JP2010017428A - Floor cleaning robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a floor cleaning robot which prevents cleaning work from being left even in a place where entering/leaving of people is inevitable during cleaning such as a toilet in a highway service area or the like. <P>SOLUTION: Each time when an obstacle is detected ahead of the travel direction, newest travel pathway information which enables cleaning of whole non-cleaned area except the obstacle location with the shortest travel distance is newly generated. The robot travels based on the newest travel pathway information and the travel location information. When the travel is terminated, final travel pathway information which enables cleaning of the obstacle location with the shortest travel distance is generated. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a floor cleaning robot that cleans a floor while autonomously running in a predetermined cleaning area.

Conventionally, a floor surface cleaning robot that cleans the floor surface while autonomously traveling in a predetermined cleaning area has been proposed. Such a floor cleaning robot is equipped with an obstacle detection sensor that detects an obstacle (wall surface) that appears in front of the running direction. When an obstacle is detected, it stores its position information and The direction is changed so as to avoid a collision (for example, a U-turn), and floor cleaning (running) in the area is continued. By repeating these movements, for example, when the stored position information of the obstacle forms a closed curve, the operation is ended as if the entire cleaning area partitioned by the wall surface has been completed (for example, Patent Document 1). reference.).
JP 2004-148090 A

  By the way, in toilets and the like in highway service areas, toilet users visit 24 hours a day, so there is a situation that the toilet cannot be closed for cleaning. In addition, it is very difficult in terms of cost to arrange a staff member for instructing a toilet user in detail about an available area in the toilet and for keeping the instruction. Therefore, in a toilet or the like in a highway service area, even if the floor cleaning robot as described above is being cleaned, a toilet user may come and go through the travel route without hesitation.

  The above conventional floor cleaning robot detects a toilet user standing in front of or crossing its own traveling direction as an obstacle similar to a wall surface, and makes a U-turn before it collides with it. Cleaning can be continued while avoiding this. Of course, the toilet user detected as an obstacle will soon leave the position, and the side opposite the position detected by the floor cleaning robot as the wall surface will immediately return to a state where it can be cleaned. However, since the floor cleaning robot already stores the position as an area that cannot be cleaned because it is partitioned by a wall surface or the like, the robot that has completed the cleaning despite the fact that there is actually an uncleaned part. It may occur that the cleaning operation is terminated.

  Also, toilets in expressway parking areas, etc., enter and exit directly from outside the building, so depending on the weather conditions (wetting of the passage outside the building) the amount of muddy water that comes into the user's footwear is brought into the room. As the number of users in the parking area varies depending on the traffic congestion, the degree of dirt on the toilet floor varies greatly. On the other hand, if the amount of cleaning water sprayed to the floor surface by the floor surface cleaning robot, the pressing force of the cleaning brush to polish the floor surface, the suction force of sewage spreading on the floor surface, etc. are set to a constant value In some cases, poor cleaning may occur due to the accumulation of water or residual dirt on the floor surface. Of course, if you set all of the cleaning water spray amount, brush pressing force, sewage suction force, etc. to the highest level, wetting and soiling of the floor will be removed cleanly, but cleaning water consumption and battery consumption will be reduced. Since it increases remarkably, the operating rate decreases due to frequent replenishment of cleaning water replenishment and battery charging maintenance.

  In view of such circumstances, the present invention is unavoidable for people entering and exiting the cleaning area during cleaning, such as toilets in highway service areas, etc., and the floor surface is greatly wet and dirty due to the weather and the like. It is an object of the present invention to provide a floor cleaning robot that eliminates cleaning residue, poor cleaning, and wasteful consumption and consumption of washing water and batteries even in a fluctuating place.

The invention of claim 1 of the present application is a floor cleaning robot that performs floor cleaning of the cleaning area while autonomously traveling in a predetermined cleaning area,
Traveling means for causing the robot itself to change direction, cleaning means for cleaning the floor surface while the robot is traveling, map information storage means for storing map information of the cleaning area, the map information, and the robot once Based on a cleaning width dimension that can be cleaned by traveling, a traveling route information generating unit that generates traveling route information for cleaning the entire cleaning area with the shortest traveling distance, and generated by the traveling route generating unit. Travel route information storage means for storing the travel route information, travel position detection means for constantly detecting the travel position information of the robot, and travel control for controlling the travel means based on the travel route information and the travel position information. And information on the already cleaned area in which the cleaning work by the cleaning means has been carried out, and the already cleaned area information is updated as the cleaning work is carried out And already cleaned area information storage unit that, it includes a, an obstacle detecting means for detecting an obstacle information including an obstacle and its location and size existing around the robot including a forward traveling direction of the robot,
When an obstacle is detected in front of the moving direction of the robot, the travel route information generation unit can clean the entire uncleaned area except the latest obstacle position with the shortest travel distance each time. The route information is newly generated based on the obstacle information, the map information, and the already cleaned area information, and the travel route information storage unit is configured so that before the robot travel position reaches the latest obstacle position, The travel route information is updated to the latest travel route information, and the travel control unit continues to control the travel unit based on the updated latest travel route information and the travel position information, and the latest travel route information When the travel based on the vehicle is completed, the travel route information generating means generates final travel route information that enables the latest obstacle position to be cleaned with the shortest travel distance, and the travel control information is generated. It means, based on the final traveling route information and the traveling position information, provides a floor cleaning robot, wherein the controller controls the driving means.

The invention of claim 2 of the present application is the floor cleaning robot of claim 1,
When the obstacle detection means detects a new obstacle ahead of the direction of travel of the robot, the travel stored in the travel route information storage means before the travel position of the robot reaches the new obstacle position When the route information is not updated, the travel control unit controls the travel unit to stop the robot travel, and when the travel route information is updated to new travel route information, the travel control unit includes: Provided is a floor cleaning robot characterized by resuming control of the traveling means based on the new traveling route information.

The invention of claim 3 of the present application is the floor cleaning robot according to claim 1 or 2,
When the obstacle detecting means detects a new obstacle ahead of the moving direction of the robot, it comprises a sound generating means for generating an alarm sound notifying that the robot is approaching the obstacle. Provide a cleaning robot.

The invention of claim 4 of the present application is the floor cleaning robot according to any one of claims 1 to 3,
A light-emitting unit that irradiates light on the floor surface before cleaning by the cleaning means, and a light-receiving unit that receives the reflected light, and based on the attenuation rate of the illuminance of the reflected light with respect to the irradiated light, A floor surface state detecting means for detecting a floor surface state relating to dirt and wetness, and a cleaning control means for controlling the cleaning means,
A floor surface cleaning robot is provided that adjusts operating conditions of the cleaning unit based on a floor surface state detection result by the floor surface state detection unit.

The invention of claim 5 of the present application is the floor cleaning robot according to claim 4,
Comprising temperature and humidity detection means for detecting the room temperature and the room humidity in the cleaning area;
A floor cleaning robot is provided that adjusts the operating condition of the cleaning means based on a result of indoor temperature / humidity detection by the temperature / humidity detection means.

The invention of claim 6 of the present application is the floor cleaning robot according to claim 4 or 5,
The cleaning means includes a rotary brush, a brush drive means for rotating the rotary brush, and a floor polishing means having a brush pressing means for pressing the rotary brush against the floor surface.
The cleaning control means provides a floor cleaning robot characterized by adjusting the rotational speed and pressing force of the rotating brush based on the floor surface condition detection result.

The invention of claim 7 of the present application is the floor cleaning robot according to any one of claims 4 to 6,
The cleaning means includes a wash water tank for storing wash water supplied to the floor, a supply water amount adjusting means provided in the wash water tank and capable of adjusting the supply water amount, and a supply water temperature adjusting means capable of adjusting the supply water temperature. A washing water supply means having
The cleaning control means adjusts a supply amount and a supply water temperature of cleaning water supplied to the floor surface based on the detection result of the floor surface condition and / or the detection result of indoor temperature and humidity. Provide robots.

The invention of claim 8 of the present application is the floor cleaning robot according to claim 7,
The cleaning means is connected to the cleaning water supply means in a switchable manner with respect to the cleaning water supply means, and includes a chemical tank for storing deodorizing chemicals supplied to the floor surface,
Furthermore, the lower part of the robot is provided with odor detection means having a semiconductor sensor capable of detecting the odor of the floor surface,
The cleaning control means causes the deodorizing agent to be supplied from the cleaning water supply means to the floor surface instead of the cleaning water based on the odor detection result by the odor detection means. Provide a cleaning robot.

The invention of claim 9 of the present application is the floor cleaning robot according to any one of claims 4 to 8,
The cleaning means includes a vacuum means for sucking moisture on the floor surface so that the suction force can be adjusted, and a blade member provided at a lower part of the robot is pressed against the floor surface so that the pressing force can be adjusted. A wiper means for wiping moisture on the floor surface in the vicinity of the suction port of the vacuum means by movement, and a floor surface moisture removing means comprising:
And a light-emitting unit that irradiates light to the floor surface before moisture removal by the floor-surface moisture removing unit, and a light-receiving unit that receives the reflected light, and based on the illuminance attenuation rate of the reflected light with respect to the irradiated light , Comprising a pre-removal water amount detection means for detecting the water content on the floor surface,
The floor cleaning robot is characterized in that the cleaning control means adjusts the suction force of the vacuum means and the blade member pressing force of the wiper means based on the moisture amount detection result by the pre-removal moisture amount detection means. provide.

The invention of claim 10 of the present application is the floor surface cleaning robot according to claim 9,
The cleaning means is capable of jetting drying air to the floor surface from which moisture has been removed by the floor surface moisture removing means, and is capable of adjusting the supply air amount adjusting means and the air temperature. Air supply means for drying having a supply air temperature control means,
And a light-emitting unit that irradiates light to the floor surface after moisture removal by the floor-surface moisture removing unit, and a light-receiving unit that receives the reflected light, and based on the illuminance attenuation rate of the reflected light with respect to the irradiated light A post-removal water amount detection means for detecting the amount of water on the floor after water removal,
The cleaning control means adjusts an air amount and an air temperature of the drying air ejected by the drying air ejecting means based on a moisture amount detection result by the post-removal moisture amount detecting means. A surface cleaning robot is provided.

The invention of claim 11 of the present application is the floor cleaning robot according to any one of claims 4 to 10,
The travel control unit receives a control signal for controlling the cleaning unit from the cleaning control unit, so that the robot travels at a travel speed set in advance according to the content of the cleaning operation by the cleaning unit. A floor cleaning robot is provided that adjusts the traveling speed of the traveling means.

The invention of claim 12 of the present application is the floor cleaning robot according to any one of claims 4 to 10,
A failure detection means for detecting a failure occurring in each component of the robot;
When a failure is detected by the failure detection means,
The travel control means and the cleaning control means stop normal cleaning work,
Depending on the content of the detected failure, stop the operation of the robot on the spot, or generate travel route information for evacuation in which the travel route generation means retreats from the current position to a predetermined standby position at the shortest distance, A floor cleaning robot is provided in which the travel control means selectively implements retreat to the predetermined standby position based on the retreat travel route information.

The invention of claim 13 of the present application is the floor cleaning robot according to claim 12,
Comprising wireless communication means capable of communicating with operator information communication means;
When a failure is detected by the failure detection means, the content of the failure is transmitted to the operator information communication means via the wireless communication means, and a floor cleaning robot is provided.

  According to the first aspect of the present invention, the floor cleaning robot generates travel route information for cleaning the entire cleaning area with the shortest travel distance based on the map information, and cleans while traveling based on the travel route information. Every time an obstacle is detected in front of the robot in the direction of travel, the latest travel route information that cleans the entire uncleaned area excluding the latest obstacle position with the shortest travel distance is generated and traveled based on this. When the cleaning work is continued while the cleaning work based on the latest travel route information is completed, the latest obstacle position, which is an uncleaned area, is cleaned. Therefore, a cleaning area that is temporarily uncleanable is distinguished from a non-cleanable area that is partitioned by a wall or the like and a cleaning area that is temporarily uncleanable by a person or their luggage. Since cleaning is performed when it becomes possible, there is no fear of causing a cleaning residue even in a place where cleaning work is hindered by frequent entry and exit.

  According to the invention of claim 2, when a person (obstacle) suddenly enters in front of the floor cleaning robot in the traveling direction, it is not possible to secure sufficient time for generating the latest traveling route information, and the robot as it is. In such a case, it is possible to prevent the accident by stopping the driving and restarting the driving after generating the latest driving route information.

  According to the invention of claim 3, when a new obstacle is detected, an alarm for notifying the approach of the robot is issued, so that it is possible to prevent a person detected as the obstacle from causing a contact accident without noticing the robot. Is done.

  According to the invention of claim 4, the floor condition such as dirt on the floor and wetness is detected before cleaning, and the operating conditions are adjusted based on the detection result. It is possible to prevent a situation in which a residue or moisture residue is generated, or on the contrary, excessive cleaning work is performed on a portion with little dirt or the like, which takes a long time, or a battery or the like is wasted.

  According to the invention of claim 5, since the indoor temperature and humidity in the cleaning area is detected and the operating conditions are adjusted based on the detection result, for example, when the temperature is high and the humidity is low, the floor surface is likely to dry. By simply completing the water removal operation, it is possible to improve the efficiency of the cleaning operation and prevent a situation where the battery or the like is wasted.

  According to the invention of claim 6, since the rotational speed and pressing force of the rotating brush are adjusted based on the detection result of the floor surface condition, it is possible to suppress the remaining dirt and wasteful consumption of the drive battery due to excessive or insufficient cleaning work. it can.

  According to the invention of claim 7, since the amount of water supplied to the floor and the temperature of the supplied water are adjusted based on the detection result of the floor surface condition and the detection result of the indoor temperature and humidity, the water can be accumulated on the floor surface or is easily dried. Thus, it is possible to prevent the drive battery from being consumed unnecessarily, for example, by supplying hot cleaning water to the floor surface.

  According to the invention of claim 8, since the washing water is switched to the deodorizing agent based on the odor detection result on the floor surface, it is possible to prevent a situation in which an odor remains in the room despite being cleaned. Can do.

  According to invention of Claim 9 and 10, before the operation | work which removes the water | moisture content of the cleaned floor surface, the water | moisture content is detected, Based on the detection result, the suction force of the vacuum means and the wiper means which remove water | moisture content Adjusting the pressing force, the air volume and air temperature of the drying air jetting means that dries the floor surface, the situation where water pools remain on the floor surface and the drive battery is wasted Can do.

  According to the invention of claim 11, the running speed is adjusted according to the contents of the cleaning work. For example, when the setting is made to carefully remove the dirt, the running speed is lowered to stabilize the cleaning quality. Can be realized.

  According to the twelfth aspect of the present invention, when a failure occurs, it is selectively stopped or retreated to a predetermined standby position according to the contents of the failure. Continued operation prevents secondary problems and accidents from occurring.

  According to the invention of claim 13, when a failure occurs, the operator is informed of the content of the failure by means of wireless communication means, so that necessary preparations can be completed when the operator heads for repair work. Can respond efficiently.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an external perspective view of the floor cleaning robot according to the present embodiment. 2 to 5 are views showing the inside of the outer appearance cover of the robot. FIG. 2 is a front view, FIG. 3 is a plan view, FIG. 4 is a side view, FIG. 5 is a rear view, and FIG. It is a block diagram showing the relationship. FIG. 7 is a diagram illustrating a robot travel path when a cleaning operation is performed without detecting a new obstacle in the cleaning area S where the floor cleaning robot performs cleaning, and FIG. It is a figure which shows the case where it detects and the driving | running route is changed.

(Floor cleaning robot 1)
The floor surface cleaning robot 1 cleans the floor surface on its travel route while autonomously traveling in a predetermined cleaning area S (FIG. 7), and is covered with an exterior cover C as shown in FIG. 6, as shown in FIG. 6, traveling means 2 for traveling the robot itself so that the direction can be changed, cleaning means 3 for cleaning the floor surface while the robot is traveling, traveling means 2 and cleaning means 3 The control unit 4 that stores or generates various information used for control of the vehicle, outputs a control signal to the traveling unit 2 and the cleaning unit 3, and the traveling position information provided to the control unit 4 are detected. Various detection means 5 are provided. The predetermined cleaning area S is a toilet room provided in the parking area of the highway, and includes a wash basin W and a private room R in which a toilet bowl is installed.

(Running means 2)
As shown in FIGS. 2 to 5, the traveling means 2 is provided at the lower part of the floor cleaning robot 1, and moves forward and backward, a wheel drive motor 22 (FIG. 5), handling wheels 23, and handling. And a wheel motor 24 (FIGS. 3 and 4). The forward / reverse wheel 21 is a pair of left and right wheels provided in a rigid manner near the center of the floor cleaning robot 1 in the front-rear direction, and is driven by a wheel drive motor 22 to allow the robot to move forward and backward. The wheel drive motor 22 is an electric drive motor that is driven by a battery (not shown) mounted on the floor cleaning robot 1. The battery is also a power source for various electric drive motors, control units, and the like described below.

  The handling wheel 23 is a non-driven steering wheel provided behind the forward / reverse wheel 21 and is steered by a coupled handling mechanism 23a (FIGS. 3 and 4), so that the floor cleaning robot 1 The direction change to the left-right direction on the floor surface F is enabled. The handling wheel motor 24 steers the handling wheel 23 by driving the handling mechanism 23a. The forward / reverse wheel 21 is arranged near the center in the front-rear direction of the robot to reduce the turning radius by bringing it closer to the rear handling wheel 23 and to reduce the space for arranging the rotating brush 311 to be described later. This is to secure at the bottom.

(Cleaning means 3)
The cleaning means 3 is operated while the floor surface cleaning robot 1 is traveling, thereby cleaning the floor surface F on the travel path of the floor surface cleaning robot 1, and as shown in FIG. Polishing means 31, cleaning water supply means 32, floor surface moisture removing means 33, and drying air blowing means 34 are provided.

(Floor polishing means 31)
As shown in FIGS. 2 to 5, the floor polishing means 31 includes two rotating brushes 311 that rotate while pressed against the floor surface F and polish the floor surface F on the traveling path through which the robot passes, Brush driving means (electric drive motor) 312 for rotationally driving each rotary brush 311 and brush pressing means 313 for pressing these rotary brushes against the floor surface F are provided. The rotating brush 311 has a brush-like base 311a fixed with brush hairs extending downward. The rotating brush 311 is provided at the front lower part of the robot, and removes dirt attached to the floor surface F at the tip of the brush when the robot travels. . The brush pressing means 313 is an electric actuator connected to the brush driving means 312 and presses the rotating brush 311 against the floor surface F via the brush driving means 312.

(Washing water supply means 32)
The cleaning water supply unit 32 is configured to supply cleaning water (clean water or a solution obtained by adding an appropriate amount of detergent to the clean water) from a nozzle attached to the front lower portion of the robot in order to facilitate removal of dirt by the floor polishing unit 31. A cleaning water tank 321 (FIGS. 2 and 3) for storing the cleaning water supplied to the floor F, and a supply connected to the cleaning water tank 321 and capable of adjusting the supply water amount. A water amount adjusting means 322 (FIG. 6) and a supply water temperature adjusting means 323 (FIG. 6) capable of adjusting the supply water temperature are provided. The supply water amount adjusting means 322 is an injection hole diameter variable nozzle (not shown) connected to the washing water tank 321 by a hose and is electrically driven so as to open / close and restrict the injection hole. The cleaning water is supplied in the vicinity of the floor surface F against which the rotating brush 311 is pressed.

  The supply water temperature adjusting means 323 is an electric heater provided in the vicinity of the tank outlet that supplies the cleaning water from the cleaning water tank 321 to the hose, and adjusts the water temperature to a room temperature that is not heated or higher. Can do. The cleaning water supply means 32 includes a chemical tank 324 (not shown) for storing deodorant chemicals in the middle of the hose connecting the cleaning water tank 321 and the supply water amount adjusting means 322, and an electric switching valve 325 (FIG. 6). ). The chemical tank 324 can be supplied with the deodorizing chemical from the supply water amount adjusting means (nozzle) 322 nozzle by switching to the washing water tank 321.

(Floor surface water removing means 33)
The floor surface moisture removing unit 33 includes a vacuum unit 331 that sucks moisture (sewage) on the floor surface F through which the robot passes, and a suction port 331a (FIG. 3) of the vacuum unit 331 below the robot. The blade member 332a (FIG. 3) provided immediately after the blade member 332a (FIG. 3) is pressed against the floor surface F so that the pressing force can be adjusted (the lower surface is grounded). Wiper means 332 for wiping moisture on the floor surface F is provided near the suction port 331a of the means 331. The vacuum means 331 collects the sewage sucked by the pump in a sewage tank 331b (not shown), and the sewage tank 331b is set to have approximately the same capacity as the wash water tank 321. The blade member 332a provided in the wiper means 332 is formed in an arch shape in plan view, thereby collecting sewage from both sides to the central portion where the suction port 331a is provided. These floor surface moisture removing means 33 are disposed behind the rotating brush 311 and collect the sewage generated by the polishing work by the rotating brush 311.

(Air blowing means 34 for drying)
The air blowing means 34 for drying is an air nozzle provided at the lower rear part of the robot with respect to the floor surface F when the floor surface F is unlikely to dry after the sewage removal by the floor surface moisture removing means 33 is performed. From 343, drying air is jetted to dry the floor F. The drying air jetting unit 34 includes a supply air amount adjusting unit 341 capable of jetting drying air to the floor surface F and capable of adjusting the amount of air, and a supply air temperature adjusting unit 342 capable of adjusting the air temperature. Prepare. The drying air jetting unit 34 has the same structure as a normal electric dryer, and the supply air amount adjusting unit 341 is an electric blower that adjusts the supply air amount according to the rotational speed of the motor, and the supply air temperature adjusting unit 342. Is an electric heater disposed in the middle of the air passage 344 connecting the supply air amount adjusting means 341 and the air nozzle 343.

(Control unit 4)
The control unit 4 includes a travel control unit 41 that outputs a travel control signal to the travel unit 2 and a cleaning control unit 42 that outputs a cleaning control signal to the cleaning unit 3. The robot travels (cleans) without leaving the entire cleaning area S, and the cleaning control means 42 operates the cleaning means efficiently during traveling, while suppressing wasteful consumption of consumables and rechargeable batteries. Is to clean.

(Control by travel control means 41)
Now, in order to execute the control by the traveling control means 41, the map information storage means 411 for storing the map information of the cleaning area S, the map information, and the cleaning width dimension that can be cleaned by the robot traveling once. And a travel route information storage means 413 for generating travel route information for cleaning the entire cleaning area S with the shortest travel distance, and a travel route information storage means 413 for storing the travel route information. The travel position information is always received from the travel position detecting means 51 that constantly detects the travel position information. The travel position detection means 51 takes in the operating conditions of the wheel drive motor 22 and the handling wheel motor 24 of the travel means 2 and constantly detects the current travel position of the robot based on the operating conditions.

  The map information is obtained by storing the dimension and shape of the floor surface F of the cleaning area S shown in FIG. 7 as two-dimensional information, and includes information on non-cleanable areas such as the wash basin W, and the floor surface cleaning robot. 1. Specify the cleanable range by 1. The travel route information is a travel route information generation means 412 for a travel route for the floor cleaning robot 1 to finish cleaning within the shortest travel distance on the premise that cleaning is performed without leaving the cleanable range specified by the map information. It is calculated by. Note that the travel route information generation unit 412 selects the travel route with the shortest travel time based on, for example, the turn frequency of each travel route, when a plurality of travel routes with the shortest distance are calculated. The cleaning width dimension that can be cleaned by the robot traveling once is determined based on the horizontal width dimension T1 of the two rotating brush portions, the horizontal width dimension T2 of the blade member 332a, and the like.

  If there is no person in and out of the cleaning area S, the floor cleaning robot 1 is moved according to the travel route information while referring to the travel position information from the travel position detection means 51 and cleaned during that time. By keeping the means running, it is very easy to clean the area thoroughly. However, since the toilet user visits the cleaning area S regardless of the cleaning work of the floor cleaning robot 1 and stands in a position that blocks the hand of the floor cleaning robot 1 or crosses the front, it simply travels. It is very dangerous to travel according to the route information. On the other hand, it is wasteful to stop driving until there are no more toilet users.

  Therefore, in addition to the above-described means, the control unit 4 as a means for executing the control by the travel control means 41 is a previously cleaned area where the cleaning work by the cleaning means 3 has been performed (in other words, the robot by the travel means 2). Of the robot including the front of the floor surface cleaning robot 1, which includes information on a storage area 414 that can be updated in accordance with the execution of the cleaning operation (travel of the robot). Obstacle position information is acquired from the obstacle detection means 52 for detecting obstacle information including obstacles present in the surrounding area and their positions and sizes. As the obstacle detection means 52, a camera, an infrared sensor, or a laser sensor is adopted, and is installed on the front surface, side surface, and rear surface of the floor cleaning robot 1 (all not shown).

  When the obstacle detection unit 52 detects an obstacle (person) ahead of the robot in the traveling direction on the travel route, the travel route information generation unit 412 performs the entire uncleaned area except the obstacle position. Is newly generated each time based on the obstacle information, the map information, and the already cleaned area information. The travel route information storage means 413 updates the latest travel route information before the robot reaches the obstacle position, that is, before it touches the obstacle, and the travel control means 41 updates the latest travel route information and Based on the travel position information from the travel position detection means 51, the travel means 2 is continuously controlled.

  As a result, as shown in FIG. 8, the floor cleaning robot 1 proceeds along a path that avoids a collision with the obstacle X, and continues cleaning without stopping the traveling of the robot. be able to. When the travel (cleaning) based on the updated latest travel route information is completed, the travel route information generation unit 412 can remove the obstacle position remaining last after being excluded from the travel route information with the shortest travel distance. Generate final travel route information. In the travel route information storage unit 413, when the final travel route information is updated, the travel control unit 41 passes the travel route as indicated by the dotted line in FIG. 8 based on the final travel route information and the travel position information. Thus, the traveling means 2 is controlled, and the cleaning is finished by passing through the position where the obstacle X was present. After the cleaning, the floor cleaning robot 1 returns to the robot standby position set in advance in the cleaning area S and stops its operation.

(Control by cleaning control means 42)
The control by the cleaning control means 42 is performed on the robot's travel path so that the cleaning means 3 operates efficiently while the robot is traveling, and the floor F is cleaned cleanly while suppressing wasteful consumption of consumables and charging batteries. Information signals are received from various detection means for detecting the floor surface condition (dirt / wet), temperature and humidity in the cleaning area S, odor, and the like. The floor surface condition detecting means 53 for detecting the floor surface condition on the travel route is a light emitting part that irradiates light to the floor surface F before the cleaning by the cleaning means 3 and a light receiving part that receives the reflected light (all not shown). And the level of dirt / wetting of the floor surface F is detected based on the attenuation rate of the illuminance of the reflected light with respect to the irradiated light. The light emitting unit and the light receiving unit of the floor surface condition detecting unit 53 are installed in a state facing the floor F at the front end of the robot ahead of the rotating brush 311 in order to detect the floor F before cleaning. .

  Based on the floor surface state detection result of the floor surface state detection unit 53, the cleaning control unit 42 adjusts the operating condition of the cleaning unit 3 as follows. For example, when the illuminance decay rate is significantly larger than when the floor surface F is cleaned cleanly, it is assumed that the floor surface F is soiled with mud, but there is little moisture, so there is a lot of washing water. To increase the rotational speed and pressing force of the rotating brush. Conversely, when the illuminance attenuation rate is small, it is assumed that there is a large amount of water remaining on the floor surface F. Therefore, the supply of cleaning water is suppressed to a low level, and the suction force of the vacuum means 331 and the blade member Control to increase the pressing force of 332a is performed. These controls are set in advance in a state corresponding to each floor surface state detection result.

  The temperature / humidity detecting means 54 for detecting the room temperature and the room humidity in the cleaning area S is used to determine the ease of drying the wet floor surface F. Based on the indoor temperature / humidity detection result by the temperature / humidity detection means 54, the cleaning control means 42 adjusts the operating conditions of the cleaning means 3 as follows. For example, when the temperature is high and the humidity is low, it is assumed that the floor surface F dries even if the floor surface F is wet. Therefore, the supply temperature of the wash water is low and the amount of supply water is the degree of contamination of the floor surface F. If necessary, control is performed such that the number is increased a little. Conversely, when the temperature is low and the humidity is high, the amount of water supplied is kept low, and when it is difficult to reduce the amount of water supplied due to the degree of soiling on the floor surface F, the temperature of the water supplied can be raised to evaporate easily. Control is performed. These controls are set in advance in a state corresponding to the detection result.

  The odor detection means 55 for detecting the odor generated from the floor surface F in the cleaning area S is used to determine whether or not the floor surface F needs to be deodorized. The odor detection means 55 includes a semiconductor sensor capable of detecting an odor component generated in the toilet, and the cleaning control means 42 adjusts the operating condition of the cleaning means 3 based on the odor detection result. Specifically, in the cleaning water supply means 32, the chemical switching tank 324 that connects the chemical tank 324 that stores the deodorizing chemical is operated to replace the cleaning water stored in the cleaning water tank 321, thereby replacing the chemical tank. The deodorizing chemical stored in 324 is supplied to the floor F. When no odor component is detected, the cleaning water supply from the cleaning water tank 321 is restored.

  Similarly to the floor surface condition detection means 53, each has a light emitting unit that irradiates light to the floor surface F and a light receiving unit that receives the reflected light, and is based on the attenuation rate of the illuminance of the reflected light with respect to the irradiated light Moisture amount detecting means 56 and 57 for detecting the amount of moisture on the surface F are behind the rotating brush 311, in front of the floor surface moisture removing means 33, behind the floor surface moisture removing means 33, and drying air. It is provided in front of the air nozzle of the ejection means 34. The moisture amount detection result of the moisture amount detection unit 56 before moisture removal arranged in front of the floor surface moisture removal unit 33 is used to adjust the suction force of the vacuum unit 331 and the pressing force of the blade member 332a.

  Further, the moisture amount detection result of the moisture amount detecting means 57 after the moisture removal disposed behind the floor surface moisture removing means 33 is used for adjusting the supply amount and supply temperature of the drying air of the drying air blowing means 34. Is done. The reason why these detection means are provided separately from the floor surface moisture removing means 33 corresponds to the fact that the floor surface moisture amount may differ greatly from that before the supply depending on the supply amount of cleaning water, or the floor surface. Depending on the degree of moisture removal by the moisture removing means 33, the amount of drying air for drying the floor surface F is reduced and the air temperature is lowered to reduce battery consumption. Conversely, the amount of drying air is increased. This is because the air temperature is raised and the wetness of the floor surface F is eliminated.

(Modification of the above embodiment)
In the above embodiment, when a new obstacle is detected in front of the moving direction of the robot, the travel route information stored in the travel route information storage unit 413 is stored before the travel position of the robot reaches the obstacle position. Although it has been explained that it is updated, there may be a case where the travel route information is not updated before reaching the obstacle (person) position, for example, when a person interrupts immediately before the travel position of the robot. In such a case, when the travel control unit 41 controls the travel unit 2 to stop the robot travel, the robot is put on standby, and the travel route information is updated, the travel control unit 41 updates the new travel route. Based on the information, the control of the traveling means 2 may be resumed. Thereby, the accident by the generation | occurrence | production delay of driving | running route information is prevented, and safety | security can be ensured.

  In the above embodiment, when an obstacle is newly detected in front of the moving direction of the robot, the travel route of the robot is changed. Based on the detection signal, it may be notified prior to the change of the travel route that the robot is approaching the obstacle. Thereby, when a person who is an obstacle notices and moves to another place, there is no need to change the route, and efficiency is maintained.

  In the above embodiment, only the cleaning unit 3 is controlled according to the floor surface condition detection result, the temperature / humidity detection result, and the like. However, a control signal for controlling the cleaning unit 3 is sent to the travel control unit 41 as a cleaning control. The traveling speed by the traveling means 2 may be adjusted so that the robot travels at a traveling speed set in advance according to the content of the cleaning operation by the cleaning means. For example, if a cleaning control signal that increases the dry air amount and air temperature to the maximum value is output, reducing the traveling speed stabilizes the cleaning quality without increasing the dry air amount and air temperature. Improvements can reduce battery consumption.

  In the above embodiment, when cleaning is completed, the robot is returned to the robot standby position. However, a failure detection means for detecting a failure occurring in each component of the robot is provided in the robot, and the failure is detected by the failure detection means. When the operation is performed, the travel control unit 41 and the cleaning control unit 42 stop the normal cleaning operation and stop the operation of the robot on the spot or the travel route generation unit according to the content of the detected failure. Generates retreat travel route information for retreating from the current position to the robot standby position at the shortest distance, and the travel control means 41 selectively performs retreat to the robot standby position based on the retreat travel route information. You may do it. When a failure occurs, it is selectively stopped or retracted to the robot standby position according to the content of the failure, so that secondary troubles and accidents are prevented from occurring before the operator performs repair work.

  Further, the floor cleaning robot 1 is provided with wireless communication means capable of communicating with the operator information communication means. When a failure is detected by the failure detection means described above, the content of the failure is transmitted via the wireless communication means. Then, it may be transmitted to the operator information communication means. When the operator heads for repair work, the contents of the failure can be known in advance, so that preparations necessary for repair can be completed and an efficient response can be taken.

The external appearance perspective view of the floor surface cleaning robot which concerns on this embodiment. The figure (front view) showing the inside of the external appearance cover of a robot. The figure (plan view) showing the inside of the appearance cover of the robot. The figure (side view) showing the inside of the appearance cover of a robot. The figure (rear view) showing the inside of the robot's exterior cover. The block diagram which shows the control relationship of a traveling means, a cleaning means, a control part, and a detection part. The figure which shows the robot travel path | route at the time of cleaning work, without detecting a new obstruction in the cleaning area. The figure which shows the case where the new obstruction X is detected and a driving | running route is changed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Floor surface cleaning robot 2 Traveling means 21 Forward / reverse wheel 22 Wheel drive motor 23 Handling wheel 23a Handling mechanism 24 Handling wheel motor 3 Cleaning means 31 Floor polishing means 311 Rotating brush 311a base 312 Brush driving means 313 Brush pressing means 32 Cleaning Water supply means 321 Wash water tank 322 Supply water amount adjustment means 323 Supply water temperature adjustment means 325 Electric switching valve 33 Floor surface moisture removal means 331 Vacuum means 331a Suction port (vacuum means)
332 Wiper means 332a Blade member (wiper means)
34 Air blowing means for drying 341 Supply air amount adjusting means 342 Supply air temperature adjusting means 343 Air nozzle 344 Air passage 4 Control section 41 Travel control means 411 Map information storage means 412 Travel path information generation means 413 Travel path information storage means 414 Already Cleaning area information storage means 42 Cleaning control means 5 Detection means 51 Traveling position detection means 52 Obstacle detection means 53 Floor surface detection means 54 Temperature / humidity detection means 55 Odor detection means 56 Water content detection means 57 Water content detection means C Appearance cover F Floor R Private room S Cleaning area T1 Width T2 Width W Wash basin X Obstacle

Claims (13)

A floor cleaning robot that performs floor cleaning of the cleaning area while autonomously traveling in a predetermined cleaning area,
Traveling means for traveling the robot itself so that the direction can be changed;
Cleaning means for cleaning the floor surface while the robot is running;
Map information storage means for storing map information of the cleaning area;
Travel route information generating means for generating travel route information for cleaning the entire cleaning area with the shortest travel distance based on the map information and a cleaning width dimension that can be cleaned by the robot traveling once. ,
Travel route information storage means for storing travel route information generated by the travel route generation means;
Traveling position detection means for always detecting the traveling position information of the robot;
Travel control means for controlling the travel means based on the travel route information and the travel position information;
Information on the already cleaned area where the cleaning work by the cleaning means has been performed is stored, and the already cleaned area information storing means for updating the already cleaned area information as the cleaning work is performed,
An obstacle existing around the robot including the front of the robot in the traveling direction and obstacle detection means for detecting obstacle information including the position and size of the obstacle.
When an obstacle is detected in front of the moving direction of the robot, the travel route information generation unit can clean the entire uncleaned area except the latest obstacle position with the shortest travel distance each time. Route information is newly generated based on the obstacle information, the map information, and the already cleaned area information,
The travel route information storage means updates the travel route information to the latest travel route information before the robot travel position reaches the latest obstacle position,
The travel control means continues to control the travel means based on the updated latest travel route information and the travel position information,
When the travel based on the latest travel route information is completed, the travel route information generation means generates final travel route information that enables the latest obstacle position to be cleaned with the shortest travel distance,
The floor cleaning robot according to claim 1, wherein the travel control unit controls the travel unit based on the final travel route information and the travel position information. The floor cleaning robot according to claim 1,
When the obstacle detection means detects a new obstacle ahead of the direction of travel of the robot, the travel stored in the travel route information storage means before the travel position of the robot reaches the new obstacle position When the route information is not updated, the travel control unit controls the travel unit to stop the robot travel, and when the travel route information is updated to new travel route information, the travel control unit includes: The floor cleaning robot according to claim 1, wherein the control of the traveling unit is resumed based on the new traveling route information. The floor cleaning robot according to claim 1 or 2,
When the obstacle detecting means detects a new obstacle ahead of the moving direction of the robot, it comprises a sound generating means for generating an alarm sound notifying that the robot is approaching the obstacle. Cleaning robot. A floor cleaning robot according to any one of claims 1 to 3,
A light-emitting unit that irradiates light on the floor surface before cleaning by the cleaning means, and a light-receiving unit that receives the reflected light, and based on the attenuation rate of the illuminance of the reflected light with respect to the irradiated light, Floor surface condition detecting means for detecting the floor surface condition concerning dirt and wetness;
Cleaning control means for controlling the cleaning means,
A floor surface cleaning robot, wherein an operation condition of the cleaning unit is adjusted based on a result of floor surface state detection by the floor surface state detection unit. The floor cleaning robot according to claim 4,
Comprising temperature and humidity detection means for detecting the room temperature and the room humidity in the cleaning area;
A floor cleaning robot characterized by adjusting an operating condition of the cleaning means based on a result of indoor temperature / humidity detection by the temperature / humidity detection means. The floor cleaning robot according to claim 4 or 5,
The cleaning means includes a rotary brush, a brush drive means for rotating the rotary brush, and a floor polishing means having a brush pressing means for pressing the rotary brush against the floor surface.
The floor cleaning robot according to claim 1, wherein the cleaning control means adjusts the rotational speed and pressing force of the rotating brush based on the floor surface condition detection result. The floor cleaning robot according to any one of claims 4 to 6,
The cleaning means includes a wash water tank for storing wash water supplied to the floor, a supply water amount adjusting means provided in the wash water tank and capable of adjusting the supply water amount, and a supply water temperature adjusting means capable of adjusting the supply water temperature. A washing water supply means having
The cleaning control means adjusts a supply amount and a supply water temperature of cleaning water supplied to the floor surface based on the detection result of the floor surface condition and / or the detection result of indoor temperature and humidity. robot. The floor cleaning robot according to claim 7,
The cleaning means is connected to the cleaning water supply means in a switchable manner with respect to the cleaning water supply means, and includes a chemical tank for storing deodorizing chemicals supplied to the floor surface,
Furthermore, the lower part of the robot is provided with odor detection means having a semiconductor sensor capable of detecting the odor of the floor surface,
The cleaning control means causes the deodorizing agent to be supplied from the cleaning water supply means to the floor surface instead of the cleaning water based on the odor detection result by the odor detection means. Cleaning robot. A floor cleaning robot according to any one of claims 4 to 8,
The cleaning means includes a vacuum means for sucking moisture on the floor surface so that the suction force can be adjusted, and a blade member provided at a lower part of the robot is pressed against the floor surface so that the pressing force can be adjusted. A wiper means for wiping moisture on the floor surface in the vicinity of the suction port of the vacuum means by movement, and a floor surface moisture removing means comprising:
And a light-emitting unit that irradiates light to the floor surface before moisture removal by the floor-surface moisture removing unit, and a light-receiving unit that receives the reflected light, and based on the illuminance attenuation rate of the reflected light with respect to the irradiated light , Comprising a pre-removal water amount detection means for detecting the water content on the floor surface,
The floor cleaning robot, wherein the cleaning control means adjusts the suction force of the vacuum means and the blade member pressing force of the wiper means based on the moisture amount detection result by the pre-removal moisture amount detection means. The floor cleaning robot according to claim 9,
The cleaning means is capable of jetting drying air to the floor surface from which moisture has been removed by the floor surface moisture removing means, and is capable of adjusting the supply air amount adjusting means and the air temperature. Air supply means for drying having a supply air temperature control means,
And a light-emitting unit that irradiates light to the floor surface after moisture removal by the floor-surface moisture removing unit, and a light-receiving unit that receives the reflected light, and based on the illuminance attenuation rate of the reflected light with respect to the irradiated light A post-removal water amount detection means for detecting the amount of water on the floor after water removal,
The cleaning control means adjusts an air amount and an air temperature of the drying air ejected by the drying air ejecting means based on a moisture amount detection result by the post-removal moisture amount detecting means. Surface cleaning robot. A floor cleaning robot according to any one of claims 4 to 10,
The travel control unit receives a control signal for controlling the cleaning unit from the cleaning control unit, so that the robot travels at a travel speed set in advance according to the content of the cleaning operation by the cleaning unit. A floor cleaning robot characterized by adjusting a traveling speed by the traveling means. A floor cleaning robot according to any one of claims 4 to 10,
A failure detection means for detecting a failure occurring in each component of the robot;
When a failure is detected by the failure detection means,
The travel control means and the cleaning control means stop normal cleaning work,
Depending on the content of the detected failure, stop the operation of the robot on the spot, or generate travel route information for evacuation in which the travel route generation means retreats from the current position to a predetermined standby position at the shortest distance, The floor cleaning robot according to claim 1, wherein the travel control unit selectively performs the retreat to the predetermined standby position based on the retreat travel route information. A floor cleaning robot according to claim 12,
Comprising wireless communication means capable of communicating with operator information communication means;
When a failure is detected by the failure detection means, the content of the failure is transmitted to the operator information communication means via the wireless communication means.

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