JP7464508B2 - Robot vacuum cleaner - Google Patents

Description

The present invention relates to a robot vacuum cleaner and a floor disinfecting robot.

There are known robot vacuum cleaners that move on their own to clean indoor spaces. Patent Document 1 proposes a robot vacuum cleaner that can sterilize floor surfaces by irradiating the floor surface with ultraviolet light from an ultraviolet lamp (ultraviolet germicidal lamp) mounted on the bottom of the robot vacuum cleaner body.

JP 2005-46592 A

However, if the floor surface to be cleaned by the robot vacuum cleaner is made of a material that has low resistance to ultraviolet light, the floor surface may deteriorate or discolor when exposed to ultraviolet light.

The present invention aims to provide a robot vacuum cleaner and a floor disinfecting robot that can prevent deterioration and discoloration of floor surfaces caused by irradiation of the floor with ultraviolet light.

The present invention aims to solve the above problems by providing a robot vacuum cleaner comprising: a robot vacuum cleaner main body that cleans floor surfaces while moving on its own; and a terminal device that is configured to be able to communicate with the robot vacuum cleaner main body and that can set a cleaning area to be cleaned by the robot vacuum cleaner main body, the robot vacuum cleaner main body having a light source consisting of a light emitting diode that irradiates ultraviolet light onto the floor surface, the terminal device being configured to be able to set an irradiation area in the cleaning area where the ultraviolet light is irradiated by the light source and a non-irradiation area where the ultraviolet light is not irradiated by the light source, and also being able to set the irradiation intensity of the ultraviolet light within the irradiation area, and the robot vacuum cleaner main body having a light source control unit that controls the light source so that the light source irradiates ultraviolet light only in the irradiation area at the set irradiation intensity according to the settings on the terminal device.

The present invention also aims to solve the above-mentioned problems by providing a floor disinfection robot comprising a floor disinfection robot body that cleans floor surfaces while moving on its own, and a terminal device configured to be able to communicate with the floor disinfection robot body, the floor disinfection robot body having a light source made of a light emitting diode that irradiates ultraviolet light onto the floor surface, the terminal device being configured to be able to set an irradiation area in which the light source irradiates ultraviolet light and a non-irradiation area in which the light source does not irradiate ultraviolet light, and also being configured to be able to set the irradiation intensity of ultraviolet light within the irradiation area, and the floor disinfection robot body having a light source control unit that controls the light source so that the light source irradiates ultraviolet light only in the irradiation area at the set irradiation intensity, according to the settings on the terminal device.

The present invention provides a robot vacuum cleaner and a floor disinfecting robot that can prevent deterioration and discoloration of floor surfaces caused by irradiation with ultraviolet light.

FIG. 1A is a schematic diagram of a robot cleaner according to an embodiment of the present invention, and FIG. 1B is a perspective view of the robot cleaner body as viewed from the bottom side. FIG. 2 is a functional block diagram of the robot cleaner. FIG. 1A is a diagram for explaining the setting of a cleaning area, and FIG. 1B is a diagram for explaining the setting of an illumination area and a non-illumination area. 11 is a diagram showing an example of a procedure for setting the irradiation intensity of ultraviolet light according to the material of the floor surface. FIG. FIG. 11 is a flow diagram showing a control flow when starting to use the robot cleaner.

[Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

Figure 1(a) is a schematic diagram of a robot vacuum cleaner according to this embodiment, and (b) is a perspective view of the robot vacuum cleaner body as seen from the bottom side. Figure 2 is a functional block diagram of the robot vacuum cleaner.

As shown in Figs. 1(a), 1(b) and 2, the robot cleaner 1 includes a robot cleaner main body 2 that cleans the floor while moving on its own, and a terminal device 3 that is configured to be able to communicate with the robot cleaner main body 2 and can set the cleaning area to be cleaned by the robot cleaner main body 2.

(Robot vacuum cleaner body 2)
The robot vacuum cleaner main body 2 includes a camera 21, an obstacle detection sensor 22, a dust collection mechanism 23, a drive mechanism 24, a light source 25, a control unit 26, a case 27 for housing these components, and a main body communication unit 28.

The camera 21 is for capturing images of the surroundings of the robot vacuum cleaner main body 2, and is used to obtain a floor map (described later) and to obtain the position of the robot vacuum cleaner main body 2. The robot vacuum cleaner main body 2 may be equipped with multiple cameras 21, and may be configured to capture images of the surroundings of the robot vacuum cleaner main body 2 with the multiple cameras 21.

The obstacle detection sensor 22 detects whether or not an obstacle is present near the robot cleaner main body 2 in order to prevent the robot cleaner main body 2 from colliding with the obstacle. For example, an infrared sensor or an ultrasonic sensor can be used as the obstacle detection sensor 22.

Although not shown, the robot cleaner main body 2 may be equipped with various sensors other than the obstacle detection sensor 22. For example, it may be equipped with a gyro sensor that detects the rotation angle when the robot cleaner main body 2 moves, a travel sensor that detects the distance moved by the robot cleaner main body 2, a floor distance sensor that detects the distance between the robot cleaner main body 2 and the floor surface and detects steps, etc., a particle sensor that detects the amount of dust, etc. sucked in from the suction port 27a, etc.

The dust collection mechanism 23 is a mechanism that sucks in dust and dirt from the floor surface and collects it inside the robot vacuum cleaner main body 2, and includes a rotating brush 23a rotatably mounted on a suction port 27a that opens toward the floor surface at the bottom of the case 27, a brush drive unit (not shown) that scrapes off dirt from the floor surface by rotating the rotating brush 23a, a suction pump (not shown) that sucks in dust and dirt from the suction port 27a, and a dust collection tank (not shown) that collects the dust and dirt sucked in from the suction port 27a. Note that the specific configuration of the dust collection mechanism 23 is not particularly limited.

The drive mechanism 24 is a mechanism for moving (self-propelling) the robot vacuum cleaner main body 2, and has wheels 24a provided on the bottom surface of the case 27 and a motor that drives the wheels 24a. Here, the two wheels 24a are shown facing each other with their rotation axes aligned in a straight line, but the number and arrangement of the wheels 24a are not particularly limited.

In the robot cleaner 1 according to this embodiment, the robot cleaner main body 2 has a light source 25 that irradiates ultraviolet light onto the floor surface. The light source 25 plays a role in inactivating bacteria and viruses present on the floor surface by irradiating ultraviolet light onto the floor surface. In this embodiment, the light source 25 is made of a light-emitting diode that irradiates ultraviolet light. For example, it is possible to use an ultraviolet lamp as the light source 25, but since most ultraviolet lamps use mercury, there is a problem with safety in the event of breakage. In addition, ultraviolet lamps emit not only ultraviolet light with a wavelength suitable for inactivating bacteria, etc., but also light in a very wide wavelength range that includes infrared light, so there is a lot of waste and power consumption is large. In addition, if the output is increased, there is a risk of problems such as the floor surface becoming hot due to infrared rays and being burned. By using a light-emitting diode as the light source 25 as in this embodiment, it is possible to ensure safety in the event of breakage, reduce power consumption, and suppress problems such as the floor surface being burned. Furthermore, with an ultraviolet lamp, it takes time to start up when ultraviolet light irradiation starts, but by using a light-emitting diode, it is also possible to shorten the time it takes to start up when ultraviolet light irradiation starts.

As the light emitting diode used for the light source 25, it is desirable to use a light emitting diode that emits deep ultraviolet light, which is highly effective in inactivating bacteria, etc. More specifically, as the light emitting diode used for the light source 25, it is desirable to use a light emitting diode that emits deep ultraviolet light with a wavelength of 250 nm or more and 280 nm or less. In this embodiment, a light emitting diode that emits deep ultraviolet light with a wavelength of 280 nm is used as the light source 25.

1(b), the light source 25 made of a light-emitting diode is provided on the bottom surface of the case 27 so as to face the floor surface. In addition, a plurality of light sources 25 are provided on the bottom surface of the case 27. Here, the bottom surface of the case 27 is formed in an approximately circular shape, and the plurality of light sources 25 are arranged at intervals along the periphery of the bottom surface of the approximately circular case 27. In addition, the plurality of light sources 25 are provided on the front side and the rear side of the robot cleaner main body 2, respectively. In the illustrated example, four light sources 25 are provided on the front side of the robot cleaner main body 2, and four light sources 25 are provided on the rear side of the robot cleaner main body 2. As a result, when the robot cleaner main body 2 passes any position on the floor surface, the position is irradiated with ultraviolet light twice, improving the efficiency of inactivating bacteria, etc. Note that the number and arrangement of the light sources 25 are not limited to those illustrated, and for example, the light sources 25 may be arranged along the periphery of the suction port 27a.

In this embodiment, the case 27 is formed in a generally cylindrical shape. However, the shape of the case 27 is not limited to this. The case 27 is provided with a brush 27b for scraping out dust and the like from the wall edges and corners.

The main body communication unit 28 is configured to be able to communicate with the terminal communication unit 34 mounted on the terminal device 3. The communication method used here is not particularly limited, but for example, Bluetooth (registered trademark) can be used.

The control unit 26 controls the dust collection mechanism 23, drive mechanism 24, and light source 25 based on information from the camera 21 and obstacle detection sensor 22, and is realized by appropriately combining a computing element, memory, interface, software, storage device, etc. The control unit 26 has a map acquisition unit 261, a position acquisition unit 262, a contamination status detection unit 263, a drive control unit 264, a dust collection control unit 265, a light source control unit 266, and a storage unit 267.

The map acquisition unit 261 performs a test run when cleaning for the first time, maps the floor surface to be cleaned, and acquires a floor surface map. Various methods for the test run and mapping process are known and publicly known, so a description thereof will be omitted here. The map acquisition unit 261 transmits the acquired floor surface map to the terminal device 3 via the main body communication unit 28 and stores it in the memory unit 267.

The position acquisition unit 262 acquires position information indicating where in the floor map the robot vacuum cleaner main body 2 is located. The position acquisition unit 262 acquires position information (position coordinates within the floor map) of the robot vacuum cleaner main body 2 based on, for example, an image obtained by the camera 21 and information from a gyro sensor, a driving sensor, etc.

The contamination status detection unit 263 detects the contamination status of the floor surface to be cleaned. For example, the contamination status detection unit 263 detects the contamination status of the floor surface based on the amount of dust collected detected by a particle sensor. In addition, if the drive control unit 264 and the dust collection control unit 256 described below are configured to vary the movement speed and suction strength according to the amount of dust collected, the contamination status detection unit 263 can also be configured to detect the contamination status of the floor surface based on the movement speed and suction strength. In this embodiment, the map acquisition unit 261 is configured to associate the acquired floor surface map with the contamination status detected by the contamination status detection unit 263 and transmit it to the terminal device 3.

The drive control unit 264 drives and controls the drive mechanism 24 to move the robot vacuum cleaner main body 2. The drive control unit 264 sets a route so that the robot vacuum cleaner main body 2 travels thoroughly within the cleaning area set by the terminal device 3, and moves the robot vacuum cleaner main body 2 along the set route. The drive control unit 264 also uses the obstacle detection sensor 22 and the like to control the drive so that the robot vacuum cleaner main body 2 does not collide with obstacles or the like. The drive control unit 264 may be configured to be able to change the movement speed according to the amount of dust collected. For example, by slowing down the movement speed when the amount of dust collected is large and speeding up the movement speed when the amount of dust collected is small, it becomes possible to collect dust efficiently.

The dust collection control unit 265 controls the dust collection mechanism 23. The dust collection mechanism 23 may be configured to be able to change the suction strength according to the amount of dust collected. For example, by increasing the suction strength when the amount of dust collected is large and decreasing the suction strength when the amount of dust collected is small, it is possible to reduce power consumption and perform dust collection efficiently.

The light source control unit 266 controls the driving of the light source 25. Depending on the setting of the irradiation area and non-irradiation area (described later) performed by the terminal device 3, the light source control unit 266 controls the light source 25 so that the light source 25 irradiates ultraviolet light only in the irradiation area and does not irradiate ultraviolet light in the non-irradiation area (turns off the light source 25). The light source control unit 266 may continuously light the light source 25 in the irradiation area, or may blink the light source 25 (alternately repeating turning on and off). By blinking the light source 25, power consumption can be reduced.

The light source control unit 266 also controls the irradiation intensity of the ultraviolet light in the irradiation area according to the settings in the terminal device 3. Details will be described later, but in this embodiment, the irradiation intensity of the ultraviolet light is controlled according to the material of the floor surface and the contamination state of the floor surface set in the terminal device 3. The irradiation intensity of the ultraviolet light in the light source 25 can be controlled by the magnitude of the drive current. Furthermore, when the light source 25 is blinking, the irradiation intensity of the ultraviolet light can be controlled by the time interval between blinking and the ratio of the lighting time to the blinking time.

The memory unit 267 stores the floor surface map acquired by the map acquisition unit 261, the contamination status of the floor surface detected by the contamination status detection unit 263, the cleaning area, irradiation area, non-irradiation area, ultraviolet light irradiation intensity setting, and cumulative ultraviolet light irradiation amount set by the terminal device 3, etc.

(Terminal device 3)
The terminal device 3 is for configuring the settings of the robot vacuum cleaner main body 2. For example, a smartphone can be used as the terminal device 3. Note that the terminal device 3 is not limited to a smartphone, and may be, for example, a tablet or a dedicated terminal (such as a remote control).

The terminal device 3 has a display 31, an input device 32, and a setting unit 33. The display 31 is, for example, a display such as a liquid crystal display. The input device 32 is for setting the cleaning area to be cleaned by the robot vacuum cleaner main body 2. When a smartphone is used as the terminal device 3, the display 31 and the input device 32 are configured as a display (touch panel) that allows touch input. The terminal side communication unit 34 is configured to be able to communicate with the main body side communication unit 28 of the robot vacuum cleaner main body 2.

The setting unit 33 is realized by appropriately combining a computing element, a memory, an interface, software (e.g., an application for a smartphone), a storage device, etc. The setting unit 33 has a cleaning area setting unit 331, an irradiation area setting unit 332, an irradiation intensity setting unit 333, and a storage unit 334.

The cleaning area setting unit 331 has a function of setting a cleaning area to be cleaned by the robot vacuum cleaner main body 2. As shown in FIG. 3(a), the cleaning area setting unit 331 displays the floor surface map 4 received from the robot vacuum cleaner main body 2 on the display 31. The user sets the cleaning area 41 by specifying the range to be the cleaning area 41 on the floor surface map 4 by dragging or the like. The set cleaning area 41 is stored in the memory unit 334. Note that the method of setting the cleaning area 41 is not limited to this, and it is also possible to set, for example, an area not to be cleaned (an area not to be entered by the robot vacuum cleaner main body 2, a non-cleaning area) from the cleaning area 41, and set the other areas of the floor surface map 4 excluding the set non-cleaning area as the cleaning area 41.

The irradiation area setting unit 332 has a function of setting an irradiation area in the cleaning area 41 where ultraviolet light is irradiated by the light source 25, and a non-irradiation area where ultraviolet light is not irradiated by the light source 25. As shown in FIG. 3(b), the user sets the irradiation area 42 by specifying the range to be set as the irradiation area 42 within the cleaning area 41 of the floor surface map 4 displayed on the display 31 by dragging or the like. The cleaning area that is not set as the irradiation area 42 becomes the non-irradiation area 43. Note that it is also possible to configure so that the non-irradiation area 43 can be further set within the irradiation area 42. The set irradiation area 42 and non-irradiation area 43 are stored in the memory unit 334.

The irradiation intensity setting unit 333 has a function of setting the irradiation intensity of the ultraviolet light in the irradiation area 42. The irradiation intensity setting unit 333 extracts the contamination status of the irradiation area 42 based on the contamination status of the floor surface detected by the contamination status detection unit 263, and sets the irradiation intensity of the ultraviolet light according to the contamination status of the irradiation area 42. The irradiation intensity setting unit 333 sets the irradiation intensity of the ultraviolet light high when the contamination status of the irradiation area 42 is high (a large amount of dust collection), and sets the irradiation intensity of the ultraviolet light low when the contamination status of the irradiation area 42 is low (a large amount of dust collection). The irradiation intensity of the ultraviolet light set by the irradiation intensity setting unit 333 is stored in the memory unit 334.

In addition, in this embodiment, the floor material can be set on the floor map 4 displayed on the display 31, and the irradiation intensity setting unit 333 is configured to be able to set the irradiation intensity of the ultraviolet light according to the set floor material. That is, in this embodiment, the irradiation intensity is set according to the contamination state of the irradiation area 42 and the floor material.

Figure 4 is a diagram showing an example of a procedure for setting the irradiation intensity of ultraviolet light according to the material of the floor surface. As shown in Figure 4, after the irradiation area 42 is set, the irradiation intensity setting unit 333 displays a selection screen 51 for the material of the floor surface (floor material). If the floor material selected by the user on the floor material selection screen 51 is suitable for irradiation with ultraviolet light, a confirmation screen 52 is displayed. If YES is selected on the confirmation screen 52, a message screen 53 indicating that the setting has been stored is displayed, and the irradiation intensity setting unit 333 sets the irradiation intensity according to the selected floor material, which is stored in the memory unit 334. If NO is selected on the confirmation screen 52, the screen returns to the irradiation area setting screen or the floor material selection screen 51.

If the floor material selected by the user on the floor material selection screen 51 is not suitable for ultraviolet light irradiation, a warning screen 54 is displayed to select whether to set the floor material as a non-irradiated area 43 because it is not suitable for ultraviolet light irradiation. If YES is selected on the warning screen 54, the setting of the irradiation area 42 is canceled and the screen returns to the setting screen for the irradiation area 42. If NO is selected on the warning screen 54, an intensity setting screen 55 for setting the irradiation intensity of ultraviolet light is displayed. After the user sets the intensity on the intensity setting screen 55, a confirmation screen 56 is displayed, and if YES is selected on the confirmation screen, a message screen 53 indicating that the setting has been stored is displayed, and the irradiation intensity setting unit 333 stores the irradiation intensity set by the user in the memory unit 334. If NO is selected on the confirmation screen 56, the intensity setting screen 55 or the warning screen 54 is displayed. Whether the floor material is suitable for ultraviolet light irradiation and the irradiation intensity for each floor material are created in advance as a database and stored in the memory unit 334. The irradiation intensity for each floor material may be selectable according to the level of contamination. For example, the irradiation intensity may be set in stages for each floor material, such as when the level of contamination is high, medium, low, etc. Note that the procedure in FIG. 4 is merely an example and may be modified as appropriate.

The robot cleaner main body 2 may be configured to store the position information of the position where the ultraviolet rays are irradiated, the irradiation time, and the irradiation intensity (accumulated irradiation amount). Furthermore, the robot cleaner main body 2 may have a function of storing a threshold of the cumulative irradiation amount for each floor material in advance, and limiting the irradiation of ultraviolet rays so that the cumulative irradiation amount does not exceed the threshold according to the floor material of the set irradiation area 42. In this case, the robot cleaner main body 2 may be configured to display a warning display on the terminal device 3 when the cumulative irradiation amount exceeds the threshold at any position in the irradiation area 42. Note that such a cumulative irradiation amount limiting function may be installed in the terminal device 3, and may be configured to display a warning display when the cumulative irradiation amount is predicted to exceed the threshold when the irradiation area 42 is set or the irradiation intensity is set, for example.

(Control flow when starting to use the robot vacuum cleaner 1)
Fig. 5 is a flow diagram showing a control flow at the start of use of the robot cleaner 1. As shown in Fig. 5, at the start of use of the robot cleaner 1, first, in step S1, a map acquisition start instruction is inputted at the terminal device 3. Note that the map acquisition start instruction may be inputted at the robot cleaner main body 2 side.

When a map acquisition start instruction is input in step S1, in step S2, the map acquisition unit 261 of the robot vacuum cleaner main body 2 performs a map acquisition process to acquire a floor surface map 4. In the map acquisition process, the contamination status of the floor surface is also detected by the contamination status detection unit 263. Then, in step S3, the map acquisition unit 261 transmits the acquired floor surface map 4 and the contamination status of the floor surface to the terminal device 3.

Then, in step S4, the cleaning area 41 is set on the terminal device 3. At this time, the cleaning area setting unit 331 displays the received floor surface map 4 on the display 31, and sets the cleaning area 41 on the floor surface map 4 (see FIG. 3(a)). Then, in step S5, it is determined whether to irradiate the floor surface with ultraviolet light. For example, it is preferable to display a selection screen on the display 31 for selecting whether or not to irradiate the floor surface with ultraviolet light, and to determine whether or not to irradiate the floor surface with ultraviolet light according to the input on the selection screen. If the determination in step S5 is NO, the process proceeds to step S8 .

If the answer is YES in step S5, then in step S6, the irradiation area setting unit 332 sets the irradiation area 42 and the non-irradiation area 43. At this time, the irradiation area 42 is set by specifying the range to be the irradiation area 42 within the cleaning area 41 of the floor surface map 4 displayed on the display 31 by dragging or the like (see FIG. 3(b)).

Then, in step S7, the irradiation intensity setting process is performed. In the irradiation intensity setting process, the irradiation intensity setting unit 333 sets the irradiation intensity according to the contamination state of the irradiation area 42 and the material of the floor surface (see FIG. 4).

In step S8, a command to start cleaning is inputted on the terminal device 3. When the command to start cleaning is inputted in step S8, in step S9, settings such as the cleaning area 41, the illuminated area 42, the non-illuminated area 43, the illumination intensity, and the material of the floor surface are transmitted to the robot vacuum cleaner main body 2.

Then, in step S10, the robot vacuum cleaner main body 2 starts cleaning according to the received settings of the cleaning area 41, etc. At this time, only in the area set in the irradiation area 42, the floor surface is irradiated with ultraviolet light from the light source 25 at a preset irradiation intensity, thereby inactivating bacteria and the like present on the floor surface.

When cleaning for the second time or later, it is possible to perform cleaning using the same settings for the cleaning area 41, irradiation area 42, etc. as when first using the appliance.

(Modification)
In this embodiment, the material of the floor surface in the irradiation area 42 is identified by user input, but it is also possible to provide an appropriate sensor in the robot vacuum cleaner main body 2 that can identify the material of the floor surface, and to configure the sensor to automatically identify the material of the floor surface.

In addition, in this embodiment, when the material of the floor surface of the irradiation area 42 is suitable for irradiation with ultraviolet light, the irradiation intensity is set automatically, but it may also be possible to set the irradiation intensity manually.

Furthermore, it may be possible to set a focused irradiation area where inactivation of bacteria, etc. on the floor surface is focused on by irradiation with ultraviolet light. For example, by configuring the robot cleaner body 2 to pass through the set focused irradiation area multiple times as a route setting, or by configuring the robot cleaner body 2 to move at a slower speed in the focused irradiation area, it becomes possible to more reliably inactivate bacteria, etc. in the desired area.

(Functions and Effects of the Embodiments)
As described above, in the robot vacuum cleaner 1 of this embodiment, the robot vacuum cleaner main body 2 has a light source 25 consisting of a light-emitting diode that irradiates ultraviolet light onto the floor surface, and the terminal device 3 is configured to be able to set, within the cleaning area 41, an irradiation area 42 where ultraviolet light is irradiated by the light source 25 and a non-irradiation area 43 where ultraviolet light is not irradiated by the light source 25, and is also configured to be able to set the irradiation intensity of ultraviolet light within the irradiation area 42, and the robot vacuum cleaner main body 2 has a light source control unit 266 that controls the light source 25 so that the light source 25 irradiates ultraviolet light at the set irradiation intensity only in the irradiation area 42, according to the settings on the terminal device 3.

This allows the floor surface to be irradiated with ultraviolet light only in the desired area (irradiation area 42) to inactivate bacteria and other substances present on the floor surface, and by setting floor surfaces that are not suitable for irradiation with ultraviolet light as non-irradiation area 43, it is possible to suppress deterioration and discoloration of the floor surface due to irradiation with ultraviolet light. Furthermore, it is possible to set the irradiation intensity according to the material and contamination status of the floor surface in the irradiation area 42, making it possible to efficiently inactivate bacteria and other substances with an appropriate irradiation intensity while suppressing deterioration and discoloration of the floor surface in the irradiation area 42.

Although the embodiments of the present invention have been described above, the invention according to the claims is not limited to the embodiments described above. It should be noted that not all of the combinations of features described in the embodiments are necessarily essential to the means for solving the problems of the invention.

The present invention can be modified as appropriate without departing from the spirit of the invention. For example, in the above embodiment, the present invention is applied to a robot cleaner 1 having a cleaning function, but the cleaning function can be omitted, and the robot can be a floor disinfecting robot having only a floor disinfecting function (a function for inactivating bacteria, etc.). In this case, the floor sterilization robot includes a floor sterilization robot body (corresponding to the robot cleaner body 2 in the above embodiment) that cleans the floor while moving on its own, and a terminal device 3 configured to be able to communicate with the floor sterilization robot body, the floor sterilization robot body has a light source 25 consisting of a light emitting diode that irradiates ultraviolet light onto the floor, the terminal device 3 is configured to be able to set an irradiation area 42 in which ultraviolet light is irradiated by the light source 25 and a non-irradiation area 43 in which ultraviolet light is not irradiated by the light source 25, and is configured to be able to set the irradiation intensity of ultraviolet light within the irradiation area 42, and the floor sterilization robot body may have a light source control unit 266 that controls the light source 25 to irradiate ultraviolet light from the light source 25 at the set irradiation intensity only in the irradiation area 42 according to the setting on the terminal device 3. By omitting the cleaning function, it is possible to reduce the size of the floor sterilization robot body and simplify the system, thereby making it possible to reduce costs.

(Summary of the embodiment)
Next, the technical ideas grasped from the above-described embodiment will be described by using the reference numerals and the like in the embodiment. However, the reference numerals and the like in the following description do not limit the components in the claims to the members and the like specifically shown in the embodiment.

[1] A robot vacuum cleaner (1) comprising: a robot vacuum cleaner main body (2) that cleans a floor surface while moving on its own; and a terminal device (3) configured to be able to communicate with the robot vacuum cleaner main body (2) and capable of setting a cleaning area (41) to be cleaned by the robot vacuum cleaner main body (2), wherein the robot vacuum cleaner main body (2) has a light source (25) consisting of a light-emitting diode that irradiates the floor surface with ultraviolet light, the terminal device (3) is configured to be able to set, within the cleaning area (41), an irradiation area (42) in which the light source (25) irradiates ultraviolet light and a non-irradiation area (43) in which the light source (25) does not irradiate ultraviolet light, and is also configured to be able to set the irradiation intensity of ultraviolet light within the irradiation area (42), and the robot vacuum cleaner main body (2) has a light source control unit (266) that controls the light source (25) so that the light source (25) irradiates ultraviolet light only in the irradiation area (42) at the set irradiation intensity, according to the settings in the terminal device (3). By using light-emitting diodes as a light source for ultraviolet irradiation, the irradiation intensity can be freely set, making it possible to prevent deterioration and discoloration of the floor surface caused by ultraviolet light irradiation.

[2] The robot vacuum cleaner (1) described in [1], in which the robot vacuum cleaner main body (2) has a map acquisition unit (261) that maps the floor surface to be cleaned and transmits the acquired floor surface map (4) to the terminal device, and the terminal device (3) has a display (31) that displays the floor surface map (4) received from the map acquisition unit (261) on the display (31) and is configured to be able to set the cleaning area (41), the illumination area (42), the illumination intensity, and the non-illuminated area (43) on the floor surface map (4). By displaying the floor surface map on a display on the terminal, the cleaning area, illumination area, and non-illuminated area can be easily set.

[3] The terminal device (3) is configured to be able to set the material of the floor surface in the irradiation area (42) and is configured to be able to set the irradiation intensity of the ultraviolet light according to the set material of the floor surface. The material of the floor surface can be set on a floor surface map, and the irradiation intensity of the ultraviolet light can be easily adjusted accordingly.

[4] The robot vacuum cleaner (1) described in [2] or [3], wherein the robot vacuum cleaner main body (2) has a contamination status detection unit (263) that detects the contamination status of the floor surface to be cleaned, the map acquisition unit (261) is configured to transmit the acquired floor surface map to the terminal device (3) in association with the contamination status detected by the contamination status detection unit (263), and the terminal device (3) is configured to be able to set the irradiation intensity of ultraviolet light according to the contamination status of the irradiation area. By providing a contamination status detection unit, automatic correction according to the contamination status of the floor surface, which is unknown at the time of inputting it onto the floor surface map, becomes possible.

[5] The robot vacuum cleaner according to any one of [2] to [4], wherein the floor surface map (4) includes a cumulative irradiation amount of ultraviolet light in the irradiation area (42) and is configured to be able to display the cumulative irradiation amount on the floor surface map (4). By displaying the cumulative irradiation amount of ultraviolet light on the floor surface map, the cumulative irradiation amount on the floor surface can be visually recognized.

[6] The robot vacuum cleaner according to any one of [2] to [5], wherein the terminal device (3) limits the input of the irradiation intensity setting value or issues a warning about the irradiation intensity setting value according to the accumulated irradiation amount displayed on the floor surface map (42). By limiting the input of the irradiation intensity setting value or issuing a warning about the input setting value according to the accumulated irradiation amount over a certain period of time, deterioration or discoloration of the floor surface due to excessive exposure to ultraviolet rays can be suppressed.

[7] The robot vacuum cleaner (1) according to any one of [1] to [6], wherein the light source (25) is a light-emitting diode that emits deep ultraviolet light with a wavelength of 250 nm or more and 280 nm or less. By using deep ultraviolet light of the above wavelength, it is possible to inactivate bacteria (disinfect and sterilize) while cleaning.

[8] A floor sterilization robot comprising: a floor sterilization robot body that cleans a floor while moving by itself; and a terminal device (3) configured to be able to communicate with the floor sterilization robot body, the floor sterilization robot body having a light source (25) made of a light emitting diode that irradiates the floor with ultraviolet light, the terminal device (3) being configured to be able to set an irradiation area (42) in which the light source (25) irradiates with ultraviolet light and a non-irradiation area (43) in which the light source (25) does not irradiate with ultraviolet light, and being configured to be able to set the irradiation intensity of the ultraviolet light in the irradiation area (42), the floor sterilization robot body having a light source control unit (266) that controls the light source (25) to irradiate ultraviolet light from the light source (25) only in the irradiation area (42) at the set irradiation intensity according to the setting in the terminal device (3). By using a light emitting diode as a light source for ultraviolet irradiation, the irradiation intensity can be freely set, making it possible to suppress deterioration and discoloration of the floor surface due to irradiation with ultraviolet light. In addition, by omitting the cleaning function, it is possible to miniaturize the floor sterilization robot itself and simplify the system, which will lead to cost reductions.

1... robot vacuum cleaner 2... robot vacuum cleaner main body 25... light source 261... map acquisition section 263... contamination state detection section 266... light source control section 3... terminal device 31... display 331... cleaning area setting section 332... irradiation area setting section 333... irradiation intensity setting section 4... floor surface map 41... cleaning area 42... irradiation area 43... non-irradiation area

Claims (8)

A robot vacuum cleaner body that moves on its own and cleans the floor surface,
a terminal device configured to be able to communicate with the robot cleaner body and capable of setting a cleaning area to be cleaned by the robot cleaner body;
The robot cleaner body has a light source formed of a light emitting diode that irradiates ultraviolet light onto the floor surface,
The terminal device is configured to be able to set, after setting the cleaning area, an irradiation area in which the ultraviolet light is irradiated by the light source and a non-irradiation area in which the ultraviolet light is not irradiated by the light source within the cleaning area, and to be able to set the irradiation intensity of the ultraviolet light within the irradiation area;
The robot cleaner body has a light source control unit that controls the light source so that the light source irradiates the ultraviolet light at a set irradiation intensity only in the irradiation area according to the setting on the terminal device.
Robot vacuum cleaner. The robot cleaner body has a map acquisition unit that performs mapping of the floor surface to be cleaned and transmits the acquired floor surface map to the terminal device,
The terminal device has a display, displays the floor surface map received from the map acquisition unit on the display, and is configured to be able to set the cleaning area, the illumination area, the illumination intensity, and the non-illumination area on the floor surface map.
The robot vacuum cleaner according to claim 1 . The terminal device is configured to be able to set the material of the floor surface of the irradiation area, and is configured to be able to set the irradiation intensity of the ultraviolet light according to the set material of the floor surface.
The robot vacuum cleaner according to claim 2. The robot cleaner body has a contamination state detection unit that detects a contamination state of the floor surface to be cleaned,
the map acquisition unit is configured to transmit the acquired floor surface map to the terminal device in association with the contamination state detected by the contamination state detection unit;
The terminal device is configured to be able to set the irradiation intensity of the ultraviolet light according to the contamination state of the irradiation area.
4. The robot vacuum cleaner according to claim 2 or 3. The floor surface map includes a cumulative irradiation amount of ultraviolet light in the irradiation area, and is configured to be able to display the cumulative irradiation amount on the floor surface map.
5. A robotic cleaner according to any one of claims 2 to 4. the terminal device limits an input of a setting value of the irradiation intensity or issues a warning regarding the setting value of the irradiation intensity according to the accumulated irradiation amount displayed on the floor surface map.
The robot vacuum cleaner according to claim 5 . The light source is a light emitting diode that emits deep ultraviolet light having a wavelength of 250 nm or more and 280 nm or less.
7. A robotic cleaner according to any one of claims 1 to 6. The irradiation intensity is set stepwise for each material of the floor surface according to the contamination state of the floor surface.
The robot vacuum cleaner according to claim 3.

Images