Cleaning system and method of controlling cleaning system

Patent metadata

Field	Value
Publication number	US-11612914-B2
Application number	US-202016922677-A
Country	US
Kind code	B2
Filing date	Jul 7, 2020
Priority date	Jul 12, 2019
Publication date	Mar 28, 2023
Grant date	Mar 28, 2023

Abstract

A cleaning system includes a mower that executes a mowing work while traveling autonomously, and a cleaning station that cleans the mower. The cleaning system includes: an acquirer that acquires dirt information relating to a state of dirt of the mower; a determiner that determines at least one of a necessity of cleaning the mower and a method of cleaning the mower, based on the dirt information; and a first cleaning executor that executes a cleaning operation, according to a determination result of the determiner.

First claim

What is claimed is:

1. A cleaning system comprising: an autonomous traveling work machine executing a predetermined work while traveling autonomously; and a cleaning station cleaning the autonomous traveling work machine, wherein
the autonomous traveling work machine comprises: a processor configured to control an operation of the autonomous traveling work machine; a motor for driving a work unit that executes the predetermined work; and a sensor that detects a value of at least one of a power consumption, a load voltage, and a load current of the motor,
wherein the processor:
acquires the value of at least one of the power consumption, the load voltage, and the load current as dirt information relating to a state of dirt of the autonomous traveling work machine;
determines at least one of a necessity of cleaning the autonomous traveling work machine and a method of cleaning the autonomous traveling work machine, based on whether or not a maximum value of the value of the at least one of the power consumption, the load voltage, and the load current during execution of the predetermined work is equal to or greater than a predetermined threshold value; and
executes a cleaning operation, according to the determination result of the at least one of the necessity of cleaning the autonomous traveling work machine and the method of cleaning the autonomous traveling work machine.

2. A cleaning system comprising: an autonomous traveling work machine executing a predetermined work while traveling autonomously; and a cleaning station cleaning the autonomous traveling work machine, wherein
the autonomous traveling work machine comprises: a processor configured to control an operation of the autonomous traveling work machine; a motor for driving a driving wheel to travel the autonomous traveling work machine, and a sensor that detects a value of at least one of a power consumption, a load voltage, and a load current of the motor,
wherein the processor:
acquires the value of at least one of the power consumption, the load voltage, and the load current as the dirt information relating to a state of dirt of the autonomous traveling work machine;
determines at least one of a necessity of cleaning the autonomous traveling work machine and a method of cleaning the autonomous traveling work machine, based on whether or not a maximum value of the value of the at least one of the power consumption, the load voltage, and the load current when the autonomous traveling work machine enters the cleaning station is equal to or greater than a predetermined threshold value; and
executes a cleaning operation, according to the determination result of the at least one of the necessity of cleaning the autonomous traveling work machine and the method of cleaning the autonomous traveling work machine.

3. A cleaning system comprising: an autonomous traveling work machine executing a predetermined work while traveling autonomously; and a cleaning station cleaning the autonomous traveling work machine, wherein
the autonomous traveling work machine comprises a processor configured to control an operation of the autonomous traveling work machine, and is driven to travel by a driving wheel,
the processor:
acquires a driving wheel vehicle speed corresponding to a peripheral speed of a driving wheel and a driven wheel vehicle speed corresponding to a peripheral speed of a driven wheel during a period from a time point when the autonomous traveling work machine starts entering the cleaning station to a time point when entering the cleaning station is completed,
calculates a slip ratio of the driving wheel by a following formula:
λ=( VD−VN )/ VN   (1)

wherein λ is the slip ratio, VD is the driving wheel vehicle speed, and VN is the driven wheel vehicle speed,

determines at least one of a necessity of cleaning the autonomous traveling work machine and a method of cleaning the autonomous traveling work machine, based on whether or not a maximum value of the calculated slip ratio is equal to or greater than a predetermined threshold value; and
executes a cleaning operation, according to a determination result of the at least one of the necessity of cleaning the autonomous traveling work machine and the method of cleaning the autonomous traveling work machine.

Assignees

• Honda Motor Co Ltd

Inventors

• Takahashi Hiroya
• Kotani Yoshiaki
• Takahashi Hiroto
• Kameyama Naoki

Classifications

• B08B3/04 Primary

  Cleaning involving contact with liquid · CPC title

• A01D34/003 Primary

  Means for cleaning the machine · CPC title

• A01D34/008

  for automated or remotely controlled operation · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• B08B13/00

  Accessories or details of general applicability for machines or apparatus for cleaning · CPC title