JP2019202160A - Cleaning system and robot cleaning device constituting cleaning system, and flight body device - Google Patents

Abstract

To provide a cleaning system capable of performing cleaning on a floor surface as well as performing cleaning at a position, for example, a height position above the floor surface that is incapable of being cleaned using only a self-propelled robot cleaning device for cleaning the floor surface.SOLUTION: A cleaning system comprises: a self-propelled robot cleaning device that performs cleaning operation by sucking cleaning targets on a floor surface while traveling on the floor surface; a flight body device that flies and moves in the air and comprises a cleaning auxiliary tool for performing auxiliary operation of making a cleaning target at a place higher than the floor surface fall to the floor surface or an air cleaning device that can move on the floor surface and comprises a cleaning mechanism part for cleaning an atmosphere around the air cleaning device; and a cleaning instruction device. Responsive to cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flight body device or the air cleaning device perform cleaning operation in cooperation.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a cleaning system, a robot cleaning device and a flying object device constituting the cleaning system.

  2. Description of the Related Art In recent years, robot cleaning apparatuses that perform cleaning by sucking objects to be cleaned such as dust existing on the floor surface while traveling autonomously on the floor surface of the cleaning area have been provided. According to this robot cleaning device, it is possible to clean a room or the like that is a cleaning area without involving the user, which is very convenient.

  However, since the robot cleaning device uses dust or the like existing on the floor surface of the cleaning area as an object to be cleaned, it is not from the floor surface of the cleaning area but from the floor surface of furniture placed on the floor surface. Dust and the like present at a predetermined height cannot be targeted for cleaning.

  Regarding this problem, Patent Document 1 (Japanese Patent Application Laid-Open No. 2010-162263) discloses a floating device with a small particle diameter that keeps floating in the air in the cleaning area at a fixed position such as a room in the cleaning area, in addition to the robot cleaning device. An air purifier that removes dust and chemical substances is installed, and a floating dust removal device and dust removal device (airflow dust collection system) that removes semi-floating dust that floats in the air but falls to the floor over time. ), And a cleaning system is proposed in which a robot cleaning device, an air cleaner, a floating dust removing device and a dust removing device are operated simultaneously to perform coordinated cleaning.

JP 2010-162263 A

  However, in Patent Document 1, the air cleaner, the floating dust removing device, and the dust removing device that cooperate with the robot cleaner are small floating particles and chemical substances that continue to float in the air in the cleaning area, or in the air. Removes quasi-floating dust that has floated but falls to the floor over time. Dust that exists at a predetermined height from the floor, such as on furniture, or that adheres to the curtain For example, dust that is not suspended in the air is not subject to cleaning.

  For this reason, in order to target dust that is present at a predetermined height from the floor surface, such as on furniture, or dust that adheres to the curtain, the user must It was necessary to drop the dust on the floor by hitting it, dropping dust from the shelf, shaking the curtain, or hitting it.

  Moreover, even if the user drops the dust on the floor in this way, the robot cleaner, the air cleaner, the floating dust remover, and the dust remover suck the fallen dust in a timely manner. Therefore, there is a problem that an accurate cleaning operation is difficult to be performed. In particular, air cleaners, suspended dust removal devices, and dust removal devices are only installed at fixed positions in the cleaning area, so install multiple units in the cleaning area to cover the entire cleaning area. There was a problem that it was necessary to do.

  An object of this invention is to provide the cleaning system which can solve the above problems.

In order to solve the above problems, the invention of claim 1
A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
While flying in the air, a flying object device provided with a cleaning assisting tool that performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface, or being movable on the floor surface, An air cleaning device comprising a cleaning mechanism for cleaning the atmosphere around the machine;
A cleaning instruction device;
With
According to the cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flying device or the air cleaning device cooperate to perform a cleaning operation.

  According to the first aspect of the present invention, the self-propelled robotic cleaning device and the flying device or air purifier that moves in the air in accordance with the cleaning instruction information of the cleaning instruction device perform cleaning in cooperation. Make an action. Therefore, the robot cleaner and the flying vehicle device or the air purifier are controlled so as to accurately operate in the cooperation place in the cleaning area in accordance with the cleaning instruction information from the cleaning instruction device.

  According to the cleaning system of the present invention, the flying vehicle device or the air cleaning device and the robot device are appropriately linked in accordance with the cleaning instruction information from the cleaning instruction device.

It is a figure for demonstrating the example of a structure 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 example of a structure of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the example of a structure of 1st Embodiment of the cleaning system by this invention, and its operation | movement. It is a figure for demonstrating the example of a structure 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 electrical structural example 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 electrical structural example of an example of the aircraft apparatus which comprises 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the electrical structural example 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 electrical structural example 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 which shows a part of flowchart for demonstrating the flow of operation | movement of an example of the flying body 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 flying body 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 flying body apparatus which comprises 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 | summary of embodiment of the cleaning system by this invention is demonstrated by describing the cleaning aspect which embodiment of the cleaning system by this invention performs using FIGS.

[Outline of First Embodiment of Cleaning System]
As shown in FIG. 1, the first embodiment of the cleaning system described below includes a cleaning instruction device 1, a robot cleaning device 2, an air vehicle device 3, and an air cleaning device 4. And in this embodiment, according to the instruction | indication of the cleaning instruction | indication apparatus 1, the robot cleaning apparatus 2, the flying body apparatus 3, and the air purifying apparatus 4 mutually communicate wirelessly in the cleaning area where the map data is created beforehand. While working together to clean.

  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. It is made to memorize | store in the apparatus 3 and the air purifying apparatus 4. FIG.

  In this example, the map data is created by the cleaning instruction device 1 instructing the robot cleaning device 2 and the flying body device 3 to create map data for the cleaning area, and based on this, the robot cleaning device 2 and the flying body are created. This is based on the device 3 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 and the flying vehicle device 3 and the captured image information from the camera provided therein, and based on the received information, the map data of the cleaning area is obtained. create. A method for creating the map data of the cleaning area will be described in detail later.

  The cleaning instruction device 1 sends the stored map data of the cleaning area to the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4 for storage. In addition, 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. Then, in the cleaning instruction device 1, the robot cleaning device 2, the flying device 3, and the air cleaning device 4, for example, the map data of each cleaning area is stored in association with the identification information given to each cleaning area. To do. A room name may be set and input to each cleaning area, and the room name may be associated with identification information and stored in each device. The name of the room is not limited to the setting input, but may be automatically generated by the cleaning instruction device 1, the robot cleaning device 2, the flying vehicle device 3, or the air cleaning device 4.

  About an example of a cleaning area, the map data of a cleaning area is demonstrated. In the example shown in FIGS. 1 to 3, for example, a living room (living room) 10 is assumed as a cleaning area, and a table 11 is placed in the approximate center on the floor surface 10S, and a sofa 12 is placed in the vicinity thereof. A bookshelf 13 is placed near the wall without windows. A curtain 15 is hung on the large window 14 of the living room 10. In addition, there is a small window 16 on the other wall, and a blind curtain 17 is provided in the small window 16.

  The map data of the cleaning area includes obstacles on a two-dimensional plane when viewed from above in the direction orthogonal to the floor surface 10S (table 11, sofa 12, book shelf 13 in the case of the living room 10 in FIG. 1). Etc.) and the obstacles relating to the height direction orthogonal to the floor surface 10S and the objects present on the walls of the room in the cleaning area (of the living room 10 in the example of FIG. 1). In this case, it is composed of data indicating occupation positions (occupation ranges) of a large window 14 and a curtain 15, a small window 16 and a blind curtain 17, and the like. In this example, the map data includes, as reference data, captured image information taken in the cleaning area, and in this example, captured by a camera included in the robot cleaning device 2 or the flying vehicle device 3 as described later. ing.

  With reference to FIG. 2, the example of the map based on map data in the case where the cleaning area is the living room 10 shown in FIG. 1 will be described. FIG. 2A is a diagram for explaining an occupation position (occupation range) of an obstacle on a two-dimensional plane when the cleaning area is the living room 10 shown in FIG. 1, and FIG. ) Is a diagram for explaining the occupation positions (occupation range) of the obstacles and the objects existing on the walls of the room in the cleaning area in the height direction orthogonal to the floor surface 10S.

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

  That is, as shown in FIG. 2 (A), the map data includes the table 11 (legs), sofa 12 (legs), bookshelf as an obstacle on the two-dimensional plane (floor surface 10S). It includes information on 13 occupation positions (occupation range). In addition, as shown by hatching in FIG. 2B, the map data includes the table 11 (the legs and the top surface of the table) as an obstacle, the sofa 12 (the legs and the seat surface), the bookshelf 13 and the like. , 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 sky above the two-dimensional plane (floor surface 10S) Contains 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 book shelf 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 has a height position on the upper surface of the table 11, a height position on the upper surface of the book shelf 13, and a vertical height of the window frame portion of the window 14 and the window frame portion of the small window 16. The position of each height position is photographed with a camera while hovering at each position, and is detected from the hovering height position of the flying vehicle device 3.

  Further, the map data includes information on the position of the window 14 existing on the wall of the room in the cleaning area and the curtain 15 covering the window 14, and the small window 16 and the blind curtain 17 provided in the small window 16. including. The presence of the curtain 15 and the blind curtain 17 is detected by recognizing an image captured by a camera mounted on the flying vehicle device 3, for example.

  In the cleaning system of the first embodiment, the robot cleaning device 2 is configured so that the operation of cleaning the floor surface is the main cleaning operation, and the auxiliary operations of the flying vehicle device 3 and / or the air cleaning device 4 are linked. Of course, the flying body device 3 may be the main operation, and the auxiliary operation of the robot cleaning device 2 and / or the air cleaning device 4 may be coordinated. The air cleaning device 4 may be the main operation, and the robot cleaning device 2 and / or the flight. The auxiliary operation of the body device 3 may be linked.

  In this embodiment, when the cleaning instruction device 1 finishes creating map data for the cleaning area, the user performs a cleaning operation in cooperation with the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4 in the cleaning area. Can be registered. The map data is stored including the location information of the link location, the link location name, and the like.

  In this embodiment, when the user starts the cleaning operation of the cleaning system, the user instructs the cleaning instruction device 1 on the floor surface in the cleaning area specified by the map data, It is configured so that a cleaning procedure instruction (hereinafter referred to as a cleaning plan) can be set in what order and how the cleaning is performed. The cleaning plan may be set in advance. In that case, a plurality of cleaning plans can be designated, and information such as a cleaning plan number is added to the information of the cleaning plan, and the information is stored in association with the map data of the cleaning area. It may be. The cleaning plan may be set with a timer.

  The cleaning plan can include designation of a cooperation place where the robot cleaning device 2 in the cleaning area, the flying device 3 and / or the air cleaning device 4 cooperate to perform a cleaning operation. . And the cooperation operation performed in the designated cooperation place is also set together. It is possible to specify a plurality of locations and linkage operations within a single cleaning area, and the location information of the designated linkage location and the information of the linkage operation are associated with the map data of each cleaning area. Is remembered.

  3A and 3B, in the case where the living room 10 is a cleaning area, the cleaning plan information stored in association with the map data of the cleaning area, and the cooperation position information, An example of

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

  3A and 3B, double-lined arrows Pc1, Pc2, Pc3, Pc4, and Pc5 are examples of cooperative locations. The link location information corresponds to the map data by registering position data for identifying the link location, for example, in the case of the bookshelf 13, location data indicating an area occupied by the bookshelf 13 on the floor surface 10S is registered. Attached and memorized. Instead of the location data of the linkage location, a preset linkage location name may be stored.

  In addition, in the cooperation location information, a device that cooperates with the robot cleaner 2 and a cooperation operation that is performed by the device that performs the cooperation are set by the user and registered in association with each other. As a device that cooperates with the robot cleaner 2, either the flying device 3 or the air cleaning device 4, or both the flying device 3 and the air cleaning device 4 can be selected.

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

  In this embodiment, an example of a cleaning object to be dropped is described as dust, but it is not limited to so-called dust, and small paper scraps and plastic, hair, insect carcasses, pollen, etc. that cannot be grasped by a cleaning aid. The object to be cleaned includes all objects that can be sucked by the robot cleaner 2 and can be sucked by the air cleaner 4.

  In addition, the flying vehicle device 3 is configured so as to be able to perform an auxiliary operation of dropping the dust adhering to the curtain 15 by grasping the curtain 15 with a cleaning aid (such as a magic hand) and swinging it left and right. ing. Further, the flying vehicle device 3 can drop the dust adhering to the surface of each wing piece by rubbing the surface of each wing piece of the blind curtain 17 with the brush (brush) of the cleaning aid. It is configured as follows. There are various types of cleaning aids, not limited to magic hands and brushes. For example, by hitting each feather piece of the blind curtain 17 with a cleaning aid tool, each feather piece is applied to the surface of the feather piece. You may comprise so that the adhering dust can be dropped.

  The air cleaning device 4 includes suction means for sucking dust, and is configured to be able to switch the suction force to, for example, “strong”, “medium”, and “weak” as an auxiliary operation. Yes. The cooperative operation by the air cleaning device 4 is an operation of sucking dust in the middle of dropping, and the suction force at that time can be selected and designated as “strong”, “medium”, or “weak” Has been. Of course, the suction force at that time can be determined to be “strong”, “medium”, or “weak” according to the amount of dust in the middle of dropping.

  Next, cooperation of the cleaning operation in the cleaning system of this embodiment will be described. The cleaning instruction apparatus 1 receives a user's designation of a cleaning area and a cleaning plan by a cleaning start request operation by the user. The cleaning plan includes a cleaning procedure instruction for the robot cleaning device 2, designation of a cooperating device, and cooperative operation performed by the designated cooperating device in cooperation. And the cleaning instruction | indication apparatus 1 transmits the cleaning start instruction | indication containing the information of the designated cleaning area and cleaning plan to all the apparatuses which cooperate, and makes them start.

  Then, the device which cooperates among the robot cleaning device 2, the flying body device 3, and the air cleaning device 4 which received the cleaning start instruction starts its own device and starts the designated cleaning operation. In this case, if the cleaning instruction device 1, the robot cleaning device 2, the flying 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 cooperating device is in a place other than the designated cleaning area, the cooperating device moves to the designated cleaning area. Therefore, in this embodiment, the cleaning instruction device 1, the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4 hold the cleaning area map data including the map information of the movement route between the cleaning areas. Is.

  In the following description, for example, the cleaning procedure instruction indicated by the continuous arrow line LS shown in FIG. 3A is given to the robot cleaning device 2 according to the cleaning plan, and the position of the bookshelf 13 ( Assume that the arrow Pc1) in FIG. 3, the position of the window 14 (arrow Pc2 in FIG. 3), and the position of the small window 16 (arrow Pc3 in FIG. 3) are designated.

  For the position of the bookshelf 13 where the cooperation location is, both the flying vehicle device 3 and the air purifying device 4 are selected and designated as the devices to be linked. If it can be gripped by the cleaning aid of the flying vehicle device 3 such as paper scraps 51, the waste basket 2WS provided in the robot cleaner 2 (for example, FIG. 8) and the operation of dropping dust 52 existing on the upper surface of the book shelf 13 onto the floor using a brush (brush) provided on the cleaning aid (see FIG. 4). It is assumed that In addition, the cooperation assisting operation performed by the air purifier 4 at the position of the bookshelf 13 is registered as an operation for setting the suction force to “strong” so as to suck dust in the middle of dropping.

  In addition, it is assumed that both the flying vehicle device 3 and the air purifying device 4 are selected and designated as the devices to be linked with respect to the position of the linkage location of the window 14. Then, as a cooperative assisting operation performed by the flying vehicle device 3, the curtain 15 is grabbed and shaken by a cleaning aid, or the surface of the curtain 15 is rubbed with a brush, so that dust attached to the curtain 15 is dropped. The operation to be performed is registered, and the cooperative auxiliary operation performed by the air cleaning device 4 is registered as an operation to make the suction force “strong” so as to suck dust in the middle of dropping.

  Further, it is assumed that both the flying vehicle device 3 and the air purifying device 4 are selected and designated as the devices to be linked to the position of the small window 16 as the linkage location. As the cooperative operation performed by the flying vehicle device 3, the curtain 15 is gripped and swung by the cleaning aid, or the dust attached to the curtain 15 is dropped by rubbing the surface of the curtain 15 with a brush. (See FIG. 5) is registered, and the cooperative operation performed by the air cleaning device 4 is registered as an operation for setting the suction force to “strong” so as to suck dust in the middle of dropping.

  If there are multiple curtains, the aircraft device 3 may differ depending on the type of curtain (drape, lace, etc.), material (cotton, silk, acrylic, polyester, rayon, etc.), size (height, width), etc. The cooperation assisting operation performed by the air purifier may be changed, or “strong” and “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 material that is easily damaged, such as silk, the auxiliary operation is carefully performed and the suction force is set to “weak”.

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

  That is, the robot cleaner 2 started from the home position PO performs the cleaning of the floor surface 10S in the same manner as usual up to the position of the bookshelf 13 that is the first linkage location. Then, when the robot cleaner 2 arrives at the position of the bookshelf 13 that is the cooperation place, it temporarily stops the traveling movement and the cleaning operation, and requests the flying device 3 to fly to the position of the bookshelf 13 that is the cooperation place. The call notification to be transmitted is transmitted by radio. The robot cleaner 2 also sends a call notification requesting the air cleaner 4 to move to the position of the bookshelf 13 that is the cooperation location for cooperation (see FIG. 4). In this case, the call notification includes information for specifying the cooperation location, for example, position information of the bookshelf 13 that is the cooperation location or a cooperation location name (book shelf). The same applies to the case where the call notification includes information for specifying the cooperation location. Note that the call notification may include information for designating the time (time) for starting the cooperative operation, for example, time information such as “immediately from now”, “5 minutes later”, and “10:15”. . Furthermore, the time required for the cooperative operation (scheduled required time. For example, about 3 minutes) can be included.

  The aircraft apparatus 3 that has arrived after flying to the position of the bookshelf 13 notifies the robot cleaner 2 and the air purifier 4 that the aircraft apparatus 3 has arrived at the position of the bookshelf 13 that is the cooperation location. This arrival notification includes the current position information of the flying vehicle device 3, and the device that has received this arrival notification can confirm that it has arrived at the designated cooperative location. The same applies to the arrival notification including the current position of the transmitting device.

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

  Then, after the flying object device 3 stores the paper waste 51 in the waste bin 2WS of the robot cleaner 2, or there is no cleaning object such as the paper waste 51 grasped by the cleaning aid on the upper surface of the book shelf 13. When the determination is made, the reception of the arrival notification from the air cleaning device 4 to the position of the bookshelf 13 is awaited.

  The air cleaning device 4 moves to the position of the bookshelf 13 in response to a request from the robot cleaning device 2, and when it arrives at the position of the bookshelf 13, notifies the robot cleaning device 2 and the flying body device 3 to that effect.

  When confirming the arrival notification of the arrival at the position of the bookshelf 13 from the air cleaning device 4, the flying vehicle device 3 drops the dust present on the upper surface of the bookshelf 13 as a cooperative operation registered in the cleaning plan. Both the robot cleaning device 2 and the air cleaning device 4 are notified to start the operation to be performed, and the operation of dropping the dust is started using a brush provided in the cleaning aid. In addition, about the operation | movement to drop, it is also possible to add direction information on which direction to drop or direction information about which direction to drop. In this case, the direction information is determined by the flying body device 3 and may be 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 designates the flying body device. 3 may be notified. Of course, the cleaning instruction apparatus 1 may also be notified.

  The air cleaning device 4 that has received a notification to start the operation of dropping dust from the flying vehicle device 3 activates the suction means to suck the dust that can be sucked out of the falling dust. The suction force at that time is “strong” according to the setting of the cleaning plan described above.

  In addition, the robot cleaner 2 that has received a notification to start the operation of dropping dust from the flying vehicle device 3 stands by at a position avoiding the falling point of the dust falling from the upper surface of the book shelf 13.

  When it is determined that the operation of dropping the dust from the upper surface of the bookshelf 13 is completed, the flying vehicle device 3 wirelessly transmits a notification to that effect to the robot cleaner 2 and the air cleaner 4. Thereafter, the flying vehicle device 3 flies to the home position PO, returns, and stands by.

  The robot cleaner 2 that has received the notification that the operation of dropping the dust from the upper surface of the bookshelf 13 has been completed waits for a lapse of time from which the notification can be regarded as having all the dust dropped on the floor surface. Then, the suction cleaning operation is performed on the floor surface where the dust near the bookshelf 13 seems to have fallen.

  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 bookshelf 13 has been completed waits for a lapse of time from which the dust can be considered to have fallen to the floor surface. Stop the suction operation. And the air purifier 4 waits in the said position in this embodiment. In addition, the air purifying apparatus 4 may continue without stopping the suction operation and wait at the position. Or you may move following the movement of the robot cleaner 2.

  Next, when the robot cleaning device 2 determines that the cooperative operation at the position of the bookshelf 13 has ended, the robot cleaning device 2 follows the cleaning procedure instruction indicated by the continuous arrow line LS indicated in the cleaning plan, and then the window 14 that is the next cooperative place. The normal suction cleaning operation is executed up to the position. Then, when the robot cleaner 2 arrives at the position of the window 14 that is the cooperation location, the traveling movement and the cleaning operation are temporarily stopped, and the aircraft apparatus 3 seems to fly to the position of the window 14 for cooperation. To ask. The robot cleaner 2 also requests the air cleaner 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 arbitrarily set. Of course, the cleaning plan and the cleaning procedure may be changed according to the day of the week and the time zone, or the cleaning plan and the cleaning procedure may be changed during the cleaning.

  The flying vehicle apparatus 3 that has moved to the position of the window 14 notifies the robot cleaning apparatus 2 and the air cleaning apparatus 4 that it has arrived at the position of the window 14. Thereafter, the flying vehicle device 3 notifies both the robot cleaning device 2 and the air cleaning device 4 to start the operation of dropping dust adhering to the curtain 15 as an auxiliary operation registered in the cleaning plan. Then, the operation of dropping the dust is started. That is, the flying vehicle device 3 grips and shakes the curtain 15 with the cleaning aid, or rubs the surface of the curtain 15 with the brush provided on the cleaning aid, thereby removing the dust attached to the curtain 15. Perform a drop action.

  The air cleaning device 4 that has received a notification to start the operation of dropping dust from the flying vehicle device 3 uses the suction means “strong” to suck the dust that can be sucked out of the falling dust. ”.

  In addition, the robot cleaner 2 that has received a notification to start the operation of dropping dust from the flying vehicle device 3 stands by at a position avoiding the falling 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 is finished, the flying vehicle device 3 wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air cleaning device 4. Thereafter, the flying vehicle device 3 flies to the home position PO, returns, and stands by.

  The robot cleaner 2 that has received the notification that the operation of dropping the dust from the curtain 15 has ended, waits for a lapse of time from which the notification can be regarded as having all the dust fallen on the floor, The suction cleaning operation is performed on the floor surface where the dust near the lower part of the curtain of the window 14 seems to have fallen.

  In addition, the air cleaning device 4 that has received the notification that the operation of dropping the dust from the curtain 15 has been completed waits for a lapse of time from which the dust can be considered to have fallen to the floor surface, and then performs suction. Stop operation. And the air purifier 4 waits in the said position in this embodiment. In addition, the air purifying apparatus 4 may continue without stopping the suction operation and wait at the position. Or you may move following the movement of the robot cleaner 2.

  Next, when the robot cleaner 2 determines that the cooperative operation at the position of the window 14 has ended, the small window 16 that is the next cooperative place is followed by the cleaning procedure instruction indicated by the continuous arrow LS indicated by the cleaning plan. The normal suction cleaning operation is executed up to the position. Then, when the robot cleaner 2 arrives at the position of the window 14 that is the cooperation location, the robot apparatus 3 and the air purifier 4 The cleaning operation is executed in cooperation (see FIG. 6).

  The assisting operation for cooperation of the flying vehicle device 3 in the cooperation place of the small window 16 is an operation of rubbing the surface of each feather piece of the blind curtain 17 with the brush of the cleaning aid to drop the dust. .

  In this example, when the cooperative operation at the cooperative place of the small window 16 is finished, the robot cleaning device then cleans the floor surface 10S according to the cleaning procedure instruction by the cleaning plan, and after the cleaning is finished, the home position Returning to PO, the battery is charged by the charging device. In FIG. 3, the cleaning procedure instruction is indicated by continuous arrows. In short, at what timing or in what order the cooperative operation in one or a plurality of cooperative locations is performed during the cleaning operation. This is the same as the instruction. Therefore, in cleaning the floor surface 10S, the robot cleaning device 2 does not move along the continuous arrow line, but the robot cleaning device 2 in the floor surface 10S can travel and can be cleaned. Needless to say, cleaning everything is no different from the cleaning operation of a normal robot cleaner.

[Configuration example of each device constituting the cleaning system]
<Configuration Example of Robot Cleaning Device 2>
<< Mechanical Configuration Example of Robot Cleaning Device 2 >>
FIG.7 and FIG.8 is a figure for demonstrating the example of a mechanical structure of the self-propelled robot cleaning apparatus 2 of this embodiment. 7A is a view of the robot cleaning device 2 of this example as viewed from the upper surface 2a side, and FIG. 7B is a view of the robot cleaning device 2 of this example as viewed from the side. 8A is a view of the robot cleaning device 2 of this example as viewed from the bottom surface 2b side including the suction port 21, and FIG. 8B is a diagram illustrating the robot cleaning device 2 of this example during the cleaning operation. It is the figure seen from the front advancing direction. 7A, 7 </ b> B, and 8 </ b> A, an arrow AR indicates a traveling direction (forward direction) during the cleaning operation of the robot cleaning device 2.

  As shown in FIG.7 and FIG.8, the robot cleaning apparatus 2 of this example is provided with the substantially rectangular flat shape housing | casing. On the upper surface 2a of the robot cleaner 2, as shown in FIG. 7A, a display unit 22 made of, for example, an LCD (Liquid Crystal Display) is provided, and a transceiver unit 23 for wireless communication is provided. Is provided. In addition, a waste bin 2WS is provided on the upper surface 2a of the robot cleaner 2.

  A touch panel is provided on the display screen of the display unit 22, and an operation button group is displayed on the display screen. The transceiver unit 23 for wireless communication is for wirelessly communicating with the cleaning instruction device 1, the flying device 3, and the air cleaning device 4. In response to the control signal by the radio signal from the cleaning instruction device 1, the robot cleaning device 2 can start driving, stop driving, and control the mode.

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

  And the robot cleaning apparatus 2 of this embodiment is provided with the rolling brush 25 and the flexible brush 26 in the suction inlet 21, as shown to FIG. 8 (A). And the roller 27 is provided in the approximate center ahead of the advancing direction at the time of cleaning operation | movement with respect to the position of the suction inlet 21 of the bottom face 2b of the housing | casing of the robot cleaner 2. FIG. The roller 27 is attached so as to be rotatable in a plane in which the axial direction of the rotation shaft is parallel to the bottom surface 2b. For this reason, the axial center direction of the rotating shaft of the roller 27 can be directed not only in a direction orthogonal to the arrow AR but also in an arbitrary direction. On both sides of the suction port 21 on the bottom surface 2b, wheels (wheels) 28 and 29 that are rotationally driven by a travel drive unit (not shown in FIG. 8) are provided.

  When the wheels 28 and 29 are driven and rotated by the travel drive unit, the robot cleaning device 2 is self-propelled. However, as described above, the roller 27 can rotate with any direction as the rotation axis direction. The robot cleaner 2 not only travels straight in the direction of the arrow AR, but can also rotate and travel and move in an arbitrary direction intersecting the arrow AR. Further, the robot cleaner 2 can travel backward in the direction opposite to the arrow AR by controlling the rotation direction of the wheels by the travel drive unit.

  In this embodiment, the robot cleaning device 2 includes an imaging unit. That is, the camera CM 21 is provided on the side surface of the housing in front of the roller 27 of the robot cleaner 2 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2b. Further, in this embodiment, an oblique direction that is a direction intersecting the direction indicated by the arrow AR is set as an imaging direction (optical axis direction) at a substantially corner portion of the side surface of the housing where the camera CM 21 is provided. 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 case of the camera CM21. It is attached slightly upward. Further, a camera CM 24 is provided on the side surface of the housing behind the roller 27 of the robot cleaner 2 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2b.

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

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

  In addition, the robot cleaning device 2 of this example can travel along the wall or obstacle of the room counterclockwise in order to detect the outline of the cleaning area when creating the cleaning area map. Ranging sensors SS21 and SS22 are provided on the right side surface of the robot cleaner 2 as shown in FIG.

  That is, when a cleaning area map creation instruction is received from the cleaning instruction device 1, the robot cleaning device 2 moves in a certain direction along the wall of the room or an obstacle near the wall such as the bookshelf 13, thereby cleaning the cleaning area. Trace the outline of In this case, the robot cleaning device 2 may be caused to travel in a state where the side surface of the robot cleaning device 2 is in light contact with the wall. However, in this example, the robot cleaning device 2 is difficult to travel smoothly. Then, by monitoring the sensor outputs of the distance measuring sensors SS21 and SS22 provided on the side surface of the robot cleaning device 2, the robot cleaning device 2 travels at a predetermined distance, for example, about 5 cm away from the wall. To.

  Then, the robot cleaner 2 sends its own position information to the cleaning instruction device 1 while traveling in the cleaning area for which the cleaning area map is to be created. The cleaning instruction device 1 can detect a 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 distance (offset distance) between the robot cleaning device 2 and an obstacle at the wall or an obstacle on the wall, for example, an area frame wide by about 5 cm. It is detected and registered as area frame information of the cleanable area.

  In this example, in order to enable the robot cleaner 2 to travel along the walls and obstacles of the cleaning area counterclockwise when creating the cleaning area map, the distance measuring sensor Is provided on the right side surface of the robot cleaner 2, but may be provided on the left side surface of the robot cleaner 2 when traveling in the clockwise direction in the cleaning area. In addition, ranging sensors may be provided on both the left and right sides of the robot cleaner 2 so as to use any traveling direction. Further, 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 cleaner 2 of this embodiment. As shown in FIG. 9, the robot cleaning device 2 includes a suction control unit 202, a travel control unit 203, and a display device through a system bus 200 with respect to a control unit 201 on which a microcomputer is mounted. Unit 204, touch panel 205, wireless communication unit 206, transmission information generation unit 207, reception information analysis unit 208, cleaning area map data storage unit 209, own position detection unit 210, and map creation operation control unit 211, a cooperation processing unit 212, a timer unit 213, cameras CM21 to CM24, and distance measuring 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 sucking a cleaning object from the suction port 21. The travel drive unit 222 rotates the wheels (wheels) 28 and 29 so that the robot cleaner 2 is self-propelled.

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

  The wireless communication unit 206 is for wireless communication with the cleaning instruction device 1, the flying vehicle device 3, and the air cleaning device 4. In this embodiment, for example, a wireless LAN functional unit 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 vehicle device 3, or the air purification device 4 as a counterpart.

  The wireless communication unit 206 is a device designated as a counterpart of the cleaning instruction device 1, the flying vehicle device 3, and the air cleaning device 4 generated by the transmission information generation unit 207 under the control of the control unit 201. The transmission information for is transmitted through the wireless LAN. In addition, the wireless communication unit 206 transfers instruction information and notification information sent from the cleaning instruction device 1, the flying device 3, and the air cleaning device 4 to the reception information analysis unit 208 through the wireless LAN.

  The reception information analysis unit 208 analyzes the instruction information and notification information sent from the cleaning instruction device 1, the flying vehicle device 3, and the air cleaning device 4 through the wireless LAN, and operates at the time of map creation according to the analysis result The data 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. The cleaning area map data storage unit 209 stores the map data of the cleaning area described above.

  The own position detection unit 210 detects the position of the own apparatus. The self-position detecting unit 210 includes, for example, a moving direction detecting means using a geomagnetic sensor, a gyro and the like in addition to means for detecting the self-position by receiving radio waves from a GPS (Global Positioning System) satellite. Using the acceleration detecting means, the moving direction and the travel distance are detected, and for example, the own position in the cleaning area is detected depending on the direction and how much the starting position is the home position PO.

  The map creation operation control unit 211 operates when a map data creation request for the cleaning area is received from the cleaning instruction device 1, and the cleaning instruction device 1 outlines the cleanable area of the cleaning area for which the map data is to be created. The operation control is performed so that the travel position information can be detected, and the travel position information at that time is transmitted to the cleaning instruction apparatus 1 through the wireless communication unit 206. The map creation operation control unit 211 also performs operation control for creating map data in cooperation with the flying vehicle device 3 as described later.

  The cooperation processing unit 212 operates when a cleaning start request including a cleaning plan is received from the cleaning instruction apparatus 1 and the cleaning plan indicates that it includes a cooperative operation that is not the device itself. Then, processing control such as traveling control of the own device for performing a 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, and controls 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 is a transmission image of captured image information from each of the cameras CM21 to CM24 when the robot cleaning device 2 travels for the creation of a cleaning area map or during the cleaning operation according to the control of the control unit 201. Information is generated and transmitted to the cleaning instruction apparatus 1 and other apparatuses that cooperate. In this case, camera identification information (camera ID) indicating which of the cameras is the captured image information is assigned to the captured image information from each of the cameras CM21 to CM24. The transmission information generation unit 207 appropriately performs encoding processing such as data compression on the captured image information from each of the cameras CM21 to CM24, generates transmission image information, and transmits the transmission image information through the wireless communication unit 206.

  In this embodiment, each of the cameras CM21, CM22, CM23, and CM24 is not shown, but an illumination unit made of, for example, an LED is added. Lighting of the illumination unit is controlled by the control unit 201. In this case, the control unit 201 measures the brightness of the captured images (such as the average value of the brightness of the captured images) from the cameras CM21, CM22, CM23, and CM24 by software processing, and the brightness of the captured images is predetermined. At the following time, the control unit 201 controls to turn on the illumination unit. Note that the control unit 201 may perform control so that the illumination unit is always turned on 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 a request for creating map data for the cleaning area from the cleaning instruction device 1, the detection output is used by the control unit 201 to create map data. To do.

  In FIG. 9, the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, the reception 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 receiving a cleaning start instruction input through the touch panel 205 or when receiving a cleaning disclosure instruction from the cleaning instruction apparatus 1 through the wireless communication unit 206, the control unit 201 is driven 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 them, and to start an automatic cleaning operation while the robot cleaning device 2 is self-running.

  Further, when the control unit 201 receives a cleaning stop instruction input through the touch panel 205 or 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. Then, a drive stop control signal is supplied to the suction drive unit 221 and the travel drive unit 222, and the drive of the suction drive unit 221 and the travel drive unit 222 is stopped, and the automatic cleaning operation by the robot cleaner 2 is stopped. . In addition, when the control unit 201 determines that the entire cleaning area corresponding to the cleaning area map data stored in the cleaning area map data storage unit 209 has been cleaned and terminated, the control area 201 autonomously Returning to the home position PO, control is performed so as to start charging by combining with the charging device at the position of the home position PO.

  Furthermore, in this embodiment, when the control unit 201 receives a cleaning start instruction input from the cleaning instruction apparatus 1 through the wireless communication unit 206, the control unit 201 displays the cleaning plan information included in the received information as the reception information analysis unit 208. To determine whether the device itself is to be cleaned or whether it is associated with a cooperative operation with another device. Then, when it is determined that the device itself is to be cleaned, the control unit 201 generates a control signal based on the cleaning support program stored in the built-in memory, and passes through the suction control unit 202 and the travel control unit 203. The suction drive unit 221 and the travel drive unit 222 are supplied to control the drive.

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

  When receiving the cleaning area map creation request from the cleaning instruction device 1, the map creation operation control unit 211, as described above, the control unit 201 uses the own device 3 and the distance measuring sensors SS21 and SS22. It is made to travel so as to search the outline of the cleaning area while securing 5 cm from the wall, and position information at the time of traveling is wirelessly transmitted to the cleaning instruction device 1. Thereby, the cleaning instruction | indication apparatus 1 can detect the outline of the cleanable area | region of a cleaning area.

  For example, the air purifier 3, the robot cleaner 2, and the cleaning instruction device 1 cooperate with each other in a cleanable area such as the table 11 or the sofa 12 that exists on the floor surface in the center of the room that is the cleaning area. Can be detected. The map creation operation control unit 201 also performs operation control for this purpose.

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

  The map cleaning operation control unit 211 of the robot cleaner 2 estimates the travelable area below the table 11 and the sofa 12 from the received position information of the table 11 and the sofa 12 on the floor surface of the cleaning area and the occupied area information. The vehicle is tried to travel, and the result (for example, position information group when traveling is possible) is sent to the cleaning instruction device 1. Note that the map creation operation control unit 211 of the robot cleaner 2 recognizes a captured image from a camera whose traveling direction is the imaging direction prior to the trial of traveling of the own device 2, and the image recognition result of the captured image. Thus, it is possible to confirm whether or not the own device 2 can travel below the table 11 and the sofa 12.

  Then, the map creation operation control unit 211 of the robot cleaner 2 wirelessly transmits the position information at the time of trial of traveling to the cleaning instruction device 1. The cleaning instruction device 1 analyzes position information when the robot cleaning device 2 tries to travel, and detects a cleanable region that can travel under the table 11 or the sofa 12.

  As described above, the cleaning instruction apparatus 1 can create map data of the cleaning area not only with the outline of the cleaning area but also with the space of the legs such as a table and a sofa as a cleanable area.

  When the reception information analysis unit 208 determines that the cooperation device and the cooperation operation are set as a result of the analysis of the cleaning plan information 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 from the reception information analysis unit 208, and recognizes other devices to cooperate with, the cooperation location, and the cooperation operation at the cooperation location. And the cooperation process part 212 performs the control process for performing cooperation operation | movement as mentioned above demonstrated using FIGS. 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 where the device is located and the cooperation timing, and cooperates the generated transmission information through the transmission information generation unit 207 and the wireless communication unit 206. Send to other devices. In this case, the transmission information to be transmitted to the other devices that are linked includes the information on the linked location and the information on the linked operation.

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

<Configuration Example of Aircraft Device 3>
<< Mechanical Configuration Example of Aircraft Device 3 >>
FIG. 10 is a diagram for explaining an example of the mechanical configuration of the aircraft apparatus 3 of this embodiment. FIG. 10A is a view of the flying object device 3 of this embodiment as viewed from above, and FIG. 10B is a view of the flying object device 3 of this embodiment as viewed from the front side. It is a figure.

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

  The rotary blade mechanisms 34A, 34B, 34C, and 34D rotate the rotary blade shafts (not shown) by the motor driving units 341A, 341B, 341C, and 341D, thereby rotating the rotary blades 342A, 342B, 342C, and 342D. It is configured to rotate. The motor drive units 341A, 341B, 341C, and 341D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 32. The motor drive units 341A, 341B, 341C, and 341D and the drive control unit 32 use a battery (not shown) as a power source for rotational drive and a power source for drive control. Various mechanism units, camera groups, various sensors, control units, and the like, which will be described later, are also supplied with power from the battery. As the battery, for example, a rechargeable secondary battery is used.

  In this example, each of the motor drive units 341A, 341B, 341C, and 341D is independently controlled by a drive control signal from the drive control unit 32, so that the air vehicle apparatus 3 takes off, landes, rises (true) (Up, diagonally up), down (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, etc. The posture control such as the tilt angle and the position control of the 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 apparatus 3. Two leg portions 36A and 36B are further attached to the main body housing 35 of the flying vehicle device 3 so as to face each other. In this example, the leg portions 36A and 36B are made of pipe members formed in a trapezoidal shape, and as shown in FIG. 10B, the edge of the main body housing 35 of the flying vehicle device 3 is on the landing surface 37. The air vehicle apparatus 3 is formed so as to be stably held without contacting the landing surface 37.

  In this example, as shown in FIGS. 10A and 10B, a camera CM 31 is provided on the upper surface of the housing of the drive control unit 32. Further, as shown in FIGS. 10A and 10B, cameras CM <b> 32 to CM <b> 35 are respectively provided on the four side surfaces of the main body housing 35 of the flying vehicle device 3. Furthermore, as shown in FIG. 10B, a camera CM 36 is provided on the bottom surface of the main body casing 35 of the flying vehicle device 3.

  The optical axes (corresponding to the shooting directions) of the cameras CM31 to CM36 are orthogonal to the respective mounting surfaces of the cameras CM31 to CM36, and a predetermined range of view angles can be taken around the optical axis direction.

  The flying body device 3 of this embodiment includes a cleaning aid as described above. As shown in FIGS. 10 (A) and 10 (B), this cleaning assisting tool is constituted by a magic hand portion 38 in this embodiment.

  In this example, the magic hand portion 38 is provided on the front side surface of the body housing 35 of the flying vehicle device 3 as shown in FIGS. 10 (A) and 10 (B). The magic hand portion 38 includes a connecting / coupling portion 38a, a connecting arm portion 38b, and a grip portion 38c. The connecting and coupling part 38 a is coupled to the main body housing 35 of the aircraft apparatus 3. The connecting arm portion 38b is connected to the connecting and connecting portion 38a in a state where the connecting arm portion 38b itself is rotatable about its axial direction. The grip part 38c is attached to the tip of the connecting arm part 38b.

  The gripping portion 38c is obtained by attaching two arc-shaped gripping arms 381 and 382 to the drive fulcrum portion 383 so as to face each other. As shown in FIG. 10 (A), the grip arms 381 and 382 are in an initial state in which their tips are opposed to each other by a predetermined distance. In the magic hand portion 38 of this example, the grip arms 381 and 382 have the same mechanism as that of a known magic hand, and the drive fulcrum portion 383 is used as a drive fulcrum as shown by an arrow HL in FIG. The arm tips are driven so as to approach each other so that the substance can be gripped.

  In this example, the coupling arm 38 a of the magic hand 38 is provided with a grip arm driving unit (not shown). This gripping arm drive unit operates to apply a tensile force toward the coupling coupling portion 38a to the driving fulcrum 383 and the gripping arms 381, 382 of the gripping portion 38c via the coupling arm portion 38b. With this pulling force, the gripping arms 381 and 382 are driven with the driving fulcrum portion 383 as a driving fulcrum so that the tips of the arms approach each other as indicated by an arrow HL. That is, the gripping arms 381 and 382 operate to grip a cleaning target such as paper waste. And the grip arm drive part provided in the connection coupling part 38a is controlled by the control signal from the control part with which the flying body apparatus 3 is provided, and is controlled so that the grip operation of the grip arms 381 and 382 can be performed. .

  Further, the coupling / coupling portion 38a is also provided with a mechanism for controlling the rotation of the coupling arm portion 38b around the axial center direction, and the direction of the surface including the two gripping arms 381 and 382 is always flying, for example. Control is performed so as to maintain a state parallel to the upper surface of the main body casing 35 of the body device 3, and the direction of the surface including the two gripping arms 381 and 382 intersects with the upper surface of the main body casing 35 of the flying body device 3. It can be controlled so as to be in a state (including orthogonal).

  In this embodiment, brush portions 384 and 385 are attached below the two gripping arms 381 and 382 as shown in FIG. The brush portions 384 and 385 are configured by animal hairs or hair-like resin grafted under the gripping arms 381 and 382.

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

<< Description of Circuit Configuration Example of Aircraft Device 3 >>
A drive control device section 30 is provided in the main body housing 35 of the flying vehicle 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 flying vehicle device 3 of this embodiment. In FIG. 11, the battery is omitted.

  As shown in FIG. 11, the drive control unit 30 in this embodiment has an aerial flight drive unit 302, a gyro sensor through a system bus 300, with respect to a control unit 301 composed of a microcomputer (omitted from a microcomputer in FIG. 11). 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 orientation control signal generation unit 310, camera group 311, wireless communication The unit 312, the transmission information generation unit 313, the reception information analysis unit 314, the cooperation processing unit 315, and the magic hand control unit 316 are connected to each other. A magic hand unit 38 is connected to the magic hand control unit 316.

  The aerial flight drive unit 302 supplies drive control signals to the motor drive units 341A, 341B, 341C, and 341D of the rotary wing mechanisms 34A, 34B, 34C, and 34D of the aerial flight mechanism unit 31 according to the control of the control unit 301. To do.

  The gyro sensor 303 detects a change in acceleration during the flight of the flying object device 3 and is used to detect the flight traveling direction, the speed, and the posture of the flying object device 3. The geomagnetic sensor 304 is used to detect in which direction the flying vehicle device 3 is flying. The altitude sensor 305 is for detecting the altitude at which the flying vehicle device 3 is located at the time point, and is composed of, for example, an atmospheric pressure sensor.

  The obstacle sensor 306 is used to detect obstacles such as indoor walls, wardrobes, beds, tables, and the like where the flying object device 3 is used, and to fly while avoiding collision with the obstacles.

  The cleaning area map data storage unit 307 stores map data of a cleaning area related to the room where the flying vehicle apparatus 3 is used. As described above, the map data of the cleaning area includes not only two-dimensional map data regarding the floor surface of the room that 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 moving space information of the flying vehicle device 3.

  The memory of the control unit 301 of the flying object device 3 of this embodiment stores an application program for panoramic photographs (for example, Photosynth). As described above, the flying object device 3 is used in advance. The interior is photographed in the range of 360 degrees by using all or part of the cameras CM31 to CM36 after flying in the room. And the control part 301 produces | generates indoor 3D image information from the image | photographed picked-up image information using the application program for panoramic photographs, The cleaning area map data containing the produced | generated 3D image information are used as the cleaning area map. The data is stored in the data storage unit 307.

  In this case, as described above, in this example, the air vehicle apparatus 3 determines a specific location in the cleaning area where it is used as a home position, and takes off and land using that position as a base. The information stored in the cleaning area map data storage unit 307 also stores the position information of the determined home position. In the cleaning area map data storage unit 307, the vertical, horizontal, and height information of the used room, the height information of the table, the sofa, the bookshelf, etc., and the position of the window and the curtain (the height position are stored). The position of the small window and the brand curtain (including the height position) is also stored in advance. Furthermore, structural information of the room used, such as a beam, a pipe space, and a pillar, may be stored in advance.

  The own position detection unit 308 includes a GPS (Global Positioning System) receiver, for example, and detects the latitude, longitude, and altitude of the current position of the flying vehicle device 3. In order to obtain more accurate position information, the current position may be detected using a radio wave from a mobile phone base station or a radio wave from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . Further, the entire periphery of the flying vehicle device 3 is photographed using all or part of the cameras CM31 to CM36, and the photographed image information is compared with the 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 position after movement, the position detection unit 308 also uses the gyro sensor 303, the geomagnetic sensor 304, and the altitude sensor 305.

  When the flight control signal generator 309 starts flying from the base (home position) and moves in the air according to a command based on the activation information by the control unit 301, 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, a moving direction and a moving distance are calculated in order to generate a flight drive signal for moving in the room.

  The flight drive signal generation unit 309 uses the information such as the gyro sensor 303, the geomagnetic sensor 304, and the altitude sensor 305, based on the calculated direction and distance, and further, the captured images from the cameras CM31 to CM36 of the camera group 311. , A flight drive signal for moving from the base position to the designated cooperative position is generated and supplied to the aerial flight mechanism unit 31 through the aerial 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 aerial flight mechanism unit 31 through the aerial flight drive unit 302.

  The aerial flight mechanism unit 31 receives this flight drive signal and rotationally drives each of the rotor blades 342A to 342D to move from the base to the linked position or from the position where the linked operation has been completed to the base by air flight. I do.

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

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

  The wireless communication unit 312 is for wirelessly communicating 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 wireless LAN functional unit. 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 a counterpart.

  The wireless communication unit 312 is a device designated as a counterpart of the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 generated by the transmission information generation unit 313 under the control of the control unit 301. The transmission information for is transmitted through the wireless LAN. In addition, the wireless communication unit 206 transfers instruction information and notification information transmitted from the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 to the reception information analysis unit 314 through the wireless LAN.

  The reception information analysis unit 314 analyzes instruction information and notification information sent from the cleaning instruction device 1, the flying vehicle 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 when it receives a cleaning start request including a cleaning plan from the cleaning instruction apparatus 1 and indicates that the cleaning plan includes a cooperative operation that is not the device itself. Then, processing control such as flight control of the own apparatus for performing a cooperative operation included in the cleaning plan and mutual communication with the cooperative apparatus is performed. The cooperation processing unit 315 performs a cooperative 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 grip driving operation of the grip arms 381 and 382 of the magic hand unit 38.

  In FIG. 11, the flight drive signal generation unit 309, the position / attitude 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 are controlled by the control unit 301. It can be realized as a software processing function.

<Configuration example of the air cleaning device 4>
The air purifying device 4 of this embodiment has the same configuration as that of conventionally known air purifying devices, except that the air purifying device 4 has wheels (wheels) for traveling and moving. Therefore, in this specification, the description of the configuration example of the mechanism part of the air cleaning device 4 is omitted.

<< Circuit Configuration Example of Air Cleaner 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 travel control unit 403, and a display unit through a system bus 400 with respect to a control unit 401 on which a microcomputer is mounted. 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 CMs 41 to 44 and the 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 sucking dust from the suction port 21. The sucked dust is cleaned using a dust collection filter or the like. The traveling drive unit 422 causes the wheels (wheels) to rotate and cause the air cleaning device 4 to self-run.

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

  The wireless communication unit 406 is used for wireless communication with the cleaning instruction device 1, the robot cleaning device 2, or the flying device 3. In this embodiment, the wireless communication unit 406 is configured as a wireless LAN functional unit. 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 vehicle device 3 as a counterpart.

  The wireless communication unit 406 is a device designated as a counterpart of the cleaning instruction device 1, the robot cleaning device 2, or the flying device 3 generated by the transmission information generation unit 407 under the control of the control unit 401. The transmission information for is transmitted through the wireless LAN. In addition, 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 vehicle device 3 through the wireless LAN to the reception information analysis unit 408.

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

  The cooperation processing unit 411 operates when a cleaning start request including a cleaning plan is received from the cleaning instruction device 1 and indicates that the cleaning plan includes a cooperative operation that is not the device itself. Then, processing control such as traveling control of the own device for performing a 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 cleaning device 4 of this embodiment includes a cleaning area map data storage unit 409. The cleaning area map data storage unit 409 stores the cleaning area map data described above.

  The own position detection unit 410 detects the position of the own apparatus. The self-position detecting unit 210 includes, for example, a moving direction detecting means using a geomagnetic sensor, a gyro and the like in addition to means for detecting the self-position by receiving radio waves from a GPS (Global Positioning System) satellite. Using the acceleration detecting means, the moving direction and the travel distance are detected, and for example, the own position in the cleaning area is detected depending on the direction and how much the starting position is the home position PO.

  Each of the cameras CM41, CM42, CM43, and CM44 has a front movement direction of the air cleaning device 4 (a direction in which the suction unit is present), 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 an imaging direction.

  The control unit 401 supplies camera control signals to each of these cameras CM41, CM42, CM43, and CM44, and controls the start and stop of imaging of each of the cameras CM41, CM42, CM43, and CM44. Each of the cameras CM41, CM42, CM43, and CM44 receives 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) indicating which camera's captured image information is given to the captured image information from each of the cameras CM41 to CM44.

  The captured image information of these cameras CM41, CM42, CM43, and CM44 is supplied to the image recognition unit 412 for image recognition.

  The control unit 401 monitors the image recognition result of the captured images of the cameras CM41, CM42, CM43, and CM44, thereby detecting an obstacle during traveling and traveling while avoiding the obstacle.

  In FIG. 12, the suction control unit 402, the travel control unit 403, the transmission information generation unit 407, the reception information analysis unit 408, the own position detection unit 410, and the cooperation processing unit 411 are controlled by the control unit 401 as 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 is configured as an apparatus including a relatively flat housing that can accept an operation input by a touch method and includes a relatively large display screen. ing. Note that the cleaning instruction device 1 is not a dedicated device, and may be configured as a portable terminal such as a smartphone, a tablet, or a portable personal computer in which an application for realizing a similar function is installed. The cleaning instruction device 1 is not limited to a portable terminal, but may be a wristwatch type terminal, a spectacle type terminal, a terminal built in a contact lens, a desktop type computer such as a desktop type, or a smart speaker (AI speaker). It may be.

  Of course, the cleaning instruction device 1 can be provided (built in) in the robot cleaning device 2, the flying vehicle 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 device 1 has a display unit 102, a touch panel 103, a wireless communication unit 104, and a control unit 101 equipped with a microcomputer via a system bus 100. , 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, cooperative place reception unit 110, and cleaning plan reception unit 111. And are connected.

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

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

  The wireless communication unit 104 is for wireless communication with the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4. In this embodiment, the wireless communication unit 104 is configured as a wireless LAN functional unit. 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 vehicle device 3, or the air purification device 4 as a counterpart.

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

  When the user makes a map data generation request for the cleaning area, the transmission information generation unit 105 generates a map data generation instruction notification for the cleaning area to the robot cleaning device 2 and the flying vehicle device 3. The robot cleaning device 2 and the flying vehicle device 3 receive the map data generation instruction notification of the cleaning area and execute the operation as described above for generating the map data of the designated cleaning area. Then, the robot cleaning device 2 and the flying vehicle device 3 perform the operation for generating the map data of the designated cleaning area as described above, and the position information of the cleaning area and the captured image taken by the camera. It operates to transmit information to the cleaning instruction apparatus 1.

  The wireless communication unit 104 transfers information for generating cleaning area map data sent from the robot cleaner 2 and the flying vehicle device 3 to the reception information analyzer 106 via the wireless LAN. The reception information analysis unit 408 transfers the position information transmitted from the robot cleaner 2 and the flying vehicle device 3 through the wireless LAN to the cleaning area map data generation unit 107 and the image recognition device, and also performs the robot cleaning through the wireless LAN. The captured image information sent from the device 2 and the flying vehicle device 3 is transferred to the image recognition unit 109.

  The image recognition unit 109 recognizes obstacles such as tables, sofas, bookshelves, windows, curtains, blind curtains, etc. existing in the room of the cleaning area from the received captured image information, and the recognition results are recognized in the cleaning area. The cleaning 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 cleaner 2. Then, the cleaning area map data generation unit 107 exists in the cleaning area from the image recognition result of the captured image information received from the robot cleaning device 2 or the flying vehicle device 3 and the positional information including the height position of the flying vehicle device 3. Map data indicating the locations of obstacles, windows, curtains, etc. to be generated is generated.

  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. 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 cleaner 2, the flying vehicle device 3, and the air purifier 4 receive a registration setting by a user at a cooperation place where the cleaning operation can be performed in cooperation.

  In this case, the cooperation place reception unit 110 displays in advance the obstacles such as the above-described table, sofa, and bookshelf, window curtains, small window blind curtains, and the like as cooperation place candidates in the cleaning area map. Like that. Then, the user designates, through the touch panel 103, a place where the user wants to actually perform cleaning in cooperation with the candidate for the cooperation place. In this embodiment, the user can designate (select and designate) a cooperative operation at each cooperative place, and accept the designation of the cooperative 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 each cleaning area map data.

  When the cleaning area is, for example, the living room 10 shown in FIG. 1 described above, for example, if the cooperation location is the installation position of the bookshelf 13, an operation of gripping and removing paper scraps on the upper surface and dropping dust from the upper surface Etc. are registered as cooperative operations. For example, when the cooperation location is the position of the window 14 where the curtain 15 is laid, an operation of dropping dust from the curtain 15 is registered as the cooperation operation.

  And when the control part 101 of the cleaning instruction | indication apparatus 1 receives the cleaning start request | requirement of the cleaning area by a user, in this embodiment, the cleaning plan reception part 111 is started and a cleaning area designation | designated and designation | designated from a user. Accept a cleaning plan in the designated cleaning area. The user may set and input a cleaning plan in advance before performing a cleaning start request operation. In this case, the cleaning start request operation includes the designated cleaning plan designation information. Alternatively, the cleaning plan set immediately before the cleaning start request operation may be a cleaning plan executed by the cleaning start request operation.

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

  As shown in FIG. 14, the cleaning plan includes a case where the robot is executed by any one of “robot cleaning device alone”, “aircraft device alone”, and “air cleaner alone” without cooperation. It is possible to select and specify a case to be performed. The example of FIG. 14 shows a state where “cooperation” is selected and designated by the user. When “cooperation” is selected, as shown in FIG. 14, “cooperation device” for receiving selection designation of a device operating in cooperation, and “cooperation location” for receiving selection designation of a location to cooperate with Therefore, it is possible to select and input “cooperation operation” for accepting designation of cooperation operation at the cooperating place.

  When the reception of the cleaning plan in the cleaning plan reception unit 111 is completed, the control unit 101 of the cleaning instruction device 1 activates the specified device when the device specified in the cleaning plan is alone, Start cleaning in the designated cleaning area. In addition, when the designation in the cleaning plan is “cooperation”, the control unit 101 determines what the cooperating device is, starts each of the cooperating devices, and selects the cooperating place and the cooperating operation. A cleaning start instruction including designation is transmitted 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 are controlled by the control unit 101. It can also be realized as a hardware processing function.

[Operation of each device of the cleaning system]
An example of the flow of operations of the cleaning instruction device 1, the robot cleaning device 2, the flying vehicle 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 the subsequent FIG. 16 are flowcharts for explaining an example of the flow of operation of the cleaning instruction apparatus 1. In the following description, the processing of each step in the flowcharts of FIGS. 15 and 16 is performed by the control unit 101 of the cleaning instruction apparatus 1 by 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 illustrated in FIG. 15, the control unit 101 of the cleaning instruction apparatus 1 monitors a user operation input through the touch panel 103 and determines whether or not a cleaning area map creation request operation has been received (step S <b> 101). When it is determined in step S101 that a cleaning area map creation request operation has been received, the control unit 101 gives identification information to the designated cleaning area and accepts designation of the 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, creation order) 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 vehicle device 3 (step S103).

  Then, the robot cleaner 2 and the flying vehicle device 3 start the cleaning area map creation operation. That is, as described above, the robot cleaner 2 travels and moves so as to generate the contour information of the cleanable area of the cleaning area, and the position information and the captured image information of the cameras CM21 to CM24 at that time are obtained. Then, it is sent to the cleaning instruction device 1 as cleaning area map creation information. In addition, the flying vehicle device 3 flies in the cleaning area, and sends the positional information 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 vehicle device 3 (step S104), and uses the collected cleaning area map creation information. Then, cleaning area map data is created, and the created cleaning area map data is stored and held (step S105).

  Then, when the creation and storage of the cleaning area map data is 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. The user is prompted to input information related to cooperation, such as confirmation or registration of the cooperation location, and registration of cooperation operation (step S106).

  And the control part 101 receives the setting input of the information regarding the cooperation by a user, and matches and memorize | stores it with the cleaning area map data currently stored (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 vehicle device 3, and the air cleaning device 4 (step S108). Above, the control part 101 complete | finishes the process according to the cleaning area map creation request.

  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 or not a cleaning start request operation has been performed (step S111 in FIG. 15). This cleaning start request operation includes designation of a cleaning area. When it is determined in step S111 that the cleaning start request operation has not been performed, 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 has been operated, the control unit 101 displays a cleaning plan menu as shown in FIG. 14 in the cleaning area designated by the cleaning start request, for example, on the display unit 102. It is displayed on the display screen (step S113). Then, on the displayed cleaning plan menu display screen, the user is prompted to input the cleaning plan, and the cleaning plan input in response thereto is accepted (step S114).

  Next, the control unit 101 analyzes the received cleaning plan (step S115) and determines whether or not cooperation designation is made (step S116). In this step S116, when there is no designation of cooperation and the cleaning plan is based on a single device, the control unit 101 gives an activation instruction to the designated device among the robot cleaning device 2, the flying vehicle device 3 and the air cleaning device 4. Send (step S117). Then, the control part 101 transmits the cleaning start instruction | indication including the positional information on the cleaning place designated with the cleaning plan in a cleaning area to the activated apparatus (step S118). And the control part 101 of the cleaning instruction | indication apparatus 1 complete | finishes a process.

  If it is determined in step S116 that cooperation is designated, the control unit 101 recognizes a device to be linked from the analysis result of the cleaning plan in step S115 (step S119), and each of the recognized devices is recognized. An activation instruction is sent to the server (step S120). Then, the control part 101 transmits the cleaning start instruction | indication including the positional infomation on the cooperation place designated by the cleaning plan in a cleaning area, and the information of cooperation operation | movement to each of the started cooperation apparatus (step S121). And the control part 101 of the cleaning instruction | indication apparatus 1 complete | finishes a process.

<Description of Operation of Robot Cleaning Device 2>
FIG. 17 and FIG. 18, which is a continuation thereof, are flowcharts for explaining an example of the operation flow of the robot cleaner 2. In the following description, the processing of each step in the flowcharts of FIG. 17 and FIG. 18 is performed by the control unit 201 of the robot cleaner 2, the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, and the reception information analysis. Description will be made assuming that 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 cleaner 2 monitors the reception of the activation instruction from the cleaning instruction apparatus 1 (step S201), and when the reception of the activation instruction from the cleaning instruction apparatus 1 is confirmed, performs the activation process of its own apparatus. (Step S202). And the control part 201 receives the cleaning start instruction | indication sent from the cleaning instruction | indication apparatus 1, and analyzes it (step S203).

  And the control part 201 discriminate | determines from the analysis result of a cleaning start instruction | indication whether cooperation specification is made (step S204). When it is determined in this step S204 that the cooperation designation is not made, the control unit 201 starts cleaning (cleaning the floor) according to 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. When it is determined that the cleaning has been completed, the control unit 201 returns to the home position. (Step S207), the process ends.

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

  And the control part 201 discriminate | determines whether it arrived at the cooperation place instruct | indicated by cooperation designation | designated (step S212), and when it determines with not having arrived at the cooperation place, normal floor cleaning is continued. When it is determined in step S212 that the link location has arrived, the control unit 201 sends a notification for calling to move to the link location to another device designated for link through the wireless communication unit 206, and the link location (Step S213).

  As described above, when the flying body 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, the arrival is notified to other devices that cooperate. To do.

  Therefore, the control unit 201 determines whether or not the other device to be linked has arrived based on whether or not an arrival notification has been received from the linked other device (step S214). If there are a plurality of other devices associated with each other, reception of arrival notifications from all of the plurality of other devices is confirmed, and the arrival of the plurality of other devices is awaited.

  In step S214, if another device that cooperates has not arrived, step S214 is repeated to wait for the arrival of another device that cooperates. As described above with reference to FIG. 6, a cooperative operation with another apparatus set in the cooperative place is executed (step S <b> 215).

  Next, the control unit 201 determines whether or not the cooperative operation has been completed (step S216). When it is determined that the cooperative operation has not been completed, the cooperative operation is continued. To move to another location and continue cleaning (step S217).

  Next, the control unit 201 determines whether there is a designation of another cooperation place that has not been completed (step S218). It returns to S212 and repeats the process after this step S212. When it is determined in step S218 that there is no designation of another cooperation place that has not been completed, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing after step S206.

  In addition, the cleaning area is the living room 10, and the cooperation place designated by the cleaning plan is the book shelf 13, the window 14 on which the curtain 15 is spanned, and the small window 16 in which the blind curtain 17 is provided. In addition, a paper scrap disposal and an operation of dropping dust on the upper surface of the book shelf 13 are registered as a cooperative operation at the cooperative place of the bookshelf 13, and a dust is applied from the curtain 15 as a cooperative operation at the cooperative place of the window 14 on which the curtain 15 is laid. Is registered, and the operation of dropping dust from each wing piece of the blind curtain 17 is registered as the cooperative operation at the cooperative location of the small window 16 provided with the blind curtain 17. The cooperation operation in each of the cooperation places described with reference to FIGS. 4 to 6 is sequentially performed.

  In this case, when the operation of dropping dust is designated as the cooperative operation in step S215, the robot cleaner 2 notifies the start of the operation of dropping dust from the flying vehicle device 3 and / or Until the end notification is received, it waits at a predetermined position in the vicinity of the cooperation place, waits for a time for the dust to surely fall on the floor surface, travels while sucking the floor surface in the vicinity of the bookshelf 13 and cleans. Is executed as a cooperative operation. The same cooperative operation is performed in the cooperative operation in which dust is dropped from the curtain 15 and in the cooperative operation in which dust is dropped from each feather piece of the blind curtain 17.

<Description of Operation of Aircraft Device 3>
FIG. 19 and FIG. 20 that is a continuation thereof are diagrams showing a flowchart for explaining an example of the flow of operation of the flying vehicle device 3. In the following description, the processing of each step in the flowcharts of FIG. 19 and FIG. 20 is performed by the control unit 301 of the flying vehicle device 3, the flight drive signal generation unit 309, the position / orientation control signal generation unit 310, and the transmission information generation unit. 313, the reception information analysis part 314, the cooperation process part 315, and the magic hand control part 316 are demonstrated as a case where it is made to perform as a software processing function.

  The control unit 301 of the flying vehicle apparatus 3 monitors the reception of the activation instruction from the cleaning instruction apparatus 1 (step S301), and when the reception of the activation instruction from the cleaning instruction apparatus 1 is confirmed, performs the activation process of the own apparatus. (Step S302). And the control part 301 receives the cleaning start instruction | indication sent from the cleaning instruction | indication apparatus 1, and analyzes it (step S303).

  And the control part 301 discriminate | determines whether cooperation specification is made | formed from the analysis result of the cleaning start instruction | indication (step S304). When it is determined in this step S304 that the cooperation designation is not made, the control unit 301 starts an 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 been completed (step S306). When it is determined that the instructed operation has not ended, the control unit 201 continues the instructed operation. Returning to (step S307), the process is terminated.

  When it is determined in step S304 that the cooperation designation is made, the control unit 301 stands by for calling (step S311 in FIG. 20).

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

  If it is determined in step S312 that a call from another cooperating apparatus has been received, the control unit 301 controls the apparatus to move to the cooperation location designated by the call (step S313). And the control part 301 discriminate | determines whether it arrived at the cooperation place by monitoring the position of an own apparatus (step S314), and if it has not arrived at the cooperation place, repeats step S314 and returns to a cooperation place. If it is determined that it has arrived at the cooperation location, the arrival at the cooperation location is notified to other devices that cooperate with each other by wireless communication (step S315).

  And the control part 301 performs cooperation operation | movement with another apparatus (step S316). That is, for example, when the above-described bookshelf 13 is set as the cooperation place, and the cooperation operation as described above is designated, the control unit 301 first flies to the position of the upper surface of the bookshelf 13 and hovering is performed. Then, it is determined from the captured image information of the cameras CM31 to CM34 whether or not paper waste exists. When paper waste is present, the magic hand unit 38 is used to grip the paper waste and fly and move it so as to be accommodated in the waste basket 2WS of the robot cleaner 2.

  Next, the control unit 301 of the flying vehicle device 3 sends a start notification of the operation of dropping the dust on the upper surface of the bookshelf 13 to the robot cleaning device 2 and the air cleaning device 4 by wireless communication, and is attached to the magic hand unit 38. The brush is used to control the operation of dropping dust.

  In this case, the control unit 301 of the flying vehicle device 3 analyzes the captured image information of each camera of the camera group 311, grasps the location where the dust is dropped and the surrounding situation, and performs the operation of dropping the dust. Determine whether to execute or cancel. That is, for example, when there is a person in the place where the dust is dropped, especially when there is an infant, the dust dropping operation is stopped, and notification is given to the associated devices (robot cleaning device 2 and air cleaning device 4). To do. Further, when there is food or drink on the room or the table 11, the dust dropping operation is stopped, and the device (robot cleaning device 2 or air purifying device 4) is notified to that effect. Also, when there is a water tank or the like at the destination of the drop, the dust dropping operation is similarly stopped, and a notification to that effect is sent to the associated device (robot cleaning device 2 or air cleaning device 4). Furthermore, the control unit 301 refers to the captured image information of the camera so that it is difficult to clean even if dust is dropped, such as behind a large TV, behind a shelf such as a chest or a bookshelf, or between shelves. Controls driving of the cleaning aid 38 so as not to drop dust.

  In addition, the control unit 301 of the flying vehicle device 3 analyzes the captured image information of each camera of the camera group 311 and determines whether or not the object present at the position of the upper surface of the bookshelf 13 is a cleaning object. If not, the robot cleaning device 2 and the cleaning instruction device 1 are notified as they are. In particular, in the case of valuables such as rings, credit cards, cash cards, memory cards, cash, etc., leave them as they are or collect them in one place so as not to scatter them, and inform the robot cleaning device 2 and the cleaning instruction device 1 to that effect. Announcement with the type of valuables as important matter.

  In the case of valuable items, the magic hand unit 38 is used to hold the valuable items and store them in the waste basket 2WS of the robot cleaner 2 or in a valuable item box (not shown), or A robot cleaner that moves and flies so as to be stored (placed) in a precious space (not shown, which may be on the table 11) installed or designated in the living room 10 2 and the cleaning instruction apparatus 1 are notified. In this case, captured image information obtained by photographing the valuables with the camera is added to the notification from the flying vehicle device 3. Then, the robot cleaning device 2 and the cleaning instruction device 1 display on the display screen of the display unit the type and storage location of the notified valuables and the captured images of the valuables.

  Further, even when the flying object apparatus 3 determines that the object present on the upper surface of the bookshelf 13 is a cleaning object as a result of the determination as to whether or not the cleaning object is a glass object, It is determined whether it is dangerous to drop it on the floor, such as glass or metal, and if it is dropped on the floor, such as glass fragments or metal, leave it as it is. The instruction device 1 is notified.

  When the control unit 301 of the flying vehicle device 3 determines that the operation of dropping the dust in the entire area of the upper surface of the book shelf 13 is finished, the control unit 301 notifies the end of the operation of dropping the dust to the robot cleaning device 2 or the air cleaning device. 4 is notified by wireless communication.

  Note that each of the start notification and the end notification of the operation of dropping dust from the flying vehicle device 3 includes information (position information and name of the link location) that identifies the link location where the process is executed. The robot cleaning device 2 and the air cleaning device 4 that have received these notifications can confirm the cooperation location where the operation of dropping the dust has been executed, based on the information specifying the cooperation location. Similarly, the suspension notification of the operation of dropping the dust from the flying vehicle apparatus 3 also includes information (position information and the name of the cooperation location) specifying the cooperation location where the operation was stopped, and the robot that has received this suspension notification 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 cleaner 2 waits for the time until all the dust falls on the floor surface based on the notification from the flying vehicle device 3 and then the dust on the floor surface around the bookshelf. Executes cleaning operation to absorb water. Since the air purifying device 4 operates to absorb dust flying in the air, the dust absorbing operation is performed immediately upon receiving a start notification of the operation of dropping the dust on the upper surface of the bookshelf 13 from the flying device 3. To start.

  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 this cooperative operation may be determined by sending an end notification of the operation in which the flying vehicle device 3 drops the dust, or a cleaning end notification of the floor area around the bookshelf 13 from the robot cleaner 2. You may judge by having received.

  If it is determined in step S317 that the cooperative operation has been completed, the control unit 301 controls the apparatus to return to the home position in this example (step S318). Of course, you may stand by in the place where cooperation operation ends.

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

<Description of Operation of Air Cleaner 4>
The operation flow of the air cleaning device 4 is the same as the operation flow of the flying vehicle device 3 described with reference to FIGS. 19 and 20 except that the detailed contents of the cooperative operation executed in step S316 are different. Therefore, in this specification, the description of the operation flow of the air cleaning device 4 is omitted except for the detailed content of the cooperative operation executed in step S316.

  That is, as described above, the air cleaning device 4 starts the dust absorbing operation as soon as the start of the operation of dropping the dust from the flying vehicle device 3 is received as the cooperative operation in step S316. Then, it operates to absorb dust flying in the air.

  In the case of the flying body device 3, the home position is returned after the cooperation operation is completed. However, in the case of the air cleaning device 4, the home position may be returned or the cooperation operation may be performed. You can stay in the cooperation place you went.

[Effect of the first embodiment]
As described above, according to the cleaning system of the above-described embodiment, the robot cleaner 3 causes the flying device 3 to drop dust from a high place where the dust cannot be collected and cleaned. It is convenient to perform cleaning similar to the case of cleaning with a vacuum cleaner after a person hits it when cleaning.

  Further, in the cleaning system of the above-described embodiment, when the flying vehicle device 3 drops dust, the air cleaning device 4 can be linked to perform the air suction operation, so that it is in the middle of dropping. It is also possible to collect fine dust by the air cleaning device 4.

  And according to the cleaning system of the above-mentioned embodiment, since the above-mentioned cleaning operation is automatically performed only by the user specifying the cleaning plan and instructing the start of cleaning, 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 executed when the housekeeper is away.

[Second Embodiment]
In the first embodiment of the cleaning system described above, the robot cleaning device 2 that has received a cleaning start instruction from the cleaning instruction device 1 first starts cleaning through traveling and cooperates at each cooperation location. The flying body device 3 and the air cleaning device 4 as the above-mentioned devices are called to perform the cooperative operation. However, the cleaning sequence including the cooperative operation in the cleaning system of this embodiment is not limited to the cleaning operation in the sequence as described above.

  The cleaning system of the second embodiment includes a cleaning instruction device 1, a robot cleaning device 2, an aircraft device 3, and an air cleaning device 4 that have the same configuration as that of the first embodiment. However, the sequence of the cleaning operation is different from that of the first embodiment. In the second embodiment, the flying vehicle device 3 and the air cleaning device 4 execute the designated cooperative operation at the designated cooperative location prior to the cleaning operation of the robot cleaner 2. When the flying body device 3 and the air cleaning device 4 end the cooperative operation, the end-of-life notification is wirelessly transmitted to the robot cleaning device 2. This end notification includes information (position information or name of link location) for specifying the link location.

  In the cleaning system according to the second embodiment, the robot cleaner 2 notifies the end of the cooperative operation at the first cooperative place among the cooperative places specified in the cleaning plan from the flying body device 3 and the air cleaning device 4. After receiving the signal, the vehicle starts traveling so as to clean the floor surface of the cleaning area.

  The robot cleaner 2 confirms that the operation of dropping the dust, which is the cooperative operation, has already been completed at the cooperative location by receiving the notification of the completion of the cooperative operation from the flying vehicle device 3 and the air cleaning device 4. Can do. Therefore, in the cleaning system of the second embodiment, the robot cleaner 2 does not have to wait for the operation of dropping the dust by the flying vehicle device 3 in the cooperation place as in the case of the first embodiment. A cleaning operation while continuously running in a designated cleaning area can be executed.

  FIG. 21 is a flowchart of the main part of the operation flow of the flying vehicle apparatus 3 constituting the cleaning system of the second embodiment. The flowchart portion of the operation flow not associated with the cooperation shown in FIG. 19 is executed in exactly the same manner by the flying vehicle apparatus 3 constituting the cleaning system of the second embodiment. And the flying body apparatus 3 which comprises the cleaning system of 2nd Embodiment replaces with the flowchart part of the operation | movement flow shown in FIG. 20, and performs the flowchart of the operation | movement flow shown in FIG.

  That is, the control unit 301 of the flying vehicle device 3 constituting the cleaning system of the second embodiment moves to the first cooperation place when it is determined in step S304 in FIG. 19 that cooperation is designated in the cleaning plan. And when it arrives at the cooperation place, the arrival notification is wirelessly transmitted to other devices that cooperate, for example, the robot cleaner 2 and the air cleaner 4 (step S321 in FIG. 21). The arrival notification includes information (position information of the cooperation place or the name of the cooperation place) that identifies the arrival cooperation place. In addition, the apparatus which received the notification of arrival can recognize a cooperation place by referring the cleaning area map data memorize | stored with the information which specifies a cooperation place.

  And the control part 301 discriminate | determines whether the apparatus which should operate | move cooperatively in a cooperation place, in this example, the air purifying apparatus 4 is designated as a cooperation apparatus (step S322). Here, the device that operates in cooperation with the cooperative place is not a device that does not operate during the operation of dropping dust, which is a cooperative operation, like the robot cleaning device 2, but during the operation of dropping dust. It is a device that should be operated at the same time, like the air cleaning device 4 that performs the air cleaning operation.

  When it is determined in step S322 that a device that should operate in cooperation with the cooperation location is specified, the control unit 301 arrives at the cooperation location when the device that cooperates in the cooperation location. If it has not arrived, step S323 is repeated to wait for the arrival of the cooperating apparatus at the cooperation location. In this case, since an arrival notification is sent from the device that should operate in cooperation with the cooperative location when it arrives at the cooperative location, depending on whether or not the arrival notification is received, in step S323, The devices that cooperate at the cooperation location determine whether or not they have arrived at the cooperation location.

  In step S323, when it is confirmed that an arrival notification has been received from a device cooperating in the cooperation place, the control unit 301 executes a cooperation operation in the cooperation place (step S324). In this case, for example, in the case of the cleaning plan shown in FIG. 3, the flying object device 3 removes paper waste existing on the upper surface of the bookshelf 13 and the 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 grasped by the magic hand unit 38 in the waste basket 2WS of the robot cleaning device 2, but sends a request for the current position to the robot cleaning device 2 by wireless communication. Then, the robot moves to the current position sent from the robot cleaner 2 and stores paper waste. When storing paper waste, the flying device 3 requests the robot cleaning device 2 to temporarily stop traveling so that the paper waste is stored in the waste bin 2WS of the robot cleaning device 2 in the stopped state. However, in this way, without temporarily stopping the travel of the robot cleaning device 2, the robot cleaning device 2 is checked with the camera depending on the current position of the robot cleaning device 2, and the sky above the moving robot cleaning device 2 is cleared. The paper cleaner may be moved while flying in accordance with the traveling of the robot cleaner 2 so that paper waste is stored in the waste bin 2WS of the robot cleaner 2.

  Then, when the removal of the paper waste is finished, a start notification of the operation of dropping the dust from the upper surface of the bookshelf 13 is sent to the robot cleaning device 2 and the air cleaning device 4 of the cooperation device. The air cleaning device 4 receives the start notification and operates the suction driving unit 421 so as 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 that should operate in cooperation with the cooperation location is not specified, the control unit 301 jumps the processing from step S322 to step S324 to perform cooperation operation in the cooperation location. Execute. The cooperative operation in this case is only the removal of paper waste by the flying device 3 and the operation of dropping the dust.

  Next, the control unit 301 monitors whether or not the cooperative operation has ended (step S325), and when determining that the cooperative operation has ended, the control unit 301 determines the end of the cooperative operation at the cooperative location as another device that cooperates. (Robot cleaning device 2 and / or air cleaning device 4) is notified (step S326).

  Then, the control unit 301 determines whether there is a designation of another cooperation place that has not been completed (step S327). When it is determined that there is designation of another cooperation place that has not been completed, the control unit 301 performs the process at step S321. The process after step S321 is repeated. When it is determined in step S327 that there is no designation of another cooperation place that has not been completed, the control unit 301 shifts the process to step S306 in FIG. 19 and executes the processes after step S206.

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

  That is, as described above, the air purifying device 4 absorbs dust as soon as it receives the start notification of the operation of dropping the dust from the flying vehicle device 3 as the cooperative operation in step S324. The operation is started and the operation of absorbing dust flying in the air is performed.

  In the case of the flying body device 3, the home position is returned after the cooperation operation is completed. However, in the case of the air cleaning device 4, the home position may be returned or the cooperation operation may be performed. You can stay in the cooperation place you went.

  Next, the flow of the operation of the robot cleaner 2 in the second embodiment will be described. FIG. 22 is a flowchart of the main part of the operation flow of the robot cleaner 2 constituting the cleaning system of the second embodiment. The flowchart portion of the operation flow not associated with the cooperation shown in FIG. 17 is executed in exactly the same manner by the robot cleaning device 2 constituting the cleaning system of the second embodiment. And the robot cleaning apparatus 2 which comprises the cleaning system of 2nd Embodiment replaces with the flowchart part of the flow of operation | movement shown in FIG. 18, and performs the flowchart of the flow of operation | movement shown in FIG.

  That is, when the control unit 201 of the robot cleaning device 2 configuring the cleaning system of the second embodiment determines in step S204 in FIG. 17 that cooperation is designated in the cleaning plan, the control unit 201 starts from another device that cooperates. Waiting for the reception of the end notification of the cooperative operation at the first cooperative location (step S221 in FIG. 22).

  In step S221, when confirming reception of the end notification of the cooperative operation at the first cooperative location from another device that cooperates, the control unit 201 recognizes and stores the cooperative location where the cooperative operation has ended. (Step S222). And the control part 201 starts the cleaning operation | movement by the own apparatus 2 after progress of the time which added the time until dust falls to a floor surface from the time of receiving the notification of completion | finish of cooperation operation | movement in the said 1st cooperation place. (Step S223).

  And the control part 201 discriminate | determines whether the completion notification of the cooperation operation | movement in another cooperation place was received from the other apparatus which cooperates (step S224). In step S224, when it is determined that a notification of completion of the cooperative operation at another cooperative location has been received from another device that cooperates, the control unit 201 recognizes and additionally stores the cooperative location where the cooperative operation has ended. (Step S225). In step S221 or step S224, the control unit 201 does not cooperate even when the linkage operation is not completed, such as when the battery is exhausted or the user is forcibly terminated instead of receiving the termination notification. The cooperative location where the operation has ended may be recognized and stored (additional storage), and may be stored (additional storage) so as to be able to identify where the linkage operation has not been completed.

  In step S224, when it is determined that the notification of completion of the cooperation operation at another cooperation place has not been received from another device that cooperates, and after the processing of step S225 is completed, the position of the own device is determined. Monitoring is performed to determine whether or not it has arrived at the cooperation location (step S226). If it is determined in step S226 that the link place has not been reached, the control unit 201 returns the process to step S224, and repeats the processes after step S224.

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

  When it is determined in step S227 that the cooperative operation at the arrived cooperative location has been completed, the control unit 201 continues the cleaning operation without pausing (step S228).

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

  If it is determined in step S227 that the cooperation operation at the arrived cooperation place has not been completed, the control unit 201 temporarily stops the cleaning operation (step S230). Then, the control unit 201 waits for reception of the end notification of the cooperative operation at the cooperative location from another device that cooperates (step S231). If the end of the cooperative operation at the cooperative location has not been received. , Step S231 is repeated to wait for the notification of the end of the cooperative operation at the cooperative location, and after confirming the reception of the notification of the end of the cooperative operation at the cooperative location, wait for the elapse of a predetermined time from the reception, The operation is resumed (step S232). In this case, the predetermined time from the reception of the end notification 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 moves the process to step S229, determines whether or not there is a designation of another cooperation place that has not been completed, and determines another cooperation place that has not been completed. When it is determined that there is a designation, 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 place that has not been completed, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing after step S206.

  In the above example, the robot cleaning device 2 starts the cleaning operation in step S221 after receiving the end notification of the cooperative operation at the first cooperative location specified in the cleaning plan. 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 considering the end of the cooperation operation at the first cooperation place. For example, the robot cleaning device 2 takes the time required to move the distance from the home position to the first cooperation place. The predetermined time can be determined in consideration.

[Effects 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 has already waited for the dust to fall at the cooperation location without already waiting for the floor surface. It is possible to suck the dust falling on the surface. For this reason, since the robot cleaning device 2 does not need time to wait at the cooperation place at the time of cleaning, the designated cleaning area can be cleaned in the same time as when the cooperation place is not designated. Become.

[Other Embodiments or Modifications]
In the cleaning system of the above-described embodiment, the cleaning instruction device 1 is configured so as not to be involved in the cleaning operation after the cleaning start instruction is transmitted to other devices constituting the cleaning system. However, the activation control and operation control of other devices may be performed so as to perform all of the cleaning plan, and the operation management and operation control may be performed for the cooperative operation.

  In that case, the robot cleaner 2, the flying vehicle device 3, and the air cleaner 4 do not communicate with each other but all communicate with the cleaning instruction device 1. That is, each device periodically notifies the cleaning instruction device 1 of its own location information, and wirelessly sends a notification of arrival at the cooperative location, a notification of the start of the cooperative operation, and a notification of the end of the cooperative operation to the cleaning instruction device 1. Send by communication. And the cleaning instruction | indication apparatus 1 sends the movement instruction | indication to the cooperation place to the cooperation apparatus, the start instruction | indication of cooperation operation | movement, etc. by radio | wireless communication.

  Further, in the second embodiment, the flying body device 3 and the air cleaning device 4 are configured to finish the cooperative operation at all the cooperative locations before the cleaning operation of the robot cleaner 2 is executed. When the flying vehicle device 3 and the air purifying device 4 wait at the cooperation place and wait for the robot cleaning device 2 to arrive, and receive the arrival notification from the robot cleaning device 2 to the cooperation place, the first implementation is performed. You may make it perform cooperation operation | movement like a form.

  In the above-described embodiment, the cleaning instruction device 1 is provided as a separate device from the robot cleaning device 2, the flying body device 3, and the air cleaning device 4. You may provide in the body apparatus 3, the air purifying apparatus 4, or several apparatus (all apparatuses may be sufficient).

  Further, although the waste basket 2WS is provided on the upper surface 2a of the robot cleaner 2 of the above-described embodiment, the waste basket 2WS may not be provided. When the waste basket 2WS is not provided, on the upper surface 2a of the robot cleaning device 2, the home position of the flying vehicle device 3 is the space where the flying vehicle device 3 can land, and the robot cleaning device 2 It is good also as the upper surface 2a.

  A flying device 3 is provided with a bowl-shaped or mop-shaped cleaning aid that allows the dust on the ceiling to fall by stroking the ceiling of the room, and the air purifier 4 is moved while following the ceiling. You may make it fall dust from. In this case, the robot cleaner 2 may follow the floor surface position where the dust dropped by the flying device 3 is present with a time delay.

  Further, the cleaning aid of the flying vehicle device 3 is not limited to the above-described example. For example, the cleaning aid such as hitting a curtain, blowing wind, wiping the upper surface of a shelf with a mop or cloth, and the like You may make it do. Moreover, you may comprise so that the cleaning assistance tool can be replaced | exchanged with respect to the main body housing | casing of the aircraft apparatus 3. FIG.

  In addition, the wireless communication units 104, 206, 312, and 406 have a wireless LAN configuration using Wi-Fi (registered trademark). However, the wireless communication units 104, 206, 312, and 406 may be configured using other communication standards. Of course.

  In addition, although the cleaning system of the above-mentioned embodiment was set as the structure provided with the air purifying apparatus 4, the air purifying apparatus 4 does not need to be. Further, instead of the air cleaning device 4, for example, another cooperation device such as a deodorizing device may be provided.

  Each of the other cooperative devices such as the robot cleaning device, the flying device, and the air cleaning device that constitute the cleaning system may be configured by a plurality of units instead of one unit. In this case, any one or some of the other cooperative devices such as the robot cleaner, the flying device, and the air purifier may be one, the others may be plural, and all the devices may be plural. 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 according to the cleaning plan. Moreover, you may make it a plurality of apparatus divide | segment and share the area | region in the cleaning area designated by the cleaning plan.

  When a plurality of devices are used, each device is identified in the cleaning plan menu of FIG. 14, such as robot cleaning devices a and b, air vehicle devices d, e, and f, air cleaning devices g and h. It can be so.

  Moreover, although the robot cleaning apparatus 2 of the above-mentioned embodiment shall have the cleaning function by suction, it may have a wiping cleaning function instead of the cleaning function by suction, and the cleaning function by wiping and the wiping cleaning function Both of them may be provided. When a plurality of robot cleaning devices are used as described above, one is a robot cleaning device having a suction cleaning function, and the other is a robot cleaning device having a wiping cleaning function. On the other hand, a cleaning operation may be performed.

  Further, in the above-described embodiment, the cooperation place is a place where a bookshelf, a window, and a table fixedly installed in the room exist, but as shown in FIG. The flying vehicle device 3 uses the cleaning aid 38 to strike or rub it with a brush to drop dust and pollen, and the robot cleaner 2 sucks the dropped dust and pollen, and air. The present invention can also be applied to the case where the cleaning device 4 sucks dust and pollen in the middle of dropping. In this case, the function of the cleaning instruction device is incorporated in, for example, a smartphone possessed by the person 61 who has come home, for example, the cleaning area is the entrance space, and the cooperation place is the uphill of the entrance, Instructions for starting a cleaning plan in which the cooperation devices are the robot cleaning device 2, the flying device 3, and the air cleaning device 4 are the robot cleaning device 2, the flying device 3, and the air cleaning device 4 that are the cooperation devices. And the devices are activated and cleaning is performed as described above.

  Alternatively, when the cleaning instruction device is installed at the entrance, has a human sensor, and recognizes a person who has returned home, for example, the cleaning area is the entrance space, and the cooperation place is the uphill of the entrance, Instructions for starting a cleaning plan in which the cooperation devices are the robot cleaning device 2, the flying device 3, and the air cleaning device 4 are the robot cleaning device 2, the flying device 3, and the air cleaning device 4 that are the cooperation devices. And the devices may be activated and cleaning performed as described above.

  Further, in the above-described embodiment, it is assumed that the cleaning area is a room and the cleaning area is set for each room. However, in a building having a plurality of rooms, 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 device, and an air cleaning device perform a coordinated operation while moving the room, so that the cleaning area map data is moved 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 ordinary houses, but can also be used in factories and stores (including department stores, supermarkets, convenience stores, etc.). The cleaning area may be designated in units such as a business section and a sales section instead of a room.

  In the above-described embodiment, when a cleaning instruction device is present in the cleaning system, the storage unit included in the cleaning instruction device has a function of the cleaning instruction device such as a robot cleaning device, a flying body device, and an air cleaning device. In such a case, the information on the cleaning plan is stored in the storage unit included in the devices, but the information on the cleaning plan is stored in the storage unit of the cloud through the Internet, and the cleaning is performed. A cloud storage unit may be accessed from an instruction device, a robot cleaner, a flying device, an air cleaner, or the like to obtain a cleaning plan. The cleaning area map data may also be stored in the cloud storage unit and acquired from the cloud storage unit when a cleaning plan is created or when the cleaning plan is executed.

  In the above-described embodiment, each of the robot cleaner 2, the flying vehicle device 3, and the air cleaner 4 detects its position by receiving radio waves from GPS satellites as means for detecting its own position. In addition to detecting means, moving direction detecting means using a geomagnetic sensor and acceleration detecting means such as a gyro were used, but means for detecting the position of the device itself in the cleaning area is limited to this. is not.

  For example, the cleaning area is set as a three-dimensional motion detection target space area, and is installed in each of the two light emission tracking devices provided in each cleaning area, the robot cleaning device 2, the flying vehicle 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 device itself can be detected.

  The two emission tracking devices have the same configuration, and each includes a laser emitting unit for infrared laser light, search means for searching for a motion detection target space region by the emitted infrared laser light, and an infrared laser. Optical position detecting means for detecting light emission of the light emitting part of the tracker that has received light. In this case, for example, one light emission tracking device searches in the cleaning area in the horizontal direction, and the other light emission tracking device searches in the cleaning area in the vertical direction. Search to cover the entire cleaning area.

  Each of the trackers has different identification information for each device installed. The tracker detects the infrared laser light from the light emission tracking device, and when detecting the reception of the infrared laser light by the sensor, for example, LED (Light) for notifying the light emission tracking device of the detection of the light reception. Emitting Diode). In this case, each of the trackers emits different light according to its own identification information.

  The light emission tracking device controls the laser light emitting unit by search means, and emits infrared laser light so as to search and scan the motion detection target space region so as to detect the tracker position, and searches. Each of the trackers monitors the reception of the infrared laser beam with a sensor, and turns on the light emitting unit composed of an LED when the sensor detects the reception of the infrared laser beam. The light emission tracking device detects the light emission of the light emitting unit of the tracker to detect the position of each device on which the tracker is mounted in the motion detection target space region. The light emission tracking device is configured to detect the elapsed time from the emission time of the emitted infrared laser at the time of detection when the emission of the light emission unit of the tracker is detected.

  The two light emission tracking devices are wirelessly connected to the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4, and the detected motion of the tracker is detected for each device. Notify spatial location information in the spatial domain.

  Upon receiving this notification, each of the robot cleaning device 2, the flying vehicle device 3, and the air cleaning device 4 can detect the position of each device.

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

Claims (58)

A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
While flying in the air, a flying object device provided with a cleaning assisting tool that performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface, or being movable on the floor surface, An air cleaning device comprising a cleaning mechanism for cleaning the atmosphere around the machine;
A cleaning instruction device;
With
In accordance with cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flying device or the air cleaning device cooperate to perform a cleaning operation. The cleaning instruction device has a function of receiving a cleaning plan including designation of a cooperation place in a cleaning area by a user, and when receiving an instruction to start the cleaning plan by the user, the robot uses the cleaning instruction information to The cleaning device and the associated flying object device or the air purifying device are activated, and the cleaning plan including designation of the cooperation place is designated as the robot cleaning device, and the associated flying object device or the air purifying device. The cleaning system according to claim 1, wherein the cleaning system is notified. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place in a cleaning area by a user, and when receiving an instruction to start the cleaning plan by the user, the cleaning place includes the cooperation place in the cleaning plan. When it is determined whether or not to include the cooperation place, the robot cleaning device and the associated flying body device or the air cleaning device are activated according to the cleaning instruction information, and the cleaning plan The cleaning system according to claim 1, wherein the robot cleaning device and the flying device or the air cleaning device are notified. The robot cleaning device and the flying body device include first communication means and second communication means for wirelessly communicating with each other,
In the operation of dropping the cleaning object at a place higher than the floor surface using the cleaning auxiliary tool at the cooperation place in the cleaning area, the flying object device is used for the cleaning object. A notification about the action of dropping an object on the floor surface is transmitted to the robot cleaner through the second communication means;
The robot cleaning device is configured such that, in the cooperation place in the cleaning area, the notification of the operation of dropping the cleaning object on the floor surface is received through the first communication means, and the floor of the cooperation place is provided. The cleaning system according to claim 2 or 3, wherein the cooperative operation is executed by running on the surface and performing cleaning. The notification related to the operation of dropping the cleaning object to be sent to the floor surface sent out by the flying device includes a start notification of the operation of dropping and / or an end notification of the operation of dropping at the cooperation location. The cleaning system according to claim 4. The robot cleaning device and the flying device or the air cleaning device include first communication means and second communication means for wirelessly communicating with each other,
When the robot cleaner arrives at the cooperative location indicated by the cleaning plan received from the cleaning instruction device, the robot cleaner moves to the flying device or the air purifier to the reached cooperative location. Send a call notification requesting to
The aircraft device or the air purifier moves to the cooperation location based on receiving the call notification, and when it arrives at the cooperation location, notifies the robot cleaning device of the arrival,
The cleaning system according to any one of claims 2 to 5, wherein after the notification, the robot cleaning device and the flying device or the air cleaning device execute the cooperative operation. The robot cleaning device and the flying body device include first communication means and second communication means for wirelessly communicating with each other,
The aircraft apparatus moves to the cooperation location indicated by the cleaning plan received from the cleaning instruction device, precedes the robot cleaning device, and starts an operation of dropping the cleaning object and / or The cleaning system according to any one of claims 2 to 5, wherein the robot cleaning device is notified of the end. The robot cleaning device and the flying device or the air cleaning device include first communication means and second communication means for wirelessly communicating with each other,
The flying object device or the air cleaning device waits at the cooperation place indicated by the cleaning plan received from the cleaning instruction device,
The robot cleaning device notifies the flying device or the air cleaning device of the arrival at the cooperation location when the robot cleaning device receives the cooperation location indicated by the cleaning plan received from the cleaning instruction device. ,
The cleaning system according to claim 2, wherein the robot cleaning device and the flying device or the air cleaning device perform the cooperative operation after the notification. The cleaning system according to any one of claims 2 to 8, wherein the cleaning plan includes designation of a linkage operation at the designated cooperation location. The aircraft apparatus is waiting at a predetermined base, and after performing the cleaning operation in cooperation with the aircraft apparatus, the aircraft apparatus returns to the base. The cleaning system described in. The robot cleaning device and the flying vehicle device or the air cleaning device store map data of the cleaning area including position information of the cooperation place,
The robot cleaner includes a first position detector that detects the position of the own machine in a cleaning area,
The aircraft apparatus or the air cleaning apparatus includes a second position detection unit that detects the position of the aircraft in the cleaning area,
The said robot cleaning apparatus and the said flying body apparatus or an air purifying apparatus detect the position of the said cooperation place from the map data of the said cleaning area memorize | stored. The cleaning system described in. In the cleaning plan, it is possible to set a plurality of cooperation locations in the cleaning area,
The cleaning system according to any one of claims 2 to 11, wherein the cleaning operation is performed in cooperation with each other at the cooperation location. The cleaning system according to any one of claims 1 to 12, wherein the cleaning instruction device is provided in any one of the robot cleaning device, the flying device, or the air cleaning device. The cleaning system according to any one of claims 1 to 12, wherein the cleaning instruction device is a portable terminal, a wristwatch type terminal, an eyeglass type terminal, a contact lens type terminal, or a stationary terminal. The cleaning aid of the flying object device includes one having a function of gripping a cleaning object,
The cleaning system according to any one of claims 1 to 14, wherein the robot cleaning device includes a storage unit that stores a cleaning object gripped by the cleaning aid of the flying vehicle device. The cleaning according to any one of claims 4 to 15, wherein the notification related to the operation of dropping the cleaning object to be sent to the floor by the flying device includes information on a dropping direction. system. A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
A flying object device having a function of performing an auxiliary operation of flying in the air and dropping an object to be cleaned in a place higher than the floor surface onto the floor surface;
An air purifier that is movable on the floor and includes a cleaning mechanism that cleans the atmosphere around the machine,
A cleaning instruction device;
With
In accordance with cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flying device and / or the air cleaning device perform a cleaning operation in cooperation with each other. The cleaning instruction device has a function of receiving a cleaning plan including designation of a cooperation location in a cleaning area and a device to be linked by a user, and the cleaning instruction information is received when an instruction to start the cleaning plan by the user is received. The robot cleaning device that cooperates and the aircraft device and / or the air cleaner that cooperates are activated, and the cleaning plan is linked to the robot cleaning device and the aircraft device and / or the cooperation that cooperates. The cleaning system according to claim 17, wherein the air cleaner is notified. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation location in a cleaning area and a device to be cooperated by a user, and when receiving an instruction to start the cleaning plan by the user, It is determined whether or not the designation of the cooperation location and the device to be linked is included, and when the designation of the linkage location and the device to be linked is included, the flight that cooperates with the robot cleaning device according to the cleaning instruction information. 18. A body device and / or the air cleaner is activated, and the cleaning plan is notified to the robot cleaner and the associated air vehicle device and / or the air cleaner. The cleaning system described. 20. The cleaning system according to claim 18, wherein the cleaning plan includes designation of a linkage operation at the designated cooperation location. The robot cleaning device and the flying body device include first communication means and second communication means for wirelessly communicating with each other,
In the operation of dropping the cleaning object at a place higher than the floor surface using the cleaning auxiliary tool at the cooperation place in the cleaning area, the flying object device is used for the cleaning object. A notification about the action of dropping an object on the floor surface is transmitted to the robot cleaner through the second communication means;
The robot cleaning device is configured such that, in the cooperation place in the cleaning area, the notification of the operation of dropping the cleaning object on the floor surface is received through the first communication means, and the floor of the cooperation place is provided. 21. The cleaning system according to any one of claims 18 to 20, wherein a cooperative operation is performed by running on a surface and performing cleaning. The notification related to the operation of dropping the cleaning object to be sent to the floor surface sent out by the flying device includes a start notification of the operation of dropping and / or an end notification of the operation of dropping at the cooperation location. The cleaning system according to claim 21. The robot cleaning device, the flying vehicle device, and the air cleaning device each include a first communication unit, a second communication unit, and a third communication unit for wireless communication.
When the robot cleaning device reaches the cooperation place indicated by the cleaning plan received from the cleaning instruction device, the cooperation that has reached the cooperative air vehicle device and / or the air cleaning device Send a call notification requesting to move to the location,
The aircraft device and / or the air cleaning device that cooperates move to the cooperation location based on receiving the call notification, and when the arrival at the cooperation location, the arrival of the robot cleaning device Notify
The cleaning system according to any one of claims 18 to 22, wherein after the notification, the aircraft device and / or the air purifying device cooperates with the robot cleaner and performs the cooperative operation. . The robot cleaning device and the flying body device include first communication means and second communication means for wirelessly communicating with each other,
The aircraft apparatus moves to the cooperation location indicated by the cleaning plan received from the cleaning instruction device, precedes the robot cleaning device, and starts an operation of dropping the cleaning object and / or The cleaning system according to any one of claims 18 to 22, wherein the robot cleaning device is notified of the end. The robot cleaning device, the flying vehicle device, and the air cleaning device each include a first communication unit, a second communication unit, and a third communication unit for wireless communication.
The flying object device and / or the air purifying device waits at the cooperation place indicated by the cleaning plan received from the cleaning instruction device,
When the robot cleaner arrives at the cooperative location indicated by the cleaning plan received from the cleaning instruction device, the robot cleaning device informs the flying device and / or the air purifier of the arrival at the cooperative location. Notify
After the notification, the robot cleaning device and the associated flying body device and / or the air purifying device execute the cooperative operation. The cleaning system described. 26. The aircraft apparatus according to any one of claims 17 to 25, wherein the aircraft apparatus stands by at a predetermined base, and the aircraft apparatus returns to the base after performing the cleaning operation in cooperation with the aircraft apparatus. The cleaning system described in. The robot cleaning device, the flying vehicle device, and the air cleaning device store map data of the cleaning area including position information of the cooperation place,
The robot cleaner includes a first position detector that detects the position of the own machine in a cleaning area,
The aircraft apparatus includes a second position detection unit that detects the position of the aircraft in the cleaning area,
The air cleaning device includes a third position detection unit that detects a position of the own device in a cleaning area,
27. The robot cleaning device, the flying vehicle device, and the air cleaning device detect the position of the cooperation place from the stored map data of the cleaning area. The cleaning system described in. In the cleaning plan, it is possible to set a plurality of cooperation locations in the cleaning area,
The cleaning system according to any one of claims 18 to 27, wherein the associated cleaning operation is performed at each of the cooperation locations. The cleaning system according to any one of claims 17 to 28, wherein the cleaning instruction device is provided in any one of the robot cleaning device, the flying device, or the air cleaning device. 30. The cleaning system according to any one of claims 17 to 29, wherein the cleaning instruction device is a portable terminal, a wristwatch type terminal, an eyeglass type terminal, a contact lens type terminal, or a stationary terminal. The cleaning aid of the flying object device includes one having a function of gripping a cleaning object,
The cleaning system according to any one of claims 17 to 30, wherein the robot cleaning device includes a storage unit that stores a cleaning object gripped by the cleaning auxiliary tool of the flying device. The cleaning according to any one of claims 21 to 31, wherein the notification related to the operation of dropping the cleaning object to be sent to the floor by the flying device includes information on a dropping direction. system. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place in a cleaning area by a user, and when receiving an instruction to start the cleaning plan by the user, the cleaning place includes the cooperation place in the cleaning plan. When it is determined whether or not to include, and when it is determined not to include the cooperation place, according to the cleaning instruction information, the robot cleaning device, the flying body device or the air purifying device is activated, the specified device, The cleaning system according to any one of claims 1 to 32, wherein the cleaning device is notified to the activated device. A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface, and an object to be cleaned in a place higher than the floor surface while flying in the air A flying vehicle device equipped with a cleaning aid that performs an auxiliary operation to drop the aircraft on the floor and / or a cleaning mechanism that can move on the floor and cleans the atmosphere around the aircraft. The robot cleaning device in a cleaning system for performing a cleaning operation,
A traveling drive unit for autonomously traveling on the floor surface; and
A suction drive unit that sucks a cleaning object that can be sucked by the device on the floor and stores it in a dust collection chamber;
A communication unit for wirelessly communicating with the flying vehicle device and / or the air cleaning device;
It has a function of accepting a cleaning plan including designation of a cooperation place in a cleaning area by a user, and when receiving an instruction to start the cleaning plan by the user, the aircraft device and / or the device that cooperates with the own device A cleaning instruction unit that activates an air cleaning device and notifies the airframe device and / or the air cleaning device that is associated with the device, the cleaning plan including designation of the cooperation location;
A robot cleaning device comprising: Stores map data of the cleaning area including the location information of the cooperation place,
The robot cleaning device according to claim 34, wherein the position of the cooperation place is detected from the stored map data of the cleaning area. When the cooperative location indicated by the cleaning plan is reached, a call notification is sent to the flying device and / or the air cleaning device to move to the reached cooperative location,
When the notification of arrival at the cooperation location is received from the aircraft apparatus and / or air purification apparatus that has received the call notification, the cooperation operation with the aircraft apparatus and / or air purification apparatus is executed. The robot cleaning device according to claim 34 or 35, wherein: When the aircraft unit and / or the air cleaning device waiting at the cooperative location indicated by the cleaning plan is reached when the cooperative location indicated by the cleaning plan received from the cleaning instruction unit is reached, Notify the arrival to the cooperation location,
The robot cleaning device according to any one of claims 34 to 36, wherein after the notification, the cooperative operation is executed with the flying device and / or the air cleaning device. The robot cleaning apparatus according to any one of claims 34 to 37, further comprising a wiping / cleaning drive unit for a wiping / cleaning function instead of the suction drive unit or in addition to the suction drive unit. A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface, and a flying body device that travels in the air and has a cleaning aid cooperate The aircraft device in a cleaning system for performing a cleaning operation by
An aerial flight mechanism for flying in the air; and
A cleaning aid for dropping a cleaning object in a place higher than the floor surface onto the floor surface;
A communication unit for wirelessly communicating with the robot cleaner;
With
The device has a function of accepting a cleaning plan including designation of a cooperation place in a cleaning area by a user, and activates the own device and the robot cleaning device to cooperate when receiving an instruction to start the cleaning plan by the user. And a cleaning instruction unit for notifying the cleaning plan including the designation of the cooperation location to the self-device and the cooperative robot cleaning device,
An aircraft apparatus characterized by the above. Stores map data of the cleaning area including the location information of the cooperation place,
40. The aircraft apparatus according to claim 39, wherein the position of the cooperation location is detected from the stored map data of the cleaning area. Based on receiving the call notification from the robot cleaning device, when moving to the cooperation location and arriving at the cooperation location, the robot cleaning device is notified of the arrival,
The aircraft device according to claim 39 or 40, wherein after the notification, a cleaning operation is performed in cooperation with the robot cleaning device. Wait at the cooperative location indicated by the cleaning plan,
After receiving the notification of the arrival from the robot cleaning device that has reached the cooperative location indicated by the cleaning plan received from the cleaning instruction unit to the cooperative location, a cleaning operation is performed in cooperation with the robot cleaning device. 41. The aircraft apparatus according to claim 39 or claim 40. The cleaning system includes an air cleaning device that is movable on the floor surface and capable of wirelessly communicating with the robot cleaning device and the flying vehicle device, and the air cleaning device also includes the robot cleaning device and The flying device according to any one of claims 39 to 42, wherein a cleaning operation can be performed in cooperation with the flying device. Including one or a plurality of cameras for photographing the cooperation place and its surroundings;
44. The apparatus according to any one of claims 39 to 43, further comprising a determination unit that determines whether or not to perform an operation of dropping the cleaning object onto a floor surface based on imaged image information of the camera. Aircraft device. When it is determined that there is an infant at a place where the cleaning object is dropped, the determination unit determines that the operation of dropping the cleaning object is stopped, and notifies the cooperating apparatus to that effect. The aircraft apparatus according to claim 44. The determination means determines that the operation of dropping the cleaning object is stopped when it is determined that the cleaning object to be dropped is dangerous if it is dropped, and cooperates to that effect. The aircraft apparatus according to claim 44 or 45, wherein the apparatus is notified. Including one or a plurality of cameras for photographing the cooperation place and its surroundings;
Based on the captured image information of the camera, comprising a determination means for determining whether or not what is present in the cooperation place is a cleaning object,
47. The apparatus according to any one of claims 39 to 46, wherein when it is determined by the determining means that what is present at the cooperation location is not a cleaning object, a notification to that effect is sent to the cooperating apparatus. Aircraft device. The discriminating means has a function of discriminating valuables as not being the object to be cleaned, and when discriminating the valuables, notifies the associated device of the type and / or location of the valuables. 48. A vehicle apparatus according to claim 47. The aircraft apparatus according to claim 47 or 48, further comprising means for moving the valuables to a predetermined storage location when the valuables are discriminated by the discrimination means. The flying device according to any one of claims 39 to 49, wherein the cleaning aid includes at least one of a means for rubbing with a brush, a means for striking, and a means for grasping and shaking. A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface, a flying body device that travels in the air, and is movable on the floor surface. An air cleaning device in a cleaning system that performs a cleaning operation in cooperation with an air cleaning device,
A traveling drive unit for autonomously traveling on the floor surface; and
A cleaning mechanism for cleaning the atmosphere around the machine,
A communication unit for wirelessly communicating with the robot cleaning device or the flying object device;
It has a function of receiving a cleaning plan including designation of a cooperation place in a cleaning area by a user, and when receiving an instruction to start the cleaning plan by the user, the robot cleaning device and / or the device that cooperates with the own device A cleaning instructing unit that activates a flying body device and notifies the robot cleaning device and / or the flying body device that cooperates with the own device and the cleaning plan including designation of the cooperation location;
An air purifier characterized by that. Stores map data of the cleaning area including the location information of the cooperation place,
52. The air cleaning device according to claim 51, wherein the location of the cooperation place is detected from the stored map data of the cleaning area. Based on the reception of the call notification from the robot cleaning device or the flying vehicle device, when the robot moves to the cooperative location and arrives at the cooperative location, the arrival is sent to the robot cleaning device or the flying vehicle device. Notify
53. The air cleaning apparatus according to claim 51 or 52, wherein after the notification, the cooperative operation is executed with the robot cleaning apparatus or the flying body apparatus. Wait at the cooperative location indicated by the cleaning plan,
After receiving the notification of the arrival to the cooperation place from the robot cleaning device and / or the flying body device that has reached the cooperation place indicated by the cleaning plan received from the cleaning instruction unit, the robot cleaning device and The air cleaner according to any one of claims 51 to 53, wherein the cooperative operation with the flying object device is executed. A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
While flying in the air, a flying object device provided with a cleaning assisting tool that performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface, or being movable on the floor surface, An air cleaning device comprising a cleaning mechanism for cleaning the atmosphere around the machine;
A cleaning instruction device;
With
The cleaning instruction device in a cleaning system, wherein the robot cleaning device and the flying device or the air purifier perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. A computer with
Means for accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user;
When receiving an instruction to start the cleaning plan by the user, the robot cleaning device and the associated flying object device or the air purifying device are activated by the cleaning instruction information, and the designation of the cooperation location is performed. Means for notifying the robot cleaning device and the associated air vehicle device or the air cleaning device of the cleaning plan including:
Program for a cleaning instruction device to function as A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
While flying in the air, a flying object device provided with a cleaning assisting tool that performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface, or being movable on the floor surface, An air cleaning device comprising a cleaning mechanism for cleaning the atmosphere around the machine;
A cleaning instruction device;
With
The cleaning instruction device in a cleaning system, wherein the robot cleaning device and the flying device or the air purifier perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. A computer with
Means for accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user;
A determination means for determining whether the cleaning plan includes the cooperation place when receiving an instruction to start the cleaning plan by the user,
When it is determined by the determining means that the cooperative location is included, the robot cleaning device and the flying device or the air purifying device are activated in accordance with the cleaning instruction information, and the cleaning plan is transferred to the robot. Means for notifying the cleaning device and the flying device or the air cleaning device;
Program for a cleaning instruction device to function as A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
A flying object device having a function of performing an auxiliary operation of flying in the air and dropping an object to be cleaned in a place higher than the floor surface onto the floor surface;
An air purifier that is movable on the floor and includes a cleaning mechanism that cleans the atmosphere around the machine,
A cleaning instruction device;
With
According to the cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flying device and / or the air cleaning device perform a cleaning operation in cooperation with each other, and the cleaning instruction in the cleaning system A computer provided with the device,
Means for accepting a cleaning plan including designation of a cooperating place and cooperating device in a cleaning area by a user;
When receiving an instruction to start the cleaning plan by the user, the cleaning instruction information activates the associated robot cleaner, the associated aircraft apparatus and / or the air cleaner, and the cleaning. Means for notifying a plan to the robot cleaning device and the aircraft device and / or the air purifier in cooperation;
Program for a cleaning instruction device to function as A self-propelled robotic cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface;
A flying object device having a function of performing an auxiliary operation of flying in the air and dropping an object to be cleaned in a place higher than the floor surface onto the floor surface;
An air purifier that is movable on the floor and includes a cleaning mechanism that cleans the atmosphere around the machine,
A cleaning instruction device;
With
According to the cleaning instruction information from the cleaning instruction device, the robot cleaning device and the flying device and / or the air cleaning device perform a cleaning operation in cooperation with each other, and the cleaning instruction in the cleaning system A computer provided with the device,
Means for accepting a cleaning plan including designation of a cooperating place and cooperating device in a cleaning area by a user;
Determining means for determining whether the cleaning plan includes designation of the cooperation location and the cooperating device when receiving an instruction to start the cleaning plan by the user;
When it is determined by the determination means that the designation of the cooperation location and the device to be linked is included, the robot cleaning device and the aircraft device and / or the air cleaner to be linked are activated by the cleaning instruction information. And means for notifying the cleaning plan to the robot cleaner and the associated flying vehicle device and / or the air cleaner,
Program for a cleaning instruction device to function as

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