JP2019091326A - Cleaning system, robot cleaning device comprising cleaning system, and flying object device - Google Patents

Abstract

To provide a cleaning system capable of cleaning a height position above a floor surface which cannot be cleaned with only a self-propelled robot cleaning device for cleaning the floor surface.SOLUTION: A self-propelled robot cleaning device 2 cleaning a floor surface 10S, and a flying object device 3 flying and moving in the air cooperate with each other to perform a cleaning operation. The flying object device operates to drop a cleaning object 51, located at a position higher than the floor surface, to the floor surface at a cooperation location in the cleaning area using an auxiliary cleaning tool. A notification regarding the operation of dropping the cleaning object onto the floor surface is transmitted to the robot cleaning device via a communication part. The robot cleaning device executes the cooperation operation by traveling on the floor surface of the cooperation location and cleaning, after a prescribed time has elapsed following receiving a notification regarding the operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a cleaning system, a robot cleaning device that configures the cleaning system, and an aircraft device.

  In recent years, there has been provided a robot cleaning apparatus which suctions an object to be cleaned such as dust existing on a floor surface to execute cleaning while traveling autonomously on the floor surface of a cleaning area. According to this robot cleaning apparatus, it is very convenient to be able to clean a room which is a cleaning area without the user's involvement.

  However, since the robot cleaning device cleans up dust and the like present on the floor surface of the cleaning area, it is not on the floor surface of the cleaning area, but from a floor surface such as furniture placed on the floor surface. Dust and the like present at a predetermined height position can not be cleaned.

  With regard to this problem, Patent Document 1 (Japanese Patent Laid-Open No. 2010-162263) discloses, in addition to the robot cleaning device, floating particles having a small particle diameter which continues to float in the air of the cleaning area at fixed positions such as the room of the cleaning area. An air purifier for removing dust and chemical substances is installed, and a floating dust removing device or dust removing device for removing quasi-floating dust floating in the air but falling to the floor surface as time passes A cleaning system has been proposed in which the robot cleaning device, the air cleaner, and the floating dust removing device and the dust removing device are operated at the same time to perform coordinated cleaning.

JP, 2010-162263, A

  However, in Patent Document 1, the air cleaner, floating dust removing device, and dust removing device that cooperate with the robot cleaning device are floating dust and chemicals having a small particle diameter that continues to float in the air of the cleaning area, or in the air. It is a device that removes quasi-floating dust that floats but falls to the floor over time, dust that is present at a predetermined height from the floor, such as on furniture, and dust that adheres to the curtain Dust and the like that are not suspended in the air, such as, are not targeted for cleaning.

  For this reason, in order to clean dust, which is present at a predetermined height from the floor surface such as furniture, dust adhering to the curtain, and the like, the user can perform the same operation as in the conventional cleaning. I had to try to drop the dust onto the floor by tapping, dropping dust from the shelf, shaking the curtain, hitting, and so on.

  Moreover, even if the user causes dust to fall on the floor in this way, the robot cleaning device, the air cleaner, the floating dust removing device, and the dust removing device suck the dropped dust in a timely manner. There is a problem that it is difficult to perform an accurate cleaning operation because it is not configured as such. In particular, since the air cleaner, floating dust removing device and dust removing device are only installed at fixed positions in the cleaning area, a plurality of units are installed in the cleaning area so as to cover the entire cleaning area. There was a problem that it was necessary to

  An object of the present invention is to provide a cleaning system capable of solving the above problems.

In order to solve the above-mentioned subject, invention of claim 1 is,
A self-propelled robot cleaning apparatus for cleaning the floor surface and a flying object apparatus for flying and moving in the air perform a cleaning operation in cooperation with each other while traveling on the floor surface,
The robot cleaning device is
A traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for wirelessly communicating with the aircraft device directly or indirectly;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the traveling drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit;
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping onto the floor a cleaning object which can be suctioned by the robot cleaning device, which is located at a position higher than the floor;
A second communication unit for wirelessly communicating with the robot cleaning apparatus directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. Notifying the robot cleaning device of a notice about an operation to be dropped on the floor through the second communication unit;
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. Provided is a cleaning system characterized by performing cooperative operation by cleaning.

  The invention of claim 1 of the above configuration is a cleaning system in which a self-propelled robot cleaning device and an aircraft device flying and moving in the air perform a cleaning operation in cooperation with each other. The flying object apparatus is an operation that causes the cleaning object to fall to the floor surface when the cleaning object is dropped to the floor surface by using the cleaning aid at the cooperation location in the cleaning area. Are transmitted to the robot cleaning device through the second communication unit.

  The robot cleaning device travels on the floor surface of the cooperation place after a predetermined time has elapsed from the time of reception of the notification when receiving a notification regarding an operation of dropping the cleaning object on the floor surface at the cooperation place in the cleaning area. Clean up and execute cooperative operations.

  According to the cleaning system of the present invention, the flying object apparatus and the robot apparatus communicate with each other and cooperate in the cooperation place. As a result, the robot cleaning device sucks when the object to be cleaned which is dropped onto the floor surface from a location higher than the floor surface using the cleaning aid is present on the floor surface. It can be cleaned.

It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the map data of the cleaning area in 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the map data of the cleaning area in 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the structural example of the mechanism part of an example of the robot cleaning apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the structural example of the mechanism part of an example of the robot cleaning apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the example of an electrical configuration of an example of the robot cleaning apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the structural example of the mechanism part of an example of the flying body apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the example of an electrical configuration of an example of the aircraft body apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the example of an electrical configuration of an example of the air purifying apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the example of an electrical configuration of an example of the cleaning instruction | indication apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating an example of the cleaning plan menu in 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the cleaning instruction | indication apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the cleaning instruction | indication apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the robot cleaning apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the robot cleaning apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure showing a part of flow chart for explaining the flow of operation of an example of the flight body device which constitutes a 1st embodiment of the cleaning system by this invention. It is a figure showing a part of flow chart for explaining the flow of operation of an example of the flight body device which constitutes a 1st embodiment of the cleaning system by this invention. It is a figure showing a part of flow chart for explaining the flow of operation of an example of the flight apparatus which constitutes a 2nd embodiment of the cleaning system by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the robot cleaning apparatus which comprises 2nd Embodiment of the cleaning system by this invention. It is a figure for demonstrating the other operation example in 1st Embodiment of the cleaning system by this invention.

  Hereinafter, an embodiment of a cleaning system according to the present invention will be described with reference to the drawings. First, the outline of the embodiment of the cleaning system according to the present invention will be described by describing the cleaning mode performed by the embodiment of the cleaning system according to the present invention with reference to FIGS. 1 to 6.

[Outline of First Embodiment of Cleaning System]
The first embodiment of the cleaning system described below comprises a cleaning instruction device 1, a robot cleaning device 2, an aircraft device 3, and an air cleaning device 4, as shown in FIG. And in this embodiment, according to the instruction of the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 mutually communicate wirelessly in the cleaning area in which the map data is created in advance. While cleaning up together.

  In the cleaning system of this embodiment, map data of a cleaning area, such as a room to be cleaned, is created in advance, and the created map data is used as the cleaning instruction device 1, the robot cleaning device 2, and the flying object. The information is stored in the device 3 and the air cleaning device 4.

  In this example, the cleaning instruction device 1 instructs the robot cleaning device 2 and the flying object device 3 to create map data of the cleaning area, and based on this, the robot cleaning device 2 and the flying object are created. The device 3 performs based on traveling and flying in the cleaning area. At this time, the cleaning instruction device 1 receives the position information from the robot cleaning device 2 or the flying object device 3 and the captured image information from the camera provided with them, and based on the received information, the map data of the cleaning area create. The method of creating map data of the cleaning area will be described in detail later.

  The cleaning instruction device 1 sends the created map data of the cleaning area to the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 so as to be stored. When there are a plurality of rooms to be cleaned, the cleaning instruction apparatus 1 creates map data of the cleaning area for each room. The cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 store map data of each cleaning area in association with, for example, identification information provided for each cleaning area. Do. The name of the room may be set and input in each of the cleaning areas, and the name of the room may be stored in each device in association with the identification information. The name of the room is not limited to the setting input, and may be automatically generated by the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, or the air cleaning device 4.

  Map data of the cleaning area will be described as an example of the cleaning area. In the example shown in FIGS. 1 to 3, for example, a living (living room) 10 is assumed as the cleaning area, and the table 11 is placed approximately at the center of the floor surface 10S, and the sofa 12 is placed near it. A bookshelf 13 is placed on the wall without a window. A curtain 15 is hung on a large window 14 of the living room 10. In addition, the other wall has a small window 16, and the small window 16 is provided with a blind curtain 17.

  The map data of the cleaning area is an obstacle on a two-dimensional plane when viewed from above in the direction orthogonal to the floor surface 10S (in the case of the living 10 in the example of FIG. 1, the table 11, the sofa 12, the bookshelf 13) Etc.), the obstacles in the height direction orthogonal to the floor surface 10S, and the objects present on the wall of the room of the cleaning area (the living room 10 in the example of FIG. 1). In this case, it comprises data indicating the occupation position (occupation range) of the large window 14 and the curtain 15, and also the small window 16 and the blind curtain 17). In this example, the map data includes, as reference data, captured image information obtained by photographing the inside of the cleaning area, that is, the robot cleaning device 2 or the flying object device 3 as will be described later. ing.

  An example of a map based on map data in the case of the living area 10 whose cleaning area is shown in FIG. 1 will be described with reference to FIG. FIG. 2A is a view for explaining the occupation position (occupation range) of an obstacle on a two-dimensional plane in the case of the living 10 in which the cleaning area is shown in FIG. 1, and FIG. ) Is a figure for explaining the occupation position (occupation range) of the obstacle existing in the height direction orthogonal to the floor surface 10S and the object present on the wall of the room of the cleaning area.

  In FIG. 2A, the horizontal direction of the floor surface 10S in the cleaning area is taken as the X-axis direction, the longitudinal direction of the floor surface 10S is taken as the Y-axis direction, and the position on the floor surface 10S is represented by X coordinates and Y coordinates. I have to. Further, as shown in FIG. 2B, the height position from the floor surface 10S is represented by the Z coordinate, with the direction orthogonal to the floor surface 10S as the Z-axis direction.

  That is, as shown by hatching in FIG. 2 (A), the map data is a table 11 (a leg), a sofa 12 (a leg), and a bookshelf as an obstacle on a two-dimensional plane (floor surface 10S). Contains information on 13 occupation positions (occupation range). Further, as shown by hatching in FIG. 2 (B), the map data includes the table 11 (the leg and the upper surface of the table) as the obstacle, the sofa 12 (the leg and the seat), the bookshelf 13 and so on. , Including information on the occupation position (occupation range) in the height direction from the floor surface 10S, and the window frame portion of the window 14 and the window frame portion of the small window 16 in the upper sky of the two-dimensional plane (floor surface 10S) Includes information on occupation position (occupation range).

  The map data includes information on the height position of the upper surface of the table 11, the height position of the upper surface of the bookshelf 13, and the height positions of the window frame portion of the window 14 and the window frame portion of the small window 16. The information on the height position indicates that the flying object 3 is the height position of the top surface of the table 11, the height position of the top surface of the bookshelf 13, the height of the window frame of the window 14 and the height of the window frame of the small window The hovering height position of the flying object apparatus 3 is detected by photographing the location of each height position with a camera while hovering at each position.

  Furthermore, in the map data, information on the window 14 present on the wall of the room in the cleaning area and the curtain 15 hanging over the window 14, and the information on the location of the small window 16 and the blind curtain 17 provided on the small window 16. including. The presence of the curtain 15 or the blind curtain 17 is detected, for example, by image recognition of an image captured by a camera mounted on the aircraft device 3.

  In the cleaning system according to the first embodiment, the robot cleaning device 2 cleans the floor surface as a main cleaning operation, and auxiliary operations of the aircraft device 3 and / or the air cleaning device 4 cooperate with each other. Of course, the auxiliary operation of the robot cleaning device 2 and / or the air cleaning device 4 may be linked as the main operation of the flying object device 3, and the robot cleaning device 2 and / or the flight of the air cleaning device 4 as the main operation. The auxiliary operation of the body device 3 may be linked.

  In this embodiment, when the creation of the map data of the cleaning area is completed in the cleaning instruction device 1, the user performs the cleaning operation in cooperation with the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 in the cleaning area. You can register the collaboration location where you can The map data is stored including position information of the cooperation place, a cooperation place name, and the like.

  Further, in this embodiment, when the user causes the cleaning system to start the cleaning operation, the user instructs the robot cleaner 2 on the floor surface in the cleaning area specified by the map data with respect to the cleaning instruction device 1. It is comprised so that the cleaning procedure instruction | indication (henceforth a cleaning plan) which makes cleaning how and in what order can be set. The cleaning plan may be set in advance. In that case, a plurality of cleaning plans can be specified, and information such as a cleaning plan number is added to the information on those cleaning plans, and stored in association with the map data of the cleaning area You may In addition, the cleaning plan may be configured to be able to set a timer.

  The cleaning plan can include designation of a cooperation place where the robot cleaning device 2 and the flying object device 3 and / or the air cleaning device 4 cooperate with each other in the cleaning area to perform the cleaning operation. . And the cooperation operation performed at the designated cooperation place is also set together. The cooperation location and the cooperation operation can designate a plurality of places in one cleaning area, and the position information of the designated cooperation place and the information of the cooperation operation are associated with the map data of each cleaning area. Are stored.

  When living 10 is made into a cleaning area in Drawing 3 (A) and Drawing 3 (B), information on a cleaning plan stored in association with map data of the cleaning area concerned and information on cooperation position An example of

  The continuous arrow LS in FIG. 3A shows an example of the cleaning procedure in the cleaning plan for the robot cleaning device 2. The cleaning procedure instruction data indicated by the continuous arrow LS is stored, for example, in association with the map data by registering position data of both ends of the linear portion and main points such as a corner. The position PO in FIG. 3A is the home position of the robot cleaning device 2 in the cleaning area of this example, and a charging device of the robot cleaning device 2 is installed at this position PO, for example. In this example, the aircraft device 3 also stands by with this position PO as a home position. The air cleaning device 4 may use this position PO as the home position, but may stop at any position. Of course, the aircraft device 3 may also stop at any position.

  Further, in FIG. 3A and FIG. 3B, double line arrows Pc1, Pc2, Pc3, Pc4, and Pc5 are examples of cooperation places. The information on the cooperation location corresponds to the map data by registering position data specifying the cooperation location, for example, in the case of the bookshelf 13, position data indicating an area occupied by the bookshelf 13 on the floor surface 10S. It is attached and memorized. Instead of position data of a cooperation place, a cooperation place name set in advance may be stored.

  Further, in the information on the cooperation place, the device performing the cooperation with the robot cleaning device 2 and the cooperation operation performed by the device performing the cooperation are set and registered by the user and registered. As a device that cooperates with the robot cleaning device 2, it is possible to select either the flying device 3 or the air cleaning device 4 or both the flying device 3 and the air cleaning device 4.

  In this embodiment, the flying object apparatus 3 includes a cleaning assisting tool described later, and can perform an assisting operation of grasping an object to be cleaned such as a paper waste 51 (see FIG. 1) present on the upper surface of the bookshelf 13, for example. At the same time, the brush provided in the cleaning aid can perform an auxiliary operation of dropping dust 52 (see FIGS. 1 and 4) as an example of the cleaning object present on the upper surface of the bookcase 13 onto the floor surface. It is configured to be able to.

  In this embodiment, although an example of the cleaning object to be dropped is described as dust, it is not limited to so-called dust, and small paper dust and plastic which can not be grasped by the cleaning aid, hair, hair of insects, pollen, etc. It is an object to be cleaned, and includes all items that can be suctioned by the robot cleaning device 2 and that can be suctioned by the air cleaning device 4.

  In addition, the flying object apparatus 3 is configured to be able to perform an auxiliary operation of dropping dust adhering to the curtain 15 by grasping the curtain 15 with a cleaning aid (such as a magic hand) and waving it to the left and right. ing. Furthermore, the flying object apparatus 3 can drop the dust adhering to the surface of the wing piece by rubbing the surface of each wing piece of the blind curtain 17 with the brush (brush) of the cleaning aid. Is configured as. There are various types of cleaning aids, not limited to magic hands and brushes. For example, by tapping each wing of the blind curtain 17 with the cleaning aid (by tapping each wing), the surface of the wing can be fixed. You may comprise so that the adhering dust can be dropped.

  In addition, the air cleaning device 4 is provided with suction means for suctioning dust, and as an auxiliary operation, the suction force can be switched to, for example, "strong", "medium", or "weak". There is. And, the cooperation operation by the air cleaning device 4 is an operation of suctioning dust in the middle of falling, and the suction force at that time can be selectively designated as either "strong", "medium" or "weak". It is done. Of course, the suction power at that time can also be determined to be "strong", "medium", or "weak" according to the amount of dust on the way of the air cleaning device 4 being dropped.

  Next, cooperation of the cleaning operation in the cleaning system of this embodiment will be described. The cleaning instruction apparatus 1 receives the specification of the cleaning area and the cleaning plan by the user according to the cleaning start request operation by the user. The cleaning plan includes a cleaning procedure instruction for the robot cleaning device 2, specification of a device to be cooperated, and a cooperation operation to be performed by cooperation of the designated cooperation device. Then, the cleaning instruction apparatus 1 wirelessly transmits a cleaning start instruction including information of the designated cleaning area and cleaning plan to all the cooperating devices, and activates them.

  Then, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4, which have received the cleaning start instruction, start their own devices to start the designated cleaning operation. In this case, if the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 already exist in the designated cleaning area, the cleaning operation can be started immediately. However, when the device to be linked is in a place other than the designated cleaning area, the device to be linked is moved to the designated cleaning area. Therefore, in this embodiment, the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 hold the cleaning area map data including the map information of the movement path between the cleaning areas. It is a thing.

  In the following description, the cleaning plan instructs, for example, the robot cleaning device 2 to perform the cleaning procedure indicated by the continuous arrow line LS shown in FIG. It is assumed that the arrow Pc1 of FIG. 3, the position of the window 14 (arrow Pc2 of FIG. 3), and the position of the small window 16 (arrow Pc3 of FIG. 3) are designated.

  Then, with respect to the position of the bookshelf 13 as the cooperation location, both the flying object apparatus 3 and the air cleaning apparatus 4 are selected and designated as the cooperation apparatus, and the bookshelf 13 is performed as the cooperation operation performed by the flight apparatus 3. If it can be grasped by the cleaning aid of the flying object device 3 such as the paper dust 51 on the upper surface of the robot, for example, it is grasped and scrap rubbish 2WS provided in the robot cleaning device 2 (see FIG. 8) and the operation (see FIG. 4) of dropping the dust 52 present on the upper surface of the bookshelf 13 onto the floor surface using a brush (brush) provided on the cleaning aid are registered. It shall be done. Further, in the cooperation assisting operation performed by the air cleaning device 4 at the position of the bookshelf 13 at the cooperation place, an operation of setting the suction force to "strong" so as to suction dust in the middle of falling is registered.

  Further, it is assumed that both the flying object apparatus 3 and the air cleaning apparatus 4 are selected and specified as the apparatus to cooperate with the position of the window 14 at the cooperation place. And as an auxiliary operation of cooperation which the flying object apparatus 3 performs, the dust adhering to the curtain 15 is dropped by grasping and swinging the curtain 15 with a cleaning aid or rubbing the surface of the curtain 15 with a brush It is assumed that the operation to be performed is registered, and the cooperation auxiliary operation performed by the air cleaning device 4 is registered as the operation of setting the suction force to "strong" so as to suction dust in the middle of falling.

  Furthermore, it is assumed that both the flying object apparatus 3 and the air cleaning apparatus 4 are selected and specified as the apparatus to cooperate with, even when the cooperation place is the position of the small window 16. Then, as a cooperative operation performed by the flying object device 3, an operation for dropping dust adhering to the curtain 15 by holding the curtain 15 with a cleaning aid and shaking it or rubbing the surface of the curtain 15 with a brush (Refer to FIG. 5) is registered, and in the cooperative operation performed by the air cleaning device 4, an operation of setting the suction force to “strong” so as to suction dust in the middle of falling is registered.

  If there are multiple curtains, the flight device 3 depending on the type of curtain (drape, lace, etc.), material (cotton, silk, acrylic, polyester, rayon, etc.), size (height, width) etc. The auxiliary operation of the cooperation performed by may be changed, or “strong” or “weak” of the suction force may be changed as the cooperative operation performed by the air cleaning device 4. For example, in the case of a fragile material such as silk, the assisting operation is made polite and the suction power is "weak".

  In the case of the first embodiment, the cooperation operation at each cooperation place will be described as follows.

  That is, the robot cleaning device 2 started from the home position PO cleans the floor 10S in the same manner as usual up to the position of the book shelf 13 which is the first cooperation place. Then, when the robot cleaning device 2 arrives at the position of the book shelf 13 which is the cooperation location, it suspends the traveling movement and the cleaning operation and requests the flying body device 3 to fly to the position of the book shelf 13 which is the cooperation location. Wirelessly transmit a call notification. The robot cleaning device 2 also sends a call notification for requesting the air cleaning device 4 to move to the position of the book shelf 13 which is the cooperation location for cooperation (see FIG. 4). In this case, the call notification includes information for specifying the cooperation place, for example, position information of the bookshelf 13 which is the cooperation place or a cooperation place name (bookshelf). The call notification includes the information for specifying the cooperation location in the same manner as below. Note that the call notification can also include information for specifying the time (time) to start the collaboration operation, for example, time information such as “now”, “after 5 minutes” and “10:15”. . Furthermore, it can also include the required time (expected required time, for example, about 3 minutes) of the cooperation operation.

  The flying object device 3 flying to the position of the bookshelf 13 notifies the robot cleaning device 2 and the air cleaning device 4 that the flying object device 3 has arrived at the position of the bookshelf 13 which is the cooperation location. The arrival notification also includes the current position information of the aircraft device 3, and the device notified of the arrival can confirm that it has arrived at the designated cooperation location. The arrival notification includes the current position of the transmitting device, and so on.

  Thereafter, the aircraft device 3 captures an image of the upper surface of the bookshelf 13 with a camera, and determines, based on image recognition of the captured image, whether or not an object to be cleaned such as paper scrap 51 grasped by the cleaning aid exists. . When it is determined that there is an object to be cleaned such as paper dust 51 that can be grasped by the cleaning aid, the robot cleaning device 2 is notified of that by wireless communication, and then the object is grasped by the cleaning aid and is moved by flight. And stored in the waste container 2WS provided in the robot cleaning device 2.

  After the flying object device 3 stores the paper waste 51 in the waste container 2WS of the robot cleaning device 2, or there is no cleaning object such as the paper waste 51 that can be grasped by the cleaning aid on the upper surface of the bookshelf 13. When it discriminate | determines, it waits for reception of the notification of arrival to the position of the bookshelf 13 from the air purifying apparatus 4. FIG.

  The air cleaning device 4 moves to the position of the bookcase 13 in response to a request from the robot cleaning device 2, and when reaching the position of the bookcase 13, notifies the robot cleaning device 2 and the aircraft device 3 to that effect.

  When the flight device 3 confirms the reception of the arrival notification from the air cleaning device 4 to the position of the book shelf 13, it drops the dust present on the upper surface of the book shelf 13 as a cooperative operation registered in the cleaning plan. The robot cleaning device 2 and the air cleaning device 4 are notified of the start of the moving operation, and the operation of dropping the dust is started using the brush provided on the cleaning aid. As to the dropping operation, it is possible to add direction information on which direction to drop or direction information on which direction to drop. In this case, the direction information may be determined by the flying object device 3 and notified to both the robot cleaning device 2 and the air cleaning device 4, or the robot cleaning device 2 or the air cleaning device 4 may designate it, and the flying object device It may be notified to 3. Of course, the cleaning instruction device 1 may also be notified.

  The air cleaning device 4 that has received the notification from the flying object device 3 that the operation of dropping the dust is started activates the suction means in order to suction among the falling dust that can be suctioned. The suction force at that time is "strong" in accordance with the setting of the cleaning plan described above.

  Further, the robot cleaning device 2 that has received the notification of the start of the operation of dropping the dust from the flying object device 3 stands by at a position avoiding the dropping point of the dust falling from the upper surface of the bookcase 13.

  Then, when it is determined that the operation of dropping the dust from the upper surface of the bookcase 13 is finished, the aircraft device 3 wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air cleaning device 4. Thereafter, the aircraft device 3 fly-backs to the home position PO and returns to standby.

  The robot cleaning device 2 that has received the notification that the operation of dropping the dust from the upper surface of the bookcase 13 is finished waits for the time when it can be considered that all the dust has dropped to the floor from the time of receiving the notification. Then, the suction cleaning operation is performed on the floor surface where dust in the vicinity of the bookshelf 13 is considered to be dropped.

  In addition, the air cleaning device 4 that has received the notification that the operation of dropping the dust from the upper surface of the bookcase 13 is finished waits from the time point for a lapse of time that can be regarded as all the dust dropped to the floor surface. , Stop the suction operation. And, in this embodiment, the air cleaning device 4 stands by at the position. The air cleaning device 4 may continue to stand by at the position without stopping the suction operation. Alternatively, it may move following the movement of the robot cleaning device 2.

  Next, when the robot cleaning device 2 determines that the cooperative operation at the position of the bookshelf 13 is finished, the robot 14 is instructed to follow the cleaning procedure indicated by the continuous arrow LS indicated by the cleaning plan, of the window 14 which is the next cooperative place. Perform normal suction cleaning operation to the position. Then, when the robot cleaning device 2 arrives at the position of the window 14 which is a cooperation place, it suspends the traveling movement and the cleaning operation and flies to the position of the window 14 for cooperation to the aircraft device 3. Ask to The robot cleaning device 2 also requests the air cleaning device 4 to move to the position of the window 14 for cooperation (see FIG. 5). Of course, the cleaning plan and the cleaning procedure are not limited to this, and can be set arbitrarily. Of course, the cleaning plan or the cleaning procedure may be changed depending on the day of the week or the time zone, or the cleaning plan or the cleaning procedure may be changed during the cleaning.

  The flying object device 3 flying to the position of the window 14 notifies the robot cleaning device 2 and the air cleaning device 4 that it has arrived at the position of the window 14. Thereafter, the aircraft device 3 notifies both the robot cleaning device 2 and the air cleaning device 4 to start an operation of dropping dust attached to the curtain 15, which is an auxiliary operation registered in the cleaning plan. Start dropping the dust. That is, the flying object apparatus 3 holds the curtain 15 with the cleaning aid and shakes it, or rubs the surface of the curtain 15 with the brush provided on the cleaning aid, so that dust attached to the curtain 15 is removed. Execute the action of dropping it.

  The air cleaning device 4 that has received the notification from the flying object device 3 that the operation of dropping the dust is started receives the suction force “strong” in order to suck the dust that can be sucked among the falling dust. Operate with.

  Further, the robot cleaning device 2 that has received the notification of the start of the operation of dropping the dust from the flying object device 3 stands by at a position avoiding the dropping point of the dust falling from the curtain 15.

  Then, when it is determined that the operation of dropping the dust from the curtain 15 has ended, the aircraft device 3 wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air cleaning device 4. Thereafter, the aircraft device 3 fly-backs to the home position PO and returns to standby.

  The robot cleaning device 2 that has received the notification that the operation of dropping the dust from the curtain 15 is finished waits from the time of receiving the notification for a lapse of time that can be considered that all the dust has fallen to the floor surface, The suction cleaning operation is performed on the floor surface where dust in the vicinity of the lower part of the curtain of the window 14 is considered to be dropped.

  In addition, the air cleaning device 4 that has received the notification from the curtain 15 that the operation of dropping the dust is finished waits for a lapse of time from which it can be considered that all the dust has fallen to the floor surface, Stop the operation. And, in this embodiment, the air cleaning device 4 stands by at the position. The air cleaning device 4 may continue to stand by at the position without stopping the suction operation. Alternatively, it may move following the movement of the robot cleaning device 2.

  Next, when the robot cleaning device 2 determines that the cooperative operation at the position of the window 14 is finished, the small window 16 which is the next cooperative place is performed according to the cleaning procedure instruction indicated by the continuous arrow LS indicated by the cleaning plan. Perform the normal suction cleaning operation to the position of. When the robot cleaning device 2 arrives at the position of the window 14 which is the cooperation location, the robot cleaning device 2 and the air cleaner device 4 and the air cleaning device 4 are operated similarly to the cooperation operation at the position of the bookshelf 13 and the position of the window 14 In cooperation with each other, the cleaning operation is performed (see FIG. 6).

  The auxiliary operation for cooperation of the flying object device 3 at the cooperation place of the small window 16 is an operation of rubbing the surface of each wing piece of the blind curtain 17 with the brush of the cleaning auxiliary tool and dropping the dust .

  In this example, when the cooperation operation at the cooperation place of the small window 16 is completed, after that, the robot cleaning device executes the cleaning of the floor surface 10S according to the cleaning procedure instruction by the cleaning plan, and when the cleaning is completed, the home position It returns to PO and will be in the state where it is charged by the charging device. In addition, in FIG. 3, although the cleaning procedure instruction | indication was shown with the continuous arrow line, the important point is at which timing in cleaning operation, or in what order the cooperation operation in one or several cooperation places is performed The same as the instruction of. Therefore, the robot cleaning device 2 does not move along the continuous arrow in cleaning the floor surface 10S, but the robot cleaning device 2 within the floor surface 10S can travel and can be cleaned. It goes without saying that it is not different from the normal cleaning operation of the robot cleaning apparatus to clean all.

[Example of configuration of each device constituting cleaning system]
<Configuration Example of Robot Cleaning Device 2>
<< Example of mechanical configuration of robot cleaning device 2 >>
7 and 8 are diagrams for explaining an example of the mechanical configuration of the self-propelled robot cleaning device 2 of this embodiment. FIG. 7A is a view of the robot cleaning device 2 of this example as viewed from the top surface 2a side, and FIG. 7B is a view of the robot cleaning device 2 of this example as viewed from the side. FIG. 8A is a view of the robot cleaning device 2 of this example as viewed from the bottom surface 2b side provided with the suction port 21. FIG. 8B is a diagram of the robot cleaning device 2 of this example at the time of cleaning operation. It is the figure seen from the forward traveling direction. In FIGS. 7A, 7B, and 8A, the arrow AR indicates the traveling direction (forward direction) during the cleaning operation of the robot cleaning device 2.

  As shown in FIGS. 7 and 8, the robot cleaning device 2 of this example includes a substantially rectangular flat housing. As shown in FIG. 7A, a display unit 22 made of, for example, an LCD (Liquid Crystal Display; liquid crystal display) is provided on the upper surface 2a of the robot cleaning device 2, and a transmitting / receiving unit 23 for wireless communication is provided. Is provided. In addition, on the upper surface 2 a of the robot cleaning device 2, a rubbish 2WS is provided.

  A touch panel is provided on the display screen of the display unit 22, and operation button groups are displayed on the display screen. The transmitting / receiving unit 23 for wireless communication is for wireless communication with the cleaning instruction device 1, the flying object device 3 and the air cleaning device 4. In response to a control signal by a wireless signal from the cleaning instruction device 1, the robot cleaning device 2 can perform drive start, drive stop, and mode control.

  Further, as shown in FIG. 8A, the suction port 21 is provided on the bottom surface 2 b of the robot cleaning device 2. Then, as shown by a dotted line in FIG. 8B, a dust collection chamber 24 communicating with the suction port 21 and collecting the cleaning object sucked is provided in the housing of the robot cleaning device 2 . Although not shown in FIGS. 7 and 8, a suction drive unit is provided in the housing of the robot cleaning device 2 for sucking the object to be cleaned into the dust collection chamber 24.

  And the robot cleaning apparatus 2 of this embodiment equips the suction port 21 with the rolling brush 25 and the flexible brush 26, as shown to FIG. 8 (A). A roller 27 is provided substantially at the center in the forward direction of the cleaning operation with respect to the position of the suction port 21 of the bottom surface 2 b of the housing of the robot cleaning device 2. The roller 27 is rotatably mounted within a plane in which the axial direction of the rotation axis is parallel to the bottom surface 2b. For this reason, the axial center direction of the rotation axis of the roller 27 can be oriented not only in the direction orthogonal to the arrow AR but also in any direction. And, on both sides of the suction port 21 of the bottom surface 2b, wheels (wheels) 28 and 29 which are rotationally driven by a traveling drive unit (not shown in FIG. 8) are provided.

  When the wheels 28 and 29 are driven and rotated by the traveling drive unit, the robot cleaning device 2 is self-propelled, but as described above, since the roller 27 can rotate with any direction as the rotation axis direction, The robot cleaning device 2 can not only travel straight in the direction of the arrow AR, but also can rotate and move and move with any direction crossing the arrow AR as a traveling direction. Further, the robot cleaning device 2 can also travel backward on the opposite side to the arrow AR by controlling the rotational direction of the wheels by the traveling drive unit.

  And in this embodiment, robot cleaning device 2 is provided with an imaging part. That is, the camera CM 21 is provided on the side surface of the front of the roller 27 of the robot cleaning device 2 such that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2 b. Further, in this embodiment, at an almost corner portion of the side surface of the case where the camera CM 21 is provided, an oblique direction which is a direction intersecting with the direction indicated by the arrow AR is taken as the imaging direction (optical axis direction). Cameras CM22 and CM23 are provided. The optical axis direction of the cameras CM22 and CM23 may be set so that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 2b as in the camera CM21, but in this example, it is more parallel than the parallel direction. It is attached slightly upward. Further, a camera CM 24 is provided on the side of the rear case of the roller 27 of the robot cleaning device 2 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2 b.

  The camera CM 21 shoots the front of the traveling direction of the robot cleaning device 2 at a predetermined angle of view. Further, the cameras CM22 and CM23 capture images in the oblique right direction and the oblique left direction in the traveling direction at a predetermined angle of view. Furthermore, the camera CM 24 captures an image of the rear of the robot cleaning device 2 in the traveling direction at a predetermined angle of view.

  The above cameras CM21 to CM24 are configured to include, for example, a CCD image sensor, a CMOS image sensor, and an imaging lens.

  Also, the robot cleaning device 2 of this example can travel counterclockwise along the wall or obstacle of the room to detect the contour of the cleaning area when creating the cleaning area map. As shown in FIG. 7B, distance measurement sensors SS21 and SS22 for setting the distance are provided on the right side surface of the robot cleaning device 2.

  That is, when an instruction to create a cleaning area map is received from the cleaning instruction device 1, the robot cleaning device 2 moves in a predetermined direction along a wall of a room or an obstacle on the wall such as the bookshelf 13. To trace the outline of In this case, the robot cleaning device 2 may be caused to travel with the side surface of the robot cleaning device 2 being in slight contact with the wall, but in this case, the robot cleaning device 2 does not travel smoothly. Then, by monitoring the sensor output of the distance measurement sensors SS21 and SS22 provided on the side surface of the robot cleaning device 2, the robot cleaning device 2 travels a position away from the wall by a predetermined distance, for example, about 5 cm. Make it

  Then, the robot cleaning device 2 sends its own position information to the cleaning instruction device 1 while traveling on the cleaning area for which the cleaning area map is to be created. The cleaning instruction apparatus 1 can detect the cleanable area on the floor surface of the target cleaning area from the position information sent from the robot cleaning device 2.

  In this case, the cleaning instruction device 1 is a cleaning target area for which an area frame which is a separation distance (offset distance) between the robot cleaning device 2 and an obstacle on the wall or a wall is sought, for example, about 5 cm. The information is detected and registered as information of the area frame of the cleanable area.

  Note that, in this example, the robot cleaning device 2 can travel along the wall or obstacle of the cleaning area counterclockwise in the case of creating the cleaning area map. Is provided on the right side surface of the robot cleaning device 2, but it may be provided on the left side surface of the robot cleaning device 2 when traveling clockwise in the cleaning area. Further, distance measuring sensors may be provided on both left and right side surfaces of the robot cleaning device 2 so as to use any traveling direction. Furthermore, distance measuring sensors may be provided before and after the robot cleaning device 2.

<< Description of Circuit Configuration Example of Robot Cleaning Device 2 >>
FIG. 9 is a diagram showing an electrical circuit configuration of the robot cleaning device 2 of this embodiment. As shown in FIG. 9, the robot cleaning device 2 has a suction control unit 202, a travel control unit 203, and a display device via the system bus 200, as shown in FIG. Section 204, touch panel 205, wireless communication section 206, transmission information generation section 207, reception information analysis section 208, cleaning area map data storage section 209, self position detection section 210, operation control section at the time of map creation A cooperation processing unit 212, a timer unit 213, cameras CM21 to CM24, and distance measurement sensors SS21 to SS22 are connected.

  A suction drive unit 221 is connected to the suction control unit 202, and a travel drive unit 222 is connected to the travel control unit 203. The suction drive unit 221 is for suctioning an object to be cleaned from the suction port 21. The traveling drive unit 222 rotationally drives the wheels 28 and 29 so that the robot cleaning device 2 can self-propelled.

  The display device unit 204 constitutes the display unit 22. In this example, the display unit unit 204 is an LCD, and the touch panel 205 is disposed so as to be superimposed on the display screen. The touch panel 205 supplies, to the control unit 201 through the system bus 200, instruction input information based on depression of any of the touch-type operation buttons described above. The control unit 201 executes a process according to the instruction input information.

  The wireless communication unit 206 is for wireless communication with the cleaning instruction device 1, the aircraft device 3, and the air cleaning device 4. In this embodiment, for example, a functional unit of a wireless LAN using Wi-Fi (registered trademark) It is made up of The transmission information generation unit 207 generates transmission information to be transmitted through the wireless communication unit 206 with the cleaning instruction device 1, the flying object device 3 or the air cleaning device 4 as the other party.

  Under the control of the control unit 201, the wireless communication unit 206 is a device designated as a partner among the cleaning instruction device 1, the aircraft device 3 and the air cleaning device 4 generated by the transmission information generation unit 207. The transmission information for is transmitted through the wireless LAN. Further, the wireless communication unit 206 transfers instruction information and notification information sent from the cleaning instruction device 1, the flying object device 3 and the air cleaning device 4 to the received information analysis unit 208 through the wireless LAN.

  The received information analysis unit 208 analyzes the instruction information and the notification information sent from the cleaning instruction device 1, the flying object device 3 and the air cleaning device 4 through the wireless LAN, and according to the analysis result, the operation at the time of map creation It is supplied to the control unit 211 or the cooperation processing unit 212.

  The robot cleaning device 2 of this embodiment includes a cleaning area map data storage unit 209. In the cleaning area map data storage unit 209, map data of the cleaning area described above is stored.

  The own position detection unit 210 detects the position of the own device. For example, in addition to means for detecting the own position by receiving radio waves from a GPS (Global Positioning System) satellite, the own position detection unit 210 detects means for detecting a movement direction using a geomagnetic sensor, a gyro, etc. The moving direction and the traveling distance are detected using the acceleration detecting means, and for example, the self position in the cleaning area is detected by how much and in what direction the home position PO described above is a starting point.

  The map generation operation control unit 211 operates when receiving a map data generation request for the cleaning area from the cleaning instruction device 1, and the cleaning instruction device 1 is an outline of the cleanable area of the cleaning area to be the map data generation target. The operation control is performed to make it possible to detect the movement, and to transmit the traveling position information at that time to the cleaning instruction device 1 through the wireless communication unit 206. Further, as described later, the map generation operation control unit 211 also performs operation control for generating map data in cooperation with the flying object apparatus 3.

  The cooperation processing unit 212 operates from the cleaning instruction device 1 when it receives a cleaning start request including the cleaning plan, and indicates that the cleaning plan includes the cooperation operation that is not the own device alone. Then, processing control such as traveling control of the own device for performing the cooperative operation included in the cleaning plan and mutual communication with the cooperative device is performed.

  Then, the control unit 201 supplies a camera control signal to each of the cameras CM21, CM22, CM23, and CM24 to control the imaging start and imaging stop of each of the cameras CM21, CM22, CM23, and CM24. Each of the cameras CM21, CM22, CM23, and CM24 receives imaging start control, and supplies a captured image to the system bus 100 in the imaging operation state.

  The transmission information generation unit 207 transmits an image of captured image information from each of the cameras CM21 to CM24 when the robot cleaning device 2 travels to create a cleaning area map according to the control of the control unit 201 or during cleaning operation. Information is generated and transmitted to the cleaning instruction device 1 or another device that cooperates. In this case, camera identification information (camera ID) is assigned to the captured image information from each of the cameras CM21 to CM24 as to which of the captured image information of the cameras. The transmission information generation unit 207 appropriately performs encoding processing such as data compression on the captured image information from each of the cameras CM 21 to CM 24 to generate transmission image information, and transmits the transmission image information through the wireless communication unit 206.

  In this embodiment, although illustration is abbreviate | omitted to each of camera CM21, CM22, CM23, CM24, the illumination part which consists of LED, for example is added. The lighting unit is controlled to be lit by the control unit 201. In this case, the control unit 201 measures the brightness of the captured image (such as the average value of the brightness of the captured image) from the cameras CM21, CM22, CM23, and CM24 by software processing, and the brightness of the captured image is predetermined. At the following time, the control unit 201 controls to turn on the lighting unit. Note that the control unit 201 may control the lighting unit to always light up when the cameras CM21, CM22, CM23, and CM24 are in the imaging operation state.

  As described above, when the distance measurement sensors SS21 and SS22 receive the creation request of the map data of the cleaning area from the cleaning instruction device 1, the control unit 201 uses the detection output and creates the map data. Let's do it.

  In FIG. 9, the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, the received information analysis unit 208, the map creation operation control unit 211, and the cooperation processing unit 212, the control unit 201 performs software processing. It can be realized as a function.

<< Outline of operation of robot cleaning device 2 >>
When the control unit 201 receives a cleaning start instruction input through the touch panel 205 and receives a cleaning disclosure instruction from the cleaning instruction device 1 through the wireless communication unit 206, the control unit 201 drives through the suction control unit 202 and the travel control unit 203. A start control signal is supplied to the suction drive unit 221 and the travel drive unit 222 to start driving of them and start the automatic cleaning operation while self-running by the robot cleaning device 2.

  When the control unit 201 receives a cleaning stop instruction input through the touch panel 205 and receives a cleaning stop instruction input from the cleaning instruction device 1 through the wireless communication unit 206, the suction control unit 202 and the travel control unit 203. Drive stop control signal is supplied to the suction drive unit 221 and the travel drive unit 222 to stop the drive of the suction drive unit 221 and the travel drive unit 222 and to stop the automatic cleaning operation by the robot cleaning device 2. . Further, when the control unit 201 determines that the cleaning of the entire cleaning area corresponding to the cleaning area map data stored in the cleaning area map data storage unit 209 has been performed and ended, the cleaning area is autonomously determined. And return to the home position PO, and combine with the charging device at the home position PO to control to start charging.

  Furthermore, in this embodiment, when the control unit 201 receives the cleaning start instruction input from the cleaning instruction device 1 through the wireless communication unit 206, the control unit 201 receives information on the cleaning plan included in the received information in the received information analysis unit 208. In this analysis, it is determined whether the self-device alone performs cleaning or whether it involves a coordinated operation with another device. Then, when it is determined that the cleaning by the own device alone is performed, the control unit 201 generates a control signal based on the cleaning support program stored in the built-in memory, and through the suction control unit 202 and the travel control unit 203. The driving force is supplied to the suction driving unit 221 and the traveling driving unit 222 to control the driving thereof.

  In addition to the autonomous cleaning operation using the suction drive unit 221 and the travel drive unit 222 when the control unit 201 determines that the cooperation operation with another device is involved, the cooperation processing unit 212 and the timer unit described above By cooperating with 213, the cooperation operation as described above is performed.

  Then, when receiving the creation request of the cleaning area map from the cleaning instruction device 1, as described above, the control unit 201 controls the own device 3 and the distance measurement sensors SS21 and SS22 as described above. It travels so as to search for the outline of the cleaning area while securing 5 cm from the wall, and wirelessly transmits position information at the time of traveling to the cleaning instruction apparatus 1. Thereby, the cleaning instruction apparatus 1 can detect the outline of the cleanable area of the cleaning area.

  And, the cleanable area of the portion of the table 11 or the sofa 12 which exists on the floor surface of the central part of the room which is the cleaning area is the cooperation of the flying object apparatus 3, the robot cleaning apparatus 2 and the cleaning instruction apparatus 1 It becomes possible to detect with The map generation operation control unit 201 also executes operation control for that purpose.

  That is, the flying object device 3 sends, to the cleaning instruction device 1, captured image information of a camera that captures an image of the lower side, together with information of the imaging position (including height information). The cleaning instruction apparatus 1 recognizes the table 11 and the sofa 12 from the image recognition result of the captured image information from the flying object apparatus 3 and recognizes the position information and its occupied area on the floor surface of the cleaning area of the table 11 and the sofa 12 recognized. Recognize Then, the cleaning instruction device 1 sends the position information of the table 11 and the sofa 12 on the floor surface of the cleaning area and the occupied area information thereof to the robot cleaning device 2.

  The map generation operation control unit 211 of the robot cleaning device 2 estimates the travelable area below the table 11 or the sofa 12 from the received position information of the table 11 or sofa 12 on the floor surface of the received cleaning area and the occupied area information thereof. , Try to run, and send the result (for example, position information group when it was able to run) to the cleaning instruction device 1. The operation control unit 211 of the robot cleaning device 2 at the time of map creation recognizes an image of a captured image from a camera whose traveling direction is a shooting direction prior to the trial of the traveling of the own device 2, and the image recognition result of the captured image Thus, it can be checked whether or not the own device 2 can travel below the table 11 or the sofa 12.

  Then, the map creation operation control unit 211 of the robot cleaning device 2 wirelessly transmits position information at the time of trial of traveling to the cleaning instruction device 1. The cleaning instruction device 1 analyzes position information at the time of trial of traveling by the robot cleaning device 2 and detects a cleanable area which can be traveled below the table 11 or the sofa 12.

  As described above, the cleaning instruction apparatus 1 can create map data of the cleaning area as a cleanable area not only for the contour of the cleaning area but also for the space of the table or sofa or other leg.

  When the reception information analysis unit 208 determines that the cooperation apparatus and the cooperation operation are set as a result of analysis of the information on the cleaning plan included in the cleaning start instruction, the control unit 201 activates the cooperation processing unit 212.

  The cooperation processing unit 212 receives the analysis result in the reception information analysis unit 208, and recognizes another apparatus to be cooperated with, a cooperation place, and a cooperation operation in the cooperation place. Then, the cooperation processing unit 212 executes the control processing for performing the cooperation operation as described above, which has been described with reference to FIGS. 3 to 6. In this case, the cooperation processing unit 212 generates transmission information (notification information) to be transmitted to another device that cooperates. Then, as described above, the cooperation processing unit 212 determines the cooperation location and cooperation timing in which the own device is located, and cooperates the generated transmission information through the transmission information generation unit 207 and the wireless communication unit 206. Send to another device. In this case, the transmission information to be transmitted to another device that cooperates includes information on the cooperation location and information on the cooperation operation.

  In the circuit configuration of the robot cleaning device 2 shown in FIG. 9 described above, a suction control unit 202, a travel control unit 203, a transmission information generation unit 207, a reception information analysis unit 208, a map creation operation control unit 211, cooperation The processing unit 212 and the timer unit 213 can also be realized by a computer constituting the control unit 201 as its software function.

<Configuration Example of Aircraft Device 3>
<< Mechanistic Configuration Example of Aircraft Device 3 >>
FIG. 10 is a view for explaining an example of the mechanical configuration of the aircraft device 3 of this embodiment. FIG. 10A is a view of the aircraft device 3 of this embodiment from above, and FIG. 10B is a view of the aircraft device 3 of this embodiment from the front side FIG.

  The aircraft device 3 of this embodiment includes an air flight mechanism unit 31 having a so-called quadcopter structure, and a drive control unit 32. The air flight mechanism unit 31 is drive-controlled by the drive control unit 32. As shown in FIG. 1, in the air flight mechanism portion 31, rotary wing (rotor) mechanisms 34A, 34B, 34C, 34D are attached to the tips of four arms 33A, 33B, 33C, 33D extending from the drive control unit 32. Is configured.

  The rotary wing mechanisms 34A, 34B, 34C, 34D rotate the rotary wings 342A, 342B, 342C, 342D by rotationally driving rotary wing shafts (not shown) by the motor drivers 341A, 341B, 341C, 341D, respectively. It is configured to be rotationally driven. The rotational speeds and rotational directions of the motor drive units 341A, 341B, 341C, and 341D are controlled by drive control signals from the drive control unit 32. The motor drive units 341A, 341B, 341C, 341D and the drive control unit 32 use a battery (not shown) as a rotational drive power source or a drive control power source. Power is supplied from the battery to various mechanisms, a camera group, various sensors, a controller, and the like described later. For example, a rechargeable secondary battery is used as the battery.

  In this example, each of the motor drive units 341A, 341B, 341C, and 341D is controlled independently by the drive control signal from the drive control unit 32, whereby the aircraft device 3 takes off, lands, climbs (true Upward, obliquely upward), downward (downward and downward), right turn, left turn, forward, reverse, right shift, left shift, etc., and various movement operations can be performed, as well as to the vertical direction Attitude control such as inclination angle and position control of hovering position can be performed.

  The drive control unit 32 is provided on the upper surface of the main body housing 35 of the aircraft device 3. Further, two legs 36A and 36B are attached to the main body housing 35 of the aircraft device 3 so as to face each other. In this example, the legs 36A and 36B are formed of a pipe member formed in a trapezoidal shape, and as shown in FIG. 10 (B), the edge of the main body case 35 of the aircraft device 3 is It is formed to hold the aircraft device 3 stably without contacting the landing surface 37.

  In this example, as shown in FIGS. 10A and 10B, the camera CM 31 is provided on the top surface of the drive control unit 32. Also, as shown in FIGS. 10A and 10B, cameras CM32 to CM35 are provided on the four side surfaces of the main body casing 35 of the aircraft device 3, respectively. Furthermore, as shown in FIG. 10B, a camera CM 36 is provided on the bottom surface of the main body case 35 of the aircraft device 3.

  The optical axes (corresponding to the imaging directions) of the cameras CM31 to CM36 are directions orthogonal to the attachment surfaces of the cameras CM31 to CM36, and it is possible to capture a predetermined angle of view range centered on the optical axis direction.

  The aircraft device 3 of this embodiment is provided with a cleaning aid as described above. As shown in FIGS. 10A and 10B, this cleaning aid is constituted by a magic hand 38 in this embodiment.

  In this example, as shown in FIGS. 10A and 10B, the magic hand portion 38 is provided on the front side surface of the main body case 35 of the aircraft device 3. The magic hand portion 38 includes a connecting portion 38a, a connecting arm portion 38b, and a gripping portion 38c. The coupling portion 38 a is coupled to the main housing 35 of the aircraft device 3. The connecting arm portion 38b is connected to the connecting portion 38a in such a manner that the connecting arm portion 38b itself can rotate about its axial direction. The grip 38c is attached to the tip of the connecting arm 38b.

  The gripping portion 38 c is formed by attaching two arc-shaped gripping arms 381 and 382 to the drive fulcrum portion 383 in such a manner as to face each other. In the initial state, as shown in FIG. 10A, the gripping arms 381 and 382 are in a state where their tips are separated by a predetermined distance and opposed to each other. Then, in the magic hand portion 38 of this example, the gripping arms 381 and 382 have the drive fulcrum portion 383 as a drive fulcrum as shown by the arrow HL in FIG. The tip of each arm is driven to be close to each other so that the substance can be gripped.

  In this example, a gripping arm drive unit (not shown) is provided in the connecting and connecting unit 38 a of the magic hand unit 38. The gripping arm drive unit operates to apply a pulling force toward the connecting and coupling portion 38 a to the drive fulcrum portion 383 and the gripping arms 381 and 382 of the gripping portion 38 c via the coupling arm portion 38 b. By this pulling force, the gripping arms 381 and 382 are driven with the drive fulcrum portion 383 as the drive fulcrum so that the tips of the arms approach each other as shown by the arrow HL. That is, the gripping arms 381 and 382 operate to grip an object to be cleaned such as paper waste. Then, the gripping arm drive unit provided in the coupling / coupling unit 38a is controlled by a control signal from the control unit included in the flying object device 3, and is controlled so as to perform the gripping operation of the gripping arms 381 and 382. .

  In addition, a mechanism for controlling rotation of the connecting arm 38b about the axial direction is also provided in the connecting and connecting portion 38a, and the direction of the plane including the two gripping arms 381 and 382 is, for example, always flying Control is performed so as to maintain a state parallel to the upper surface of the main body housing 35 of the body device 3, or the direction of the plane including the two gripping arms 381 and 382 intersects with the upper surface of the main body housing 35 of the aircraft device 3. It can be controlled to be in a state (including orthogonal).

  And in this embodiment, the brush parts 384 and 385 are attached to the downward direction of the two holding arms 381 and 382 as shown to FIG. 10 (B). The brush portions 384 and 385 are formed below the grasping arms 381 and 382 in the form of animal hair or hair and resin is implanted.

  The magic hand unit 38 configured as described above receives a control signal from the control unit of the aircraft device 3 and holds a cleaning target such as a detected paper waste. The control unit of the flying object device 3 is coupled with the flight control (including hovering) of the flying object device 3 to position the two gripping arms 381, 382 of the magic hand unit 38 at positions where the object to be cleaned can be gripped. Control is performed so that the object to be cleaned is held by the holding arms 381 and 382 at that position. In addition, at the time of this control, the control unit controls the drive control unit 32 to perform posture control while also referring to captured image information of the cameras CM31 to CM36. In addition, the place (upper surface of the bookshelf 13) where work such as the flight device 3 lands and grips the object to be cleaned may be landed work instead of hovering work.

<< Description of Circuit Configuration Example of Aircraft Device 3 >>
A drive control unit 30 is provided in the main body case 35 of the flying object device 3 integrated with the drive control unit 32. FIG. 11 is a block diagram showing a configuration example of the drive control unit 30 in the aircraft device 3 of this embodiment. The battery is omitted in FIG.

  As shown in FIG. 11, the drive control unit 30 in this embodiment transmits an air flight drive unit 302 and a gyro sensor to the control unit 301, which comprises a microcomputer (abbreviated as a microcomputer in FIG. 11), through the system bus 300. 303, geomagnetic sensor 304, altitude sensor 305, obstacle sensor 306, cleaning area map data storage unit 307, own position detection unit 308, flight drive signal generation unit 309, position and attitude control signal generation unit 310, camera group 311, wireless communication Each of the part 312, the transmission information generation part 313, the reception information analysis part 314, the cooperation processing part 315, and the magic hand control part 316 is connected and comprised. A magic hand unit 38 is connected to the magic hand control unit 316.

  The air flight drive unit 302 supplies a drive control signal to each of the motor drive units 341A, 341B, 341C, 341D of the rotary wing mechanisms 34A, 34B, 34C, 34D of the air flight mechanism unit 31 under the control of the control unit 301. Do.

  The gyro sensor 303 detects an acceleration change during flight of the aircraft device 3, and is used to detect the flight traveling direction of the aircraft device 3, its speed, and attitude. The geomagnetic sensor 304 is used to detect in which direction the aircraft 3 travels. The altitude sensor 305 is for detecting the altitude at which the aircraft device 3 is located at that time, and comprises, for example, an air pressure sensor.

  The obstacle sensor 306 is used to detect an obstacle such as a wall, a closet, a bed, a table, or the like in a room where the aircraft device 3 is used, and to fly while avoiding a collision with the obstacle.

  The cleaning area map data storage unit 307 stores map data of a cleaning area related to the room in which the aircraft device 3 is used. As described above, the map data of the cleaning area includes not only two-dimensional map data on the floor surface of the room which is the cleaning area, but also position information in the height direction from the floor surface. That is, the map data of the cleaning area constitutes the movement space information of the aircraft device 3.

  An application program (for example, Photosynth) for panoramic photography is stored in the memory of the control unit 301 of the aircraft device 3 of this embodiment, and as described above, the aircraft device 3 is used in advance. The user flies in the room and captures an image of the room in a 360 degree range using all or part of the cameras CM31 to CM36. Then, using the application program for panoramic photography, the control unit 301 generates 3D image information of the room from the photographed image information taken, and the cleaning area map data including the generated 3D image information is a cleaning area map It is stored in the data storage unit 307.

  In this case, in this example, as described above, the aircraft device 3 defines a specific position of the cleaning area in which it is used as a home position, and uses that position as a base to take off and land. The information stored in the cleaning area map data storage unit 307 also stores position information of the home position that has been determined. In addition, the cleaning area map data storage unit 307 includes vertical, horizontal, and height information of a room to be used, height information of a table, a sofa, a book shelf, etc., and positions of windows and curtains (height positions The positions (including the height position) of the small window and the brand curtain are also pre-stored. Furthermore, structural information of a room to be used, such as a beam, a pipe space, or a column may be stored in advance.

  The self position detection unit 308 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the aircraft device 3. In order to obtain more accurate position information, the current position may be detected using radio waves from a mobile phone base station or radio waves from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . In addition, by photographing all around the flying object apparatus 3 using all or part of the cameras CM31 to CM36, the photographed image information photographed is compared with 3D image information stored in the cleaning area map data storage unit 307. By recognizing the image, the relative position in the 3D image space may be grasped and the own position may be detected. In order to detect the self position after movement, the self position detection unit 308 also uses the gyro sensor 303, the geomagnetic sensor 304, and the height sensor 305.

  The flight drive signal generation unit 309 causes the control unit 301 to start flying from a base (home position) according to a command based on activation information, and when moving in the air, the position of the base stored in the cleaning area map data storage unit 307 From the information and the position information of the own device detected by the own position detection unit 308, the movement direction and the movement distance are calculated in order to generate a flight drive signal for moving in the room.

  Then, the flight drive signal generation unit 309 uses information such as the gyro sensor 303, the geomagnetic sensor 304, the altitude sensor 305 and the like based on the calculated direction and distance, and further, the captured images from the cameras CM31 to CM36 of the camera group 311 And generates a flight drive signal for moving from the base position to the designated cooperation position, and supplies the flight drive signal to the air flight mechanism unit 31 through the air flight drive unit 302. In this case, the flight drive signal is a signal for driving each of the motor drive units 341A to 341D of the four rotary wing mechanisms 34A to 34D. The generated flight drive signal is supplied to each of the motor drive units 341A to 341D of the air flight mechanism unit 31 through the air flight drive unit 302.

  In response to the flight drive signal, the air flight mechanism unit 31 rotationally drives each of the rotary wings 342A to 342D to move from the base to the cooperation position or from the position at which the cooperation operation is finished to the base by air flight. I do.

  The position and orientation control signal generation unit 310 controls the attitude of the apparatus, such as the tilt angle and the direction of the tilt, based on images captured by the gyro sensor 303, the geomagnetic sensor 304, the altitude sensor 305, and the cameras CM31 to CM36. Generate control signals.

  The camera group 311 includes the cameras CM31 to CM36 described above. Identification information for identifying which camera is the photographed image information from which camera is added to the photographed image information sent from each of the cameras CM31 to CM36 to the system bus 300.

  The wireless communication unit 312 wirelessly communicates with the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4. In this embodiment, the wireless communication unit 312 is configured as a functional unit of the wireless LAN. The transmission information generation unit 313 generates transmission information to be transmitted through the wireless communication unit 312 with the cleaning instruction device 1, the robot cleaning device 2, or the air cleaning device 4 as the other party.

  Under the control of the control unit 301, the wireless communication unit 312 is a device designated as a partner among the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 generated by the transmission information generation unit 313. The transmission information for is transmitted through the wireless LAN. Further, the wireless communication unit 206 transfers instruction information and notification information sent from the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 to the received information analysis unit 314 through the wireless LAN.

  The received information analysis unit 314 analyzes the instruction information and the notification information sent from the cleaning instruction device 1, the flying object device 3 and the air cleaning device 4 through the wireless LAN, and notifies the cooperation processing unit 315 of the analysis result. .

  The cooperation processing unit 315 operates from the cleaning instruction apparatus 1 when it receives a cleaning start request including the cleaning plan, and indicates that the cleaning plan includes a cooperation operation that is not an own device alone. Then, processing control is performed such as flight control of the own device for cooperative operation included in the cleaning plan and mutual communication with the cooperative device. The cooperation processing unit 315 performs the cooperation operation with the robot cleaning device 2 and the air cleaning device 4 as described above according to the analysis result received from the reception information analysis unit 314.

  The magic hand control unit 316 controls the gripping drive operation of the gripping arms 381 and 382 of the magic hand unit 38.

  In FIG. 11, the flight drive signal generation unit 309, the position and orientation control signal generation unit 310, the transmission information generation unit 313, the reception information analysis unit 314, the cooperation processing unit 315, and the magic hand control unit 316 It can be implemented as a software processing function.

<Configuration Example of Air Cleaning Device 4>
The air cleaning device 4 of this embodiment has a configuration similar to that of a conventionally known air cleaning device except that it has a wheel for traveling and moving. So, in this specification, the explanation about the example of mechanism part composition of air cleaning device 4 is omitted.

<< Circuit Configuration Example of Air Cleaning Device 4 >>
FIG. 12 is a diagram showing an electrical circuit configuration of the air cleaning device 4 of this embodiment. As shown in FIG. 11, the air cleaning device 4 has a suction control unit 402, a traveling control unit 403, and a display unit via a system bus 400, as shown in FIG. 404, touch panel 405, wireless communication unit 406, transmission information generation unit 407, reception information analysis unit 408, cleaning area map data storage unit 409, own position detection unit 410, cooperation processing unit 411, camera CM 41 to CM 44 and an image recognition unit 412 are connected.

  A suction drive unit 421 is connected to the suction control unit 402, and a travel drive unit 422 is connected to the travel control unit 403. The suction drive unit 421 is for suctioning dust from the suction port 21. The suctioned dust is cleaned using a dust collection filter or the like. The traveling drive unit 422 rotationally drives a wheel so that the air cleaning device 4 is free to travel.

  The display unit 404 is an LCD in this example, and the touch panel 405 is disposed so as to be superimposed on the display screen. The touch panel 405 supplies instruction input information based on the pressing operation of any of the above-described touch-type operation buttons displayed on the display screen to the control unit 401 through the system bus 400. The control unit 401 executes a process according to the instruction input information.

  The wireless communication unit 406 wirelessly communicates with the cleaning instruction device 1, the robot cleaning device 2 or the aircraft device 3, and in this embodiment, is configured as a functional unit of a wireless LAN. The transmission information generation unit 407 generates transmission information to be transmitted through the wireless communication unit 406 with the cleaning instruction device 1, the robot cleaning device 2, or the flying object device 3 as the other party.

  Under the control of the control unit 401, the wireless communication unit 406 is a device designated as the other party among the cleaning instruction device 1, the robot cleaning device 2 or the aircraft device 3, which is generated by the transmission information generation unit 407. The transmission information for is transmitted through the wireless LAN. Further, the wireless communication unit 406 transfers instruction information and notification information sent from the cleaning instruction device 1, the robot cleaning device 2 or the flying object device 3 to the received information analysis unit 408 through the wireless LAN.

  The received information analysis unit 408 analyzes the instruction information and the notification information sent from the cleaning instruction device 1, the robot cleaning device 2, and the flying object device 3 through the wireless LAN, and supplies the analysis result to the cooperation processing unit 411. .

  The cooperation processing unit 411 operates from the cleaning instruction device 1 when it receives a cleaning start request including the cleaning plan, and indicates that the cleaning plan includes the cooperation operation that is not the own device alone. Then, processing control such as traveling control of the own device for performing the cooperative operation included in the cleaning plan and mutual communication with the cooperative device is performed. The cooperation processing unit 411 performs the cooperation operation with the cleaning instruction device 1 and the robot cleaning device 2 as described above according to the analysis result received from the reception information analysis unit 408.

  The air purification device 4 of this embodiment includes a cleaning area map data storage unit 409. The cleaning area map data storage unit 409 stores map data of the cleaning area described above.

  The own position detection unit 410 detects the position of the own device. For example, in addition to means for detecting the own position by receiving radio waves from a GPS (Global Positioning System) satellite, the own position detection unit 210 detects means for detecting a movement direction using a geomagnetic sensor, a gyro, etc. The moving direction and the traveling distance are detected using the acceleration detecting means, and for example, the self position in the cleaning area is detected by how much and in what direction the home position PO described above is a starting point.

  Each of the cameras CM41, CM42, CM43, and CM44 has a front movement direction (direction in which the suction portion exists) of the air cleaning device 4, a left direction and a right direction orthogonal to the front movement direction, and a side opposite to the front movement direction. Each of the (rear side) directions is provided as the imaging direction.

  The control unit 401 supplies a camera control signal to each of the cameras CM41, CM42, CM43, and CM44, and controls the imaging start and the imaging stop of each of the cameras CM41, CM42, CM43, and CM44. Each of the cameras CM41, CM42, CM43, and CM44 receives an imaging start control, and supplies a captured image to the system bus 400 in the imaging operation state. In this case, camera identification information (camera ID) is assigned to the captured image information from each of the cameras CM41 to CM44 as to which captured image information it is.

  Image pickup image information of the cameras CM41, CM42, CM43, and CM44 is supplied to the image recognition unit 412 and image recognition is performed.

  The control unit 401 monitors the image recognition result of the images captured by the cameras CM41, CM42, CM43, and CM44 to detect an obstacle at the time of traveling and travels while avoiding the obstacle.

  In FIG. 12, a suction control unit 402, a travel control unit 403, a transmission information generation unit 407, a reception information analysis unit 408, a self position detection unit 410, and a cooperation processing unit 411, the control unit 401 has a software processing function. It can also be realized.

<Configuration Example of Cleaning Instruction Device 1>
In this embodiment, the cleaning instruction device 1 is configured as a dedicated device as a remote control device (remote control device) having a display screen. Although the external appearance of the cleaning instruction apparatus 1 of this embodiment is not illustrated, it can be configured as an apparatus provided with a relatively flat casing that can receive an operation input by a touch method and has a relatively large display screen. ing. The cleaning instruction device 1 may not be a dedicated device, and may be configured as a portable terminal such as a smartphone, a tablet, or a portable personal computer, for example, in which an application for realizing the same function is installed. The cleaning instruction device 1 is not limited to a portable terminal, and may be a terminal built in a watch-type terminal, an eyeglass-type terminal, a contact lens, or a desktop computer such as a desktop computer or smart speaker (AI speaker) It may be

  Of course, the cleaning instruction device 1 can also be provided (built in) to the robot cleaning device 2, the flying object device 3, and the air cleaning device 4.

<< Circuit Configuration Example of Cleaning Instruction Device 1 >>
FIG. 13 is a diagram showing an electrical circuit configuration of the cleaning instruction apparatus 1 of this embodiment. As shown in FIG. 13, the cleaning instruction apparatus 1 has a display unit 102, a touch panel 103, a wireless communication unit 104, and a wireless communication unit 104 through a system bus 100, as shown in FIG. Transmission information generation unit 105, reception information analysis unit 106, cleaning area map data generation unit 107, cleaning area map data storage unit 108, image recognition unit 109, cooperation place reception unit 110, cleaning plan reception unit 111 And are connected.

  The display unit 102 is an LCD in this example, and the touch panel 103 is disposed so as to be superimposed on the display screen. The touch panel 103 supplies instruction input information based on pressing of any one of the touch-type operation button groups displayed on the display screen to the control unit 101 through the system bus 400. The control unit 101 executes a process according to the instruction input information.

  In this embodiment, at least a map data generation request for the cleaning area is issued by the user and a cleaning start request for the designated cleaning area is issued through the touch panel 103.

  The wireless communication unit 104 wirelessly communicates with the robot cleaning device 2, the flying object device 3, and the air cleaning device 4, and in this embodiment, is configured as a functional unit of a wireless LAN. The transmission information generation unit 105 generates transmission information to be transmitted through the wireless communication unit 406 with the robot cleaning device 2, the flying object device 3 or the air cleaning device 4 as the other party.

  Under the control of the control unit 101, the wireless communication unit 104 is a device designated as a partner among the robot cleaning device 2, the flying object device 3, or the air cleaning device 4 generated by the transmission information generation unit 105. The transmission information for is transmitted through the wireless LAN.

  The transmission information generation unit 105 generates a map data generation instruction notification of the cleaning area to the robot cleaning device 2 and the flying object device 3 when the user makes a map data generation request for the cleaning area. The robot cleaning device 2 and the flying object device 3 receive the map data generation instruction notification of the cleaning area, and execute the above-described operation for generating map data of the designated cleaning area. Then, while the robot cleaning device 2 and the flying object device 3 perform the operation for generating map data of the designated cleaning area as described above, position information of the cleaning area and a captured image captured by a camera The information is operated to be transmitted to the cleaning instruction device 1.

  The wireless communication unit 104 transfers, to the received information analysis unit 106, information for generating cleaning area map data sent from the robot cleaning device 2 and the flying object device 3 through the wireless LAN. The received information analysis unit 408 transfers the position information sent from the robot cleaning device 2 and the flying object device 3 through the wireless LAN to the cleaning area map data generation unit 107 and the image recognition device, and robot cleaning through the wireless LAN. The captured image information sent from the device 2 and the aircraft device 3 is transferred to the image recognition unit 109.

  The image recognition unit 109 recognizes an obstacle such as a table, a sofa, a book shelf, a window, a curtain, a blind curtain, etc. existing in the room of the cleaning area from the received captured image information, and recognizes the recognition result in the cleaning area. The information is supplied to the cleaning area map data generation unit 107 in association with the position information.

  The cleaning area map data generation unit 107 generates map data of the outline of the cleanable area of the floor surface of the cleaning area, as described above, based on the position information received from the robot cleaning device 2. Then, the cleaning area map data generation unit 107 is present in the cleaning area from the image recognition result of the captured image information received from the robot cleaning device 2 or the flying object device 3 and the position information including the height position of the flying object device 3 Map data indicating the location of obstacles, windows, curtains, etc.

  The cleaning area map data storage unit 108 stores the cleaning area map data generated by the cleaning area map data generation unit 107. As described above, the cleaning area map data generation unit 107 generates cleaning area map data for the cleaning area for each room to be cleaned. Then, the generated cleaning area map data is stored in the cleaning area map data storage unit 108 in association with the identification information of each cleaning area (room).

  The cooperation place reception unit 110 displays the cleaning area map based on the cleaning area map data stored in the cleaning area map data storage unit 108 on the display screen of the display unit 102, and on the display screen, through the touch panel 103. The robot cleaning device 2, the flying object device 3, and the air cleaning device 4 cooperate with each other to receive registration settings by a user of a linked place where the cleaning operation can be performed.

  In this case, the cooperation place reception unit 110 previously displays the obstacles such as the table, the sofa, and the bookshelf, the window curtain, the small window blind curtain, and the like on the cleaning area map as cooperation place candidates. Let's do it. Then, the user specifies, through the touch panel 103, a place where the user wants to perform the cleaning in cooperation among the cooperation place candidates. Then, in this embodiment, the user can designate (select and designate) the collaboration operation in each collaboration location, and receives the designation of the collaboration operation through the touch panel 103. The received cooperation location and cooperation operation are stored in the cleaning area map data storage unit 108 in association with the respective cleaning area map data.

  In the case where the cleaning area is, for example, the living room 10 shown in FIG. 1 described above, if, for example, the cooperation place is the installation position of the bookshelf 13, the operation of holding and removing paper scraps and the like on the upper surface and Etc. are registered as cooperative operations. Further, for example, when the cooperation place is the position of the window 14 on which the curtain 15 is hung, an operation for dropping dust from the curtain 15 is registered as the cooperation operation.

  Then, when the control unit 101 of the cleaning instruction apparatus 1 receives a cleaning start request for the cleaning area from the user, in this embodiment, the cleaning plan reception unit 111 is activated to designate and designate the cleaning area from the user. Accept a cleaning plan in the designated cleaning area. The user may set and input a cleaning plan in advance before performing the cleaning start request operation. In that case, the cleaning start request operation includes designation information of a cleaning plan set in advance. Alternatively, the cleaning plan set immediately before the cleaning start request operation may be set as the cleaning plan to be executed by the cleaning start request operation.

  In this embodiment, the cleaning plan reception unit 111 displays, for example, a cleaning plan menu as shown in FIG. 14 on the display screen of the display unit 102, and receives a setting input for a cleaning plan of the user. That is, the cleaning plan menu of FIG. 14 is an example of the case of the living area 10 whose cleaning area is shown in FIG. In FIG. 14, a part of a □ mark is a check mark input field for the user to select and designate.

  As shown in FIG. 14, as the cleaning plan, the case where it is carried out by any of “robot cleaning device alone”, “air vehicle device alone”, and “air cleaning device alone” without cooperation and “cooperation” It is possible to select and specify the case to be performed. The example of FIG. 14 shows a state in which "cooperation" is selected and designated by the user. When "Collaboration" is selected, as shown in FIG. 14, "Collaboration device" for accepting selection designation of a device operating in cooperation and "Cooperation location" for receiving selection designation of a location to cooperate with It is possible to select and input "cooperation" to receive designation of selection of the cooperation operation at the cooperation location.

  When the cleaning plan acceptance unit 111 completes the acceptance of the cleaning plan, the control unit 101 of the cleaning instruction device 1 activates the designated device if the device designated by the cleaning plan is the only one, Start cleaning in the designated cleaning area. Further, when the designation in the cleaning plan is "cooperation", the control unit 101 determines what the cooperation device is, activates each of the devices to be cooperated, and selects the cooperation place and the cooperation operation. A cleaning start instruction including designation is sent to each device.

  In FIG. 13, the transmission information generation unit 105, the reception information analysis unit 106, the cleaning area map data generation unit 107, the image recognition unit 109, the cooperation place reception unit 110, and the cleaning plan reception unit 111 It can also be realized as a wear processing function.

[Operation of each device of cleaning system]
An example of the operation flow of the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 constituting the embodiment of the cleaning system described above will be described with reference to flowcharts.

<Description of Operation of Cleaning Instruction Device 1>
FIG. 15 and FIG. 16 which is the continuation thereof are flowcharts for explaining an example of the operation flow of the cleaning instruction apparatus 1. In the following description, the control unit 101 of the cleaning instruction apparatus 1 performs the process of each step in the flowcharts of FIGS. 15 and 16 with the transmission information generation unit 105, the reception information analysis unit 106, and the cleaning area map data generation unit 107. The case where the functions of the image recognition unit 109, the cooperation place reception unit 110, and the cleaning plan reception unit 111 are executed as software processing functions will be described.

  As shown in FIG. 15, the control unit 101 of the cleaning instruction apparatus 1 monitors the user's operation input through the touch panel 103, and determines whether a cleaning area map creation request operation has been received (step S101). When it is determined in step S101 that the cleaning area map creation request operation has been received, the control unit 101 adds identification information to the designated cleaning area and accepts specification of a cleaning area name from the user (step S102). . Here, when the cleaning area name is not received from the user, the cleaning area number (for example, the order of creation) temporarily assigned as the cleaning area name is used as the cleaning area name.

  Next, the control unit 101 transmits a cleaning area map creation operation start instruction to the robot cleaning device 2 and the flying object device 3 (step S103).

  Then, the robot cleaning device 2 and the flying object device 3 start the cleaning area mapping operation. That is, as described above, the robot cleaning device 2 travels to generate the outline information of the cleanable area of the cleaning area, and the position information at that time and the captured image information of the cameras CM21 to CM24 , It sends to the cleaning instruction device 1 as cleaning area map creation information. Further, the flying object device 3 flies in the cleaning area, and sends the positional information on each occasion and the captured image information of the cameras CM31 to CM36 to the cleaning instruction device 1 as cleaning area map creation information.

  Therefore, the control unit 101 of the cleaning instruction device 1 collects cleaning area map creation information from the robot cleaning device 2 and the flying object device 3 (step S104), and uses the collected cleaning area map creation information. The cleaning area map data is created, and the created cleaning area map data is stored and held (step S105).

  Then, when creation and storage of cleaning area map data are completed, the control unit 101 displays the cleaning area map on the display screen of the display unit 102 using the generated cleaning area map data, and the user can The user is prompted to input setting of information on cooperation such as confirmation or registration of a cooperation location or registration of a cooperation operation (step S106).

  Then, the control unit 101 receives the setting input of the information on the cooperation by the user, and stores it in association with the stored cleaning area map data (step S107).

  Next, the control unit 101 transmits the cleaning area map data and its accompanying information to each of the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 (step S108). Above, control part 101 ends processing according to a cleaning area map creation demand.

  When it is determined in step S101 that the cleaning area map creation request operation has not been performed, the control unit 101 determines whether the cleaning start request operation has been performed (step S111 in FIG. 15). The operation of the cleaning start request includes designation of a cleaning area. If it is determined in step S111 that the cleaning start request has not been made, the control unit 101 performs other processing (step S112), and then returns the processing to step S101 in FIG.

  When it is determined in step S111 that the cleaning start request operation has been performed, the control unit 101 displays, for example, the cleaning plan menu as shown in FIG. 14 in the cleaning area designated by the cleaning start request on the display unit 102. Display on the display screen (step S113). Then, on the display screen of the displayed cleaning plan menu, the user is prompted to input the cleaning plan, and the cleaning plan input according to the prompt is received (step S114).

  Next, the control unit 101 analyzes the received cleaning plan (step S115), and determines whether cooperation designation is made (step S116). In this step S116, when there is no cooperation designation and it is a cleaning plan by a single device, the control unit 101 instructs the designated device among the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 to start. It sends (step S117). Thereafter, the control unit 101 transmits a cleaning start instruction including position information of the cleaning place designated by the cleaning plan in the cleaning area to the activated apparatus (step S118). Then, the control unit 101 of the cleaning instruction apparatus 1 ends the process.

  Further, when it is determined in step S116 that the cooperation specification is made, the control unit 101 recognizes the devices to be cooperated from the analysis result of the cleaning plan in step S115 (step S119), and for each of the recognized devices. A start instruction is sent (step S120). Thereafter, the control unit 101 transmits a cleaning start instruction including the position information of the cooperation place designated by the cleaning plan in the cleaning area and the information of the cooperation operation to each of the activated cooperation apparatuses (step S121). Then, the control unit 101 of the cleaning instruction apparatus 1 ends the process.

<Description of Operation of Robot Cleaning Device 2>
FIG. 17 and the subsequent FIG. 18 are flowcharts for explaining an example of the operation flow of the robot cleaning device 2. In the following description, the control unit 201 of the robot cleaning device 2 performs the processing of each step in the flowcharts of FIGS. 17 and 18 as the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, and the reception information analysis. A case will be described where the unit 208, the map creation operation control unit 211, and the cooperation processing unit 212 are executed as software processing functions.

  The control unit 201 of the robot cleaning device 2 monitors the reception of the activation instruction from the cleaning instruction device 1 (step S201), and when confirming the reception of the activation instruction from the cleaning instruction device 1, performs a process of activating its own device. (Step S202). Then, the control unit 201 receives the cleaning start instruction sent from the cleaning instruction device 1 and analyzes it (step S203).

  Then, from the analysis result of the cleaning start instruction, the control unit 201 determines whether cooperation designation is made (step S204). When it is determined in step S204 that the cooperation designation is not made, the control unit 201 starts cleaning (cleaning of the floor surface) as the cleaning plan instructed by the cleaning start instruction (step S205). Then, the control unit 201 determines whether or not the instructed cleaning has been completed (step S206). When it is determined that the cleaning has not been completed, the cleaning operation is continued, and when it is determined that the cleaning has been completed, the control returns to the home position. (Step S207), the process ends.

  When it is determined in step S204 that the cooperation specification is made, the control unit 201 starts cleaning according to the cleaning plan including the cooperation specification (step S211 in FIG. 18).

  Then, the control unit 201 determines whether or not it has arrived at the cooperation location instructed by the cooperation designation (step S212), and when it is determined that the cooperation location has not arrived, the normal floor surface cleaning is continued. If it is determined in step S212 that the mobile device has arrived at the cooperation location, the control unit 201 sends, via the wireless communication unit 206, a notification to call to move to the cooperation location to the other device designated for cooperation. Stands by (step S213).

  As described above, when the aircraft device 3 and / or the air cleaning device 4 that has received the call notification from the robot cleaning device 2 arrives at the designated cooperation location, it notifies that arrival to the other devices that cooperate. Do.

  Therefore, the control unit 201 determines whether or not another linked apparatus has arrived, based on whether or not the arrival notification from the linked other apparatus that made the call has been received (step S214). If there are a plurality of other devices that cooperate with each other, confirmation of receipt of arrival notification from all of the plurality of other devices is waited for the arrival of the plurality of other devices.

  If it is determined in step S214 that another cooperating device has not arrived, the process repeats step S214, waits for the arrival of another cooperating device, and confirms the arrival of the other cooperating device, as shown in FIG. As described above with reference to FIG. 6, the cooperative operation with the other apparatus set in the cooperative place is executed (step S215).

  Next, the control unit 201 determines whether or not the cooperation operation is ended (step S216). When it is judged that the cooperation operation is not ended, the cooperation operation is continued, and when it is judged that the cooperation operation is ended, an instruction for cleaning plan Move to another place according to and continue cleaning (step S217).

  Next, the control unit 201 determines whether or not there is specification of another cooperation location that is not completed (step S218), and when it is determined that there is specification of another cooperation location that is not completed, the process is performed. The process returns to step S212, and the processing after step S212 is repeated. When it is determined in step S218 that there is no designation of another cooperation location that has not been completed, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing of step S206 and subsequent steps.

  The cleaning area is the living room 10, and the cooperation places designated by the cleaning plan are the bookshelf 13, the window 14 on which the curtain 15 is hung, and the small window 16 on which the blind curtain 17 is provided. In addition, the disposal of paper waste and the operation of dropping dust on the upper surface of the bookshelf 13 are registered as the collaboration operation at the collaboration place of the bookshelf 13, and the dust from the curtain 15 as the collaboration operation at the collaboration place of the window 14 on which the curtain 15 is hung. Is registered, and the operation of dropping dust from each blade of the blind curtain 17 is registered as the cooperative operation at the cooperation place of the small window 16 in which the blind curtain 17 is provided. The cooperation operation in each of the cooperation places described using FIGS. 4 to 6 described above is sequentially performed.

  In this case, when the operation of dropping the dust is specified as the cooperative operation in step S215, the robot cleaning device 2 notifies the start of the operation of dropping the dust from the aircraft device 3 and / or It waits at a predetermined position near the collaboration location until it receives notification of the end, waits for the time when the dust will surely fall to the floor, travels while suctioning the floor near the bookshelf 13, and performs the cleaning operation The process of executing is performed as a linked operation. In the case of cooperative operation in which dust is dropped from the curtain 15 and in the case of cooperative operation in which dust is dropped from each blade of the blind curtain 17, the same cooperative operation is performed.

<Description of Operation of Aircraft Device 3>
FIG. 19 and its subsequent FIG. 20 are flowcharts for explaining an example of the flow of operations of the aircraft device 3. In the following description, the process of each step in the flowcharts of FIGS. 19 and 20 is performed by the control unit 301 of the aircraft device 3 including a flight drive signal generation unit 309, a position and attitude control signal generation unit 310, and a transmission information generation unit. A description will be given assuming that the reception information analysis unit 314, the cooperation processing unit 315, and the magic hand control unit 316 are executed as software processing functions.

  The control unit 301 of the flying object device 3 monitors the reception of the activation instruction from the cleaning instruction device 1 (step S301), and when confirming the reception of the activation instruction from the cleaning instruction device 1, performs a process of activating its own device. (Step S302). Then, the control unit 301 receives the cleaning start instruction sent from the cleaning instruction device 1 and analyzes it (step S303).

  Then, from the analysis result of the cleaning start instruction, the control unit 301 determines whether cooperation designation is performed (step S304). When it is determined in step S304 that the cooperation designation is not made, the control unit 301 starts the operation according to the cleaning plan instructed by the cleaning start instruction (step S305). Then, the control unit 201 determines whether or not the instructed operation has ended (step S306), and when it is judged that the instructed operation has not ended, the instructed operation is continued, and when it is judged that the instructed operation has ended, the home position The process returns to step S307 to end the process.

  When it is determined in step S304 that cooperation designation is made, the control unit 301 waits for a call (step S311 in FIG. 20).

  Then, the control unit 301 monitors reception of a call from another device that cooperates (step S312), and when determining that reception of a call has not been received, returns the process to step S311 and continues call waiting .

  If it is determined in step S312 that a call from another linked apparatus has been received, the control unit 301 controls the own apparatus to move to the linked place specified by the call (step S313). Then, by monitoring the position of the own device, the control unit 301 determines whether or not it has arrived at the cooperation place (step S314), and if it has not arrived at the cooperation place, repeats step S314 to go to the cooperation place. When it is determined that the user has arrived at the cooperation place, the arrival at the cooperation place is notified to the other cooperation apparatus by wireless communication (step S315).

  Then, the control unit 301 executes a cooperative operation with another device (step S316). That is, for example, in the case where the bookshelf 13 described above is used as a linked place, and the linked operation as described above is designated, the control unit 301 first flies to the position of the upper surface of the bookshelf 13 and hovers. Then, it is determined from the captured image information of the cameras CM31 to CM34 whether or not there is paper waste. Then, if paper waste is present, the magic hand unit 38 is used to grip the paper waste and fly to move so as to be accommodated in the waste container 2 WS of the robot cleaning device 2.

  Next, the control unit 301 of the aircraft device 3 sends a start notification of the operation of dropping the dust on the upper surface of the bookcase 13 to the robot cleaning device 2 or the air cleaning device 4 by wireless communication, and is attached to the magic hand portion 38 Control is performed to perform an operation of dropping dust using a brush.

  In this case, the control unit 301 of the aircraft device 3 analyzes the captured image information of each camera of the camera group 311, grasps the place where the dust is dropped and the situation around it, and performs the operation of dropping the dust. Make it decide whether to execute or cancel. That is, for example, when there is a person at the place where the dust is dropped, especially when there are infants, the drop operation of the dust is stopped and the device (the robot cleaning device 2 or the air cleaning device 4) linked to that effect is notified. Do. In addition, when there is food or drink on a room, table 11 or the like, the operation of dropping the dust is stopped and the device (the robot cleaning device 2 or the air cleaning device 4) linked to that effect is notified. Also, when there is a water tank or the like at the drop destination, the drop operation of dust is similarly stopped, and the device (the robot cleaning device 2 or the air cleaning device 4) linked to that effect is notified. Furthermore, the control unit 301 refers to the captured image information of the camera to make it difficult to clean even if dust is dropped, such as behind a large TV, behind a shelf such as a chest or bookshelf, or between shelves and shelves. Controls the cleaning aid 38 so as not to drop dust.

  Further, the control unit 301 of the aircraft device 3 analyzes the photographed image information of each camera of the camera group 311, and determines whether or not what is present at the position of the upper surface of the bookcase 13 is a cleaning object. If not, the robot cleaning device 2 or the cleaning instruction device 1 is notified as it is. In particular, in the case of valuables such as rings, credit cards, cash cards, memory cards, cash, etc., they are left as they are or collected in one place so as not to scatter, and that effect is sent to the robot cleaning device 2 and the cleaning instruction device 1 We notify with important item kind as important matter.

  In the case of valuables, the magic hand 38 is used to grip the valuables and store them in the waste container 2WS of the robot cleaning device 2 or in a valuables box (not shown), or Move to fly in order to store (place) in the pre-installed or designated valuable space (not shown, may be on the table 11) of the living room 10, and the type and storage location of valuables in the robot cleaning device 2 and the cleaning instruction device 1 are notified. In this case, to the notification from the flying object apparatus 3, the photographed image information of the valuables photographed by the camera is added. Then, the robot cleaning device 2 or the cleaning instruction device 1 causes the display screen of the display unit to display the type and storage location of the valuables that have received the notification, and the photographed image of the valuables.

  In addition, even if it is determined that the flying object device 3 is the cleaning object as a result of the determination as to whether the object existing at the upper surface of the bookshelf 13 is the cleaning object, the cleaning object is a glass piece It is judged whether it is dangerous to drop it to the floor surface, such as metal or metal, and if it is dangerous to drop it to the floor surface, such as glass pieces or metal, it is left as it is, and the robot cleaning device 2 or cleaning is performed. The indication device 1 is notified.

  When the control unit 301 of the aircraft device 3 determines that the operation of dropping the dust over the entire area of the upper surface of the bookcase 13 is finished, the robot cleaning device 2 or the air cleaning device notifies the end of the operation of dropping the dust. 4. Notify by wireless communication.

  Note that each of the start notification and the end notification of the operation of dropping dust from the aircraft device 3 includes information (position information and a cooperation place name) specifying the cooperation place where the processing is performed. The robot cleaning device 2 or the air cleaning device 4 having received the notification can confirm the cooperation location where the operation of dropping the dust is performed, based on the information specifying the cooperation location. Similarly, the stop notification of the operation of dropping the dust from the aircraft device 3 also includes information (position information and name of the cooperation place) specifying the cooperation place where the movement is stopped, and the robot having received the cancellation notice The cleaning device 2 and the air cleaning device 4 can confirm the cooperation location where the operation of dropping the dust is stopped.

  In this case, as described above, the robot cleaning device 2 waits for a time until all the dust falls to the floor surface based on the notification from the flying object device 3, and the dust on the floor surface around the bookshelf Perform a cleaning operation to absorb the Since the air cleaning device 4 operates to absorb dust flying in the air, the dust absorption operation is performed immediately upon receiving the start notification of the operation to drop the dust on the upper surface of the bookshelf 13 from the flying object device 3 To get started.

  Next, the control unit 301 determines whether or not the cooperative operation in step S316 as described above has ended (step S317). The end of the cooperative operation may be determined by transmitting an end notification of the operation of causing the flying object device 3 to drop the dust, or a cleaning end notification of the floor surface area around the book shelf 13 from the robot cleaning device 2 It may be determined by receiving the

  If it is determined in step S317 that the cooperative operation has ended, the control unit 301 controls the own device to return to the home position in this example (step S318). Of course, it may be waiting at the end of the coordinated operation.

  Next, the control unit 301 determines whether or not there is specification of another cooperation location that is not completed (step S319), and when it is determined that there is specification of another cooperation location that is not completed, the process is performed. It returns to S312 and repeats the processing after this step S312. When it is determined in step S319 that there is no designation of another cooperation location that has not been completed, the control unit 301 shifts the processing to step S306 in FIG. 19 and executes the processing of step S306 and subsequent steps.

<Description of Operation of Air Cleaning Device 4>
The flow of the operation of the air cleaning device 4 is the same as the flow of the operation of the aircraft device 3 described with reference to FIGS. 19 and 20 except that the detailed contents of the cooperative operation performed in step S316 are different. Therefore, in this specification, the flow of the operation of the air cleaning device 4 will not be described except for the detailed contents of the cooperative operation performed in step S316.

  That is, as described above, as the cooperative operation in step S316, the air cleaning device 4 starts the dust absorbing operation immediately upon receiving the start notification of the dust dropping operation from the flying object device 3. Act to absorb the dust in the air.

  In the case of the flying object apparatus 3, the home position is returned after the cooperation operation is completed, but in the case of the air cleaning apparatus 4, the home position may be returned, or the cooperation operation may be performed. You may stay in the same place where you went.

[Effect of First Embodiment]
As described above, according to the cleaning system of the above-described embodiment, dust is dropped by the flying object device 3 from a high place where the robot cleaning device 2 can not collect dust and clean it. It is convenient to be able to perform the same cleaning as when cleaning with a vacuum cleaner after a person slaps when cleaning.

  Further, in the cleaning system according to the above-described embodiment, when the flying object device 3 drops dust, the air cleaning device 4 can be made to cooperate with each other to perform the suction operation of air, so Fine dust can be collected by the air cleaning device 4.

  And according to the cleaning system of the above-mentioned embodiment, a user specifies the cleaning plan, and since the above-mentioned cleaning operation is made automatically only by instructing cleaning start, it is convenient. In this case, by supplying a cleaning start instruction to each device at the time designated by the timer, the cleaning operation can be performed when the householder is away.

Second Embodiment
In the first embodiment of the cleaning system described above, the robot cleaning device 2 that has received the cleaning start instruction from the cleaning instruction device 1 first starts cleaning via traveling, and cooperates with each other at each cooperation place. The flying object apparatus 3 and the air cleaning apparatus 4 as the apparatus of (1) are called to perform cooperative operation. However, the cleaning sequence including the coordinated operation in the cleaning system of this embodiment is not limited to the cleaning operation in the above sequence.

  The cleaning system of the second embodiment has a system configuration similar to that of the first embodiment from the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4. However, the sequence of the cleaning operation is different from that of the first embodiment. In the second embodiment, the flying object device 3 and the air cleaning device 4 execute the designated cooperative operation prior to the cleaning operation of the robot cleaning device 2 at the designated cooperative place. Then, when the cooperative operation is ended, the aircraft device 3 or the air cleaning device 4 wirelessly transmits a notification of the end to the robot cleaning device 2. The end notification includes information (position information or cooperation place name) specifying the cooperation place.

  In the cleaning system according to the second embodiment, the robot cleaning device 2 notifies the end of the cooperation operation in the first cooperation place among the cooperation places specified by the cleaning plan from the flying object device 3 or the air cleaning device 4 After receiving, start traveling so as to clean the floor of the cleaning area.

  The robot cleaning device 2 receives the notification of the end of the cooperation operation from the flying object device 3 or the air cleaning device 4 to confirm that the operation of dropping the dust, which is the cooperation operation, has already ended at the cooperation location. It can be done. Therefore, in the cleaning system of the second embodiment, as in the case of the first embodiment, the robot cleaning device 2 does not have to wait for the operation of dropping dust by the aircraft device 3 at the cooperation location. The cleaning operation can be performed while continuously traveling in the designated cleaning area.

  FIG. 21 is a flow chart of the main part of the flow of the operation of the aircraft device 3 constituting the cleaning system of the second embodiment. The flowchart portion of the flow of operation without cooperation shown in FIG. 19 executes the aircraft device 3 constituting the cleaning system of the second embodiment in the same manner. Then, the aircraft device 3 configuring the cleaning system of the second embodiment executes the flowchart of the operation flow shown in FIG. 21 instead of the flowchart portion of the flow of the operation shown in FIG.

  That is, the control unit 301 of the aircraft device 3 constituting the cleaning system of the second embodiment moves to the first cooperation place when it is determined in step S304 of FIG. 19 that cooperation designation is made in the cleaning plan. When the user arrives at the cooperation location, the notification of arrival is wirelessly transmitted to the other devices that cooperate, for example, the robot cleaning device 2 and the air cleaning device 4 (step S 321 in FIG. 21). The arrival notification includes information (position information of a cooperation place or a cooperation place name) specifying the arrived cooperation place. The device that has received the arrival notification can recognize the cooperation location by referring to the stored cleaning area map data with the information specifying the cooperation location.

  Then, the control unit 301 determines whether an apparatus to be operated in cooperation at the cooperation location, in this example, the air cleaning apparatus 4 is designated as an apparatus to be cooperated (step S322). Here, the device operating in cooperation at the cooperation location is not a device which does not operate during the operation of dropping the dust which is the cooperation operation, like the robot cleaning device 2, but the operation of dropping the dust It is a device to be operated at the same time as the air cleaning device 4 performing the air cleaning operation.

  When it is determined in step S322 that the device to be operated in cooperation at the cooperation location is designated, the control unit 301 determines that the device cooperating at the cooperation location has arrived at the cooperation location. If it has not arrived, step S323 is repeated to await the arrival of a device that cooperates at the cooperation location. In this case, an arrival notification is sent from the device that should operate in cooperation at the cooperation location when the arrival at the cooperation location is received, so depending on whether or not the arrival notification has been received, in step S323 The device collaborating at the cooperation location determines whether or not the cooperation location has arrived.

  Then, when the reception of the arrival notification from the device cooperating at the cooperation place is confirmed at Step S323, the control unit 301 executes the cooperation operation at the cooperation place (Step S324). For example, in the case of the cleaning plan shown in FIG. 3, the cooperative operation in this case is an operation of removing paper waste existing on the upper surface of the bookshelf 13 by the flying object device 3 and an operation of dropping dust from the upper surface of the bookshelf 13 is there.

  In this case, the flying object device 3 stores the paper waste gripped by the magic hand unit 38 in the waste container 2WS of the robot cleaning device 2, but sends a request for the current position to the robot cleaning device 2 by wireless communication. , Move to the current position sent from the robot cleaning device 2 and store paper waste. When storing the paper waste, the flying object device 3 requests the robot cleaning device 2 to temporarily stop traveling, and stores the paper waste in the waste container 2 WS of the robot cleaning device 2 in the stopped state. However, without stopping the traveling of the robot cleaning device 2 in this way, the robot cleaning device 2 is confirmed with the camera by relying on the current position of the robot cleaning device 2, and the sky above the robot cleaning device 2 in motion is checked. The paper dust may be stored in the rubbish 2WS of the robot cleaning device 2 by flying and moving while the robot cleaning device 2 travels.

  Then, when the removal of the paper waste is completed, the start notification of the operation of dropping the dust from the upper surface of the bookcase 13 is sent to the robot cleaning device 2 and the air cleaning device 4 of the cooperation device. In response to the notification of the start, the air cleaning device 4 operates the suction drive unit 421 to absorb and clean the falling dust. At this time, the air cleaning device 4 may operate the suction drive unit 421 while moving around the bookshelf 13 or may operate the suction drive unit 421 in a stopped state.

  If it is determined in step S322 that a device to operate in cooperation at the cooperation location is not specified, the control unit 301 causes the process to jump from step S322 to step S324, and the cooperation operation in the cooperation location is performed. Run. The cooperative operation in this case is only the removal of the paper waste by the flying object apparatus 3 and the operation of dropping the dust.

  Next, the control unit 301 monitors whether or not the cooperation operation is ended (step S 325), and when it is determined that the cooperation operation is ended, the other device which cooperates the end of the cooperation operation at the cooperation location (The robot cleaning device 2 and / or the air cleaning device 4) is notified (step S326).

  Then, the control unit 301 determines whether or not there is specification of another cooperation location that is not completed (step S327), and when it is determined that there is specification of another cooperation location that is not completed, the process proceeds to step S321. Then, the process after step S321 is repeated. When it is determined in step S327 that there is no designation of another cooperation location that has not been completed, the control unit 301 shifts the processing to step S306 in FIG. 19 and executes the processing of step S206 and subsequent steps.

  The flow of the operation of the air purification device 4 in the second embodiment is the same as the flow of the operation of the aircraft device 3 described with reference to FIG. 21 except that the detailed contents of the cooperative operation performed in step S324 are different. is there.

  That is, as described above, as the cooperative operation in step S324, as described above, the air cleaning device 4 absorbs dust as soon as it receives a notification from the aircraft device 3 of the start of the operation of dropping the dust. The operation is started to absorb dust flying in the air.

  In the case of the flying object apparatus 3, the home position is returned after the cooperation operation is completed, but in the case of the air cleaning apparatus 4, the home position may be returned, or the cooperation operation may be performed. You may stay in the same place where you went.

  Next, the flow of the operation of the robot cleaning device 2 in the second embodiment will be described. FIG. 22 is a flow chart of the main part of the flow of the operation of the robot cleaning device 2 constituting the cleaning system of the second embodiment. The flow chart portion of the flow of operation without cooperation shown in FIG. 17 executes the robot cleaning device 2 constituting the cleaning system of the second embodiment in the same manner. The robot cleaning device 2 constituting the cleaning system of the second embodiment executes the flowchart of the operation flow shown in FIG. 22 instead of the flowchart portion of the flow of the operation shown in FIG.

  That is, when the control unit 201 of the robot cleaning device 2 constituting the cleaning system of the second embodiment determines that cooperation designation is made in the cleaning plan in step S204 of FIG. It waits for reception of the notification of completion of cooperation operation in the first cooperation place (Step S221 in FIG. 22).

  When it is confirmed in step S221 that the notification of the end of the cooperation operation at the first cooperation place from the other apparatuses to cooperate is confirmed, the control unit 201 recognizes and stores the cooperation place where the cooperation operation is ended. (Step S222). Then, the control unit 201 starts the cleaning operation by the own device 2 after the elapse of the time obtained by adding the time for the dust to fall to the floor surface from the time of reception of the notification of completion of the cooperation operation at the first cooperation location. (Step S223).

  Then, the control unit 201 determines whether an end notification of the collaboration operation at another collaboration place has been received from another collaboration apparatus (step S224). When it is determined in this step S224 that the notification of the end of the collaboration operation at another collaboration place has been received from another collaboration apparatus, the control unit 201 recognizes the collaboration place where the collaboration operation has ended, and additionally stores (Step S225). Note that, in step S221 or step S224, the control unit 201 does not receive the end notification, and the control unit 201 performs the cooperation even when the cooperation operation is not completed, such as when the battery is exhausted or the user forcibly terminates. The cooperation location where the operation has ended may be recognized and stored (additionally stored), and the portion where the association operation is not completed may be stored (additionally stored) so that it can be specified.

  When it is determined in step S224 that the end notification of the collaboration operation at the other collaboration location has not been received from another collaboration device, or after the process of step S225 is finished, the position of the own device is checked. It monitors and determines whether it has arrived at a cooperation place (step S226). If it is determined in step S226 that the user has not arrived at the cooperation location, the control unit 201 returns the process to step S224, and repeats the process from step S224.

  When it is determined in step S226 that the cooperation location has arrived, the control unit 201 determines whether the cooperation operation in the arrived cooperation location is completed based on the storage (step S227).

  If it is determined in step S227 that the cooperation operation at the cooperation location that has arrived is completed, the control unit 201 continues the cleaning operation without temporarily stopping (step S228).

  Next, the control unit 201 determines whether or not there is specification of another cooperation location that is not completed (step S229), and when it is determined that there is specification of another cooperation location that is not completed, the process is performed. It returns to S224 and repeats the processing after this step S224. When it is determined in step S229 that there is no designation of another cooperation location that has not been completed, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing of step S206 and subsequent steps.

  When it is determined in step S227 that the cooperation operation at the cooperation location that has arrived is not completed, the control unit 201 suspends the cleaning operation (step S230). Then, the control unit 201 waits for the reception of the notification of the end of the cooperation operation at the cooperation place from the other device to cooperate (step S231), and does not receive the notification of the end of the cooperation operation at the cooperation place. , Repeat step S231, wait for the reception of the notification of the end of the cooperation operation at the cooperation location, and confirm the reception of the notification of the end of the cooperation operation at the cooperation location, wait for the lapse of a predetermined time from the reception, and clean The operation is resumed (step S232). The predetermined time from the reception of the end notification in this case is a time longer than the time until the dust falls to the floor surface by the operation of dropping the dust.

  Then, after step S232, the control unit 201 shifts the processing to step S229, determines whether or not there is specification of another cooperation location that has not been completed, and the other cooperation location that has not been completed. If it is determined that there is a designation of "1", the process returns to step S224, and the processes after step S224 are repeated. When it is determined in step S229 that there is no designation of another cooperation location that has not been completed, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing of step S206 and subsequent steps.

  In the above example, in step S221, the robot cleaning device 2 waits for reception of the notification of the end of the cooperation operation at the first cooperation place specified in the cleaning plan, but starts the cleaning operation. The cleaning operation may be started after a predetermined time has elapsed after receiving the cleaning start instruction from the instruction device 1. The predetermined time in this case is a time taking into consideration the end of the cooperation operation at the first cooperation place, for example, the time required for the robot cleaning device 2 to move the distance from the home position to the first cooperation place The predetermined time can be determined in consideration.

[Effect of Second Embodiment]
According to the second embodiment described above, since the process of dropping the dust at the cooperation location is performed in advance, the robot cleaning device 2 does not wait for the dust to drop at the cooperation location, and the floor surface has already been The dust that has fallen to the Therefore, the robot cleaning device 2 can clean the designated cleaning area in the same time as in the case where there is no designation of the cooperation place, since the time for waiting at the cooperation place becomes unnecessary at the time of cleaning. Become.

[Other Embodiments or Modifications]
In the cleaning system according to the above-described embodiment, the cleaning instruction device 1 is configured not to participate in the cleaning operation after transmitting the cleaning start instruction to the other devices configuring the cleaning system. However, in order to execute all of the cleaning plans, activation control and operation control of other devices may be performed, and operation management and operation control may be performed for cooperative operations.

  In that case, the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 all communicate with the cleaning instruction device 1 without communicating with each other. That is, each device periodically notifies the cleaning instruction device 1 of information on its own position, and wirelessly notifies the cleaning instruction device 1 of arrival to the cooperation location, notification of start of cooperation operation, notification of completion of cooperation operation Send by communication. Then, the cleaning instruction apparatus 1 transmits a movement instruction to the cooperation place to the cooperation apparatus, an instruction to start the cooperation operation, and the like by wireless communication.

  Further, in the second embodiment, the flying object apparatus 3 and the air cleaning apparatus 4 are configured to end the cooperative operation at all the cooperative places before execution of the cleaning operation of the robot cleaning apparatus 2, When the flight apparatus 3 and the air cleaning apparatus 4 wait at the cooperation location and wait for the robot cleaning apparatus 2 to arrive, and receive an arrival notification from the robot cleaning apparatus 2 to the cooperation location, the first embodiment As in the embodiment, the cooperative operation may be performed.

  In the above embodiment, the cleaning instruction device 1 is provided as a separate device from the robot cleaning device 2, the flying object device 3 and the air cleaning device 4, but the function of the cleaning instruction device 1 is the robot cleaning device 2, the flight It may be provided in any of the body device 3 and the air purifying device 4 or a plurality of devices (all devices may be used).

  Further, although the scrap waste 2WS is provided on the upper surface 2a of the robot cleaning device 2 of the above-described embodiment, the waste scrap 2WS may not be provided. And, when the rubbish 2WS is not provided, the space above the upper surface 2a of the robot cleaning device 2 is a space where the aircraft device 3 can land, and the home position of the aircraft device 3 is the robot cleaning device 2 The upper surface 2a of

  The flying object device 3 is provided with a hook-like or mop-like cleaning aid for letting the dust in the ceiling fall down by touching the ceiling of the room, and the ceiling is moved while the air cleaning device 4 follows it. Dust may be dropped from the In this case, the robot cleaning device 2 may follow the floor surface position where the dust dropped by the flying object device 3 exists with a time delay.

  Further, the cleaning aid for the flying object device 3 is not limited to the above-mentioned example. For example, the cleaning aid such as striking a curtain, blowing a wind, wiping the upper surface of a shelf with a mop or cloth, and the like You may do it. In addition, the cleaning aid may be configured to be replaceable with respect to the main casing of the aircraft device 3.

  In addition, although the wireless communication units 104, 206, 312, and 406 are configured as a wireless LAN using Wi-Fi (registered trademark), the present invention is not limited to this, and may be configured using other communication standards. Of course.

  In addition, although the cleaning system of the above-mentioned embodiment set it as the structure provided with the air purification apparatus 4, the air purification apparatus 4 may not be. Further, instead of the air cleaning device 4, another cooperation device such as a deodorizing device may be provided.

  The robot cleaning device, the flying object device, and the other cooperation devices such as the air cleaning device, which constitute the cleaning system, may each be composed of a plurality of units instead of one. In this case, one or more of the robot cleaning device, the flying object device, and the other cooperation devices such as the air cleaning device may be one, the other may be a plurality, and all the devices are a plurality. May be

  The plurality of devices may be operated simultaneously in one cleaning plan, or one of the plurality of devices may be selected according to the cleaning area by the cleaning plan. In addition, the plurality of devices may divide the area in the cleaning area specified by the cleaning plan and share it.

  When using a plurality of devices, in the cleaning plan menu of FIG. 14, each device is identified like robot cleaning device a, b, flying object device d, e, f, air cleaning device g, h, etc. It can be so.

  In addition, although the robot cleaning device 2 of the above-described embodiment has a cleaning function by suction, it may be a cleaning function by suction instead of the cleaning function by suction, and a cleaning function by suction and a cleaning function May be provided. As described above, when a plurality of robot cleaning devices are used, one is a robot cleaning device having a suction cleaning function, and the other is a robot cleaning device having a wiping cleaning function, whichever or the both are selected simultaneously Alternatively, the cleaning operation may be performed.

  Moreover, in the above-mentioned embodiment, although the cooperation place is a place where a bookshelf, a window, and a table fixedly installed in the room are present, as shown in FIG. The flying object device 3 strikes with the cleaning aid 38 or rubs with a brush to remove dust and pollen, and the robot cleaning device 2 sucks the dropped dust and pollen, and air The present invention is also applicable to the case where the cleaning device 4 sucks dust and pollen in the middle of falling. In this case, the function of the cleaning instruction device is incorporated in, for example, a smartphone carried by the person 61 who came home, for example, the cleaning area is the entrance space, and the cooperation location is the entrance of the entrance. The robot cleaning device 2, the flying object device 3, and the start instruction of the cleaning plan made into the air cleaning device 4 are the robot cleaning device 2 which is the cooperation device, the flying object device 3, the air cleaning device 4 The devices are activated and cleaning is performed as described above.

  Alternatively, the cleaning instruction device is installed at the entrance, and is provided with a human sensor, and when recognizing a person who has returned home, for example, the cleaning area is the entrance space, and the cooperation location is the entrance of the entrance. The robot cleaning device 2, the flying object device 3, and the start instruction of the cleaning plan made into the air cleaning device 4 are the robot cleaning device 2 which is the cooperation device, the flying object device 3, the air cleaning device 4 The devices may be activated and cleaning may be performed as described above.

  In the above embodiment, it is assumed that the cleaning area is a room and the cleaning area is set for each room. However, in a multi-room building, a cleaning area including a plurality of rooms is used. It may be possible to specify. In such a case, devices such as a robot cleaning device, a flying object device, and an air cleaning device perform cooperative operations while moving a room, so cleaning area map data is for moving between a plurality of rooms. The information of the route of is included.

  In addition, the cleaning system according to the present invention is not limited to use in general homes, but can be used in factories and stores (including department stores, supermarkets, convenience stores, etc.), in which case it is surrounded by a wall It may be possible to designate the cleaning area in units such as business divisions and department divisions, not in the selected room.

  In the above embodiment, when the cleaning instruction device is present in the cleaning system, the storage unit of the cleaning instruction device and the function of the cleaning instruction device are the robot cleaning device, the flying object device, and the air cleaning device. If the information is provided in the storage unit of those devices, the information of the cleaning plan is stored in the storage unit of the device, but the information of the cleaning plan is stored in the storage unit of the cloud through the Internet, The storage unit of the cloud may be accessed from the pointing device, the robot cleaning device, the flying object device, the air cleaning device, etc. to obtain a cleaning plan. The cleaning area map data may also be stored in the storage unit of the cloud, and may be acquired from the storage unit of the cloud when creating a cleaning plan or when executing a cleaning plan.

  In the above embodiment, each of the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 receives an electric wave from a GPS satellite as a means for detecting the position of the own device. In addition to the detecting means, the detecting means of the movement direction using the geomagnetic sensor and the acceleration detecting means such as the gyro are used, but the means for detecting the position of the own device in the cleaning area is limited to this. is not.

  For example, the cleaning area is a three-dimensional movement detection target space area, and installed in each of two light emission tracking devices provided in each cleaning area, and the robot cleaning device 2, the flying object device 3 and the air cleaning device 4. By using an optical position notification unit (hereinafter referred to as a tracker), the position of the own apparatus can be detected.

  The two light emission tracking devices have the same configuration, and each has a laser light emitting portion of infrared laser light, a search means for searching for a motion detection space area by the emitted infrared laser light, and an infrared laser And light position detection means for detecting light emission of the light emitting unit of the tracker that has received the light. In this case, for example, one light emission tracking device searches horizontally in the cleaning area, and the other light emission tracking device vertically searches in the cleaning area to obtain three-dimensional space. Search to cover the entire cleaning area.

  Each of the trackers has different identification information for each installed device. The tracker detects the infrared laser light from the light emission tracking device, and when the light reception of the infrared laser light is detected by the sensor, the tracker detects the light reception to the light emission tracking device, for example, an LED (Light (Light) And a light emitting unit made of an emitting diode). In this case, each of the trackers emits light differently according to its identification information.

  The light emission tracking device controls the laser light emitting unit by the search means, emits infrared laser light so as to search and scan the inside of the motion detection target space area so as to detect the tracker position, and searches. Each of the trackers monitors the reception of infrared laser light with a sensor, and turns on a light emitting unit made of an LED when the reception of infrared laser light is detected by the sensor. The light emission tracking device detects the light emission of the light emitting unit of the tracker to detect the position of each device mounted with the tracker within the movement detection target space area. The light emission tracking device is configured to be able to detect also the elapsed time from the light emission time of the emitted infrared laser when the light emission of the light emitting part of the tracker is detected.

  The two light emission tracking devices are wirelessly connected to the robot cleaning device 2, the flying object device 3 and the air cleaning device 4, respectively, and the movement detection target of the tracker detected for each device is detected. Report spatial location information in the spatial domain.

  Each of the robot cleaning device 2, the flying object device 3 and the air cleaning device 4 can receive the notification and detect the position of the own device.

DESCRIPTION OF SYMBOLS 1 ... Cleaning instruction apparatus, 2 ... Robot cleaning apparatus, 3 ... Flight body apparatus, 4 ... Air cleaning apparatus, 38 ... Magic hand part as an example of a cleaning aid, 104, 206, 312, 406 ... Wireless communication part, CM21 ~ CM24, CM31-CM36, CM41-CM44 ... Camera

Claims (53)

A self-propelled robot cleaning apparatus for cleaning the floor surface and a flying object apparatus for flying and moving in the air perform a cleaning operation in cooperation with each other while traveling on the floor surface,
The robot cleaning device is
A traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for wirelessly communicating with the aircraft device directly or indirectly;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the traveling drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit;
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping onto the floor a cleaning object which can be suctioned by the robot cleaning device, which is located at a position higher than the floor;
A second communication unit for wirelessly communicating with the robot cleaning apparatus directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. Notifying the robot cleaning device of a notice about an operation to be dropped on the floor through the second communication unit;
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. A cleaning system characterized by performing cooperative operation by cleaning. The notification about the operation of dropping the cleaning object to the floor surface, which the aircraft device sends, includes a start notification of the falling operation and / or a termination notification of the falling operation at the cooperation location. The cleaning system according to claim 1. The robot cleaning device and the flying object device store map data of the cleaning area including position information of the cooperation location,
The first control unit of the robot cleaning apparatus and the second control unit of the flying object apparatus detect the position of the cooperation location from the stored map data of the cleaning area. The cleaning system according to claim 1 or 2. A cleaning instruction device for receiving a cleaning plan including designation of a cooperation place in the cleaning area by a user, and notifying the robot cleaning device and the aircraft device of an instruction to start the cleaning plan by the user Equipped
When the cleaning instruction device receives the start instruction of the cleaning plan from the user, the cleaning instruction device determines whether the cleaning plan includes the cooperation place, and if the cleaning place includes the cooperation place, the robot cooperates with the robot The cleaning system according to any one of claims 1 to 3, wherein the cleaning device and the aircraft device are activated, and after activation, the cleaning plan is notified to the robot cleaning device and the aircraft device. . When the robot cleaning device reaches the cooperation location instructed by the cleaning plan received from the cleaning instruction device, the robot cleaning device requests a call notification to move the flying object device to the cooperation location that has arrived. Send
The aircraft device moves to the cooperation location based on the reception of the call notification, and notifies the robot cleaning device of the arrival when arriving at the cooperation location.
The cleaning system according to claim 4, wherein after the notification, the robot cleaning device and the aircraft device execute the cooperative operation. The aircraft device moves in advance of the robot cleaning device to a cooperation location instructed by the cleaning plan received from the cleaning instruction device, and drops the cleaning object.
The cleaning system according to claim 4, wherein when the operation of dropping the cleaning object is finished, the robot cleaning device is notified of the information including information for specifying the cooperation location. The aircraft device stands by at a cooperative place instructed by the cleaning plan received from the cleaning instruction device,
When the robot cleaning device reaches the cooperation place instructed by the cleaning plan received from the cleaning instruction device, the robot cleaning device notifies the flight device of the arrival at the cooperation place.
The cleaning system according to claim 4, wherein after the notification, the robot cleaning device and the aircraft device execute the cooperative operation. The aircraft device stands by at a predetermined base, and when the cooperation operation at the cooperation location is finished, the aircraft device returns to the base. The cleaning system described in. In the cleaning plan, a plurality of the cooperation locations in the cleaning area can be set,
The cleaning system according to any one of claims 1 to 8, wherein the cooperation operation is performed at each of the cooperation places. The said cleaning instruction | indication apparatus is provided in the said robot cleaning apparatus. The cleaning system in any one of the Claims 4-9 characterized by the above-mentioned. The cleaning system according to any one of claims 4 to 9, wherein the cleaning instruction device is provided in the aircraft device. The cleaning system according to any one of claims 4 to 9, wherein the cleaning instruction device is a portable terminal, a watch-type terminal, an eyeglass-type terminal, a contact lens type terminal, or a stationary type terminal. The cleaning aid of the aircraft device has a function of holding a cleaning object,
The robot cleaning apparatus according to any one of claims 1 to 12, wherein the robot cleaning apparatus includes a storage unit configured to store the cleaning object held by the cleaning assisting tool of the flying object apparatus from the opening side. Cleaning system. The cleaning system according to any one of claims 1 to 13, wherein the notification regarding the operation of dropping the cleaning object onto the floor includes information on a falling direction. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, a flying object device flying and moving in the air, and an air cleaning device that is movable on the floor surface Cleaning system to perform the cleaning operation,
The robot cleaning device is
A first traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for performing wireless communication directly or indirectly with the aircraft device or the air cleaning device;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the first travel drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit; ,
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping at least a cleaning object which can be suctioned by the robot cleaning device at a position higher than the floor surface;
A second communication unit for wirelessly communicating with the robot cleaning device or the air cleaning device directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The air cleaner is
A second traveling drive unit for autonomously traveling and moving on the floor;
A cleaning mechanism that cleans the atmosphere around the machine, and
A third communication unit for performing wireless communication directly or indirectly with the robot cleaning device or the aircraft device;
A third position detection unit that detects the position of the own machine in the cleaning area;
A third control unit that controls the second travel drive unit and the cleaning mechanism unit while recognizing the position of the own machine detected by the third position detection unit;
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. The notification regarding the operation of dropping to the floor surface is transmitted to the robot cleaning device and / or the air cleaning device through the second communication unit,
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. Perform a coordinated operation by cleaning
The air cleaning apparatus executes the cooperative operation by operating the cleaning mechanism unit in response to a notification regarding an operation of causing the cleaning object to fall to the floor surface at the cooperative place in the cleaning area. Features a cleaning system. The notification about the operation of dropping the cleaning object to the floor surface transmitted by the aircraft device includes a start notification of the dropping operation and a notification of completion of the dropping operation at the cooperation location,
The cleaning system according to claim 15, wherein the air cleaning device operates the cleaning mechanism unit based on the reception of the start notification of the dropping operation. The robot cleaning device, the flying object device, and the air cleaning device store map data of the cleaning area including position information of the cooperation location,
The first control unit of the robot cleaning apparatus, the second control unit of the flying object apparatus, and the third control unit of the air cleaning apparatus are configured to store the map data of the cleaning area. The position of a cooperation place is detected. The cleaning system according to claim 15 or 16 characterized by things. It has a function to receive a cleaning plan including designation of a cooperation place in the cleaning area by the user, and notifies the robot cleaning device, the flying object device and the air cleaning device of an instruction to start the cleaning plan by the user Equipped with a cleaning instruction device,
When the cleaning instruction device receives the start instruction of the cleaning plan from the user, the cleaning instruction device determines whether the cleaning plan includes the cooperation place, and in the case where the cleaning place includes the cooperation place, the robot cleaning device And activating the associated device among the flight device and the air purification device, and after activation, notifying the robot cleaning device, the flight device and the air purification device of the cleaning plan, the coordinated device. The cleaning system according to any one of claims 15 to 17, characterized in that. When the robot cleaning apparatus reaches the cooperation place instructed by the cleaning plan received from the cleaning instruction apparatus, the robot cleaning apparatus moves to the cooperation place which has reached the flying object apparatus and / or the air cleaning apparatus to cooperate. Send a call notification to make it move,
When the flying object apparatus and / or the air cleaning apparatus which cooperate with one another move to the cooperation place based on the reception of the call notification and arrive at the cooperation place, the arrival is made to the robot cleaning apparatus Notify
The cleaning system according to claim 18, wherein after the notification, the aircraft device and / or the air cleaning device that cooperates with the robot cleaning device execute the cooperation operation. The flying object device and / or the air cleaning device associated with each other stand by at a combination location instructed by the cleaning plan received from the cleaning instruction device,
When the robot cleaning device reaches the cooperation place instructed by the cleaning plan received from the cleaning instruction device, the robot apparatus and / or the air cleaning device cooperate with the cooperation place when the robot cleaning device reaches the cooperation place instructed by the cleaning plan. Notice the arrival,
The cleaning system according to claim 18, wherein after the notification, the robot cleaning device and the associated flying object device and / or the air cleaning device execute the associated operation. 21. The flight apparatus according to any one of claims 15 to 20, wherein the aircraft apparatus stands by at a predetermined base, and the aircraft apparatus returns to the base when the cooperation operation at the cooperation place is finished. The cleaning system described in. In the cleaning plan, a plurality of the cooperation locations in the cleaning area can be set,
The cleaning system according to any one of claims 15 to 21, wherein the cooperation operation is performed at each of the cooperation locations. The cleaning system according to any one of claims 17 to 22, wherein the cleaning instruction device is provided in the robot cleaning device. The cleaning system according to any one of claims 17 to 22, wherein the cleaning instruction device is provided in the aircraft device. The cleaning system according to any one of claims 17 to 22, wherein the cleaning instruction device is provided in the air cleaning device. The cleaning system according to any one of claims 17 to 22, wherein the cleaning instruction device is a portable terminal, a watch-type terminal, an eyeglass-type terminal, a contact lens-type terminal, or a stationary terminal. The cleaning system according to any one of claims 15 to 26, wherein the notification regarding the operation of dropping the cleaning object onto the floor includes information on a falling direction. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, and flying movement in the air, and performing a cleaning operation in cooperation with a flying object device provided with a cleaning aid The robot cleaning device in a cleaning system, comprising:
A traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking a cleaning target on the floor surface which can be suctioned by the apparatus itself and storing the cleaning target in the dust collection chamber;
A communication unit for wirelessly communicating with the aircraft device directly or indirectly;
A position detection unit that detects the position of the own machine in the cleaning area;
A control unit configured to control the traveling drive unit and the suction drive unit to execute cleaning while recognizing the position of the own machine detected by the position detection unit;
Equipped with
In the cooperation place in the cleaning area, when the notification about the operation of dropping the cleaning object at a position higher than the floor surface to the floor surface using the cleaning aid is received from the flying object apparatus, A robot cleaning apparatus characterized by executing a cooperative operation with the flying object apparatus by traveling and cleaning the floor surface of the cooperation place after a lapse of time. The map data of the cleaning area including the position information of the cooperation location is stored,
The robot cleaning apparatus according to claim 28, wherein the control unit detects the position of the cooperation place from the stored map data of the cleaning area. It has a function to receive a cleaning plan including designation of a cooperation place in the cleaning area by the user, and is provided with a cleaning instruction device for notifying the self aircraft and the aircraft device of an instruction to start the cleaning plan by the user.
When the cleaning instruction device receives the start instruction of the cleaning plan from the user, the cleaning instruction device determines whether the cleaning plan includes the cooperation place, and in the case of including the cooperation place, the cooperation flight The robot cleaning device according to claim 28 or 29, wherein the body device is activated and, after activation, the cleaning plan is notified to the aircraft device. When the cooperative place instructed by the cleaning plan is reached, a call notification is sent to the aircraft apparatus to move to the cooperative place that has arrived.
The cooperation operation with the aircraft apparatus is executed when the notification that the arrival at the cooperation place is received from the aircraft apparatus having received the call notification is performed. Robot cleaning device. When reaching the cooperation place instructed by the cleaning plan received from the cleaning instruction device, the arrival to the cooperation place is made to the flying object device waiting at the cooperation place instructed by the cleaning plan. Notify
The robot cleaning device according to claim 30, wherein after the notification, the cooperative operation with the flying object device is performed. The cleaning system includes an air cleaning device movable on the floor and capable of wirelessly communicating with the robot cleaning device and the aircraft device directly or indirectly. The robot cleaning device according to any one of claims 30 to 32, wherein the cleaning device is also capable of the cooperative operation with the robot cleaning device and the flying object device. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, and flying movement in the air, and performing a cleaning operation in cooperation with a flying object device provided with a cleaning aid Said aircraft device in a cleaning system,
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping onto the floor a cleaning object which can be suctioned by the robot cleaning device, which is located at a position higher than the floor;
A communication unit for performing wireless communication directly or indirectly with the robot cleaning device;
A position detection unit that detects the position of the own machine in the cleaning area;
A control unit that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the position detection unit, and also performs drive control of the cleaning aid.
Equipped with
In the cooperation place in the cleaning area, when the cleaning object at a position higher than the floor surface is dropped onto the floor surface using the cleaning aid, the cleaning object is dropped onto the floor surface Transmitting a notification to the robot cleaning device through the communication unit. The map data of the cleaning area including the position information of the cooperation location is stored,
31. The aircraft device according to claim 30, wherein the control unit detects the position of the cooperation location from the stored map data of the cleaning area. It has a function to receive a cleaning plan including specification of a cooperation place in the cleaning area by the user, and has a cleaning instruction device for notifying the robot cleaning device and the own device of an instruction to start the cleaning plan by the user ,
When the cleaning instruction device receives the start instruction of the cleaning plan from the user, the cleaning instruction device determines whether the cleaning plan includes the cooperation place, and if the cleaning place includes the cooperation place, the robot cooperates with the robot The aircraft apparatus according to claim 34 or 35, wherein the cleaning device is activated and, after activation, the cleaning plan is notified to the robot cleaning device. Based on the call notification from the robot cleaning device, the robot cleaning device is notified of the arrival when it moves to the cooperation location and arrives at the cooperation location,
The flying object device according to claim 36, wherein after the notification, the robot cleaning device and the cooperative operation are performed. Wait at the collaboration location indicated by the cleaning plan,
The robot cleaning apparatus executes the cooperation operation with the robot cleaning apparatus after receiving the notification of the arrival at the cooperation place from the robot cleaning apparatus that has reached the cooperation place instructed by the cleaning plan received from the cleaning instruction apparatus. The aircraft device according to claim 36, characterized in that The cleaning system includes an air cleaning device movable on the floor and capable of wirelessly communicating with the robot cleaning device and the aircraft device directly or indirectly. The aircraft apparatus according to any one of claims 34 to 38, wherein the cleaning device is also capable of the cooperative operation with the robot cleaning apparatus and the aircraft apparatus. As well as having one or more cameras for photographing the cooperation location and its surroundings,
The information processing apparatus according to any one of claims 34 to 39, further comprising a determination unit configured to determine whether or not the cleaning object is to be dropped onto a floor surface based on captured image information of the camera. Aircraft equipment. As well as having one or more cameras for photographing the cooperation location and its surroundings,
The image processing apparatus further includes a determination unit that determines whether or not what is present in the cooperation location is a cleaning target based on captured image information of the camera.
The apparatus according to any one of claims 34 to 40, wherein, when it is determined by the determination means that the thing present in the cooperation location is not a cleaning object, the fact is notified to a device that cooperates. Aircraft device. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, a flying object device flying and moving in the air, and an air cleaning device that is movable on the floor surface An air cleaning device in a cleaning system that performs a cleaning operation;
A traveling drive unit for autonomously traveling and moving on the floor;
A cleaning mechanism that cleans the atmosphere around the machine, and
A communication unit for performing wireless communication directly or indirectly with the robot cleaning device or the flying object device;
A position detection unit that detects the position of the own machine in the cleaning area;
A control unit that controls the traveling drive unit and the cleaning mechanism unit while recognizing the position of the own machine detected by the position detection unit;
Equipped with
An air purification apparatus characterized in that the cooperation operation is performed by operating the cleaning mechanism unit at the cooperation location in the cleaning area in response to a notification regarding an operation of dropping an object to be cleaned on a floor surface. The map data of the cleaning area including the position information of the cooperation location is stored,
The air cleaning apparatus according to claim 42, wherein the control unit detects the position of the cooperation location from the stored map data of the cleaning area. It has a function of receiving a cleaning plan including specification of a cooperation place in the cleaning area by the user, and for notifying the robot cleaning device, the flying object device and the own device of an instruction to start the cleaning plan by the user Equipped with a cleaning instruction device,
When the cleaning instruction device receives the start instruction of the cleaning plan from the user, the cleaning instruction device determines whether the cleaning plan includes the cooperation place, and if the cleaning place includes the cooperation place, the robot cooperates with the robot 44. The air according to claim 42 or 43, wherein the cleaning device and / or the aircraft device is activated, and after activation, the cleaning plan is notified to the robot cleaning device and / or the aircraft device. Cleaning device. The robot cleaning device or the flying object device is moved to the cooperation location based on the reception of a call notification from the robot cleaning device or the aircraft device and arrives at the cooperation location. Notify
The air purification device according to claim 44, wherein the cooperation operation with the robot cleaning device or the flying object device is executed after the notification. Wait at the collaboration location indicated by the cleaning plan,
After receiving the robot cleaning device and / or the notification from the flying object device that has reached the cooperation location instructed by the cleaning plan received from the cleaning instruction device, the robot cleaning device and the robot cleaning device after receiving the arrival notification. 45. The air purification device according to claim 44, wherein the cooperative operation is performed with the aircraft device. The cleaning system according to any one of claims 1 to 14, wherein one or more of the robot cleaning device and the flying object device are provided. The cleaning system according to any one of claims 15 to 27, wherein one or more of the robot cleaning device, the flying object device, and the air cleaning device are provided. The robot cleaning apparatus according to any one of claims 28 to 33, further comprising: a wiping cleaning driving unit for a wiping cleaning function instead of or in addition to the suction driving unit. A self-propelled robot cleaning apparatus for cleaning the floor surface and a flying object apparatus for flying and moving in the air perform a cleaning operation in cooperation with each other while traveling on the floor surface,
The robot cleaning device is
A traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for wirelessly communicating with the aircraft device directly or indirectly;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the traveling drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit;
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping onto the floor a cleaning object which can be suctioned by the robot cleaning device, which is located at a position higher than the floor;
A second communication unit for wirelessly communicating with the robot cleaning apparatus directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. Notifying the robot cleaning device of a notice about an operation to be dropped on the floor through the second communication unit;
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. A cleaning instruction device in a cleaning system characterized by performing a cooperative operation by cleaning.
It has a function of receiving a cleaning plan including designation of a cooperation place in the cleaning area by the user, and comprises means for notifying the robot cleaning device and the aircraft device of an instruction to start the cleaning plan by the user.
When the start instruction of the cleaning plan from the user is received, it is determined whether the cleaning plan includes the cooperation place, and when the cooperation place is included, the robot cleaning device and the flying object to cooperate A cleaning instruction apparatus, wherein the apparatus is activated, and after activation, the cleaning plan is notified to the robot cleaning apparatus and the flying object apparatus. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, a flying object device flying and moving in the air, and an air cleaning device that is movable on the floor surface Cleaning system to perform the cleaning operation,
The robot cleaning device is
A first traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for performing wireless communication directly or indirectly with the aircraft device or the air cleaning device;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the first travel drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit; ,
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping at least a cleaning object which can be suctioned by the robot cleaning device at a position higher than the floor surface;
A second communication unit for wirelessly communicating with the robot cleaning device or the air cleaning device directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The air cleaner is
A second traveling drive unit for autonomously traveling and moving on the floor;
A cleaning mechanism that cleans the atmosphere around the machine, and
A third communication unit for performing wireless communication directly or indirectly with the robot cleaning device or the aircraft device;
A third position detection unit that detects the position of the own machine in the cleaning area;
A third control unit that controls the second travel drive unit and the cleaning mechanism unit while recognizing the position of the own machine detected by the third position detection unit;
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. The notification regarding the operation of dropping to the floor surface is transmitted to the robot cleaning device and / or the air cleaning device through the second communication unit,
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. Perform a coordinated operation by cleaning
The air cleaning apparatus executes the cooperative operation by operating the cleaning mechanism unit in response to a notification regarding an operation of causing the cleaning object to fall to the floor surface at the cooperative place in the cleaning area. A cleaning instruction device in a cleaning system characterized by
It has a function to receive a cleaning plan including designation of a cooperation place in the cleaning area by the user, and notifies the robot cleaning device, the flying object device and the air cleaning device of an instruction to start the cleaning plan by the user Equipped with
When the start instruction of the cleaning plan from the user is received, it is determined whether the cleaning plan includes the cooperation place, and when the cooperation place is included, the robot cleaning device, the flying object apparatus, and Among the air cleaning devices, the associated device is activated, and after activation, the cleaning plan is notified to the robot cleaning device, the flying object device and the air purification device among the air purification devices. Pointing device. A self-propelled robot cleaning apparatus for cleaning the floor surface and a flying object apparatus for flying and moving in the air perform a cleaning operation in cooperation with each other while traveling on the floor surface,
The robot cleaning device is
A traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for wirelessly communicating with the aircraft device directly or indirectly;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the traveling drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit;
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping onto the floor a cleaning object which can be suctioned by the robot cleaning device, which is located at a position higher than the floor;
A second communication unit for wirelessly communicating with the robot cleaning apparatus directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. Notifying the robot cleaning device of a notice about an operation to be dropped on the floor through the second communication unit;
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. The cleaning instruction device in the cleaning system is characterized by performing cooperative operation by cleaning,
Means for receiving a cleaning plan including designation of a cooperation place in the cleaning area by a user, and means for notifying the robot cleaning device and the aircraft device of an instruction to start the cleaning plan by the user
When the start instruction of the cleaning plan from the user is received, it is determined whether the cleaning plan includes the cooperation place, and when the cooperation place is included, the robot cleaning device and the flying object to cooperate A device for activating the device and, after activation, notifying the robot cleaning device and the aircraft device of the cleaning plan;
Program for cleaning instruction device to function as. A self-propelled robot cleaning device that cleans the floor surface while traveling on the floor surface, a flying object device flying and moving in the air, and an air cleaning device that is movable on the floor surface Cleaning system to perform the cleaning operation,
The robot cleaning device is
A first traveling drive unit for autonomously traveling and moving on the floor;
A suction drive unit for sucking dust on the floor surface and storing it in a dust collection chamber;
A first communication unit for performing wireless communication directly or indirectly with the aircraft device or the air cleaning device;
A first position detection unit that detects the position of the own machine in the cleaning area;
A first control unit that controls the first travel drive unit and the suction drive unit to perform cleaning while recognizing the position of the own machine detected by the first position detection unit; ,
Equipped with
The aircraft device is
An air flight mechanism unit for flying and moving the air;
A cleaning aid for dropping at least a cleaning object which can be suctioned by the robot cleaning device at a position higher than the floor surface;
A second communication unit for wirelessly communicating with the robot cleaning device or the air cleaning device directly or indirectly;
A second position detection unit that detects the position of the own machine in the cleaning area;
A second control that controls the air flight mechanism unit to perform flight movement while recognizing the position of the own aircraft detected by the second position detection unit, and performs drive control of the cleaning aid. Department,
Equipped with
The air cleaner is
A second traveling drive unit for autonomously traveling and moving on the floor;
A cleaning mechanism that cleans the atmosphere around the machine, and
A third communication unit for performing wireless communication directly or indirectly with the robot cleaning device or the aircraft device;
A third position detection unit that detects the position of the own machine in the cleaning area;
A third control unit that controls the second travel drive unit and the cleaning mechanism unit while recognizing the position of the own machine detected by the third position detection unit;
Equipped with
The flying object device operates the cleaning object at the cooperation location in the cleaning area, when the cleaning object at a location higher than the floor surface is dropped onto the floor surface using the cleaning aid. The notification regarding the operation of dropping to the floor surface is transmitted to the robot cleaning device and / or the air cleaning device through the second communication unit,
The robot cleaning apparatus travels on the floor surface of the cooperation location after a predetermined time has elapsed after receiving a notification regarding an operation of dropping the cleaning object onto the floor surface at the cooperation location in the cleaning area. Perform a coordinated operation by cleaning
The air cleaning apparatus executes the cooperative operation by operating the cleaning mechanism unit in response to a notification regarding an operation of causing the cleaning object to fall to the floor surface at the cooperative place in the cleaning area. A computer provided with the cleaning instruction device in the cleaning system characterized by
It has a function to receive a cleaning plan including designation of a cooperation place in the cleaning area by the user, and notifies the robot cleaning device, the flying object device and the air cleaning device of an instruction to start the cleaning plan by the user Means of
When the start instruction of the cleaning plan from the user is received, it is determined whether the cleaning plan includes the cooperation place, and when the cooperation place is included, the robot cleaning device, the flying object apparatus, and Among the air cleaning devices, a device to be linked is activated, and after activation, the cleaning plan is functioned as a means for notifying the robot cleaning device, the flying object apparatus and the air cleaning device among the air cleaning devices. Program for cleaning instruction device.

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