JP6681084B2 - Vacuum cleaner and program for vacuum cleaner - Google Patents

Description

  The present invention relates to a vacuum cleaner and a program for the vacuum cleaner.

  As a household electric vacuum cleaner that sucks an object to be cleaned and performs cleaning, a user-operated electric vacuum cleaner that allows a user to manually move a head having a suction port and perform a cleaning operation , A self-propelled electric vacuum cleaner that has a rechargeable battery as a power source and a traveling drive unit for autonomous traveling (hereinafter referred to as self-propelled) and performs a cleaning operation while self-propelled is known. There is.

  With a manual vacuum cleaner, the user can visually clean the obstacles or clear them while moving the head with suction port forward or back and forth in the same area multiple times. Run.

  Also, in the case of a self-propelled vacuum cleaner, even if there is an obstacle in the area to be cleaned such as the room to be cleaned, it is possible to avoid the obstacle and run by itself. A technique has been proposed that enables a cleaning operation while self-propelled without hindrance (see, for example, Patent Document 1 (JP 2011-233149 A) and Patent Document 2 (JP 2004-33340 A)). ).

JP, 2011-233149, A JP, 2004-33340, A

  By the way, when performing cleaning with a manual vacuum cleaner, the user visually confirms the position of the head of the vacuum cleaner to see where in the area to be cleaned, such as the room to be cleaned, is being cleaned. While doing the cleaning. However, the user rarely remembers the trace position (movement history) of the head completely, and may not even notice the uncleaned area. In addition, when an errand such as a telephone call or a visitor gets in the middle of cleaning and the cleaning is interrupted, it may be difficult to remember how much the cleaning has been done.

  Also, in the case of a self-propelled vacuum cleaner, the user rarely monitors the movement status of the automatic cleaning, and the self-propelled vacuum cleaner covers the entire area to be cleaned. I'm just hoping to move and clean. Therefore, even if the self-propelled electric vacuum cleaner cannot perform cleaning due to some reason such as a failure and an uncleaned area is generated, the user does not notice it.

  In consideration of the above, when the cleaning of the area to be cleaned is completed, even in the case of a manual vacuum cleaner or in the case of a self-propelled vacuum cleaner, the user If it is possible to know the area that has actually been cleaned in the area to be cleaned, it is useful and convenient to know the area that has not been cleaned or the area that has not been cleaned.

  However, in the conventional electric vacuum cleaner, the user confirms the area in which the cleaning operation is actually executed in the cleaning target area of the cleaning target, or the cleaning operation is not executed and the area becomes an uncleaned area. It was not possible to confirm whether there is an area that exists.

  In view of the above points, an object of the present invention is to provide an electric cleaning device capable of easily recognizing an area which has been cleaned by being cleaned in a cleaning target area of a cleaning target. To do.

In order to solve the above problems, the invention of claim 1 is
Movement detection means for detecting the movement direction and movement distance,
Registration start request receiving means for receiving a registration start request for the cleaning target area to be registered,
Upon receiving the registration start request in the registration start request receiving means, the device itself, a clean target area to be the registration moves along the walls and / or obstacles, the own device, the put that move direction and distance to the cleaning target area to be the registration is detected by the movement detection unit, the region frame of the cleaning area of the cleaning target area to be the detection output or found before Symbol register It generates information, the generated information of the region frame, and a cleaning target area information generation storage means for storing in the storage unit in association with identification information of the cleaning target area to be the registration,
Display means having a display screen,
List display means for displaying on the display screen a list of the cleaning target areas in which the information of the area frame is stored in the storage unit of the cleaning target area information generation storage means .
Reference cleaning result information for storing reference cleaning result information for each of the cleaning target areas in which information on the area frame is stored in the storage unit of the cleaning target area information generation storage unit in association with the identification information Storage means,
Correspondence between the cleaning result of the cleaning target area for which the cleaning target area selected from the cleaning target areas displayed in the list is executed and the cleaning result of the cleaning target area and the reference cleaning result information storage means Means for displaying the reference cleaning result of the cleaning target area on the display screen,
An electric cleaning device is provided.

  In the electric cleaning device according to the first aspect of the present invention having the above-described configuration, the cleaning target area information generation / storage unit generates the area frame information of the cleanable area for the cleaning target area to be registered, and the generated area frame. And the home position information are stored in the storage unit in association with the identification information of the cleaning target area to be registered.

  Then, the cleaning start control means of the electric cleaning device of the present invention determines whether or not the cleaning start position is the home position based on the home position information stored in the storage unit at the time of starting the cleaning in the cleaning target area. After confirming, the cleaning in the cleaning target area is started from the home position.

  Therefore, according to the electric cleaning device of the present invention, it is possible to easily recognize the area in the cleaning target area, which has been cleaned and thus cleaned.

    According to the apparatus of the present invention, the cleaning target area is registered together with the home position, and the cleaning of the cleaning target area is always started from the home position. Therefore, the cleaning in the cleaning target area is performed. The cleaned and cleaned area can be easily recognized.

It is a figure which shows the structural example of 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure for demonstrating the cleaning target area in 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows the example of a display of the cleaning result in the cleaning target area in 1st Embodiment of the electric cleaning apparatus by this invention. It is a block diagram which shows the structural example of the control circuit part of 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows the example of a display of the cleaning result in the cleaning target area in 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows the flowchart for demonstrating the example of the registration process of the cleaning object area by 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure for explaining an example of registration processing of a cleaning subject area by a 1st embodiment of an electric cleaning device by this invention. It is a figure which shows a part of flowchart for explaining the example of the cleaning operation in the cleaning target area by 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows a part of flowchart for explaining the example of the cleaning operation in the cleaning target area by 1st Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows the structural example of 2nd Embodiment of the electric cleaning apparatus by this invention. It is a block diagram which shows the electrical structural example of 2nd Embodiment of the electric cleaning apparatus by this invention. It is a figure for demonstrating the example of the registration process of the cleaning object area by 2nd Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows a part of flowchart for explaining the example of the cleaning operation in the cleaning target area by 2nd Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows a part of flowchart for explaining the example of the cleaning operation in the cleaning target area by 2nd Embodiment of the electric cleaning apparatus by this invention. It is a figure which shows the example of a display of the cleaning result in the cleaning target area in 2nd Embodiment of the electric cleaning apparatus by this invention.

[First Embodiment]
A case in which the first embodiment of the electric cleaning device according to the present invention is applied to an electric cleaning device in which a user manually moves and cleans will be described with reference to the drawings.

  FIG. 1A is a diagram for explaining an example of the overall configuration of the electric cleaning device 1 according to the first embodiment. The electric cleaning device 1 of this embodiment includes a cleaner body 10, a suction hose 11, a handle 12, a joint pipe 13, a head portion 14, an operating portion 15, a display portion 16, and a control circuit portion 20. Consists of.

  The cleaner body 10 includes a dust collection chamber 101 and a suction drive unit 102, and by driving the suction drive unit 102, a cleaning target such as dust or dust is sucked from the head unit 14 and collected in the dust collection chamber 101. It has a function. The cleaner body 10 includes a roller 103 that can be autonomously moved when the user performs cleaning.

  The dust collection chamber 101 of the cleaner body 10 is connected to the suction hose 11. The handle 12 is connected to the suction hose 11 on the side opposite to the side where the suction hose 11 is connected to the cleaner body 10. Further, the side of the handle 12 opposite to the side connected to the suction hose 11 is connected to the joint pipe 13. A head portion 14 is provided on the tip end side of the joint pipe 13.

  The handle 12 is provided with an operation unit 15, a display unit 16, and a control circuit unit 20. The user holds this handle 12 for cleaning. The operation unit 15 includes a plurality of key buttons. The display unit 16 includes, for example, an LCD (Liquid Crystal Display), and includes a display screen 16D capable of displaying an image. In the present embodiment, although not shown, the operation unit 15 includes a touch panel that is arranged so as to be superimposed on the display screen 16D of the display unit 16.

  The user can operate the key buttons of the operation unit 15 when necessary while cleaning the handle 12. Further, the display screen of the display unit 16 can be viewed while carrying the cleaning while holding the handle 12. The control circuit unit 20 is electrically connected to the operation unit 15 and the display unit 16 and also electrically connected to the suction drive unit 102 of the cleaner body 10.

  The head portion 14 has a suction port 141 having an area (cross-sectional area) of a predetermined size. The suction port 141 is provided so as to have an opening on the surface side of the housing 142 of the head portion 14 that faces the cleaning surface such as the floor surface. When the suction drive unit 102 of the cleaner body 10 is driven, the object to be cleaned smaller than the sectional area and foreign matter other than the object to be cleaned are sucked from the suction port 141, through the joint pipe 13, the handle 12, and the suction hose 11. It is sucked into the dust collecting chamber 101. It should be noted that long items such as a shopping bag, a plastic bag, and cords may not be able to be entirely sucked even if sucked into the suction port 141. Note that FIG. 1B is a view of the head portion 14 viewed from the side opposite to the surface on which the suction port 141 is provided.

  In the electric cleaning device 1 of this embodiment, the head portion 14 is provided with a plurality of cameras. That is, in this embodiment, it is possible to capture an image of a cleaning target and a foreign object other than the cleaning target on the cleaning surface such as the floor in front of the front-back movement direction of the head unit 14 when the user performs the cleaning operation. As can be seen, the cameras 171 and 172 are provided on the front surface in the front-rear moving direction at the time of the cleaning operation, which is a surface intersecting with a surface facing the cleaning surface such as a floor surface during the cleaning operation in front of the head portion 14. It is installed. Further, the head portion 14 has a surface that intersects a surface facing a cleaning surface such as a floor surface during a cleaning operation in front of the head portion 14 and that is a surface on the rear side in the front-rear movement direction during the cleaning operation. Cameras 173 and 174 are provided so that an object to be cleaned and a foreign object other than the object to be cleaned, which is present on the cleaning surface such as the floor, can be photographed behind the portion 14 in the front-back movement direction. Although not shown in FIG. 1, illuminations such as LEDs (Light Emitting Diodes) for brightly illuminating the photographing position are provided near the cameras 171 to 174, respectively.

  The above four cameras 171 to 174 are configured to include, for example, a CCD (Charge Coupled Device) image pickup device, a CMOS (Complementary Metal Oxide Semiconductor) image pickup device, and an image pickup lens, and are electrically connected to the control circuit unit 20. It is connected.

  Further, in this embodiment, among the side surfaces of the head portion 14 parallel to the front-back movement direction during the cleaning operation, a plurality of distance measuring sensors 181 and 182 are provided on the left side surface in this example. It is provided. These distance measuring sensors 181 and 182 are composed of distance measuring sensors using infrared rays, laser sensors or ultrasonic waves. These distance measuring sensors 181 and 182 are used when registering a cleaning target area such as a cleaning target room, as will be described later.

  An LED 183 is provided on the upper surface of the head portion 14 opposite to the surface having the suction port. The LED 183 is also used when the cleaning target area is registered using the distance measuring sensors 181, 182, as described later. In this example, the distance measuring sensor is provided on the left side surface, but it may be provided on the right side surface, the left and right side surfaces, or the front surface.

  Further, inside the head portion 14, a gyro sensor 191 as an acceleration sensor for detecting the movement of the head portion 14 is provided. The gyro sensor 191 is electrically connected to the control circuit unit 20 so that the acceleration detected by the gyro sensor 191 is supplied to the control circuit unit 20.

  Furthermore, a geomagnetic sensor 192 for detecting the orientation of the head unit 14 is provided inside the head unit 14. The geomagnetic sensor 192 is also electrically connected to the control circuit unit 20.

[Description of Configuration Example of Control Circuit Unit 20]
For example, in the case of a household electric cleaning device, separate areas such as a living room, a bedroom, and a child's room are set as the cleaning target areas. However, in the electric cleaning device 1 of this embodiment, in the cleaning target area of each room, A cleanable area excluding resident obstacles such as furniture is registered and stored in advance.

  Then, the user selects and specifies the cleaning target area through the operation unit 15 of the electric cleaning device 1 before starting the cleaning. Then, for example, as shown in FIG. 2, the cleanable area AR of the selected and designated cleaning target area is displayed as a frame on the display screen 16D. In this embodiment, the cleanable area AR of the cleaning target area is set to have a predetermined reference position in the cleaning target area as a starting point, and the position Po indicated by “H” in FIG. An example of the reference position is shown. Further, in FIG. 2, the shaded areas are the resident obstacles OB such as furniture existing in the room in the area to be cleaned, which need not be actually displayed on the display screen 16D. .

  In the electric cleaning device 1 of this embodiment, during the cleaning operation of the cleaning target area, the cleaned area (cleaned area) in the cleanable area AR of the cleaning target area is gradually displayed on the display screen 16D. Is displayed so as to be filled in (for example, refer to FIG. 3) so that the user can easily recognize the cleaned area in the cleaning target area during the cleaning operation.

  In the display example of FIG. 3, almost the central portion of the cleanable area AR of the cleaning target area is an uncleaned area, and thus is displayed as blank.

  Further, in the electric cleaning device 1 of this embodiment, the cleanable area AR of the cleaning target area is divided into the unit areas BK of the small area having the predetermined size (see the dotted line in FIG. 3), and the area around the unit area is divided. , The cleaning degree (cleaning degree) is determined, and according to the cleaning degree, the density and the display color of the filling for each unit area are changed to allow the user to clean the cleaning target area during the cleaning operation. The degree of cleaning of the completed area can be easily recognized.

  Further, in the electric cleaning device 1 of this embodiment, after cleaning is completed, the reference cleaning result information prepared in advance for each of the cleanable areas AR of the cleaning target area, and the cleaning result of the executed cleaning target area. It also has a function so that it can be compared and displayed.

  The control circuit unit 20 has a configuration for realizing the above functions of the electric cleaning device 1. FIG. 4 is an example of the internal configuration of the control circuit unit 20, and is a block diagram showing a connection relationship between the control unit 201 configured by a microcomputer and each unit electrically connected.

  As shown in FIG. 4, the control circuit unit 20 controls the suction control unit 202, the display control unit 203, the operation unit 15, the cameras 171 to 174, and the distance measuring devices with respect to the control unit 201 including a microcomputer through the system bus 200. The sensors 181, 182, the LED drive unit 205 for driving the LED 183, the gyro sensor 191, and the geomagnetic sensor 192 are connected.

  Further, in the system bus 200, the cleaning position detection unit 206, the cleaning target area information generation storage unit 207, the movement history detection unit 208, the cleaned area detection unit 209, the cleaning degree detection unit 210, the cleaning result display information generation unit 211, The cleaning result information storage unit 212, the standard cleaning result information generation storage unit 213, the image recognition unit 214, and the clock unit 215 are connected.

  The suction control unit 202 is electrically connected to the suction drive unit 102 arranged in the cleaner body 10. The control unit 201 supplies a drive start control signal to the suction drive unit 102 in response to a cleaning start operation on the operation unit 15 by the user, and supplies a drive stop control signal in response to a cleaning stop operation. Further, in this embodiment, the operation unit 15 includes a suction force designating operator that variably designates the suction force, such as “strong”, “medium”, and “weak”. Upon receiving the designation information of the suction force through the suction force designating operator of the operation unit 15, the suction control unit 202 controls the suction driving unit 102 to control the suction force to the designated strength.

  The display unit 16 is connected to the display control unit 203. The display control unit 203 includes a video RAM (Random Access Memory), and has a function of displaying an image on the display screen 16D of the display unit 16.

  In this embodiment, the operation unit 15 includes a plurality of key buttons including a suction drive start button and a suction drive stop button, a suction force designating operator, and a touch panel that is provided so as to be superimposed on the display screen 16D.

  A camera control signal is supplied to each of the cameras 171 to 174 from the control unit 201 of the control circuit unit 20 to control the start and stop of image capturing of each of the cameras 171, 172, 173, and 174. Each of the cameras 171, 172, 173, and 174 receives the image capturing start control, and supplies the captured image to the system bus 200 in the image capturing operation state.

  In this embodiment, as described above, each of the cameras 171 to 174 is provided with an illuminating unit including, for example, an LED although not shown. The lighting unit controls the lighting of the lighting unit. In this case, the control unit 201 measures the brightness of the captured image from the cameras 171 to 174 (such as the average value of the brightness of the captured image) by software processing, and when the brightness of the captured image is less than or equal to a predetermined value. First, the LED of the illumination unit is controlled to be turned on. Note that the control unit 201 may control the lighting unit to be always turned on when the cameras 171 to 174 are in the image capturing operation state.

  The distance measuring sensors 181 and 182 are for measuring the distance between the left side surface of the head unit 14 to which they are attached and the wall, and the distance measuring output information is the cleaning target area described later. It is sent to the information generation storage unit 207 and used for generating the cleaning target area information under the control of the control unit 201.

  The gyro sensor 191 detects the angular velocity of the movement of the head unit 14 and supplies the detected angular velocity to the control unit 201. The control unit 201 receives the detection output of the angular velocity, integrates the change over time, calculates the movement angle of the head unit 14, and supplies it to the cleaning position detection unit 206.

  The geomagnetic sensor 192 is composed of, for example, a Hall element, detects the orientation of the head unit 14 by detecting the geomagnetism, and supplies information on the detected orientation of the head unit 14 to the cleaning position detection unit 206. To do.

  The cleaning position detection unit 206 determines the moving direction and the moving distance of the head unit 14 from the information on the movement angle based on the angular velocity output of the head unit 14 of the gyro sensor 191 and the information on the orientation of the head unit 14 from the geomagnetic sensor 192. Then, as will be described later, the cleaning position is detected as the position of the head unit 14 starting from the reference position in the cleaning target area. Here, in the electric cleaning device 1, since the size of the opening of the suction port 141 of the head portion 14 is the effective suction region during cleaning, the detected cleaning position is the opening of the suction port 141 of the head portion 14. The position of the area range corresponding to the size of the area range is represented by, for example, the center position of the area range or the two diagonal positions of the area range corresponding to the rectangular suction port 141. The cleaning position detection unit 206 supplies the detected cleaning position information to the movement history detection unit 208.

  In this embodiment, when the cleaning position detection unit 206 detects that the cleaning position has moved by a predetermined distance, the cleaning position detection unit 206 takes information about the current cleaning position and the movement from the previous cleaning position to the current cleaning position. The time (moving time) information is sent to the moving history detecting unit 208. In this case, the cleaning position detection unit 206 measures time (moving time) information required to move from the previous cleaning position to the current cleaning position based on the time information acquired from the clock unit 215.

  It should be noted that instead of sending the moving time information from the cleaning position detecting unit 206 to the moving history detecting unit 208, the moving history detecting unit 208 indicates the reception time of the cleaning position information sent from the cleaning position detecting unit 206. It is also possible to detect by referring to the clock information of the clock unit 215 and detect the moving time as the difference between the reception time of the previous cleaning position information and the reception time of the current cleaning position information. .

  When it is detected that the cleaning position has moved by a predetermined distance, the cleaning position detecting unit 206 does not send the information of the cleaning position after the movement to the moving history detecting unit 208, but the moving history detecting unit 208 makes You may make it request to the cleaning position detection part 206 at time intervals, and may acquire the information of a cleaning position. In that case, the movement history detection unit 208 can detect the movement time from a certain cleaning position to another certain cleaning position, depending on how many times the cleaning position information is acquired during that time.

  Note that the cleaning position detection unit 206 supplies the detected position information of the head unit 14 to the cleaning target area information generation storage unit 207 when generating cleaning target area information described later.

  The cleaning target area information generation storage unit 207 uses information on the position of the head unit 14 starting from the reference position from the cleaning position detection unit 206 at the time of generating information on the cleanable area of the cleaning target area, The information of the cleanable area of the cleaning target area is generated and stored. The operation of generating and storing the information of the cleanable area of the cleaning target area in the cleaning target area information generation storage unit 207 will be described in detail later.

  The movement history detection unit 208 detects the movement locus of the cleaning position from the previously acquired cleaning position and the newly acquired cleaning position. Then, the movement history detection unit 208 supplies the detected cleaning path information and the movement time information acquired from the cleaning position detection unit 206 as the movement history information to the cleaning degree detection unit 210, and moves the movement degree. The information on the trajectory is supplied to the cleaned area detection unit 209.

  The cleaned area detection unit 209 acquires, from the cleaning target area information generation storage unit 207, information on the cleanable area of the cleaning target area selected at the start of cleaning. Then, the cleaned area detection unit 209 divides the cleanable area into a plurality of unit areas BK as shown in FIG. Then, the cleaned area detection unit 209 applies the information of the movement trajectory acquired from the movement history detection unit 208 to the unit area BK, and cleans the unit area BK in which it is determined that the entire area is traced. And the flag (cleaned flag) to that effect is set in association with the unit area BK. Then, the cleaned area detection unit 209 supplies the cleaning degree detection unit 210 with the identification information of the unit area BK recognized as the cleaned area (which unit area BK of the cleanable area). , And supplies it to the cleaning result display information generation unit 211.

  The cleaning degree detection unit 210 also acquires information on the cleanable area of the cleaning target area selected at the start of cleaning from the cleaning target area information generation storage unit 207, and sets the plurality of cleanable areas as shown in FIG. It is divided into individual unit areas BK. Then, the cleaning degree detection unit 210 detects the unit area BK identified as the cleaned area based on the identification information of the cleaned unit area BK from the cleaned area detection unit 209.

  Then, the cleaning degree detection unit 210 determines the number of traces of the head unit 14 in the detected unit area BK from the information of the movement locus from the movement history detection unit 208 and the movement time information regarding the detected unit area BK. And the total movement time in the unit area BK are detected, and the cleaning degree in the unit area BK is detected from the detected number of traces and the total movement time. In this case, the larger the number of traces and the longer the total movement time, the more it is determined that the unit area BK is thoroughly cleaned, and the cleaning degree is detected.

  Further, in this embodiment, the cleaning degree detection unit 210 is associated with the movement history and the movement time information from the movement history detection unit 208, and the suction drive unit 102 in the movement locus and the movement time from the control unit 201. Information on the magnitude of the suction force at is supplied. The cleaning degree detection unit 210 detects the cleaning degree in the unit area BK in consideration of the magnitude of the suction force of the suction drive unit 102. In this case, the greater the suction force, the more carefully the cleaning is determined to be. Then, the cleaning degree detection unit 210 supplies the cleaning degree for each unit area BK to the cleaning result display information generation unit 211 together with the identification information of the unit area BK.

  The cleaning result display information generation unit 211 receives the identification information of the cleaned unit area BK from the cleaned area detection unit 209, and recognizes the unit area BK to be displayed as cleaned. Further, the cleaning result display information generation unit 211 receives the identification information of the unit area BK and the cleaning degree information from the cleaning degree detection unit 209, and recognizes the cleaning degree of the unit area BK indicated by the identification information. Then, the cleaning result display information generation unit 211 displays the recognized cleaning unit area BK in the cleaning target area displayed on the display screen 16D so as to be filled in a display manner according to the recognized cleaning degree.

  In this case, the unit area BK is filled with a predetermined monochrome color so that the density of the unit area BK becomes darker as the cleaning degree becomes higher. Note that the filled display mode is not limited to this, and various modes are possible, and the unit area BK may be painted in a different color depending on the cleaning degree, for example. Further, at the start of cleaning, the real image of the floor surface may be deformed and displayed in a dirty state, and the dirt may be removed according to the degree of cleaning so that the real image of the floor surface approaches. Furthermore, when cleaning is performed carefully, that portion may be displayed in glitter or heart.

  The cleaned area detection unit 209 and the cleaning degree detection unit 210 detect the cleaned area and the cleaning degree in real time during the cleaning, and supply the detection result to the cleaning result display information generation unit 211 in real time. To do. Then, the cleaning result display information generation unit 211 executes, in real time, a solid display for each unit area BK in the cleaning target area on the display screen 16D according to the detection result of the cleaned area and the detection result of the cleaning degree. To do.

  FIG. 3 shows an example of the cleaning result at the time when the user temporarily finishes the cleaning. In the example of FIG. 3, since the area at the upper left corner and the area at the lower right corner of the cleanable area AR are relatively carefully cleaned, the cleaning degree is high, and the cleaning degree depends on the cleaning degree. The unit area BK is filled with different densities or colors. Further, the vicinity of the central portion, the lower left side, and the upper right side have no movement loci in the cleaning operation and are uncleaned areas, so the unit area BK is filled with the minimum density or white. The user can see the cleaning result on the display screen 16D, grasp the uncleaned area, and perform the cleaning on the uncleaned area portion.

  Note that, in the example of FIG. 3, since the cleaning is completed, the unit area BK of most of the cleanable area AR is being painted, but as described above, the cleaning is executed. Accordingly, in the actual display screen 16D, the cleaned unit area BK is painted in real time within the cleanable area AR (as will be described later, even outside the cleanable area). It is displayed as if going. Therefore, in the display screen 16D, in the cleanable area AR, the uncleaned area displayed in the minimum density or white gradually disappears, and the unit area BK of the repeatedly traced area portion is displayed. Is displayed such that its display density gradually increases or changes to a color indicating that the cleaning degree has increased.

  As will be described later, the cleaning result display information generation unit 211 also compares and displays the latest cleaning result that has ended and the reference cleaning result information when the cleaning ends.

  When the cleaning of the cleaning target area is completed, the cleaning result information accumulating unit 212 outputs the information of the cleaned area of the completed cleaning target area from the cleaned area detection unit 209 and the cleaning degree detection unit 210. Of the completed cleaning target area as the information of the cleaning result of the cleaning target area, and the identification information of the cleaning target area and the date and time information at that time (for example, the cleaning end time). Correlate and store.

  In the case of this example, when the cleaning is completed, the cleaning result information accumulating unit 212 uses the cleaned area detecting unit 209 and the cleaning degree detecting unit 210 to acquire information about the cleanable area AR of the cleaning target area and the cleaning thereof. Information on all the cleaned unit areas BK detected in the target area is received, and information on the cleaning degrees of all the cleaned unit areas BK detected in the cleaning target area is received from the cleaning degree detection unit 210. Then, the received information is stored as the information of the cleaning result of the cleaning target area in association with the identification information of the cleaning target area and the date and time information at that time (for example, the cleaning end time).

  It should be noted that the information about the cleanable area AR of the cleaning target area and the information about the cleaning degree of the cleaned unit area BK is not stored in the cleaning result information storage unit 212 after the cleaning of the cleaning target area, but the cleaning operation is performed. Meanwhile, the cleaned area detection unit 209 and the cleaning degree detection unit 210 supply information on the cleaned unit area BK and information on the cleaning degree of the cleaned unit area BK to the cleaning result information accumulating unit 212 for storage. Of course you can do it.

  The reference cleaning result information generation storage unit 213 is a unit that generates and stores reference cleaning result information to be compared with the latest cleaning result after cleaning. The standard cleaning result information is generated for each cleaning target area registered and stored in the cleaning target area information generation storage unit 207. In this embodiment, a plurality of types are prepared as follows, It is configured so that the user can select and specify.

That is, as the type of reference cleaning result information,
(1) Standard reference cleaning result information (2) Previous cleaning result information (3) Cleaning result information at a predetermined past date and time (4) Average information of all past cleaning result information (5) Same in the past Average information of cleaning result information of the day of week (6) Average information of cleaning result information of past weekdays (Monday to Friday (excluding holidays)) (7) Average information of cleaning result information of past Saturdays, Sundays and public holidays It is selectable.

  The "(1) standard reference cleaning result information" is obtained by dividing the cleanable area AR of the cleaning target area into unit areas BK as shown in FIG. 3, and setting the cleaning degree of each unit area BK as standard. The number of repeated traces, the standard time (total movement time for the unit area BK), and the standard suction force are used, and are stored in the reference cleaning result information generation storage unit 213 in advance.

  “(2) Cleaning result information of previous cleaning” is the cleaning result stored in the cleaning result information accumulating unit 212, and is the cleaning result one time before the latest cleaning result (the cleaning result of which the cleaning is finished this time). The result is read and stored in the reference cleaning result information generation storage unit 213 as the reference cleaning result information.

  The “(3) cleaning result information at a predetermined date and time in the past” uses the cleaning result at the date and time selected by the user from the list of the date and time information of the past cleaning result as the reference cleaning result. In this case, the reference cleaning result information generation storage unit 213 uses the cleaning result information stored in the cleaning result information storage unit 212 to determine the cleaning result at the date and time designated by the user (the cleaning result for which cleaning has ended this time). The cleaning result of the previous cleaning is read and used as reference cleaning result information.

  The average information of the past cleaning results of (4) to (7) is calculated in advance by the reference cleaning result information generation storage unit 213 using the past cleaning result information stored in the cleaning result information storage unit 212. I remember. Then, every time a new cleaning result is stored in the cleaning result information storage section 212, the average information relating to the new cleaning result is updated.

  Note that (6) and (7) change the classification for users who work on weekdays on weekdays, Saturdays, Sundays, and public holidays because the latter is longer and more elaborate in cleaning time. Of course, in the case of users who work on Saturdays and Sundays and work on weekdays as holidays, the cleaning time on Saturdays and Sundays may be short or short, so (6) working days, (7) holidays Correspond as.

  In addition, in (4) to (7) of the above example, the average of all the cleaning result information corresponding to various conditions is used as the statistical information of the plurality of past cleaning result information. You may make it use the average of the cleaning result information of several designated predetermined days.

  The standard cleaning result information generation storage unit 213 reads out the standard cleaning result information designated by the user and supplies it to the cleaning result display information generating unit 211 when each cleaning is completed.

  As described above, the cleaning result display information generation unit 211 sequentially displays the information of the cleaning result (the latest cleaning result) ended this time on the display screen 16D by performing the fill display processing by the end of the cleaning. There is. Then, the cleaning result display information generation unit 211 compares the information of the cleaning result (the latest cleaning result) ended this time with the reference cleaning result information sent from the reference cleaning result information generation storage unit 213, and compares them. The result is displayed on the display screen 16D.

In this embodiment, as a display mode of the comparison result between the reference cleaning result information and the latest cleaning result information, some modes that the user can select are prepared. That is, as the display mode of the comparison result,
(A) Side-by-side display of reference cleaning result information and latest cleaning result information (B) Difference display between reference cleaning result information and latest cleaning result information (C)% of latest cleaning result information with respect to reference cleaning result information Display (D) OK / NG display based on the comparison result of the reference cleaning result information and the latest cleaning result information can be selected by the user.

  “(A) Parallel display of reference cleaning result information and latest cleaning result information” is shown in FIG. 5 (A) next to the latest cleaning result information already displayed on the display screen 16D at the end of cleaning. As shown, the reference cleaning result information (display in units of the unit area BK) is displayed so that the user can compare the two.

  “(B) Difference display between reference cleaning result information and latest cleaning result information” is shown in FIG. 5B next to the latest cleaning result information already displayed on the display screen 16D at the end of cleaning. As described above, the unit area BK in which a significant difference is generated as a difference in cleaning degree between the reference cleaning result information and the latest cleaning result information is displayed. In this case, the significant difference is that the cleaning degree has a unit area BK in which the latest cleaning result is better and a unit area BK in which the latest cleaning result is worse. In such a case, the density is made darker), or the display color of the unit area BK is made different so that the both are displayed in a distinguishable manner.

  As shown in FIG. 5C, “(C)% display of latest cleaning result information with respect to reference cleaning result information” is shown next to the latest cleaning result information already displayed on the display screen 16D at the end of cleaning. Shows how many% of the total number of unit areas BK in the cleanable area AR the number of unit areas BK in which the difference between the reference cleaning result information and the latest cleaning result information is within a predetermined range. This is a display mode. Further, as a percentage display, the percentage of the unit area BK having a cleaning degree equal to or higher than a predetermined value is compared with the reference, or the percentage of the unit area BK having a cleaning degree equal to or lower than the predetermined value is equal to a reference value. It may be displayed whether or not there is.

  "(D) OK / NG display based on the comparison result between the reference cleaning result information and the latest cleaning result information" is a unit in which the difference between the reference cleaning result information and the latest cleaning result information is within a predetermined range. The number of the areas BK is calculated as a percentage of the total number of the unit areas BK in the cleanable area AR, and if the% value is a predetermined value, for example 70% or more, "OK" is 70%. If it is less than "0", "NG" is displayed instead of the% value in FIG.

  The above is the case of the cleaning result in which the cleaning degree is added to the cleaned area, but it is specified that only the cleaned area is compared and displayed with the reference cleaning result information and the latest cleaning result information without adding the cleaning degree. You can also do it.

  In the case of displaying the comparison result of only the cleaned area, the uncleaned area can be easily confirmed by parallel comparison in the display mode of (A). In the display mode of (B), only the uncleaned area can be displayed as the difference, and the uncleaned area in the cleanable area AR can be easily grasped intuitively.

  Further, in the case of the display mode of (C), the percentage of the standard cleaning result of the cleaned area excluding the uncleaned area is displayed. Further, in the case of the display mode of (D), "OK" and "NG" are displayed depending on the number of uncleaned areas.

  The display modes (A) to (D) may be used in combination.

  In this embodiment, the image recognition unit 214 is used when recognizing images captured by the cameras 171 to 174 in order to identify the position of the starting point for detecting the cleaning position in the cleaning target area. That is, as will be described later, when registering the cleaning target area, the position of the starting point for detecting the cleaning position in the cleaning target area is also registered, but as registration information, the images of the cameras 171 to 174 at the position are registered. The image is stored in the image memory included in the image recognition unit 214.

  The image recognition unit 214 determines whether or not the head unit 14 is at the position of the starting point depending on whether or not the captured images of the cameras 171 to 174 are those stored images. .

  In the above configuration of the control circuit unit 20 of the electric cleaning device 1, the suction control unit 202, the cleaning position detection unit 206, the cleaning target area information generation function of the cleaning target area information generation storage unit 207, the movement history detection unit 208, and the cleaning. The control unit 201 controls the completed area detection unit 209, the cleaning degree detection unit 210, the cleaning result display information generation unit 211, the reference cleaning result information generation function of the reference cleaning result information generation storage unit 213, and the image recognition unit 214. It can be realized as a software process.

[Registration process of cleaning target area]
As described above, in the electric cleaning device of this embodiment, the cleanable area AR in each room or the like to be cleaned is registered in advance. The registration processing of the cleaning target area will be described with reference to FIGS. 6 and 7.

  FIG. 6 is a flowchart for explaining the flow of processing operations performed by the control unit 201 of the control circuit unit 20 of the electric cleaning device 1 in the registration processing of the cleaning target area. Further, FIG. 7 is a diagram used for explaining the registration processing operation of the cleanable area of the cleaning target area such as a predetermined room.

  In this embodiment, as shown in FIG. 7, the information on the area frame of the cleanable area AR of the cleaning target area is moved along the head rim 14 of the electric cleaning device 1 along the wall RM of the room, for example, in the cleaning target area. By doing so, it is registered as the information of the movement locus.

  In this case, the user first places the head portion 14 of the electric cleaning device 1 at a predetermined home position position, which is one point on the area frame of the cleanable area AR to be registered (“H” in FIG. 7). See position). Then, the user moves the head portion 14 in a certain direction along the wall RM, as indicated by an arrow in FIG. 7. In this case, the head portion 14 may be moved in a state where the side surface of the head portion 14 is in light contact with the wall RM. However, since it is difficult to move the head portion 14 smoothly in this case, in this example. By monitoring the sensor outputs of the distance measuring sensors 181 and 182 provided on the side surface of the head portion 14, the head portion 14 is moved at a predetermined distance, for example, about 5 cm from the wall RM. Then, the control unit 201 of the electric cleaning device 1 seeks a region frame that is a separation distance (offset distance) between the head unit 14 and the wall RM and is, for example, about 5 cm. It is detected and registered as the information of the area frame.

  The control unit 201 monitors the sensor outputs of the distance measuring sensors 181, 182, and determines that the distance between the side surface of the head unit 14 and the wall RM is a predetermined distance ± α (α is a value smaller than the predetermined distance, for example, 2 cm). If it is within a predetermined distance ± α, the LED drive unit 205 drives the LED 183 to turn on the LED 183. The user confirms the lighting state of the LED 183, and moves the head unit 14 along the wall RM so as to maintain the lighting state.

  When the user wants to register the cleanable area of the cleaning target area, the user displays the function menu on the display screen 16D through the operation unit 15, and from the function menu, the registration processing of the cleanable area of the cleaning target area is performed. Make sure you select an item. The control unit 201 starts the processing routine of FIG. 6 in response to the user's selection operation of the item of the registration processing of the cleaning possible area of the cleaning target area. Note that the processing routine of FIG. 6 is a processing routine executed by the cleaning target area information generation function of the cleaning target area information generation storage unit 207, but in the following description, the control unit 201 causes the cleaning target area information generation storage to be performed. The case where the cleaning target area information generation function of the unit 207 is realized as a software processing function will be described.

  The control unit 201 first determines whether or not the user has instructed to start the registration processing of the cleaning-enabled area of the cleaning target area (step S1). When it is determined in step S1 that the start instruction has been issued, the cameras 171 to 174 are driven to store and hold the picked-up images by them as picked-up image information of the home position (step S2).

  Next, the control unit 201 monitors the sensor outputs of the gyro sensor 191 and the geomagnetic sensor 192 to determine whether or not the head unit 14 has moved (step S3). As described above, the control unit 201 determines the distance from the wall RM of the head unit 14 from the sensor outputs of the distance measuring sensors 181 and 182 in parallel with this processing routine, and the determination result determines the predetermined value. When the state of being separated by the distance ± α is maintained, the LED drive unit 205 is controlled to turn on and display the LED 183.

  When it is determined in step S3 that the head unit 14 has moved, the relative position after the movement from the home position is detected from the sensor outputs of the gyro sensor 191 and the geomagnetic sensor 192 (step S4). Then, the control unit 201 detects the movement locus using the information on the detected position after movement and the movement position detected so far, and stores the information on the movement locus (step S5).

  Next, the control unit 201 determines through the operation unit 15 whether or not an instruction to end the registration processing of the cleaning-enabled area of the cleaning target area is detected (step S6), and when it is determined that the instruction to end is not detected. , The process is returned to step S3, and the processes after step S3 are repeated.

  When it is determined in step S3 that the head unit 14 is not moving, the control unit 201 jumps the process to step S6 and repeats the processes of step S6 and subsequent steps described above.

  Then, when it is determined in step S6 that the end instruction is detected, the control unit 201 displays a message prompting the user to input the cleaning target area name on the display screen 16D and emits a voice message ( Step S7).

  Then, when the control unit 201 confirms the input of the cleaning target area name by the user, the information of the cleanable area of the cleaning target area calculated from the information of the movement track stored by repeating Step S3 to Step S6. Is stored in association with the input cleaning target area name (step S8). Further, in the process of step S8, the information of the captured images of the cameras 171 to 174 at the home position held in step S2 is also stored in association with the input cleaning target area name. This is the end of the processing routine of FIG.

  Note that, as described above, the information on the cleanable area of the cleaning mode area registered here is a predetermined offset from the wall RM of the room to the position of the head portion 14 rather than the area frame of the movement locus of the head portion 14. The area is enlarged by a distance, for example, a width of about 5 cm. As a result, the area frame of the cleanable area of the cleaning target area stored in the cleaning target area information generation storage unit 207 becomes the same as the wall surface RM and the end surface of the resident obstacle OB in the cleanable area AR in FIG. 7. .

[Cleaning Result Display Processing During Cleaning Operation of Electric Cleaning Device 1]
8 and 9 are flowcharts for explaining an operation example of the cleaning result display processing during the cleaning operation of the electric cleaning device 1 according to the first embodiment. The processing of the flowcharts of FIGS. 8 and 9 is performed by the suction control unit 202, the cleaning position detection unit 206, the movement history detection unit 208, the cleaned area detection unit 209, the cleaning degree detection unit 210, and the cleaning result display information generation unit described above. 211, the reference cleaning result information generation function of the reference cleaning result information generation storage unit 213, and the function of the image recognition unit 214 will be described as a case where the control unit 201 realizes the software processing.

  First, the control unit 201 displays a list of registered cleaning target area names on the display screen 16D, displays a message prompting the user to select a cleaning target area name from which to start cleaning, and releases it by voice. Make a sound (step S11). Next, the control unit 201 receives the selection input of the user through the operation unit 15 corresponding to this message, and recognizes the selected cleaning target area (step S12).

  Then, the control unit 201 reads out the information of the cleanable area of the cleaning target area stored in the cleaning target area information generation storage unit 207, supplies the information to the movement history detection unit 208 and the cleaning degree detection unit 210, and The cleanable area is displayed on the display screen 16D together with its home position position (step S13; see FIG. 3).

  The user looks at the frame display of the cleanable area and the position of the home position displayed on the display screen 16D, and positions the head unit 14 at the home position.

  The control unit 201 captures images of the cameras 171 to 174 attached to the head unit 14 and the captured image at the home position position of the cleanable area of the cleaning target area stored in the cleaning target area information generation storage unit 207. Is compared to determine whether or not the position of the head portion 14 is the home position position (step S14). When it is determined in step S14 that the position of the head unit 14 is not at the home position position, the control unit 201 displays and sounds a message prompting to move the head unit 14 to the home position position (step S14). S15). Then, the control unit 201 returns the process to step S14.

  When it is determined in step S14 that the position of the head unit 14 is at the home position, the control unit 201 determines whether or not the user has pressed the suction drive start button through the operation unit 15 ( When it is determined in step S16) that the suction drive start button has been pressed, the suction control unit 202 controls the suction drive unit 102 to operate with the suction force that is selected and set (step S17).

  Next, the control unit 201 detects the position of the head unit 14 based on the home position position, that is, the cleaning position, based on the sensor outputs of the gyro sensor 191 and the geomagnetic sensor 192 (step S18). Then, the movement history of the head unit 14, that is, the movement locus and the time required for movement (movement time) are detected, the cleaned area is detected for each unit area BK, and the detected cleaned area is stored. Yes (step S19).

  Next, the control unit 201 detects and stores the cleaning degree of the unit area BK detected as cleaned based on the movement history including the detected movement locus and movement time (step S20). Then, the control unit 201 fills in and displays the cleaned unit area BK in a display mode (different density or different color) according to the detected cleaning degree (step S31 in FIG. 9).

  Next, the control unit 201 determines whether or not the cleaning is completed depending on whether or not the cleaning end instruction is received through the operation unit 15 (step S32). When it is determined that the cleaning is not completed, the process is returned to step S18, and The processing after step S18 is repeated.

  When it is determined in step S32 that the cleaning is completed, the control unit 201 associates the information of the cleaning result of the executed cleaning target area with the cleaning target area name selected in step S12, and The information is stored in the information storage unit 212 (step S33).

  Next, the control unit 201 acquires information on the reference cleaning result selected by the user from the reference cleaning result information generation storage unit 213 (step S34). Next, the control unit 201 displays the current cleaning result (the latest cleaning result) information and the acquired reference cleaning result information in the display mode of the comparison result selected by the user. It is displayed on the display screen 16D together with the information (step S35).

  Next, the control unit 201 determines whether or not the user has instructed to change the information on the reference cleaning result through the operation unit 15 (step S36). When it is determined in step S36 that the user has instructed to change the information on the reference cleaning result through the operation unit 15, the control unit 201 returns the process to step S34 and selects from the reference cleaning result information generation storage unit 213. The information on the standard cleaning result thus obtained is acquired, and the processing from step S34 is repeated.

  When it is determined in step S36 that the user has not instructed to change the information on the reference cleaning result through the operation unit 15, the control unit 201 instructs the user to change the display mode of the comparison result through the operation unit 15. It is determined whether or not (step S37).

  When it is determined in step S37 that the user has instructed to change the display mode of the comparison result through the operation unit 15, the control unit 201 performs a process according to the changed display mode of the comparison result (step S38). After that, the process is returned to step S35, and the processes after step S35 are repeated.

  When it is determined in step S37 that the user has not instructed to change the display mode of the comparison result through the operation unit 15, the control unit 201 determines whether the power is turned off (step S39), and the power is turned on. When it is determined that it is not turned off, the process is returned to step S36, and the processes of step S36 and subsequent steps are repeated. When it is determined in step S39 that the power has been turned off, the control unit 201 ends this processing routine.

  As described above, according to the above-described embodiment, when the user performs cleaning, the display screen displays the cleaned area in the registered cleaning target area in real time. To be done. Therefore, the user can easily judge the uncleaned area in the cleaning operation performed by himself / herself by looking at the display screen, and can clean the uncleaned area, which is convenient. .

  In addition, since the degree of elaboration of cleaning (cleaning degree) can be determined and the density and display color of the fill can be changed according to the degree of cleaning, the user can clean the area to be cleaned during the cleaning operation. The cleaning degree of the completed area can be easily recognized. The degree of cleaning displayed on the display screen is useful because it is possible to know the leakage of cleaning or uneven cleaning in the area to be cleaned.

  Furthermore, since the result of comparison between the latest cleaning result and the standard cleaning result can be displayed, there is also an advantage that it is possible to easily know how the latest cleaning result was compared with the standard cleaning result. Then, it is possible to evaluate the comparison result between the standard cleaning result and the most recent cleaning result that has just been completed, and thereby determine whether the cleaning result should be even more careful or the cleaning result should be satisfactory. It is useful, useful and convenient.

  In the above example, the cleaned area is mainly painted and displayed for each unit area BK, and the painted display mode of each unit area BK is made different according to the cleaning degree, but as described above. In addition, it is also possible to display only the cleaned area for each unit area BK without reflecting the cleaning degree on the cleaning result. In that case, a comparative display is made between the cleanable area AR of the area to be cleaned and the cleaned area where the actual cleaning has been executed. In this case, the uncleaned area in the cleanable area AR is clearly indicated.

  Further, the cleanable area of the cleaning target area is information on the reference cleanable area set by the user. Therefore, the cleanable area AR shown in the figure is displayed, and the cleaned area is displayed in a filled-in manner so as to compare and display in which area the cleaning is performed with respect to the reference cleanable area. be able to.

  Further, in the situation where the cleaning resident obstacle OB is removed from the cleaning target area due to a subsequent change after the registration of the cleaning target area, the cleaning is actually performed more than the reference registered cleanable area AR. There is a case where the cleaned area at the time of execution overflows and becomes large, and that state is also displayed on the display screen 16D.

  Further, also in the comparison with the cleaning result in the past, only the cleaned area can be compared excluding the cleaning degree. In that case, it is possible to compare the size of the entire cleanable area and to compare the cleaned and uncleaned state of the unit area BK.

  In addition, in the above-described embodiment, the filling display is performed for each unit area BK, but it goes without saying that the filling may be performed for each area corresponding to the size of the suction port 141 of the head unit 14. .

  In the above description, it is assumed that the cleaning is always performed by the head portion 14, but in the middle of the cleaning, the head portion 14 is replaced with an attachment for a place where the head portion 14 cannot enter. In some cases. In that case, the gyro sensor and the geomagnetic sensor are not attached to the head portion 14, but may be attached to the tip of the joint pipe near the joint portion with the head portion 14 and the attachment.

  Then, when cleaning using the attachment, it becomes possible to perform cleaning in a range that exceeds the cleanable area of the registered cleaning target area, and that range should also be reflected in the cleaning result as a cleaned area. You can However, when it is assumed that the attachment is replaced with the head portion 14, it is not preferable to set the replacement time as the cleaning end time. Therefore, the operation unit 15 is provided with a temporary stop button that means that the cleaning operation is interrupted, and the operation of the temporary stop button is not a cleaning end but a temporary cleaning pause. With this configuration, when the pause button is operated to replace the head portion 14 with the attachment and the cleaning is continued, it is determined as a series of cleaning operations, and the cleaning operation by the attachment is also reflected in the cleaning result. is there.

[Second Embodiment]
The electric cleaning device according to the second embodiment is a self-propelled electric vacuum cleaner.

[Outline of vacuum cleaner 30]
FIG. 10: is a figure for demonstrating the self-propelled electric vacuum cleaner 30 which comprises the electric cleaning apparatus of 2nd Embodiment. FIG. 10 (A) is a diagram showing the self-propelled electric vacuum cleaner 30 of this example on the side of the bottom surface 30b including the suction port 31, and FIG. 10 (B) is a self-propelled electric vacuum cleaner of this example. It is the figure which looked at 30 from the advancing direction at the time of cleaning operation. In addition, in FIG. 10A, an arrow DR indicates a traveling direction (forward direction) of the self-propelled electric vacuum cleaner 30 during a cleaning operation.

  As shown in FIG. 10 (A), the self-propelled electric vacuum cleaner 30 of this example includes a substantially rectangular casing, and a suction port 31 is provided on a bottom surface 30b thereof. Then, in the housing of the electric vacuum cleaner 30, as shown by a dotted line in FIG. 10B, a dust collection that communicates with the suction port 31 and collects the suctioned cleaning target and foreign substances other than the cleaning target. A chamber 32 is provided. Although not shown in FIG. 10, a suction drive unit for sucking an object to be cleaned into the dust collection chamber 32 is provided in the housing of the electric vacuum cleaner 30.

  As shown in FIG. 10 (A), the vacuum cleaner 30 of this embodiment includes a flexible brush 33 and a rolling brush 34 in the suction port 31. A roller 35 is provided substantially in the center in the forward direction of the cleaning operation with respect to the position of the suction port 31 on the bottom surface 30b of the casing of the electric vacuum cleaner 30. The roller 35 is rotatably attached in a plane whose axis of rotation is parallel to the bottom surface 30b. Therefore, the axis of the rotary shaft of the roller 35 can be oriented not only in the direction orthogonal to the arrow DR but also in any direction. Then, on both sides of the suction port 31 of the bottom surface 30b, left and right wheels (wheels) 36L, 36R that are rotationally driven by a traveling drive unit (not shown in FIG. 10) are provided.

  The electric vacuum cleaner 30 travels by itself as the wheels 36L and 36R are driven and rotated by the traveling drive unit. However, as described above, the roller 35 can rotate with an arbitrary direction as the rotation axis direction. The electric vacuum cleaner 30 is capable of not only traveling straight ahead in the direction of the arrow DR, but also rotational movement or traveling traveling in an arbitrary direction intersecting the arrow DR as the traveling direction. Further, the electric vacuum cleaner 30 can also travel rearward on the side opposite to the arrow DR by controlling the rotational direction of the wheels by the traveling drive unit.

  In this embodiment, a camera 371 is provided at the center of the side surface of the housing in front of the roller 35 of the electric vacuum cleaner 30 so that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 30b. There is. Further, cameras 372 and 373 are provided at the left and right ends of the same housing side surface. Further, a camera 374 is provided on the side surface of the casing behind the roller 35 of the vacuum cleaner 30 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 30b. The camera 371 photographs the front of the self-propelled electric vacuum cleaner 30 in the traveling direction at a predetermined angle of view. Further, the cameras 372 and 373 shoot the front left diagonal direction and the front right diagonal direction of the electric vacuum cleaner 30 at a predetermined angle of view. Furthermore, the camera 374 captures the rear side of the self-propelled electric vacuum cleaner 30 in the traveling direction at a predetermined angle of view.

  The cameras 371 to 373 correspond to the cameras 171 and 172 in the electric cleaning device 1 of the first embodiment. The camera 374 corresponds to the cameras 173 and 174 in the electric cleaning device 1 of the first embodiment.

  Since the cameras 371 and 374 have a predetermined angle of view, if at least the floor surface of the cleaning target in the traveling direction of the electric vacuum cleaner 30 can be imaged, the imaging direction (optical axis direction) is parallel to the bottom surface 30b. Does not have to be. The four cameras 371 to 374 described above are configured to include, for example, a CCD image pickup element, a CMOS image pickup element, and an image pickup lens, as in the first embodiment.

  In the second embodiment, the electric vacuum cleaner 30 has a display section (not shown in FIG. 10) on the upper surface 30a thereof and an operation section (not shown in FIG. 10).

  Further, in the electric vacuum cleaner 30, in this example, the distance measuring sensor 381 corresponding to the distance measuring sensors 181 and 182 in the electric cleaning device 1 of the first embodiment is provided on the left side surface of the housing in the traveling direction. , 382 are provided. Further, in this example, the electric vacuum cleaner 30 includes a gyro sensor 391 and a geomagnetic sensor 392 corresponding to the gyro sensor 191 and the geomagnetic sensor 192 in the electric cleaning device 1 of the first embodiment. The gyro sensor 391 and the geomagnetic sensor 392 are provided near the suction port 31 of the electric vacuum cleaner 30.

[Circuit configuration of the electric cleaning device according to the second embodiment]
The electric vacuum cleaner 30 of the second embodiment is configured to have the same function as that of the electric cleaning device 1 of the first embodiment regarding the display of the cleaning result. However, since the electric vacuum cleaner is a self-propelled electric vacuum cleaner, the self-propelled electric vacuum cleaner controls the traveling, and the configuration of the functional portion related to the self-propelling is different from that of the first embodiment. Further, in the second embodiment, when an obstacle is detected during the cleaning operation, the traveling control is performed so as to avoid the obstacle, and for this reason, an area that is an uncleaned area as a result of cleaning is removed. It has a function of notifying the user of the reason why the uncleaned area is formed.

  FIG. 11: is a figure which shows the electric circuit structure of the vacuum cleaner 30 of this 2nd Embodiment. In the electric circuit configuration of the electric vacuum cleaner 30, the same components as those of the control circuit unit 20 of the electric cleaning device 1 according to the first embodiment are numbered in the 300s and, for the sake of explanation, the corresponding relations therebetween. To make it easier.

  That is, in the electric circuit of the electric vacuum cleaner 30 according to the second embodiment, as the same components as those of the first embodiment, as shown in FIG. Through the system bus 300, the suction control unit 302, the display control unit 303, the operation unit 304, the cleaning position detection unit 306, the cleaning target area information generation storage unit 307, the movement history detection unit 308, the cleaned area detection unit 309, and the cleaning degree detection. Unit 310, cleaning result information generation unit 311, cleaning result information storage unit 312, reference cleaning result information generation storage unit 313, image recognition unit 314, clock unit 315, cameras 371 to 374, distance measurement sensors 381 and 382, gyro sensor 391. The geomagnetic sensor 392 is connected.

  Then, in the electric vacuum cleaner 30 of the second embodiment, the traveling control unit 321 and the image memory 322 are further connected to the system bus 300.

  Then, the suction drive unit 331 is connected to the suction control unit 302, the display unit 332 is connected to the display control unit 303, and the traveling drive unit that drives the wheels 36L and 36R is connected to the traveling control unit 321. 333 is connected.

  Even in the second embodiment, the suction control unit 302 can change the suction force of the suction drive unit 331 based on the control of the control unit 301, but the information of the suction force is the same as that of the first embodiment. Then, it is supplied to the cleaning degree detection unit 310 so as to be reflected on the cleaning degree.

  Under the control of the control unit 301, the traveling control unit 321 controls the traveling drive unit 333 so that the traveling speed designated by the control unit 301 is achieved. The information on the traveling speed at this time is supplied to the cleaning position detecting unit 306 and the movement history detecting unit 308, and is also supplied to the cleaning degree detecting unit 310 to reflect the cleaning degree.

  The display unit 332 is also composed of, for example, an LCD in the second embodiment, and the display information of the cleaning result is displayed on the display screen of the display control unit 303 as in the first embodiment.

  The operation unit 304 includes operation buttons for starting, stopping, charging, etc. of the vacuum cleaner 30 of this example, registration of cleaning target area information displayed on the display screen of the display unit 332, selection of reference cleaning result information, An operator is provided for selecting a function item such as selection of a comparison mode between the reference cleaning result information and the latest cleaning result information.

  In the cleaning target area information generation / storage unit 307, in the electric vacuum cleaner 30 of the second embodiment, the user selects the registration of the cleaning target area information from the function items and executes the function item. By doing so, the cleaning target area information is automatically generated and registered.

  FIG. 12 is a diagram for explaining the generation and registration processing of the cleaning target area in the second embodiment. The vacuum cleaner 30 includes a rechargeable battery, and a room in the area to be cleaned may be provided with a charging station (charger) 334. The home position position, which is the starting point of the cleanable area AR of the cleaning target area, may be the position of the charging station 334 or another position.

  Then, in the mode of the generation and registration processing of the cleaning target area information, the electric vacuum cleaner 30 stores the captured images of the cameras 371 to 374 at the home position position, as in the first embodiment. In the second embodiment, a temporary area name is automatically given to the cleaning target area, and the captured images of the cameras 371 to 374 at the home position position are stored in the cleaning target area information storage corresponding to the area name. It is stored in the unit 307. The temporary area name is configured so that the user can correct it later.

  Then, when a travel start instruction for generation and registration processing of the cleaning target area is issued from the home position, the electric vacuum cleaner 30 monitors the sensor outputs of the distance measuring sensors 381 and 382, and the electric vacuum cleaner 30. While maintaining the distance between the side surface provided with the distance measuring sensors 381 and 382 and the wall RM of the room as the cleaning target area at a constant value, for example, 5 cm, the vehicle travels along the wall RM. Then, the information of the cleanable area AR of the cleaning target area is stored in the cleaning target area information generation storage unit 307 based on the self-propelled movement trajectory. In this case, as in the first embodiment, the cleaning target area information generation / storage unit 307 sets the distance between the wall RM and the distance measurement sensors 381 and 382 as an offset value, and the self-propelled vacuum cleaner 30 is self-propelled. The area enlarged outside the movement locus of is stored as the cleaning possible area of the target cleaning target area. In this case, in the example of FIG. 12, the cleanable area registered and stored is the same as the wall surface RM and the end surfaces of the resident obstacles OB1, OB2, OB3.

  In FIG. 12, OB1, OB2, OB3 indicate resident obstacles existing in the cleaning target area at the time of registration, and the electric vacuum cleaner 30 avoids these resident obstacles OB1, OB2, OB3. A cleanable area AR is generated as the moved locus, and is registered and stored.

  The cleaning position detection unit 306 is similar to the first embodiment, based on the angular velocity detected by the gyro sensor 391 and the azimuth detected by the geomagnetic sensor 392, the cleaning position (of the suction port 31 of the vacuum cleaner 30). Position). In the second embodiment, the cleaning position is detected by also referring to the traveling speed information.

  Similar to the first embodiment, the movement history detection unit 308 determines a movement locus based on the angular velocity detected by the gyro sensor 391, the azimuth detected by the geomagnetic sensor 392, and the time information from the clock unit 315. The information of the movement history including the movement time is detected. In the second embodiment, the movement history is detected by also referring to the traveling speed information.

  The cleaned area detection unit 309 detects the cleaned area in units of the unit area BK from the movement trajectory information in the movement history information from the movement history detection unit 308, as in the first embodiment. To do.

  The cleaning degree detection unit 310 detects the cleaning degree based on the cleaning history information from the cleaning history detection unit 308 and the suction force information and the traveling speed information from the control unit 301. The second embodiment is different from the first embodiment in that the traveling speed information from the control unit 301 is reflected in the cleaning degree. However, this traveling speed information is used in this example as information for supplementing the traveling time of the traveling history information. Instead of supplementarily using the information on the traveling speed, it is possible to detect the cleaning degree by using the information on the traveling speed without using the traveling time for the unit area BK.

  In the second embodiment, the cleaning result display information generation unit 311 may display the real-time cleaning result during the cleaning operation, but normally, the user does not perform the cleaning operation during the cleaning operation of the vacuum cleaner 30. Since the display screen of the display unit of the electric vacuum cleaner 30 is not viewed, in this example, the real-time cleaning result during the cleaning operation is not displayed. Then, the cleaning result display information generation unit 311 displays the result of the current cleaning (the latest cleaning result) on the display screen at the time when the cleaning is completed, and the latest cleaning result and the user's selection in advance. The information of the comparison result with the reference cleaning result information being displayed is displayed on the display screen in a comparable manner.

  Similar to the first embodiment, the cleaning result information accumulating unit 312 stores the information of the cleaning result of each time, that is, the information of the movement history and the cleaning degree of each unit area BK in the cleaning target area where the cleaning is executed. accumulate.

  Similar to the first embodiment, the standard cleaning result information generation storage unit 313 generates or reads information on the standard cleaning result selected by the user and supplies it to the cleaning result display information generation unit 311.

  In the second embodiment, the image recognition unit 314 not only performs the above-described image recognition processing for confirmation at the home position position, but also during the cleaning operation of an obstacle that was not registered in the cleanable area AR during the cleaning operation. Image recognition processing for detection is performed. The image memory 322 is a memory that stores an image used for the image recognition processing during the cleaning operation.

  The image memory 322 temporarily stores the captured image information sent from each of the cameras 371 to 374, and supplies the temporarily stored captured image information to the image recognition unit 314 for image recognition. Further, as will be described later, the image memory 322 stores and holds the captured image information based on the image recognition result when a foreign object other than the cleaning target is recognized by the image recognition unit 314.

  Then, in this embodiment, the image recognition unit 314 recognizes and detects a foreign substance other than the cleaning object from the captured image information from each of the cameras 371 to 374. In addition to recognizing foreign matter by matching, it is determined whether the size of the imaged object is larger than the preset size, and the reflected light when shining light such as precious metal It is determined whether or not the luminous intensity is equal to or higher than a predetermined value, and whether or not it is a foreign matter other than the cleaning target is recognized.

  The image memory 322 also stores in advance image information of an object to be recognized as a foreign object other than the cleaning target in order to recognize the foreign object by pattern matching. Then, the image recognition unit 314 compares the captured image information from each of the cameras 371 to 374 with the image stored in the image memory 322, and performs pattern matching to match the two or a predetermined similarity level between the two. By detecting the above-mentioned similarities, foreign substances other than the cleaning target are recognized.

  In the image memory 322, image pickup image information of an object assumed as a foreign substance other than the cleaning target is registered and stored in advance before the factory shipment by the manufacturer of the electric vacuum cleaner 30. Further, in this embodiment, not only the image information prepared in advance by the manufacturer side but also the image of the object that the user wants to recognize as a foreign object other than the object to be cleaned by the electric vacuum cleaner 30 is registered by the user, and this image is registered. It is configured so that it can be stored in the memory 322. The foreign matter other than the object to be cleaned may include, for example, excrement of pets, elderly care workers, and infants. This is because if these are sucked, they may cause a failure of the electric vacuum cleaner 30, and dirt may be enlarged by the suction operation. As the registration image of the foreign matter, the object captured by the cameras 371 to 374 can be stored in the image memory 322 and registered.

  In the configuration of the electric vacuum cleaner 30 shown in FIG. 11, the suction control unit 302, the cleaning position detection unit 306, the cleaning target area information generation function of the cleaning target area information generation storage unit 307, the movement history detection unit 308, and the cleaned area. The control unit 301 includes the detection unit 309, the cleaning degree detection unit 310, the cleaning result display information generation unit 311, the reference cleaning result information generation function of the reference cleaning result information generation storage unit 313, the image recognition unit 314, and the travel control unit 321. However, it can be realized as the software processing.

[Cleaning operation of the electric vacuum cleaner 30 and cleaning result display processing]
13 and 14 are flowcharts for explaining a cleaning operation of the electric vacuum cleaner 30 of the second embodiment and an operation example of the cleaning result display processing. The processing of the flowcharts of FIGS. 13 and 14 is performed by the suction control unit 302, the cleaning position detection unit 306, the movement history detection unit 308, the cleaned area detection unit 309, the cleaning degree detection unit 310, and the cleaning result display information generation unit described above. 311 and the reference cleaning result information generation function of the reference cleaning result information generation storage unit 313, the image recognition unit 314, and the function of the traveling control unit 321 will be described as a case where the control unit 301 realizes the software processing.

  First, the control unit 301 displays a list of registered cleaning target area names on the display screen of the display unit 332, displays a message prompting the user to select a cleaning target area name from which to start cleaning, and Sound is emitted by voice (step S41). Next, the control unit 301 receives the selection input of the user through the operation unit 304 corresponding to this message, and recognizes the selected cleaning target area (step S42).

  Then, the control unit 301 reads the information of the cleanable area of the cleaning target area stored in the cleaning target area information generation storage unit 307, supplies the information to the movement history detection unit 308 and the cleaning degree detection unit 310, and the cleaning result. Is set as an area to reflect (step S43).

  Next, the control unit 301 determines whether or not the start button is pressed by the user through the operation unit 304 (step S44), and when it is determined that the start button is pressed, the captured images of the cameras 371 to 374 and the cleaning are performed. It is determined whether or not the position of the electric vacuum cleaner 30 is the home position position by comparing with the captured image at the home position position of the cleanable area of the cleaning target area stored in the target area information generation storage unit 307. (Step S45). When it is determined in step S45 that the position of the electric vacuum cleaner 30 is not at the home position position, the control unit 301 controls the electric vacuum cleaner 30 to move to the home position position (step S46). Then, the control unit 301 returns the process to step S45.

  When it is determined in step S45 that the position of the electric vacuum cleaner 30 is at the home position, the control unit 301 causes the suction control unit 302 to operate the suction drive unit 331 with a predetermined suction force. In addition to the control, the traveling drive unit 333 is driven through the traveling control unit 321. Further, the control unit 301 causes the cameras 371 to 374 during the cleaning operation to start (step S47).

  Next, the control unit 301 detects the position of the electric vacuum cleaner 30 based on the home position position, that is, the cleaning position, based on the sensor outputs of the gyro sensor 391 and the geomagnetic sensor 392 and the traveling speed (step S48).

  Next, the control unit 301 performs the image recognition processing described in the above-described image recognition unit 314 on the captured images of the cameras 371 to 374 (step S49), and determines whether or not a foreign substance other than the cleaning target object is detected. (Step S51 of FIG. 14).

  When it is determined in step S51 that a foreign object other than the cleaning object is detected, the control unit 301 stores the cleaning position where the foreign object is detected and the captured image of the detected foreign object in the image memory 322 in association with each other. (Step S52). Then, the control unit 301 controls the travel drive unit 333 through the travel control unit 321 so as to move the vacuum cleaner 30 while avoiding the detected foreign matter (step S53).

  When it is determined in step S51 that no foreign matter other than the cleaning target is detected, and after step S53, the control unit 301 requires the movement history of the electric vacuum cleaner 30, that is, the movement locus and movement. The cleaned time is detected for each unit area BK, and the detected cleaned area is identified by the identification information of the cleaning target area selected in step S42 (for example, the cleaning target area). It is stored in the cleaning result information storage unit 312 in association with the name (step S54). Next, the control unit 301 detects the cleaning degree of the unit area BK detected as cleaned based on the movement history including the detected movement locus and movement time, and detects the cleaning target area selected in step S42. It is stored in the cleaning result information storage unit 312 in association with the identification information (step S55). Therefore, the cleaning result information accumulating unit 312 sequentially stores the cleaning results of the cleaning target area.

  Next, the control unit 301 determines whether or not to end the cleaning according to a cleaning program prepared in advance (step S56), and when it is determined that the cleaning should be continued, returns the processing to step S48, and this step The processing from S48 onward is repeated.

  Further, when it is determined in step S56 that the cleaning may be ended, the control unit 301 reads out the information of the cleaning result of the executed cleaning target area, which is stored in the cleaning result information storage unit 312 by that time. The display information of the cleaning result is generated and displayed on the display screen 332D of the display unit 332 as the display image NP of the current cleaning result as shown in FIG. 15 (step S57). Then, the control unit 301 reads out the captured image of the foreign matter recognized during the cleaning operation and the position information in the cleaning target area stored in the image memory 322, and as shown in FIG. 15, displays the cleaning result of this time. The captured images IM1 and IM2 of the foreign matter are displayed on the display screen 332D in association with the positions P1 and P2 indicated by the position information in the cleaning target area in the image NP (step S58).

  Next, the control unit 301 acquires information on the reference cleaning result selected by the user from the reference cleaning result information generation storage unit 313 (step S59). Next, the control unit 301 shows the information of the cleaning result of this time (the latest cleaning result) and the information of the acquired standard cleaning result in the display mode of the comparison result selected by the user, as shown in FIG. As described above, it is displayed on the display screen 332D together with the information of the cleaning result of this time (step S60). In FIG. 15, the standard cleaning result information is the standard cleaning result information PP of the corresponding cleaning target area. Thus, the control unit 301 ends this processing routine.

  According to the electric vacuum cleaner 30 of the second embodiment described above, after the cleaning operation is completed, the latest cleaning result after the cleaning operation is completed is displayed on the display screen 332D as in the first embodiment. Is displayed. As the cleaning result displayed on the display screen 332D, the cleaned area is displayed in the unit of the unit area BK, and the cleaning degree of each unit area BK is reflected, and the density is changed according to the cleaning degree. And the display color is different. Therefore, the user can intuitively understand what the latest cleaning result was by looking at the cleaning result on the display screen.

  Moreover, as shown in FIG. 15, with respect to a portion which has not been traced by the electric vacuum cleaner 30 due to a foreign substance other than the object to be cleaned and has become an uncleaned region, the captured image IM1 of the foreign substance that caused the cause. Since IM2 is displayed, it is possible to easily understand the cause of uncleaning, remove the foreign matter, and clean the part.

  Further, similarly to the first embodiment, in the second embodiment as well, the comparison result between the latest cleaning result and the reference cleaning result can be displayed, so that the latest cleaning result is compared with the reference. It is useful and convenient because you can easily know if it was.

  The electric vacuum cleaner 30 according to the second embodiment detects a decrease in the voltage of the battery during the cleaning operation, and when the voltage of the battery decreases to an extent that requires charging, the charger (charge Station) has the function of returning to the position. In this example, when returning to the charging station due to the voltage drop of the battery during the cleaning operation, the display screen of the display unit 332 displays that cleaning has been stopped for charging. At the same time, display the cleaning results so far. Therefore, the user can conveniently know that the cleaning has been interrupted for charging and how far the cleaning has been completed by looking at this display screen.

  In the above-described second embodiment, the captured image of the recognized foreign matter is displayed in association with the area that has been uncleaned due to the foreign matter recognized by image recognition. However, instead of displaying the captured image of the foreign matter in association with each other, in the display image of the cleaning result, a special mark is added to the uncleaned area due to the presence of the foreign matter, a flushing display, or a special display is performed. It is advisable to display the display color so as to be distinguishable from other areas so as to call attention. In particular, a region where foreign matter is excretions such as pets, elderly care workers, and infants is a region where cleaning with an electric cleaning device is not preferable or a difficult region, and a region where cleaning should be avoided. The uncleaned area due to such difficulty of cleaning is an uncleaned area in which it is indispensable to clean the foreign matter causing it in an appropriate manner later, and the special display as described above is used. Is effective. Further, the foreign matter may be iconified so that it can be assumed what the foreign matter is.

[Third Embodiment]
The third embodiment is a modification of the second embodiment. In the second embodiment described above, the vacuum cleaner 30 is configured to have all the processing functions. However, an electric vacuum cleaner does not have all the functions, and an electric vacuum cleaner having a communication function is combined with another device having a communication function, such as a personal computer or a high-performance mobile phone called a smartphone, to generate an electric power. You may make it function as a cleaning device.

  For example, when combined with a personal computer, the vacuum cleaner is equipped with a wireless communication function, and the cleaning position detection unit 306, the cleaning target area information generation storage unit 307, the movement history detection unit 308, and the cleaned area detection unit in FIG. 309, the cleaning degree detection unit 310, the cleaning result display information generation unit 311, the cleaning result information storage unit 312, the reference cleaning result information generation storage unit 313, the image recognition unit 314, and the image memory 322 are not provided, and these functions are personalized. It should be installed on the computer side.

  Then, the electric vacuum cleaner, while performing the cleaning operation, outputs the sensor output of the gyro sensor 391, the sensor output of the geomagnetic sensor 392, the traveling speed information, the suction force information, and the captured image information of the cameras 371 to 374 to the personal computer. Send to.

  The personal computer detects the cleaning position using the sensor output of the gyro sensor 391, the sensor output of the geomagnetic sensor 392, the traveling speed information, and the attraction force information from the electric vacuum cleaner. Then, the personal computer also uses the detected cleaning position to detect the movement history, the cleaned area, and the cleaning degree, and stores the cleaning result information in the cleaning result information storage unit 312. Then, at the timing when the cleaning is finished, the personal computer generates the display information of the cleaning result from the information of the cleaning result of this time accumulated in the cleaning result information accumulating unit 312, and sends it to the electric vacuum cleaner. The vacuum cleaner receives this display information and displays it on the display screen. Further, the personal computer also sends display information of the comparison result between the latest cleaning result and the standard cleaning result to the electric vacuum cleaner. The vacuum cleaner receives this display information and displays it on the display screen.

  In this configuration, the number of vacuum cleaners that can communicate with the personal computer does not have to be limited to one, and when the user has a plurality of vacuum cleaners, all of them can be used. By performing communication respectively, the cleaning result of each vacuum cleaner can be generated and provided.

  And in this 3rd Embodiment, the information of the past cleaning result based on the cleaning result performed by the different vacuum cleaner in the same cleaning target area can be used as information of a standard cleaning result. As a result, it is possible to compare the cleaning results for each electric vacuum cleaner. In addition, even with the same vacuum cleaner, it is possible to compare cleaning results by updating the functions of the vacuum cleaner, such as when software or hardware is upgraded or new accessories are introduced. Become.

  Although the display unit 332 and the display control unit 303 are provided in the vacuum cleaner in the third embodiment, the display unit and the display control unit may be provided in the personal computer side.

  In the case of a personal computer, a smartphone, or the like, a device connected to the vacuum cleaner via a communication path is connected via a local area network. However, the device connected to the vacuum cleaner may have a so-called cloud configuration as a device connected via a broadband network such as the Internet.

[Other Embodiments or Modifications]
<Modification of the above embodiment>
In the above example, in order to detect the cleaning position in the cleaning target area, cleaning is started from a specific home position, and this home position is used as a positional starting point for detecting the cleaning position. However, the method is not limited to the method of detecting the cleaning position as the assumed position information with respect to the predetermined starting point. For example, transmitting means such as radio waves, light, and ultrasonic waves are provided in advance in at least three predetermined positions such as a room in a cleaning target area, and the electric vacuum cleaner transmits the transmission signals from these three places. By receiving, it is possible to measure the distance from the transmitting means and detect the cleaning position based on the so-called three-point survey principle.

  In addition, if a transmitter indicating each position is provided on the floor or ceiling of the room or the like in the area to be cleaned at each mesh position, for example, by receiving position information from the transmitter, the electric cleaning is performed. The machine can detect its own position (cleaning position).

  In the above-described embodiment, the cleaned area and the cleaning degree are detected for each unit area BK. However, as described above, the movement history of the suction port itself is used to detect the cleaned area and the cleaning degree. Of course, the detection may be performed. Further, the progress of cleaning may be known in real time by directly displaying the movement trajectory of the electric vacuum cleaner 30 during cleaning.

  In the above-described embodiment, the comparison of the cleaning results is shown only in the case of comparing the latest cleaning result with the standard cleaning result, but the cleaning result of the specific past date and time and the selected standard cleaning result are shown. The present invention is also applicable to the comparison with the result. Further, three or more cleaning results may be compared and displayed.

  The display mode of the comparison result is not limited to the example described above, and needless to say, various other modes are possible. For example, the area of the cleaned area may be displayed, that is, how many square meters have been cleaned, how many tatami mats have been cleaned, how many square meters are remaining, and how many tatami mats are remaining. Alternatively, the cleaned area may be displayed as a percentage, that is, a percentage indicating how much has been cleaned and a percentage remaining.

<About cleaning degree>
In the above-described embodiment, the cleaning degree is detected (calculated) from the information about the cleaning history such as the number of traces of the suction port for each unit area BK, the trace speed (trace time), and the suction force. The detection (calculation) method is not limited to this.

  For example, the difference between the image captured by the camera in front of the suction port of the vacuum cleaner when performing the cleaning operation and the image captured by the camera behind the suction port after passing the front position is detected, The cleaning degree may be detected (calculated) based on the difference. In addition, the image of the front of the suction port of the vacuum cleaner when performing the predetermined cleaning operation is taken with the camera, and the front of the suction port of the vacuum cleaner when performing the cleaning operation is taken in the same area next time. The cleaning degree may be detected (calculated) on the basis of the difference between the image picked up in step 1) and the image picked up in step 3. Furthermore, the cleaning degree of the cleaning result may be detected (calculated) by using both the cleaning degree information using this camera and the cleaning degree detected (calculated) from the above-mentioned information regarding the cleaning history. .

  Further, the electric cleaning device is provided with a sensor for detecting the degree of dirt, and the difference between the degree of dirt before the cleaning and the degree of dirt after the cleaning detected by the sensor is detected. Then, the control unit of the electric cleaning device displays differently according to the difference between the degree of dirt before the cleaning is performed and the degree of dirt after the cleaning is performed, so that the display according to the degree of the cleaning is performed. Good.

  For example, a dust sensor (house dust sensor or the like) is provided as an example of a sensor for detecting the degree of dirt in the electric cleaning device. Then, the difference between the sensor output of the dust sensor before cleaning or the sensor output of the dust sensor after the first first cleaning and the sensor output of the dust sensor after the last cleaning is detected. Then, the control unit of the electric cleaning device detects (calculates) the cleaning degree based on the difference, and changes the display density or the display color of the unit area BK according to the detected cleaning degree, for example. Try to do it.

<About tick cleaning>
In the above-described embodiment, the cleaning target is so-called dust, but a mite may be used as the cleaning target. In this case as well, similar to the above, it is possible to perform mite cleaning by sucking mites using the suction drive unit. In that case, the cleaning degree depends on the suction removal amount of the mites, but in order to detect the cleaning degree, the image taken by the camera mounted on the electric cleaning device is subjected to image analysis, and the mites or A method of recognizing a carcass of a tick and counting the number thereof can be used. The degree of cleaning can be displayed by changing the display density or display color of the unit area BK according to the number of detected mites or mite carcasses. Further, if the mites cannot be found by image analysis, the mites may be completely removed. The degree of cleaning may be displayed as a change in density or a change in color, such as uncleaned, cleaned by ticks (with remaining mites), completely removed by ticks, and the like.

  Further, it is also possible to provide a mite sensor in the electric cleaning device, and use the mite sensor to detect whether the amount of mites cleaned (disinfected) is large or small and display the cleaning degree.

  The present invention is also applicable to the case where the cleaning result is displayed by using pollen as an object to be cleaned instead of ticks. Also in that case, the electric cleaning device sucks and removes pollen as an object to be cleaned. Then, the electric cleaning device in this case detects the amount of pollen suction as a value corresponding to the suction force, the number of traces, and the trace time, and detects the degree of pollen cleaning according to the detection result. Then, according to the cleaning degree, for example, the display density or display color of each unit area BK is changed and displayed.

  The present invention can be applied as an object to be cleaned even if it is other than mites and pollen.

<Other>
In the above-described embodiment, the electric cleaning device includes the suction port and performs the suction operation from the suction port, but the invention is not limited to this. For example, the present invention can be applied to an electric cleaning device that wipes and cleans the floor and an electric cleaning device that sucks iron scraps and the like with a magnet for cleaning.

  Further, in the above description, the electric cleaning device is for home use, but it is needless to say that it can be applied for industrial use.

DESCRIPTION OF SYMBOLS 1 ... Electric cleaning device, 16 ... Display part, 20 ... Control circuit part, 102 ... Suction drive part, 141 ... Suction port, 191 ... Gyro sensor, 192 ... Geomagnetic sensor, 206, 306 ... Cleaning position detection part, 208, 308 ... Movement history detection unit, 209,309 ... Cleaned area detection unit, 210,310 ... Cleaning degree detection unit, 211,311 ... Cleaning result display information generation unit, 212,312 ... Cleaning result information storage unit, 213,313 ... Standard cleaning result information generation storage unit

Claims (16)

Movement detection means for detecting the movement direction and movement distance,
Registration start request receiving means for receiving a registration start request for the cleaning target area to be registered,
Upon receiving the registration start request in the registration start request receiving means, the device itself, a clean target area to be the registration moves along the walls and / or obstacles, the own device, the put that move direction and distance to the cleaning target area to be the registration is detected by the movement detection unit, the region frame of the cleaning area of the cleaning target area to be the detection output or found before Symbol register It generates information, the generated information of the region frame, and a cleaning target area information generation storage means for storing in the storage unit in association with identification information of the cleaning target area to be the registration,
Display means having a display screen,
List display means for displaying on the display screen a list of the cleaning target areas in which the information of the area frame is stored in the storage unit of the cleaning target area information generation storage means .
Reference cleaning result information for storing reference cleaning result information for each of the cleaning target areas in which information on the area frame is stored in the storage unit of the cleaning target area information generation storage unit in association with the identification information Storage means,
Correspondence between the cleaning result of the cleaning target area for which the cleaning target area selected from the cleaning target areas displayed in the list is executed and the cleaning result of the cleaning target area and the reference cleaning result information storage means Means for displaying the reference cleaning result of the cleaning target area on the display screen,
An electric cleaning device comprising: In the cleaning target area information generation / storage means, the movement detecting means detects the moving direction and the moving distance from the home position in the cleaning target area to be registered, generates the area frame information, and generates the area frame information. The area frame information and the home position information are stored in the storage unit in association with the identification information of the cleaning target area to be registered.
The electric cleaning device according to claim 1, wherein: With a camera attached in place,
The stored information of the home position is imaged image information of the camera at the home position position,
The front Symbol cleaning target area information at the start of cleaning in the cleaning object area information of the area frame in the storage unit is stored in the generated storage means of the camera in the home position, which is stored in the storage unit The electric cleaning device according to claim 2 , wherein whether or not the cleaning start position is the home position is confirmed based on the captured image information and the captured image of the camera at the time of the start. Message before Symbol display screen, and displays the position of the home position in the cleaning object area selected from the list, prompting the cleaning start position of the own apparatus to the user to move to the home position The electric cleaning device according to claim 2 or 3 , wherein a cleaning start instruction is accepted when the cleaning start position is confirmed to be the home position. It is equipped with a traveling drive unit for traveling and moving its own device,
Controls said traveling drive unit to move to the home position of the cleaning target area the own apparatus is the selected, when the cleaning start position is confirmed to be the home position, to start the cleaning operation The electric cleaning device according to claim 2 or 3 , characterized in that. Equipped with a rechargeable battery,
The electric cleaning device according to claim 5 , wherein the home position of the cleaning target area is a position where a charger for charging the rechargeable battery is provided. The cleaning target area to be registered has an area surrounded by a wall portion, and an obstacle is present in the area. 7. The described electric cleaning device. The identification information is a name given to the stored cleaning target area, and the list of the cleaning target areas is a list of names given to the cleaning target area . The electric cleaning device according to claim 7 . The cleaning target area information generating / storing means,
Distance measuring means for detecting the distance between the device and the wall and the obstacle,
Separation distance determining means for determining whether or not the separation distance detected by the distance measuring means is within a set distance or distance range,
Informing means for informing the outside of the determination result of whether or not the separation distance is the set distance or distance range in the separation distance determining means,
Equipped with
9. The electric cleaning device according to claim 1, wherein the area frame of the cleaning target area is determined in consideration of the separation distance. A traveling drive unit for traveling and moving the own device,
Distance measuring means for detecting the distance between the device and the wall and the obstacle,
Separation distance determining means for determining whether or not the separation distance detected by the distance measuring means is within a set distance or distance range,
Travel control means for controlling the travel drive unit so as to travel the own device in a state where the separation distance is within a set distance or distance range based on the result of the separation distance determination means,
Equipped with
9. The electric cleaning device according to claim 1, wherein the area frame of the cleaning target area is determined in consideration of the separation distance. When running sweep removal, and cleaning position detecting means for detecting a sweep removal position that put on the cleaning target area,
Movement history detecting means for detecting a movement history in the cleaning target area at the time of performing the cleaning, based on at least a temporal change in the cleaning position detected by the cleaning position detecting means,
Based on the movement history detected by the movement history detection means, a cleaned area detection means for detecting a cleaned area in which the cleaning is executed,
Information of a cleaning result including information on the cleaned area in the cleaning target area detected by the cleaned area detection unit is associated with identification information of the cleaning target area and date and time information of the cleaning end time. Cleaning result information storage means to be stored,
The electric cleaning device according to any one of claims 1 to 10, further comprising: The cleaning target area stored in the cleaning target area information generation / storage means is divided into a plurality of small areas within the area frame, and the cleaned area detection means determines the cleaned area where the cleaning is performed. The electric cleaning device according to claim 11, wherein the electric cleaning device detects each of the small areas. The reference cleaning result information is cleaning result information before one of the cleaning result information of the cleaning target area in which the cleaning is performed, which is stored in the cleaning result information accumulating unit. The electric cleaning device according to claim 11 or 12. The reference cleaning result information is statistical information of the cleaning result information of the cleaning target area where the cleaning is performed, which is stored in the cleaning result information storage means.
The electric cleaning device according to claim 11 or 12, characterized in that. The cleaning result of the cleaning target area on which the cleaning is performed is displayed on the display screen so that it can be compared with the corresponding standard cleaning result of the cleaning target area of the standard cleaning result information storage means.
The electric cleaning device according to any one of claims 1 to 14, which is characterized in that. A computer provided with an electric cleaning device that has an area surrounded by a wall portion, performs cleaning while moving in an area to be cleaned in which an obstacle exists in the area, and includes an electric cleaning device that includes a display unit having a display screen. ,
Movement detection means for detecting the movement direction and movement distance,
Registration start request receiving means for receiving a registration start request for the cleaning target area to be registered,
Upon receiving the registration start request in the registration start request receiving means, the device itself, a clean target area to be the registration moves along the walls and / or obstacles, the own device, the put that move direction and distance to the cleaning target area to be the registration is detected by the movement detection unit, the region frame of the cleaning area of the cleaning target area to be the detection output or found before Symbol register It generates information, the generated information of the region frame, cleaning target area information generation storage means for storing in the storage unit in association with identification information of the cleaning target area to be the registration,
Correspondence between the cleaning result of the cleaning target area selected from among the cleaning target areas displayed in the list and the cleaning result of the cleaning target area and the reference cleaning result information storage means. Means for displaying the standard cleaning result of the cleaning target area on the display screen,
Program for electric vacuum cleaner to function as.

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