JP2014014456A - Cleaning system, cleaning device, bathroom, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning system that efficiently performs cleaning.SOLUTION: A cleaning system 1 includes a cleaning device 100 including cleaning means 110, a storage unit 120, an identifying unit 130, an input/output unit 140, an image capturing unit 150, an identification information detection unit 170, and a cleaning control unit 180, and cleans a cleaning object. The identifying unit 130 identifies a cleaning range of the cleaning object on the basis of information on a dimension of the cleaning object, so that efficient cleaning can be performed.

Description

    The present invention relates to a cleaning system, a cleaning device, a bathroom, a control method, and a program.

A self-propelled cleaning robot (cleaning device) that cleans the floor while moving automatically is known (see Non-Patent Document 1, for example).
In addition, there are places such as bathrooms where the room structure is manufactured according to the manufacturer's specifications.

"About Rumba", [online], iRobot, [Search on March 15, 2012], Internet <URL: http://www.irobot-jp.com/roomba/index.html>

However, the cleaning operation of the self-propelled cleaning robot (cleaning device) is wasteful.
For example, some self-propelled cleaning robots (cleaning devices) learn the status of the area to be cleaned before cleaning. A self-propelled cleaning robot that learns before cleaning does not perform cleaning but only patrols while it learns the situation of the area. The self-propelled cleaning robot obtains map information indicating the shape and position of the area to be cleaned and information on the contamination status of the visited position by performing this patrol operation, and based on the obtained information. Clean while running. In addition, the above self-propelled cleaning robot may perform the same patrol operation every time cleaning is performed even when a place including the same region is cleaned. As a result, the self-propelled cleaning robot described above has a patrol operation that moves within the area without cleaning, so that the time from the start of the patrol operation to the end of the cleaning in accordance with the command increases, and wasted time. There is a problem that requires. In addition, since the area to be cleaned is determined by the patrol operation, the area that could not be detected by the patrol operation cannot be recognized as the area to be cleaned, and if an area that could not be detected occurs, the entire room is covered. Can be impossible to clean.
On the other hand, some self-propelled cleaning robots do not learn the status of the area to be cleaned before cleaning. A self-propelled cleaning robot that does not learn before cleaning starts a cleaning operation immediately in response to a command without performing a patrol operation for learning the state of the area. A self-propelled cleaning robot that does not perform such a patrol operation for learning self-runs based on a certain rule, but may not be able to clean the entire room. In addition, since the self-propelled route is not determined based on the information of the entire room, the above self-propelled cleaning robot often uses the same route repeatedly or cleans the same place many times. It is operating.
In short, the self-propelled cleaning robot has a problem that it cannot perform cleaning efficiently.
In view of the above problems, an object of the present invention is to provide a cleaning system, a cleaning device, a bathroom, a control method, and a program that perform efficient cleaning.

  The cleaning system according to the first aspect of the present invention is a cleaning system that cleans a cleaning target, and includes a specifying unit that specifies a range to be cleaned in the cleaning target based on dimension information of the cleaning target. To do.

  The cleaning device according to the second aspect of the present invention is a cleaning device that cleans a cleaning target, and a specific unit that specifies a range to be cleaned in the cleaning target based on dimensional information of the cleaning target, and the cleaning target. And a cleaning means for cleaning.

  A bathroom according to a third aspect of the present invention includes the cleaning device according to the second aspect of the present invention.

  A control method according to a fourth aspect of the present invention is a control method for a cleaning system that cleans a cleaning target, and includes a step of specifying a range to be cleaned in the cleaning target based on dimensional information of the cleaning target. Features.

  A program according to a fifth aspect of the present invention is a program for causing a computer included in a cleaning system for cleaning a cleaning target to execute a step of specifying a range to be cleaned in the cleaning target based on dimensional information on the cleaning target. is there.

  According to the present invention, it is possible to provide a cleaning system, a cleaning device, a bathroom, a control method, and a program that perform efficient cleaning.

It is a figure which shows one implementation of the cleaning system of 1st Embodiment. It is a figure which shows the cleaning apparatus in the cleaning system of this embodiment. It is a lineblock diagram showing the cleaning system of this embodiment. It is a figure which shows an example of the standard information of the bathroom of this embodiment. It is a figure which shows an example which defined the cleaning method of the predetermined surface of the bathroom of this embodiment. It is a flowchart which shows the process which cleans the bathroom of this embodiment. It is a figure which shows the cleaning apparatus in the cleaning system of 2nd Embodiment. It is a block diagram which shows one implementation of the cleaning system of 3rd Embodiment. It is a block diagram which shows one implementation of the cleaning system of 4th Embodiment. It is a figure which shows the structure of the bathroom which concerns on this embodiment. It is a figure which shows the structure of the bathroom which concerns on the modification of this embodiment. It is a figure which shows the structure of the bathroom which concerns on the modification of this embodiment. It is a figure which shows the structure of the bathroom which concerns on the modification of this embodiment. It is a figure which shows the structure of the bathroom which concerns on the modification of this embodiment. It is a figure which shows the structure of the bathroom which concerns on the modification of this embodiment.

  Hereinafter, this embodiment will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals, and the description thereof may be simplified or omitted.

(First embodiment)
FIG. 1 is a diagram illustrating an embodiment of the cleaning system according to the first embodiment.
The cleaning system 1 shown in FIG. 1 is a system that cleans the bathroom 2 by driving a cleaning device 100 (self-propelled cleaning robot) that performs self-propelled cleaning.
The bathroom 2 will be exemplified and described as an object to be cleaned by applying the cleaning system 1 (cleaning object). For example, the bathroom 2 is manufactured as a manufacturer's standard product. When the bathroom 2 is a target to be cleaned, the cleaning system 1 specifies a range to be cleaned in the bathroom 2 based on the dimensional information of the bathroom 2 (cleaning target). Moreover, the cleaning apparatus 100 cleans the range specified in the bathroom 2.

The bathroom 2 includes a substantially rectangular floor surface 21, four wall surfaces 22 (wall surfaces 22 </ b> A, 22 </ b> B, 22 </ b> C, 22 </ b> D) provided so as to surround the floor surface 21, and a ceiling surface 23.
A bathtub 24 is disposed on the floor surface 21, and a drain outlet 25 is provided on a part of the floor surface 21 that is different from the place where the bathtub 24 is disposed.
A door 26 is provided on one of the four wall surfaces 22 (for example, the wall surface 22B), and a window 27 is provided on the other wall surface 22 (for example, the wall surface 22C). In this embodiment, the operation part 30 which controls the hot water supply state of the hot water supply equipment (not shown) which supplies hot water to the bathroom 2 is provided in one wall surface 22 (for example, wall surface 22B). Furthermore, faucets 31 and 36, a shower head 32 (including a base and a hose), a mirror 33, a lighting fixture 34, and a handrail 35 are provided on one wall surface 22 (for example, the wall surface 22D).
A ventilation port 37 and an inspection port 38 are provided on the ceiling surface 23.
As described above, various surfaces are arranged on the floor surface 21, the four wall surfaces 22, and the ceiling surface 23 of the bathroom even in the standard configuration at the time of manufacture.

The bathroom 2 is manufactured based on predetermined standard information associated with identification information (product number or the like) indicating the type of the bathroom 2. Information such as the size of the bathroom 2, the material of the floor surface 21, the wall surface 22, and the ceiling surface 23 is managed by the standard information. In short, information such as the size of the bathroom 2 and the materials of the floor surface 21, the wall surface 22, and the ceiling surface 23 can be obtained from standard information at the time of manufacture. In the bathroom 2, the standard information of the bathroom 2 can be specified by identification information (product number or the like) indicating the type of the bathroom 2.
In addition, the products provided on the floor surface 21, the wall surface 22, and the ceiling surface 23 of the bathroom 2 are also standardized and manufactured, and according to the standard information indicating the type of each product, Standards can be specified. Thereby, the size of each product can be specified by the standard information of each product.
In the bathroom 2, the coordinates included in the three surfaces of the floor surface 21 and the wall surfaces 22A and 22B are defined as the origin O, the sides included in the two surfaces of the floor surface 21 and the wall surface 22A are the X axis, and the floor surface 21 and the wall surface 22B The sides included in the two surfaces are defined as the Y axis, and the sides included in the wall surfaces 22A and 22B are defined as the Z axis. In the figure, X0, X11 to X26 indicate positions on the X axis, Y0, Y11 to Y36 indicate positions on the Y axis, and Z0, Z11 to Z26 indicate positions on the Z axis. . The position of the origin O is indicated by (X0, Y0, Z0).

  Furthermore, the type of each product provided on each surface of the bathroom 2 is specified by information indicating a combination of the bathroom 2 and each product in the bathroom 2. By associating the combination information with the arrangement information of each product, the arrangement in the bathroom 2 can be managed.

With reference to FIG. 2, the cleaning apparatus in the cleaning system of this embodiment is demonstrated.
FIG. 2 is a diagram illustrating a cleaning device in the cleaning system of the present embodiment. The cleaning device 100 shown in FIG. 2 includes a main body 10 as a carriage that moves in the bathroom 2 and cleans by running in the bathroom 2.
The cleaning device 100 according to the present embodiment has each functional unit mounted in the main body 10. For example, in the cleaning device 100, a wheel 10 </ b> W driven by the driving unit 114 of the cleaning unit 110 is supported by the main body 10 so as to be able to roll and is provided on the side facing the surface to be cleaned with respect to the main body 10. Yes. The cleaning device 100 detects the current position and direction, and moves when the drive unit 114 drives the wheel 10W to a predetermined position instructed based on the standard information.

In addition, the drive unit 114 in the present embodiment is provided with posture holding means for holding the distance from the surface to be cleaned to the main body 10 and holds the posture and position of the main body 10 with respect to the surface to be cleaned. For example, the posture holding means may include an adsorption unit that adsorbs to the surface to be cleaned, and may adsorb to the surface to be cleaned. Thereby, the drive part 114 can hold | maintain the attitude | position and position of the main body 10 even if the surface to be cleaned is the vertical wall surface 22 or the ceiling surface 23.
Note that the drive unit 114 in the present embodiment may include a plurality of posture holding means, and the main body 10 can be moved by driving the plurality of posture holding means in conjunction with each other. For example, the time during which each of the plurality of posture holding units holds the surface is shifted, and the position of the other posture holding unit is moved while some of the posture holding units hold the surface. Furthermore, the main body 10 can be moved by alternately switching the posture holding means for holding and the posture holding means for moving the position. For example, the plurality of posture holding means may take a moving form such as walking with two legs or four legs.

The cleaning device 100 includes a cleaning unit 110 that can apply a cleaning method according to the surface to be cleaned, and cleans the surface to be cleaned according to a cleaning method suitable for the surface to be cleaned. For example, when the cleaning unit 110 includes a brush and a sponge, either the brush or the sponge may be switched according to a designated cleaning method. The number of the cleaning means 110 may be provided as necessary, may be divided according to the function and application, and may be arranged in a distributed manner in the main body 10.
As described above, the cleaning unit 110 in the present embodiment is provided in the main body 10 in which the cleaning unit 112 and the drive unit 114 are integrated. The cleaning unit 110 can move the position of the cleaning unit 112 by moving the main body 10 along each surface of the bathroom 2. The cleaning device 100 detects the current position and direction, drives the main body 10 to a predetermined position designated based on the standard information, and cleans the position by the cleaning unit 110.

The cleaning device 100 according to the present embodiment includes a power supply unit that allows the cleaning unit 110 and the like to function to be able to self-run.
Further, the cleaning device 100 performs cleaning control for cleaning by the cleaning unit 110. The cleaning device 100 drives the cleaning means 110 using the standard information (standard data) of the standard product in the area to be cleaned, thereby enabling the operation and the sensor to be simplified.
The cleaning device 100 has a function of automatically recognizing the cleaning result and learning to optimize the recommended cleaning menu.
As described above, the driving unit 114 may freely move the cleaning unit 110 to the floor surface 21, the wall surface 22, and the ceiling surface 23. Furthermore, in the bathtub 24, the drive part 114 may move the position which the cleaning means 110 cleans.

With reference to FIG. 3, the cleaning system of this embodiment is demonstrated.
FIG. 3 is a configuration diagram showing the cleaning system of the present embodiment. The cleaning system 1 shown in FIG. 3 includes a cleaning device 100.

First, the cleaning device 100 will be described. The cleaning device 100 includes a cleaning unit 110, a storage unit 120, a specifying unit 130, an input / output unit 140, an imaging unit 150, an imaging unit 160, an identification information detection unit 170, and a cleaning control unit 180.
The cleaning means 110 cleans the bathroom 2 according to a command based on information on a surface including at least one of the floor surface 21, the wall surface 22, and the ceiling surface 23 of the bathroom 2. Moreover, the cleaning means 110 may detect a cleaning condition based on the image imaged by the imaging part 150 (1st imaging part).

Such a cleaning unit 110 includes, for example, a cleaning unit 112, a drive unit 114, and a detection unit 116.
The cleaning unit 112 includes a brush, a sponge, and the like, and rubs and cleans the surface in the bathroom 2. The cleaning unit 112 includes a pressure sensor that detects a stress when a brush, a sponge, or the like is applied to each surface of the bathroom 2, and controls the pressure pressed against the surface.
In addition, the cleaning unit 112 according to the present embodiment may include a tank that holds detergent, water, and the like, and a liquid discharge unit that pressurizes and discharges the liquid held in the tank. The tank may be provided separately for each liquid to be held, and the liquid to be discharged may be switched according to the cleaning application / method. For example, examples of the liquid to be held include detergents, fungicides, and abrasives in addition to water. The liquid ejection unit can spray the liquid on the target object by adjusting the direction in which the liquid is ejected and the pressure at the time of ejection.

  The drive unit 114 (position moving means) moves the position where the cleaning means 110 cleans. The drive unit 114 (position moving unit) moves the position cleaned by the cleaning unit 110 within the range specified based on the standard information. Thus, the range to be cleaned is specified based on the standard information, and the drive unit 114 (position moving unit) adjusts the position so that the cleaning unit 110 cleans the specified range.

Further, the driving unit 114 (position moving unit) adjusts the position of the cleaning unit 110 based on a predetermined reference position. For example, in order to prevent the position of the cleaning unit 110 determined based on the reference position from deviating, the drive unit 114 (position moving unit) detects the true position of the reference position detected by the detection unit 116 (position detection unit). Based on the error from the reference position, the position where the cleaning means 110 cleans is corrected and moved to the corrected position. More specifically, the drive unit 114 (position moving unit) adds error information included in information indicating the reference position detected by the detection unit 116 (position detection unit) to information indicating the true reference position. Accordingly, the position information detected by the detection unit 116 (position detection unit) is corrected. The driving unit 114 (position moving unit) moves the position to be cleaned by the cleaning unit 110 based on the corrected corrected position information. In this embodiment, the cleaning part 112 and the drive part 114 in the cleaning means 110 are provided in the same housing | casing, and when the drive part 114 self-propels and moves, the position where the cleaning means 110 cleans is located. Move.
Furthermore, the drive unit 114 (position moving unit) of the present embodiment may move the cleaning unit 112 not only to move on the floor surface 21 but also to the wall surface 22 and the ceiling surface 23. As described above, the driving unit 114 (position moving means) can clean the cleaning target at an arbitrary height by holding the main body 10 on the surface to be cleaned.

  The detection part 116 (position detection part) detects the position where the cleaning means 110 cleans. For example, as shown in FIG. 1 described above, in the bathroom 2, a coordinate system serving as a reference for the position in the bathroom 2 is determined, and the reference position is determined according to the coordinate system. The detection part 116 (position detection part) detects the position where the cleaning means 110 cleans based on said reference | standard position. For example, in the present embodiment, an origin defined by a coordinate system that defines a space in the bathroom 2 or a predetermined position defined based on the origin is set as a reference position. When the detection unit 116 (position detection unit) detects the reference position determined in this way, an error from the reference position can be detected. For example, the detection unit 116 (position detection unit) includes a mechanical contact sensor that detects a reference position provided in the bathroom 2, a magnetic sensor that detects a magnet embedded in the wall surface 22 of the bathroom 2, and a floor of the bathroom 2. Any one of various sensors such as a receiving device that detects a wireless tag embedded in the surface 21 and the wall surface 22 is provided.

  The storage unit 120 (first storage unit) in the present embodiment includes standard information (standard product data) including dimensional information of the bathroom 2 to be cleaned, and identification information for identifying the type of the bathroom 2 to be cleaned ( Standard No) is stored in association with each other. The standard information includes information indicating the position of the bathroom 2, information on the surface included in the range to be cleaned, and the like. For example, when the object to be cleaned is a room as in the bathroom 2, the surface information includes information on at least one of the wall surface, floor surface, and ceiling surface of the room. The surface information includes information for specifying the position of the surface, and may further include information for specifying any one of the material and shape data of the surface.

The specifying unit 130 performs cleaning in the bathroom 2 to be cleaned based on the standard information stored in the storage unit 120 (first storage unit) in association with identification information for identifying the type of the bathroom 2 to be cleaned. Identify the range. For example, if the standard information includes information indicating the position of what is arranged in the bathroom 2 to be cleaned, the specifying unit 130 can specify the position of the range to be cleaned according to the standard information ( (See FIG. 4 below).
Further, the standard information may include information on the surface included in the range to be cleaned. For example, when the object to be cleaned has a structure as a room as in the bathroom 2, the surface information includes at least one of the wall surface, floor surface, and ceiling surface of the room, and the surface to be cleaned. To include. In addition, when the information for specifying the position of the surface is included in the surface information, the specifying unit 130 can specify the position of the surface included in the range to be cleaned according to the information on the surface. Further, when the surface information includes information for specifying any one of the surface material and the shape data, the specifying unit 130 can specify a cleaning method for cleaning the surface according to the surface information. The identification unit 130 identifies a range to be cleaned according to the identification information detected by the identification information detection unit 170. For example, in the bathroom 2, surfaces of different materials such as coated steel plates (painted steel plates), painted resin materials (FRP, etc.), tiles, mirrors (glass), etc. are mixed. The specifying unit 130 can specify the material and range of these surfaces based on the standard information.

  The input / output unit 140 includes an input unit that detects a user operation and a display unit that displays information. The input / output unit 140 writes and stores information based on the operation detected by the input unit in the storage unit 120 (first storage unit). The input / output unit 140 displays the identification information detected by the identification information detection unit 170 on the display unit. For example, the display unit may be a liquid crystal display unit, and the input unit may be a touch panel provided on the display unit. Alternatively, the display unit may be an LED display, and the input unit may be configured as a switch unit having “10-key” type operation buttons.

The imaging unit 150 (first imaging unit) images the bathroom 2 and causes the storage unit 120 to store image information obtained by imaging. When the image capturing unit 150 (first image capturing unit) stores image information in the storage unit 120, the image capturing unit 150 (the first image capturing unit) stores the image information in association with the position information of the cleaning device 100 and information indicating the image capturing range.
For example, the imaging unit 150 (first imaging unit) outputs an image obtained by imaging the bathroom 2 as information for detecting the status of the cleaning target or as information for detecting the status after cleaning.

The imaging unit 160 (second imaging unit) captures an image indicating identification information. The image indicating the identification information includes, for example, a character string indicating the model of the manufacturer of the bathroom 2 and encoded information such as a barcode. The image indicating the identification information may be provided in a place where it can be easily detected, such as the surface of the main body of the operation unit 30 provided in the bathroom 2 or the ceiling surface 23 of the bathroom 2.
For example, three corners of the ceiling surface 23 of the bathroom 2 are determined in advance, and predetermined marks are respectively provided at the three corners, so that the imaging unit 160 detects each mark on the ceiling so that the interior of the bathroom 2 can be detected. The direction can be detected. The information indicating the identification information is printed on the ceiling surface 23 at a predetermined position with the above three marks as a reference, thereby detecting the information printed by the imaging unit 160 (second imaging unit) as image information. can do.

  The identification information detection unit 170 detects identification information. For example, the identification information detection unit 170 may detect the identification information from information stored in the storage unit 120 as information based on the operation detected by the input unit. Identification information (standard No) for identifying the type of bathroom 2 to be cleaned is detected, and the detected identification information is written and stored in the storage unit 120 (first storage unit). Or the identification information detection part 170 may detect identification information based on the image imaged by the imaging part 160 (2nd imaging part).

The cleaning control unit 180 controls the cleaning range specified according to the standard information to be cleaned. Further, the cleaning control unit 180 controls the bathroom 2 to be cleaned by a cleaning method specified according to the standard information. As described above, the cleaning control unit 180 controls the bathroom 2 to be cleaned by at least one of the cleaning range specified according to the standard information and the cleaning method.
Further, the cleaning control unit 180 may determine the validity of the standard information by determining the standard information based on the image information indicating the range to be cleaned.
For example, the subject is imaged by a plurality of imaging units provided at different positions with a predetermined distance, and images captured from different positions are obtained. A stereo image in which the obtained images are paired includes parallax distortion corresponding to a difference in position. Spatial information around the subject can be obtained by reconstructing the shape of the subject based on the parallax distortion of the stereo image. In short, information on the shape and arrangement of the subject can be obtained by image processing based on a stereo image. Based on the information on the shape and arrangement of the subject, the positional relationship with the surface of the bathroom 2 can be detected by image processing based on a stereo image. From the positional relationship information thus detected, it can be determined whether or not there is a foreign object in the actual cleaning target area.
Moreover, the cleaning control part 180 may correct | amend the range specified from standard information based on the image information which shows the range to clean.
For example, when correcting the range specified from the standard information based on the image information indicating the range to be cleaned by the cleaning control unit 180, the obstacle when the user installed after cleaning the bathroom 2 performs cleaning It may become. Even if the cleaning target range is set based on the original standard information, there are cases where the cleaning is actually impossible. In such a case, the range specified from the standard information may be corrected based on the actually detected image information. For example, the range specified from the standard information is corrected by deleting the position of the object provided by the user on the predetermined surface from the cleaning target range or changing the designated cleaning method.

  Thus, the cleaning apparatus 100 obtains the standard information of the bathroom 2, and according to the information of each surface indicated by the obtained standard information, the cleaning method (cleaning mode) of the bathroom 2 suitable for the conditions of each surface. ) Can be selected. The cleaning device 100 performs cleaning according to the selected cleaning method (cleaning mode) of the bathroom 2.

The specification of the cleaning range and the cleaning method based on the standard information will be described with reference to FIGS. 4 and 5.
FIG. 4 is a diagram illustrating an example of bathroom standard information according to the present embodiment. FIG. 5 is a diagram illustrating an example in which a method for cleaning a predetermined surface of a bathroom according to the present embodiment is defined.
The cleaning device 100 cleans the cleaning range specified based on the standard information of the bathroom 2 according to a predetermined cleaning method.
The table shown in FIG. 4 shows an example of standard information associated with identification information corresponding to the type of bathroom. The standard information of the bathroom 2 will be described in comparison with FIG. 1 and FIG.
Information about “bathroom 2” associated with the predetermined identification information is shown. The identification information is defined by, for example, a type number indicating the manufacturer's model, and indicates information related to “bathroom 2” corresponding to the identification number.
This table | surface shows the magnitude | size of each surface of the bathroom 2, and arrangement | positioning of the goods provided in each surface. This table includes items of “place”, “item”, “X”, “Y”, “Z”, “material”, and “cleaning method”.

“Location” indicates a location where an item to be described later is arranged. “Item” indicates an article (object) arranged in the “place”. “X”, “Y”, and “Z” indicate the positions of those indicated as “items” in association with the reference X axis, Y axis, and Z axis.
“Bathroom 2” shown as “place” has “floor surface 21”, four wall surfaces 22 (“wall surfaces 22A”, “22B”, “22C”, “22D”) as “items” corresponding to “place”. ) And “ceiling surface 23”. There are items “X”, “Y”, “Z”, “material”, and “cleaning method” corresponding to each surface indicated as the “item”. Pairs of constants are defined for the items “X”, “Y”, and “Z”.
For example, each item of “X”, “Y”, “Z” in “Wall 22D” includes (X20, X20), (Y0, Y20), “X”, “Y”, “Z” in this order. (Z0, Z20) are respectively defined. Here, if “X0”, “Y0”, and “Z0” are the origins of the three-dimensional coordinate system, they are constants indicating “0”, respectively. “X20”, “Y20”, and “Z20” indicate the upper limit values of the reference X axis, Y axis, and Z axis. In short, (Y0, Y20) indicates that “wall surface 22D” exists in the range from “Y0” to “Y20” on the Y axis, and (Z0, Z20) is “Z0” to “Y” on the Z axis. The “wall surface 22D” is present in the range up to “Z20”. Note that (X20, X20) indicates that the “wall surface 22D” is orthogonal to the X axis at “X20”.

Further, in the items “material” and “cleaning method”, a material constituting each surface indicated as “item” and a cleaning method suitable for the material are defined.
For example, in each item of “material” and “cleaning method” in “wall surface 22D”, cleaning methods of “paint steel plate” and pattern “B” (FIG. 5: PTB) are respectively defined. Here, as a cleaning method of the pattern “B”, rubbing cleaning with respect to a vertical surface is designated using a detergent that does not contain an abrasive and has little dripping.
For the other surfaces as well, the position and size, material and cleaning method of the surface of the bathroom 2 are determined in the same manner as the “wall surface 22D”.
For example, as a cleaning method of the pattern “A”, rubbing cleaning with respect to the floor surface is designated using a detergent not containing an abrasive. As a cleaning method of the pattern “C”, rubbing cleaning with respect to the ceiling surface is designated using a detergent that does not contain an abrasive and has little dripping.

  Thus, by determining the position, size, material, and cleaning method of the surface, it is possible to set an accurate position and cleaning range of the surface to be cleaned, and to select a cleaning method suitable for the range.

Further, for example, the “wall surface 22D” shown as “place” has “faucet 31”, “faucet 36”, “shower head 32”, “mirror 33”, “illumination” as “items” corresponding to “place”. There are “tool 34” and “handrail 35”.
There are items “X”, “Y”, “Z”, “material”, and “cleaning method” corresponding to the article indicated as the “item”. Pairs of constants are defined for the items “X”, “Y”, and “Z”.
For example, the items “X”, “Y”, and “Z” in the “mirror 33” indicated as “item” include (X19, X20), (Y11) in the order of “X”, “Y”, and “Z”. , Y14), (Z13, Z16) are shown. In short, (X19, X20) indicates that “mirror 33” exists in the range from “X19” to “X20” on the X axis, and (Y11, Y14) is “Y11” on the Y axis from “Y11” to “X20”. “Zmirror 33” exists in the range up to “Y14”, and (Z13, Z16) indicates that “mirror 33” exists in the range from “Z13” to “Z16” on the Z axis. . In short, in the “wall surface 22D” orthogonal to the X axis at X20, the range surrounded by four points (Y11, Z13), (Y11, Z16), (Y14, Z16), (Y14, Z13) is “ It can be seen that a mirror 33 "is provided.

In addition, in the items “material” and “cleaning method”, a material constituting the article indicated as “item” and a cleaning method suitable for the material are defined.
For example, the cleaning method for “glass” and pattern “B” (FIG. 5: PTB) is defined for each item of “material” and “cleaning method” in “wall surface 22”. Here, as a cleaning method of the pattern “B”, rubbing cleaning with a detergent not containing an abrasive is designated.
For the other products, the position, size, material, and cleaning method of each product arranged in the bathroom 2 are determined in the same manner as the “mirror 33”.
For example, as a cleaning method for the pattern “D” (FIG. 5: PTD), rubbing cleaning using a nylon sponge is designated using a detergent not containing an abrasive. As a cleaning method for the pattern “G” (FIG. 5: PTG), rubbing cleaning on the glass surface is designated using a detergent containing an abrasive and little dripping. As a cleaning method of the pattern “Z”, it is specified to exclude from the cleaning range to be automatically performed.

Thus, by determining the position and size of each product, it is possible to set an accurate position and cleaning range of the surface to be cleaned, and to select a cleaning method suitable for the range.
In addition, for all the products arranged on the same surface, by extracting the range where they are arranged and defining the cleaning method according to the position and material, a cleaning method different from the surface on which the product is provided, It can be defined for each product.

  As described above, there is information related to “bathroom 2” that is referred to using the identification information as a key, and based on the information related to “bathroom 2” corresponding to the identification number, the cleaning range for each location in “bathroom 2” And the cleaning method can be obtained from the above identification information.

  In addition, the standard information of each bathroom in the present embodiment is stored in the storage unit 120 in the cleaning device 100 in association with identification information corresponding to the type of bathroom. Further, based on the bathroom standard information referred to by the identification information, the range to be cleaned is specified in the bathroom 2 to be cleaned, information for identifying the area to be cleaned and the area to be cleaned is generated, and the cleaning range is indicated. The map information is stored in the storage unit 120 in association with the cleaning method. The cleaning device 100 refers to the map information and cleans the target range according to a predetermined cleaning method corresponding to the position.

Further, in generating the map information, the target range may be discretized based on a lattice with a predetermined interval. The cleaning apparatus 100 may clean the target range according to a predetermined cleaning method corresponding to the discretized position with reference to map information indicated by the discretized position based on the grid.
Moreover, when generating said map information, according to the magnitude | size of the cleaning means 110, the range which can be cleaned and the range which cannot be determined may be determined, and the range which can be cleaned may be included in a target range. .
In addition, for the boundary portion where the ranges where different conditions are defined are adjacent, the conditions of both ranges sandwiching the boundary are compared, and the above two cleaning methods that are not affected by any range sandwiching the boundary are both You may select from the method defined as conditions of this.

The cleaning device 100 according to the present embodiment is provided with an input / output unit 140 that can input information on a cleaning space that the cleaning device 100 cleans (self-propelled) into the cleaning device 100 before cleaning (self-propelled). . Based on the input information, the cleaning device 100 performs self-propelled cleaning.
In the cleaning device 100, the identification information detection unit 170 can also receive input of the spatial arrangement, material, shape data, and the like of the cleaning target in the bathroom 2 by the input / output unit 140 and store the input in the storage unit 120. However, the information input process can be simplified by registering standard information (standard data, product symbol, etc.) including information such as the spatial arrangement, material, and shape data of the object to be cleaned in the bathroom 2 from the input / output unit 140. . Therefore, for example, the identification information detection unit 170 in the present embodiment detects the identification information of the bathroom 2 from the information detected by the input / output unit 140 based on the user's operation input, and refers to the standard information of the bathroom 2. Information.

In addition, the cleaning device 100 can set a cleaning menu for cleaning the bathroom 2 using the spatial arrangement, material, and shape data to be cleaned, and can display it on the input / output unit 140 to be confirmed by the user. .
Cleaning device 100 may display a plurality of cleaning menus as candidates on input / output unit 140 and allow the user to select them. The input / output unit 140 detects the cleaning menu selected by the user and stores it in the storage unit 120.
In addition, the cleaning device 100 may receive an instruction on a cleaning method for the cleaning device 100 in order to more accurately clean the place where the user is concerned about the degree of contamination according to the user's request.

As described above, the cleaning device 100 obtains the information on the cleaning place before cleaning, and thus can perform the cleaning of the part without performing the patrol operation without cleaning. Further, the cleaning device 100 can perform cleaning by an appropriate cleaning method without mounting a sensor for self-running or a sensor for material recognition.
Further, the imaging unit 160 automatically provides a learning function for automatically recognizing a cleaning result and automatically correcting or changing the cleaning menu and reflecting it in the next cleaning method. You may also reflect the time interval data which cleaned.

(About cleaning menu)
When the information on the place to be cleaned (preferably the identification information associated with the standard information) is input, the cleaning device 100 automatically generates the following cleaning menu and responds to the selected cleaning menu. Clean it. Hereinafter, a cleaning menu generated by the cleaning device 100 will be described.
The cleaning menu generated by the cleaning device 100 includes a “recommended cleaning menu” and a “simple cleaning menu”.

<Recommended cleaning menu (recommended mode by the cleaning device 100)>
The recommended cleaning menu is a cleaning menu for selecting an operation mode based on a recommended mode that is automatically selected and set from standard information based on input identification information. The recommended cleaning menu is a “recommended cleaning menu” generated by the cleaning device 100. This recommended cleaning menu is derived from spatial arrangement, material, and surface condition data obtained from product standard information. The cleaning method according to the recommended cleaning menu automatically selects detergents and chemicals according to the material of the product to be cleaned, selection of mechanical rubbing members, rubbing conditions (pressure, sliding speed, etc.), etc. Therefore, it is determined by comprehensively considering not only cleaning the surface of the product to be cleaned but also preventing the occurrence of corrosion and scratches.

<Simple cleaning menu (time reduction mode)>
The simple cleaning menu is a cleaning menu for selecting an operation mode that can simplify the process and shorten the cleaning time as compared to the recommended cleaning menu.

  The user may select the above two cleaning menus. For example, when there is no time, or when it is desired to clean only the main place, the “simple cleaning menu” is selected.

  Specific examples of the individual cleaning methods set in the cleaning menu are shown below.

(1) Recognize the cleaning range and spatial arrangement, and determine the optimum scanning distance and self-propelled course.
There is a home position of the cleaning device 100 in the cleaning place, and the cleaning device 100 grasps its own position in the cleaning space before cleaning.

(2) The materials are classified into levels in the order of the degree of easiness of contamination, and the priority of cleaning locations is determined in order of level according to the degree of simplification desired for cleaning (or the selection threshold is determined by the cleaning mode). Thereby, cleaning is simplified. Also, it is possible to input the place where the antifouling coating is made by yourself and simplify the cleaning of the place.

(3) Recognize the location of the rubber packing (for example, doors, windows, etc.) that is prone to mold, spread the mold remover, leave it for a while, and rub it with water to wash mold (for example, Cleaning method F (see FIG. 4)).

(4) The selection of the cleaning tool is changed according to the roughness of the surface shape of the material and the material. Specifically, for a rough surface such as a bathroom floor with a strong material, use a strong brush that can handle bumps (see Cleaning Method A, for example), and the surface shape is Use soft and fine materials such as wes for fine and weak surfaces. As a result, the dirt adhering to the groove is scraped off (see, for example, cleaning methods B and D (FIGS. 4 and 5 (PTD))).

(5) The location where the splash of dirt is likely to adhere is determined by the distance from the position of the drain port 25, and the importance of cleaning the portion is increased (for example, refer to the cleaning method E). By selecting the detergent leaving time and the cleaning method depending on the place where the dirt is likely to adhere, the problem that the dirt is difficult to remove by drying is addressed.

(6) Recognize the place where cleaning should be avoided and avoid applying water or detergent.
For example, the objects that should be cleaned include the ventilation port 37 (ventilation fan) on the ceiling surface 23 and the operation unit 30 (operation input panel, instruction panel) for adjusting the hot water temperature of the hot water supply facility. A place where such an object is present is recognized and removed from the cleaning target range (for example, refer to cleaning method Z (FIGS. 4 and 5 (PTZ))).

(7) Recognize a place where water scale is conspicuous, and perform cleaning by switching the cleaning method.
For example, there are a mirror 33 and faucets 31 and 36 as places where the water scale is easily noticeable. In the above place, a cleaning method such as polishing with an abrasive to give gloss is selected (for example, refer to cleaning method G (FIG. 4, FIG. 5 (PTG))).

In addition to the above, it is also possible to indicate a place where the user wants to particularly clean, or a place where the user wants to avoid cleaning. For example, according to the user's request such as “I want you to clean the four corners of the bathroom 2 and the bathtub 24 intensively”, “Do not spray the blinds in the window 27”, the time to clean Change the variable for adjusting or cleaning method from the recommended value. The above adjustment is processed by the cleaning control unit 180 based on information registered via the input / output unit 140.
In addition, when the input / output unit 140 displays these cleaning menu displays and instructions on a GUI (Graphical User Interface), it is easy for the user to perform operations and recognition.

  In addition, the cleaning method using the standard information of the location to be cleaned is not limited to the cleaning device 100 (self-propelled cleaning robot), and can be used for a cleaning device that does not self-propelled, which will be described later. For example, in an apparatus for cleaning an entire bathroom, information on the spatial arrangement and material in the bathroom can be input using standard information, so that cleaning can be performed efficiently.

(About the cleaning process learning method based on the cleaning result)
The cleaning device 100 performs a learning process for adjusting the recommended cleaning method value based on the cleaning result data.
Based on the cleaning result data, when cleaning the same place after the cleaning, or the cleaning menu (standard) to determine how to clean this time based on the previous cleaning result data It is desirable for the cleaning device 100 to automatically create a menu that can be selected by the user after the menu has been cleaned.

Examples of data that the cleaning device 100 recognizes from the cleaning result data after cleaning in order to perform a cleaning method learning process in the cleaning device 100 include the following.
-Presence / absence of obstacles within the range of self-running It detects whether there was an obstacle (obstacle) when it was cleaned, and used it as spatial position correction information.
-Judgment value of the cleaning result For example, the number, strength, and method of the next cleaning based on the result of judging whether there was a part where it was judged that the dirt was not removed in this cleaning or whether a new scratch occurred It is reflected in such adjustments.
・ History information on the date of cleaning If the cleaning interval from the previous time to this time is long, it is judged that dirt has accumulated, and it is adjusted so that it is carefully performed the next time cleaning is performed.
The cleaning apparatus 100 (cleaning control unit 180) may perform a cleaning method learning process based on result data other than the above.

Next, a cleaning process in the cleaning system will be described with reference to FIG.
FIG. 6 is a flowchart illustrating a process of cleaning the bathroom according to the present embodiment. In the process shown in FIG. 6, first, the cleaning device 100 generates information required for the cleaning control process as described below.

  The input / output unit 140 causes the storage unit 120 to store information input by a user operation. The identification information detection unit 170 detects identification information (standard No) that identifies the type of the bathroom 2 that is the cleaning target from the information stored in the storage unit 120, and uses the detected identification information as identification information of the target region. Set. The identification information detection unit 170 writes and stores the set identification information in the storage unit 120 (first storage unit) (step Sa5). The specifying unit 130 specifies a range to be cleaned in the bathroom 2 to be cleaned based on the standard information stored in the storage unit 120 (first storage unit) in association with the set identification information, and a region to be cleaned And information for identifying the area not to be cleaned are stored in the storage unit 120 as map information (step Sa10).

  Next, the cleaning apparatus 100 sets conditions for selecting a process as described below. The cleaning control unit 180 sets a reference position and a reference direction in the cleaning area specified according to the standard information (step Sa15). The imaging unit 150 (first imaging unit) images the bathroom 2 and detects the current position and direction (step Sa20). The cleaning control unit 180 extracts a cleaning mode suitable for the cleaning region based on the standard information specified from the identification information (step Sa25) and sets the extracted cleaning mode (step Sa30).

  Next, the cleaning device 100 controls the cleaning unit 110 to perform cleaning as described below. The drive unit 114 moves the position of the cleaning unit 110 to the reference position (step Sa35). The cleaning control unit 180 starts cleaning according to the set cleaning mode (step Sa40). The cleaning control unit 180 detects the current position of the cleaning unit 110 in the target area and the planned moving direction (step Sa50).

  Next, the cleaning control unit 180 determines whether or not to continue cleaning in the same cleaning mode (step Sa60). If it is determined in step Sa60 that the cleaning in the same cleaning mode is to be continued (step Sa60: Yes), the process proceeds to step Sa70.

  On the other hand, when it is determined by the determination in step Sa60 that the cleaning in the same cleaning mode is not continued (step Sa60: No), the cleaning control unit 180 changes the cleaning mode according to the information of the next movement destination surface ( Step Sa65).

  Next, the cleaning control unit 180 controls the driving unit 114 to move the position of the cleaning unit 110 in a predetermined movement direction (step Sa70). The cleaning control unit 180 controls the cleaning means 110 to perform cleaning by a cleaning method corresponding to the cleaning mode (step Sa75). The cleaning control unit 180 determines whether or not there is a region to be cleaned (step Sa80). When it determines with the area | region to clean remaining by determination in step Sa80 (step Sa80: Yes), it progresses to the process of step Sa50 and the cleaning control part 180 cleans the remaining area | region.

  On the other hand, when it is determined by the determination in step Sa80 that there is no area to be cleaned (step Sa80: No), the cleaning control unit 180 determines that the cleaning of the predetermined area is completed and detects the cleaning result. In addition, the imaging unit 150 detects the situation in the area (step Sa90). The cleaning control unit 180 stores the situation detected by the imaging unit 150 in the storage unit 120 as a result of the current cleaning, and uses it as history information (step Sa95).

  By the process shown above, the cleaning system 1 can clean the bathroom 2. The information recorded in the above process can be used as history information for determining a recommended method for the next cleaning.

(Second Embodiment)
With reference to FIG. 7, the cleaning apparatus in the cleaning system of this embodiment is demonstrated.
FIG. 7 is a diagram illustrating a cleaning device in the cleaning system of the present embodiment. The cleaning device 100A shown in FIG. 7 includes a main body 10 as a carriage that moves in the bathroom 2, and cleans by running in the bathroom 2.
In the cleaning device 100A according to the present embodiment, the arm portion 12 supported by the bracket 12B is provided on the upper surface of the main body 10A. The bracket 12B is supported so as to be rotatable in the horizontal direction with respect to the upper surface of the main body 10A, and supports the arm portion 12 so as to be rotatable in the front-rear direction. Moreover, as shown in FIG. 2, the cleaning device 100A includes a plurality of arm portions 12 that are connected in series, and a cleaning means 110A (cleaning portion 112A, cleaning portion 112A, A detection unit 116A) is provided.

100 A of cleaning apparatuses are equipped with the power supply part which makes the arm part 12, the cleaning means 110, 110A, etc. function, and can be self-propelled.
Further, the cleaning device 100A detects the current position and direction, drives the main body 10 to a predetermined position, drives the arm unit 12, and performs cleaning control for cleaning the predetermined position by the cleaning means 110A. The cleaning device 100A drives the cleaning means 110A using standard information (standard data) of standard products in the area to be cleaned, and enables operation and sensors to be simplified.
The cleaning device 100A has a function of automatically recognizing the cleaning result and learning by itself to optimize the cleaning menu.

  As described above, for example, the cleaning unit 112A in the cleaning unit 110A includes the drive unit 114 for moving the main body 10 (cleaning unit 110) and the drive unit 114A for moving the cleaning unit 112A. The cleaning unit 112 </ b> A and the main body 10 are connected by an arm unit 12. The drive unit 114A may drive the arm unit 12 to move the cleaning unit 110A (cleaning unit 112A) to clean the cleaning unit 110A (cleaning unit 112A). Thus, by providing the cleaning unit 112A in a housing different from the main body 10, the main body 10 provided with the driving unit 114A is disposed on the floor surface 21, and the cleaning unit 112A on the wall surface 22 and the ceiling surface 23 is arranged. The position can be moved. Furthermore, when cleaning the inside of the bathtub 24, the drive unit 114A can move the position of the cleaning unit 112A.

The cleaning device 100 </ b> A detects the current position and direction, performs cleaning control that drives the main body 10 to a predetermined position and causes the cleaning unit 110 to clean the predetermined position.
As described above, for example, when the cleaning unit 112 and the driving unit 114 in the cleaning unit 110 are provided in the integrated main body 10, the main body 10 is moved along each surface of the bathroom 2. Thus, the position of the cleaning unit 112 can be moved.

(Third embodiment)
Next, the cleaning system of this embodiment will be described with reference to FIG.
FIG. 8 is a configuration diagram showing an embodiment of the cleaning system of the present embodiment. The cleaning system 1 shown in this figure includes a cleaning device 100B and an information management device 200.
Since the cleaning device 100 described in the first embodiment stores the standard information of each bathroom that is a candidate for cleaning in the storage unit 120 provided in association with the identification information, the cleaning device 100 is based on information stored in the storage unit 120. And generate information about the surface to be cleaned. On the other hand, in the present embodiment, the information management apparatus 200 generates information on the surface to be cleaned. Hereinafter, the present embodiment will be described focusing on the description of the information management apparatus 200.

The information management apparatus 200 includes a storage unit 220, a specifying unit 230, and a communication processing unit 290.
The storage unit 220 (first storage unit) in this embodiment includes standard information (standard product data) including dimensional information of the bathroom 2 to be cleaned, and identification information for identifying the type of the bathroom 2 to be cleaned ( Standard No) is stored in association with each other. The standard information includes information indicating the position of the bathroom 2, information on the surface included in the range to be cleaned, and the like. For example, when the object to be cleaned is a room like the bathroom 2, the surface information stored in the storage unit 220 includes information on at least one of the wall surface, floor surface, and ceiling surface of the room. . Further, the information on the surface includes information for specifying the position of the surface, and may further include information for specifying any one of the material and shape data of the surface.

The identification unit 230 performs cleaning in the bathroom 2 to be cleaned based on the standard information stored in the storage unit 220 (first storage unit) in association with identification information for identifying the type of the bathroom 2 to be cleaned. Identify the range. For example, when the standard information includes information indicating the position of what is arranged in the bathroom 2 to be cleaned, the specifying unit 230 can specify the position of the range to be cleaned according to the standard information.
Further, the standard information may include information on the surface included in the range to be cleaned. For example, when the object to be cleaned has a structure as a room as in the bathroom 2, the surface information includes at least one of the wall surface, floor surface, and ceiling surface of the room, and the surface to be cleaned. To include. Further, when the surface information includes information for specifying the surface position, the specifying unit 230 can specify the position of the surface included in the range to be cleaned according to the surface information.
In addition, when the surface information includes information for specifying any of the surface material and shape data, the specifying unit 230 may specify a cleaning method for cleaning the surface according to the surface information. it can. The identification unit 230 identifies a range to be cleaned according to the identification information detected by the identification information detection unit 170 in the cleaning device 100B. For example, in the bathroom 2, surfaces of different materials such as steel plates coated with a coating film (painted steel plates), painted resin materials (FRP (Fiber Reinforced Plastics), etc.), tiles, mirrors (glass), etc. are mixed. To do. The specifying unit 230 can specify the material and the range of these surfaces based on the standard information.

The communication processing unit 290 receives the identification information of the bathroom 2 from the cleaning device 100B and outputs the received identification information to the specifying unit 230.
In addition, the communication processing unit 290 sends information on the surface of the bathroom 2 specified by the specifying unit 230 to the cleaning device 100B. The information on the surface of the bathroom 2 includes at least one of a wall surface, a floor surface, and a ceiling surface of the room that is the bathroom 2, and includes a surface to be cleaned.
Moreover, the communication processing part 290 sends the cleaning method which cleans a surface as the information of the surface specified by the specific | specification part 230, and the information which specifies the range to clean to the cleaning apparatus 100B.

Next, the cleaning device 100B will be described. The cleaning device 100B includes a cleaning unit 110, a storage unit 120B, an input / output unit 140, an imaging unit 150, an imaging unit 160, an identification information detection unit 170, a cleaning control unit 180, and a communication processing unit 190.
The storage unit 120B (second storage unit) in the present embodiment stores identification information (standard No) that identifies the type of the bathroom 2 to be cleaned. The storage unit 120B (second storage unit) stores information on the surface of the bathroom 2 specified by the information management device 200 (specification unit 230) according to the identification information. The information on the surface to be stored includes information for specifying the position of the surface, and may further include information for specifying either the material of the surface or the shape data.

The communication processing unit 190 is connected to the information management device 200 in a communicable state, and communicates with the information management device 200 in response to a request from the cleaning device 100. For example, the communication processing unit 190 sends the identification information of the bathroom 2 detected by the cleaning device 100 to the information management device 200. In response to a request from the cleaning device 100, the information management device 200 obtains standard information (standard product data) including dimensional information corresponding to the identification information of the bathroom 2. As described above, the obtained standard information includes information indicating the position in the bathroom 2 and information on the surface included in the range to be cleaned.
The communication processing unit 190 associates the standard information of the bathroom 2 obtained from the information management device 200 with the identification information (standard No.) for identifying the type of the bathroom 2 to be cleaned, and writes and stores it in the storage unit 120. . Even if the standard information of the bathroom 2 is not stored in the storage unit 120, the required standard information can be obtained from the information management apparatus 200 via the communication processing unit 190 as described above. it can. In short, the communication processing unit 190 transmits the identification information of the bathroom 2 stored in the storage unit 120B to the information management apparatus 200. The communication processing unit 190 receives the information of the surface of the bathroom 2 specified by the information management device 200 and transmitted from the information management device 200, and stores it in the storage unit 120B.

  Unlike the cleaning device 100, the cleaning device 100 </ b> B cleans the bathroom 2 based on information on the surface of the bathroom 2 specified by the information management device 200. In short, the description of the first embodiment is read by performing the processing performed by the identifying unit 130 in the cleaning device 100 by the identifying unit 230 in the information management device 200.

  Thus, in the information management apparatus 200 of the cleaning system 1 that cleans the bathroom 2, the storage unit 220 (first storage unit) includes standard information (standard product data) including dimensional information of the bathroom 2 to be cleaned. The identification information (standard No) identifying the type of the bathroom 2 is stored in association with each other. The identification unit 230 is a range to be cleaned in the bathroom 2 based on the standard information including the dimension information of the bathroom 2 stored in the storage unit 220 (first storage unit) in association with the identification information for identifying the type of the bathroom 2 Is identified.

  Note that the information management device 200 of the cleaning system 1 performs the above-described communication processing while being provided in a state where it can communicate with the cleaning device 100B. In short, the cleaning device 100 </ b> B may be in a state where it cannot communicate with the information management device 200 while cleaning the bathroom 2.

  Moreover, there is no restriction | limiting in the form and structure of the information management apparatus 200, for example, the information management apparatus 200 may be comprised as a portable radio | wireless terminal.

  Alternatively, when the information management device 200 and the cleaning device 100B are provided in a state where they can communicate via a network, the information management device 200 may be a server connected to the network. Communication between the information management device 200 and the cleaning device 100B is not limited to one-to-one communication, and may be performed via a relay device that relays communication between the information management device 200 and the cleaning device 100B. Good.

  Alternatively, the information management apparatus 200 may be provided in the bathroom 2. Furthermore, the information management apparatus 200 may include a hot water supply facility attached to the bathroom 2. For example, it may be incorporated in the operation unit 30 of the hot water supply facility, may be integrated with the operation unit 30, and may be a partial function of the operation unit 30.

(Fourth embodiment)
Next, with reference to FIG. 9, the cleaning system of this embodiment is demonstrated.
FIG. 9 is a configuration diagram showing an embodiment of the cleaning system of the present embodiment. The cleaning system 1A shown in FIG. 9 includes a bathroom 2C.
As illustrated in FIG. 9, the bathroom 2 </ b> C is surrounded by a floor surface 21, a wall surface 22, and a ceiling surface 23. The bathroom 2C is provided with a bathtub 24 that can store a liquid such as water or hot water, a drain 25 that discharges the liquid to the outside, a faucet 31 that discharges a liquid such as water or hot water, and a faucet 36.

  The drainage port 25 is connected to the outside via a pipe (not shown). A bathtub drain port 24 b is provided at the bottom 24 a of the bathtub 24. The bathtub drainage port 24b is connected to the pipe (not shown).

The bathroom 2C includes a cleaning device 100C that sprays a predetermined liquid on each surface of the bathroom 2C and cleans each surface.
The cleaning device 100C cleans each surface in the bathroom 2C to be cleaned. For example, the cleaning device 100C can adjust the position at which the liquid is ejected.
The cleaning device 100C includes at least a storage unit 120C (first storage unit), a specifying unit 130C, and a cleaning unit 320.
Storage unit 120C (first storage unit) stores standard information (standard product data) including dimensional information of bathroom 2C to be cleaned and identification information (standard No) identifying the type of bathroom 2C in association with each other. To do.
The specifying unit 130C specifies a range to be cleaned in the cleaning target based on the standard information stored in the storage unit 120C (first storage unit) in association with the identification information for identifying the type of the bathroom 2C.
The bathroom 2 </ b> C is provided with cleaning means 320 for supplying a cleaning liquid to the floor surface 21 and the wall surface 22 to clean the floor surface 21 and the wall surface 22. The cleaning means 320 cleans the bathroom 2C based on the specified range. The cleaning means 320 shown in FIG. 9 includes a base 321 and a cleaning liquid nozzle 322 provided on the base 321.
The base 321 is formed, for example, in the longitudinal direction in one direction of the ceiling surface 23. The base 321 is provided to be movable in the short direction by, for example, a moving mechanism (not shown). A plurality of cleaning liquid nozzles 322 are provided side by side in the longitudinal direction of the base portion 321. The plurality of cleaning liquid nozzles 322 are arranged at an equal pitch, for example.

  The cleaning liquid nozzle 322 discharges the cleaning liquid toward, for example, the floor surface 21 and the wall surface 22. As the cleaning liquid, for example, water, hot water, detergent or the like can be used. Further, for example, a liquid having a fungicidal function may be used. The cleaning liquid nozzle 322 is connected to a cleaning liquid supply source (not shown) via the base 321.

The cleaning liquid nozzle 322 is provided so that the discharge direction of the cleaning liquid can be individually changed. For example, the cleaning liquid nozzle 322 is provided to be rotatable around a support position by the base 321 by a rotation mechanism (not shown). As the cleaning liquid nozzle 322 rotates, the discharge direction of the cleaning liquid changes. Of course, it is good also as a structure which changes the discharge direction of a washing | cleaning liquid with another form. The discharge operation of the cleaning liquid from the cleaning liquid nozzle 322, the rotation operation of the cleaning liquid nozzle 322, and the like can be appropriately performed using a switch or a remote controller (not shown).
The cleaning means 320 in this embodiment is controlled by the cleaning device 100C, and the cleaning liquid from the cleaning liquid nozzle 322 is within a range specified based on the standard information stored in the storage unit 120C (first storage unit). The position at which the liquid is ejected can be adjusted by performing a discharge operation, a rotation operation of the cleaning liquid nozzle 322, and the like.

Next, the operation of the cleaning means 320 configured as described above will be described with reference to FIG. FIG. 10 is a diagram for explaining the operation of the cleaning means 320.
First, a switch or a remote controller (not shown) is operated to discharge the cleaning liquid from the cleaning liquid nozzle 322 with the cleaning liquid nozzle 322 facing the floor 21. With this operation, the cleaning liquid Q is discharged from the cleaning liquid nozzle 322 toward the floor surface 21 along the direction of gravity. After the discharged cleaning liquid Q reaches the floor surface 21, the foreign matter adhering to the floor surface 21 is washed away. The flow rate or flow rate of the cleaning liquid discharged from the cleaning liquid nozzle 322 is set to a value that can remove foreign matters on the floor surface 21.

  Further, for example, by operating a switch or a remote controller (not shown) to change the discharge direction of the cleaning liquid by the cleaning liquid nozzle 322 or moving the cleaning liquid nozzle 322 in the short direction, not only the floor surface 21 but also the wall surface The cleaning liquid can be discharged toward 22 and the bathtub 24. The cleaning liquid that has reached the wall surface 22 or the bathtub 24 wash away the foreign matter adhering to the wall surface 22 or the bathtub 24.

The cleaning liquid Q that is supplied to the floor surface 21, the wall surface 22, or the bathtub 24 and rinses away foreign substances is discharged via the drain port 25 provided on the floor surface 21 or the bathtub drain port 24 b provided on the bottom 24 a of the bathtub 24. It is discharged outside. As described above, the drain port 25 serves as a cleaning liquid discharge unit that discharges the water and hot water discharged from the tap 31 and the tap 36 and discharges the cleaning liquid Q.
The cleaning means 320 in the present embodiment is controlled by the cleaning device 100C, and discharges the cleaning liquid from the cleaning liquid nozzle 322 to a range specified based on the standard information instead of the operation of the above-described switch or remote controller. The position where the liquid is ejected can be adjusted by performing the operation, the rotating operation of the cleaning liquid nozzle 322, and the like.

  As described above, according to the present embodiment, the bathroom 2 </ b> C surrounded by the floor surface 21, the wall surface 22, and the ceiling surface 23, and a part of the floor surface 21 and the wall surface 22 are provided in the room of the bathroom 2 </ b> C. The cleaning means 320 for supplying the cleaning liquid Q to the area to clean the area, and the drainage outlet 25 and the bathtub drainage outlet 24b for discharging the waste liquid cleaning the area to the outside of the bathroom 2C are provided. Can be efficiently cleaned.

The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention.
In the above embodiment, the configuration in which the cleaning liquid discharged from the cleaning liquid nozzle 322 is connected to a cleaning liquid supply source (not shown) has been described as an example, but the present invention is not limited to this.

  For example, as shown in FIG. 11, it is good also as a structure which uses the remaining hot water accommodated in the bathtub 24 as a washing | cleaning liquid. In this case, the bathroom 2C is provided with a pipe 315 and a pump 316 for supplying remaining hot water from the bathtub 24 to the cleaning liquid nozzle 322 through the base 321 as shown in FIG. With this configuration, the remaining hot water can be reused efficiently, so that low-cost cleaning is realized.

  Further, for example, water or hot water discharged from the faucet 31 and the faucet 36 may be routed to the cleaning liquid nozzle 322. Specifically, as shown in FIG. 12, a connector 330 connected to the base 321 via a pipe 331 can be provided on the wall surface 22. In this configuration, by connecting the faucet 31 and the faucet 36 to the connector 330 using a pipe (not shown), water and hot water discharged from the faucet 31 and the faucet 36 are connected to the base portion via the connector 330 and the pipe 331. 321. The faucet 31 and the faucet 36 may be directly connected to the connector 330. Further, the shower head 32 connected to the faucet 36 may be connected to the connector 330.

  In the above embodiment, the configuration in which the cleaning unit 320 discharges the cleaning liquid from the cleaning liquid nozzle 322 has been described as an example. However, the present invention is not limited to this. For example, as shown in FIG. 13, the cleaning liquid supply unit 323 that supplies the cleaning liquid Q to the wall surface 22 may be provided so that the cleaning liquid Q flows downward along the wall surface 22 in a curtain shape. For example, the cleaning liquid supply unit 323 supplies the cleaning liquid Q to the wall surface 22 so that the cleaning liquid Q flows over the entire surface of one wall surface 22.

  In the configuration illustrated in FIG. 13, the cleaning liquid supply unit 323 is provided at two locations, and the configuration in which the cleaning liquid Q is supplied to two opposing wall surfaces 22 of the four wall surfaces 22 is illustrated as an example. There is no limit. For example, it is good also as a structure which arrange | positions the washing | cleaning liquid supply part 323 so that the washing | cleaning liquid Q may be supplied to the one wall surface 22, the three wall surfaces 22, and all the wall surfaces 22, respectively.

  In the above embodiment, the configuration in which the cleaning liquid Q as the liquid is discharged from the cleaning liquid nozzle 322 has been described as an example, but the present invention is not limited to this. For example, as shown in FIG. 14, for example, a mist-like cleaning liquid M such as steam may be discharged from the cleaning liquid nozzle 322. In this case, a mist supply source 340 is connected to the base 321, and the mist-like cleaning liquid M generated by the mist supply source 340 is discharged from the cleaning liquid nozzle 322 via the base 321. With this configuration, for example, by supplying steam into the bathroom 2C, dirt such as mold is easily removed.

  Further, in addition to the configuration of the above-described embodiment, for example, as illustrated in FIG. 15, the bathroom dryer 500 may be provided on the ceiling surface 23 or the like. Thereby, after washing | cleaning bathroom 2C using the washing | cleaning liquid Q, the washing | cleaning liquid M, etc., the bathroom 2C can be dried using the bathroom dryer 500. FIG.

  In the present embodiment, the storage unit 120 and the specifying unit 130 in the first embodiment are replaced with the storage unit 120C (first storage unit) and the specifying unit 130C in the present embodiment, and the cleaning unit 110 in the first embodiment is used. Instead, the cleaning means 320 is used.

  The cleaning liquid nozzle 322 may be used for massage in addition to being used for cleaning as described above, by discharging water or hot water. Alternatively, washing may be performed by discharging detergent as the cleaning liquid Q from the cleaning liquid nozzle 322 or discharging steam or the like as the cleaning liquid M while the laundry is suspended in the bathroom 2C.

  In addition to the configuration of the above-described embodiment, a configuration may be provided in which a control device that acquires images of the bathroom 2C before and after cleaning and determines the cleaning effect is provided. In this case, the control device operates the cleaning means 320 according to the cleaning effect.

  As a specific configuration for acquiring the image of the bathroom 2C, for example, an image of the entire bathroom (the floor surface 21, the wall surface 22, the ceiling surface 23, and the bathtub 24) may be acquired by an all-around camera.

  The control device can recognize and judge the distribution and degree of dirt and the quality of dirt (mold, oil film, etc.) by performing predetermined processing on the acquired image. In this case, a configuration in which a moving mechanism for moving the imaging range of the omnidirectional camera may be provided. Thereby, the detailed image of a required site | part is acquirable. Further, the control device may have a function of obtaining the position of each dirt site by image processing and calculating the spatial position information of each dirt site using the obtained position as an origin.

  In the above-described embodiment, the bathroom 2C has been described as an example of the function room. However, the present invention is not limited to this, and the cleaning means 320 can be applied to a changing room such as a pool or a kitchen room. is there.

  According to the cleaning system 1A of the embodiment described above, the cleaning device 100C can easily specify the range to be cleaned in the bathroom 2C to be cleaned, and thus can efficiently perform cleaning.

In the cleaning system 1 shown in the above embodiment, the specifying unit 130 specifies a range to be cleaned in the cleaning target based on the dimension information of the cleaning target.
For example, the storage unit 120 (first storage unit) stores the dimension information of the bathroom 2 to be cleaned and the identification information (standard No) identifying the type of the bathroom 2 to be cleaned in association with each other, Based on the dimensional information of the bathroom 2 that is the cleaning target stored in the storage unit 120, the specifying unit 130 can specify the range to be cleaned in the bathroom 2 that is the cleaning target.
Further, for example, the storage unit 120 (first storage unit) includes standard information (standard product data) including dimensional information of the bathroom 2 to be cleaned, and identification information (standard) that identifies the type of the bathroom 2 to be cleaned. No) may be stored in association with each other. The specifying unit 130 performs cleaning in the bathroom 2 to be cleaned based on the standard information stored in the storage unit 120 (first storage unit) in association with identification information for identifying the type of the bathroom 2 to be cleaned. The range can be specified.
Thereby, since the cleaning apparatus 100 can specify easily the range to clean in the bathroom 2 which is a cleaning object, it can clean efficiently.

  In addition, since accurate information can be set in the cleaning device 100, malfunction of the cleaning device 100 can be reduced.

  Further, by setting accurate information in the cleaning device 100, it becomes possible to manage the range to be cleaned by the cleaning device 100, and unlike the cleaning method in which the cleaning device travels at random, it reduces wasteful travel and efficiency. Since a predetermined range of cleaning is often performed, it is possible to reduce an area where cleaning has not been performed.

  In addition, accurate information can be set in the cleaning device 100, and the cleaning range of the cleaning device 100 can be managed. Unlike the cleaning method in which the cleaning device runs at random, no cleaning is performed. The area can be reduced.

  In addition, the number and types of sensors mounted on the cleaning device 100 can be reduced, and the cleaning device 100 can be reduced in size and weight and cost can be reduced. Alternatively, since the location of the sensor that is no longer required can be used as a location for mounting another type of sensor, if the size of the conventional cleaning device 100 is maintained, the newly installed sensor High performance can be achieved.

  In addition, since it can be easily determined whether or not the product is a cleaning target product to which the cleaning device 100 can be applied, it is easy to widen the width of the cleaning target product to which the cleaning device 100 can be applied. Become.

  Moreover, by performing cleaning by applying the cleaning device 100, it is possible to prevent the cleaning target product from being scratched, and the finished state of cleaning is improved.

  In addition, many sensors are required to allow an unknown area to self-run, clean, and detect the material of the place to be cleaned. When many sensors are installed, the cleaning device becomes enormous, leading to high costs. With conventional cleaning devices, it was difficult to improve detection accuracy by limiting the types and number of sensors. . In such a case, by providing the cleaning system in the present embodiment, it is easy to obtain accurate surface information while solving the above-described problems and facilitating downsizing. It becomes possible to perform cleaning efficiently.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. it can.
In addition, although the bathroom was illustrated as a cleaning object shown in said embodiment, the place (room) with many spaces comprised by maker standard goods other than a bathroom can be made into a cleaning object. For example, toilets and kitchens are examples of places where there are many spaces composed of manufacturer-standard products. According to the cleaning system 1 in the present embodiment, the optimum cleaning condition can be automatically set in the cleaning device 100 based on the standard information of the place including such a space.
Moreover, since the standard data is also design data, the cleaning system can be applied even if the object to be cleaned is not a general-purpose product. For example, the present invention can also be applied to public facilities, factories, offices, vehicles, and the like in which the arrangement of equipment is rarely changed from design data as a cleaning object that is not a general-purpose product.

  In addition, each part with which the cleaning system 1 in said embodiment, the cleaning apparatus 100 (100A, 100B, 100C), and the information management apparatus 200 are provided may be implement | achieved by dedicated hardware, It may be realized by a memory and a microprocessor.

  In addition, each part with which this cleaning system 1, cleaning apparatus 100 (100A, 100B, 100C), and information management apparatus 200 are comprised is comprised by memory and CPU (central processing unit), and cleaning system 1, cleaning apparatus 100 (100A) , 100B, 100C) and a program for realizing the function of each unit included in the information management apparatus 200 may be implemented by loading the program into a memory and executing the program.

  Further, a program for realizing the functions of the respective units included in the cleaning system 1, the cleaning device 100 (100A, 100B, 100C), and the information management device 200 is recorded on a computer-readable recording medium, and the recording medium is recorded on the recording medium. Processing by each unit may be performed by causing a computer system to read and execute the recorded program. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

1, 1A cleaning system,
2, 2C bathroom,
100, 100A, 100B, 100C cleaning device,
110, 110A, 110B, 110C, 320 cleaning means,
120, 120A, 120B, 120C storage unit,
130, 130A, 130B, 130C identification unit,
200 Information management device,
220B storage unit,
230B specific part

Claims (22)

A cleaning system for cleaning a cleaning object,
A cleaning system comprising: a specifying unit that specifies a range to be cleaned in the cleaning target based on dimension information of the cleaning target. A first storage unit for storing the dimension information of the cleaning target and identification information for identifying the type of the cleaning target in association with each other;
The specific part is:
The cleaning system according to claim 1, wherein a range to be cleaned in the cleaning target is specified based on the dimension information of the cleaning target stored in the first storage unit. The first storage unit
The cleaning target standard information including the dimension information of the cleaning target and identification information for identifying the type of the cleaning target are stored in association with each other.
The specific part is:
The cleaning system according to claim 2, wherein a range to be cleaned in the cleaning target is specified based on the standard information stored in the first storage unit. The standard information includes information indicating the position of the cleaning target,
The specific part is:
The cleaning system according to claim 3, wherein a position of the range to be cleaned is specified according to the standard information. The cleaning system according to claim 3 or 4, wherein the standard information includes information on a surface included in the range to be cleaned. The cleaning according to claim 5, wherein when the object to be cleaned is a room, the information on the surface includes information on at least one of a wall surface, a floor surface, and a ceiling surface of the room. system. The information on the surface includes information for specifying the position of the surface,
The specific part is:
The position of the surface contained in the range to be cleaned is specified according to the information on the surface. The cleaning system according to claim 5 or 6 characterized by things. The information on the surface includes information specifying either the material or shape data of the surface,
The specific part is:
The cleaning system according to claim 5, wherein a cleaning method for cleaning the surface is specified in accordance with information on the surface. A cleaning control unit for controlling to clean the area to be cleaned specified according to the standard information,
The cleaning control unit
The cleaning system according to claim 8, wherein the cleaning target is controlled to be cleaned by the specified cleaning method. A cleaning means for cleaning the object to be cleaned;
The cleaning means includes
The cleaning system according to claim 9, wherein the cleaning target is cleaned based on information on the surface. A position moving means for moving a position to be cleaned by the cleaning means,
The position moving means is
The cleaning system according to claim 10, wherein the cleaning system moves within the range to be cleaned specified based on the standard information. A position detector for detecting a position to be cleaned by the cleaning means;
A reference position serving as a reference for the position within the cleaning object is defined,
The position moving means is
Correction position information obtained by correcting the position information detected by the position detection unit according to error information included in the information indicating the reference position detected by the position detection unit with respect to information indicating a true reference position. The cleaning system according to claim 11, wherein the cleaning unit moves a cleaning position based on the cleaning unit. A first imaging unit that images the cleaning object;
The cleaning means includes
The cleaning system according to claim 12, wherein a cleaning situation is detected based on an image captured by the first imaging unit. An identification information detection unit for detecting the identification information,
The specific part is:
The cleaning system according to any one of claims 9 to 13, wherein the range to be cleaned is specified according to the identification information detected by the identification information detection unit. The identification information detection unit
The cleaning system according to claim 14, wherein the identification information is detected based on a user operation input. A second imaging unit that captures an image indicating the identification information;
The identification information detection unit
The cleaning system according to claim 14 or 15, wherein the identification information is detected based on an image captured by the second imaging unit. The cleaning control unit
The cleaning system according to any one of claims 9 to 16, wherein the validity of the standard information is determined by determining the standard information based on image information indicating a range to be cleaned. . The cleaning control unit
The cleaning system according to any one of claims 9 to 17, wherein a range specified from the standard information is corrected based on image information indicating a range to be cleaned. A cleaning device for cleaning a cleaning object,
Based on the dimension information of the cleaning target, a specific unit that specifies a range to be cleaned in the cleaning target,
A cleaning device comprising: cleaning means for cleaning the cleaning object. A bathroom comprising the cleaning device according to claim 19. A control method of a cleaning system for cleaning a cleaning object,
A control method comprising: a step of specifying a range to be cleaned in the cleaning target based on dimension information of the cleaning target. In the computer equipped with the cleaning system that cleans the object to be cleaned,
The program for performing the step which specifies the range which cleans in the said cleaning object based on the dimension information of the cleaning object.

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