JP2005211565A - Self-traveling cleaner and program thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To predict the date and time to perform cleaning next corresponding to the deposition degree of dust, to automatically perform activation at the predicted time and to perform cleaning in a self-traveling cleaner. <P>SOLUTION: The self-traveling cleaner is provided with a dust deposition amount storage part 11a for storing the deposition amount of garbage or the dust, a cleaning time storage part 10 for storing the date and time when cleaning is performed and a cleaning time prediction part 13 for calculating a period of depositing the garbage and the dust in a specified area from information stored in the dust deposition amount storage part 11a and the cleaning time storage part 10 and predicting the date and time to perform cleaning next, is automatically activated at the predicted time, and performs cleaning. Thus, without having a user make a judgement and perform operations, cleaning is automatically performed corresponding to the deposition degree of the dust. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention is used for traveling technology in a self-propelled cleaner.

  In recent years, mainly in the automotive industry field, development of devices that are equipped with a plurality of sensors, avoid danger, and automatically run and walk while corresponding to the surrounding environment has been developed. In the field of consumer equipment, a self-propelled cleaner that cleans the house while automatically running is provided.

  Such a self-propelled cleaner includes an ultrasonic sensor for detecting a wall surface in addition to a traveling means composed of a drive motor, wheels, etc. in the apparatus body, a cleaning means composed of a cleaning nozzle, a suction motor, etc. Equipped with an impact sensor that detects the contact of equipment and a dust sensor that detects the accumulation state of dust and dust in the cleaning area, and controls the traveling means and cleaning means based on the collected information from the sensor to realize automatic cleaning Yes. FIG. 6 shows a configuration diagram of a conventional self-propelled cleaner. In FIG. 6, a power source 2 and a suction motor 3 that cleans the floor, a drive motor 4 that travels, and a dust sensor 6a that detects the accumulation state of dust and dust in the cleaning area are connected to the apparatus body 1, and the dust sensor 6a. The sensor signal determination unit 7 includes a dust sensor signal determination unit 8a that determines the dust accumulation state of the cleaning floor from the signal of the signal, and suction is performed based on the dust or dust accumulation state determined by the dust sensor signal determination unit 8a. It is composed of a control unit 5 that controls the suction force of the motor 3 and the speed of the drive motor 4, and when there is a lot of dust in the travel area, the suction force is increased so as not to leave any dust and the speed is reduced. The automatic cleaning is efficiently performed according to the accumulation state of dust and dust on the floor.

Conventionally, this type of self-propelled cleaner does not leave any dust on the floor, and the amount of dust accumulated in the device main body 1 determined by the dust sensor signal determination unit 8a so that it can be cleaned efficiently. The storage unit 9 includes a dust accumulation region storage unit 16 that stores a region with a large amount of dust. The control unit 5 uses the suction motor 3 and the drive motor 4 based on information stored in the dust accumulation region storage unit 16. Various cleaning means are mounted, such as controlling intensively and cleaning an area where dust and dust are accumulated (see, for example, Patent Document 1).
JP 2003-339599 A

  However, even if the conventional means is used, it is necessary for the user to self-determine that dust or dirt is accumulated (cleaning is necessary), and then automatic cleaning must be started by the user's operation. . Therefore, automatic cleaning is started after dust and dust that exceed the cleaning capacity of the self-propelled cleaner, and the designated area is not fully cleaned within the allowable time, and the battery runs out on the way, The problem was that it was difficult for the user to know whether the cleaning was completed.

  Therefore, the present invention autonomously travels in a designated area based on a specific algorithm, and in a self-propelled vacuum cleaner that performs cleaning, automatically determines the accumulation state of dust and dust, and predicts and predicts the date and time for next cleaning. The purpose is to build a self-propelled cleaner that automatically starts and cleans at daytime.

  In order to solve the above-described conventional problems, the self-propelled cleaner of the present invention includes a dust accumulation amount storage unit that stores the accumulation state of dust and dust, a cleaning time storage unit that stores the date and time of cleaning, A cleaning time predicting unit that predicts the date and time for the next cleaning from the information stored in the dust accumulation amount storage unit and the cleaning time storage unit.

  This makes it possible to calculate the amount of dust and dirt that accumulates in the specified area within a certain period, that is, to calculate the period during which dust and dust accumulate in the specified area, and to predict the date and time for the next cleaning. Thus, it is possible to automatically start and perform cleaning at the predicted date and time.

  The self-propelled cleaner equipped with the cleaning time predicting unit according to the present invention can predict the date and time for the next cleaning by calculating the period during which dust and dust accumulate in the designated area. It is possible to start automatically at daytime and perform cleaning.

  A first invention includes a dust accumulation amount storage unit that stores an accumulation amount of dust and dust, a cleaning time storage unit that stores a date and time of cleaning, and the dust accumulation in an apparatus body of a self-propelled cleaner. A prediction is provided with a cleaning time predicting unit that calculates a period during which dust and dust accumulate in the designated area from the information stored in the amount storage unit and the cleaning time storage unit, and predicts the date and time for the next cleaning. It can be started automatically at day time and cleaned.

  The second invention stores a dust sensor for measuring the degree of dust distribution in the atmosphere and the degree of dust distribution detected by the dust sensor, particularly in the device main body of the self-propelled cleaner according to the first invention. A dust information storage unit, and the cleaning time prediction unit calculates the degree of dust accumulation in the designated area from the information stored in the dust information storage unit and the cleaning time storage unit. It is possible to predict and change the date and time to perform, and to automatically start and clean at the predicted and changed date and time.

  In the third invention, in particular, in the dust accumulation amount storage unit and the cleaning time storage unit of the first invention, the accumulation amount of dust and dust and the cleaning time are stored for a plurality of areas, so that each area is stored. Next, the date and time for cleaning can be predicted, and automatic cleaning can be performed at the predicted date and time.

  According to a fourth aspect of the present invention, in particular, the cleaning time prediction unit according to any one of the first to third aspects includes an external input unit, and the cleaning time prediction unit determines that the cleaning is necessary via the external input unit. It is possible to set / change the degree of dust accumulation.

  According to a fifth aspect of the present invention, in particular, in the cleaning time predicting unit according to any one of the first to fourth aspects of the present invention, an external notification unit is provided, and automatic notification is made at the date and time predicted by the cleaning time prediction unit via the external notification unit. The user can be notified to perform cleaning.

  According to a sixth aspect of the present invention, in particular, in the storage unit according to any one of the first to fifth aspects of the present invention, an external notification unit is provided, and during the previous cleaning stored in the dust accumulation amount storage unit via the external notification unit The amount of accumulated dust and dust, the current dust distribution information stored in the dust information storage unit, and the next cleaning start time stored in the cleaning time prediction unit can be notified to the outside.

  In the seventh invention, in particular, as a configuration for causing all or any one of the first to sixth inventions to function, the computer is made to function as all or part of the invention. All or part of the invention can be easily realized.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 shows a configuration diagram of a self-propelled cleaner according to the first embodiment of the present invention.

  In FIG. 1, a device main body 1 is driven by a power source 2, and a suction motor 3 that cleans the floor of the device main body 1, a drive motor 4 that travels, and a dust sensor 6a that detects the accumulation state of dust and dust in the cleaning area. Are connected, and a sensor signal determination unit 7 including a dust sensor signal determination unit 8a that determines a dust accumulation state on the cleaning floor from a signal of the dust sensor 6a, a time measuring unit 12 that measures the current date and time, and the dust sensor signal A storage unit 9 comprising a dust accumulation amount storage unit 11a for storing the accumulation state of dust and dust determined by the determination unit 8a, and a cleaning time storage unit 10 for storing the previous cleaning date and time from the information of the timer unit 12; From the information stored in the dust accumulation amount storage unit 11a and the cleaning time storage unit 10, the amount of dust and dust that accumulates in a specified area for a certain period is calculated, and then cleaning is performed. And cleaning time prediction unit 13 for predicting the date and time, and a control unit 5 for controlling the speed of the suction force and the drive motor 4 of the suction motor 3.

  The operation and action of the self-propelled device configured as described above will be described below using the flowchart of FIG.

  First, the self-propelled cleaner starts running cleaning of the designated area in response to a command from the control unit 5 (step 1), and stores the current cleaning start date and time measured by the time measuring unit 12 in the cleaning time storage unit 10 ( Step 2). During running cleaning, the dust sensor signal determination unit 8a collects dust and dust accumulation amount accumulated in the designated area from the signal of the dust sensor 6a (step 3).

  When the traveling cleaning is completed, the dust and dust accumulation amount collected by the dust sensor signal determination unit 8a is stored in the dust accumulation amount storage unit 11a (steps 4 and 5). The cleaning time prediction unit 13 calculates a dust accumulation period from the previous cleaning start date and time information and the current cleaning start date and time information stored in the cleaning time storage unit 10, and is stored in the dust accumulation amount storage unit 11a. The date and time for the next cleaning is predicted from the amount of dust and dust accumulated during the dust accumulation period (step 6), and the predicted next cleaning start date and time is passed to the timing unit 12.

  Here, the cleaning time prediction unit 13 sets a maximum dust accumulation amount, and predicts the date and time when the dust and dust accumulation amount in the designated area exceeds the maximum dust accumulation amount. During the travel stop period, the time measuring unit 12 measures the current date and time, and when the measured time coincides with the next cleaning start date and time, it sends a cleaning start command to the control unit 5, and the control unit 5 performs the next travel cleaning. Start (step 7).

  As described above, in the present embodiment, the cleaning start date and time is stored, and the next cleaning date and time is predicted and predicted by determining the amount of dust and dust accumulated during the dust accumulation period. It can be started automatically at day time and cleaned.

(Embodiment 2)
Next, a second embodiment of the present invention will be described with reference to FIG. The configuration of FIG. 2 is a dust sensor signal determination unit 8b that connects the dust sensor 6b to the first embodiment shown in FIG. 1 and determines dust scattering information in the atmosphere from the signal detected by the dust sensor 6b. The sensor signal determination unit 7 includes a dust information storage unit 11b that stores dust scattering information determined by the dust sensor signal determination unit 8b.

  The operation and action of the self-propelled device configured as described above will be described below using the flowchart of FIG.

  First, the self-propelled cleaner starts traveling cleaning of the designated area in response to a command from the control unit 5, and stores the current cleaning start date and time measured by the time measuring unit 12 in the cleaning time storage unit 10. During traveling cleaning, the dust sensor signal determination unit 8a collects dust and dust accumulation amount accumulated in the designated area from the signal of the dust sensor 6a (steps 1 and 2).

  When the traveling cleaning is completed, the dust and dust accumulation amount collected by the dust sensor signal determination unit 8a is stored in the dust accumulation amount storage unit 11a (step 3). The cleaning time prediction unit 13 calculates a dust accumulation period from the previous cleaning start date and time information and the current cleaning start date and time information stored in the cleaning time storage unit 10, and is stored in the dust accumulation amount storage unit 11a. The date and time for the next cleaning is predicted from the amount of dust and dust accumulated during the dust accumulation period (step 4), and the predicted next cleaning start date and time is passed to the timing unit 12.

  Here, the cleaning time prediction unit 13 sets a maximum dust accumulation amount, and predicts the date and time when the dust and dust accumulation amount in the designated area exceeds the maximum dust accumulation amount.

  During the travel stop period, the time measuring unit 12 measures the current date and time, and the dust sensor signal determining unit 8b determines the degree of dust distribution in the atmosphere from the signal detected by the dust sensor 6b (step 5). The result is stored in the dust information storage unit 11b. The cleaning time prediction unit 13 monitors the dust information in the atmosphere stored in the dust information storage unit 11b, automatically updates the date and time for the next cleaning (step 6), and sets the updated next cleaning start date and time to the The time is passed to the timer 12. The time measuring unit 12 measures the current date and time, and when the measured time coincides with the next cleaning start date and time, it sends a cleaning start command to the control unit 5, and the control unit 5 starts the next running cleaning (step 7). .

  As described above, in the present embodiment, the dust sensor 6b is connected and the dust distribution state in the atmosphere is monitored to automatically update the date and time for the next cleaning, and automatically at the updated date and time. It can be activated and cleaned.

(Embodiment 3)
Next, a third embodiment of the present invention will be described with reference to FIG. The present embodiment is different from the second embodiment shown in FIG. 2 in particular in that it includes a travel region determination unit 17 that determines the current travel region of the self-propelled cleaner, and a dust accumulation amount storage unit. 11a has a function of storing the dust accumulation amount for each of a plurality of areas, and a cleaning time storage unit 10 has a function of storing the cleaning start date and time for each of the plurality of areas. As a result, with respect to the current travel area determined by the travel area determination unit 17, the accumulation amount of dust and dust is measured for each travel area and stored in the dust accumulation amount storage unit 11a. In addition, the cleaning start date and time can be stored in the cleaning time storage unit 10, the next cleaning date and time can be predicted for each area, and the target area can be automatically cleaned at the predicted date and time.

  For example, when automatically cleaning a plurality of rooms, the usage time and environment differ from room to room, so the degree of dust and dust accumulation differs, and it is inefficient to clean all rooms at the same date and time. Further, when a large amount of dust or dust accumulates only in a specific area even in one room, it is more efficient to increase the number of times of traveling only in that area. In this case, it is possible to predict the date and time when the next cleaning is performed for each region, and to perform automatic cleaning only for the target region at the predicted date and time.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described with reference to FIG. Here, FIG. 3 is provided with an external input means 14 capable of setting / changing the degree of the maximum dust accumulation amount determined by the cleaning time prediction unit 13 as being necessary for cleaning, as compared with the third embodiment shown in FIG. It is a configuration. As a result, the user can arbitrarily set and change the degree of the maximum dust accumulation amount determined by the cleaning time predicting unit 13 using the external input means 14, so that the optimum cleaning state can be maintained. It becomes possible.

  For example, since the discomfort with respect to the degree of dust accumulation in the designated area varies depending on the user, it is not desirable to start automatic cleaning more than necessary or not to start automatic cleaning by self-determination of the self-propelled cleaner. In this case, the user can construct an optimum cleaning state by setting / changing the maximum dust accumulation amount determined by the cleaning time prediction unit 13 via the external input means 14 by communication or the like.

(Embodiment 5)
Next, a fifth embodiment of the present invention will be described with reference to FIG. Here, FIG. 3 is a configuration provided with external notification means 15 for notifying the user to perform cleaning at the date and time predicted by the cleaning time prediction unit 13, in particular with respect to the fourth embodiment. Thus, the user can recognize that the designated area is in a state to be cleaned, and can start automatic cleaning by the self-propelled cleaner by the user's self-determination.

  For example, since the judgment of the degree of dust accumulation in the designated area varies depending on the user, it is not desirable to start automatic cleaning more than necessary or not to start automatic cleaning by self-determination of a self-propelled cleaner. In this case, it becomes possible for the user to recognize that the designated area is in a state to be cleaned through the external notification means 15 by buzzer, communication, etc., and automatic cleaning by the self-propelled cleaner is made by the user's self-judgement. Can be started.

(Embodiment 6)
Next, a sixth embodiment of the present invention will be described with reference to FIG. Here, FIG. 3 shows, in particular, the present dust and dust accumulation amount stored in the dust accumulation amount storage unit 11a and the current dust stored in the dust information storage unit 11b compared to the fifth embodiment. The external notification means 15 for notifying the user of the spraying information, the previous cleaning time stored in the cleaning time storage unit 10, and the next cleaning start time stored in the cleaning time prediction unit 13.

  This makes it possible for the user to recognize the current amount of dust and dust accumulated, the dust distribution state in the atmosphere, the previous cleaning time and the next cleaning start time, and self-propelled cleaning as required by the user. Automatic cleaning by the machine can be started.

  For example, since the judgment of the degree of dust accumulation in the designated area differs depending on the user, it is not desirable to start automatic cleaning more than necessary or not to start automatic cleaning by self-determination of a self-propelled cleaner. In this case, the user can recognize the current amount of dust and dust accumulation and the dust distribution state in the atmosphere via the external notification means 15 by communication or the like. The degree of the maximum dust accumulation amount determined by the cleaning time prediction unit 13 can be easily set and changed via the means 14.

(Embodiment 7)
Next, Embodiment 7 of the present invention will be described with reference to FIG. In this embodiment, the computer includes a control unit 5, a sensor signal determination unit 7, a dust sensor signal determination unit 8a, a dust sensor signal determination unit 8b, a storage unit 9, a cleaning time storage unit 10, and dust accumulation. The amount storage unit 11a, the dust information storage unit 11b, the timekeeping unit 12, the cleaning time prediction unit 13, the external input unit 14, the external notification unit 15, and the traveling area determination unit 17 are caused to function as all or part of them. As a configuration for the program, the computer is made to function as all or a part.

  As described above, according to the present embodiment, all or part of the present invention can be easily realized using a general-purpose computer or a server.

  As described above, the self-propelled cleaner according to the present invention detects the accumulation amount of dust and dust, automatically determines when cleaning is necessary, and automatically starts cleaning. It can also be applied to commercial vacuum cleaners that run.

The block diagram of the self-propelled cleaner in Embodiment 1 of this invention The block diagram of the self-propelled cleaner in Embodiment 2 of this invention Configuration diagram of self-propelled cleaner in Embodiments 3 to 7 of the present invention The flowchart of the self-propelled cleaner in Embodiment 1 of the present invention. Flowchart of self-propelled cleaner in Embodiment 2 of the present invention Configuration diagram of conventional self-propelled vacuum cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Apparatus main body 2 Power supply 3 Suction motor 4 Drive motor 5 Drive motor 6 Control part 7 Sensor signal determination part 8a Dust sensor signal determination part 8b Dust sensor signal determination part 9 Storage part 10 Cleaning time storage part 11a Dust accumulation amount storage part 11b Dust information Storage unit 12 Timing unit 13 Cleaning time prediction unit 14 External input unit 15 External notification unit 16 Dust accumulation region storage unit 17 Travel region determination unit

Claims (7)

In a self-propelled cleaner that has traveling means and autonomously travels in a designated area based on a specific algorithm and performs cleaning, a dust accumulation amount storage unit that stores the amount of dust and dust accumulation, and a date and time when cleaning is performed From the information stored in the stored cleaning time storage unit, the dust accumulation amount storage unit, and the cleaning time storage unit, the period of dust and dust accumulation in the designated area is calculated, and the date and time for the next cleaning is predicted. A self-propelled cleaner that includes a cleaning time predicting unit that automatically starts and performs cleaning at the predicted date and time. A dust sensor that measures the degree of dust distribution in the atmosphere; and a dust information storage unit that stores the degree of dust distribution detected by the dust sensor; and the dust information storage unit and the cleaning unit in the cleaning time prediction unit By calculating the degree of dust accumulation in the specified area from the information stored in the time storage unit, the date and time for the next cleaning is predicted and changed, and the cleaning is started automatically at the predicted and changed date and time. The self-propelled cleaner according to claim 1. The dust accumulation amount storage unit and the cleaning time storage unit predict and predict the next cleaning date for each region by storing the accumulation amount of dust and dust and the cleaning time for a plurality of regions. The self-propelled cleaner according to claim 1 or 2, wherein automatic cleaning is performed at daytime. The self-propelled according to any one of claims 1 to 3, further comprising an external input unit and capable of setting / changing a degree of a dust accumulation amount determined to be cleaned by the cleaning time prediction unit via the external input unit. Type vacuum cleaner. 5. The apparatus according to claim 1, further comprising an external notifying unit, and having a function of notifying the user to perform cleaning automatically by notifying the date and time predicted by the cleaning time predicting unit via the external notifying unit. Self-propelled vacuum cleaner. An external notification means, the amount of dust and dust accumulated during the previous cleaning stored in the dust accumulation amount storage unit via the external notification means, the current dust distribution state stored in the dust information storage unit, The self-propelled cleaner according to any one of claims 1 to 5, further comprising a function of notifying a next cleaning start time stored in the cleaning time prediction unit. The program for functioning a computer as all or one part of the self-propelled cleaner of any one of Claims 1-6.

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