JP2016087106A - Cleaning support device and cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning support device which can easily add a cleaning support function.SOLUTION: A cleaning support device 10 includes: a map acquisition part 2 referring to map data containing information indicating cleaned areas in a cleaning target area; a state specification part 3 acquiring state data indicating a current position of a cleaner to be operated and a direction of a head including a suction port of the cleaner; an analysis part 4 generating data serving as a guideline of the head operation of the cleaner on the basis of the cleaned areas indicated by the map data and the current position of the cleaner and the direction of the head of the cleaner indicated by the state data; and an output part 5 outputting the data generated by the analysis part 4 to an operator of the cleaner or the cleaner.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for controlling a vacuum cleaner.

  In recent years, for example, as in Patent Document 1 below, an autonomous mobile device that autonomously travels to cover the entire area of a specific area has been developed. As a self-propelled cleaning robot, for example, as shown in Patent Document 2, a robot having a display unit that displays a room outline layout, an obstacle, its current position, and various operation states has been proposed. Such a self-propelled cleaning robot cannot clean a place where it cannot physically enter. Therefore, vacuum cleaners that are not self-propelled and operated by an operator are still used.

  For example, Patent Document 3 below proposes a working machine including a display device for a completed part in order to reduce the work time and work load of a cleaner operated by an operator. The conventional work machine calculates the position and orientation based on the information of the detection distance by the movement distance detection means and the detection direction by the movement direction detection means, and based on the calculated data, the movement area of the work machine is two-dimensional Display on the display screen.

JP 2006-293976 A Japanese Patent Application Laid-Open No. 11-267074 Japanese Patent Laid-Open No. 7-244527

  The conventional work machine needs to include a movement distance detection unit, a movement direction detection unit, and a two-dimensional display screen. Therefore, the configuration of the work machine becomes complicated, and the size and cost are likely to increase. Moreover, the said working machine is not the structure which only adds the function for grasping | ascertaining the cleaned area | region of another vacuum cleaner etc., for example only to display the completion | finish part of own work. That is, it has been difficult to flexibly add a function that supports cleaning by a vacuum cleaner according to the situation. Therefore, the present application discloses a cleaning support device that can easily add a cleaning support function.

  A cleaning support apparatus according to an embodiment of the present invention includes a map acquisition unit that refers to map data including information indicating a cleaned area in a cleaning target area, a current position of the cleaner to be operated, and a suction port of the cleaner Based on a state specifying unit that acquires state data indicating the orientation of the head having the head, a cleaned area indicated by the map data, a current position of the cleaner indicated by the state data, and a head orientation of the cleaner And an analysis unit that generates data serving as a guide for head operation of the cleaner, and an output unit that outputs the data generated by the analysis unit to the operator of the cleaner or the cleaner.

  According to the present disclosure, it is possible to easily add a cleaning support function.

FIG. 1 is a diagram illustrating a configuration example of a cleaning support system including a cleaning support device 10. FIG. 2 is a diagram illustrating a configuration example of data recorded in the recording unit 6 as map data. FIG. 3 is a diagram for explaining an example in which a value indicating whether or not cleaning has been performed is recorded as map data in association with each coordinate based on the data illustrated in FIG. 2. FIG. 4 is a diagram for explaining an example in which a value indicating whether or not cleaning has been performed is recorded as map data in association with each coordinate based on the data illustrated in FIG. 2. FIG. 5 is a diagram illustrating an example of an image that the output unit 5 displays on the display 11 of the cleaner C2. FIG. 6 is a diagram illustrating an example in which the display 11a is provided in the head 12a. FIG. 7 is a diagram illustrating an example in which an image based on map data and state data is displayed on the display 11a provided in the head 12a. FIG. 8 is a diagram illustrating an example in which the light emitting units 13a-1 and 13a-2 are provided in the head 12b. FIG. 9 is a flowchart illustrating an example of processing for causing the light emitting unit of the head illustrated in FIG. 8 to emit light according to the determination result of the analyzing unit 4. FIG. 10 is a flowchart illustrating a processing example in which the cleaning support device 10 controls the output of the speaker of the vacuum cleaner. FIG. 11 is a flowchart illustrating an example of a process for determining the direction in which the head of the vacuum cleaner should proceed. FIG. 12A is a diagram illustrating a specific example of the distances KS and KL. FIG. 12B is a diagram illustrating specific examples of the distances LS, LL, and LR. FIG. 13 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the second embodiment. FIG. 14 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the third embodiment. FIG. 15 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the fourth embodiment.

  A cleaning support apparatus according to an embodiment of the present invention includes a map acquisition unit that refers to map data including information indicating a cleaned area in a cleaning target area, a current position of the cleaner to be operated, and a suction port of the cleaner Based on a state specifying unit that acquires state data indicating the orientation of the head having the head, a cleaned area indicated by the map data, a current position of the cleaner indicated by the state data, and a head orientation of the cleaner And an analysis unit that generates data serving as a guide for head operation of the cleaner, and an output unit that outputs the data generated by the analysis unit to the operator of the cleaner or the cleaner.

  In the above configuration, the cleaning support device is based on map data including information indicating the passage position of the cleaner and state data indicating the current position of the cleaner and the head direction, To generate data. This makes it possible to determine matters that serve as guidelines for the operation of the cleaner head based on the map data and the state data. The result of such determination is output to the operator or the vacuum cleaner. Therefore, information serving as a guide for the operation of the head of the cleaner can be output in various forms depending on the situation. As a result, a user assist function can be easily added.

  The map data referred to by the map acquisition unit may include information indicating cleaned areas of two or more vacuum cleaners. Thereby, it becomes possible to determine the operation of the head of the vacuum cleaner after grasping the cleaned area of two or more vacuum cleaners.

  The map data referred to by the map acquisition unit may include information indicating a dust suction amount distribution in the cleaning target area. This makes it possible to determine the operation status of the cleaner head in consideration of the distribution of the amount of dust.

  The cleaning support device indicates a cleaned region based on a position receiving unit that receives position data indicating a position of a cleaner to be monitored and a position of the cleaner indicated by the position data received by the position receiving unit. The information processing apparatus may further include a map generation unit that generates the map data including information. Thereby, the map data which shows the area cleaned by the vacuum cleaner to be monitored can be generated. Further, in this configuration, since a plurality of cleaners can be monitored, for example, information indicating areas that have been cleaned by a plurality of cleaners to be monitored can be acquired. In this case, map data including information on cleaned areas of a plurality of cleaners can be generated.

  The position receiving unit may further receive dust amount data indicating a dust suction amount of the monitored vacuum cleaner. In this case, the map generation unit can generate map data including information indicating the distribution of the dust suction amount in the cleaning target region using the dust amount data. Thereby, map data including the distribution information of the dust suction amount is obtained.

  The position receiving unit may receive, as the position data, data indicating the direction of the suction port of the cleaner at each position in addition to the position of the monitored cleaner. In this case, the map generation unit can generate map data including information indicating a cleaned region by the suction port of the cleaner based on the position of the cleaner and the direction of the suction port indicated by the position data. Thereby, the map data including the information on the position sucked by the cleaner is obtained.

  A position specifying unit for specifying the position of the cleaner to be monitored can be further provided based on an image taken by a camera that photographs the area to be cleaned. The position receiving unit may receive position data indicating the position of the cleaner from the position specifying unit. Thereby, the position of a plurality of vacuum cleaners to be monitored can be obtained. Moreover, the complexity of the configuration of the vacuum cleaner can be further suppressed.

  The position receiving unit may receive position data transmitted from the monitoring target cleaner. In addition, a position specifying unit is provided that is distributed in the cleaning target region and specifies the position of the monitoring target cleaner by an AC signal detected by a passive element that generates an AC signal having a frequency corresponding to the received radio wave. Can be provided. In this case, the position receiving unit can receive position data indicating the position of the cleaner from the position specifying unit.

  The output unit can output the output sound speaker according to the data generated by the analysis unit. As a result, it is possible to efficiently convey the head operation guideline to the operator using sound. For example, the output sound according to the data which the analysis part produced | generated can be output to the speaker provided in the cleaner of operation object.

  The said output part can make the light emission part provided in the head of the cleaner of the said operation object emit light according to the data which the said analysis part produced | generated. As a result, the head operation guideline can be efficiently transmitted to the operator by the light emission of the head.

  The output unit can display an image corresponding to the data generated by the analysis unit on a display. As a result, the head operation guideline can be efficiently transmitted to the operator by the display.

  The output unit can display the image on a display provided in the cleaner to be operated. Thereby, the pointer of head operation can be efficiently transmitted to an operator by the display of a cleaner. As an example, the output unit can display an image on a display provided in the head of the vacuum cleaner. Thereby, an easy-to-see image corresponding to the actual head orientation can be displayed on the head display.

  A vacuum cleaner including the above-described cleaning support device and further including a speaker is also included in the embodiment. In this case, the output unit can cause the speaker to output an output sound corresponding to the determination result of the analysis unit. Thereby, the direction in which the head should be advanced or whether or not the head is in a cleaned place can be efficiently transmitted to the operator by sound.

  A vacuum cleaner including the above-described cleaning support device and further including a head having a suction port is also included in the embodiment. The head includes a light emitting unit, and the output unit can cause the light emitting unit to emit light according to a determination result of the analysis unit. Thus, the direction in which the head should be advanced or whether or not the head is in a cleaned place can be efficiently transmitted to the operator by the light emission of the head.

  A vacuum cleaner including the above-described cleaning support device is also included in the embodiment of the present invention. The vacuum cleaner may have a head having a suction port and a display. In this case, the output unit can display an image corresponding to the determination result of the analysis unit on the display.

  A cleaning support device according to another embodiment of the present invention includes a map acquisition unit that refers to map data including passage positions of a plurality of cleaners, and at least one of the plurality of cleaners based on the map data. Generates control data for controlling the operation of the vacuum cleaner, or generates image data indicating cleaned areas of the plurality of vacuum cleaners based on the map data, and outputs the control data or image data And an output unit.

  With this configuration, it is possible to appropriately control the vacuum cleaner considering the passage positions of two or more vacuum cleaners or to present information to the operator. For example, the cleaners can be controlled or information can be presented to the operator so that the cleaning areas of two or more cleaners do not overlap.

  A method in which a computer executes an operation of each part of the cleaning support apparatus, a program for causing the computer to execute processing of each part of the cleaning support apparatus, and a non-transitory recording such a program A recording medium is also included in the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated. In addition, in order to make the explanation easy to understand, in the drawings referred to below, the configuration is shown in a simplified or schematic manner, or some components are omitted. Further, the dimensional ratio between the constituent members shown in each drawing does not necessarily indicate an actual dimensional ratio.

<Embodiment 1>
(Configuration of cleaning support device)
FIG. 1 is a diagram illustrating a configuration example of a cleaning support system including a cleaning support device 10. The cleaning support device 10 shown in FIG. 1 is based on map data including information indicating a cleaned area in an area to be cleaned, and state data indicating a current position of the cleaner and a head direction. It is a device that generates and outputs control data or data that serves as a guideline for vacuum cleaner operation for the operator. Therefore, the cleaning assistance apparatus 10 can access the recording unit 6 that records the map data, and can communicate data with the cleaner C1. In this example, a plurality of vacuum cleaners C1 and C2 are the monitoring targets, but the number of vacuum cleaners to be monitored is not particularly limited, and may be one or three or more.

  The cleaning support device 10 includes a map acquisition unit 2, a state specifying unit 3, an analysis unit 4, and an output unit 5. The map acquisition unit 2 refers to the map data recorded in the recording unit 5. The map data includes information indicating the cleaned area. For example, the map data can be data including the coordinates of the position where the cleaner has passed. In this case, it can be determined that the position where the cleaner has passed has been cleaned. Further, the map data can be data recorded by associating coordinates indicating a position in a predetermined cleaning target area with a value indicating a cleaning state at the position. The value indicating the cleaning status is, for example, an identifier of the cleaner, a time when the cleaner passes, a value indicating whether or not the cleaner passes while sucking, a value indicating the amount of dust sucked by the cleaner, or A value indicating that it has been determined that the cleaning has been completed is included. The data format of the map data is not limited to a specific one.

  The map data is generated by the map generator 7 based on the positions of the plurality of cleaners C1 and C2 received by the position receiver 8, for example. The position receiving unit 8 receives coordinates indicating the positions of the monitoring target cleaners C1 and C2 from the position specifying unit 9 as position data. Moreover, the identifier of each of the cleaners C1 and C2 may be included in the position data. The position specifying unit 9 analyzes the image data of the area to be cleaned photographed by the camera 21 and calculates the position of the cleaner shown in the image data. A detailed example will be described later. In this example, the camera 21 and the position specifying unit 9 constitute a position sensing unit that senses the positions of the plurality of cleaners C1 and C2 in the cleaning target area.

  The position sensing is not limited to the example using the camera 21 described above. For example, the cleaners C1 and C2 may detect the position of the own device, and the position receiving unit 8 may receive position data from the cleaners C1 and C2. The vacuum cleaners C1 and C2 may include, for example, an acceleration sensor provided in the vicinity of the suction port and an infrared sensor that detects a distance or direction from an external reference point (polaris). The coordinates of the current position can be calculated based on the moving distance and moving direction obtained by the acceleration sensor and the distance or direction from the reference point obtained from the infrared sensor. The position receiving unit 8 can transmit position data requests to the cleaners C1 and C2, and receive position data including the current positions of the cleaners C1 and C2 as a response.

  The sensing of the positions of the cleaners C1 and C2 can be synchronized with the suction timing of the cleaners C1 and C2 to be monitored. For example, the continuous acquisition of the positions of the cleaners C1 and C2 by the camera 21 and the position specifying unit 9 can be started with the suction switch ON of either the cleaner C1 or the cleaner C2 being monitored. In addition, the position acquisition processing of the cleaner C1 and the cleaner C2 can be ended when the suction switch is turned off in both the cleaner C1 and the cleaner C2 to be monitored. Thereby, it becomes possible to acquire the position which the cleaner C1 and the cleaner C2 passed while sucking.

  The position receiving unit 8 can receive, as position data, data indicating the direction of the suction port of the cleaner C2 at each position in addition to the positions of the plurality of cleaners C1 and C2. In the example shown in FIG. 1, as an example, the value θ <b> 1 indicating the inclination in the plane (XY plane in FIG. 1) of the area to be cleaned of the head 12 having the suction port of the cleaner C <b> 2 together with the coordinates indicating the position of the cleaner C <b> 2. Is received by the position receiving unit 8. The orientation of the head 12 of the vacuum cleaner C2 can be acquired by, for example, the position specifying unit 9 recognizing the image of the head 12 portion by pattern matching or the like in the image taken by the camera 21. Alternatively, the position specifying unit 9 or the position receiving unit 8 receives from the cleaner C2 data indicating the orientation of the head 12 obtained by an orientation sensor such as a geomagnetic sensor, a gyro sensor, or an accelerometer provided in the cleaner C2. Can do.

  In the recording unit 6, coordinate data indicating the position of the cleaner C2 and data indicating the direction of the head 12 at the position can be associated and recorded as map data. In this case, the state specifying unit 3 can obtain data indicating the current position of the cleaner C2 and the orientation of the head 12 at the position by referring to the map data of the recording unit 6. Alternatively, the state specifying unit 3 can directly receive data indicating the current position of the cleaner C2 and the orientation of the head 12 as state data from the position receiving unit 8 or the position specifying unit 9.

  Here, the state specific | specification part 3 acquires the state data of the cleaner C2 of operation object. Although the vacuum cleaner C2 is the vacuum cleaner C2 as an example, both the vacuum cleaner C1 or the vacuum cleaners C1 and C2 may be vacuum cleaners to be operated. For example, the identifier of the cleaner to be operated is recorded in the recording unit 5 in advance, and the state specifying unit 3 can acquire the cleaner state data of that identifier from the map data. Or the state specific | specification part 3 can make the cleaner into the cleaner of operation object, when the cleaner which turned ON the suction switch in the operation object area | region is detected.

  Based on the cleaned area indicated by the map data, the current position of the cleaner C2 indicated by the state data, and the orientation of the head 12 of the cleaner C2, the analysis unit 4 generates data serving as a guide for head operation of the cleaner C2. Generate. For example, the analysis unit 4 uses the passing positions of the cleaners C1 and C2 indicated by the map data, the current position of the cleaner C2, and the direction of the head 12 to determine the direction in which the head 12 of the cleaner C2 should move or the cleaner C2. It can be determined whether or not the head 12 is in the cleaned area. In this case, vacuum cleaner control data or image data related to the direction in which the head 12 is to be moved is generated as data serving as a head operation guideline. The output unit 5 can output the data generated by the analysis unit to the operator of the cleaner C2 or the cleaner C2.

  For example, the analysis unit 4 compares the position where the cleaners C1 and C2 indicated by the map data have already passed with the current position of the cleaner C2, thereby determining whether or not the cleaner C2 is about to enter the already cleaned area. Can be determined. Moreover, the analysis part 4 can specify the advancing direction of the cleaner C2 from the present position of the cleaner C2 and the direction of the head 12. Therefore, by using the map data, it is possible to determine whether or not the traveling direction of the cleaner C2 overlaps the area where the cleaners C1 and C2 have already passed, that is, the cleaned area. Thereby, it is possible to determine whether or not the head 12 of the cleaner C2 is moving toward the cleaned region. Furthermore, the analysis unit 4 can determine whether or not the area around the head 12 of the cleaner C2 has been cleaned by referring to the map data. Therefore, it can be determined in which direction the head 12 of the cleaner C2 is directed is likely to clean the uncleaned area.

  Thus, the analysis unit 4 moves the head 12 of the cleaner C2 so that the cleaning regions of the two cleaners C1 and C2 do not overlap based on the map data indicating the cleaned regions of the plurality of cleaners C1 and C2. Information to be moved is generated. The output unit 5 outputs to the cleaner C2 information serving as a guide for the movement destination of the head 12 determined by the analysis unit 4, or outputs the information so that the operator of the cleaner C2 can recognize it. Can do.

  For example, the output unit 5 can transmit control data for directly controlling the movement destination of the head 12 of the cleaner C2 determined by the analyzer 4 to the cleaner C2. Or the output part 5 can display the information which shows the movement place of the head 12 which the analysis part 4 determined on the display 11 of the cleaner C2 which an operator can visually recognize. In this case, the output unit 5 transmits image data to be displayed on the display 11.

  In the example shown in FIG. 1, the cleaner C1 is an autonomously moving cleaner, and the cleaner C2 is a manual cleaner. The vacuum cleaner C <b> 2 includes a main body, a head 12, and a hose that connects the main body and the head 12. The head 12 has a suction port. The head 12 can also be called a nozzle. The vacuum cleaner C1 is a self-propelled automatic vacuum cleaner. The vacuum cleaner C1 has a disk-shaped main body, and has a suction port on the lower surface of the disk-shaped main body. In the vacuum cleaner C1, the head is integrated with the main body. In the above example, the analysis unit 4 determines the movement destination of the head 12 of the cleaner C2 based on the orientation of the head 12 of the cleaner C2, but the analysis unit 4 similarly determines the destination of the cleaner C1. It is also possible to determine the movement destination of the head (integrated with the main body). Thereby, the cleaner C1 can clean the place which the other cleaner C2 is not cleaning.

  Conventionally, a self-propelled automatic cleaning robot such as the vacuum cleaner C1 has been difficult to grasp which part is cleaned by another non-self-propelled cleaner C2 operated by a human. Humans also manually operate the cleaner C2 to clean it, but it was difficult to figure out where the automatic cleaning robot cleaned. For this reason, the human who operates the automatic cleaning robot and the manual vacuum cleaner may not know where each other has been cleaned, and there are cases where the same place is cleaned many times and is inefficient. However, in the present embodiment, the analysis unit 4 and the output unit 5 control based on the information in the recording unit 6 so that the cleaning areas of the plurality of cleaners C1 and C2 do not overlap or present information to the operator. can do.

  The map acquisition unit 2, the state specifying unit 3, the analysis unit 4, and the output unit 5 of the cleaning support device 10 can be configured by, for example, one or more computers or circuits. When the cleaning support apparatus 1 is configured by a computer, the operations of the map acquisition unit 2, the state specifying unit 3, the analysis unit 4 and the output unit 5 can be realized by a computer processor executing a predetermined program. . The map generating unit 7, the position receiving unit 8, and the position specifying unit 9 can also be configured by a computer or a circuit.

  The recording unit 6 can be configured by a recording medium that can be accessed by the processor of the computer that configures the cleaning support device 10. For example, the recording unit 6 can be configured by a memory built in the computer or a storage accessible by the computer.

  The computer or the circuit constituting the cleaning support device 10 may be incorporated in the cleaner C1 or C2, or the cleaning support device 10 may be configured with equipment independent of the cleaner C1 or C2. For example, the cleaning support apparatus 10 can be realized by a computer such as a smart phone, a tablet, a remote controller, a router, a camera module, a liquid crystal television, and a personal computer. In this case, the recording unit 6 can be a memory such as a DRAM, SRAM, or EEPROM. The output destination display unit of the output unit 5 can be, for example, a liquid crystal display or an organic EL display. The position receiving unit 8 can receive position data by wireless communication using, for example, WiFi, Bluetooth (registered trademark), or the like. Or the cleaning assistance apparatus 10 may be comprised by the same computer or apparatus as at least one part of the recording part 6, the map production | generation part 7, the position receiving part 8, and the position specific | specification part 9. FIG.

(Example of vacuum cleaner position sensing)
In the example of FIG. 1, markers M1 and M2 for space position recognition are provided on the surfaces of the cleaners C1 and C2. The camera 21 may be a marker shooting camera. Position sensing of the plurality of cleaners C1 and C2 is performed by the markers M1 and M2, the camera 21, the position specifying unit 9, and the position receiving unit 8 included in the plurality of cleaners C1 and C2.

  The markers M1 and M2 of the vacuum cleaners C1 and C2 are provided at positions that are presented toward the ceiling during the suction operation. The shapes of the markers M1 and M2 are preferably shapes that can identify the cleaners C1 and C2, respectively. The markers M1 and M2 are predetermined marks such as a star shape, a wedge shape, a two-dimensional code, and a barcode. Further, for example, the orientation of the marker can be recognized by making the shape of the marker asymmetric. Moreover, LED can also be used as the markers M1 and M2. In this case, for example, a plurality of vacuum cleaners can be identified by the blinking pattern of the LEDs.

  The position specifying unit 9 can determine the coordinate positions of the markers M1 and M2 from the video imaged by the camera 21. For example, the position specifying unit 9 can recognize the markers M1 and M2 in the video screen by pattern matching or the like, and convert the pixel positions in the screen of the markers M1 and M2 into coordinates in the cleaning target area. For example, the position specifying unit 9 can determine from the image that the cleaner C2 is located at (x1, y1) in the XY space and the head 12 of the cleaner C2 is located at the position (x2, y2). . Further, the position specifying unit 9 can calculate the inclination θ of the long axis of the head 12 with respect to the X-ray by recognizing the shape of the head 12 or the markers M1 and M2 in the video. This can be data representing the orientation of the head 12. The position specifying unit 9 transmits coordinates indicating the positions of the cleaners C1 and C2 and a value θ indicating the direction of the head 12 of the cleaner C2 to the position receiving unit 8 as position data. In the example shown in FIG. 1, a coordinate system is defined in which the surface to be cleaned is an XY plane, but the coordinate system is not limited to this.

(Example of map data)
FIG. 2 is a diagram illustrating a configuration example of data recorded in the recording unit 6 as map data. In the example shown in FIG. 2, the time (T1), the coordinates (X (1), Y (1)) indicating the position of the cleaner C1, the coordinates (X (4), Y (4)) indicating the position of the cleaner C2. ) And data (θ (1)) including a value indicating the direction of the head 12 of the cleaner 2 as one record, a plurality of records are recorded in time series. Thereby, data indicating the movement history of the cleaners C1 and C2 is recorded as map data. That is, in the map data shown in FIG. 2, the cleaned region is indicated by the time series data of the position where the cleaner has passed.

  The configuration of the map data is not limited to the example shown in FIG. For example, the map generation unit 7 further associates a value indicating the cleaning status at each coordinate as map data based on data composed of a plurality of time-series records as shown in FIG. Can be recorded.

  3 and 4 are diagrams for explaining an example in which a value indicating whether or not cleaning has been performed is recorded as map data in association with each coordinate based on the data illustrated in FIG. As an example, as shown in FIG. 3, at the time T1, the position of the marker M2 of the head 12 of the cleaner C2 and the orientation of the head 12 are (X (1), Y (1), θ (1)) = ( x4, y5, θ1), and at the next time point T2, the position of the marker M2 and the orientation of the head 12 are (X (2), Y (2), θ (2)) = (x5, y4, θ1). The case where it is detected in will be described.

  FIG. 4 is a table showing each coordinate in the vicinity of (x3, y4) of the cleaning target area and a value recorded corresponding to each coordinate. As shown in FIG. 4, as the detection position at T1, the map generation unit 7 records a value “1” indicating that the marker M2 is detected at the coordinates (x4, y5) of the position where the marker M2 is detected. Since the head 12 also occupies a position around the marker M2, the map generation unit 7 indicates that the marker M2 has been cleaned, for example, at the lower left coordinates (x3, y4) and the upper right coordinates (y5, y6). Record the value "1". Here, the coordinates corresponding to the portion occupied by the head 12 around the marker M2 can be determined according to the orientation of the head 12. Similarly, as the detection position at T2, the map generation unit 7 similarly uses the coordinates (x5, y4) of the marker detection position and the coordinates (x4, y3) and (x6, y5) corresponding to the portion occupied by the surrounding head 12. On the other hand, the value “1” indicating the cleaned state is recorded.

  As described above, the coordinates corresponding to the portion occupied by the head 12 can be a coordinate group corresponding to the reference coordinates (here, the coordinates of the marker as an example) and the orientation of the head 12 around the reference coordinates. For example, correspondence data that associates a value representing the orientation of the head 12 with a pattern of a coordinate group corresponding to the value can be recorded in the recording unit 6 or the like in advance. The map generation unit 7 can specify the coordinate group corresponding to the orientation of the head 12 based on the correspondence data.

  In this way, the map generation unit 7 generates map data including information indicating the area cleaned by the suction port of the cleaner C2 based on the position of the cleaner C2 and the direction of the suction port (for example, the head 12). be able to. In addition, the process which produces | generates the map data containing the area | region cleaned by the suction port based on the direction of a suction port is not restricted to the said example.

  Although omitted in FIG. 4, “0” is recorded as a value representing uncleaned for coordinates where no value representing cleaned is recorded. Moreover, the value recorded corresponding to each coordinate is not limited to a value indicating cleaned or uncleaned. For example, a time, a value representing a dust suction amount described later, and a value representing the direction of the head 12. Or the data etc. which identify a cleaner may be recorded with respect to each coordinate.

(Display screen example)
FIG. 5 is a diagram illustrating an example of an image that the output unit 5 displays on the display 11 of the cleaner C2. In the example shown in FIG. 5, in the XY plane that is the cleaning target area, an area E1 through which the head of the cleaner C1 passes and an area E2 through which the head 12 of the cleaner C2 passes are displayed in a visible manner. Furthermore, the current position and orientation of the head 12 of the cleaner C2 are also displayed. The uncleaned area E3 is also displayed so as to be distinguishable from other areas. As described above, the output unit 5 can display the data that is the operation guide generated by the analysis unit 4 as an image on a display device that can be viewed by the operator. Thereby, the output unit 5 records the history of the position information of each of the cleaners C1 and C2 in a state where the suction units of two or more cleaners C1 and C2 are operating, the current position of the cleaner C2 and the head direction. Is displayed to the operator so that the relationship between

  As an example, the position of the cleaners C1 and C2 indicated by the map data by the analysis unit 4 and information serving as a guide for operating the head 12 determined from the current position of the cleaner C2 and the orientation of the head 12 are two-dimensional maps. Displayed as an image. The output unit 5 can display information determined by the analysis unit 4 on the display 11 as a two-dimensional map. Moreover, the manual cleaner C2 may also be displayed based on the state data. For example, the cleaned area E1 of the autonomous mobile cleaner C1 can be shown in blue and the uncleaned area E3 can be shown in red. In this case, the operator can clean the area where the autonomous mobile cleaner C1 cannot be cleaned by cleaning only the red area E3 presented on the display 11 using the manual cleaner C2. it can. As a result, it is less likely that the operator himself cleans the same area many times or leaves an uncleaned area.

  Furthermore, the output part 5 can display the position of the head 12 of the cleaner C2 in real time. Thereby, the operator can recognize at which position on the uncleaned area E3 the head 12 is located. Since the operator can perform cleaning with a feeling that paint is evenly applied to a certain area, the efficiency of cleaning is further improved.

(Example of output format)
(Display provided on the head)
In FIG. 1, the display 11 is provided at the handle portion of the hose that connects the main body of the cleaner C <b> 2 and the head 12. In contrast, FIG. 6 is a diagram illustrating an example in which the display 11a is provided in the head 12a. In this case, the display 11a can be a liquid crystal display, an organic EL display, an LED dod matrix (LEDs arranged in an array), a fluorescent display tube, or the like. The output unit 5 can display an image according to the determination result of the analysis unit on the display 11a.

  FIG. 7 is a diagram illustrating an example in which an image based on map data and state data is displayed on the display 11a provided in the head 12a. In the example shown in FIG. 7, the image is rotated and displayed according to the orientation of the head 12. Here, the image is rotated in the opposite direction by the same angle θ as the angle θ between the major axis of the head 12a and the X axis. Thereby, the orientation of the head 12a displayed on the display 11a is always the same orientation as the actual head 12a.

(Light emitting part provided on the head)
FIG. 8 is a diagram illustrating an example in which the light emitting units 13a-1 and 13a-2 are provided in the head 12b. In the example shown in FIG. 8, a hose is connected to the center of the head 12b. Light emitting portions 13a-1 and 13a-2 are provided on the left and right sides of the connecting portion between the head 12b and the hose, respectively. The light emitting units 13a-1 and 13a-2 can be LEDs, for example. The output unit 5 can cause the light emitting units 13a-1 and 13a-2 to emit light according to the determination result of the analyzing unit 4. For example, the output unit 5 can illuminate the light emitting units 13a-1 and 13a-2 with a light emission pattern indicating the direction in which the head 12b is to travel, which is determined by the analyzing unit 4. Alternatively, the output unit 5 can illuminate the light emitting units 13a-1 and 13a-2 with a light emitting pattern indicating that the head 12b enters the cleaned region.

  FIG. 9 is a flowchart illustrating an example of processing for causing the light emitting unit of the head illustrated in FIG. 8 to emit light according to the determination result of the analyzing unit 4. In the example shown in FIG. 9, the state specifying unit 3 acquires the current position of the cleaner C2 and the orientation of the head 12, the map data of the recording unit 6, or the position receiving unit 8 (S1, S2). For example, when the suction switch of the cleaner C2 is turned on, the camera 21, the position specifying unit 9, and the position receiving unit 8 start operating, and continuously acquire values indicating the position of the cleaner C2 and the orientation of the head 12. . The analysis unit 4 identifies the traveling direction of the cleaner C2 from the current position of the cleaner C2 and the direction of the head 12 (s3). For example, a vector having a predetermined length starting from the current position and extending in the direction of the head 12 can be calculated as data indicating the traveling direction.

  The map acquisition unit 2 refers to the map data, and acquires a value indicating the cleaning state at the position in the traveling direction specified in S3 (S4). The analysis unit 4 determines whether or not there is a value that has been cleaned at the position in the traveling direction specified in S3 in the map data (S5). For example, the analysis unit 4 can determine whether or not the current position is a starting point and the vector indicating the traveling direction passes through the cleaned area.

  In the case of YES in S5, the analysis unit 4 determines that the head 12 enters the cleaned region, and the output unit 5 is a light emission pattern indicating that the head 12 enters the cleaned region. 13a-2 is caused to emit light (s6). If NO in S5, the analysis unit 4 determines that the head 12 enters the uncleaned region, and the output unit 5 is a light emission pattern indicating that the head 12 enters the uncleaned region. 13a-2 is caused to emit light (s7). The above processes s1 to s7 are repeated until the suction of the cleaner C2 is completed (YES in s8).

(Example of providing a display other than the head)
In addition to the display 11 of the cleaner C2, the output unit 5 can display an image on a display of an external device such as a liquid crystal television, a smart phone, a tablet terminal, or a personal computer. That is, the display 11 may be provided outside the vacuum cleaner. The output unit 5 can include, for example, a wireless communication unit that transmits image data to a display of an external device by wireless communication.

  The output unit 5 may output an image to, for example, a see-through type head mounted display worn by a vacuum cleaner operator. In this case, the output unit 5 or the head-mounted display senses the position and orientation of the head-mounted display, and displays an image in which the cleaning area and the uncleaned area are aligned with the actual floor as viewed from the operator. It may be generated as a display image. For such display, for example, AR (augmented reality) display technology can be used. Thereby, an intuitive and easy-to-understand display becomes possible.

(Example using speakers)
Moreover, the cleaner C2 can further include a speaker instead of or in addition to the light emitting unit. In this case, the output unit 5 can output an output sound corresponding to the determination result of the analysis unit 4 to this speaker. Note that the cleaner C2 is not necessarily provided with a speaker. For example, the output unit 5 may output sound to a speaker of another device such as a speaker provided on a ceiling or wall of a room, a speaker of an audio device installed indoors, or a speaker of a television. FIG. 10 is a flowchart illustrating a processing example in which the cleaning support device 10 controls the output of the speaker of the vacuum cleaner. In the example shown in FIG. 10, s1 to s5 can be executed in the same manner as s1 to s5 in FIG. If YES in S5, the analysis unit 4 determines that the head 12 enters the cleaned region, and the output unit 5 causes the speaker to output a sound pattern indicating that the head 12 enters the cleaned region (s6a). ). If NO in S5, the analysis unit 4 determines that the head 12 enters the uncleaned region, and the output unit 5 causes the speaker to output a sound pattern indicating that the head 12 enters the uncleaned region (s7a). ).

  In addition, the process which controls the sound output of a cleaner or the light emission of a head based on the data produced | generated by the analysis part 4 is not restricted to the said example. For example, the analysis unit 4 calculates the distance between the cleaned region existing in the traveling direction of the head 12 and the head 12, and the output unit 5 generates the output sound of the cleaner or the light emission of the head 12 according to this distance. Can be controlled. Thereby, the operator of the vacuum cleaner can recognize how close the cleaned area is.

(Processing example where the analysis unit determines the direction in which the head should travel)
FIG. 11 is a flowchart illustrating an example of a process for determining the direction in which the head of the vacuum cleaner should proceed. In the example shown in FIG. 11, s1 to s3 can be executed in the same manner as s1 to s3 in FIGS. In s12 of FIG. 11, the analysis unit 4 determines whether or not the current position of the head 12 is a cleaned region by referring to the map data. When the current position of the head 12 is a cleaned area (YES in s12), the analysis unit 4 determines the distance KS from the current position of the head 12 to the uncleaned area in the traveling direction, and the right uncleaned in the direction perpendicular to the traveling direction. The distance KR to the area and the distance KL to the left uncleaned area in the direction perpendicular to the traveling direction are calculated (s13 to s15). FIG. 12A is a diagram illustrating specific examples of the distances KS, KL, and KR. In this example, the distance KS is zero. Since there is no uncleaned area on the right side in the traveling direction, the distance KR is none. The analysis unit 4 determines the direction in which the distance is the shortest of these distances KS, KR, and KL as the direction in which the head 12 should travel. In the example shown in FIG. 12A, since the distance KS = 0 is the shortest, the traveling direction can be determined as the direction to be advanced. The output unit 5 causes the light emitting unit to emit a light emission pattern that indicates the direction in which the head 12 should travel (s16).

  When the current position of the head 12 is an uncleaned area (NO in s12), the analysis unit 4 cleans the current position of the head 12 in the traveling direction or the distance LS from the cleaned area to the right in the direction perpendicular to the traveling direction. The distance LR to the completed region and the distance LL to the left cleaned region in the direction perpendicular to the traveling direction are calculated (s17 to s19). FIG. 12B is a diagram illustrating specific examples of the distances LS, LL, and LR. The analysis unit 4 determines the longest direction among these distances LS, LR, and LL as the direction in which the head 12 should travel. The output unit 5 causes the light emitting unit to emit a light emission pattern that indicates the direction in which the head 12 should travel (s20). In addition, the process which determines the direction which the head of the cleaner should advance by the analysis part 4 is not restricted to the said example.

<Embodiment 2>
FIG. 13 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the second embodiment. This embodiment is a modification of the structure of the position sensing of a cleaner. In the example illustrated in FIG. 13, the position receiving unit 8 receives position information and data indicating the orientation of the head 12 directly from the cleaners C <b> 1 and C <b> 2. Therefore, the cleaners C1 and C2 include a sensor that detects the position and orientation of the cleaner itself, and a communication unit that performs wireless communication with the position receiving unit 8. In this example, the cleaners C <b> 1 and C <b> 2 detect the position of their own device by receiving a signal indicating the position from the position information projection unit 22. Moreover, the cleaner C2 can include a geomagnetic sensor for detecting the orientation of the head 12. The cleaners C1 and C2 transmit the detected position of the own machine to the position receiving unit 8 using the communication unit. The cleaner C <b> 2 can transmit the orientation of the head 12 together with the position of the own device to the position receiving unit 8.

  In the example illustrated in FIG. 13, the position sensing unit includes the position recognition sensor and communication unit, the position information projection unit 22, and the position reception unit 8 included in the vacuum cleaners C <b> 1 and C <b> 2. The position information projection unit 22 projects a signal indicating the coordinates at each coordinate position of the cleaning target area. The position information projection unit 22 can be installed on the ceiling, for example. The position information projection unit 22 includes, for example, an infrared projector that projects a different signal pattern for each coordinate position.

  The position information projection unit 22 projects a blinking pattern according to the coordinate value on each cleaning target area from the ceiling to the floor surface. For example, an infrared ray is projected for a signal corresponding to 1, and no infrared ray is projected for a signal corresponding to 0. The position information projection unit 22 can project the coordinate position from the ceiling to the floor using the 1 and 0 signals, with the coordinate position being a binary number.

  For example, the position information projection unit 22 projects a pattern “1000_0000_0000_1111” in time series to the coordinates of (x1, y1) = (128, 15), and coordinates of (x2, y2) = (16, 4) A pattern of “0001_0000_0000_0100” can be projected.

  Each of the vacuum cleaners C1 and C2 can include an infrared light receiving unit as a position recognition sensor. The infrared light receiving unit receives a signal indicating a coordinate position from the position information projection unit 22 attached to the ceiling. For example, when the cleaner C1 receives “1000 — 0000 — 0000 — 1111”, it is recognized that the coordinates of the cleaner C1 are (128, 15). The vacuum cleaners C1 and C2 receive a pattern corresponding to the coordinates at the infrared light receiving unit, and transmit the received signal to the position receiving unit 8 via the communication unit.

<Embodiment 3>
FIG. 14 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the third embodiment. This embodiment is a modification of the structure of the position sensing of a cleaner. In the example shown in FIG. 14, coils are distributed and provided in the cleaning target area. The coil is an inductor and is an example of a passive element that generates an AC signal having a frequency corresponding to a received radio wave. The position specifying unit 9a specifies the positions of the cleaners C1 and C2 based on signals detected by the coils distributed in the cleaning target area. The position receiving unit 8 receives position data indicating the positions of the cleaners C1 and C2 from the position specifying unit 9a.

  In the example shown in FIG. 14, a coil 24 for detecting the spatial position is installed on the floor of the cleaning target area. The coil 24 is disposed at a position corresponding to each coordinate on the XY plane of the cleaning target area. Each suction part of the vacuum cleaners C1 and C2 is provided with a transmitter that transmits an AC signal having a specific frequency. For example, the cleaner C1 may be configured to transmit an AC signal of 1 kHz, and the cleaner C2 may be configured to transmit a 1.2 kHz AC signal.

  As an example, when the suction part of the cleaner C1 exists on the coordinates (x1, y1), an AC signal of 1 kHz is detected by electromagnetic induction in the coil 24 at a position corresponding to the coordinates (x1, y1). Further, when the suction part of the cleaner C1 exists on the coordinates (x2, y2), the coil 24 at a position corresponding to the coordinates (x2, y2) detects an AC signal of 1.2 kHz by electromagnetic induction. In this way, the position specifying unit 9a detects a signal having a specific frequency that is excited by the frequency transmitted from each of the cleaners C1 and C2 from all the coils 24. By specifying the position of the coil 24 from which the signal of the specific frequency is detected, the positions of the cleaners C1 and C2 can be detected. The position specifying unit 9 transmits the detected coordinate positions of the cleaners C1 and C2 to the position receiving unit 8.

  In the present embodiment, it is possible to sense an area that cannot be viewed directly from the ceiling such as under a desk. Therefore, it becomes possible to grasp the position of the head of the cleaner more reliably.

<Embodiment 4>
FIG. 15 is a diagram illustrating a configuration example of a system including the cleaning support device 10 according to the fourth embodiment. In the example illustrated in FIG. 15, a dust amount receiving unit 25 that receives data indicating the amount of dust suction from the cleaners C1 and C2 is further provided. The position receiving unit 8 receives dust amount data indicating the amount of dust suction of the cleaners C1 and C2 from the dust amount receiving unit 25, and records it in the recording unit 6 in association with the detection positions of the cleaners C1 and C2. The map generation unit 7 can generate map data including information indicating dust suction amounts of the plurality of cleaners C1 and C2 using the dust amount data.

  The vacuum cleaners C <b> 1 and C <b> 2 include a sensor that detects the amount of dust sucked from the suction port and a communication unit that transmits dust amount data indicating the amount of dust to the dust amount receiving unit 25. The vacuum cleaners C <b> 1 and C <b> 2 may transmit data indicating the amount of dust together with data indicating the time when detecting the amount of dust or the position of the own device to the dust amount receiving unit 25. The transmission of the dust amount data from the cleaners C1 and C2 to the dust amount receiving unit 25 can be started when the suction of the cleaners C1 and C2 is started, and can be ended when the suction of the cleaners C1 and C2 is finished. .

  A sensor for detecting the amount of sucked dust is not particularly limited. For example, a light emitting element that irradiates light to a flow path of suction air, a light receiving element that receives light emitted from the light emitting element and passed through the flow path, and a light receiving element. The calculation unit can calculate the amount of dust passing through the flow path based on the change in the amount of light received by the element.

  In addition to the dust suction amount, the dust amount receiving unit 25 can receive the identifiers of the cleaners C1 and C2 corresponding to the dust suction amount. Thereby, the map production | generation part 7 can produce | generate the map data containing the information which shows the dust suction amount for every cleaner C1, C2. For example, the map generation unit 7 uses the dust suction amount of the cleaners C1 and C2 and the data indicating the position or time at which the dust suction amount is measured, and the dust at the position where the cleaners C1 and C2 have passed. The amount of suction is recorded in correspondence.

  For example, when the map generation unit 7 records a value corresponding to each coordinate as shown in FIG. 4, a value indicating the amount of dust suction at that position instead of “1” as a value indicating that it has been cleaned. Can be recorded.

  The map acquisition unit 2 refers to map data including information indicating the distribution of dust suction amount in addition to the cleaned region in the cleaning target region. The analysis unit 4 can further generate data serving as a guideline for the operation of the head 12 of the cleaner C2 by further using information indicating the amount of dust suction included in the map data. For example, the analysis unit 4 can determine the direction in which the head of the cleaner C2 should move or whether the head of the cleaner C2 enters the cleaned region according to the amount of dust suction in the traveling direction of the head 12. . For example, the cumulative value of the dust suction amount at each position in a certain period can be included in the map data and recorded. The analysis unit 4 labels a region where the amount of dust suction is larger than the surroundings, and when this region is within a certain distance from the head 12, the direction toward this region is determined as the method to which the head 12 should proceed. Can do.

  The analysis unit 4 can generate an image including a dust suction amount distribution. For example, it is possible to generate an image that presents a portion with a large amount of dust in the cleaning target region with a strong reddish color and a region with a small amount of blue with a strong bluish color. When the output unit 5 displays such an image on the display 11 or the like, the operator can grasp the amount of dust. For example, the operator can also carefully clean a place with a lot of garbage.

  Further, the analysis unit 4 can determine whether or not each position has been cleaned based on the dust suction amount at each position. For example, a position where the dust suction amount exceeds a predetermined amount can be determined to have been cleaned.

  The analysis unit 4 can generate an operation command for the self-propelled robot cleaner according to the distribution of the dust suction amount. For example, an operation command for controlling the suction force of the robot cleaner can be generated in accordance with the dust suction amount (for example, the cumulative value of the dust suction amount) in the cleaning target area. Specifically, an operation command is generated to increase the rotation speed of the suction motor to increase the suction power of the robot cleaner itself when there is a lot of dust in the area to be cleaned, and to decrease the rotation speed of the suction motor when it is low. can do. When the analysis unit 4 and the output unit 5 control the number of rotations of the motor of the robot cleaner in accordance with such an operation command, the robot cleaner can be cleaned with an appropriate output corresponding to the amount of dust.

  Or the analysis part 4 can produce | generate the operation command which controls the moving speed of a robot cleaner according to the dust suction amount (for example, accumulation value of dust suction amount) in the cleaning object area. As an operation command for the robot cleaner, a control signal for the moving speed of the robot cleaner itself can be generated. For example, when the amount of dust in the cleaning target area is large, the propulsion speed of the robot cleaner itself is decreased to increase the suction time per unit area, and when it is small, the propulsion speed is increased to shorten the cleaning time. When the analysis unit 4 and the output unit 5 control the propulsion speed of the robot, the robot cleaner can be cleaned at an appropriate propulsion speed according to the amount of dust.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said Embodiment 1-4. For example, in the configuration of FIG. 1, the state specifying unit 3 is omitted, and the analysis unit 4 generates control data for controlling the operation of at least one of the plurality of cleaners based on the map data. Or it can be set as the structure which produces | generates the image data which show the cleaned area | region of several vacuum cleaners based on map data.

  In the above embodiment, the cleaners C1 and C2 are the vacuum cleaners to be monitored, and the cleaner C2 is the vacuum cleaner to be operated among the vacuum cleaners to be monitored. There may be a case where the operation target cleaner is not included in the machine, or the monitoring target cleaner and the operation target cleaner may all be the same.

2 Map acquisition unit 3 State identification unit 4 Analysis unit 5 Output unit 6 Recording unit 7 Map generation unit 8 Position reception unit 9 Position identification unit 10 Cleaning support devices C1, C2 Vacuum cleaner

Claims (18)

A map acquisition unit that references map data including information indicating a cleaned area in the cleaning target area;
A state specifying unit for acquiring state data indicating a current position of a vacuum cleaner to be operated and a direction of a head having a suction port of the vacuum cleaner;
Based on the cleaned region indicated by the map data, the current position of the cleaner indicated by the state data, and the orientation of the head of the cleaner, the analysis unit generates data serving as a guide for the head operation of the cleaner. When,
A cleaning support apparatus comprising: an output unit that outputs data generated by the analysis unit to an operator of the vacuum cleaner or the vacuum cleaner.   The cleaning support apparatus according to claim 1, wherein the map data referred to by the map acquisition unit includes information indicating cleaned areas of two or more vacuum cleaners.   The cleaning support apparatus according to claim 1, wherein the map data referred to by the map acquisition unit includes information indicating a dust suction amount distribution in the cleaning target area. A position receiver that receives position data indicating the position of the vacuum cleaner to be monitored;
The map generation unit according to any one of claims 1 to 3, further comprising a map generation unit configured to generate the map data including information indicating the cleaned area based on the position of the cleaner indicated by the position data received by the position reception unit. The cleaning assistance apparatus as described in a term. The position receiving unit further receives dust amount data indicating a dust suction amount of the monitored vacuum cleaner,
The cleaning support apparatus according to claim 4, wherein the map generation unit generates map data including information indicating a distribution of dust suction amount in the cleaning target region using the dust amount data. The position receiving unit receives, as the position data, data indicating the orientation of the suction port of the cleaner at each position, in addition to the position of the cleaner to be monitored.
The map generation unit generates map data including information indicating a cleaned region by the suction port of the cleaner based on the position of the cleaner and the direction of the suction port indicated by the position data. The cleaning assistance apparatus as described. Based on an image captured by a camera that captures the area to be cleaned, further comprising a position specifying unit that specifies the position of the cleaner to be monitored,
The cleaning support device according to claim 4, wherein the position receiving unit receives position data indicating a position of the cleaner from the position specifying unit.   The cleaning support apparatus according to claim 4, wherein the position receiving unit receives position data transmitted from the monitoring target cleaner. A position specifying unit that specifies the position of the vacuum cleaner to be monitored by an AC signal detected by a passive element that is distributed in the cleaning target area and that generates an AC signal having a frequency corresponding to a received radio wave,
The cleaning support device according to claim 4, wherein the position receiving unit receives position data indicating a position of the cleaner from the position specifying unit.   The cleaning support apparatus according to claim 1, wherein the output unit causes a speaker to output an output sound corresponding to the data generated by the analysis unit.   The cleaning support device according to any one of claims 1 to 10, wherein the output unit causes a light emission unit provided in a head of the operation target cleaner to emit light according to data generated by the analysis unit. .   The cleaning support device according to claim 1, wherein the output unit causes a display to display an image corresponding to the data generated by the analysis unit.   The cleaning support device according to claim 12, wherein the output unit displays the image on a display provided in the cleaner to be operated. A vacuum cleaner comprising the cleaning support device according to any one of claims 1 to 13,
A speaker,
The said output part is a vacuum cleaner which makes the said speaker output the output sound according to the data which the said analysis part produced | generated. A vacuum cleaner comprising the cleaning support device according to any one of claims 1 to 14,
A head having a suction port;
The head has a light emitting unit,
The said output part is a cleaner which makes the said light emission part light emission according to the data which the said analysis part produced | generated. A vacuum cleaner comprising the cleaning support device according to any one of claims 1 to 15,
Having a head with a suction port and a display;
The said output part is a vacuum cleaner which displays the image according to the data which the said analysis part produced | generated on the said display. Map acquisition processing for referring to map data including information indicating a cleaned area in the cleaning target area;
A state specifying process for acquiring state data indicating the current position of the vacuum cleaner to be operated and the orientation of the head having the suction port of the vacuum cleaner;
Based on the cleaned area indicated by the map data, the current position of the cleaner indicated by the state data, and the orientation of the head of the cleaner, an analysis process for generating data serving as a guide for head operation of the cleaner When,
The cleaning support program which makes a computer perform the output process which outputs the data produced | generated by the said analysis process with respect to the operator of the said vacuum cleaner or the said vacuum cleaner. A map acquisition step in which the computer refers to map data including information indicating a cleaned area in the cleaning target area;
A state identification step in which a computer acquires state data indicating a current position of a vacuum cleaner to be operated and a direction of a head having a suction port of the vacuum cleaner;
Based on the cleaned area indicated by the map data, the current position of the cleaner indicated by the state data, and the orientation of the head of the cleaner, the computer generates data serving as a guide for head operation of the cleaner. Analysis process to
A cleaning support method, comprising: an output step in which a computer outputs data generated in the analysis step to an operator of the cleaner or the cleaner.

Images