JP2000342496A - Cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning robot from which a cleaning management company, a maintenance company or the like in a place far away from the cleaning robot can receive the communication of information which the cleaning robot has obtained, directly from the cleaning robot through a personal data assistant or a terminal. SOLUTION: A cleaning robot 1 is equipped with a cellular telephone 25. When a microcomputer 31 in a controller 29 detects either of a cleaning-related abnormality (abnormality of the inability to travel due to an obstacle, running short of battery power, filled with dust to capacity, time to replace the brush) or the end of cleaning work on the basis of detection signals from sensors 14 to 16 and 33 to 37, a microcomputer 32 dials a cellular phone 52 previously specified as a place of contact from the cellular phone 25 through a modem 50 and communicates the cleaning information detected by character information by telephone.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaning robot.

[0002]

2. Description of the Related Art A self-propelled cleaning robot of this type is disclosed in Japanese Patent Application Laid-Open Nos. 9-269824 and 7-281752. The cleaning robot is of a sweeper type, which runs on the floor by itself and sweeps dust with a built-in brush and takes it into a dust box, or a polishing type in which a cleaning liquid is dropped and the floor is polished with a sponge.
The cleaning robot performs running and cleaning operations using the electric power of the battery, and proceeds along the determined traveling route while avoiding the detected obstacles and the like. During this time, the worker does not need to monitor. The operator only has to set the data such as the cleaning conditions in the cleaning robot before the start of cleaning, and it is only necessary to wait in the management room or the like during the cleaning operation. Then, when the work completion time comes, the worker comes to confirm that the cleaning robot has finished the cleaning work.

[0003]

The worker comes out of the management room at a time when the cleaning robot finishes the cleaning operation. However, when the cleaning robot cannot perform the cleaning operation, the cleaning robot stops the operation. For example, when the remaining battery power is insufficient, when running becomes impossible due to obstacles (stuck), when cleaning parts (brushes, sponges, etc.) are worn out and worn and cannot be cleaned properly,
Cleaning agent (cleaning liquid or wax) when garbage is full
When the number is insufficient, the cleaning operation is interrupted.

[0004] Even if the cleaning robot is interrupting the cleaning operation due to such an abnormality, the operator may not be noticed in another management room or the like. In this case, there is a problem that the cleaning robot is left with the cleaning stopped and wasted time is wasted, resulting in poor efficiency.

When the cleaning robot breaks down,
Request a repair from a maintenance contractor (such as a dealer), and the maintenance contractor inspects the cleaning robot to find the cause of the failure and repairs it. However, it takes time until the cleaning robot can be used after the repair, and during that time, the cleaning robot cannot be used.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a first object of the present invention is to provide a cleaning management company, a maintenance company, or the like at a location remote from a cleaning robot to obtain information obtained by the cleaning robot. The present invention is to provide a cleaning robot that can receive a contact from a cleaning robot directly through a portable information terminal or a terminal.

A second object is that when a cleaning robot obtains information such as an abnormality in a cleaning operation, the cleaning robot can directly contact a cleaning management company or the like. To eliminate inefficiency.

A third object of the present invention is to enable maintenance information such as a failure of a cleaning robot to be directly communicated from a cleaning robot to a maintenance company or the like, thereby enabling quick and accurate response to a failure or the like.

[0009]

According to the first aspect of the present invention, there is provided a self-propelled cleaning robot for cleaning a cleaning surface, and a main body for causing the cleaning robot to acquire information. Information acquisition means provided in, a portable information terminal capable of wireless communication for contacting the information acquired by the information acquisition means to a terminal specified in advance as a contact,
Transmission control means for transmitting the information acquired by the information acquisition means from the portable information terminal to the designated terminal.

According to this configuration, the information obtained by the information obtaining means is transmitted from the portable information terminal controlled by the transmission control means to the terminal designated as the contact in advance by wireless transmission to the contact in advance. The specified terminal is contacted.

According to a second aspect of the present invention, in the first aspect of the present invention, the information acquired by the information acquiring means is cleaning information related to a cleaning operation of a cleaning robot, and the transmission control means comprises: A storage unit for storing character information corresponding to the content of the cleaning information obtained by the information obtaining unit; and transmitting the character information corresponding to the content of the cleaning information obtained by the information obtaining unit from the portable information terminal. Is the gist.

[0012] According to this configuration, the cleaning information acquired by the information acquiring means is transmitted as character information corresponding to the content from the portable information terminal whose transmission is controlled by the transmission control means to a terminal designated as a contact in advance. Will be contacted.

According to a third aspect of the present invention, there is provided a self-propelled cleaning robot for cleaning a cleaning surface, wherein information acquisition means provided on the main body for causing the cleaning robot to acquire information is provided in advance. A communication device that can wirelessly access a communication line network to which the designated terminal is connected; and transmission control means for transmitting the information acquired by the information acquisition device to the designated terminal from the communication device. .

According to this configuration, the information obtained by the information obtaining means is wirelessly transmitted from the communication device controlled by the transmission control means to the communication line network to which the terminal designated as the contact in advance is connected. It is accessed and transmitted to a terminal designated as a contact in advance.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the information acquired by the information acquiring means is cleaning information relating to a cleaning operation of a cleaning robot, and is designated in advance as a contact. The terminal is a terminal for a cleaning management company connected to an intranet as the communication line network, and the transmission control unit can access the intranet to send the cleaning information to the terminal for the cleaning management company. The gist of the present invention is to transmit a radio wave receivable by a communication device for connection from the communication device.

According to this configuration, the cleaning information obtained by the information obtaining means is transmitted from the communication device controlled by the transmission control means to the intranet to which the terminal for the cleaning management company designated in advance as a contact is connected. And is accessed and transmitted to a terminal for a cleaning management company designated in advance as a contact.

According to a fifth aspect of the present invention, in the third aspect of the present invention, the information acquired by the information acquiring means is maintenance information of a cleaning robot, and the terminal designated as a contact beforehand is the terminal. A terminal for a maintenance company connected to the Internet as a communication line network, wherein the transmission control means receives a connection communication device capable of accessing the Internet in order to send the maintenance information to the terminal for the maintenance company. The gist is to transmit possible radio waves from the communication device.

According to this configuration, the maintenance information obtained by the information obtaining means is transmitted wirelessly from the communication device controlled by the transmission control means to the Internet to which the terminal for the maintenance company specified in advance as a contact is connected. It is transmitted and accessed, and is transmitted to a maintenance agent terminal designated in advance as a contact.

According to a sixth aspect of the present invention, there is provided a self-propelled cleaning robot for cleaning a cleaning surface, wherein information acquisition means provided on a main body for causing the cleaning robot to acquire information is provided in advance with a contact address. A communication device for wirelessly accessing a communication line network to which the specified terminal is connected; transmission control means for transmitting the information obtained by the information obtaining means to the specified terminal from the communication device; Command execution means for executing the command received by the communication device from the terminal.

According to this configuration, the information acquired by the information acquiring means is wirelessly transmitted from the communication device controlled by the transmission control means to the communication line network to which the terminal designated as the contact is previously connected. It is accessed and transmitted to a terminal designated as a contact in advance. The command received by the communication device from the designated terminal is executed by the command execution means.

According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the information acquired by the information acquiring means is cleaning information relating to a cleaning operation of a cleaning robot, and is designated in advance as a contact. The terminal is a terminal for a cleaning management company connected to an intranet as the communication line network, and the transmission control unit can access the intranet to send the cleaning information to the terminal for the cleaning management company. The gist of the present invention is to control the transmission of a radio wave receivable by a communication device for connection from the communication device, and to remotely control the terminal for the cleaning management company by executing the command by the command execution means.

According to this configuration, the cleaning information obtained by the information obtaining means is transmitted from the communication device controlled by the transmission control means to the intranet to which the terminal for the cleaning management company designated in advance as a contact is connected. And is accessed and transmitted to a terminal for a cleaning management company designated in advance as a contact. The cleaning robot is remotely operated from the cleaning manager terminal by executing the command from the cleaning manager terminal by the command executing means.

According to the invention described in claim 8, in the invention described in claim 6, the information acquired by the information acquiring means is maintenance information of a cleaning robot, and the terminal designated as a contact in advance is the terminal. A terminal for a maintenance company connected to the Internet as a communication line network, wherein the transmission control means receives a connection communication device capable of accessing the Internet in order to send the maintenance information to the terminal for the maintenance company. The gist of the present invention is that remote control is performed from the maintenance agent terminal by controlling the transmission of a possible radio wave from the communication device and executing the command by the command execution unit.

According to this configuration, the maintenance information obtained by the information obtaining means is transmitted wirelessly from the communication device controlled by the transmission control means to the Internet to which a terminal for a maintenance company specified in advance as a contact is connected. It is transmitted and accessed, and is transmitted to a maintenance agent terminal designated in advance as a contact. When the command from the terminal for the maintenance company is executed by the command executing means, the cleaning robot is remotely maintained.

According to the ninth aspect, in the second aspect,
In the invention according to any one of Items 4 and 7, the cleaning information acquired by the information acquiring means includes battery information,
It is at least one of garbage full information, obstacle running impossible information, cleaning part consumption information, and cleaning work end information.

According to this configuration, at least one of the battery information, the garbage full information, the obstacle running impossible information, the cleaning component consumption information, and the cleaning work end information is acquired as the cleaning information by the information acquiring means and designated in advance. The terminal for the cleaning management company of the contact address is contacted.

According to the tenth aspect of the present invention, in the fifth or eighth aspect, the maintenance information acquired by the information acquiring means is at least one of failure information, periodic examination time information, and cleaning part consumption information. One.

According to this configuration, as the maintenance information, at least one of the failure of the cleaning robot, the period of the periodic examination, and the consumption of the cleaning parts is obtained by the information obtaining means,
The terminal is contacted with the maintenance contractor terminal of the designated contact.

[0029] According to the eleventh aspect of the present invention, in the first aspect,
In the invention according to any one of the tenth to thirteenth, the terminal designated as the contact is at least one of a fax machine and a terminal with an e-mail function.

According to this configuration, the information (cleaning information and maintenance information) acquired by the information acquiring means is transmitted to at least a terminal (a terminal for a cleaning management company or a terminal for a maintenance company) of a fax or an electronic mail. Contacted by one.

[0031]

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 2 and 3, the cleaning robot 1
Has a drive wheel 3 as a front wheel and a caster wheel 4 as a rear wheel on the bottom of the main body 2. The left and right drive wheels 3, 3 are independently driven by running motors 5, 6 disposed on the main body 2. A frustoconical side brush 7 as a consumable part for cleaning is provided on two arm portions 2a extending while slightly expanding to the front left and right portions of the main body 2. The side brushes 7, 7 are driven by respective side brush motors 8, 8 disposed on the left and right arm portions 2a, and have a function of rotating in the direction of the arrow shown in FIG. A cylindrical main brush 9 is disposed at the bottom of the main body 2 behind the drive wheel (front wheel) 3. The main brush 9 is a main brush motor 1 disposed on the main body 2.
0 and has a function of rotating in the direction of the arrow shown in FIG.

A dust box 11 is disposed at the front of the main body 2 immediately in front of the main brush 9, and a suction port 11 a is formed in a portion of the dust box 11 facing the main brush 9. At the rear of the body 2 is a vacuum motor 1
2 and a vacuum unit (negative pressure generator) 13 driven by a vacuum motor 12 are provided.
When the vacuum unit 13 is driven, the inside of the dust box 11 becomes negative pressure, and the dust brushed forward by the main brush 9 is sucked and removed into the dust box 11 from the suction port 11a. The suction port 11a of the dust box 11 is provided with a rubber lip 11b to help take dust into the suction port 11a.

The cleaning robot 1 has three obstacle sensors 14 at the front of the main body 2, two obstacle sensors 15 at the left and right sides of the main body 2, and three obstacle sensors 16 at the rear of the main body 2. Is provided. Three types of obstacle sensors 14, 15, 16
Detect obstacles in front, side and rear.

A gyro 17 is provided at the center of the front of the main body 2.
Is built-in. The gyro 17 is for detecting the posture angle (direction) θ of the cleaning robot 1, and the posture angle θ is used for grasping the current position at the time of traveling control.

A display device 18 is embedded in the rear upper surface of the main body 2. The screen 18a of the display device 18 is the input device 19
The touch panel also serves as a keypad, and input operations can be performed by operating display buttons on the screen 18a. In addition, an infrared camera 20 and an infrared light 21 are provided at the front center of the main body 2. Further, two grips 22 used by an operator to manually move the cleaning robot 1 are provided at a rear portion of the main body 2.

The cleaning robot 1 is an electric self-propelled vehicle.
A battery 23 (shown in FIG. 2) is built in the lower rear portion of the battery.
A charger 24 (shown in FIG. 2) is provided on the bottom surface of the main body 2 for charging the battery wirelessly by a magnetic induction method from a charger (not shown) installed at a predetermined place on the ground.

A mobile phone 25 as a mobile information terminal is attached to the upper rear surface of the main body 2. A memory card 27 is inserted into a memory card insertion portion (memory connector) 26 provided on the upper rear surface of the main body 2. The memory card 27 stores a plurality of map data for instructing the cleaning robot 1 on the cleaning area. Further, a communication antenna 28 is provided at the rear of the upper surface of the main body 2. Inside the main body 2, a controller 29 (shown in FIG. 2) that controls communication control and operation control of the cleaning robot 1 is disposed.

FIG. 1 is a block diagram showing an electrical configuration of the cleaning robot 1. As shown in FIG. The controller 29 includes two microcomputers (hereinafter simply referred to as microcomputers) 31,
32. The microcomputer 31 is for operation control that controls traveling control and cleaning control, and the microcomputer 32 is for communication that controls communication. The two microcomputers 31 and 32 are connected to each other via a bus to enable mutual transmission of data.

The input ports of the microcomputer 31 are connected to three types of obstacle sensors 14, 15, 16, a gyro 17, a battery sensor 33, a dust full sensor 34, and motor current sensors 35, 36, 37. I have. Each of the sensors 14 to 16 and 33 to 37 constitutes an information acquisition unit. The output ports of the microcomputer 31 are connected to the traveling motors 5, 6, the side brush motors 8, 8, the main brush motor 10, and the vacuum motor 12, respectively, via drivers 38 to 43. The traveling motors 5 and 6 are provided with encoders 44 and 45 for detecting the number of rotations, and each of the encoders 44 and 45 is connected to an input port of the microcomputer 31. Each motor 5, 6, 8, 10, 1
2 is controlled in rotation speed by drivers 38 to 43.

The microcomputer 31 has a camera 20 connected to an output port via a drive circuit 46, and an image processing unit 47 for processing image data taken by the camera 20 connected to an input port. The light 21 is connected to an output port of the microcomputer 31 via a drive circuit 48. The microcomputer 31 has a memory card insertion unit 26.
Is connected to the memory card 27 via the.

The microcomputer 31 has a built-in memory 49. The memory 49 stores various program data necessary for controlling the operation of the cleaning robot 1, and includes an abnormality detection program, a travel control program, and the like.

The abnormality detection program is executed by each of the sensors 14 to 1
6, 33 to 37 to detect an abnormality in the cleaning operation based on the detection signals. Microcomputer 31
Executes this program to execute each of the sensors 14 to 16, 33
For example, the following four abnormalities are detected based on the detection signals # 37 to # 37. Insufficient battery level Dust box dust full condition Cleaning component replacement time (cleaning component wear information) Obstacle inability to run abnormalities In this program, when an abnormality of is detected, a command to interrupt the cleaning operation of the cleaning robot 1 is issued. I have. When the microcomputer 31 detects an abnormality, the microcomputer 31 transmits data of the abnormality (abnormal data) to the communication microcomputer 32. The abnormality detection is performed in the following manner.

Insufficient remaining capacity of the battery 23 means that the detection signal from the battery sensor 33 for detecting the voltage of the battery 23 is a value equal to or less than the detected voltage value just before the time when the battery capacity is insufficient and the vehicle cannot run. Is indicated, it is determined that this is abnormal.

The garbage full abnormality is detected by the garbage full detection sensor 3
When a full signal is output when the dust in the dust box 11 reaches the full level, it is determined that this is abnormal.

In this embodiment, the cleaning parts replacement time is the brush replacement time, and the detection signals from the motor current detection sensors 35, 36, 37 for detecting the motor currents of the motors 8, 8, 10 are transmitted by the brushes 7, 9 respectively. When the value indicates that the tire is worn out and is in insufficient contact with the floor surface and is in an idling state, it is determined that the abnormality is present.

The obstacle running failure abnormality is detected by the obstacle sensor 1
When it is determined from the detection signals at 4, 15 and 16 that the obstacle has obstructed the traveling path, the vehicle is temporarily stopped and timekeeping is started. When the obstacle does not disappear even after the lapse of a predetermined time, this abnormality is determined. I do.

The memory card 27 stores map data. The map data includes at least cleaning area data (coordinate data) for knowing the shape of a room or the like to be cleaned, and the position, shape, and size of the cleaning area can be grasped using the cleaning area data. I have. The memory card 27 can store a plurality of map data. The creation of the cleaning area data is performed by instructing the cleaning robot 1 to go around the cleaning area by remote operation using a remote controller (not shown) and teaching the outer coordinates of the cleaning area. The cleaning robot 1 is provided with a teaching program for creating cleaning area data in advance. Of course, the cleaning area data created by using the room design drawing data on a personal computer (CAD or the like) can be stored in the memory card 27. The map data stored in the memory card 27 is used when executing a traveling control program.

The travel control program is used to determine a travel route for cleaning the cleaning area in advance and to control the travel of the cleaning robot 1 along the travel route. The travel route is determined using map data (cleaning area data) stored in the memory card 27 according to a predetermined rule according to the shape of the cleaning area.
The traveling control includes a traveling speed V obtained from detection signals input from the encoders 44 and 45, an attitude angle θ obtained from the detection signal input from the gyro 17, and a yaw rate (posture angular velocity) obtained as a change amount of the attitude angle θ per unit time. ) Ω
Are executed as control parameters. The current position is obtained as the position coordinates on the map coordinates from the origin position coordinates, based on the attitude angle θ that changes every moment and the running distance at each time. The data of the traveling speed V and the yaw rate ω are used for attitude control for placing the cleaning robot 1 on a target path.
When the microcomputer 31 completes all the cleaning work of the designated cleaning area, it sends a signal (cleaning work end signal) notifying the end of the cleaning work to the communication microcomputer 32.

On the other hand, the display device 18, the input device 19, and the modem 50 are connected to the communication microcomputer 32. The mobile phone 25 is connected to the modem 50 via a communication line. Transmission control program data is stored in a memory 51 incorporated in the microcomputer 32. In addition, the memory 51 receives four kinds of abnormal signals (battery charge request signal, dust full signal, cleaning part replacement request signal, obstacle running disable signal) transmitted from the microcomputer 31 and signals in accordance with the cleaning work end signal. Character data corresponding to the content is stored. Battery charge request signal, garbage full signal,
In response to the cleaning part replacement request signal, the obstacle traveling disabled signal, and the cleaning work end signal, for example, "battery charge"
Character data such as "full dust", "brush replacement", "obstacle", and "cleaning completed" are prepared. The memory 51 stores the telephone number of the mobile phone of the contact. Note that the storage means is constituted by the memory 51.

The transmission control program transmits the information on the occurrence of the abnormality interrupting the cleaning operation and the information on the completion of the cleaning operation to the mobile phone 52 addressed to the telephone number designated as the contact in advance.
This is for performing outgoing call control to contact the telephone. That is, when any one of the four types of abnormal signals and the cleaning work end signal is received, character data corresponding to the content of the signal is read out from the memory 51, and the portable data is transmitted to a predetermined telephone number via the modem 50. The telephone 25 is dialed and the read character data is transferred to the portable telephone 52 of the destination.
Send to The telephone number of the contact can be set by performing an input operation on a telephone number input setting screen displayed on the display screen 18a. In this embodiment, the terminal designated as the contact in advance is the mobile phone 52.
The transmission control means includes the microcomputer 32 and the modem 50.

Next, the operation of the cleaning robot 1 will be described. A list of rooms is displayed by an input selection operation on the display screen 18a, and a room to be cleaned is selected from the list. Then, the microcomputer 31 reads the cleaning area data of the designated room from the memory card 27, and determines a traveling route for cleaning the room in advance.

When the worker issues an instruction to start the cleaning operation, the cleaning robot 1 starts the cleaning operation. The cleaning robot 1 travels along the previously determined traveling route while the brushes 7, 9
The dust on the floor is swept and removed to the dust box 11 by the rotation of.

During the cleaning operation, the microcomputer 31 executes an abnormality detection program in addition to the traveling control program. Based on input signals from the sensors 14 to 16 and 33 to 37, the microcomputer 31 runs out of battery power, The cleaning consumable part replacement time (brush replacement time) and the presence or absence of an obstacle running obstacle detection are detected. When one of these four types of abnormalities is detected, the cleaning robot 1 temporarily stops the cleaning operation. Simultaneously with this interruption, the microcomputer 31 sends a signal notifying the content of the abnormality to the communication microcomputer 32. When all the cleaning work specified by the worker is completed, the microcomputer 31 transmits a cleaning work end signal to the communication microcomputer 32.

Upon receiving a signal from the microcomputer 31, the communication microcomputer 32 executes a transmission control program. Then, the character data corresponding to the signal content of the input signal and the telephone number of the designated contact are read out from the memory 51, and the dialing of the telephone number is controlled through the modem 50. The character data is transmitted to the mobile phone 52 of the other party.

A call is made to the mobile phone 52 owned by the worker via the wireless relay base 53, and the message is displayed in the message display field 52a of the mobile phone 52 in text. In the message display field 52a, for example, "battery charge" when the battery is insufficient, "garbage full" when the garbage is full,
When an obstacle cannot be run, the text "obstacle" is displayed. When the cleaning work is completed,
Is displayed.

For this reason, when the cleaning robot 1 interrupts the cleaning operation, the interruption of the cleaning operation is immediately transmitted to the worker's mobile phone 52 even if the cleaning robot 1 is in a distant place where the cleaning robot 1 cannot be seen. Will be contacted. In addition, since the end of the cleaning operation is immediately notified to the worker by the mobile phone 52, the cleaning robot 1 is not left in a standby state after the end of the cleaning.

As described in detail above, according to the present embodiment,
The following effects can be obtained. (1) The cleaning robot 1 informs the worker's mobile phone 52 of the abnormality information that interrupts the cleaning work by text dialing the provided mobile phone 28 by text information. For this reason, the interruption of the cleaning operation is immediately notified to the worker who is in a remote place where the cleaning robot 1 cannot be seen, and the worker can come immediately and take measures to solve the problem. Therefore, it is possible to prevent the cleaning robot 1 from being left while the cleaning operation is interrupted. Also, when the cleaning operation is completed, the fact that the cleaning is completed by the mobile phone is notified to the mobile phone 52 of the worker by text information, so that the cleaning robot 1 is not left in a standby state after the cleaning is completed. be able to. Thus, even if the worker is not near the cleaning robot 1, the worker can immediately know that the cleaning robot 1 has interrupted the work or has finished the work, so that the worker needs to be near the cleaning robot 1. Disappears.

(2) Since information is sent from the mobile phone 25 to the mobile phone 52 owned by the worker, the information can be reliably delivered to the other party without delay. In addition, even when a cleaning operation is performed in a place where there is no intranet itself, information can be reliably transmitted to the operator.

(3) Since a commercially available mobile phone 25 can be provided, the character communication function can be used by mounting the mobile phone 25 when necessary, without having to install a communication device in advance.

(4) The operator inputs and sets the telephone number of his / her mobile phone 25 using the telephone number input setting function, so that even if a plurality of workers use the cleaning robot 1, the telephone number can be entered. Anyone can use the text communication function simply by changing the input settings.

(5) Since the communication is made by using the text information, there is no fear of oversight which often occurs in voice communication, and the contents of the emergency communication can be reliably transmitted to the worker. (Second Embodiment) In this embodiment, when the cleaning robot 1 acquires information to be communicated, it communicates the information to terminals of a cleaning management company or a maintenance company. In addition, the first
The same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted. Only particularly different components will be described in detail.

FIG. 4 shows a communication system for establishing a communication network for the cleaning robot to communicate with terminals of a cleaning company and a maintenance company. In this communication system, various cleaning robots such as a sweeper-type cleaning robot 1 and a wax-type cleaning robot 60 are provided in facilities such as buildings, stations, and airports managed by a cleaning management company. In such buildings, stations, airports, and other facilities, an intranet 100 as a communication line network is constructed using dedicated lines. Intranet 10 wherever radio waves from cleaning robots 1 and 60 reach anywhere in the facility
A plurality of connection communicators 71 serving as access points for accessing 0 are installed, and each connection communicator 71 is connected to a dedicated line of the intranet 100. The management room of the cleaning management company that manages the facility has an intranet 100
A personal computer (hereinafter, referred to as a personal computer) 80 as a terminal for a cleaning management company connected to the computer is installed.

The dedicated line of the intranet 100 is connected to a dedicated line or a public line via the server 72, and is connected to the Internet 200 as a communication line network outside the facility. On the Internet 200, a personal computer 90 as a terminal for a maintenance company installed in a facility such as a building of a maintenance company such as a store or a repair company is connected. Note that the personal computers 80 and 90 are terminals designated as the contacts in advance.

Each of the personal computers 80 and 90 has an e-mail function, and has an individual maid address. The server 72 has a mail server function, and is connected to the intranet 1
The mail data arriving with the mail address of the terminal No. 00 as the destination is distributed for each address, and the mail data arriving with the mail address on the external Internet 200 as the destination is transmitted to the Internet 200.
Transfer to the other specified server above. Each cleaning robot 1,6
0 can access the intranet 100 and the Internet 200 via the connection communicator 71 by wirelessly transmitting mail data whose address is specified;
E-mail can be sent to the personal computers 80 and 90 at the address destination.

As shown in FIG. 5, the cleaning robot 1 comprises the mobile phone 25 and the modem 5 in the first embodiment.
Instead of 0, a communication device (wireless LAN module) 55 capable of wireless communication with the connection communication device 71 is provided.

The microcomputer 31 detects four types of abnormalities by executing an abnormality detecting program stored in the memory 49, as in the first embodiment. That is, it detects that the battery is insufficient, the dust is full, the cleaning parts need to be replaced, and the obstacle cannot run. When the cleaning operation is interrupted, these four types of abnormal signals are transmitted to the microcomputer 32. When the cleaning operation is completed, the cleaning operation end signal is transmitted to the microcomputer 32. Based on these signals, the microcomputer 32 acquires cleaning information to be provided to a cleaning management company.

In this embodiment, the memory 49 stores a maintenance information acquisition program for acquiring maintenance information in addition to the abnormality detection program.
1 acquires maintenance information to be provided to a maintenance company by executing a maintenance information acquisition program. The maintenance information is of the following four types. Failure of each sensor Controller failure Periodical examination time Cleaning part replacement time (brush replacement time) The failure of each sensor and the failure of the controller are determined from input signals from the sensors and various circuits input by the microcomputer 31 and the like. The regular check-up time is determined based on the fact that the counter value for counting the cumulative operation time has reached the regular check-up set value. The cleaning component replacement time is determined from the detection values of the motor current detection sensors 35 to 37 (same as the same). When the maintenance information is detected, a signal corresponding to the content is transmitted from the microcomputer 31 to the microcomputer 32. In the present embodiment, the information acquisition means is constituted by the sensors 14 to 16, 33 to 37 and the microcomputer 31.

The microcomputer 32 interprets the four kinds of abnormal signals and the cleaning work end signal as signals of information to be provided to a cleaning management company. Further, the four types of signals are interpreted as signals of information to be provided to the maintenance company.

An e-mail corresponding to the contents of these five types of signals (a battery charge request signal, a dust full signal, a cleaning part replacement request signal, an obstacle running disabled signal, and a cleaning work end signal) for a cleaning management company. Sentence data is stored in the memory 51. In the first embodiment, the amount of character information is limited to the number of characters that can be displayed in the message display field of the mobile phone. On the other hand, in the present embodiment, text information is provided by e-mail. To many. For example, the sentence data includes not only a sentence that informs the contents of the abnormality, but also a sentence such as a method of coping with the abnormality and additional information to be referred to.

The memory 51 stores sentence data corresponding to the signal contents of four types of signals (a sensor failure signal, a controller failure signal, a cleaning component replacement request signal, and a periodic examination signal) for a maintenance company. For the sensor failure signal and controller failure signal, in addition to the text indicating the failure (including the customer name (cleaning management company name), machine number, failure location and failure content estimation, etc.), operating status data before and after the failure, etc. Attach data for repair.
As for the regular checkup signal, in addition to a sentence notifying the time of the regular checkup, operation status data, etc., which are useful in advance for the regular checkup, are attached. The cleaning part replacement request signal includes a sentence notifying the cleaning part replacement time, as well as useful information such as a part number, which is useful if the maintenance company knows in advance.

The memory 51 stores an e-mail software program and mail addresses of a cleaning management company and a maintenance company. Microcomputer 32
When one of the various signals is input from the microcomputer 31, it is determined from the signal information whether the signal is for a cleaning management company or a maintenance company, a destination is determined, and a sentence according to the signal content read from the memory 51 is determined. Also, the data to be attached is transmitted by e-mail to the mail address of the destination. In addition, instead of sending by e-mail,
The fax number of the destination can be stored in the storage device, and the fax number can be transmitted to a fax machine of a management company or a maintenance company connected to the intranet 100 or the Internet 200.
The wax-type cleaning robot 60 other than the cleaning robot 1 has the same electrical configuration.

During operation of the cleaning robot 1, the microcomputer 32 receives one of the various signals from the microcomputer 31, determines whether the signal is for a cleaning management company or a maintenance company, determines the destination, and determines the destination. From the mail address of the destination, a sentence corresponding to the signal, and necessary attached data. Then, the electronic mail program is executed, and the sentence data or the like read to the mail address is transmitted from the communication device 55 wirelessly (radio wave). Similarly, when the information to be communicated is acquired in the cleaning robot 60 as well, text data or the like of the information is transmitted by e-mail. In addition,
If the contact terminal is a fax machine, dial the fax number and send the document data or the like by fax.

In this way, the cleaning information of the abnormal work interruption and the cleaning end of the above are sent to the personal computer 80 for the cleaning management company through the intranet 100.
00 and the Internet 200, the maintenance information of is sent to the personal computer 90 for the maintenance company. Therefore, the cleaning manager can know through the personal computer 80 that the cleaning robot 1 has interrupted the cleaning operation or has completed the cleaning operation, while staying in the management room.
Further, the maintenance company can use the cleaning robot 1 and the cleaning robot 1,
60 maintenance information can be obtained.

As described in detail above, according to the second embodiment, the following effects can be obtained in addition to the effects (1) and (5) described in the first embodiment. (6) The cleaning information can be provided to the cleaning management company and the maintenance information can be provided to the maintenance company while being away from the cleaning robots 1 and 60. Therefore, the cleaning management company (operator) can immediately know that the cleaning robots 1 and 60 have interrupted or finished the cleaning operation and can cope with the interruption, so that the efficiency of leaving the cleaning robots 1 and 60 without performing the cleaning operation is low. Can be eliminated. Further, the maintenance contractor can know the trouble of the cleaning robot 1, 60 of the customer, the period of the periodic checkup, and the time of replacement of the cleaning parts while staying at a remote place such as a store, and can perform the subsequent maintenance quickly and accurately. .

(7) Since text data and the like are sent from the cleaning robots 1 and 60 to the contact terminals (PCs 80 and 90 or FAX machines) via the intranet 100 and the Internet 200, compared with the case where the text data is sent to a mobile phone, the text data and the like are sent. A sentence or the like with a larger amount of information can be sent by facsimile, and a cleaning management company or a maintenance company can obtain more detailed information.

(8) Since detailed information can be obtained, especially for a maintenance company, not only failure information but also operation status data before and after the failure can be obtained.
We can respond appropriately. In addition, since the operating status data up to that time can be obtained together with the notification of the periodical examination time, the periodic examination on site can be performed smoothly. Further, since the part number can be known together with the notification of the cleaning part replacement time, the parts (brushes 7, 9
Etc.), the part number is not specified when
We can provide customers with accurate parts.

(Third Embodiment) In this embodiment, the cleaning robot 1 is connected to a terminal of a cleaning management company or a maintenance company.
And issue a command to execute the predetermined operation. In addition, the first
The same components as those of the second embodiment are denoted by the same reference numerals, and the description thereof is omitted. Only different components will be described in detail.

The communication system is the same as in FIG. 4, and the electrical configuration of the cleaning robot 1 is the same as in FIG. The difference from the second embodiment is the contents of the programs executed by the microcomputers 31 and 32. In the communication system shown in FIG. 4, each cleaning robot 1 and 60 can communicate with a personal computer 80 for a cleaning management company, and can also communicate with a personal computer 90 for a maintenance company. Therefore, in addition to transmitting information in one direction from the cleaning robots 1 and 60, the cleaning robots 1 and 60 can be remotely operated from the personal computer 80 for the cleaning management company, and the cleaning robots 1 and 60 can be transmitted from the personal computer 90 for the maintenance company. Remote maintenance is possible.

The microcomputer 32 receives command signals from the personal computers 80 and 90 through the communication device 55. Microcomputer 3
2 transfers the received command signal to the microcomputer 31. The memory 49 stores a program for executing a command. That is, a cleaning operation command execution program for remotely controlling the cleaning operation of the cleaning robot 1 and a maintenance instruction execution program for performing remote maintenance of the cleaning robot 1. The microcomputer 32 executes a cleaning work instruction execution program in response to an instruction from the personal computer 80 for a cleaning management company, and executes a maintenance instruction execution program in response to an instruction from the personal computer 90 for a maintenance company. The command execution means is constituted by the microcomputers 31 and 32.

According to this embodiment, the following effects can be obtained in addition to the effects of the second embodiment. (9) When the cleaning management company finds out through the personal computer 80 that there is a cleaning robot 1 or 60 whose cleaning work has been interrupted or terminated, the cleaning robot 1 or 60 is remotely operated by operating the personal computer 80 and the cause of the interruption is determined. It can be removed or ordered for the next task. In addition, the infrared camera 20
The operator can remotely operate the cleaning robots 1 and 60 while viewing the image taken by the user on the monitor of the personal computer 80 in the management room.

(10) The maintenance company operates the personal computer 90
When the customer finds out that the cleaning robots 1 and 60 have a failure through the PC, the customer is notified by telephone and the cleaning robots 1 and 60 are operated by operating the personal computer 90.
By performing remote maintenance of the system, it is possible to eliminate failures and perform temporary emergency measures. In addition, necessary data that can be used as reference when performing remote maintenance or performing repairs or the like on site can be extracted from the cleaning robots 1 and 60.

The embodiment is not limited to the above, and can be carried out in the following modes. The portable information terminal provided to the cleaning robot in the first embodiment is not limited to a mobile phone. A PHS (Personal Handy Phone System) or pager can also be used. Further, the portable information terminal owned by the worker (cleaning management company) is not limited to a mobile phone, but may be a PHS or a pager. In this case, the combination of the cleaning robot side and the worker side portable information terminal is not particularly limited.

In the first embodiment, not the character information but the voice information may be provided to the portable information terminal owned by the worker (cleaning management company). In this case, the memory 51 stores audio data corresponding to each signal content.

In the second and third embodiments, instead of the communication device (wireless LAN module) 55, the mobile phone 25 is used as in the first embodiment, and the mobile phone 25 makes a call to perform cleaning management. The cleaning information may be provided to the terminal for the trader, or the maintenance information may be provided to the terminal for the maintenance trader. In this case, in the third embodiment, the mobile phone receives a command from a remote terminal.

In the second and third embodiments, only the provision of the cleaning information addressed to the terminal for the cleaning management company may be executed. Alternatively, only provision of the maintenance information addressed to the terminal for the maintenance company may be executed.

In the second and third embodiments, the communication system may use only one of the intranet and the Internet. When only the Internet is used, a wireless communication system that can be directly accessed between the cleaning robot and the Internet is constructed. When only the intranet is used, the maintenance company terminal is connected by a dedicated line to construct the intranet.

The contents of the cleaning information and the maintenance information are not limited to the above embodiments. The cleaning information may be any information related to the cleaning operation. Further, the maintenance information may be any information as long as it is information related to maintenance. For example, cleaning robots other than the sweeper type have different cleaning work contents and different cleaning components, so that there may be cleaning information and maintenance information other than those described above.

The information acquired by the cleaning robot is not limited to cleaning information and maintenance information. Other predetermined information may be obtained by adding a sensor to the main body.
For example, an environment measurement sensor may be attached to obtain environment measurement information (temperature, humidity, gas concentration, illuminance, noise, etc.), or security information may be obtained by a security device (such as a camera) or a sensor.

The cleaning robot is not limited to the sweeper type or the wax type. The present invention can be applied to all cleaning robots performing a cleaning operation. The technical ideas (inventions) other than the claims ascertained from the above embodiments and other examples are described below.

(1) In the invention of claim 1 or 2,
The information acquired by the information acquiring means is cleaning information related to a cleaning operation of the cleaning robot, the terminal designated as the contact is a portable information terminal, and the transmission control means communicates the cleaning information. To automatically dial the telephone number of the portable information terminal. According to this configuration, the cleaning information is communicated to the portable information terminal owned by the cleaning robot worker, so that it is possible to prevent the cleaning robot from being abandoned without doing anything such as interrupting or ending the cleaning operation. be able to.

(2) In the invention according to claim 3,
The information obtained by the information obtaining means is cleaning information related to the cleaning operation of the cleaning robot and maintenance information of the cleaning robot, and the terminal designated as a contact of the cleaning information in advance is an intranet as the communication line network. In the terminal for the cleaning management company connected to the, the terminal specified in advance as the contact information of the maintenance information is a terminal for the maintenance company connected to the Internet as the communication line network, the transmission control means, In order to send cleaning information to the terminal for the cleaning management company, and to send the maintenance information to the terminal for the maintenance company, the communication radio wave that can be received by the connection communication device capable of accessing the intranet and the Internet is used for the communication. Control from the container. According to this configuration, claim 4 and claim 5
Can obtain both effects of the inventions described above.

(3) In the invention according to claim 6,
The information obtained by the information obtaining means is cleaning information related to the cleaning operation of the cleaning robot and maintenance information of the cleaning robot, and the terminal designated as a contact of the cleaning information in advance is an intranet as the communication line network. In the terminal for the cleaning management company connected to the, the terminal specified in advance as the contact information of the maintenance information is a terminal for the maintenance company connected to the Internet as the communication line network, the transmission control means, In order to send cleaning information to the terminal for the cleaning management company, and to send the maintenance information to the terminal for the maintenance company, the communication radio wave that can be received by the connection communication device capable of accessing the intranet and the Internet is used for the communication. Control from the cleaning device, the command execution means is the command from the terminal for the cleaning management company While it is remotely operated from the cleaning management agent terminal by executing the instruction execution means is remote maintenance from the maintenance provider terminal by executing the command from the maintenance provider terminal. According to this configuration, it is possible to obtain both effects of the inventions described in claims 7 and 8.

(4) In claim 3 or 6, the communication line network is at least one of an intranet and the Internet. According to this configuration, it is possible to send a large amount of text data by e-mail or fax,
Detailed information can be obtained.

(5) Claims 2, 4, 7 and (1)
In any of the technical ideas described above, the cleaning information acquired by the information acquiring unit is at least one of abnormal information for interrupting the cleaning operation and cleaning operation end information. According to this configuration, it is possible to prevent the cleaning robot from being left without performing the cleaning operation.

[0096]

As described above in detail, according to the first, second, ninth and eleventh aspects of the present invention, the information acquired by the cleaning robot can be obtained by using the portable information terminal provided in the cleaning robot even at a remote place. , A terminal designated as a contact can be contacted in advance.

According to the second, ninth and eleventh aspects of the present invention,
In addition to the effect of the first aspect of the invention, the cleaning information acquired by the cleaning robot can be communicated as character information to a terminal designated as a contact in advance.

According to the third, fourth, fifth, ninth, tenth, and eleventh aspects of the present invention, even if the information acquired by the cleaning robot is located at a remote location, the information can be accessed wirelessly to the communication line network, and You can contact the terminal specified as the contact.

According to the fourth, ninth and eleventh aspects of the invention, the cleaning information acquired by the cleaning robot, such as abnormalities in the cleaning operation, is wirelessly accessed on the intranet and communicated to the terminal for the cleaning management company. be able to. Therefore, it is possible to eliminate the inefficiency that the cleaning robot is left without performing the cleaning operation because the cleaning management company does not know.

According to the fifth, tenth and eleventh aspects of the present invention, the maintenance information acquired by the cleaning robot can be wirelessly accessed on the Internet to be contacted with the terminal for the maintenance contractor, and the maintenance information can be promptly obtained in the event of a failure or the like. We can respond appropriately.

According to the sixth, seventh, eighth, ninth, tenth, and eleventh aspects of the present invention, even if the information acquired by the cleaning robot is located at a remote place, the information can be wirelessly accessed to the communication line network, and In addition to being able to contact the terminal designated as the contact, the cleaning robot can execute a command from the terminal.

According to the seventh, ninth, and eleventh aspects of the present invention, the cleaning information acquired by the cleaning robot, such as abnormalities in the cleaning operation, can be communicated to the terminal for the cleaning management company through the intranet. The inefficiency that the cleaning robot is left without performing the cleaning operation because the trader or the like does not know can be eliminated. In addition, the cleaning robot can be remotely operated by issuing a command from the terminal for the cleaning management company, and abnormalities in the cleaning operation can be eliminated from the terminal for the cleaning management company.

According to the eighth, tenth, and eleventh aspects of the present invention, maintenance information can be transmitted from the cleaning robot to the terminal for the maintenance company via the Internet, and it is possible to quickly and accurately deal with a failure or the like. In addition, the cleaning robot can be remotely maintained by issuing a command from the maintenance agent terminal, and the maintenance agent terminal can cope with a failure or the like.

According to the eleventh aspect of the present invention, in addition to the effects of the invention of any one of the first to tenth aspects, information such as cleaning information and maintenance information acquired by the cleaning robot can be transmitted to a cleaning management company. The terminal of the maintenance company can be contacted by fax or e-mail.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an electrical configuration of a cleaning robot according to a first embodiment.

FIG. 2 is a side view of the cleaning robot.

FIG. 3 is a plan view of a cleaning robot.

FIG. 4 is a schematic diagram illustrating a communication system of a cleaning robot according to the second and third embodiments.

FIG. 5 is a block diagram showing an electrical configuration of the cleaning robot.

[Explanation of symbols]

Reference numerals 1, 60: cleaning robot, 2: body, 14-16: obstacle sensor constituting information acquisition means, 25: mobile phone as portable information terminal, 29: controller, 31: microcomputer constituting information acquisition means, 32 ... Communication microcomputer constituting transmission control means, 33 ... Battery sensor constituting information acquisition means, 34 ... Dust fullness detection sensor constituting information acquisition means, 35-37 ... Motor current detection sensor constituting information acquisition means, Reference numeral 50: a modem constituting transmission control means; 55, a communication device constituting transmission control means; 71, a communication device for connection; 100, an intranet as a communication line network;
200: Internet as a communication line network.

Claims (11)

[Claims] 1. A self-propelled cleaning robot for cleaning a cleaning surface, wherein information acquisition means provided on a main body for causing the cleaning robot to acquire information is notified in advance of information acquired by the information acquisition means. A portable information terminal capable of wireless communication for contacting the previously designated terminal; and transmission control means for transmitting information acquired by the information acquisition means from the portable information terminal to the designated terminal. Cleaning robot. 2. The cleaning robot according to claim 1, wherein the information acquired by the information acquisition unit is cleaning information related to a cleaning operation of the cleaning robot, and the transmission control unit acquires the information by the information acquisition unit. A cleaning robot comprising storage means for storing character information corresponding to the content of the cleaning information to be transmitted, and transmitting from the portable information terminal character information corresponding to the content of the cleaning information acquired by the information acquiring means. 3. A self-propelled cleaning robot for cleaning a cleaning surface, wherein information acquisition means provided on a main body for causing the cleaning robot to acquire information is connected to a terminal designated as a contact in advance. A cleaning robot, comprising: a communication device capable of wirelessly accessing the communication line network; and transmission control means for transmitting the information acquired by the information acquisition device to the designated terminal from the communication device. 4. The cleaning robot according to claim 3, wherein the information acquired by the information acquisition unit is cleaning information related to a cleaning operation of the cleaning robot, and the terminal designated as a contact in advance is the communication terminal. A terminal for a cleaning management company connected to an intranet as a wire network, wherein the transmission control unit includes a connection communication device capable of accessing the intranet in order to send the cleaning information to the cleaning management company terminal. A cleaning robot for transmitting receivable radio waves from the communication device. 5. The cleaning robot according to claim 3, wherein the information acquired by the information acquiring means is maintenance information of the cleaning robot, and the terminal designated as a contact in advance is the Internet as the communication line network. A terminal for a maintenance company connected to the communication terminal, wherein the transmission control means transmits a radio wave that can be received by a connection communication device capable of accessing the Internet in order to send the maintenance information to the terminal for the maintenance company. A cleaning robot sent from a container. 6. A self-propelled cleaning robot for cleaning a cleaning surface, wherein information acquisition means provided on a main body for causing the cleaning robot to acquire information is connected to a terminal designated as a contact in advance. A communication device for wirelessly accessing the communication line network, transmission control means for transmitting the information acquired by the information acquisition device to the designated terminal from the communication device, and the communication device from the designated terminal A cleaning robot comprising: a command execution unit for executing a received command. 7. The cleaning robot according to claim 6, wherein the information acquired by the information acquisition means is cleaning information related to a cleaning operation of the cleaning robot, and the terminal designated as a contact in advance is the communication terminal. A terminal for a cleaning management company connected to an intranet as a wire network, wherein the transmission control unit includes a connection communication device capable of accessing the intranet in order to send the cleaning information to the cleaning management company terminal. A cleaning robot that controls transmission of receivable radio waves from the communication device and that is remotely controlled from the cleaning manager terminal by the command execution unit executing the command. 8. The cleaning robot according to claim 6, wherein the information acquired by the information acquiring means is maintenance information of the cleaning robot, and the terminal designated as a contact in advance is the Internet as the communication line network. A terminal for a maintenance company connected to the communication terminal, wherein the transmission control means transmits a radio wave that can be received by a connection communication device capable of accessing the Internet in order to send the maintenance information to the terminal for the maintenance company. A cleaning robot that performs control from a container and that is remotely maintained from the maintenance company terminal by the command execution means executing the command. 9. The cleaning robot according to claim 2, wherein the cleaning information acquired by the information acquiring means is battery information, dust full information, obstacle running impossible information, cleaning. A cleaning robot that is at least one of component consumption information and cleaning work end information. 10. The cleaning robot according to claim 5, wherein the maintenance information acquired by the information acquisition unit is at least one of failure information, periodic examination time information, and cleaning component consumption information. . 11. The cleaning robot according to claim 1, wherein the terminal designated as the contact is at least one of a fax machine and a terminal with an e-mail function.