WO2004043215A1

WO2004043215A1 - Self-propelled working robot

Info

Publication number: WO2004043215A1
Application number: PCT/JP2003/013392
Authority: WO
Inventors: Nobukazu Kawagoe
Original assignee: Figla Co., Ltd.
Priority date: 2002-11-13
Filing date: 2003-10-20
Publication date: 2004-05-27
Also published as: GB0509776D0; JP2004174228A; AU2003275566A1; GB2409966A; GB2409966B

Abstract

A self-propelled working robot has a traveling assembly (1) with wheels (6) and a first and a second working assembly (20, 50) installable to and removable from the traveling assembly (1). The traveling assembly (1) is selectively mounted with only either of the first or the second working assembly (20, 50). Each of the working assemblies (20, 50) has kind-distinguishing means (33) that enables to distinguish the kinds of the working assemblies. The traveling assembly (1) has a driving motor (5) for driving wheels (6), traveling wheel-controlling means (41) for controlling the rotation of the driving motor (5), determining means (38) for determining which one of the two working assemblies (20, 50) is mounted, and drive signal output means (39) for outputting a work signal that operates either of the working assemblies (20, 50) according to the result of the determination.

Description

Sho Akitoda

Self-propelled work robot

Technical field

The present invention relates to a self-propelled work port, and more particularly, to a self-propelled work port capable of performing a plurality of types of work on a floor.

Background art

Conventionally, as a self-propelled working port, for example, the one described in the following document is known.

Non-Patent Document 1: Nobukazu Kawagoe, et al., "Portable Autonomous Mobile Bot Robot Rosanitan", Human With Technology (HWT), September 1997, p.25-35

The work rod disclosed in Non-Patent Document 1 includes a traveling unit including wheels and the like, and a scanning unit such as a dripping nozzle. When the working port travels while scanning the dripping nozzle, a liquid such as a disinfectant or wax is applied to the floor surface. A work assembly supported movably in the width direction of the work area is connected to the rear of the work rod, and the work assembly is provided with a coating means provided at an end of the work assembly. A liquid such as a wax is spread. These working port pots are used by using a common autonomous vehicle, with different working units attached for wax application and disinfectant application. However, the working port is not mechanically configured so that the user can easily replace the working section, and it is necessary to disassemble and assemble using a tool such as a screwdriver. In addition, since the control unit has no means to identify the type of work unit and a separate program is written for each port, the user can easily replace the work unit with a different type of work unit. Can be used did not exist.

Further, the working port has a structure in which a small liquid storage tank having a capacity of about 1 liter is inserted from above into a recess provided on a part of the upper surface of the traveling means, and the tank is mounted. The finished state is the appearance. For this reason, the work port could only be mounted in a fixed size and shape in terms of design.

For example, if a suction cleaning function is to be installed in the working lopot, the tank for storing the liquid agent is not required. Therefore, instead of the suction cleaning assembly, a motor, a filter, a garbage collection part, a battery, and the like are incorporated. It is reasonable to install a dust collecting pox section on an autonomous vehicle. These parts do not need to be placed near the floor and are relatively heavy. However, it was difficult to make the shape of the liquid storage tank and the shape of the dust collection box the same, and it was difficult to obtain a uniform design appearance.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a self-propelled work pot that can easily exchange a plurality of kinds of work assemblies having different functions and can cope with various works on a floor surface with one machine.

Another object of the present invention is to provide a uniform design appearance regardless of the type of work assembly mounted on the traveling assembly. Disclosure of the invention

In order to achieve the above object, a self-propelled work robot according to the present invention includes: a traveling assembly having wheels for self-propelling on a floor; A first work assembly; and a second work assembly detachable from the traveling assembly and performing a second work on the floor. Previous In the traveling assembly, only one of the first and second working assemblies is selectively mounted. Each of the work assemblies is provided with a type specifying means for enabling the type of the work assembly to be specified when the assembly is mounted on the traveling assembly. The traveling assembly includes: a driving motor for driving the wheels; a traveling wheel control means for controlling rotation of the driving motor; and determining which of the two working assemblies is mounted. A determination unit; and a drive signal output unit configured to output a work signal for operating the work assembly according to a result of the determination.

According to the present invention, either one of the first and second working assemblies can be selectively mounted on one traveling assembly, and the control method can be performed according to the type of the selected working assembly. Is automatically selected, so that it can be easily used for various works on the floor surface.

In addition, the cost can be reduced because one traveling assembly can be effectively used.

In a preferred aspect of the present invention, the type identification unit outputs an electric signal to the determination unit.

In this mode, the configuration is simpler than the type of the work assembly is determined by a physical method. In addition, a new work assembly can be identified simply by changing the program.

In another preferred embodiment of the present invention, a control board for controlling the operation of the work assembly based on the work signal from the traveling assembly is mounted on each work assembly.

In this embodiment, control means (control board, program, etc.) corresponding to each work assembly is mounted on the traveling assembly. Since there is no need, the configuration of the traveling assembly is simplified. Even when a new work assembly is added, it is not necessary to change the configuration of the traveling assembly, so that a highly versatile work robot can be obtained.

In another preferred form of the invention, the traveling assembly is a trolley supported by the wheels. Each work assembly includes a side unit mounted in front of or behind the truck, a top unit including a tank mounted on the top surface of the truck, and a pipe passing through the both units. . The side unit is provided so as to be close to or in contact with the floor.

In this configuration, the working assembly is divided into side units that work directly on the floor and top units that contain elements that do not need to be located near the floor. By mounting the relatively heavy top unit on the trolley, stability during traveling can be improved. Therefore, work on the floor surface can be performed reliably.

In a further preferred aspect of the present invention, a cover is detachably provided so as to cover an upper unit mounted on the upper side of the work assembly in a state where the work assembly is mounted on the traveling assembly.

In this mode, a uniform design appearance can be obtained regardless of the type of the work assembly attached. Also, since the cover is detachable, if the weight and size of the main unit are more important than the external design, the size and weight can be reduced by removing the cover and using it. Also, since the cover can be easily attached and detached, maintenance work on the top unit can be easily performed. BRIEF DESCRIPTION OF THE FIGURES

The present invention will be more clearly understood from the following description of preferred embodiments with reference to the accompanying drawings. However, the examples and drawings are for illustration and description only and should not be used to define the scope of the present invention. The scope of the present invention is determined only by the claims. In the accompanying drawings, the same part number in a plurality of drawings indicates the same or corresponding part.

FIG. 1 is a plan view and a side view showing a configuration of a traveling assembly of a working rod according to the present invention. FIG. 2 is a side view showing a state where the liquid coating assembly and the traveling assembly according to the first embodiment are separated. FIG. 3 is a side view showing a state where the liquid application assembly is mounted on the traveling assembly. FIG. 4 is a plan view of the working port of Example 1 as viewed from above. FIG. 5 (a) is a block diagram showing a connection relationship of electric signals between a control board of the liquid application assembly and a control unit of the traveling assembly, and FIG. 5 (b) is a chart showing an example of setting of identification signals. FIG. 6 is a side view showing a state where the suction cleaning assembly and the traveling assembly according to the second embodiment are separated. FIG. 7 is a side view showing a state in which the suction cleaning assembly is mounted on the traveling assembly. FIG. 8 is a plan view of the working robot of Example 2 as viewed from above. FIG. 9 is a block diagram showing a connection relationship of electric signals between a control board of the suction cleaning assembly and a control unit of the traveling assembly. FIG. 10 is a partial cross-sectional side view showing a state where a cover is attached to the traveling assembly with the liquid application assembly mounted thereon. FIG. 11 is a partial cross-sectional side view showing a state where a cover is attached to the traveling assembly with the suction cleaning assembly mounted thereon. FIG. 12 is a partially sectional side view showing opening and closing of the head cover. FIG. 13 is a partial cross-sectional side view showing opening and closing of the cover. Figure 14 shows the hippo It is a perspective view which shows one attachment state. FIG. 15 is a perspective view showing an attached state of the cover. BEST MODE FOR CARRYING OUT THE INVENTION

Example 1:

An embodiment of the present invention will be described below with reference to the drawings.

This work port uses the travel assembly 1 shown in FIG. 1 as a common configuration, and is used by selectively mounting one of various work assemblies on the travel assembly 1. In the first embodiment, a case where a liquid application assembly 20 is mounted as a first working assembly will be described as an example.

As shown in FIG. 1, the working robot according to the present invention includes a truck-like traveling assembly 1 that travels on the floor surface. Travel assembly

A pair of wheels 6 is provided on the left and right of 1. The wheels 6 are driven by a drive motor 5. The rotation speed of the drive motor 5 is controlled by the control unit 8.

As shown in FIG. 2, the liquid application assembly 20 includes a top unit 21 and a side unit 22. Each unit 21, 22 is configured to be detachable from the traveling assembly 1. The upper surface of the traveling assembly 1 is a substantially flat surface, and has a structure on which various devices can be easily mounted. A cam lock fastener socket 13 is provided on an upper surface of the traveling assembly 1, and a cam lock fastener plug 26 is provided on a lower surface of the upper unit 21. By inserting the plug 26 into the socket 13, the position of the upper unit 21 is fixed.

At the rear of the traveling assembly 1, a mounting plate 11 for mounting the side unit 22 of the liquid application assembly 20 is provided. The mounting plate 11 is a hook-type fitting. The side unit 22 is mounted to the rear of the traveling assembly 1 by fitting the mounting bracket 28 provided on the side unit 22 into the mounting plate 11.

As shown in FIG. 1, the mounting plate 11 is mounted on a slide rail 14 and connected to a slide drive motor 15 via a timing belt and a pulley. The mounting plate 11 is slid left and right along the slide rail 14 by the slide drive motor 15.

As shown in FIG. 1, the traveling assembly 1 includes an ultrasonic ranging sensor 3, a gyro sensor 7, a bumper sensor 10, a control unit 8, and the like. The traveling assembly 1 is provided with a detachable power source (not shown) for supplying power to the traveling assembly 1 and the liquid application assembly 20.

Control part:

As shown in FIG. 5 (a), the control unit 8 includes a discriminating unit 38, a driving signal output unit 39, a sensor signal input unit 40, a traveling wheel control unit 41, and a slide control unit 42. , An ultrasonic sensor control means 43, a gyro sensor control means 44, a bumper sensor control means 45, a CPU 46, a RAM 47, and a ROM 48.

Each of the means 38 to 45 and the CPU 46 are connected by an interface (not shown).

As shown in FIG. 1, the control unit 8 is provided with a connector 12. The control section 8 is electrically connected to a control board 32 provided in the liquid application assembly 20 by a cable 24 shown in FIG. Then, the control unit 8 receives the information from the type identification unit 33 of the control board 32 as input and determines the type of the work assembly by the determination unit 38. After that, the control unit 8 The drive signal output means 39 outputs a work signal for operating the work assembly according to the type of the temple.

On the control board 32, a pump control means 34, a scan control means 35, and a lifting control means 36 described later are mounted. The drive signal output means 39 is for outputting a work signal to each of the control means 34, 35, 36.

The control board 32 is provided with a contact sensor control means 37 described later. The sensor signal input means 40 includes the control means

This is to output the signals from 35, 36, and 37 to CPU 46.

The running wheel control means 41 controls the rotation of the drive motor 5. That is, based on signals from sensors such as the ultrasonic ranging sensor 3, the gyro sensor 7, and the bumper sensor 10, C P U

The running wheel control means 41 controls the rotation speed of the wheels 6 according to the distance to the obstacle and the value of the running direction measured by the wheel 46.

The slide control means 42 controls the rotation of the slide drive motor 15 and controls the left and right slide of the mounting plate 11.

The sensor control means 43, 44, 45 control the ultrasonic ranging sensor 3, gyro sensor 7, and bumper sensor 10, respectively.

The CPU 46 includes the determination means 38, the sensor signal input means 40, the traveling wheel control means 41, the slide control means 42, the ultrasonic sensor control means 43, the gyro sensor control means 44, and According to the information from each of the bumper sensor control means 45, according to the program stored in the ROM 48 and the work command information stored in the RAM 47, the traveling wheel control means 41 and the slide are used. Control means 42 and drive signal to liquid dispensing assembly 20 A work signal is output from the signal output means 39.

The RAM 47 is a random access memory that stores work command information such as work area information and action plan information, and various control variables. ROM 48 is a read-only memory for storing programs.

1st working assembly:

As shown in FIG. 2, the liquid application assembly 20 is an operation assembly for uniformly applying a liquid agent such as a mixture or a disinfecting solution to a floor surface. The liquid application assembly 20 includes an upper surface unit 21 that is a heavy part that does not need to be disposed near the floor surface, and a side unit 22 that applies the liquid agent uniformly to the floor surface. The upper unit 21 and the side unit 22 are connected by a liquid agent supply tube (tube) 23.

The upper unit 21 includes a tank holder 25 and a tank 2 la removably mounted thereon. The tank 21a stores a liquid agent.

The side unit 22 includes a nozzle (application section) 31 and a pump 27. The pump 27 supplies the liquid stored in the tank 2 la to the nozzle 31 via the liquid supply tube 23. The nozzle 31 is for dropping a fixed amount of the liquid agent onto the floor. The nozzle 31 is scanned left and right by a motor (not shown) at a predetermined speed (for example, one reciprocation of 1 to 2 seconds), and the liquid material is dripped on the floor in the form of a saw blade as the vehicle travels forward. The liquid dropped on the floor is evenly spread by the application cloth (application section) 29.

The coating cloth 29 is driven up and down by a motor (not shown). That is, the coating cloth 2 9 is lowered to the floor when applying the liquid, and is separated from the floor when running without applying the liquid.

The procedure for mounting the liquid application assembly 20 is described below.

(1) Place the tank holder 25 on the traveling assembly 1 and fix it using the cam lock fastener plug 26 and the cam lock fastener socket 13.

(2) Place the tank 21 a on the tank holder 25.

(3) The side unit 22 is mechanically connected to the traveling assembly 1 by inserting the mounting bracket 28 of the side unit 22 into the mounting plate 11 of the traveling assembly 1. (Fig. 4)

(4) By connecting the cable 24 connected to the control board 32 of the side unit 22 to the connector 12 of the traveling assembly 1, the liquid application assembly 20 and the traveling assembly 1 are connected. Connect electrically.

(5) Insert the liquid supply tube 23 connected to the pump 27 of the side unit 22 into the tank 21a.

The side unit 22 is connected to the slide-movable mounting plate 11, so that the side unit 22 can slide right and left under the control of the control unit 8. The lengths of the cable 24 and the liquid material supply tube 23 are set so that the side unit 22 can slide left and right.

As shown in FIG. 4, contact sensors 30 are provided on both left and right ends and a rear side of the side unit 22. The state of the contact sensor 30 is input to the control unit 8, and is fed to the slide control and the traveling control of the side unit 22.

As shown in FIG. 2, a control board 32 is mounted on the side unit 22. As shown in Fig. 5 (a), the control board 32 It is provided with a control means 33, a pump control means 34, a scan control means 35, a lifting control means 36 and a contact sensor control means 37.

The type specifying means 33 outputs a numerical value indicating the type of each work assembly. As shown in FIG. 5B, a specific numerical value is preset and stored in the type specifying means 33 for each work assembly.

Note that the setting value may be stored by a dip switch or by writing to a semiconductor memory such as a flash memory.

The pump control means 34 controls the drive of the pump 27 based on a work signal from the drive signal output means 39 of the control section 8. The scan control means 35 controls left and right scan drive of the nozzle 31 based on a work signal from the drive signal output means 39. Further, the scan control means 35 detects that the nozzle 31 has reached the left and right ends by means of a photointerrupter (not shown), and outputs a left and right end arrival detection signal to the sensor signal input means 4 of the control unit 8. Output to 0.

The elevation control means 36 controls the elevation drive of the application cloth 29 based on the work signal from the drive signal output means 39. Further, the elevation control means 36 detects the position of the cloth by a position detection sensor (not shown) using a photo interrupter or a micro switch, and outputs the detected cloth to the sensor signal input means 40.

The contact sensor control means 37 detects the state of ΔN / OFF of the contact sensor 30 and outputs the state to the sensor signal input means 40.

Figures 6 and 7 show the liquid application assembly (first working assembly). ) A state in which a suction cleaning assembly 50 is attached to the traveling assembly 1 instead of 20 as the second working assembly. FIG. 8 is a top view of the mounted state.

Second working assembly:

The suction cleaning assembly 50 is an operation assembly for performing a suction cleaning operation (an example of a second operation) for dust on a flat hard floor or a carpet floor. The suction cleaning assembly 50 has a top unit 51 and a side unit 59. The top unit 51 includes elements that do not need to be disposed near the floor, such as a dust container (tank) 52, a blower motor 54, a filter 53, a battery 55, and a first control board 56. Is a relatively heavy part. The side unit 59 has a suction port 59a for sucking dust on the floor near the floor.

The method of attaching the suction cleaning assembly 50 to the traveling assembly 1 is the same as that of the liquid application assembly 20 described above, and a detailed description thereof will be omitted.

The electric power for operating the suction cleaning assembly 50 may be supplied from a power supply (not shown) provided in the traveling assembly 1, but the usable time of the suction cleaning assembly 50 which consumes a large amount of power may be extended. For this purpose, it is preferable to provide a dedicated battery 55 for the suction cleaning assembly 50.

The upper unit 51 is provided with a first control board 56. As shown in FIG. 9, the first control board 56 is provided with a type specifying means 33 and a blower motor control means 71. The type specifying means 33 outputs a numerical value indicating the type of the work assembly to the determining means 38 provided in the control unit 8 of the traveling assembly 1 via the cable 58. The blower motor control means 71 is a blower motor 5 Control the operation of 4.

As shown in FIGS. 7 and 8, the side unit 59 is provided with a contact sensor 60 for detecting contact with an obstacle behind or on the side and a rotating brush 61 for sweeping debris on the floor. ing.

As shown in FIG. 7, a second control board 62 is provided on the side unit 59. As shown in FIG. 9, the second control board 62 includes brush control means 72 and contact sensor control means 37. The control means 72, 37 control the rotating brush 61 and the contact sensor 60, respectively. The suction hose 57 connects the upper unit 51 and the side unit 59. An electric wire is incorporated in the suction hose 57, and the electric wire electrically connects the first control board 56 and the second control board 62. Since the side unit 59 is connected to the work unit mounting plate 11 capable of sliding movement, the side unit 59 can slide right and left under the control of the control unit 8. The length of the suction hose 57 is set to such a length that the suction nozzle portion 59 can slide horizontally.

In the second embodiment, the electric wire (connection cable) for connecting the first control board 56 and the second control board 62 is incorporated in the suction hose 57, but separately from the suction hose 57. May be provided. Further, a connection cable for electrically connecting the second control board 62 and the control unit 8 may be provided.

In addition, although the upper unit 51 is mounted directly on the traveling assembly 1, the mounting mechanism for attaching the traveling assembly 1 may be separated from the upper unit 51 to form an independent holding table. That is, similarly to the mounting method of the liquid application assembly (first working assembly) 20, the holding table 25 is first mounted on the traveling assembly 1, and then the upper unit 51 is placed thereon. good. This

Three In the case of, the tank holder 25 is also used as a holder for the upper unit 51 by configuring the bottom of the upper unit 51 to have the same shape as the bottom of the tank 21a. Cost can be reduced.

In addition, when the holding base is also used for all the assemblies as described above, the holding base does not need to be detachable from the traveling assembly 1, so that the holding base may be fixedly mounted or mounted on the traveling assembly. The upper surface of the rib 1 can be configured in the shape of a holding table. Therefore, the cost can be further reduced.

FIG. 10 shows a state in which a cover 90 is attached to the traveling assembly 1 to which the liquid application assembly 20 is attached. FIG. 11 shows a state in which a cover 90 is attached to the traveling assembly 1 to which the suction cleaning assembly 50 is attached.

The cover 90 is large enough to cover the upper unit 21, 51 of the working assembly 20, 50 on the traveling assembly 1, as well as the connecting cable and the connecting tube, and has a dome shape. It is formed. A cutout portion 90a is formed on one side of the lower portion of the cover 90. The notch 90 a is connected to the suction hose 57, the cable 58 from the side unit 59 of the suction cleaning assembly 50, and the liquid supply tube 23 to the liquid application assembly 20. It is for passing. The other end of the lower part of the force par 90 is attached to the traveling assembly 1 via a hinge 96.

A housing space S is provided on the top of the cover 90. The accommodation space S accommodates an alarm function control section 95 including a control circuit of the patrito (alarm) 93, a speaker (alarm) 94, a patrol 93 and a voice synthesizing circuit. . The alarm function controller 95 The electric power is supplied from the traveling assembly 1 to the alarm function control unit 95 by being electrically connected to the control unit 8 of the traveling assembly 1 by the alarm function connection cable 92. Further, the alarm function control section 95 exchanges control information with the traveling assembly 1 by a communication protocol such as RS232C and performs an alarm operation according to a situation. For example, when the ultrasonic ranging sensor 3 of the traveling assembly 1 detects an obstacle in front, the control unit 8 transmits forward obstacle detection information to the alarm function control unit 95, and the alarm function control unit 95 5 utters a message of attention of collision by speech synthesis from the speaker 94.

As shown in Fig. 12, the head cover 91 is attached to the power bar 90 via the hinge 97 so as to be openable and closable. When the cover 90 is attached to the traveling assembly 1 via the hinge 96 so as to be openable and closable, as shown in Fig. 13, refilling the tank 2 1a with the liquid material 2. The trash can be easily replaced. The hinge 96 may be omitted in a usage method in which the traveling speed is low such that the displacement does not occur even when the cover 90 is simply placed on the traveling assembly 1. In this case, since the cover 90 can be easily removed, the refilling of the liquid material into the tank 21a and the exchange of the dust in the dust container 52 are further facilitated.

FIGS. 14 and 15 are perspective views showing a state where the cover 90 is attached. From both figures, it is easy to determine that a uniform design appearance is obtained regardless of the type of work assembly installed. At that time, each unit can perform maintenance work independently.

As described above, the preferred embodiment has been described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and changes can be made without departing from the present description. And modifications will be easily envisaged.

For example, the work assembly may be determined not by an electrical method but by a physical method. As a physical method, for example, a method in which the type specifying means is a baffle plate to be mounted by changing the position for each work assembly, or a method in which a protrusion provided at a different position of each work assembly is detected. Conceivable.

The types of work assemblies are not limited to the above two types, and three or more types of work assemblies including the following ultraviolet irradiation assembly and radiation dose measurement assembly may be mounted on the traveling assembly. Industrial applicability

This work port is not limited to liquid application and suction cleaning, but it also irradiates the floor coated with UV curable resin with UV light to coat the floor surface.Ultraviolet irradiation assembly, medical facilities and research facilities that handle radioactive materials Various work assemblies are exchanged and mounted, such as a radiation dose measurement assembly that measures the distribution of radiation dose on floors, and a gloss measurement assembly that measures the distribution of gloss on floors coated with PAX UV curable resin. It is possible to do.

Claims

The scope of the claims

1. A self-propelled working port,

A traveling assembly having wheels for self-propelling on the floor, a first working assembly detachable from the traveling assembly and performing a first operation on the floor,

A second work assembly detachable from the traveling assembly and performing a second work on the floor,

In the traveling assembly, only one of the first and second working assemblies is selectively mounted,

Each of the work assemblies includes a type identification unit for enabling identification of a type of the work assembly when the assembly is mounted on the traveling assembly,

The traveling assembly includes a driving motor for driving the wheels, traveling wheel control means for controlling rotation of the driving motor, and determining which of the two working assemblies is mounted. A self-propelled work lopot comprising: a discriminating means for performing the discrimination; and a drive signal output means for outputting a work signal for operating the work assembly according to a result of the discrimination.

2. In Claim 1,

The type identification unit is a self-propelled work robot that outputs an electric signal to the determination unit.

3. In Claim 2,

A self-propelled work robot, wherein each of the work assemblies is provided with a control board for controlling an operation of the work assembly based on a work signal from the traveling assembly.

4. In claim 1,

The traveling assembly is a truck supported by the wheels.

7 Ό,

Each of the working assemblies includes:

A side unit that is attached to the front or rear of the bogie and that comes into contact with or comes into contact with the floor;

An upper unit including a tank mounted on the upper surface of the cart, and a pipe connecting between the two units.

A self-propelled work port with a.

5. In Claim 4,

A self-propelled work robot, wherein a cover for covering the upper unit with the upper unit mounted thereon is detachably provided on a carriage of the traveling assembly.

6. In Claim 5,

An accommodating space is provided at a top of the force par, and a self-propelled work lopot in which an alarm is accommodated in the accommodating space.

7. In Claim 4,

The tank of the top unit of the first working assembly stores the liquid material,

The side unit of the first working assembly includes an application unit for applying the liquid material,

The side unit of the second working assembly has a suction port for sucking dust on the floor,

The tank of the upper unit of the second work assembly is a self-propelled work rod for collecting the dust.

8