自走式離子產生機中，特徵在於具備可動式通氣孔，其可變更自上述排氣口排出之空氣之排氣方向，且藉由使上述可動式通風孔移位，而可根據上述本體框體之自走時之移動速度使自上述排氣口排出之空氣之排氣方向不同。 Further, the self-propelled ion generator according to the above aspect is characterized in that the movable vent hole is provided to change the exhaust direction of the air discharged from the exhaust port, and to displace the movable vent hole. The exhaust direction of the air discharged from the exhaust port may be different according to the moving speed of the body frame at the time of self-propelled.
根據該構成，自走式離子產生機根據本體框體之自走時之移動速度朝不同方向排出空氣。藉此，自走式離子產生機根據移動速度而對不同區域散佈離子。 According to this configuration, the self-propelled ion generator discharges air in different directions according to the moving speed of the main body frame at the time of self-propelled. Thereby, the self-propelled ion generator spreads ions to different regions according to the moving speed.
又，於上述構成之自走式離子產生機中，特徵在於：以上述本體框體之移動時較其停止時可朝上方排氣之方式使上述可動式通氣孔移位。 Further, in the self-propelled ion generator of the above configuration, the movable vent hole is displaced such that the main body frame is vented upward when the body frame is moved.
根據該構成，自走式離子產生機係隨著本體框體之移動速度加快而對更廣泛之區域散佈離子。 According to this configuration, the self-propelled ion generator disperses ions to a wider area as the moving speed of the main body frame increases.
又，本發明係一種清掃機器人，其特徵在於：上述構成之自走式離子產生機中設置有集塵部，該集塵部係藉由上述電動送風機之驅動，而收集自上述吸入口吸入之氣流之塵埃。 Further, the present invention is a cleaning robot characterized in that the self-propelled ion generator of the above configuration is provided with a dust collecting portion that is sucked from the suction port by being driven by the electric blower. The dust of the air stream.
根據該構成，清掃機器人之本體框體於地板上自走，若驅動電動送風機則開設於本體框體上之吸入口吸入包含塵埃之氣流。氣流中所含之塵埃由集塵部收集。經集塵部除塵後之氣流通過電動送風機，經由排氣路徑，由離子產生裝置釋出離子。包含離子之氣流自開設於本體框體上之排氣口朝室內送出。再者，本體框體於基於環境檢測裝置檢測出之周邊環境而決定之特定位置停留一定時間，並自排 氣口送出包含離子之氣流。 According to this configuration, the main body casing of the cleaning robot self-propelled on the floor, and when the electric blower is driven, the air inlet containing the dust is sucked into the suction port of the main body casing. The dust contained in the air stream is collected by the dust collecting portion. The airflow that has been removed by the dust collecting portion passes through the electric blower, and the ions are released by the ion generating device via the exhaust path. The air stream containing ions is sent out indoors from an exhaust port opened on the body casing. Furthermore, the main body frame stays at a specific position determined based on the surrounding environment detected by the environment detecting device, and is self-discharged. The gas port sends a gas stream containing ions.
根據本發明之構成，自走式離子產生機及清掃機器人於基於其周邊環境所決定之特定位置停留一定時間，並自排氣口送出包含離子之氣流。藉此，可對特定位置、例如漂浮有臭味之位置或濕氣較高之位置重點散佈離子。因此，可提供一種對需要離子之位置有效地散佈離子之自走式離子產生機及清掃機器人。 According to the configuration of the present invention, the self-propelled ion generator and the cleaning robot stay at a specific position determined based on the surrounding environment for a certain period of time, and deliver a stream containing ions from the exhaust port. Thereby, ions can be preferentially dispersed at a specific position, for example, a position where the odor is floating or a position where the moisture is high. Therefore, it is possible to provide a self-propelled ion generator and a cleaning robot that efficiently disperse ions at positions where ions are required.
以下，基於圖1~圖10說明本發明之實施形態。再者，此處，作為自走式離子產生機之一例，列舉清掃機器人進行說明。 Hereinafter, embodiments of the present invention will be described based on Figs. 1 to 10 . Here, as an example of the self-propelled ion generator, a cleaning robot will be described.
首先，關於作為本發明之實施形態之自走式離子產生機之一例的清掃機器人，一面使用圖1~圖6說明其構造，一面說明集塵動作。圖1係清掃機器人之立體圖，圖2係清掃機器人之垂直剖面側視圖，圖3係清掃機器人之前部之放大垂直剖面側視圖，圖4係表示卸去清掃機器人之集塵部之狀態之垂直剖面側視圖，圖5係清掃機器人之馬達單元之立體圖，圖6係表示清掃機器人之構成之方塊圖。 First, a cleaning robot which is an example of a self-propelled ion generator according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6 and a dust collecting operation will be described. 1 is a perspective view of the cleaning robot, FIG. 2 is a vertical sectional side view of the cleaning robot, FIG. 3 is an enlarged vertical sectional side view of the front portion of the cleaning robot, and FIG. 4 is a vertical sectional view showing a state in which the dust collecting portion of the cleaning robot is removed. In the side view, FIG. 5 is a perspective view of the motor unit of the cleaning robot, and FIG. 6 is a block diagram showing the configuration of the cleaning robot.
如圖1所示，清掃機器人1具有以電池13將驅動輪5(皆參照圖2)驅動而自走之俯視時為圓形之本體框體2。本體框體2之上表面上設置有於裝卸集塵部30(參照圖2)時開關之蓋部3。 As shown in FIG. 1, the cleaning robot 1 has a main body casing 2 which is circular in a plan view in which the battery wheel 13 drives the drive wheels 5 (both see FIG. 2) and self-propelled. The upper surface of the main body casing 2 is provided with a cover portion 3 that is opened and closed when the dust collecting portion 30 (see FIG. 2) is attached or detached.
如圖2所示，本體框體2中配置有自底面突出之一對驅動 輪5。驅動輪5之旋轉軸配置於本體框體2之中心線C上。驅動輪5之兩輪若朝同一方向旋轉，則本體框體2進退，若朝反方向旋轉，則本體框體2並不移動而於所處位置繞中心線C旋轉，即進行旋轉。驅動輪5由移動馬達51(參照圖6)驅動。 As shown in FIG. 2, the main body frame 2 is provided with a pair of driving from the bottom surface. Round 5. The rotation shaft of the drive wheel 5 is disposed on the center line C of the body casing 2. When the two wheels of the drive wheel 5 rotate in the same direction, the main body casing 2 advances and retreats, and when rotated in the reverse direction, the main body casing 2 does not move and rotates around the center line C at the position, that is, rotates. The drive wheel 5 is driven by a moving motor 51 (refer to Fig. 6).
於進行清掃時成為移動方向之前方之本體框體2之前部，下表面設置有吸入口6。吸入口6藉由凹設於本體框體2之底面之凹部8之開放面而面朝地板F而形成。凹部8內配置有以水平之旋轉軸進行旋轉之旋轉刷子9，凹部8之兩側方配置有以垂直之旋轉軸進行旋轉之側面刷子10。 At the time of cleaning, the front portion of the main body casing 2 before the moving direction is provided, and the lower surface is provided with a suction port 6. The suction port 6 is formed by facing the floor F by the open surface of the recess 8 recessed in the bottom surface of the main body casing 2. A rotating brush 9 that rotates on a horizontal rotating shaft is disposed in the recessed portion 8, and a side brush 10 that rotates on a vertical rotating shaft is disposed on both sides of the recessed portion 8.
於凹部8之前方設置有滾筒狀之前輪15。於本體框體2之後端設置有包含萬向輪(universal wheel)之後輪16。前輪15通常離開地板F，旋轉刷子9、驅動輪5及後輪16接觸地板F進行清掃。前輪15接觸進路上出現之台階，以使本體框體2易於越過台階。 A drum-shaped front wheel 15 is provided in front of the recess 8 . A rear wheel 16 including a universal wheel is disposed at a rear end of the body casing 2. The front wheel 15 normally leaves the floor F, and the rotating brush 9, the drive wheel 5, and the rear wheel 16 contact the floor F for cleaning. The front wheel 15 contacts the step that appears on the road so that the body frame 2 can easily pass over the step.
於本體框體2之周面之後端設置有對電池13充電之充電端子4。本體框體2自走而歸位設置於室內之充電台40，將充電端子4連接於設置於充電台40之端子部41而對電池13充電。連接於商用電源之充電台40通常沿室內之側壁S而設置。 A charging terminal 4 for charging the battery 13 is provided at a rear end of the peripheral surface of the main body casing 2. The main body casing 2 is self-propelled and placed in the indoor charging stand 40, and the charging terminal 4 is connected to the terminal portion 41 provided in the charging stand 40 to charge the battery 13. The charging station 40 connected to the commercial power source is usually disposed along the side wall S of the room.
本體框體2內配置有收集塵埃之集塵部30。集塵部30收納於設置於本體框體2之集塵室39內。集塵室39作為四方之周面及底面被覆蓋之隔離室形成，除前壁外之各壁面封閉。於集塵室39之前壁導出連通於凹部8之第1吸氣路徑11 及配置於凹部8之上方、連通於後述之馬達單元20之第2吸氣路徑12。 A dust collecting portion 30 for collecting dust is disposed in the main body casing 2. The dust collecting unit 30 is housed in the dust collecting chamber 39 provided in the main body casing 2 . The dust collecting chamber 39 is formed as an isolation chamber in which the circumferential surface and the bottom surface of the square are covered, and the wall surfaces other than the front wall are closed. Leading the first inhalation path 11 communicating with the recess 8 to the wall before the dust collecting chamber 39 And a second intake path 12 that is disposed above the recess 8 and that communicates with a motor unit 20, which will be described later.
集塵部30配置於本體框體2之中心線C上，如圖4所示般可打開本體框體2之蓋部3而予以裝卸。集塵部30於有底筒狀之集塵容器31之上表面安裝有具有過濾器33之上部蓋32。上部蓋32藉由可動卡止部32a卡止於集塵容器31，藉由操作卡止部32a而可自集塵容器31拆卸。藉此，可除去堆積於集塵容器31中之塵埃。 The dust collecting portion 30 is disposed on the center line C of the main body casing 2, and as shown in FIG. 4, the lid portion 3 of the main body casing 2 can be opened and detached. The dust collecting portion 30 is provided with a top cover 32 having a filter 33 on the upper surface of the bottomed cylindrical dust collecting container 31. The upper cover 32 is locked to the dust collecting container 31 by the movable locking portion 32a, and can be detached from the dust collecting container 31 by operating the locking portion 32a. Thereby, the dust accumulated in the dust collecting container 31 can be removed.
於集塵容器31之周面導出有前端開設有流入口34a且連通於第1吸氣路徑11之流入路徑34。集塵容器31內設置有連接於流入路徑34並藉由彎曲朝下方引導氣流之流入部34b。於上部蓋32之周面導出有前端開設有流出口35a且連通於第2吸氣路徑12之流出路徑35。 An inflow path 34 having an inflow port 34a at its distal end and communicating with the first inspiratory path 11 is led out from the circumferential surface of the dust collecting container 31. The dust collecting container 31 is provided with an inflow portion 34b that is connected to the inflow path 34 and guides the airflow downward by bending. An outflow path 35 having an outflow opening 35a at its distal end and communicating with the second intake path 12 is led out from the circumferential surface of the upper cover 32.
流入口34a及流出口35a之周圍設置有密接於集塵室39之前壁之襯墊(未圖示)。藉此，密閉收納有集塵部30之集塵室39內。集塵室39之前壁形成為傾斜面，由此可防止集塵部30之裝卸時之滑動所引起之襯墊之劣化。 A gasket (not shown) that is in close contact with the wall of the dust collecting chamber 39 is provided around the inflow port 34a and the outflow port 35a. Thereby, the inside of the dust collecting chamber 39 in which the dust collecting part 30 is accommodated is sealed. The front wall of the dust collecting chamber 39 is formed as an inclined surface, whereby deterioration of the gasket caused by sliding of the dust collecting portion 30 during loading and unloading can be prevented.
本體框體2內之集塵室39之後方上部配置有具有後述之CPU14a(參照圖6)之控制基板14。控制基板14上設置有包含控制清掃機器人1之各部之CPU14a之控制電路。集塵室39之後方之下部配置有裝卸自如之電池13。電池13經由充電端子4自充電台40充電，從而對控制基板14供給電力，對驅動輪5、旋轉刷子9、側面刷子10及電動送風機22等各馬達部供給電力。 A control board 14 having a CPU 14a (see FIG. 6), which will be described later, is disposed on the upper side of the dust collecting chamber 39 in the main body casing 2. The control board 14 is provided with a control circuit including a CPU 14a that controls each unit of the cleaning robot 1. A battery 13 that is detachable is disposed below the dust collecting chamber 39. The battery 13 is charged from the charging stand 40 via the charging terminal 4, and electric power is supplied to the control board 14, and electric power is supplied to each motor part, such as the drive wheel 5, the rotating brush 9, the side brush 10, and the electric blower 22.
本體框體2之前部配置有馬達單元20。馬達單元20如圖5所示般具備樹脂成形品之外框21與收納於外框21內之電動送風機22。電動送風機22由被馬達外框22a遮蓋之渦輪風扇形成。 The motor unit 20 is disposed in front of the main body casing 2. As shown in FIG. 5, the motor unit 20 includes a resin molded product outer frame 21 and an electric blower 22 housed in the outer frame 21. The electric blower 22 is formed by a turbo fan that is covered by the motor outer frame 22a.
電動送風機22之馬達外框22a上，軸向之一端開設有吸入口(未圖示)，周面之兩處開設有排氣口(未圖示)。外框21之前面設置有與馬達外框22a之吸入口對向且連通於第2吸氣路徑12之開口部23。外框21之電動送風機22之兩側方設置有分別連通於馬達外框22a之各排氣口之第1排氣路徑24a及第2排氣路徑24b。第1、第2排氣路徑24a、24b連通於設置於本體框體2之上表面之排氣口7(參照圖2及圖3)。排氣口7於相對於本體框體2之前後方向成直角之橫向上延伸。 The motor outer frame 22a of the electric blower 22 has a suction port (not shown) at one end of the axial direction, and an exhaust port (not shown) is provided at two places on the circumferential surface. The front surface of the outer frame 21 is provided with an opening 23 that faces the suction port of the motor outer frame 22a and communicates with the second intake path 12. The first exhaust passage 24a and the second exhaust passage 24b that communicate with the respective exhaust ports of the motor outer frame 22a are provided on both sides of the electric blower 22 of the outer frame 21. The first and second exhaust paths 24a and 24b communicate with the exhaust port 7 provided on the upper surface of the main body casing 2 (see FIGS. 2 and 3). The exhaust port 7 extends in a lateral direction at right angles to the front and rear directions of the body casing 2.
第1排氣路徑24a上配置有具有一對電極(未圖示)之離子產生裝置25。對離子產生裝置25之電極施加包含交流波形或衝擊波形之電壓，藉由電極之電暈放電而生成之離子釋出至第1排氣路徑24a即電動送風機22與排氣口7之間之排氣路徑。 An ion generating device 25 having a pair of electrodes (not shown) is disposed on the first exhaust path 24a. A voltage including an alternating current waveform or an impulse waveform is applied to the electrodes of the ion generating device 25, and ions generated by corona discharge of the electrodes are discharged to the first exhaust path 24a, that is, between the electric blower 22 and the exhaust port 7. Gas path.
對其中一電極施加正電壓，藉由電暈放電使氫離子與空氣中之水分結合而主要產生包含H+(H2O)m之正離子。對另一電極施加負電壓，藉由電暈放電使氧離子與空氣中之水分結合而主要生成包含O2 -(H2O)n之負離子。此處，m、n為任意自然數。H+(H2O)m及O2 -(H2O)n凝聚於空氣中之浮游菌或臭味成分之表面而包圍其等。 A positive voltage is applied to one of the electrodes, and the hydrogen ions are combined with the moisture in the air by corona discharge to mainly generate a positive ion containing H + (H 2 O) m. A negative voltage is applied to the other electrode, and the oxygen ions are combined with the moisture in the air by corona discharge to mainly generate an anion containing O 2 - (H 2 O) n . Here, m and n are arbitrary natural numbers. H + (H 2 O) m and O 2 - (H 2 O) n are aggregated on the surface of the floating bacteria or odor components in the air to surround them.
而且，如式(1)~(3)所示，因衝突而於微生物等之表面上凝聚生成作為活性種之「‧OH」(羥基自由基)或H2O2(過氧化氫)而破壞浮游菌或臭味成分。此處，m'、n'為任意自然數。因此，藉由產生正離子及負離子且自排氣口7送出，可進行室內之除菌及除臭。 Further, as shown in the formulas (1) to (3), the "‧ OH" (hydroxyl radical) or H 2 O 2 (hydrogen peroxide) which is an active species is agglomerated on the surface of microorganisms or the like due to the collision. Floating bacteria or odor components. Here, m' and n' are arbitrary natural numbers. Therefore, by generating positive ions and negative ions and delivering them from the exhaust port 7, sterilization and deodorization in the room can be performed.
H+(H2O)m+O2 -(H2O)n → ‧OH+1/2O2+(m+n)H2O………(1) H + (H 2 O)m+O 2 - (H 2 O)n → ‧OH+1/2O 2 +(m+n)H 2 O...(1)
H+(H2O)m+H+(H2O)m'+O2 -(H2O)n+O2 -(H2O)n' → 2‧OH+O2+(m+m'+n+n')H2O………(2) H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 - (H 2 O)n' → 2‧OH+O 2 +(m+ m'+n+n')H 2 O.........(2)
H+(H2O)m+H+(H2O)m'+O2 -(H2O)n+O2-(H2O)n' → H2O2+O2+(m+m'+n+n')H2O………(3) H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 -(H 2 O)n' → H 2 O 2 +O 2 +(m +m'+n+n')H 2 O.........(3)
於排氣口7之外側且空氣流通方向下游配置有可動式之通氣孔17。通氣孔17係與排氣口7同樣地於相對於本體框體2之前後方向成直角之橫向上延伸。通氣孔17可以於相對於本體框體2之前後方向成直角之橫向上延伸之軸線為中心搖動而進行角度變更。通氣孔17接收來自控制基板14之控制信號，可將自排氣口7排出之空氣之排氣方向於上下方向上變更。 A movable vent hole 17 is disposed on the outer side of the exhaust port 7 and downstream of the air flow direction. The vent hole 17 extends in the lateral direction at right angles to the front and rear directions of the main body casing 2, similarly to the exhaust port 7. The vent hole 17 can be angularly changed by pivoting about an axis extending in a lateral direction at right angles to the front and rear of the main body casing 2. The vent hole 17 receives a control signal from the control board 14, and can change the exhaust direction of the air discharged from the exhaust port 7 in the vertical direction.
而且，清掃機器人1可藉由使通氣孔17移位，而根據本體框體2之自走時之移動速度使自排氣口7排出之空氣之排氣方向不同。例如，清掃機器人1係以本體框體2之移動時較停止時可朝上方排出空氣之方式使通氣孔17朝上方移位。又，亦可根據預設之低速移動、高速移動之各種狀態而移位通氣孔17，從而可分別於低速移動時及高速移動時使自排氣口7排出之空氣之排氣方向不同。 Further, the cleaning robot 1 can shift the vent hole 17 to make the exhaust direction of the air discharged from the exhaust port 7 different depending on the moving speed of the body casing 2 at the time of self-propulsion. For example, the cleaning robot 1 shifts the vent hole 17 upward so that the air can be discharged upward when the main body casing 2 is moved. Further, the vent hole 17 can be displaced in accordance with various states of the preset low speed movement and high speed movement, so that the exhaust direction of the air discharged from the exhaust port 7 can be made different at the time of the low speed movement and the high speed movement.
此處，控制基板14因控制清掃機器人1整體之動作而由圖6所示之CPU14a及其他未圖示之電子零件構成。CPU14a係中央運算處理裝置，且基於記憶、輸入於記憶部18等之程式、資料而控制電動送風機22、離子產生裝置25、移動馬達25、通風孔17等構成要素以實現一連串之清掃運轉或離子送出運轉。 Here, the control board 14 is constituted by the CPU 14a shown in FIG. 6 and other electronic components (not shown) by controlling the overall operation of the cleaning robot 1. The CPU 14a is a central processing unit, and controls components such as the electric blower 22, the ion generator 25, the moving motor 25, and the vent hole 17 based on the program and data input to the memory unit 18, etc., to realize a series of cleaning operations or ions. Send out the operation.
再者，清掃機器人1分別具備用於驅動電動送風機22之馬達驅動器22a或用於驅動移動馬達51之馬達驅動器51a、及用於驅動通風孔17之控制單元17a。CPU14a分別向馬達驅動器22a、馬達驅動器51a及控制單元17a發送控制信號，從而驅動電動送風機22、移動馬達51及通風孔17。 Further, the cleaning robot 1 includes a motor driver 22a for driving the electric blower 22, a motor driver 51a for driving the moving motor 51, and a control unit 17a for driving the vent hole 17, respectively. The CPU 14a transmits control signals to the motor driver 22a, the motor driver 51a, and the control unit 17a, thereby driving the electric blower 22, the moving motor 51, and the vent hole 17.
又，CPU14a自操作面板(未圖示)接收使用者賦予之清掃機器人1之動作之條件設定，並記憶於記憶部18等。進而，記憶部18可記憶清掃機器人1之設置場所周邊之移動地圖18a。移動地圖18a中可事先由使用者或清掃機器人本身自動記錄清掃機器人1之移動路徑或移動速度等移動資訊。 Further, the CPU 14a receives the condition setting of the operation of the cleaning robot 1 given by the user from the operation panel (not shown), and stores it in the storage unit 18 or the like. Further, the storage unit 18 can memorize the movement map 18a around the installation place of the cleaning robot 1. In the moving map 18a, movement information such as a moving path or a moving speed of the cleaning robot 1 can be automatically recorded in advance by the user or the cleaning robot itself.
又，清掃機器人1係具備臭味感測器52與濕度感測器53作為檢測本體框體2之周邊環境之環境檢測裝置。 Further, the cleaning robot 1 includes the odor sensor 52 and the humidity sensor 53 as an environment detecting device that detects the surrounding environment of the main body casing 2.
臭味感測器52檢測本體框體2之周邊之臭味。臭味感測器52例如由半導體式或接觸燃燒式之臭味感測器構成，為檢測清掃機器人1之外部之臭味而配置於裝置外裝之附近。CPU14a經由控制單元52a而連接於臭味感測器52，基於自臭味感測器52所得之輸出而獲得本體框體2之外部周 邊之臭味資訊。 The odor sensor 52 detects the odor around the body casing 2. The odor sensor 52 is composed of, for example, a semiconductor type or a contact combustion type odor sensor, and is disposed in the vicinity of the device exterior for detecting the odor outside the cleaning robot 1. The CPU 14a is connected to the odor sensor 52 via the control unit 52a, and obtains the outer circumference of the body casing 2 based on the output obtained from the odor sensor 52. The smell of the side information.
濕度感測器53檢測本體框體2之周邊之濕度。濕度感測器53例如由使用高分子感濕材料之靜電電容式或電阻式之濕度感測器構成，為檢測清掃機器人1之外部之相對濕度而配置於裝置外裝之附近。CPU14a經由控制單元53a而連接於濕度感測器53，藉由自濕度感測器53所得之輸出獲得本體框體2之外部周邊之濕度資訊。 The humidity sensor 53 detects the humidity of the periphery of the body casing 2. The humidity sensor 53 is composed of, for example, a capacitive or resistive humidity sensor using a polymer moisture sensitive material, and is disposed in the vicinity of the device exterior for detecting the relative humidity of the outside of the cleaning robot 1. The CPU 14a is connected to the humidity sensor 53 via the control unit 53a, and the humidity information of the outer periphery of the body casing 2 is obtained by the output obtained from the humidity sensor 53.
再者，移動地圖18a中將漂浮有特定閾值以上之臭味之位置或濕氣高於特定閾值以上之位置作為清掃機器人1之設置場所周邊之環境之特定位置預先記錄。因CPU14a判定該特定位置係基於本體框體之周邊環境而決定之位置，故移動地圖18a與臭味感測器52或濕度感測器53同樣地發揮作為檢測本體框體2之周邊環境之環境檢測裝置之功能。 Further, in the moving map 18a, a position where the odor of a certain threshold or more is floated or a position where the humidity is higher than a certain threshold or more is recorded in advance as a specific position of the environment around the installation place of the cleaning robot 1. Since the CPU 14a determines that the specific position is determined based on the surrounding environment of the main body casing, the moving map 18a functions as an environment for detecting the surrounding environment of the main body casing 2 similarly to the odor sensor 52 or the humidity sensor 53. The function of the detection device.
又，清掃機器人1具備用於檢測本體框體2周邊之人之存在之人體感測器54。人體感測器54例如由利用紅外線或超聲波、可視光而檢測人之存在之人體感測器構成，為檢測清掃機器人1外部之人之存在而配置於裝置外裝之附近。CPU14a經由控制單元54a而連接於人體感測器54，基於自人體感測器54所得之輸出獲得本體框體2之外部周邊之人之存在資訊。 Further, the cleaning robot 1 includes a human body sensor 54 for detecting the presence of a person around the main body casing 2. The human body sensor 54 is configured, for example, by a human body sensor that detects the presence of a person by using infrared rays, ultrasonic waves, or visible light, and is disposed in the vicinity of the device exterior for detecting the presence of a person outside the cleaning robot 1. The CPU 14a is connected to the human body sensor 54 via the control unit 54a, and obtains the presence information of the person outside the body casing 2 based on the output obtained from the human body sensor 54.
上述構成之清掃機器人1中，若指示開始清掃運轉，則驅動電動送風機22、離子產生裝置25、，驅動輪5、旋轉刷子9及側面刷子10。藉此，本體框體2使旋轉刷子9、驅動 輪5及後輪16接觸地板F而於特定範圍內自走，自吸入口6吸入包含地板F之塵埃之氣流。此時，因旋轉刷子9之旋轉，地板F上之塵埃飛起而被導入至凹部8內。又，因側面刷子10之旋轉，吸入口6之側方之塵埃被導入至吸入口6。 In the cleaning robot 1 configured as described above, when the cleaning operation is instructed to start, the electric blower 22, the ion generating device 25, the drive wheel 5, the rotating brush 9, and the side brush 10 are driven. Thereby, the body frame 2 makes the rotating brush 9, driving The wheel 5 and the rear wheel 16 contact the floor F and self-propelled within a specific range, and the airflow containing the dust of the floor F is sucked from the suction port 6. At this time, the dust on the floor F flies up due to the rotation of the rotating brush 9, and is introduced into the concave portion 8. Further, due to the rotation of the side brush 10, the dust on the side of the suction port 6 is introduced into the suction port 6.
自吸入口6吸入之氣流如箭頭A1所示般於第1吸氣路徑11中流通至後方，經由流入口34a而流入至集塵部30。流入至集塵部30之氣流由過濾器33捕集塵埃，經由流出口35a自集塵部30流出。藉此，集塵容器31內塵埃集中堆積。自集塵部30流出之氣流如箭頭A2所示般於第2吸氣路徑12中流通至前方，經由開口部23流入至馬達單元20之電動送風機22。 The airflow sucked in from the suction port 6 flows to the rear in the first intake path 11 as indicated by an arrow A1, and flows into the dust collecting portion 30 via the inflow port 34a. The airflow that has flowed into the dust collecting portion 30 collects dust from the filter 33, and flows out from the dust collecting portion 30 via the outflow port 35a. Thereby, the dust in the dust collecting container 31 is concentrated and accumulated. The airflow that has flowed out of the dust collecting portion 30 flows to the front in the second intake path 12 as indicated by an arrow A2, and flows into the electric blower 22 of the motor unit 20 through the opening portion 23.
通過電動送風機22之氣流流通於第1排氣路徑24a及第2排氣路徑24b。流通於第1排氣路徑24a之氣流中包含離子產生裝置25釋出之離子。繼而，自設置於本體框體2之上表面之排氣口7如箭頭A3所示般朝上方後方斜向排出包含離子之氣流。藉此，進行室內清掃，並使包含於自走之本體框體2之排氣之離子於室內環走而進行室內之除菌或除臭。此時，因自排氣口7朝上方排氣，故可防止地板F之塵埃上揚從而提高室內之清潔度。 The airflow passing through the electric blower 22 flows through the first exhaust passage 24a and the second exhaust passage 24b. The gas flowing through the first exhaust path 24a contains ions released by the ion generating device 25. Then, the exhaust port 7 provided on the upper surface of the main body casing 2 obliquely discharges the air stream containing ions as shown by the arrow A3. Thereby, the indoor cleaning is performed, and the ions of the exhaust gas included in the self-propelled main body casing 2 are circulated inside the room to perform sterilization or deodorization in the room. At this time, since the air is exhausted upward from the exhaust port 7, the dust of the floor F can be prevented from rising, thereby improving the cleanliness of the room.
再者，清掃機器人1除如上述般可同時執行清掃運轉與離子送出運轉外，亦可分別單獨執行清掃運轉與離子送出運轉。 Further, the cleaning robot 1 may perform the cleaning operation and the ion delivery operation separately as described above, and may separately perform the cleaning operation and the ion delivery operation.
又，若使驅動輪5之兩輪彼此沿反方向旋轉，則本體框體2以中心線C為中心旋轉並改變方向進行旋轉。藉此，可 使本體框體2於所需之整個範圍內進行自走並避開障礙物而自走。再者，亦可使驅動輪5之兩輪相對於前進時反轉以使本體框體2後退。 Further, when the two wheels of the drive wheel 5 are rotated in the opposite directions, the main body casing 2 is rotated about the center line C and rotated in the direction. By this, The body frame 2 is self-propelled over the entire range required and self-propelled away from obstacles. Furthermore, the two wheels of the drive wheel 5 may be reversed with respect to the advancement to retract the body casing 2.
清掃結束後，本體框體2自走而歸位於充電台40。藉此，使充電端子4接觸於端子部41而對電池13充電。 After the cleaning is completed, the main body casing 2 is self-propelled and returned to the charging station 40. Thereby, the charging terminal 4 is brought into contact with the terminal portion 41 to charge the battery 13.
繼而，清掃機器人1基於自作為環境檢測裝置之臭味感測器52、濕度感測器53及移動地圖18a或人體感測器54所得之資訊實行獨特之動作。例如，本體框體2在基於環境檢測裝置檢測出之周邊環境而決定之特定位置停留一定時間，自排氣口7送出包含離子之氣流。以下使用圖7~圖10所示之動作流程對該等動作進行說明。 Then, the cleaning robot 1 performs a unique action based on information obtained from the odor sensor 52, the humidity sensor 53, and the movement map 18a or the human body sensor 54 as the environment detecting means. For example, the main body casing 2 stays at a specific position determined based on the surrounding environment detected by the environmental detecting device for a certain period of time, and the airflow containing ions is sent from the exhaust port 7. These operations will be described below using the operational flow shown in FIGS. 7 to 10.
首先，按照圖7所示之流程就清掃機器人1之臭味檢測之動作進行說明。圖7係表示清掃機器人1之臭味檢測之動作之流程圖。 First, the operation of the odor detection of the cleaning robot 1 will be described in accordance with the flow shown in FIG. FIG. 7 is a flow chart showing the operation of the odor detection by the cleaning robot 1.
清掃機器人1之運轉開始後(圖7之開始)，CPU14a一面使本體框體2移動以執行清掃及離子送出，一面經由控制單元52a使臭味感測器52作動(圖7之步驟#101)。繼而，臭味感測器52判斷是否檢測出特定閾值以上之臭味(步驟#102)。再者，關於臭味之閾值係預設並記憶於記憶部18等。於臭味感測器52未檢測出特定閾值以上之臭味時(步驟#102之否(NO))，返回至步驟#101繼續進行臭味感測器52之臭味檢測。 After the start of the operation of the cleaning robot 1 (starting in FIG. 7), the CPU 14a moves the main body casing 2 to perform cleaning and ion delivery, and the odor sensor 52 is activated via the control unit 52a (step #101 of FIG. 7). . Then, the odor sensor 52 determines whether or not an odor of a certain threshold or more is detected (step #102). Further, the threshold value regarding the odor is preset and memorized in the memory unit 18 or the like. When the odor sensor 52 does not detect the odor of a certain threshold or more (NO at step #102), the process returns to step #101 to continue the odor detection of the odor sensor 52.
於臭味感測器52檢測出特定閾值以上之臭味時(步驟#102之是(Yes))，CPU14a經由馬達驅動器51a控制移動馬 達51，停止本體框體2之移動(步驟#103)。接著，開始使用計時部(未圖示)之時間測量(步驟#104)。 When the odor sensor 52 detects an odor of a certain threshold or more (Yes in step #102), the CPU 14a controls the moving horse via the motor driver 51a. Up to 51, the movement of the body casing 2 is stopped (step #103). Next, the time measurement using the time measuring unit (not shown) is started (step #104).
接著，清掃機器人1使驅動輪5之兩輪向相反方向旋轉，由此本體框體2並未移動而係於所處位置環繞中心線C旋轉(步驟#105)。繼而，關於步驟#104中開始之計時，判斷是否經過一定時間、例如30秒(步驟#106)。該事先設定為30秒之一定時間係本體框體2之任意之滯留時間，可適當任意設定並記憶於記憶部18等。 Next, the cleaning robot 1 rotates the two wheels of the drive wheels 5 in opposite directions, whereby the body casing 2 is rotated without being moved and is rotated around the center line C at the position (step #105). Then, regarding the start timing in step #104, it is judged whether or not a certain time, for example, 30 seconds has elapsed (step #106). The predetermined time period of 30 seconds is set to an arbitrary residence time of the main body casing 2, and can be arbitrarily set and stored in the memory unit 18 or the like.
在經過30秒之前(步驟#106之No)，清掃機器人1重複步驟#105之旋轉動作。藉此，清掃機器人1基於臭味感測器52檢測出特定閾值以上之臭味將其檢測位置作為特定位置而停留一定時間，自排氣口7送出包含離子之氣流。 Before the elapse of 30 seconds (No at step #106), the cleaning robot 1 repeats the rotation operation of step #105. As a result, the cleaning robot 1 detects that the odor of the specific threshold or more is detected by the odor sensor 52 as a specific position for a certain period of time, and the airflow containing the ions is sent from the exhaust port 7.
若經過30秒(步驟#106之Yes)，則清掃機器人1結束計時與旋轉動作(步驟#107)。繼而，清掃機器人1重新進行平常移動(步驟#108)，返回至步驟#101而繼續進行臭味感測器52之臭味檢測。 When 30 seconds have elapsed (Yes in step #106), the cleaning robot 1 ends the counting and rotating operation (step #107). Then, the cleaning robot 1 restarts the normal movement (step #108), and returns to step #101 to continue the odor detection of the odor sensor 52.
接著，按照圖8所示之流程就清掃機器人1之濕度檢測之動作進行說明。圖8係表示清掃機器人1之濕度檢測之動作之流程圖。 Next, the operation of the humidity detecting of the cleaning robot 1 will be described in accordance with the flow shown in FIG. FIG. 8 is a flow chart showing the operation of the humidity detecting of the cleaning robot 1.
清掃機器人1之運轉開始後(圖8之開始)，CPU14a一面使本體框體2移動以執行清掃及離子送出，一面經由控制單元53a使濕度感測器53作動(圖8之步驟#201)。繼而，濕度感測器53判斷是否檢測出特定閾值以上之濕度(步驟#202)。再者，關於濕度之閾值係預設並記憶於記憶部18 等。於濕度感測器53未檢測出特定閾值以上之濕度時(步驟#202之No)，返回至步驟#201，繼續進行濕度感測器53之濕度檢測。 After the start of the operation of the cleaning robot 1 (starting in FIG. 8), the CPU 14a moves the main body casing 2 to perform cleaning and ion delivery, and activates the humidity sensor 53 via the control unit 53a (step #201 of FIG. 8). Then, the humidity sensor 53 determines whether or not the humidity above a certain threshold is detected (step #202). Furthermore, the threshold for humidity is preset and memorized in the memory unit 18 Wait. When the humidity sensor 53 does not detect the humidity above the specific threshold (No in step #202), the process returns to step #201, and the humidity detection of the humidity sensor 53 is continued.
於濕度感測器53檢測出特定閾值以上之濕度時(步驟#202之Yes)，CPU14a經由馬達驅動器51a控制移動馬達51，停止本體框體2之移動(步驟#203)。接著，開始使用計時部(未圖示)之時間測量(步驟#204)。 When the humidity sensor 53 detects a humidity of a certain threshold or more (Yes in step #202), the CPU 14a controls the movement motor 51 via the motor driver 51a to stop the movement of the body casing 2 (step #203). Next, the time measurement using the time measuring unit (not shown) is started (step #204).
接著，清掃機器人1使驅動輪5之兩輪向相反方向旋轉，由此本體框體2並未移動而係於所處位置繞中心線C旋轉(步驟#205)。繼而，關於步驟#204中開始之計時，判斷是否經過一定時間、例如30秒(步驟#206)。該事先設定為30秒之一定時間係本體框體2之任意之滯留時間，可適當任意設定並記憶於記憶部18等。 Next, the cleaning robot 1 rotates the two wheels of the drive wheels 5 in opposite directions, whereby the main body casing 2 is rotated at the position where it is not moved (step #205). Then, regarding the start timing in step #204, it is determined whether or not a certain time has elapsed, for example, 30 seconds (step #206). The predetermined time period of 30 seconds is set to an arbitrary residence time of the main body casing 2, and can be arbitrarily set and stored in the memory unit 18 or the like.
在經過30秒之前(步驟#206之No)，清掃機器人1重複步驟#205之旋轉動作。藉此，清掃機器人1基於濕度感測器53檢測出特定閾值以上之濕度將其檢測位置作為特定位置而停留一定時間，自排氣口7送出包含離子之氣流。 Before the elapse of 30 seconds (No at step #206), the cleaning robot 1 repeats the rotation operation of step #205. As a result, the cleaning robot 1 detects that the humidity is higher than the specific threshold by the humidity sensor 53 and stops the detection position as a specific position for a certain period of time, and sends the airflow containing the ions from the exhaust port 7.
經過30秒後(步驟#206之Yes)，則清掃機器人1結束計時與旋轉動作(步驟#207)。繼而，清掃機器人1重新開始平常之移動(步驟#208)，返回至步驟#201，繼續進行濕度感測器53之濕度檢測。 After 30 seconds have elapsed (Yes in step #206), the cleaning robot 1 ends the counting and rotating operation (step #207). Then, the cleaning robot 1 restarts the normal movement (step #208), returns to step #201, and continues the humidity detection of the humidity sensor 53.
接著，按照圖9所示之流程就清掃機器人1之移動地圖18a之動作進行說明。圖9係表示清掃機器人1之移動地圖18a之動作之流程圖。 Next, the operation of the movement map 18a of the cleaning robot 1 will be described in accordance with the flow shown in FIG. FIG. 9 is a flow chart showing the operation of the movement map 18a of the cleaning robot 1.
清掃機器人1之運轉開始後(圖9之開始)，CUP14a一面使本體框體2移動以執行清掃與離子送出，一面執行移動地圖18a之校對(圖9之步驟#301)。繼而，基於本體框體2之所在地與記憶於移動地圖18a中之資訊，判斷是否到達漂浮有特定閾值以上之臭味之位置或濕氣高於特定閾值以上之位置(步驟#302)。再者，移動地圖18a事先將漂浮有特定閾值以上之臭味之位置或濕氣高於特定閾值以上之位置記作清掃機器人1之設置場所周邊之環境之特定位置，並記憶於記憶部18等。於本體框體2未到達周邊環境之特定位置時(步驟#302之No)，返回至步驟#301，一面進行移動地圖18a之校對，一面繼續移動。 After the start of the operation of the cleaning robot 1 (starting in FIG. 9), the CPU 14a performs the proofreading of the movement map 18a while moving the main body casing 2 to perform cleaning and ion delivery (step #301 of FIG. 9). Then, based on the information of the location of the main body casing 2 and the information stored in the movement map 18a, it is judged whether or not the position where the odor having a certain threshold or more is floated or the position where the moisture is higher than the specific threshold or more is reached (step #302). Further, the moving map 18a is previously recorded as a position where the odor of a certain threshold or more or a position where the humidity is higher than a certain threshold or more is recorded as a specific position in the environment around the installation place of the cleaning robot 1, and is stored in the memory unit 18 or the like. . When the main body casing 2 does not reach the specific position of the surrounding environment (No in step #302), the process returns to step #301, and the movement is continued while the moving map 18a is proofread.
本體框體2到達其周邊環境之特定位置時(步驟#302之Yes)，CPU14a經由馬達驅動器51a控制移動馬達51，停止本體框體2之移動(步驟#303)。接著，開始使用計時部(未圖示)之時間測量(步驟#304)。 When the main body casing 2 reaches a specific position in the surrounding environment (Yes in step #302), the CPU 14a controls the moving motor 51 via the motor driver 51a to stop the movement of the main body casing 2 (step #303). Next, the time measurement using the time measuring unit (not shown) is started (step #304).
接著，清掃機器人1使驅動輪5之兩輪向相反方向旋轉，由此本體框體2並未移動而係於所處位置繞中心線C進行旋轉(步驟#305)。繼而，關於步驟#304中開始之計時，判斷是否經過一定時間、例如30秒(步驟#306)。該事先設定為30秒之一定時間係本體框體2之任意之滯留時間，可適當任意設定，並記憶於記憶部18等。 Next, the cleaning robot 1 rotates the two wheels of the drive wheel 5 in opposite directions, whereby the main body casing 2 is rotated at the position where it is not moved (step #305). Then, regarding the start timing in step #304, it is determined whether or not a certain time has elapsed, for example, 30 seconds (step #306). The predetermined time period set to 30 seconds in advance is an arbitrary residence time of the main body casing 2, and can be arbitrarily set as appropriate, and stored in the memory unit 18 or the like.
在經過30秒之前(步驟#306之No)，清掃機器人1重複步驟#305之旋轉動作。藉此，清掃機器人1在作為記憶於移動地圖18a之漂浮有特定閾值以上之臭味之位置或濕氣高 於特定閾值以上之位置之特定位置停留一定時間，自排氣口送出包含離子之氣流。 Before 30 seconds have elapsed (No at step #306), the cleaning robot 1 repeats the rotation operation of step #305. Thereby, the cleaning robot 1 has a high odor or a high humidity which is stored in the floating map 18a and has a certain threshold or more. A certain time is maintained at a specific position above a certain threshold, and a gas stream containing ions is sent out from the exhaust port.
經過30秒後(步驟#306之Yes)，清掃機器人1結束計時與旋轉動作(步驟#307)。繼而，清掃機器人1重新開始平常之移動(步驟#308)，返回至步驟#304，一面執行移動地圖18a之校對一面繼續移動。 After 30 seconds have elapsed (Yes in step #306), the cleaning robot 1 ends the counting and rotating operation (step #307). Then, the cleaning robot 1 restarts the normal movement (step #308), returns to step #304, and continues to move while performing the proofreading of the movement map 18a.
再者，除如上述般於相對於清掃機器人1之設置場所整體之運轉之中途到達至記憶於移動地圖18a之特定位置時停留一定時間之方法外，亦可於清掃機器人1之運轉開始時或結束時移動至特定位置並停留一定時間。 Further, in addition to the method of staying at a specific position stored in the moving map 18a during the operation of the entire installation place of the cleaning robot 1 as described above, the cleaning robot 1 may be operated at the start or Move to a specific location at the end and stay for a certain amount of time.
接著，按照圖10所示之流程就清掃機器人1之人檢測之動作進行說明。圖10係表示清掃機器人1之人檢測之動作之流程圖。 Next, the operation of the person detecting the cleaning robot 1 will be described in accordance with the flow shown in FIG. FIG. 10 is a flow chart showing the operation of the person detecting the cleaning robot 1.
清掃機器人1之運轉開始後(圖10之開始)，CPU14a一面使本體框體2移動以執行清掃及離子送出，一面經由控制單元54a使人體感測器54作動(圖10之步驟#401)。繼而，人體感測器54判斷來自排氣口7之空氣之排氣方向上是否檢測出人之存在(步驟#402)。人體感測器54於來自排氣口7之排氣方向未檢測出人之存在時(步驟#402之No)，返回至步驟#401，繼續進行人體感測器54之人之存在之檢測。 After the start of the operation of the cleaning robot 1 (starting in FIG. 10), the CPU 14a moves the main body casing 2 to perform cleaning and ion delivery, and activates the human body sensor 54 via the control unit 54a (step #401 of FIG. 10). Then, the human body sensor 54 judges whether or not the presence of a person is detected in the exhaust direction of the air from the exhaust port 7 (step #402). When the human body sensor 54 does not detect the presence of a person in the exhaust direction from the exhaust port 7 (No in step #402), the process returns to step #401 to continue the detection of the presence of the person of the human body sensor 54.
人體感測器54於來自排氣口7之排氣方向檢測出人之存在時(步驟#402之Yes)，清掃機器人1使驅動輪5之兩輪之旋轉速度不同，使本體框體2一面旋轉一面移動(步驟#403)。繼而，人體感測器54判斷檢測出人存在之方向與來自排氣 口7之方向是否一致(步驟#404)。 When the human body sensor 54 detects the presence of a person in the exhaust direction from the exhaust port 7 (Yes in step #402), the cleaning robot 1 causes the rotational speeds of the two wheels of the drive wheel 5 to be different, so that the main body frame 2 faces Rotate one side to move (step #403). Then, the human body sensor 54 judges that the direction in which the person exists is detected and comes from the exhaust Whether the direction of the port 7 is the same (step #404).
人存在之方向與來自排氣口7之排氣方向一致之期間(步驟#404之Yes)，清掃機器人1重複步驟#403之旋轉移動動作。藉此，清掃機器人1基於來自人體感測器54之檢測資訊，以人存在之方向與來自排氣口7之空氣之排氣方向不同之方式使本體框體2移位。 The direction in which the person exists and the period from the exhaust direction of the exhaust port 7 (Yes in step #404), the cleaning robot 1 repeats the rotational movement operation in step #403. Thereby, the cleaning robot 1 shifts the main body casing 2 in such a manner that the direction in which the person exists and the direction in which the air from the exhaust port 7 is different is based on the detection information from the human body sensor 54.
若人存在之方向與來自排氣口7之排氣方向不一致(步驟#404之No)，則清掃機器人1結束旋轉移動動作(步驟#405)。繼而，清掃機器人1重新開始平常之移動(步驟#406)，返回至步驟#401，繼續進行人體感測器54之人存在之檢測。 If the direction in which the person exists does not coincide with the exhaust direction from the exhaust port 7 (No in step #404), the cleaning robot 1 ends the rotational movement operation (step #405). Then, the cleaning robot 1 restarts the normal movement (step #406), returns to step #401, and continues the detection of the presence of the human body sensor 54.
如上述般，清掃機器人1具備：離子產生裝置25，其對本體框體2內之第1排氣路徑24a釋出離子；及環境檢測裝置(例如臭味感測器52、濕度感測器53及移動地圖18a)，其檢測本體框體2之周邊環境；且該清掃機器人1係於基於環境檢測裝置檢測出之本體框體2之周邊環境而決定之特定位置停留一定時間，自排氣口7送出包含離子之氣流。藉此，清掃機器人1可自動特定並停留於需要進行離子散佈之位置，可對特定之所需位置有效地散佈離子。 As described above, the cleaning robot 1 includes an ion generating device 25 that discharges ions to the first exhaust path 24a in the main body casing 2, and an environment detecting device (for example, the odor sensor 52 and the humidity sensor 53). And moving the map 18a) to detect the surrounding environment of the main body casing 2; and the cleaning robot 1 stays at a specific position determined based on the surrounding environment of the main body casing 2 detected by the environmental detecting device for a certain period of time, from the exhaust port 7 Send a stream containing ions. Thereby, the cleaning robot 1 can automatically specify and stay at a position where ion dispersion is required, and can effectively disperse ions for a specific desired position.
又，清掃機器人1中，上述環境檢測裝置係檢測本體框體2之周邊之臭味之臭味感測器52，其停留在具有特定閾值以上之臭味之特定位置並送出包含離子之氣流。因此，清掃機器人1可對漂浮有臭味之位置重點散佈離子。 Further, in the cleaning robot 1, the environmental detecting device detects the odor odor sensor 52 around the main body casing 2, and stays at a specific position having an odor of a certain threshold or more and sends out an air stream containing ions. Therefore, the cleaning robot 1 can focus on scattering ions in a position where the odor is floating.
又，清掃機器人1中，上述環境檢測裝置係檢測本體框 體2之周邊濕度之濕度感測器53，其停留於具有特定閾值以上之濕度之特定位置並送出包含離子之氣流。因此，清掃機器人1可對濕氣較高之位置重點散佈離子。 Further, in the cleaning robot 1, the environmental detecting device detects the main body frame The humidity sensor 53 of the peripheral humidity of the body 2 stays at a specific position having a humidity above a certain threshold and sends out a gas stream containing ions. Therefore, the cleaning robot 1 can focus on the ions in a position where the moisture is high.
又，清掃機器人1中，上述環境檢測裝置係記憶有清掃機器人1之設置場所周邊之特定位置之移動地圖18a，其停留在事先記憶於移動地圖18a之需要離子之特定位置並送出包含離子之氣流。因此，清掃機器人1可對事先記載於移動地圖18a之漂浮有臭味之位置或濕氣較高之位置重點散佈離子。 Further, in the cleaning robot 1, the environment detecting device stores the movement map 18a at a specific position around the installation location of the cleaning robot 1, and stays at a specific position of the desired ions previously stored in the moving map 18a and sends out an air stream containing ions. . Therefore, the cleaning robot 1 can focus on the ions which are previously described in the floating odor position of the moving map 18a or where the moisture is high.
再者，上述「特定位置」可為環境檢測裝置檢測出之本體框體2之周邊環境，例如基於周邊空氣之狀態而決定之位置。作為該特定位置，例如如上述般可為臭味感測器52檢測出之漂浮有臭味之位置或濕度感測器53檢測出之濕氣較高之位置等，但並非限定於其等。 Further, the "specific position" may be a surrounding environment of the main body casing 2 detected by the environment detecting device, for example, a position determined based on the state of the surrounding air. As the specific position, for example, the position where the odor is detected by the odor sensor 52 or the position where the humidity detected by the humidity sensor 53 is high can be used as described above, but is not limited thereto.
又，清掃機器人1係基於來自人體感測器54之檢測資訊以人存在之方向與來自排氣口7之空氣之排氣方向不同之方式使本體框體2移位，故若檢測出人之存在，則朝無人之方向排氣。因此，可避免自排氣口7排放之空氣直接衝擊與人，從而可抑制使人感到不快的情況。 Further, the cleaning robot 1 displaces the main body casing 2 in such a manner that the direction in which the person is present differs from the direction in which the air from the exhaust port 7 is exhausted based on the detection information from the human body sensor 54. If it exists, it will be exhausted in the direction of no one. Therefore, it is possible to prevent the air discharged from the exhaust port 7 from directly hitting the person, thereby suppressing the situation that is unpleasant.
又，清掃機器人1藉由移位可動式通氣孔17，而根據本體框體2之自走時之移動速度使自排氣口7排放之空氣之排氣方向不同，故根據移動速度對不同區域散佈離子。尤其是，清掃機器人1以本體框體2之移動時較停止時可朝上方排放空氣之方式使通氣孔17移位。藉此，清掃機器人1隨 著本體框體2之移動速度加快而對更廣泛之區域散佈離子。因此，可期待更廣泛範圍之除臭或除菌等離子功能。 Further, the cleaning robot 1 shifts the movable vent hole 17 and causes the exhaust direction of the air discharged from the exhaust port 7 to be different according to the moving speed of the body frame 2 at the time of self-propelled movement, so that the different regions are different according to the moving speed. Disperse ions. In particular, the cleaning robot 1 displaces the vent hole 17 so that the air can be discharged upward when the movement of the main body casing 2 is stopped. Thereby, the cleaning robot 1 follows The moving speed of the body frame 2 is accelerated to spread ions to a wider area. Therefore, a wider range of deodorizing or sterilizing plasma functions can be expected.
而且，根據本發明之上述實施形態之構成，清掃機器人1之本體框體2在基於環境檢測裝置檢測出之周邊環境而決定之特定位置停留一定時間，自排氣口7送出包含離子之氣流。藉此，清掃機器人1可自動特定並停留於需要進行離子散佈之位置，可對特定之所需位置有效地散佈離子。因此，可提供一種能夠對需要離子之位置有效地散佈離子之自走式離子產生機之清掃機器人1。 Further, according to the configuration of the above-described embodiment of the present invention, the main body casing 2 of the cleaning robot 1 stays at a specific position determined based on the surrounding environment detected by the environmental detecting device for a certain period of time, and the airflow containing ions is sent from the exhaust port 7. Thereby, the cleaning robot 1 can automatically specify and stay at a position where ion dispersion is required, and can effectively disperse ions for a specific desired position. Therefore, it is possible to provide a cleaning robot 1 capable of efficiently scattering ions at a position where ions are required.
以上，雖已就本發明之實施形態予以說明，但本發明之範圍並非限定於此，而可於不脫離發明之主旨之範圍內添加實施各種變更。 The embodiments of the present invention have been described above, but the scope of the present invention is not limited thereto, and various modifications may be added without departing from the spirit and scope of the invention.
本發明可利用於在地板上自走之自走式離子產生機及清掃機器人。 The invention can be utilized for a self-propelled ion generator and a cleaning robot for self-propelled on the floor.
1‧‧‧清掃機器人(自走式離子產生機) 1‧‧‧ cleaning robot (self-propelled ion generator)
2‧‧‧本體框體 2‧‧‧ body frame
5‧‧‧驅動輪 5‧‧‧Drive wheel
6‧‧‧吸入口 6‧‧‧Inhalation
7‧‧‧排氣口 7‧‧‧Exhaust port
8‧‧‧凹部 8‧‧‧ recess
9‧‧‧旋轉刷子 9‧‧‧Rotating brush
10‧‧‧側面刷子 10‧‧‧ side brush
11‧‧‧第1吸氣路徑 11‧‧‧1st inspiratory path
12‧‧‧第2吸氣路徑 12‧‧‧2nd inhalation path
13‧‧‧電池 13‧‧‧Battery
14‧‧‧控制基板 14‧‧‧Control substrate
14a‧‧‧CPU 14a‧‧‧CPU
17‧‧‧通氣孔 17‧‧‧Ventinel
18‧‧‧記憶部 18‧‧‧Memory Department
18a‧‧‧移動地圖(環境檢測裝置、地圖) 18a‧‧‧Mobile map (environmental detection device, map)
20‧‧‧馬達單元 20‧‧‧Motor unit
21‧‧‧外框 21‧‧‧Front frame
22‧‧‧電動送風機 22‧‧‧Electric blower
23‧‧‧開口部 23‧‧‧ openings
24a‧‧‧第1排氣路徑 24a‧‧‧1st exhaust path
24b‧‧‧第2排氣路徑(排氣流路) 24b‧‧‧2nd exhaust path (exhaust flow path)
25‧‧‧離子產生裝置 25‧‧‧Ion generator
30‧‧‧集塵部 30‧‧‧Dust collection department
31‧‧‧集塵容器 31‧‧‧dust container
51‧‧‧移動馬達 51‧‧‧Moving motor
52‧‧‧臭味感測器(環境檢測裝置) 52‧‧‧Smell sensor (environmental detection device)
53‧‧‧濕度感測器(環境檢測裝置) 53‧‧‧Humidity sensor (environmental detection device)
54‧‧‧人體感測器 54‧‧‧ human body sensor
圖1係本發明之實施形態之清掃機器人(自走式離子產生機)之立體圖。 Fig. 1 is a perspective view of a cleaning robot (self-propelled ion generator) according to an embodiment of the present invention.
圖2係圖1所示之清掃機器人之垂直剖面側視圖。 Figure 2 is a vertical sectional side view of the cleaning robot shown in Figure 1.
圖3係圖2所示之清掃機器人之前部之放大垂直剖面側視圖。 Figure 3 is an enlarged vertical cross-sectional side view of the front portion of the cleaning robot shown in Figure 2.
圖4係表示卸去圖2之清掃機器人之集塵部之狀態的垂直剖面側視圖。 Fig. 4 is a vertical sectional side view showing a state in which the dust collecting portion of the cleaning robot of Fig. 2 is removed.
圖5係圖2所示之清掃機器人之馬達單元之立體圖。 Figure 5 is a perspective view of the motor unit of the cleaning robot shown in Figure 2.
圖6係表示圖1之清掃機器人之構成之方塊圖。 Fig. 6 is a block diagram showing the construction of the cleaning robot of Fig. 1.
圖7係表示圖1之清掃機器人之臭味檢測之動作的流程圖。 Fig. 7 is a flow chart showing the operation of the odor detection of the cleaning robot of Fig. 1.
圖8係表示圖1之清掃機器人之濕度檢測之動作的流程圖。 Fig. 8 is a flow chart showing the operation of the humidity detecting operation of the cleaning robot of Fig. 1.
圖9係表示圖1之清掃機器人之移動地圖之動作的流程圖。 Fig. 9 is a flow chart showing the operation of the moving map of the cleaning robot of Fig. 1.
圖10係表示圖1之清掃機器人之人檢測之動作的流程圖。 Fig. 10 is a flow chart showing the operation of the person detecting the cleaning robot of Fig. 1.
1‧‧‧清掃機器人(自走式離子產生機) 1‧‧‧ cleaning robot (self-propelled ion generator)
2‧‧‧本體框體 2‧‧‧ body frame
3‧‧‧蓋部 3‧‧‧ Cover
5‧‧‧驅動輪 5‧‧‧Drive wheel
6‧‧‧吸入口 6‧‧‧Inhalation
7‧‧‧排氣口 7‧‧‧Exhaust port
8‧‧‧凹部 8‧‧‧ recess
9‧‧‧旋轉刷子 9‧‧‧Rotating brush
10‧‧‧側面刷子 10‧‧‧ side brush
11‧‧‧第1吸氣路徑 11‧‧‧1st inspiratory path
12‧‧‧第2吸氣路徑 12‧‧‧2nd inhalation path
15‧‧‧前輪 15‧‧‧ front wheel
17‧‧‧通氣孔 17‧‧‧Ventinel
20‧‧‧馬達單元 20‧‧‧Motor unit
22‧‧‧電動送風機 22‧‧‧Electric blower
30‧‧‧集塵部 30‧‧‧Dust collection department
31‧‧‧集塵容器 31‧‧‧dust container
32‧‧‧上部蓋 32‧‧‧Upper cover
33‧‧‧過濾器 33‧‧‧Filter
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
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| JP2011223149A JP5165784B1 (en) | 2011-10-07 | 2011-10-07 | Self-propelled ion generator and cleaning robot |
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| Publication Number | Publication Date |
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| TW201320948A true TW201320948A (en) | 2013-06-01 |
| TWI505805B TWI505805B (en) | 2015-11-01 |
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| TW101135661A TWI505805B (en) | 2011-10-07 | 2012-09-27 | Self-propelled ion generator and cleaning robot |
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| US (1) | US20140230179A1 (en) |
| JP (1) | JP5165784B1 (en) |
| CN (1) | CN103841870B (en) |
| TW (1) | TWI505805B (en) |
| WO (1) | WO2013051365A1 (en) |
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- 2012-09-07 CN CN201280047887.9A patent/CN103841870B/en not_active Expired - Fee Related
- 2012-09-07 US US14/240,199 patent/US20140230179A1/en not_active Abandoned
- 2012-09-07 WO PCT/JP2012/072843 patent/WO2013051365A1/en active Application Filing
- 2012-09-27 TW TW101135661A patent/TWI505805B/en not_active IP Right Cessation
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| TWI580387B (en) * | 2015-05-27 | 2017-05-01 | 趙志謀 | Robot |
| TWI656423B (en) * | 2016-11-09 | 2019-04-11 | 日商東芝生活電器股份有限公司 | Autonomous walking body |
| US11221629B2 (en) | 2016-11-09 | 2022-01-11 | Toshiba Lifestyle Products & Services Corporation | Autonomous traveler and travel control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103841870A (en) | 2014-06-04 |
| WO2013051365A1 (en) | 2013-04-11 |
| CN103841870B (en) | 2016-04-13 |
| JP5165784B1 (en) | 2013-03-21 |
| TWI505805B (en) | 2015-11-01 |
| JP2013081604A (en) | 2013-05-09 |
| US20140230179A1 (en) | 2014-08-21 |
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| MM4A | Annulment or lapse of patent due to non-payment of fees |