JP7150350B2 - bathroom cleaning equipment - Google Patents

Description

Article 30, Paragraph 2 of the Patent Law is applied.

The present invention relates to a bathroom cleaning device that automatically cleans the inside of a bathroom.

2. Description of the Related Art Conventionally, a device (robot) for cleaning a bathroom is known, for example, as shown in Patent Document 1. This device cleans the inside of the bathroom by pressing a sponge member against the floor and wall surfaces of the bathtub and the bathroom and propelling itself. Moreover, in this device, both the floor surface and the wall surface can be cleaned by changing the angle of the shaft to which the sponge member is attached.

JP 2017-131355 A

However, the device described in Patent Document 1 cleans the bathroom by bringing the sponge member into contact with the floor surface or the wall surface. For this reason, a sufficient cleaning effect cannot be obtained in areas such as corners that are difficult or impossible to contact with the sponge member. Furthermore, since the device of Patent Document 1 cleans while traveling on wheels, for example, it is not possible to go back and forth between the inside and outside of the bathtub, and it is difficult to clean the entire bathroom at once without the intervention of a worker during cleaning. .

SUMMARY OF THE INVENTION Accordingly, the present invention provides a bathroom cleaning apparatus capable of efficiently and effectively cleaning the inside of a bathroom.

A bathroom cleaning apparatus according to an aspect of the present invention comprises a housing that can be placed on a predetermined location on the floor of a bathroom or the bottom of a bathtub, a pump that pressurizes a cleaning liquid, and a pump that is connected to the pump and includes the A discharge nozzle provided in a housing for discharging the liquid, and a control device for controlling the position of the discharge nozzle are provided.

Further, in the bathroom cleaning device described above, the ejection nozzle is rotated about the first axis with respect to the housing, and the position of the tip opening of the ejection nozzle and the first driving section driven by the control device are A second drive driven by the controller may be further included to operate the discharge nozzle to move in the direction of the first axis.

Further, in the above bathroom cleaning device, the second drive section may rotate the discharge nozzle with respect to the housing around a second axis that intersects the first axis.

Further, in the above bathroom cleaning device, the first drive section rotates the nozzle about the first axis extending in the vertical direction, and the second drive section rotates the nozzle about the second axis extending in the horizontal direction. It may be rotated as

Further, in the above bathroom cleaning device, the position of the discharge nozzle when the front end opening of the discharge nozzle faces the horizontal direction is set as a reference position, and the discharge nozzle when the front end opening faces upward from the reference position. with respect to the horizontal direction is a positive angle, and the inclination angle when the tip opening faces downward from the reference position is a negative angle, the control device discharges the liquid from the discharge nozzle while driving the second driving section to decrease the inclination angle from the first angle to a second angle smaller than the first angle, and driving the first driving section to move the discharge nozzle to the second angle. It may be rotated around one axis.

Further, in the above bathroom cleaning device, the control device drives the second drive section to decrease the inclination angle from the first angle to the second angle, and drives the first drive section to drive the discharge. The nozzle may be rotated while reversing the forward and reverse directions about the first axis.

Further, in the above bathroom cleaning device, the control device drives the second drive unit to decrease the inclination angle from the first angle to the second angle by a predetermined angle, and each time the inclination angle decreases, Alternatively, the first drive unit may be driven to rotate the discharge nozzle about the first axis while reversing the forward direction and the reverse direction.

The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is taken as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. and the inclination angle when the tip opening faces downward from the reference position is a negative angle, the control device discharges the liquid from the discharge nozzle while the second drive unit while repeating the operation of increasing the inclination angle by driving and the operation of decreasing the inclination angle, driving the first driving unit to rotate the discharge nozzle in one direction around the first axis. .

Further, in the above bathroom cleaning device, the control device drives the second drive unit to alternately change the inclination angle between a first angle and a second angle smaller than the first angle, The first driving section may be driven to rotate the discharge nozzle in one direction around the first axis.

Further, in the above bathroom cleaning device, after changing the inclination angle between the first angle and the second angle, the control device discharges the liquid from the discharge nozzle while discharging the liquid from the discharge nozzle. while changing the inclination angle between a third angle smaller than the first angle and larger than the second angle and a fourth angle smaller than the second angle, while driving the first drive unit to pivot the discharge nozzle about the first axis.

Further, in the above bathroom cleaning device, the position of the discharge nozzle when the front end opening of the discharge nozzle faces the horizontal direction is set as a reference position, and the discharge nozzle when the front end opening faces upward from the reference position. with respect to the horizontal direction is a positive angle, and the inclination angle when the tip opening faces downward from the reference position is a negative angle, the control device discharges the liquid from the discharge nozzle while driving the second drive unit to decrease the inclination angle from the first angle to a second angle smaller than the first angle by a predetermined angle, and each time the inclination angle decreases, the first After driving the drive unit to rotate the discharge nozzle about the first axis while reversing it in the forward direction and the reverse direction, the second drive unit is driven to make the inclination angle smaller than the first angle. While alternately changing between a third angle that is larger than the second angle and a fourth angle that is smaller than the second angle, the first driving section is driven to rotate the discharge nozzle around the first axis. You may also turn to one side of the

The bathroom cleaning apparatus further includes a pressure regulating valve capable of regulating the pressure of the liquid, and the control device controls the pressure regulating valve to change the pressure of the liquid discharged from the discharge nozzle. good too.

Further, the above bathroom cleaning device further comprises a pressure regulating valve capable of regulating the pressure of the liquid, and the control device controls the pressure regulating valve to adjust the discharge nozzle between the first angle and the second angle. The second pressure, which is the pressure of the liquid discharged from the discharge nozzle between the third angle and the fourth angle, is lower than the first pressure, which is the pressure of the liquid discharged from the good too.

Further, in the above bathroom cleaning device, the pressure regulating valve may have a pressure regulating drive section driven by the control device, and a pressure regulating valve main body operated by the pressure regulating drive section.

Further, the above bathroom cleaning device further includes a stop valve capable of switching whether or not the liquid is supplied to the discharge nozzle, and the control device controls the stop valve to discharge the liquid from the discharge nozzle. may be initiated to terminate ejection of said liquid from said ejection nozzle.

Further, in the above bathroom cleaning device, the stop valve may have a supply driving section driven by the control device, and a stop valve main body operated by the supply driving section.

Further, in the bathroom cleaning device described above, the discharge nozzle may discharge water as the liquid, and the bathroom cleaning device may further include a detergent nozzle attached to the discharge nozzle for discharging the detergent. .

Further, the bathroom cleaning apparatus may further include wheels provided at the bottom of the housing to make the housing movable.

The bathroom cleaning apparatus may further include a ventilation fan cover for covering the ventilation fan in the bathroom.

According to the above bathroom cleaning device, the inside of the bathroom can be cleaned efficiently and effectively.

1 is an overall front view of a bathroom cleaning device according to an embodiment of the present invention; FIG. It is an overall side view of the above bathroom cleaning device. It is a functional block diagram of a control device in the bathroom cleaning device. It is a functional block diagram of the angle controller in said control apparatus. It is a flowchart which shows the procedure of cleaning by said bathroom cleaning apparatus. It is a figure which shows the image of the water-discharge path|route by said bathroom cleaning apparatus. It is a figure which shows the change of the inclination-angle of the discharge nozzle at the time of cleaning the bathroom upper part by said bathroom cleaning apparatus. It is a figure which shows the change of the inclination-angle of the discharge nozzle at the time of cleaning the bathroom lower part by said bathroom cleaning apparatus. It is a figure which shows the water discharge path|route by the bathroom cleaning apparatus based on the 1st modification of embodiment of this invention, Comprising: (a) shows a perspective view, (b) is the figure which looked at the ceiling surface from the downward direction. It is the whole bathroom cleaning device front view concerning the second modification of the embodiment of the present invention. It is an overall front view of a bathroom cleaning device according to a third modified example of the embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(overall structure)
As shown in FIG. 1, the bathroom cleaning device 200 of this embodiment includes a housing 1 that can be placed on a predetermined location on the floor FL of the bathroom R or the bottom surface S of the bathtub B, and a high-pressure cleaner supported by the housing 1. It comprises a washer 2 , a discharge nozzle 3 , a support device 4 , a stop valve 5 , a pressure regulating valve 6 and a control device 7 .
The housing 1 has four vertical columns 11 extending in parallel to each other in the vertical direction, a top plate 12 provided above the vertical columns 11, a bottom plate 13 provided below the vertical columns 11, and the top plate 12 and the bottom plate 13. and an intermediate partition plate 14 provided therebetween. The housing 1 may be provided with a door 15 that covers the front side in the depth direction. Also, as shown in FIG. 2, a cover 16 may be provided on the side surface. Although not shown, a cover may also be provided on the back side.
Further, wheels 17 for movably supporting the housing 1 are provided at the bottom of each vertical column 11 . In addition, the structure of the housing 1 is not limited to the case of the present embodiment, as long as it has a structure that can install the high pressure washer 2, the discharge nozzle 3, the support device 4, and the control device 7, which will be described later. good.

(High-pressure washing machine)
The high-pressure washer 2 has a pump 21, a water intake pipe 22 that takes in water from the outside and introduces it into the pump 21, and a supply pipe 23 that feeds out the washing water (liquid) pressurized by the pump 21. there is The pump 21 is, for example, a plunger pump, a diaphragm pump, or the like. The water intake pipe 22 and the supply pipe 23 are, for example, resin hoses. The high pressure washer 2 is mounted on the upper surface of the bottom plate 13 of the housing 1 .

(discharge nozzle)
The discharge nozzle 3 has a tubular shape and is capable of discharging water from a tip opening 3a. Water pressurized by a pump 21 is introduced into the discharge nozzle 3 through a supply pipe 23 .

(support device)
The support device 4 has an arm 41 that supports the discharge nozzle 3, and a horizontal drive section (first drive section) 46 and a vertical drive section (second drive section) 47 that operate the arm 41. .
The arm 41 includes an arm base portion 42 extending horizontally above the top plate 12 , and an arm base portion 42 provided at the tip of the arm base portion 42 and extending in a direction perpendicular to (or crossing) the extending direction of the arm base portion 42 to eject the discharge nozzle 3 . and an arm tip portion 44 for supporting. The arm base 42 is provided with a guide wheel 43 that contacts and rolls on the upper surface of the top plate 12 at a position in the middle of the extension direction. A supply pipe 23 extending from the pump 21 is connected to the arm tip portion 44 . A flow path (not shown) is formed inside the arm tip portion 44 , and the supply pipe 23 is connected to the arm tip portion 44 so that the inside of the supply pipe 23 communicates with the flow path of the arm tip portion 44 . ing. The discharge nozzle 3 is connected to the tip of the arm tip portion 44 , and the inside of the discharge nozzle 3 communicates with the flow path inside the arm tip portion 44 .

The horizontal drive unit 46 is, for example, a servomotor and is provided on the upper surface of the top plate 12 . Further, the horizontal driving portion 46 is provided with a motor shaft (not shown) that rotates around the first axis O1 extending in the vertical direction. A proximal end of an arm base portion 42 is connected to the motor shaft. As a result, when the motor shaft rotates, the arm base portion 42 and the arm tip portion 44 rotate around the first axis O1, and the discharge nozzle 3 turns relative to the housing 1 around the first axis O1. Further, when the arm base 42 rotates, the guide wheel 43 contacts and rolls on the top surface of the top plate 12, and the arm base 42 rotates on the horizontal plane. As a result, in this embodiment, the tip opening 3a of the discharge nozzle 3 can be turned 330 degrees on the horizontal plane. As shown in FIG. 3, the horizontal driving section 46 is provided with a horizontal rotation angle sensor 46a for detecting the rotation angle of the motor shaft.

The vertical drive unit 47 is, for example, a servomotor, and is provided on the arm base 42 on the tip side of the position where the guide wheel 43 is provided on the arm base 42 . The vertical driving portion 47 is provided with a motor shaft (not shown) that rotates around a second axis O2 that extends horizontally perpendicular to the first axis O1. An arm tip portion 44 is connected to the motor shaft. As a result, when the motor shaft rotates, the arm tip portion 44 rotates around the second axis O2, and the discharge nozzle 3 turns around the second axis O2 with respect to the housing 1. As shown in FIG. As a result, the tip opening 3a of the discharge nozzle 3 can reciprocate up and down in the vertical direction. As shown in FIG. 3, the vertical drive unit 47 is provided with a vertical rotation angle sensor 47a for detecting the rotation angle of the motor shaft.

(stop valve)
The stop valve 5 is provided in the arm tip portion 44 in this embodiment. Specifically, the stop valve 5 has a supply driver 51 and a stop valve main body 52 operated by the supply driver 51 . The supply drive unit 51 is, for example, a rotary actuator having a servomotor. The stop valve main body 52 is, for example, a rotary valve connected to the motor shaft of the supply drive unit 51, and determines whether or not water is supplied to the discharge nozzle 3 by opening and closing the flow path in the arm tip portion 44. It is switchable. Further, as shown in FIG. 3, the supply drive unit 51 is provided with a supply rotation angle sensor 51a for detecting the rotation angle of the motor shaft.

(Pressure control valve)
A pressure regulating valve 6 is a pressure reducing valve provided on the discharge nozzle 3 . Specifically, the pressure regulating valve 6 has a pressure regulating drive portion 61 and a pressure regulating valve main body 62 operated by the pressure regulating drive portion 61 . The pressure adjusting drive unit 61 is, for example, a rotary actuator having a servomotor. The pressure adjusting valve main body 62 is, for example, a rotary valve connected to the motor shaft of the pressure adjusting drive unit 61, and adjusts the opening area of an inlet (not shown) through which water is introduced into the discharge nozzle 3. Increase or decrease the pressure of the water discharged from the discharge nozzle 3. Further, as shown in FIG. 3, the pressure adjusting drive unit 61 is provided with a pressure adjusting rotation angle sensor 61a for detecting the rotation angle of the motor shaft.

(Control device)
Next, the control device 7 will be described in detail.
As shown in FIG. 3, the control device 7 controls the position of the discharge nozzle 3 by driving the horizontal drive section 46, the vertical drive section 47, the supply drive section 51, and the pressure adjustment drive section 61. It controls the operation of valve 5 and pressure regulating valve 6 . That is, the control device 7 performs multi-axis (four-axis) control. The control device 7 includes an angle controller 71 , a horizontal amplifier 72 , a vertical amplifier 73 , a supply amplifier 74 and a pressure adjustment amplifier 75 . The control device 7 and the drive units 46, 47, 51, 61 are electrically connected by wiring (not shown).

(angle controller)
The angle controller 71 includes a CPU, RAM, ROM, etc., and executes various controls. The CPU is a so-called central processing unit, and executes various programs to realize various functions. RAM is used as a work area for the CPU. The ROM stores programs executed by the CPU. As shown in FIG. 4 , the angle controller 71 has a horizontal processing section 81 , a vertical processing section 91 , a supply processing section 101 and a pressure regulation processing section 111 .

(horizontal processing section)
The horizontal direction processing unit 81 has a horizontal angle input unit 82 , a horizontal target angle storage unit 83 , a horizontal command angle calculator 84 and a horizontal angle command output unit 85 .

A signal containing information on the rotation angle of the motor shaft of the horizontal drive unit 46 detected by the horizontal rotation angle sensor 46a is input to the horizontal angle input unit 82 .
The horizontal target angle storage unit 83 stores a target rotation angle of the motor shaft, which is predetermined based on a cleaning procedure to be described later. This target rotation angle is a rotation angle determined from the orientation of the tip opening 3a of the discharge nozzle 3 based on the cleaning procedure described later. The horizontal target angle storage unit 83 stores a target rotation angle for each elapsed time from the start of cleaning.
The horizontal command angle calculator 84 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the horizontal angle input section 82 and the target rotation angle stored in the horizontal target angle storage section 83 .
The horizontal angle command output unit 85 receives a signal including information on the difference in rotation angle from the horizontal command angle calculation unit 84, and outputs a control signal based on this signal.

(Vertical processing part)
The vertical direction processing unit 91 has a vertical angle input unit 92 , a vertical target angle storage unit 93 , a vertical command angle calculator 94 , and a vertical angle command output unit 95 .
A signal including information on the rotation angle of the motor shaft of the vertical drive unit 47 detected by the vertical rotation angle sensor 47a is input to the vertical angle input unit 92 .
The vertical target angle storage unit 93 stores a target rotation angle of the motor shaft, which is predetermined based on a cleaning procedure to be described later. This target rotation angle is a rotation angle determined from the orientation of the tip opening 3a of the discharge nozzle 3 based on the cleaning procedure described later. The vertical target angle storage unit 93 stores a target rotation angle for each elapsed time from the start of cleaning.
A vertical command angle calculator 94 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the vertical angle input unit 92 and the target rotation angle stored in the target vertical angle storage unit 93 .
The vertical angle command output unit 95 receives a signal including information on the difference in rotation angle from the vertical command angle calculation unit 94, and outputs a control signal based on this signal.

(supply processing section)
The supply processing unit 101 has a supply angle input unit 102 , a target supply angle storage unit 103 , a supply command angle calculation unit 104 and a supply angle command output unit 105 .
A signal containing information on the rotation angle of the motor shaft of the supply drive unit 51 detected by the supply rotation angle sensor 51 a is input to the supply angle input unit 102 .
The target supply angle storage unit 103 stores a target rotation angle of the motor shaft, which is predetermined based on a cleaning procedure to be described later. This target rotation angle is a rotation angle corresponding to the opening/closing operation of the stop valve 5 based on the cleaning procedure described later.
The supply command angle calculator 104 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the supply angle input unit 102 and the target rotation angle stored in the target supply angle storage unit 103 . When the open state or closed state of the stop valve 5 is maintained, the difference is 0, and when switching from the open state to the closed state, or when switching from the closed state to the open state, the difference is the stop valve main body It is a predetermined value based on the V.52 specification.
The supply angle command output unit 105 receives a signal including information on the difference in rotation angle calculated by the supply command angle calculation unit 104, and outputs a control signal based on this signal.

(Pressure regulating section)
The pressure adjustment processing unit 111 has a pressure adjustment angle input unit 112 , a pressure adjustment target angle storage unit 113 , a pressure adjustment command angle calculation unit 114 , and a pressure adjustment angle command output unit 115 .
A signal including information on the rotation angle of the motor shaft of the pressure adjustment drive unit 61 detected by the pressure adjustment rotation angle sensor 61 a is input to the pressure adjustment angle input unit 112 .
The pressure regulation target angle storage unit 113 stores a target rotation angle of the motor shaft, which is predetermined based on a cleaning procedure to be described later. This target rotation angle is a rotation angle corresponding to the degree of opening of the pressure regulating valve 6 based on the cleaning procedure to be described later.
The pressure regulation command angle calculation unit 114 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the pressure regulation angle input unit 112 and the target rotation angle stored in the pressure regulation target angle storage unit 113. calculate. That is, the rotation angle of the motor shaft for changing the actual opening of the pressure regulating valve 6 to the target opening is calculated.
Pressure adjustment angle command output unit 115 receives a signal including information on the difference in rotation angle from pressure adjustment command angle calculation unit 114, and outputs a control signal based on this signal.

(horizontal amplifier)
Returning to FIG. 3, the horizontal direction amplifier 72 is a servo amplifier that receives a control signal output from the horizontal angle command output section 85 of the angle controller 71 and drives the horizontal direction driving section 46 based on this control signal. . The horizontal amplifier 72 performs feedback control on the horizontal driving section 46 together with the horizontal processing section 81 . Further, the horizontal direction amplifier 72 is provided with a synchronization signal output section 72a. The synchronizing signal output section 72 a outputs a synchronizing signal when the horizontal direction amplifier 72 receives the control signal from the horizontal angle command output section 85 .

(vertical amplifier)
The vertical direction amplifier 73 is a servo amplifier that receives a control signal output from the vertical angle command output section 95 of the angle controller 71 and drives the vertical direction driving section 47 based on this control signal. The vertical direction amplifier 73 performs feedback control on the vertical direction driving portion 47 together with the vertical direction processing portion 91 . The vertical direction amplifier 73 is provided with a first synchronization signal input section 73a. When the synchronization signal from the synchronization signal output section 72a is input to the first synchronization signal input section 73a, the vertical direction is synchronized with the driving of the horizontal direction driving section 46 based on the control signal from the vertical angle command output section 95. The drive unit 47 is driven.

(supply amplifier)
The supply amplifier 74 is a servo amplifier that receives a control signal output from the supply angle command output unit 105 in the supply processing unit 101 and drives the supply drive unit 51 based on this control signal. The supply amplifier 74 performs feedback control on the supply drive unit 51 together with the supply processing unit 101 . Further, the supply amplifier 74 is provided with a second synchronization signal input section 74a. When the synchronizing signal from the synchronizing signal output unit 72a is input to the second synchronizing signal input unit 74a, in synchronism with the driving of the horizontal direction driving unit 46, based on the control signal from the supply angle command output unit 105, the supply angle is changed. The drive unit 51 is driven. Note that the supply amplifier 74 does not drive the supply drive unit 51 when the stop valve 5 maintains its open state or when it maintains its closed state.

(Pressure adjustment amplifier)
The pressure adjustment amplifier 75 is a servo amplifier that receives the control signal output from the pressure adjustment angle command output section 115 in the pressure adjustment processing section 111 and drives the pressure adjustment drive section 61 based on this control signal. The pressure adjustment amplifier 75 performs feedback control on the pressure adjustment drive section 61 together with the pressure adjustment processing section 111 . Further, the pressure adjusting amplifier 75 is provided with a third synchronization signal input section 75a. When the synchronizing signal from the synchronizing signal output section 72a is input to the third synchronizing signal input section 75a, adjustment is performed based on the control signal from the pressure adjustment angle command output section 115 in synchronization with the driving of the horizontal direction driving section 46. The pressure drive unit 61 is driven. When the opening degree of the pressure regulating valve 6 is maintained, the pressure regulating amplifier 75 does not drive the pressure regulating driving section 61 .

Next, the procedure for cleaning the bathroom R by the control device 7 will be described with reference to FIGS. 5 to 7. FIG. In this embodiment, when a switch (not shown) is turned on by an operator or an operation start command is input to the control device 7, the control device 7 starts operating, and the upper part of the bathroom R is washed with high pressure. After that, the lower part of the bathroom R is washed at low pressure.
First, the cleaning of the upper part of the bathroom R will be explained. Specifically, step S1 is executed to arrange the discharge nozzle 3 at the initial position so that the tip opening 3a (see FIG. 1) of the discharge nozzle 3 faces in a predetermined direction by the control device 7. FIG. In step S1, a control signal is output from the horizontal processing section 81 to the horizontal amplifier 72 so that the horizontal driving section 46 places the discharge nozzle 3 at the horizontal initial position. Further, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 so that the vertical direction driving unit 47 places the discharge nozzle 3 at the initial position in the vertical direction. In this embodiment, the horizontal initial position may be any position in the circumferential direction of the motor shaft of the horizontal drive unit 46 .

Here, the position of the discharge nozzle 3 when the tip opening 3a of the discharge nozzle 3 faces the horizontal direction is defined as a reference position, and the position of the discharge nozzle 3 when the tip opening 3a of the discharge nozzle 3 faces upward from this reference position. Let the tilt angle α (see FIG. 2) be a positive angle, and let the tilt angle α when facing downward be a negative angle. The initial position in the vertical direction in this embodiment is the position of the discharge nozzle 3 when the inclination angle α is, for example, +50 degrees (first angle α ₁ ). However, the inclination angle α corresponding to the initial position in the vertical direction is appropriately set according to the installation height of the discharge nozzle 3, the length of the discharge nozzle 3, the height of the bathroom R, and the like. The form is not limited.

Furthermore, in step S1, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to close the stop valve 5. FIG. Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so that the degree of opening of the pressure regulating valve 6 becomes the first degree of opening. The first degree of opening is the degree of opening for increasing the pressure of the water discharged from the discharge nozzle 3 to a high pressure (first pressure).

After step S1 is executed, step S2 is executed after a predetermined period of time has elapsed. This predetermined time is set to, for example, 20 seconds in this embodiment. In step S2, the inclination angle α of the discharge nozzle 3 is changed stepwise from a _first angle α1 to a _second angle α2 smaller than the _first angle α1, and the inclination angle α of the discharge nozzle 3 is changed. Each time, the discharge nozzle 3 is turned around the first axis O1 in the opposite direction on the horizontal plane to discharge water from the discharge nozzle 3 (see path K1 in FIG. 6). Therefore, water is discharged while changing the direction in which the tip opening 3a of the discharge nozzle 3 faces in the horizontal direction and the vertical direction. That is, step S2 includes the following steps S21 to S23, and these steps S21 to S23 are repeatedly and continuously executed. In this embodiment, the _second angle α2 is -45 degrees, for example. It should be noted that the cleaning agent may be sprayed in the bathroom R in advance by the operator before step S2 is executed.

First, in step S21, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processor 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees in one direction around the first axis O1. At this time, the tip opening 3a of the discharge nozzle 3 is rotated at a constant speed of 20 degrees/second, for example. In step S21, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. A control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to open the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S21, step S22 is executed. In step S22, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 so that the vertical direction driving unit 47 rotates the discharge nozzle 3 by a predetermined angle around the second axis O2. In this embodiment, a control signal is output from the vertical direction processor 91 so that the tip opening 3a of the discharge nozzle 3 is further inclined, for example, by -5 degrees (downward by 5 degrees) around the second axis O2. Further, in step S22, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S22, step S23 is executed. In step S23, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 turns the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/sec, for example, in the other direction around the first axis O1. That is, in step S23, the discharge nozzle 3 is rotated in the direction opposite to that in step S21 about the first axis O1. In step S23, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

In this manner, in step S2, water is discharged while the inclination angle α of the discharge nozzle 3 is gradually decreased from the _first angle α1 to the _second angle α2, as shown in the range A1 of FIG.

After executing step S2, step S3 is executed. In step S3, the inclination angle α of the discharge nozzle ₃ is changed from the _second angle α2 to a third angle α3 smaller than the _first angle α1 and larger than the _second angle α2 (see FIG. 7). That is, in step S3, the tip opening 3a of the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the inclination angle α of the discharge nozzle ₃ becomes the third angle α3. A control signal is output so as to go upward. In this embodiment, the _third angle α3 is +47.5 degrees, for example. Further, in step S3, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S3, step S4 is executed. In step S4, the inclination angle α of the discharge nozzle 3 is changed stepwise from a _third angle α3 to a _fourth angle α4 smaller than the _second angle α2 and the _third angle α3. Each time the inclination angle α changes, the discharge nozzle 3 is turned in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3 (see route K2 in FIG. 6). That is, step S4 includes the following steps S41 to S43, and these steps S41 to S43 are repeatedly and continuously executed. In this embodiment, the _fourth angle α4 is -47.5 degrees, for example.

First, in step S41, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/second, for example, in one direction around the first axis O1. In step S41, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S41, step S42 is executed. In step S42, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 so that the vertical direction driving unit 47 rotates the discharge nozzle 3 by a predetermined angle around the second axis O2. In this embodiment, a control signal is output from the vertical direction processing unit 91 so that the tip opening 3a of the discharge nozzle 3 is tilted about the second axis O2 by -5 degrees (downward by 5 degrees), for example. Further, in step S42, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S42, step S43 is executed. In step S43, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/sec, for example, in the other direction around the first axis O1. That is, in step S43, the discharge nozzle 3 is rotated in the direction opposite to that in step S41 about the first axis O1. In step S43, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

In this manner, in step S4, water is discharged while the inclination angle α of the discharge nozzle 3 is gradually decreased from the _third angle α3 to the _fourth angle α4, as shown in the range A2 of FIG.

After executing step S4, step S5 is executed. In step S5, the inclination angle α of the discharge nozzle ₃ is changed from the _fourth angle α4 to the fifth angle α5 which is smaller than the _third angle α3 and larger than the _fourth angle α4 (see FIG. 7). That is, in step S5, the tip opening 3a of the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the inclination angle α of the discharge nozzle 3 becomes the _fifth angle α5. A control signal is output so as to go upward. In this embodiment, the _fifth angle α5 is, for example, +40 degrees. Further, in step S5, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the first opening (maintain the water pressure at a high pressure).

After executing step S5, step S6 is executed. In step S6, the inclination angle α of the discharge nozzle 3 is alternately changed between a _fifth angle α5 and a _fourth angle α4 and a hexagonal degree smaller than the _fifth angle α5, so that the tip of the discharge nozzle 3 is Water is discharged from the discharge nozzle 3 by rotating the discharge nozzle 3 around the first axis O1 while moving the opening 3a up and down (see route K3 in FIG. 6). That is, step S6 includes the following steps S61 and S62, and these steps S61 and S62 are successively executed once. In this embodiment, the first hexagonality is -50 degrees, for example.

First, in step S61, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the tip opening 3a of the discharge nozzle 3 by a predetermined angle around the first axis O1. be done. In this embodiment, a control signal is output from the horizontal direction processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 1 degree/second, for example, in one direction around the first axis O1. Further, in step S61, from the vertical direction processing unit 91 toward the vertical direction amplifier 73, the discharge nozzle 3 is moved by the vertical direction driving unit 47 about the second axis O2 between the _fifth angle α5 and the _hexagonal degree α6. A control signal is output to rotate the robot so as to alternately reciprocate. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . In addition, the opening degree of the pressure regulating valve 6 is changed from the pressure regulating processing unit 111 toward the pressure regulating amplifier 75 to a second opening degree that is smaller than the first opening degree (the water pressure is reduced to a low pressure (a second opening degree that is smaller than the first pressure). A control signal is output to change the pressure).

After executing step S61, step S62 is executed. In step S62, a control signal is output from the horizontal processing section 81 to the horizontal amplifier 72 so that the tip opening 3a of the discharge nozzle 3 is rotated by a predetermined angle around the first axis O1 by the horizontal driving section 46. be. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 1 degree/second in the other direction around the first axis O1, for example. That is, in step S62, the discharge nozzle 3 is rotated in the direction opposite to that in step S61 about the first axis O1. Further, in step S62, as in step S61, from the vertical direction processing unit 91 toward the vertical direction amplifier 73, the discharge nozzle 3 is moved by the vertical direction driving unit 47 around the second axis O2 at the _fifth angle α5 and the hexagonal degree α. A control signal is output so as to alternately reciprocate between ₆ and 6. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

In this manner, in step S6, while moving the tip opening 3a of the discharge nozzle 3 by 330 degrees on the horizontal plane in one direction around the first axis O1 on the outward path, the _fifth angle α5 as shown in the range A3 of FIG. and the first hexagonality α ₆ , after water is discharged while moving the discharge nozzle 3 up and down, on the return trip, the tip opening 3a of the discharge nozzle 3 is moved 330 degrees on the horizontal plane in the other direction around the first axis O1. Water is discharged while moving the discharge nozzle 3 up and down between the _fifth angle α5 and the _hexagonal angle α6.

After executing step S6, the process proceeds to the step of cleaning the lower part of the bathroom R. The cleaning of the lower part of the bathroom R is performed by spraying water in the same route as the cleaning of the upper part of the bathroom R shown in FIG. First, step S7 is executed. In step S7, the inclination angle α of the discharge nozzle 3 is changed from the first _hexagonality α6 to the _seventh angle α7 smaller than the _fifth angle α5 and larger than the fifth _hexagonality α6 (see FIG. 8). That is, in step S7, the tip opening 3a of the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the inclination angle α of the discharge nozzle 3 becomes the _seventh angle α7. A control signal is output so as to go upward. In this embodiment, the _seventh angle α7 is 0 degrees, for example. Further, in step S7, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S7, step S8 is executed. In step S8, the inclination angle α of the discharge nozzle ₃ is changed stepwise from the _seventh angle α7 to the _eighth angle α8 which is smaller than the eighth angle α6 and the _seventh angle α7. Every time the inclination angle α changes, the discharge nozzle 3 is turned in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3 . That is, step S8 includes the following steps S81 to S83, and these steps S81 to S83 are repeatedly and continuously executed. In this embodiment, the _eighth angle α8 is, for example, -55 degrees.

First, in step S81, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the tip opening 3a of the discharge nozzle 3 by a predetermined angle around the first axis O1. be done. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/second, for example, in one direction around the first axis O1. In step S81, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. A control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to open the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S81, step S82 is executed. In step S82, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 so that the vertical direction driving unit 47 rotates the discharge nozzle 3 by a predetermined angle around the second axis O2. In this embodiment, a control signal is output from the vertical direction processor 91 so that the tip opening 3a of the discharge nozzle 3 is further inclined, for example, by -5 degrees around the second axis O2. Further, in step S82, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S82, step S83 is executed. In step S83, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/sec, for example, in the other direction around the first axis O1. That is, in step S83, the discharge nozzle 3 is rotated in the direction opposite to that in step S81 about the first axis O1. In step S83, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

In this manner, in step S8, water is discharged while the inclination angle α of the discharge nozzle 3 is gradually decreased from the _seventh angle α7 to the _eighth angle α8, as shown in the range A4 of FIG.

After executing step S8, step S9 is executed. In step S9, the inclination angle α of the discharge nozzle 3 is changed from the _eighth angle α8 to the _ninth angle α9 which is smaller than the _seventh angle α7 and larger than the _eighth angle α8 (see FIG. 8). That is, in step S9, the tip opening 3a of the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the inclination angle α of the discharge nozzle 3 becomes the _ninth angle α9. A control signal is output so as to go upward. In this embodiment, the _ninth angle α9 is, for example, +2.5 degrees. Further, in step S9, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S9, step S10 is executed. In step S10, the inclination angle α of the discharge nozzle 3 is changed stepwise from a _ninth angle α9 to an _eighth angle α8 and a _tenth angle α10 smaller than the _ninth angle α9. Each time the inclination angle α changes, the discharge nozzle 3 is turned around the first axis O1 in the opposite direction on the horizontal plane to discharge water from the discharge nozzle 3 . That is, step S10 includes the following steps S101 to S103, and these steps S101 to S103 are repeatedly and continuously executed. In this embodiment, the tenth angle is -57.5 degrees, for example.

First, in step S101, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/second, for example, in one direction around the first axis O1. In step S101, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S101, step S102 is executed. In step S102, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 so that the vertical direction driving unit 47 rotates the discharge nozzle 3 by a predetermined angle around the second axis O2. In this embodiment, a control signal is output from the vertical direction processing section 91 so that the tip opening 3a of the discharge nozzle 3 is inclined, for example, by -5 degrees around the second axis O2. Further, in step S102, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S102, step S103 is executed. In step S103, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 turns the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 20 degrees/sec, for example, in the other direction around the first axis O1. That is, in step S103, the discharge nozzle 3 is rotated in the direction opposite to that in step S101 about the first axis O1. In step S103, a control signal is output from the vertical direction processor 91 to the vertical direction amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

In this manner, in step S10, water is discharged while the inclination angle α of the discharge nozzle 3 is gradually decreased from the _ninth angle α9 to the _tenth angle α10, as shown in the range A5 of FIG.

After executing step S10, step S11 is executed. In step S11, the inclination angle α of the discharge nozzle 3 is changed from the _tenth angle α10 to the _eleventh angle α11, which is smaller than the _ninth angle α9 and larger than the _tenth angle α10 (see FIG. 8). That is, in step S11, the tip opening 3a of the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the inclination angle α of the discharge nozzle 3 becomes the _eleventh angle α11. A control signal is output so that the . In this embodiment, the _eleventh angle α11 is, for example, -30 degrees. Further, in step S11, a control signal is output from the horizontal direction processor 81 to the horizontal direction amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. FIG. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S11, step S12 is executed. In step S12, the inclination angle α of the discharge nozzle 3 is alternately changed between an _eleventh angle α11 and a _tenth angle α10 and a _twelfth angle α12 smaller than the _eleventh angle α11. , the discharge nozzle 3 is turned around the first axis O1 to discharge water from the discharge nozzle 3 (see route K3 in FIG. 6). That is, step S12 includes the following steps S121 and S122, and these steps S121 and S122 are successively executed once. In this embodiment, the twelfth angle is -80 degrees, for example.

First, in step S121, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the horizontal driving unit 46 rotates the discharge nozzle 3 about the first axis O1 by a predetermined angle. In this embodiment, a control signal is output from the horizontal direction processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 1 degree/second, for example, in one direction around the first axis O1. Further, in step S121, from the vertical direction processing unit 91 toward the vertical direction amplifier 73, the vertical direction driving unit 47 moves the discharge nozzle 3 about the second axis O2 between the _eleventh angle α11 and the _twelfth angle α12. A control signal is output so as to alternately reciprocate between them. Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

After executing step S121, step S122 is executed. In step S122, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the tip opening 3a of the discharge nozzle 3 is rotated by a predetermined angle around the first axis O1 by the horizontal driving unit 46. be. In this embodiment, a control signal is output from the horizontal direction processing section 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of 1 degree/second in the other direction around the first axis O1, for example. That is, in step S122, the discharge nozzle 3 is rotated in the direction opposite to that in step S121 about the first axis O1. Further, in step S122, as in step S121, the discharge nozzle 3 is moved from the vertical direction processing unit 91 toward the vertical direction amplifier 73 by the vertical direction driving unit 47 to the _eleventh angle α11 and the twelfth angle around the second axis O2. A control signal is output to alternately reciprocate between the angle _α12 . Also, a control signal is output from the supply processing unit 101 to the supply amplifier 74 so as to maintain the open state of the stop valve 5 . Further, a control signal is output from the pressure regulating processor 111 to the pressure regulating amplifier 75 so as to maintain the opening of the pressure regulating valve 6 at the second opening (maintain the water pressure at a low pressure).

In this manner, in step S12, while moving the tip opening 3a of the discharge nozzle 3 by 330 degrees on the horizontal plane in one direction around the first axis O1 on the outward path, the tip opening 3a is moved to the eleventh angle α as shown in the range A6 of FIG. ₁₁ and the twelfth angle α ₁₂ , after water is discharged while moving the discharge nozzle 3 up and down, on the return path, the tip opening 3a of the discharge nozzle 3 is 330 degrees on the other side around the first axis O1 on the horizontal plane. is moved, water is discharged while moving the discharge nozzle 3 up and down between the _eleventh angle α11 and the _twelfth angle α12.

After step S12 is executed, step S13 is finally executed. In step S13, the discharge nozzle 3 is arranged at the end position so that the tip opening 3a of the discharge nozzle 3 faces a predetermined direction. In step S13, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the tip opening 3a of the discharge nozzle 3 is positioned at the end position in the horizontal direction by the horizontal driving unit 46. FIG. Further, a control signal is output from the vertical direction processing unit 91 to the vertical direction amplifier 73 by the vertical direction driving unit 47 so that the tip opening 3a of the discharge nozzle 3 is positioned at the end position in the vertical direction. The end position may match the initial position described above, or may differ from the initial position.

According to the bathroom cleaning device 200 of the present embodiment described above, the bathroom cleaning device 200 discharges water while placed on the floor FL of the bathroom R or the bottom surface S of the bathtub B, thereby cleaning the inner surface of the bathroom R. (including the floor FL) and the inner and outer surfaces of the bathtub B (including the bottom surface S) can be washed. That is, the entire bathroom R can be washed from a predetermined position in the bathroom R at once. In addition, by washing with water spray, it becomes possible to scrape out dirt from corners, gaps, and the like, so that the inside of the bathroom R can be cleaned efficiently and effectively.

Furthermore, the horizontal drive unit 46 and the vertical drive unit 47 can rotate the discharge nozzle 3 in the horizontal plane and the vertical direction to discharge water into the bathroom R. Therefore, not only the floor surface FL and wall surfaces but also the hard-to-reach ceiling can be cleaned in every corner of the bathroom R.

Further, after the upper part of the bathroom R is washed by high-pressure water discharge so as to scrape off the dirt, the lower part of the bathroom R is washed away by low-pressure water discharge, so that the dirt can be effectively removed. Further, the tilt angle α of the discharge nozzle 3 is gradually decreased, and the discharge nozzle 3 is rotated in the opposite direction on the horizontal plane each time the tilt angle α changes. is moved up and down in the vertical direction during cleaning. Therefore, the inside of the bathroom R can be washed by combining two types of water discharge patterns, and dirt can be removed more effectively.

In the course of cleaning from the top to the bottom of the bathroom R, after increasing the inclination angle α of the discharge nozzle 3 from the bottom to the top, the cleaning is performed again from the top to the bottom. Therefore, the inner surface of the bathroom R, which has been washed once, is washed again. That is, it is possible to wash while partially overlapping the inner surface of the bathroom R. Therefore, the entire inner surface of the bathroom R can be thoroughly cleaned. In particular, in the present embodiment, the lower area of the bathroom R, which is considered to have a large amount of adhered dirt, is repeatedly washed while being overlapped, so that the cleaning effect can be enhanced.

Further, since the control device 7 controls the driving of the horizontal driving section 46, the vertical driving section 47, the supply driving section 51, and the pressure adjusting driving section 61, the bathroom R can be cleaned fully automatically. Therefore, even a physically handicapped person or an elderly person can clean the bathroom R easily and safely.

Further, since the housing 1 is provided with wheels 17, the bathroom cleaning device 200 can be moved and placed at a desired position in the bathroom R. Therefore, it can be used in bathrooms R of various sizes and shapes, increasing the degree of freedom of use.

Here, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.
For example, the horizontal drive section 46 and the vertical drive section 47 do not necessarily have to be servomotors, and other types of drive sections such as direct-acting actuators may be employed. Further, in place of the structure in which the tip opening 3a of the discharge nozzle 3 is vertically moved by the vertical direction driving portion 47, a direct-acting actuator driven by the control device 7 is used to move the horizontal direction driving portion 46 in the vertical direction. The position of the tip opening 3a of the discharge nozzle 3 may be moved vertically in the direction of the first axis O1, depending on the structure for moving the tip opening 3a.

Furthermore, the stop valve 5 and the pressure regulating valve 6 are not limited to those operated by rotary actuators. That is, for the supply drive unit 51 and the pressure adjustment drive unit 61, other types of drive units such as a direct-acting actuator may be employed.

Also, the first axis O1, which is the rotation center axis of the motor shaft of the horizontal drive unit 46, does not necessarily have to extend in the vertical direction. Also, the second axis O2, which is the rotation center axis of the motor shaft of the vertical drive unit 47, does not necessarily extend horizontally, and the second axis O2 may intersect the first axis O1.

Also, the cleaning procedure executed by the control device 7 is not limited to the above case. For example, the upper part of the bathroom R may be washed with low pressure and the lower part of the bathroom R may be washed with high pressure, high pressure washing and low pressure washing may be alternately performed, and high pressure washing and low pressure washing may be appropriately combined for cleaning. may be executed. Depending on the circumstances, only high-pressure washing or only low-pressure washing may be performed.

Also, the water discharge path during cleaning is not limited to that shown in FIG. For example, the upper part of the bathroom R may be washed as indicated by route K3 in FIG. 6, and the bathroom R may be washed as indicated by route K1, or may be washed in order of route K1→route K3→route K2.

Further, it is not necessary to perform washing from the top to the bottom of the bathroom R as in the paths K1 and K2 shown in FIG. For example, the inclination angle α of the discharge nozzle 3 may be decreased and then increased. Further, unlike the routes K1 and K2, the discharge nozzle 3 does not need to be rotated while being reversed around the first axis O1, and may be continuously rotated in the same direction.

Further, it is not necessary to change the inclination angle α of the discharge nozzle 3 step by step, that is, by a predetermined angle, as in the paths K1 and K2 shown in FIG. good. In this case, cleaning can be performed while the discharge nozzle 3 is spirally operated around the first axis O1.

Further, it is not always necessary to alternately and regularly change the inclination angle α of the discharge nozzle 3 by the same angle as in the route K3 shown in FIG. You may operate the discharge nozzle 3 so that it may repeat.

Also, the swirling speed of the discharge nozzle 3 may not necessarily be constant.

Further, as shown in FIG. 9A, water may be discharged from the discharge nozzle 3 in a conical shape to wash along the path K4. That is, the tip opening 3a of the discharge nozzle 3 is oriented vertically, that is, toward the ceiling surface T (or the floor surface FL), and water is discharged while rotating on the horizontal surface. By controlling the discharge nozzle 3 in this manner, the ceiling surface T (or floor surface FL) and the wall surface H can be washed at once. By washing in this way, it is also possible to wash the corner area CS, which is the connection position between the ceiling surface T (or floor surface FL) and the wall surface H, as shown in FIG. 9B. Similarly, it is also possible to spray water on the wall surface H in a conical shape along the route K4.

Also, the stop valve 5 and the pressure regulating valve 6 may be manually operated by an operator instead of by the control device 7 .

Also, instead of water, the discharge nozzle 3 may discharge a cleaning liquid. Furthermore, as shown in FIG. 10 , a cleaning agent nozzle 120 that releases the cleaning agent before the ejection nozzle 3 starts to spray water may be provided side by side with the ejection nozzle 3 . In this case, the controller 7 may automatically control the start/end of discharge of the cleaning agent from the cleaning agent nozzle 120 .

Furthermore, as shown in FIG. 11, the discharge nozzle 3 may be rotatable about a third axis O3 that intersects (perpendicularly) the first axis O1 and the second axis O2. In this case, for example, the arm 41 may be provided with a third drive section (not shown) for rotating the discharge nozzle 3 around the third axis O3, and the control device 7 may drive and control the third drive section. As a result, of the inner surfaces of the bathtub B, cleaning of the inner surface closer to the bathroom cleaning device 200 can be facilitated. In this case, the length of the arm 41 is preferably set to, for example, 0.5 m or more and 1.5 m or less.

Further, as shown in FIG. 11, a ventilation fan cover C may be provided to cover the ventilation fan F provided in the bathroom R during cleaning.

Moreover, the control device 7 and the high pressure washer 2 may not necessarily be provided in the housing 1, and may be installed outside the bathroom R, for example. The control device 7 may perform drive control of the drive units 46, 47, 51, and 61 using radio signals.

Further, the housing 1 may be provided with a tank for storing water (liquid) to be introduced into the high-pressure washer 2 .

Further, the control device 7 may use a sensor to sense obstacles (lights, ventilation fans, etc.) in the bathroom R in advance, and may control the discharge nozzle 3 so as to avoid these obstacles.

In addition, the control device 7 uses a sensor to sense dirt in the bathroom R in advance, and performs cleaning while changing the pressure of the water discharged from the discharge nozzle 3 and the discharge position of the water according to the degree of dirt. may Specifically, for example, a luminous liquid is emitted from a nozzle (not shown) to the entire inner surface of the bathroom R, and the luminous liquid is adsorbed on dirt such as hot water scale and soap residue, and a sensor (imaging device, etc.) capable of detecting dirt is used. The location of the soiling may be identified and the identified location may be intensively cleaned.

It should be noted that while the discharge nozzle 3 rotates around the first axis O1 so as to wash completely straight in the horizontal direction (so that the position in the vertical direction is constant) like the paths K1 and K2 shown in FIG. , fine adjustment of the inclination angle α of the discharge nozzle 3 may be performed.

According to the bathroom cleaning device of the present invention, the inside of the bathroom can be cleaned efficiently and effectively.

1 Housing 2 High Pressure Washer 3 Discharge Nozzle 3a Tip Opening 4 Support Device 5 Stop Valve 6 Pressure Regulating Valve 7 Control Device 21 Pump 46 Horizontal Driving Section 47 Vertical Driving Section 51 Supply Driving Section 61 Pressure Adjusting Driving Section 120 Cleaning Agent nozzle 200 Bathroom cleaning device FL Floor surface O1 First axis O2 Second axis O3 Third axis R Bathroom S Bottom surface C Ventilation fan cover

Claims (12)

a housing that can be placed in a predetermined location on the floor of the bathroom or the bottom of the bathtub;
a pump for boosting the cleaning liquid;
a discharge nozzle which is connected to the pump, has a cylindrical shape, discharges the liquid from its tip opening , and is horizontally arranged outside the housing;
an arm that supports the discharge nozzle on the housing;
a controller for controlling the position of the discharge nozzle;
a first driving section and a second driving section driven by the control device to operate the arm;
with
The arm is
an arm base extending horizontally above the housing and having a tip disposed horizontally outside the housing;
provided at the tip of the arm base and extending in a direction perpendicular to the extending direction of the arm base, and in a state in which the liquid discharge direction of the discharge nozzle is a direction perpendicular to the extending direction of the arm base , an arm tip supporting the discharge nozzle;
has
The first drive section is connected to the base end of the arm base section, rotates the arm base section and the arm tip section about a first axis extending in the vertical direction, and moves the discharge nozzle with respect to the housing. Rotate around the first axis,
The second driving section is connected to the arm tip section, rotates the arm tip section with respect to the arm base section about a second axis extending in the extending direction of the arm base section and in the horizontal direction, and rotates the arm tip section. is rotated around the second axis on the outer side of the housing in the horizontal direction, so that the tip opening of the discharge nozzle can reciprocate vertically up and down,
The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is taken as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. and the inclination angle when the tip opening faces downward from the reference position is a negative angle,
The control device drives the second drive unit to decrease the tilt angle from a first angle to a second angle smaller than the first angle in a plurality of steps (hereinafter referred to as vertical steps), In each of the steps, while the liquid is discharged from the discharge nozzle while maintaining the tilt angle, the first driving section is driven to rotate the discharge nozzle about the first axis, thereby horizontally moving the discharge nozzle. A bathroom cleaning device for cleaning the wall surface of the bathroom along a direction. When cleaning the wall surface along the horizontal direction, the control device drives the first drive unit to rotate the discharge nozzle in the positive direction about the first axis each time the vertical step is lowered. 2. A bathroom cleaning device according to claim 1, wherein cleaning and cleaning by turning in the opposite direction are alternately repeated. After the wall surface has been washed in the horizontal direction, the control device drives the first drive unit to move the discharge nozzle to one side around the first axis in a plurality of steps (hereinafter referred to as horizontal steps). and in each of the horizontal stages driving the second drive unit to increase and decrease the angle of inclination while ejecting the liquid from the ejection nozzle, thereby increasing and decreasing the angle of inclination of the wall surface along the vertical direction. 3. A bathroom cleaning device according to claim 1 or 2, wherein the is cleaned. The control device drives the second drive unit after the wall surface has been washed in the horizontal direction between the first angle and the second angle, and the second angle is smaller than the first angle. 4. A bathroom cleaning device according to any one of claims 1 to 3, wherein the wall surface is cleaned along the horizontal direction from a third angle greater than the second angle to a fourth angle less than the second angle. The control device drives the second drive unit after the wall surface has been washed in the horizontal direction between the first angle and the second angle, and the second angle is smaller than the first angle. 4. A bathroom cleaning apparatus according to claim 3, wherein the wall surface is cleaned along the vertical direction from a fifth angle greater than the angle to a hexagonal degree less than the second angle. The control device drives the first drive unit and the second drive unit to set the first angle to the positive angle, and after completing the cleaning of the wall surface along the horizontal direction, cleans the wall surface along the vertical direction. and then driving the second drive to decrease in a plurality of vertical steps from a seventh angle less than the first angle to an eighth angle less than the seventh angle, and In each of the steps, while the liquid is discharged from the discharge nozzle while maintaining the tilt angle, the first driving section is driven to rotate the discharge nozzle about the first axis, thereby horizontally moving the discharge nozzle. washing the walls of the bathroom along a direction;
Further, the control device drives the first drive unit to rotate the discharge nozzle around the first axis after the wall surface has been washed in the horizontal direction between the seventh angle and the eighth angle. on the one hand, rotating in a plurality of said horizontal stages, and in each of said horizontal stages, driving said second drive to increase and decrease said angle of inclination while ejecting said liquid from said ejection nozzle; 6. A bathroom cleaning device according to any one of claims 3 to 5, wherein the wall surface is cleaned along the vertical direction. The control device drives the second drive unit after the wall surface has been washed in the horizontal direction between the seventh angle and the eighth angle, and drives the second drive unit to make the eighth angle smaller than the seventh angle. 7. The bathroom cleaning device of claim 6, wherein the wall surface is cleaned along the vertical direction from an eleventh angle, which is greater than the eighth angle, to a twelfth angle, which is less than the eighth angle. Further comprising a pressure regulating valve capable of regulating the pressure of the liquid,
The control device controls the pressure regulating valve to control the pressure of the liquid discharged from the discharge nozzle between the first angle and the second angle to be lower than the first pressure between the fifth angle and the 6. A bathroom cleaning device according to claim 5, wherein the second pressure, which is the pressure of the liquid discharged from the discharge nozzle between the first hexagon, is the lower pressure. Further comprising a pressure regulating valve capable of regulating the pressure of the liquid,
The control device controls the pressure regulating valve to reduce the pressure of the liquid discharged from the discharge nozzle between the first angle and the second angle to the seventh angle and the 7. A bathroom cleaning device according to claim 6, wherein the second pressure, which is the pressure of the liquid discharged from the discharge nozzle between the eighth angle, is the lower pressure. a housing that can be placed in a predetermined location on the floor of the bathroom or the bottom of the bathtub;
a pump for boosting the cleaning liquid;
a discharge nozzle which is connected to the pump, has a cylindrical shape, discharges the liquid from its tip opening , and is horizontally arranged outside the housing;
an arm that supports the discharge nozzle on the housing;
a controller for controlling the position of the discharge nozzle;
a first driving section and a second driving section driven by the control device to operate the arm;
with
The arm is
an arm base extending horizontally above the housing and having a tip disposed horizontally outside the housing;
provided at the tip of the arm base and extending in a direction perpendicular to the extending direction of the arm base, and in a state in which the liquid discharge direction of the discharge nozzle is a direction perpendicular to the extending direction of the arm base , an arm tip supporting the discharge nozzle;
has
The first drive section is connected to the base end of the arm base section, rotates the arm base section and the arm tip section about a first axis extending in the vertical direction, and moves the discharge nozzle with respect to the housing. Rotate around the first axis,
The second driving section is connected to the arm tip section, rotates the arm tip section with respect to the arm base section about a second axis extending in the extending direction of the arm base section and in the horizontal direction, and rotates the arm tip section. is rotated around the second axis on the outer side of the housing in the horizontal direction, so that the tip opening of the discharge nozzle can reciprocate vertically up and down,
The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is taken as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. and the inclination angle when the tip opening faces downward from the reference position is a negative angle,
The control device drives the first drive unit to turn the discharge nozzle in one direction about the first axis in a plurality of steps (hereinafter referred to as horizontal steps), and in each of the horizontal steps, the The bathroom cleaning device for cleaning the wall surface of the bathroom along the vertical direction by increasing and decreasing the inclination angle by driving the second drive part while discharging the liquid from the discharge nozzle. When cleaning the wall surface along the vertical direction, the control device drives the second drive unit to change the inclination angle from a fifth angle to an angle greater than the fifth angle each time the horizontal stage changes. 2. Vertically downward cleaning for decreasing the small first hexagonal degree and vertically upward cleaning for increasing the inclination angle from the first hexagonal degree to the fifth angle by driving the second drive unit are alternately repeated. 11. Bathroom cleaning device according to 10. the ejection nozzle ejects water as the liquid;
12. The bathroom cleaning device according to any one of claims 1 to 11, further comprising a cleaning agent nozzle attached to the ejection nozzle for emitting cleaning agent.

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