JP2023167562A - Cleaning device, cleaning system, and method to be applied to the cleaning device - Google Patents

Abstract

To provide a cleaning device capable of achieving not only a cleaning function but also an air-cleaning function for performing air-cleaning during a cleaning operation, a cleaning system and a method to be applied to the cleaning device.SOLUTION: A cleaning device 10 includes a suction fan 72, a suction nozzle 33, a filter 315, and a storage box 31. The storage box 31 includes: a first opening 311 communicating with the suction nozzle 33; and a second opening 317 for taking air into an inner side. A control section 40 clogs the second opening 317 when the cleaning device 10 enters a specific area A1 during a cleaning operation, and opens the second opening 317 when the device leaves the specific area A1.SELECTED DRAWING: Figure 18

Description

The present invention relates to a cleaning device, a cleaning system, and a method applied to the cleaning device that cleans a surface to be cleaned while moving the surface.

2. Description of the Related Art Autonomous cleaning devices called cleaning robots have been known in the past. This cleaning device operates an intake fan while traveling over the surface to be cleaned, such as the floor, and sucks in air from the intake port of the intake nozzle. ) inhale. As a result, the surface to be cleaned is cleaned. The sucked-in debris is collected in a collection container attached to the cleaning device. Further, minute dust and particles contained in the sucked air are collected by a filter provided in the cleaning device. The air from which dust and the like have been separated by the filter is exhausted to the outside through an exhaust duct by an intake fan.

Japanese Patent Application Publication No. 2018-112917

Incidentally, a filter provided in a cleaning device may have the same function as a filter used in an air cleaning device in terms of removing minute dust and particles. If it is possible to take in outside air and clean the air using the filter while the cleaning operation is being performed, the cleaning device can have not only a cleaning function but also an air purifying function.

An object of the present invention is to provide a cleaning device, a cleaning system, and a method applied to the cleaning device that can realize not only a cleaning function but also an air cleaning function that cleans the air during a cleaning operation. .

The cleaning device according to one aspect of the present invention is configured to clean the surface to be cleaned by sucking in suction matter on the surface to be cleaned while moving in a predetermined direction of movement. The cleaning device has a first suction port, an intake nozzle that sucks in the suction material by the suction force of an intake fan, a second suction port that causes outside air to flow into the interior by the suction force, and the first suction port. a filter provided in a guide passage for guiding air flowing in from the mouth and the second suction port to the intake fan; an open position in which the second suction port is opened; and a closed position in which the second suction port is closed; an opening/closing member movable between; a determination processing unit that determines whether the cleaning device enters a predetermined specific area based on position information of the cleaning device; and a determination by the determination processing unit. An opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member based on the result.

A cleaning system according to another aspect of the present invention includes a cleaning device that cleans the surface to be cleaned by suctioning matter on the surface to be cleaned while moving in a predetermined direction of movement.
The cleaning device has a first suction port, an intake nozzle that sucks in the suction material by the suction force of an intake fan, a second suction port that causes outside air to flow into the interior by the suction force, and the first suction port. a filter provided in a guide passage for guiding air flowing in from the mouth and the second suction port to the intake fan; an open position in which the second suction port is opened; and a closed position in which the second suction port is closed; an opening/closing member movable between the opening and closing members.
The cleaning system includes a determination processing unit that determines whether or not the cleaning device enters a predetermined specific area based on position information of the cleaning device, and a determination processing unit that determines whether or not the cleaning device enters a predetermined specific area based on position information of the cleaning device; An opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member.

A method according to another aspect of the present invention is a method applied to a cleaning device that cleans a surface to be cleaned by suctioning matter on the surface to be cleaned while moving in a predetermined direction of movement. The cleaning device has a first suction port, an intake nozzle that sucks in the suction material by the suction force of an intake fan, a second suction port that causes outside air to flow into the interior by the suction force, and the first suction port. a filter provided in a guide passage for guiding air flowing in from the mouth and the second suction port to the intake fan; an open position in which the second suction port is opened; and a closed position in which the second suction port is closed; an opening/closing member movable between the opening and closing members.
The method is a method of changing the degree of opening of the second opening, and includes a determination step of determining whether or not the cleaning device enters a predetermined specific area based on position information of the cleaning device. and an opening degree changing step of changing the opening degree of the second suction port by moving the opening/closing member based on the determination result of the determination step.

According to the present invention, it is possible to realize not only a cleaning function but also an air cleaning function that cleans the air during the cleaning operation.

FIG. 1 is a perspective view showing the front appearance of a cleaning device according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the internal configuration of the cleaning device according to the embodiment of the present invention. FIG. 3 is a perspective view showing the appearance of the rear side of the cleaning device according to the embodiment of the present invention. FIG. 4 is a perspective view of the perspective view of FIG. 3 with the storage box removed. FIG. 5 is a diagram showing the internal structure of the cleaning unit included in the cleaning device according to the embodiment of the present invention, and is a partially enlarged view showing a state in which the back cover is removed from the cleaning unit. FIG. 6 is a vertical cross-sectional view of the lower part of the cleaning unit. FIG. 7 is a side view of the rear part of the cleaning device according to the embodiment of the present invention, FIG. 7(A) is a diagram showing the cleaning device in a state where the storage box is attached, and FIG. 7(B) is a side view of the rear part of the cleaning device according to the embodiment of the present invention. FIG. 2 is a diagram showing a state in which the storage box is removed from the cleaning device. FIG. 8 is a perspective view showing a storage box attached to the cleaning device according to the embodiment of the present invention. FIG. 9 is a cross-sectional view schematically showing a part of the horizontal cut surface at the upper part of the cleaning unit. FIG. 10 is a longitudinal sectional view of the upper part of the cleaning unit. FIG. 11 is a cross-sectional view of the upper part of the cleaning unit taken along cutting line XI-XI in FIG. 10, viewed from below. FIG. 12 is a functional block diagram showing the configuration of the cleaning device according to the embodiment of the present invention. FIG. 13 is a diagram showing an example of a floor map showing cleaning areas cleaned by the cleaning device according to the embodiment of the present invention. FIG. 14 is a diagram showing a travel route that the cleaning device according to the embodiment of the present invention travels during a cleaning operation. FIG. 15 is a diagram showing a specific area list including information regarding specific areas defined as cleaning areas in the floor map of FIG. 13. FIG. 16 is a diagram showing a store list including details of each store installed on the floor map of FIG. 13. FIG. 17 is a flowchart illustrating an example of the procedure of cleaning control processing executed by the control unit of the cleaning device according to the embodiment of the present invention. FIG. 18 is a flowchart illustrating an example of the procedure of the opening degree changing process executed by the control unit of the cleaning device according to the embodiment of the present invention. FIG. 19 is a functional block diagram showing the configuration of a cleaning system according to an embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that the following embodiments are examples of embodying the present invention, and do not limit the technical scope of the present invention. In addition, in the following description, the up-down direction D1 is defined with the cleaning device 10 placed on the floor surface 23 (see FIG. 2), and the front-back direction D2 is defined with the traveling direction of the cleaning device 10 as the front. 10, a left-right direction D3 or a width direction D3 is defined.

[Cleaning device 10]
FIG. 1 is a perspective view showing the front appearance of an autonomous cleaning device 10 (an example of the cleaning device of the present invention) according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the internal structure of the cleaning device 10.

The cleaning device 10 shown in FIG. 1 autonomously moves forward (in the direction of travel) on the floor surface 23 of a concourse (see FIG. 2) of an airport, station, shopping mall, etc., or the floor surface 23 of a store such as a supermarket. It is an autonomous mobile device and is also called a mobile robot or a traveling robot. The cleaning device 10 moves autonomously and uses the suction force of an intake fan 72 (see FIG. 2) to remove dust and dirt (suction material) from a floor surface 23, which is a surface to be cleaned, through an intake nozzle 33 (see FIG. 2). 2) and collected in the storage box 31 (see FIG. 2). Thereby, the cleaning device 10 cleans the floor surface 23. Air sucked from the intake nozzle 33 passes through a filter 315 (see FIG. 2) and is discharged to the outside. At this time, dust is separated from the air by the filter 315, and clean air is discharged to the outside. The cleaning device 10 has a cleaning area A20 (see FIG. 13) registered in advance, a travel route 242A (see FIG. 13), a cleaning time period, and a charging station P0 (see FIG. 13), which is the return position for charging. The vehicle automatically runs while cleaning the floor 23 based on various cleaning information such as position information.

Note that the cleaning device 10 is just one example of the present invention, and the present invention is applicable to, for example, a cleaning device that cleans an indoor floor surface 23 while autonomously running, and a cleaning device that autonomously runs on a road surface such as an outdoor walking path or road. It may also be a cleaning device that cleans while cleaning. Further, the present invention is not limited to a cleaning device that runs autonomously, but may be a manual cleaning device that cleans the floor surface 23 by being moved forward by a user's hand, for example.

The cleaning device 10 is an autonomous mobile robot (autonomous device) that has not only a cleaning function for cleaning the floor 23 but also an air purifying function. The air cleaning function is a function of removing minute floating objects such as pollen, dust, dust, droplets, and viruses floating in the air around the cleaning device 10. Note that, in addition to the cleaning function and the air purifying function, the cleaning device 10 may have other functions for realizing other uses. Examples of the other functions include a security function that provides security while autonomously traveling, a care function that supports the daily life activities of the person in need of care, a luggage transportation function, and a display guidance function.

As shown in FIG. 2, the cleaning device 10 includes a device main body 11, a cleaning unit 30 provided in the device main body 11, and an opening/closing mechanism 80 (see FIGS. 10 and 11). In addition, the device main body 11 includes a traveling section 12 (an example of a propulsive force transmitting section), a motor 13, a battery 14, an operation display section 20, a display panel 21, an operation handle 22, a laser sensor 41, a sonar sensor 42, a camera 25, and a communication section. 28 (see FIG. 12), a storage section 24 (see FIG. 12), a control section 40, and the like. The cleaning device 10 also includes a slide mechanism 50 that supports the cleaning unit 30 so as to be movable in the vertical direction D1.

As shown in FIG. 1, the device main body 11 has an exterior cover 11A that constitutes its exterior. Further, as shown in FIG. 2, the device main body 11 has a chassis 11B at its lower part. The chassis 11B is provided generally parallel to the floor surface 23 (see FIG. 2). Moreover, a support frame for supporting each of the above-mentioned parts included in the cleaning device 10 is appropriately provided inside the device main body 11.

The device main body 11 is configured to be able to travel in a predetermined direction on a floor surface 23 that is a surface to be cleaned. In this embodiment, the device main body 11 is movable by a running section 12 . As shown in FIG. 2, the running section 12 is provided at the lower part of the device main body 11. The traveling section 12 transmits propulsive force in the traveling direction to the floor surface 23 while maintaining the traveling posture of the device main body 11, and is attached to the chassis 11B. The running section 12 has a pair of wheels 121 for running and four casters 122.

The wheels 121 are rotatably attached to the center of the chassis 11B in the front-rear direction and at both ends in the left-right direction D3 (width direction). The four casters 122 are for maintaining the running posture of the device main body 11, and are rotatably attached to both ends of the front end of the chassis 11B and to both ends of the rear end of the chassis 11B. With the cleaning device 10 placed on the floor 23 , the outer peripheral surfaces of the wheels 121 and casters 122 are supported by the floor 23 . Thereby, the device main body 11 is maintained in the running posture shown in FIGS. 1 and 2.

The rotating shaft of the wheel 121 is connected to the output shaft of the motor 13 via a transmission mechanism such as a reduction gear. Therefore, when the motor 13 is driven, the rotational driving force of the motor 13 is transmitted to the wheels 121. In this embodiment, a motor 13 is individually provided for each of the pair of wheels 121. Therefore, by driving and controlling each motor 13 individually, the rotational speed of each wheel 121 is independently controlled. For example, when the rotational speed of each wheel 121 is controlled to be constant, the cleaning device 10 moves straight, and when the rotational speed of each wheel 121 is controlled to a different speed, the cleaning device 10 moves toward the wheel 121 with a slower rotational speed. The device 10 pivots.

The battery 14 is provided in the center of the device main body 11. The battery 14 is connected to the operation display unit 20, the motor 13, a fan motor 74 (see FIG. 2) of an intake fan 72 of an intake unit 70 (an example of an intake fan of the present invention) (see FIG. 2), and a slide motor 55 of the slide mechanism 50. (See FIG. 12).

The operation display section 20 is provided at the top of the device main body 11. The operation display section 20 is attached to the exterior cover 11A. The operation display unit 20 is a device operated by a user. The operation display unit 20 is, for example, a terminal device having a touch panel that allows touch operations and that can display predetermined information.

Various registered information (information such as cleaning area, travel route, cleaning time period, return position information, etc.) used by the cleaning device 10 for operation control etc. can be directly input from the operation display unit 20. Further, settings for a cleaning mode for causing the cleaning device 10 to perform a cleaning operation, settings for an air purifying function for causing the cleaning device 10 to perform an air purifying operation, etc. can also be input from the operation display unit 20. The input registration information, mode setting values, etc. are stored in the storage unit 24 (see FIG. 12). The registration information, the mode setting value, etc. are transferred to the control section 40 and used for driving control, operation control, etc. by the control section 40. Note that the registration information, the mode setting value, and the like may be input to the cleaning device 10 by an information processing device such as the server device 29 (see FIG. 12) through wireless communication or wired communication.

The display panel 21 is provided on the front surface of the device main body 11. The display panel 21 is, for example, a liquid crystal panel. Various announcement information is displayed on the display panel 21 by the control unit 40 during the cleaning operation. The announcement information is, for example, information indicating the operating state of the cleaning device 10, such as information indicating that cleaning is being performed when the cleaning device 10 is in operation, and information indicating that the air cleaning is being performed when the air purifying operation is in progress. This includes information indicating that the program is being implemented.

The operating handle 22 is provided at the top of the back of the device body 11. The operation handle 22 is gripped by the user when the user manually operates the cleaning device 10 to clean it, or when the user performs a teaching operation (teaching operation) for making the cleaning device 10 teach a travel route. It is an operating member. The operation handle 22 is provided with various operation buttons for accepting driving operations from the user. Operation information for the operation buttons is transferred to the control section 40 and used for driving control by the control section 40.

A laser sensor 41, a sonar sensor 42, and a camera 25 are provided on the front of the cleaning device 10.

The laser sensor 41 is provided in a groove 175 at the lower front of the device main body 11 . The groove portion 175 extends in the width direction D3. Laser sensor 41 is arranged at the center of groove 175. The laser sensor 41 includes a laser transmitting element, a laser driver that drives the laser transmitting element, a light receiving element, a light receiving processing circuit that converts the output of the light receiving element into a digital signal, and the like. The laser sensor 41 is connected to the control section 40 and is controlled by the control section 40. The laser sensor 41 scans a laser beam toward the front in a horizontal direction within a predetermined scanning angle (for example, 120°). When the laser sensor 41 receives the laser beam that is reflected by the irradiated object (target object) and returns, the control unit 40 measures the time it takes for the laser beam to return, and applies the measured value to the laser beam. Based on this, the distance to the object at each scanning position is calculated. Thereby, the control unit 40 can grasp the distance and position to the object existing on the front side (progressing direction side) of the cleaning device 10, and the shape and size of the object in the width direction.

The sonar sensor 42 is provided below the display panel 21. A plurality of sonar sensors 42 are arranged side by side in the width direction D3. The sonar sensor 42 is connected to the control section 40 and is controlled by the control section 40. The sonar sensor 42 detects objects using sound waves, and measures the distance to the object based on the time it takes for the sound waves to reflect off the object and return.

The camera 25 is provided above the display panel 21. The camera 25 is arranged at the center of the front side of the apparatus main body 11 in the width direction D3. The camera 25 is connected to and controlled by the control section 40. The camera 25 images the surroundings in front of the cleaning device 10 and the floor surface 23 in front of the cleaning device 10 while the cleaning device 10 is moving. For example, the camera 25 images a predetermined range in front (for example, a range of 120 degrees in the horizontal direction and 100 degrees in the vertical direction) at a predetermined frame rate. The captured image data is output to the control unit 40. Upon acquiring the image data from the camera 25, the control unit 40 uses it for various controls and processes such as travel control.

The communication unit 28 (see FIG. 12) is a communication interface for performing data communication according to a predetermined communication protocol. The communication unit 28 connects the cleaning device 10 to a network by wire or wirelessly, and performs data communication with an external device such as a server device 29 (see FIG. 12) via the network.

The storage unit 24 (see FIG. 12) is a nonvolatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that stores various information.

As shown in FIG. 12, the storage unit 24 stores map information 241 including the cleaning area A20 (driving area) of the cleaning device 10.

In the map information 241, an environmental map including a cleaning area A20 (driving area) in which the cleaning device 10 travels during the cleaning operation is registered. The environmental map shows the location of the cleaning area A20 and attached structures around the cleaning area. For example, when the cleaning device 10 is introduced into a facility such as a shopping mall, the environmental map is a so-called floor map, the cleaning area A20 is a floor surface in the shopping mall, and the attached structure is installed in the shopping mall. facilities and stores. Further, when the facility is a supermarket, the environmental map is an in-store guide map showing the location of products in the store, the cleaning area A20 is a floor surface in the supermarket, and the attached structure is an equipment installed in the supermarket. and product shelves (display shelves). Note that examples of the facilities include elevators, escalators, stairs, entrances and exits, and the like.

The environmental map may be generated in advance by another information processing device such as the server device 29. In this case, the map information 241 is transmitted from the server device 29 or the like to the cleaning device 10 and stored in the storage unit 24. Further, the environmental map is generated based on various information (distance and position to obstacles, etc.) obtained by each sensor (laser sensor 41, sonar sensor 42, camera 25, etc.) while the cleaning device 10 is running. It may be something. That is, the control unit 40 generates the environmental map including the cleaning area A20 to be cleaned by driving the cleaning device 10, and stores map information 241 including the environmental map in the storage unit 24.

Note that the environmental map is not limited to a floor map of a shopping mall or a guide map inside a supermarket, but may also be a floor map or guide map of a facility (store) such as a library, bookstore, or hotel where the cleaning device 10 is installed, It may also be a guide map of a public facility such as an airport or a station.

In this embodiment, a floor map M1 shown in FIG. 13 is registered in the map information 241 as an example of the environmental map. The floor map M1 is an environmental map of a facility assuming a shopping mall. As shown in FIG. 13, the floor map M1 shows a plurality of stores T (T1 to T9), entrances and exits P1, P2, an elevator P3, an escalator P4, a staircase P5, etc. as the attached structures. Below, a shopping mall having a plurality of stores will be exemplified as a facility where the cleaning device 10 of the present embodiment is introduced, and a floor map M1 will be exemplified and explained as the environmental map registered in the map information 241.

The storage unit 24 also stores route information 242 including a travel route 242A (see FIG. 14) along which the cleaning device 10 travels during the cleaning operation. FIG. 14 is a diagram showing the driving route 242A. A driving route 242A is registered in the route information 242. The travel route 242A may be generated based on the teaching operation by the operator, or may be generated in advance in another information processing device such as the server device 29.

The travel route 242A is route information applied when the cleaning device 10 performs a cleaning operation. When performing a cleaning operation, the cleaning device 10 performs a cleaning operation of collecting garbage on the floor surface 23 while traveling along the travel route 242A.

The storage unit 24 also stores a specific area list 243 (see FIG. 15) that includes information (specific area information) regarding a plurality of specific areas A11 to A15 set in the floor map M1 of FIG. 13. The floor map M1 in FIG. 13 shows a plurality of specific areas A11 to A15. The plurality of specific areas A11 to A15 are examples of specific areas of the present invention. Hereinafter, the plurality of specific areas A11 to A15 may be collectively referred to as specific area A1. Although this embodiment shows an example in which a plurality of specific areas A11 to A15 are set in the floor map M1, it is sufficient that at least one specific area A1 is defined in the floor map M1.

Each of the specific areas A11 to A15 is an area where a lot of people who visit the facility come and go, and is an area where relatively more garbage tends to be generated than other areas in the cleaning area A20. Therefore, in the specific areas A11 to A15, the cleaning device 10 needs to increase the suction force of the intake nozzle 33 to perform cleaning with a higher cleaning force than in other areas. In other words, each of the specific areas A11 to A15 is a reinforced cleaning area that requires more careful cleaning than other areas.

For example, the specific area A11 is an area close to the main entrance/exit P1. The specific area A12 is an area close to another entrance/exit P2. The specific area A13 is an area in front of the elevator P3. The specific area A14 is an area in front of the ascending/descending position of the escalator P4. The specific area A15 is an area in front of the ascending/descending position of the staircase P5. In this embodiment, as shown in FIG. 15, the specific area list 243 has registered the position information of areas A11 to A15 corresponding to each of the facilities P1 to P5.

The storage unit 24 also stores a store list 244 (see FIG. 16) that includes information (store information) regarding a plurality of stores T (T1 to T9) around the cleaning area A20 shown in the floor map M1 in FIG. ing.

FIG. 16 shows an example of the store list 244. As shown in FIG. 16, in the store list 244, the products handled by each of the plurality of stores T (T1 to T9) included in the floor map M1, position information on the floor map M1, business hours, etc. are registered.

Note that it is not necessary that all of the information such as the map information 241, route information 242, specific area list 243, and store list 244 be stored in the storage unit 24. For example, part or all of the map information 241, route information 242, specific area list 243, and store list 244 may be stored in the server device 29 or external storage device that can be accessed from the cleaning device 10 via the network.

Further, the storage unit 24 stores a control program for causing the control unit 40 to execute a cleaning operation. For example, the control program is a program for causing the CPU of the control unit 40 to execute a cleaning control process (see FIG. 17) and an opening degree change process (see FIG. 18), which will be described later. The control program is recorded non-temporarily on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or a DVD drive connected to the cleaning device 10. It is stored in the storage unit 24.

As shown in FIG. 2, the control unit 40 is provided at the top of the device main body 11. The control unit 40 comprehensively controls the operation of the cleaning device 10. The control unit 40 controls the cleaning operation, air purifying operation, etc. of the cleaning device 10. Specifically, the control unit 40 controls the traveling operation of the cleaning device 10, the intake operation by the intake unit 70, the rotation operation of the rotating brush 26, the sliding operation by the slide mechanism 50, the screen display of the display panel 21, and the like. Further, in the present embodiment, the control unit 40 changes the opening degree of the second opening 317 (second suction port) of the storage box 31 by controlling the drive unit 103, which will be described later, to move the shutter member 91. do.

The control unit 40 includes control devices such as a CPU, ROM, and RAM, a GPS receiver, and the like. The CPU is a processor that executes various calculation processes such as a cleaning control process and an opening degree change process, which will be described later. The ROM is a nonvolatile memory in which a control program for causing the CPU to execute various processes is stored in advance. The RAM is a volatile or nonvolatile memory that stores various types of information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 40 performs various controls regarding the cleaning operation and air purifying operation of the cleaning device 10 by causing the CPU to execute the control program stored in advance in the ROM or storage unit 24.

[Cleaning unit 30]
FIG. 3 is a perspective view showing the appearance of the rear side of the cleaning device 10. As shown in FIGS. 2 and 3, the cleaning unit 30 is provided on the back side of the device main body 11. As shown in FIGS. The cleaning unit 30 is supported by a slide mechanism 50 (see FIG. 2) on a back frame 11C included in the apparatus main body 11 so as to be movable in the vertical direction D1.

The cleaning unit 30 includes a storage box 31 (an example of the storage part of the invention), a support holder 32 (an example of the support part of the invention), an intake nozzle 33 (an example of the intake nozzle of the invention), and an expansion nozzle 34. (see FIG. 3), an intake unit 70, an exhaust duct 76, and a cover 35.

As shown in FIG. 2, the support holder 32 is provided on the back surface of the device main body 11. The support holder 32 is a support member configured to detachably support the storage box 31. The storage box 31 is removably attached to the support holder 32.

FIG. 4 is a perspective view showing a state in which the storage box 31 is removed from the support holder 32, and FIG. 5 is a partially enlarged view showing a state in which the cover 35 is removed from the cleaning unit 30.

As shown in FIGS. 4 and 5, a storage portion 322 in which the storage box 31 can be stored is provided at the center of the support holder 32 in the left-right direction D3 (width direction). The storage box 31 is attached to the storage section 322 . That is, the storage box 31 is arranged at the center of the back surface of the apparatus main body 11 in the width direction D3.

The cover 35 is attached to the support holder 32. By attaching the cover 35 to the support holder 32, it covers an exhaust duct 76, which will be described later, provided inside the cleaning unit 30, and forms an internal space between the support holder 32 and the inner surface of the cover 35.

The housing portion 322 is a concave housing space extending in the vertical direction D1. The housing portion 322 is partitioned by the support holder 32 and the cover 35 with the cover 35 attached to the support holder 32 . The housing box 31 is removably attached to the housing section 322 , and is housed in the concave housing space of the housing section 322 while attached to the housing section 322 .

FIG. 6 is a longitudinal sectional view of the lower part of the cleaning unit 30. As shown in FIG. 6, an intake nozzle 33 is provided at the bottom of the support holder 32. The intake nozzle 33 is integrally formed with the support holder 32. The intake nozzle 33 is provided at the lower part of the support holder 32 so as to face the floor surface 23 (see FIG. 2).

The suction nozzle 33 sucks in dust and other dirt (suction material) from the floor surface 23 together with air when the suction fan 72 is activated. As shown in FIG. 6, the intake nozzle 33 has an intake port 331 (an example of the first intake port of the present invention) facing the floor surface 23. The suction port 331 is disposed upward from the floor surface 23 by a predetermined gap ΔT (see FIG. 2). The intake nozzle 33 has a long shape in the width direction D3, and is constituted by a square cylindrical outer peripheral wall 332 (see FIG. 2) that protrudes downward from the outer peripheral edge of the support plate 324 (see FIG. 5) of the support holder 32. Ru. Note that the position where the suction port 331 is separated from the floor surface 23 by a predetermined gap ΔT is a cleaning position where the suction nozzle 33 is arranged during the cleaning operation.

A seal member 335 is provided at the rear edge of the intake port 331 of the intake nozzle 33 . The seal member 335 is an elastic sheet-like member that extends from the edge to the floor surface 23 . The seal member 335 has a rectangular shape that is long in the width direction D3. A gap ΔT between the rear edge of the suction port 331 and the floor surface 23 is closed by the seal member 335 .

A pair of rotating brushes 26 are rotatably provided on the intake nozzle 33. The pair of rotating brushes 26 are arranged side by side in the front-rear direction D2. Each rotating brush 26 is provided so as to span both side plates located on both sides of the intake nozzle 33 in the width direction D3 in the width direction D3. Both ends of each rotating shaft of the rotating brush 26 are rotatably supported by the side plates of the intake nozzle 33. The cleaning unit 30 includes a brush motor 56 (see FIG. 12) as an electric motor. The rotational driving force of the brush motor 56 is transmitted to each rotating brush 26 via a transmission mechanism 39 (see FIG. 5) such as a belt or a pulley. As a result, each rotating brush 26 rotates. When the rotary brush 26 is rotated during the cleaning operation of the cleaning device 10, garbage on the floor surface 23 can be efficiently collected.

As shown in FIGS. 3 and 4, the expansion nozzle 34 is provided on the left side of the support holder 32 when the cleaning device 10 is viewed from the front. A storage space 38 is provided on the left side of the support holder 32. The expansion nozzle 34 can be accommodated in the accommodation space 38 . The expansion nozzle 34 is rotatably supported by the support holder 32. Specifically, the expansion nozzle 34 can be placed in the storage position in which it is stored in the storage space 38 (the position shown in FIGS. 3 and 4), and in the storage position when it is tilted leftward from the storage space 38 and placed in the floor surface 23 on the left side of the device main body 11. It is supported by a support holder 32 so as to be able to change its posture between a side cleaning posture (not shown) in which it can be cleaned.

As shown in FIG. 2, a back frame 11C is provided inside the device main body 11. The back frame 11C is a plate-shaped member extending upward from the rear end of the chassis 11B. The support holder 32 is attached to the back frame 11C. The support holder 32 includes a plate-shaped base portion 321 (an example of the second support member of the present invention) that engages with the back frame 11C of the device main body 11, and a support for supporting the bottom surface (bottom portion) 31A of the storage box 31. A plate 324 (an example of the first support member of the present invention). The base portion 321 is attached to the back frame 11C via the slide mechanism 50.

In this embodiment, the support holder 32 is supported by the slide mechanism 50 on the back frame 11C of the device main body 11 so as to be movable in the vertical direction D1. Thereby, the cleaning unit 30 itself becomes movable in the vertical direction D1. As the slide mechanism 50, for example, a well-known slide rail can be applied.

The slide mechanism 50 supports the support holder 32 so as to be movable in the vertical direction D1, transmits a driving force in the vertical direction D1 to the support holder 32, and moves the support holder 32 in the vertical direction D1. In this embodiment, when an operation instruction other than a cleaning operation, such as a maintenance instruction, is input from the operation display unit 20, the control unit 40 drives and controls the slide motor 55 (see FIG. 12) of the slide mechanism 50. By this, the support holder 32 is raised. Then, the control unit 40 moves the support holder 32 from the cleaning position (the position shown in FIG. 2) where the floor surface 23 can be cleaned to a retracted position located above the cleaning position, and then moves the support holder 32 to the retracted position. The support holder 32 is held. Thereafter, when a cleaning instruction for executing a cleaning operation is input, the control unit 40 drives and controls the slide motor 55 to lower the support holder 32 from the retracted position and move it to the cleaning position. .

As shown in FIG. 5, the base portion 321 is a plate-shaped member extending in the vertical direction D1. A housing portion 322 is integrally formed with the base portion 321 . The housing portion 322 is provided on the rear surface 321A of the base portion 321 on the rear side, and is disposed at the center of the base portion 321 in the width direction D3. The housing portion 322 includes a pair of side plates 322A and a holding plate 322B. The pair of side plates 322A are spaced apart from each other by a predetermined distance in the width direction D3. The holding plate 322B is attached to each side plate 322A so as to extend the lower rear end of each side plate 322A in the width direction D3.

Further, a support plate 324 is provided at the bottom of the base portion 321. As shown in FIG. 6, the support plate 324 is also a member that constitutes the upper surface of the intake nozzle 33. The support plate 324 is a plate-like member that is provided perpendicularly to the base portion 321 and extends horizontally rearward from the base portion 321. The support plate 324 supports the bottom surface 31A of the storage box 31 when it is attached to the storage section 322.

The housing section 322 includes a housing space surrounded by a pair of side plates 322A, a holding plate 322B, and a support plate 324, and the housing box 31 is removably housed in this housing space.

As shown in FIG. 4, with the cover 35 attached, the housing section 322 is open on the rear side and also open on the upper side. Therefore, as shown in FIGS. 7A and 7B, the storage box 31 is attached to or removed from the storage portion 322 from the rear diagonally upper side. Here, FIGS. 7(A) and 7(B) are side views of the rear part of the cleaning device 10, and FIG. 7(A) shows a state in which the accommodation box 31 is attached to the accommodation part 322, FIG. 7B shows a state in which the storage box 31 is removed from the storage section 322.

As shown in FIG. 5, two second communication ports 73 (an example of the second communication port of the present invention) are formed in the support holder 32. The second communication port 73 is exposed when the storage box 31 is removed from the support holder 32. The two second communication ports 73 are through openings formed to penetrate the base portion 321 . The two second communication ports 73 communicate with an intake port of an intake fan 72 included in an intake unit 70, which will be described later. The two second communication ports 73 are arranged at a predetermined interval in the width direction D3.

[Accommodation box 31]
FIG. 8 is a perspective view of the storage box 31 included in the cleaning device 10. The storage box 31 is a container for collecting dirt such as dust sucked into the suction port 331 of the suction nozzle 33. The accommodation box 31 accommodates therein dirt (suction material) such as dust separated from the air by a filter 315, which will be described later. As shown in FIG. 8, the storage box 31 is formed into a container shape that can store garbage inside. Specifically, the storage box 31 has a flat shape in the front-rear direction D2, and is formed in a rectangular parallelepiped box shape that is long in the height direction (vertical direction D1) of the cleaning device 10. Note that the storage box 31 is not limited to being formed in a container shape or a box shape, and is not limited to being removable from the support holder 32. For example, instead of the storage box 31, it is also possible to use a container-shaped garbage storage section attached to the device main body 11, a pipe-shaped garbage storage section provided integrally with the garbage suction passage, etc. .

The storage box 31 has two discharge ports 312 (an example of the discharge ports of the present invention) corresponding to the two second communication ports 73 (see FIG. 4). The two discharge ports 312 are formed near the top of the front wall 31B on the front side of the storage box 31. With the storage box 31 attached to the storage section 322, the two discharge ports 312 are connected to the second communication port 73. That is, with the storage box 31 attached to the storage section 322, the two exhaust ports 312 are connected to the intake ports of the intake fan 72. Thereby, the storage box 31 and the intake unit 70 are connected so that air can be taken in from the storage box 31.

A filter 315 (an example of the filter of the present invention) is provided inside the storage box 31. The filter 315 is provided in the air intake flow path of the intake fan 72. In this embodiment, the filter 315 is detachably attached to the inner surface of the front wall 31B on the front side of the storage box 31, and is provided so as to cover the discharge port 312. The filter 315 collects dirt such as dust from the air sucked into the intake nozzle 33 and separates it from the air, making the air clean. In this embodiment, the air purified by the filter 315 is discharged from the storage box 31 through the discharge port 312. The filter 315 is not a filter exclusively used for cleaning, but is a filter that can be used also for air cleaning. As the filter 315, for example, a chemical filter, a HEPA filter, a ULPA filter, etc. can be used.

As shown in FIG. 6, the support plate 324 of the support holder 32 is formed with a first communication port 323 (an example of the first communication port of the present invention) that penetrates the support plate 324. The first communication port 323 is a rectangular opening that is long in the width direction D3. The first communication port 323 communicates with the intake nozzle 33.

As shown in FIG. 8, a first opening 311 (an example of the first opening of the present invention) is formed in the bottom surface 31A of the storage box 31. The first opening 311 communicates with the intake nozzle 33 via a first communication port 323. The first opening 311 is formed at a position corresponding to the first communication port 323, and, like the first communication port 323, is formed in a rectangular shape long in the width direction D3.

The storage box 31 has a cylindrical intake guide 316 extending upward from the first opening 311 . The intake guide 316 extends in a direction that is inclined toward the rear wall 31D of the storage box 31.

With the storage box 31 attached to the storage section 322, the first opening 311 of the storage box 31 is aligned with the first communication port 323, and the first opening 311 and the first communication port 323 are connected. Thereby, the intake nozzle 33 and the storage box 31 communicate with each other. Further, an air flow path L1 (first flow path L1) is formed from the intake nozzle 33 to the inside of the storage box 31 via the first communication port 323 and the first opening 311. Further, since the intake guide 316 is provided in the storage box 31, the air sucked up from the first opening 311 is guided in a direction inclined toward the rear wall 31D.

Note that the first communication port 323 plays a role as an opening port that opens the first flow path L1 from the intake nozzle 33 to the inside of the storage box 31. Further, the intake guide 316 serves as an airflow guide section that guides the airflow sucked up from the first opening 311 toward the rear wall 31D.

Further, with the storage box 31 attached to the storage section 322, the discharge port 312 is aligned with the second communication port 73, and the discharge port 312 and the second communication port 73 are connected. Thereby, the storage box 31 and the intake port of the intake fan 72 communicate with each other. Further, an air flow path (hereinafter referred to as an "exhaust flow path") is formed from the inside of the storage box 31 to the intake fan 72 via the exhaust port 312 and the second communication port 73.

As shown in FIG. 8, a side suction port 313 is formed in the side wall 31C on the side side of the storage box 31. As shown in FIG. Further, an opening 325 (see FIG. 5) communicating with the expansion nozzle 34 is formed in the lower part of the left side plate 322A of the housing portion 322. With the storage box 31 attached to the storage section 322, the side suction port 313 is aligned with the opening 325, and the side suction port 313 and the opening 325 are connected. As a result, when the expansion nozzle 34 is in the side cleaning position, the expansion nozzle 34 and the storage box 31 communicate with each other, and dirt (suction material) such as dust and dust is sucked up from the expansion nozzle 34 together with the air. enters the side suction port 313 through the opening 325 and can be collected in the storage box 31 through the side suction port 313. Further, when the expansion nozzle 34 is in the storage position, the opening 325 is closed by the housing of the expansion nozzle 34 or the like. Note that the opening 325 and the side suction port 313 are formed so that their respective opening degrees are approximately the same.

Further, the storage box 31 has a second opening 317 (an example of the second intake port of the present invention) for allowing outside air to flow into the storage box 31. The second opening 317 is formed in the upper plate 31E that constitutes the upper surface of the storage box 31. The second opening 317 is a through opening for allowing the atmosphere around the cleaning device 10 to flow into the storage box 31, and is formed in a long rectangular shape in the width direction D3. Note that the second opening 317 may be formed in the rear wall 31D on the rear side of the storage box 31. In this case, the second opening 317 is preferably provided near the upper part of the rear wall 31D at a position sufficiently separated upward from the intake nozzle 33.

[Intake unit 70]
As shown in FIG. 2, the intake unit 70 is provided above the cleaning unit 30. Specifically, the intake unit 70 is attached to the upper part of the base portion 321 of the support holder 32. The suction unit 70 generates suction force to suck air from the suction nozzle 33 of the cleaning unit 30. Due to the suction force, dirt (suction material) such as dust on the floor surface 23 is sucked into the intake nozzle 33 together with air.

The intake unit 70 includes two intake fans 72 and two fan motors 74 that rotate each intake fan 72. The two intake fans 72 and the two fan motors 74 are arranged at a predetermined interval in the width direction D3.

The fan motor 74 is driven and controlled by a control section 40 (see FIG. 12) provided in the device main body 11. FIG. 9 is a cross-sectional view schematically showing a part of the horizontal cut surface of the upper part of the cleaning unit 30. As shown in FIG. As shown in FIG. 9, the fan motor 74 is attached to the back frame 11C in a state where it enters the inside of the device main body 11 through an opening (not shown) formed in the back frame 11C.

The intake fan 72 is, for example, a centrifugal fan or a sirocco fan (multi-blade fan) that blows air in a direction perpendicular to the intake direction D11 (see FIG. 9). The suction fan 72 is arranged such that its suction port faces the second communication port 73. A rotation support part is provided at the center of the intake fan 72, and an output shaft of a fan motor 74 is attached to this rotation support part.

When the fan motor 74 is driven and the intake fan 72 rotates, air in the storage box 31 is sucked through the second communication port 73 and sent to an exhaust duct 76, which will be described later.

Two exhaust ducts 76 are connected to the intake unit 70. Each exhaust duct 76 is arranged to be separated from each other in the width direction D3. Each exhaust duct 76 is a duct member that guides the air sucked in from the storage box 31 by the intake unit 70 into the internal space of the cleaning unit 30. The two exhaust ducts 76 are separated in the width direction D3, and the exhaust duct 76 located on the left side guides air to the upper space 351 on the left side of the cleaning unit 30, and the exhaust duct 76 located on the right side guides air to the upper space 351 on the left side of the cleaning unit 30. Air is guided to the upper space 351 on the right side of the unit 30.

The filter 315 provided in the storage box 31 has the same function as a filter used in an air purifying device in that it removes dust and the like. Therefore, the cleaning device 10 is configured to be able to clean the air using the filter 315. For example, the cleaning device 10 can perform an air cleaning operation using the filter 315 while the cleaning operation is being performed.

In this embodiment, when the cleaning device 10 performs the cleaning operation, the intake fan 72 is activated to suck out the air inside the storage box 31, and the inside of the storage box 31 is brought into a negative pressure state. As a result, dirt such as dust is sucked up from the intake port 331 of the intake nozzle 33 together with air. Then, the sucked up garbage flows into the storage box 31 through the first communication port 323 and the first opening 311, and is collected in the storage box 31. Further, when air flows into the storage box 31 together with dust, the air passes through the filter 315 and is discharged to the outside of the storage box 31 from the exhaust port 312. At this time, relatively large pieces of dirt are stored in the storage box 31, and minute dust, sand, etc. are collected by the filter 315. Then, the clean air that has passed through the filter 315 is sucked into the intake fan 72 through the second communication port 73.

Further, in this embodiment, the second opening 317 is opened by the opening/closing mechanism 80 while the cleaning device 10 is performing a cleaning operation. By operating the intake fan 72 in this state, outside air is taken into the storage box 31 through the second opening 317, passes through the filter 315, and is discharged to the outside of the storage box 31 from the exhaust port 312. At this time, the filter 315 cleans the taken-in air by removing pollen, dust, tiny floating objects such as droplets, viruses, etc. floating in the air. Then, the clean air that has passed through the filter 315 is sucked into the intake fan 72 through the second communication port 73.

[Opening/closing mechanism 80]
The opening/closing mechanism 80 will be described below with reference to FIGS. 10 and 11. Here, FIGS. 10 and 11 are diagrams showing the configuration of the opening/closing mechanism 80. FIG. 10 is a longitudinal sectional view of the upper part of the cleaning unit 30, and FIG. 11 is a sectional view of the upper part of the cleaning unit 30 taken along the cutting line XI-XI in FIG. 10, viewed from below.

The opening/closing mechanism 80 operates to change the opening degree of the second opening 317. Specifically, when the cleaning device 10 performs a cleaning operation, the opening/closing mechanism 80 operates to open the second opening 317 under drive control by the control unit 40 . Further, when a predetermined condition is satisfied during the cleaning operation, the opening/closing mechanism 80 operates to close the second opening 317 in order to reduce the degree of opening of the second opening 317 under drive control by the control unit 40. do. Note that in this embodiment, even during the cleaning operation, if the air cleaning function is not set to be effective, the second opening 317 is always closed.

By opening the second opening 317 during the cleaning operation, outside air is sucked into the storage box 31. Thereby, the air cleaning operation is performed during the cleaning operation.

The opening/closing mechanism 80 includes a shutter member 91 (an example of the opening/closing member of the present invention) that can open and close the second opening 317, and a moving mechanism 92 that moves the shutter member 91.

As shown in FIG. 10, the shutter member 91 is provided below the upper plate 31E of the storage box 31. The shutter member 91 is a rectangular plate member that is long in the width direction D3. The shutter member 91 is formed in a size that can cover the second opening 317 of the upper plate 31E. The shutter member 91 has two positions on the lower side of the upper plate 31E: an open position where the second opening 317 is opened (the position shown by the broken line in FIG. 10), and a closed position where the second opening 317 is closed (the position shown by the solid line in FIG. 10). ) and is configured to be movable between. Note that various members such as a valve member can be used as the shutter member 91 as long as the second opening 317 can be opened and closed.

As shown in FIG. 11, three slide guides 93 separated in the width direction D3 are provided inside the storage box 31. The slide guide 93 supports the shutter member 91 under the upper plate 31E so as to be able to reciprocate in the front-rear direction D2. The slide guides 93 are provided inside the storage box 31 at both ends in the width direction D3 and at the center in the width direction D3. A gap is provided between the slide guide 93 and the lower surface of the upper plate 31E, through which the shutter member 91 can be inserted. By inserting the slide guide 93 into the gap, the shutter member 91 is supported under the upper plate 31E so as to be able to reciprocate in the front-rear direction D2.

A connecting member 95 is connected to the front end portion 913 of the shutter member 91 via a connecting wire 94 . A through opening 96 (see FIG. 10) is formed in the front wall 31B of the storage box 31 to expose the connecting member 95 to the front side from the front wall 31B. The connecting member 95 is supported by the slide guide 93 and the through opening 96 so as to be movable in the front-rear direction D2. The connecting member 95 is a member that is connected to a connecting member 97 provided on the base portion 321 of the support holder 32 when the storage box 31 is attached to the support holder 32 . Therefore, the tip of the connecting member 95 is formed into a downward hook shape. Note that a seal member such as a sponge member is provided inside the through opening 96, so that even if the intake fan 72 operates, air does not enter the inside of the storage box 31 through the through opening 96.

A connecting member 97 (an example of the connecting portion of the present invention) is provided on the base portion 321 of the support holder 32. The connecting member 97 is connected to the connecting member 95 of the shutter member 91 when the housing box 31 is attached to the support holder 32, and is disconnected from the connecting member 95 of the shutter member 91 when the housing box 31 is removed. The connecting member 97 is supported by a support hole 98 formed in the base portion 321 so as to be movable in the front-back direction. The connecting member 97 is a member that is connected to the connecting member 95 when the storage box 31 is attached to the support holder 32. Therefore, the tip of the connecting member 97 is formed into an upward hook shape. Moreover, since the tip is formed in an upward hook shape, when the storage box 31 is pulled out obliquely upward from the support holder 32, the connection between the connecting member 97 and the connecting member 95 is easily released.

As shown in FIG. 11, a pair of coil springs 100 (an example of an elastic member) are provided inside the storage box 31. The coil spring 100 urges the shutter member 91 toward the closed position (backward). The coil springs 100 are provided at both ends of the storage box 31 in the width direction D3. One end of the coil spring 100 is attached to the front end portion 913 of the shutter member 91, and the other end is attached to the front wall 31B. In addition, in this embodiment, although the coil spring 100 is illustrated as an example of an elastic member, it is also possible to change to the coil spring 100 and apply elastic members, such as a leaf|plate spring and a rubber member, for example.

The coil spring 100 is a so-called compression spring. When the shutter member 91 is not receiving any other external force, the shutter member 91 is urged toward the closed position by the elastic force of the coil spring 100 and maintains the closed position.

The moving mechanism 92 includes a drive section 103 that applies a driving force to the shutter member 91, a pulley 104 provided on the support holder 32, and a wire 105 that is a linear member wound around the pulley 104. The moving mechanism 92 moves the shutter member 91 between the open position where the second opening 317 is opened and the closed position where the second opening 317 is closed.

The pulley 104 is rotatably supported by the base portion 321 of the support holder 32 via a bracket 921. One end of the wire 105 wound around the pulley 104 is connected to a connecting member 97. The other end of the wire 105 is connected to the drive section 103.

The drive unit 103 is a solenoid. The drive unit 103 holds the plunger 871 by drawing the plunger 106 inward against the spring force of the coil spring 100 when energized, and releases the holding force of the plunger 871 when not energized. By driving and controlling the drive unit 103 by the control unit 40, the shutter member 91 can be moved to either the open position or the closed position. Note that FIGS. 10 and 11 show a state in which the drive unit 103 is not energized.

When the shutter member 91 is moved to the open position and the second opening 317 is opened, an air flow path L2 (second flow path L2) from the second opening 317 to the intake fan 72 via the exhaust port 312 is formed. be done.

Note that the moving mechanism 92 is not limited to the above-described configuration. For example, the drive unit 103 may be an electric motor such as a stepping motor. In this case, instead of transmission members such as the pulley 104 and wire 105, a transmission mechanism such as a rack or gears capable of transmitting the driving force of the electric motor is used. Further, in this configuration, the coil spring 100 may be omitted.

[Control unit 40]
FIG. 12 is a functional block diagram showing the configuration of the control unit 40 of the cleaning device 10. As shown in FIG. 12, the control unit 40 includes an operation control unit 411, a detection processing unit 412, a position determination processing unit 413, an opening/closing control unit 414 (an example of the opening control unit of the present invention), a filter determination processing unit 416, It includes various processing units such as an output processing unit 417, a setting reception unit 418 (an example of a setting reception unit of the present invention), and a zone setting unit 419 (an example of a zone setting unit of the present invention). Note that the control unit 40 functions as the various processing units as the CPU executes various processes according to the control program. Further, a part or all of the processing section may be constituted by an electronic circuit. Note that the control program may be a program for causing a plurality of processors to function as the processing units.

The operation control unit 411 controls the operation of the cleaning device 10 so that the cleaning device 10 performs a cleaning operation.

In the present embodiment, the operation control unit 411 performs the cleaning operation when the setting input of the cleaning mode for executing the cleaning operation is received, and when it is detected that the storage box 31 is attached to the support holder 32. The operation of the cleaning device 10 is controlled so that the device 10 performs a cleaning operation.

Specifically, the operation control unit 411 drives the slide motor 55 to move the support holder 32 to the cleaning position. Further, the operation control unit 411 drives the brush motor 56 to rotate the rotary brush 26 . Further, the operation control unit 411 operates the intake fan 72 by driving the fan motor 74 to rotate at a predetermined setting.

Then, the operation control unit 411 acquires the position information of the current position of the cleaning device 10 (current position information), reads out the traveling route 242A (see FIG. 14) from the storage unit, and combines the current position information and the traveling route 242A. Based on this, the cleaning device 10 is caused to travel along the travel route 242A. Note that the operation control unit 411 may independently determine the next direction from the current position based on information obtained from the laser sensor 41, the sonar sensor 42, the camera 25, etc., and cause the cleaning device 10 to travel autonomously. .

As shown in FIG. 12, the cleaning device 10 is provided with a magnetic sensor 27 (an example of a detection section). The magnetic sensor 27 is connected to the control section 40 , and an output signal (detection signal) of the magnetic sensor 27 is input to the control section 40 . The magnetic sensor 27 is provided, for example, on the support holder 32, and when the storage box 31 is attached to the support holder 32, it outputs a detection signal indicating that the accommodation box 31 has been attached.

The magnetic sensor 27 is just one example of a detection unit for detecting attachment of the storage box 31. For example, a mechanical switch (such as a limit switch) may be used as the detection section. In this case, the housing box 31 is provided with a pressing member that activates the mechanical switch when the housing box 31 is attached to the support holder 32.

The detection processing unit 412 determines whether the storage box 31 is attached to the support holder 32 based on the detection signal from the magnetic sensor 27 . When the detection signal is input to the control unit 40, the detection processing unit 412 determines that the storage box 31 is attached.

The position determination processing unit 413 acquires the current position information of the cleaning device 10 during the cleaning operation, and determines whether the cleaning device 10 enters any of the plurality of specific areas A11 to A15 based on the current position information. Performs processing to determine whether

For example, if the position of the charging station P0 defined in the floor map M1 is the starting position of the cleaning operation, the control unit 40 converts the position information of the charging station P0 into the current position information of the cleaning device 10 before starting the cleaning operation. Get as. Note that the position information of the charging station P0 is stored in the storage unit 24 in advance. In addition, when the cleaning operation is started and the user is moving from the charging station P0, the control unit 40 displays the position information of the charging station P0, the amount and direction of movement from the position of the charging station P0 to the current time, and the driving route 242A. The current location information can be calculated from information related to the current location.

The amount of movement of the cleaning device 10 can be obtained by a rotary encoder (not shown) provided on the wheels 121, and the direction of movement can be calculated from the difference in the amount of rotation of the left and right wheels 121. Further, when the cleaning device 10 is equipped with a GPS receiver, the control unit 40 may calculate the current position information using the position information received from the GPS system and the travel route 242A.

The position determination processing unit 413 determines whether the cleaning apparatus 10 is located on the basis of the current position information of the cleaning apparatus 10, the travel route 242A in the storage unit 24, and the position information of each specific area A1 (see FIG. 15). It is determined whether or not the vehicle is approaching the specific area A1. For example, the distance interval between the cleaning device 10 and the specific area A1 located in the direction of movement is calculated at regular intervals, and if the distance interval is gradually decreasing, it is determined that the cleaning device 10 is approaching the specific area A1. do. Then, when the distance interval becomes less than a predetermined threshold value, it is determined that the cleaning device 10 approaches the specific area A1 and is about to enter the specific area A1.

Note that the position determination processing unit 413 determines whether the current position of the cleaning device 10 is within the range of any of the specific areas A1 based on the current position information and the position information of each of the specific areas A11 to A15 (see FIG. 15). If it is determined that this is the case, the position determination processing unit 413 may determine that the cleaning device 10 has entered the specific area A1.

Further, the position determination processing unit 413 performs a process of determining whether the cleaning apparatus 10 has left the plurality of specific areas A1 based on the current position information of the cleaning apparatus 10. When it is determined that the current position of the cleaning device 10 is outside the range of any of the specific areas A1 based on the current position information and the position information of each of the specific areas A11 to A15 (see FIG. 15), The position determination processing unit 413 may determine that the cleaning device 10 has left the specific area A1.

The opening/closing control unit 414 adjusts the opening degree of the second opening 317 by controlling the moving mechanism 92 of the opening/closing mechanism 80 . Specifically, when the settings for the cleaning mode and the settings for enabling the air purifying function are received by the settings reception unit 418 (described later), the opening/closing control unit 414 controls the drive unit 103. is driven and controlled to move the shutter member 91 to the open position to fully open the second opening 317. Further, when only the setting of the cleaning mode is accepted by the setting reception unit 418, the opening/closing control unit 414 drives and controls the drive unit 103 to move the shutter member 91 to the closed position, and controls the second opening 317 to move the shutter member 91 to the closed position. fully closed.

In this embodiment, when the cleaning operation is being performed and the air cleaning function is enabled, the opening/closing control section 414 uses the result determined by the position determination processing section 413 (determination result). The moving mechanism 92 is controlled based on this to move the shutter member 91. Thereby, the opening degree of the second opening 317 is changed.

Specifically, when it is determined that the cleaning device 10 enters the specific area A1 during the braking operation, the opening/closing control unit 414 moves the shutter member 91 from the open position to the closed position. As a result, the opening degree of the second opening 317 becomes smaller than the opening degree when the second opening 317 is fully opened. In this embodiment, when it is determined that the cleaning device 10 enters the specific area A1, the opening/closing control unit 414 moves the shutter member 91 to the closed position and maintains it at the closed position. In other words, the second opening 317 is closed. As a result, the suction force at the intake nozzle 33 becomes greater than before the second opening 317 is closed.

When the cleaning device 10 enters any specific area A1, it is necessary to increase the cleaning power of the cleaning device 10. If the second opening 317 remains fully open, insufficient suction may occur in the intake nozzle 33. Therefore, in this case, priority is given to cleaning the floor 23 over cleaning the air, so the suction force of the intake nozzle 33 is increased by closing the second opening 317. As a result, the effect of cleaning dirt on the floor surface 23 is enhanced.

Note that if it is determined that the cleaning device 10 has left the specific area A1 after the shutter member 91 has been moved from the open position to the closed position, the opening/closing control unit 414 moves the shutter member 91 from the closed position to the closed position. The second opening 317 is moved to the open position to return the second opening 317 to its original open state. In this case, the shutter member 91 is returned to the original open position to enable air purification during the cleaning operation.

On the other hand, if it is determined that the cleaning device 10 has not yet entered the specific area A1 during the cleaning operation, the opening/closing control section 414 moves the shutter member 91 to the open position. Specifically, the opening/closing control unit 414 moves the shutter member 91 from the closed position to the open position when it is in the closed position, and maintains it at the open position when the shutter member 91 is in the open position. . That is, when the cleaning device 10 travels in an area other than the specific area A1, the opening/closing control unit 414 moves the shutter member 91 to the open position.

When the cleaning device 10 does not enter the specific area A1, that is, when cleaning while traveling in an area other than the specific area A1, there is no need to increase the cleaning power of the cleaning device 10 because the amount of garbage in the area is relatively small. . In this case, even if the second opening 317 is fully opened, the suction nozzle 33 will not run out of suction, and the dust on the floor 23 can be reliably sucked. Further, since the second opening 317 is fully opened, the air taken in from the second opening 317 during the cleaning operation can be purified.

The filter determination processing unit 416 performs a process of determining whether the filter 315 provided in the cleaning device 10 is clogged. For example, the filter determination processing unit 416 determines that the filter 315 is clogged when the cumulative operating time of the cleaning operation reaches a predetermined time. Note that a pressure sensor is provided in the flow path from the filter 315 to the intake fan 72, and when the detected pressure of this pressure sensor becomes less than a predetermined value, the filter determination processing unit 416 determines that the filter 315 is clogged. You may judge.

If the filter determination processing unit 416 determines that the filter 315 is clogged, the suction force of the intake nozzle 33 will decrease. In this case, dust may remain on the floor 23 after cleaning due to insufficient suction from the intake nozzle 33. Therefore, in this case, the opening/closing control unit 414 moves the shutter member 91 from the open position to the closed position until the filter 315 is cleaned or replaced and the filter 315 is cleared from clogging, and the opening/closing control unit 414 moves the shutter member 91 from the open position to the closed position to open the second opening. 317 is closed. In this case, although air cleaning is no longer performed, the suction force of the intake nozzle 33 becomes greater than when the second opening 317 is fully opened, and it becomes possible to suction the dust from the floor surface 23 without leaving it behind.

Note that when the filter determination processing unit 416 determines that the filter 315 is not clogged, the opening/closing control unit 414 moves the shutter member 91 from the closed position to the open position to open the second opening 317. do. As a result, air cleaning during the cleaning operation is performed again.

Note that when the filter determination processing section 416 determines that the filter 315 is clogged, the output processing section 417 outputs filter error information indicating that the filter 315 is clogged. Specifically, the output processing unit 417 displays the filter error information on the operation display unit 20, outputs an alarm indicating the filter error information, and displays the filter error information on the management server that manages the cleaning device 10. etc., performs processing for transmitting data via a predetermined communication network.

The setting receiving unit 418 performs a process of receiving a setting input for setting the operation mode of the cleaning device 10 to the cleaning mode. For example, when the user operates the operation display unit 20 to input a cleaning operation instruction for executing a cleaning operation in the cleaning mode, the setting reception unit 418 receives the input of the cleaning operation instruction. Further, the setting reception unit 418 performs a process of accepting a setting input for enabling the air purification function. For example, when the user operates the operation display unit 20 and inputs a setting instruction to enable the air purifying function, the setting reception unit 418 receives the input of the setting instruction.

The area setting unit 419 performs a process of receiving a setting input for registering a specific area A1 in the cleaning area A20. For example, when the user operates the operation display unit 20 and inputs the position information of the specific area A1, the area setting unit 419 stores the input position information and an identification name for identifying the specific area A1 indicating the position. Alternatively, the identification number or the like is registered in the specific area list 243. Note that the area setting unit 419 may receive the position information of the specific area A1 transmitted from the server device 29 and register it in the specific area list 243.

Further, the area setting unit 419 determines an area where the amount of garbage (garbage amount) is equal to or greater than a predetermined reference amount based on the image data of the floor surface 23 of the cleaning area A20, and selects the area as a specific area A1. You may also perform processing to set it to . The image data is, for example, image data of the floor surface 23 before cleaning, which was imaged by the camera 25 during a past cleaning operation. For example, the area setting unit 419 captures images of the floor 23 before cleaning for multiple days before the cleaning day (for example, one week before the cleaning day) and accumulates and stores the image data in the storage unit 24, Image analysis is performed on each of the plurality of days worth of imaging data, and an area where the amount of dust is frequently equal to or greater than the reference amount is determined to be a specific area A1. In addition, the said image data may be imaged by the surveillance camera installed in cleaning area A20, for example.

Further, the area setting unit 419 determines an area where the amount of garbage is equal to or greater than a predetermined reference amount based on the fluctuation information that causes a change in the amount of garbage on the floor surface 23 of the cleaning area A20, and specifies the area. You may perform processing to set it in area A1. For example, the area setting unit 419 is a learning device configured to determine the specific area A1 by machine learning, and has a learning model for determining the specific area A1. For example, the area setting unit 419 includes a fluctuation information acquisition unit that acquires the fluctuation information, and a learning unit that learns the specific area A1 in the cleaning area A20 based on the fluctuation information.

For example, the fluctuation information includes the business content of the facility where the cleaning device 10 is installed, the business hours of the facility, the content and location information of each of the equipment P1 to P5 in the facility, and information on the stores T1 to T9 installed in the facility. information (store information), information on the number of visitors to the facility in the past, event information indicating the contents of the event to be held at the facility, the area and shape of the cleaning area A20, the floor map M1, the driving route 242A, and the like. These pieces of information are stored in advance in the storage unit 24, and the fluctuation information acquisition unit acquires the fluctuation information from the storage unit 24. Further, the fluctuation information includes information such as temperature, humidity, atmospheric pressure, weather, etc. at the location of the facility. The fluctuation information acquisition unit receives sensor output values transmitted from a temperature sensor, humidity sensor, and atmospheric pressure sensor provided in the facility, and acquires real-time temperature, humidity, and atmospheric pressure indicated by the sensor output values. Further, the fluctuation information acquisition unit acquires weather information by downloading weather information from a weather information database connected to the Internet.

When the various acquired variation information is input, the learning unit performs machine learning on the area corresponding to the specific area A1 based on the variation information. For example, the learning unit determines, based on a learning algorithm such as supervised learning, unsupervised learning, or reinforcement learning, a specific area A1 in which the amount of garbage is equal to or greater than the reference amount. Determine. Note that deep learning may be used as a machine learning method.

[Cleaning control processing]
Hereinafter, with reference to FIG. 17, an example of the procedure of the cleaning control process executed by the control unit 40 in the cleaning device 10 will be explained, and a method specified by the procedure will be explained. FIG. 17 is a flowchart illustrating an example of the procedure of the cleaning control process executed by the control unit 40.

Note that one or more steps included in the cleaning control process may be omitted as appropriate. Further, each step in the cleaning control process may be executed in a different order as long as similar effects are produced. In addition, in the following description, an example will be explained in which each step in the cleaning control process is executed by the control unit 40, but one or more processors execute each step in the cleaning control process in a distributed manner. Processing examples or methods for doing so are also considered as other embodiments of the present invention.

First, the control unit 40 determines whether the storage box 31 is attached to the support holder 32 in step S11. Here, if it is determined that the storage box 31 is attached, then in the next step S12, the control section 40 determines whether or not the cleaning operation instruction has been input.

If it is determined that the cleaning operation instruction has been input (Yes in S12), the control unit 40 determines whether the air cleaning function is effective in the next step S13. The control unit 40 determines that the air cleaning function is enabled when a setting instruction for enabling the air cleaning function is input.

If it is determined in step S13 that the air purifying function is effective (Yes in S13), the control unit 40 controls the opening/closing mechanism 80 to open the second opening 317 (S14). The control unit 40 drives and controls the drive unit 103 of the moving mechanism 92 to move the shutter member 91 to the open position and change the opening degree of the second opening 317. Specifically, a drive voltage is supplied to the drive unit 103 to turn the drive unit 103 into an energized state. As a result, the shutter member 91 moves to the open position against the spring force of the coil spring 100 and is held at the open position. Therefore, the second opening 317 is opened by the shutter member 91. In this case, when the intake fan 72 operates, outside air is taken into the storage box 31 through the second opening 317. After that, the process proceeds to step S16.

On the other hand, if it is determined in step S13 that the air purifying function is disabled (No in S13), the control unit 40 controls the opening/closing mechanism 80 to close the second opening 317 (S15). Specifically, the control unit 40 turns the drive unit 103 into a non-energized state. As a result, the shutter member 91 is moved to the closed position by the spring force of the coil spring 100 and is held at the closed position. Therefore, the second opening 317 is closed by the shutter member 91. In this case, even if the intake fan 72 operates, outside air is not taken into the storage box 31 through the second opening 317. After that, the process proceeds to step S16.

In the next step S16, the control unit 40 drives the slide motor 55 to move the support holder 32 to the cleaning position. After that, the control unit 40 controls the operation of the cleaning device 10 so that the cleaning device 10 performs a cleaning operation according to the cleaning mode (S17). That is, the operation control unit 411 of the control unit 40 operates the rotating brush 26 and the intake fan 72 to cause the cleaning device 10 to travel along the travel route 242A.

Note that when the cleaning operation instruction is input, in the step following step S12, the control unit 40 may determine whether the cumulative operation time is equal to or longer than the predetermined time. This determination is performed to determine whether the filter 315 provided in the cleaning device 10 is clogged. Here, if it is determined that the cumulative driving time is greater than or equal to the predetermined time, it means that the filter 315 is clogged. In this case, after outputting the filter error information, the control unit 40 may disable the air cleaning function and execute the processing from step S15 onwards. This increases the suction force at the intake nozzle 33. In this case, although air purification is no longer performed, it is possible to compensate for the reduced suction power due to clogging of the filter 315. Note that if the cumulative driving time is less than the predetermined time and it is determined that the filter 315 is not clogged, the control unit 40 performs the processing from step S13 onwards.

[Opening degree change processing]
Hereinafter, with reference to FIG. 18, an example of the procedure of the opening degree changing process executed by the control unit 40 in the cleaning device 10 will be explained, and a method specified by the procedure will be explained. FIG. 14 is a flowchart illustrating an example of the procedure of the opening degree changing process executed by the control unit 40.

Note that one or more steps included in the opening degree changing process may be omitted as appropriate. Further, each step in the opening degree changing process may be executed in a different order as long as similar effects are produced. Furthermore, in the following description, an example will be explained in which each step in the opening degree changing process is executed by the control unit 40, but one or more processors will distribute each step in the opening degree changing process. Other embodiments of the present invention may include processing examples or methods that are performed using the same method.

The opening degree changing process is a process of changing the opening degree of the second opening 317, and is performed during execution of the cleaning operation. Further, the opening degree changing process is executed when the air cleaning function of the cleaning device 10 is set to be valid, that is, when it is determined in step S13 that the air cleaning function is valid. Note that when the air purification function is effective, air is also taken in from the second opening 317, so the cleaning operation is performed with the suction force of the intake nozzle 33 being slightly lower than when the air purification function is not effective. be exposed.

First, in step S21, the control unit 40 determines whether the specific area A1 is set in the cleaning area A20. This determination is made based on information in the specific area list 243 in the storage unit 24. When the specific area A1 is set in the cleaning area A20, the control unit 40 determines whether the cleaning device 10 approaches the specific area A1 in the next step S22. Such determination processing is performed by the position determination processing section 413. Note that step S22 is an example of a determination step of the present invention.

When it is determined that the cleaning device 10 approaches the specific area A1 and is about to enter it (Yes in S22), the control unit 40 controls the drive unit 103 to open the second opening 317 in the next step S23. Change the opening degree. Specifically, the control unit 40 moves the shutter member 91 from the open position to the closed position to close the second opening 317. Such processing is performed by the opening/closing control section 414. This increases the suction force at the intake nozzle 33. In this case, although air cleaning is no longer performed, the cleaning power of the cleaning device 10 is increased compared to when the second opening 317 is fully opened, and the specific area A1 is reliably cleaned. Note that step S23 is an example of the opening degree changing step of the present invention.

In the next step S24, the control unit 40 determines whether the cleaning device 10 has exited the specific area A1 after entering the specific area A1.

When it is determined that the cleaning device 10 has left the specific area A1 (Yes in S24), the control unit 40 controls the driving unit 103 to change the opening degree of the second opening 317 in the next step S25. do. Specifically, the control unit 40 moves the shutter member 91 from the closed position to the open position to open the second opening 317. Such processing is performed by the opening/closing control section 414. As a result, the suction force in the intake nozzle 33 is returned to its original state, but air purification is performed again. Thereafter, the processes from step S21 onwards are repeatedly executed until the cleaning operation is completed in step S26.

In this way, when the air cleaning function is set to be effective in the cleaning device 10, the above-mentioned opening degree changing process is performed, so when the cleaning device 10 enters the specific area A1, the second opening 317 is closed, and the suction force of the intake nozzle 33 is strengthened. Thereby, cleaning of the floor surface 23 is prioritized over air cleaning, and it becomes possible to reliably suck up dirt on the floor surface 23. Furthermore, when the cleaning device 10 exits the specific area A1, the second opening 317 is opened and the suction force of the intake nozzle 33 is returned to its original state. Thereby, not only the cleaning operation of the floor surface 23 but also the air cleaning operation is performed.

Note that in the opening degree changing process described above, the control unit 40 may determine whether the filter 315 is clogged during the cleaning operation. For example, when it is determined that the filter 315 is clogged, the control unit 40 may close the second opening 317 after outputting the filter error information until the filter 315 is cleared from clogging. . In this case, although air purification is no longer performed, it is possible to compensate for the reduced suction power due to clogging of the filter 315.

In this embodiment, an example of processing has been described in which the shutter member 91 is moved to the closed position to close the second opening 317 in step S23, but the present invention is not limited to this example of processing. For example, without fully closing the second opening 317, the degree of opening of the second opening 317 may be made smaller than the degree of opening before the process of step S23 (for example, the degree of opening when fully opened). Moreover, although the processing example in which the shutter member 91 is moved to the open position and the second opening 317 is fully opened in step S25 has been described, the present invention is not limited to this processing example. For example, without fully opening the second opening 317, the opening degree of the second opening 317 may be simply made larger than the opening degree before the process of step S25 is performed (for example, the opening degree when fully closed). With this configuration, the second opening 317 is not completely closed, so although the air cleaning effect is lower than when it is fully opened, it is possible to increase the cleaning power in the specific area A1 while cleaning the air.

Further, in the above-described embodiment, a configuration in which the shutter member 91 is actuated by the driving force of the drive unit 103 is illustrated, but the present invention is not limited to such a configuration. A configuration in which the opening degree of the second opening 317 is changed by the user manually operating the shutter member 91 can also be considered as another embodiment of the present invention.

Further, in the above-described embodiment, the configuration in which the control unit 40 of the cleaning device 10 includes the position determination processing unit 413 and the opening/closing control unit 414 is illustrated, but the present invention is not limited to this configuration. For example, as shown in FIG. 19, the present invention provides a cleaning system 200 in which a cleaning device 10 and a server device 29 are communicably connected, and the control section 291 of the server device 29 has the above-mentioned position determination processing section 413. The configuration may include both or one of the area setting unit 419 and the area setting unit 419. Note that FIG. 19 shows a configuration in which the position determination processing section 413 and the area setting section 419 are included in the control section 291. In this case, the information required for the determination process by the position determination processing section 413 is transmitted from the cleaning device 10 to the server device 29, and the determination result is transmitted from the server device 29 to the cleaning device 10 via the communication section 293. Further, information required for processing by the area setting unit 419 is transmitted from the cleaning device 10 to the server device 29. Further, a specific area list 243 including the specific area A1 defined by the area setting unit 419 is transmitted from the server device 29 to the cleaning device 10 and stored in the storage unit 24.

[Additional notes to the invention]
Hereinafter, a summary of the invention extracted from the above-described embodiments will be added. Note that each configuration and each processing function described in the following supplementary notes can be selected and combined as desired.

<Appendix 1>
A cleaning device that cleans a surface to be cleaned by suctioning matter on the surface to be cleaned while moving in a predetermined direction of movement,
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position where the second suction port is opened and a closed position where the second suction port is closed;
a determination processing unit that determines whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A cleaning device comprising: an opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member based on a determination result by the determination processing section.

<Appendix 2>
The opening degree control unit moves the opening/closing member to the closed position to close the second intake port when it is determined that the cleaning device enters the specific area, and the opening control unit moves the opening/closing member to the closed position to close the second intake port, and causes the cleaning device to enter the specific area. The cleaning device according to supplementary note 1, which moves the opening/closing member to the open position to open the second suction port when it is determined that the device does not enter.

<Appendix 3>
The opening degree control unit moves the opening/closing member toward the closed position to reduce the opening degree of the second suction port when it is determined that the cleaning device enters the specific area, and The cleaning device according to supplementary note 1, wherein the opening/closing member is moved to the open position to increase the opening degree of the second suction port when it is determined that the specific area is not entered.

<Appendix 4>
The apparatus further includes an area setting unit that determines an area where the suction material is equal to or more than a predetermined reference amount based on image data of the surface to be cleaned in the cleaning range of the cleaning device, and sets the area as the specific area. , the cleaning device according to any one of Supplementary Notes 1 to 3.

<Appendix 5>
An area where the area where the aspirate is greater than or equal to a predetermined reference amount is determined based on variation information that causes a change in the amount of the aspirate in the cleaning range of the cleaning device, and the area is set as the specific area. The cleaning device according to any one of Supplementary Notes 1 to 3, further comprising a setting section.

<Appendix 6>
The cleaning device according to any one of Supplementary Notes 1 to 3, further comprising an area setting unit that receives a setting input for setting the specific area in the cleaning range of the cleaning device.

<Appendix 7>
further comprising a settings reception unit that receives settings input for causing the cleaning device to perform an air purification operation,
When the setting input is received by the setting reception unit, the opening degree control unit moves the opening/closing member from the closed position to the open position, and then controls the opening degree based on the determination result by the determination processing unit. The cleaning device according to any one of Supplementary Notes 1 to 6, which changes the opening degree of the second suction port.

<Appendix 8>
It has a first opening that communicates with the intake nozzle and an outlet that is connected to the intake fan, and stores therein the aspirate that is sucked into the first intake port of the intake nozzle and flows into the first opening. further comprising a housing section for
8. The cleaning device according to any one of Supplementary Notes 1 to 7, wherein the second suction port is provided in the accommodating portion.

<Appendix 9>
a device main body provided with the intake fan;
further comprising a support part provided on the back surface of the device main body and detachably supporting the storage part,
The intake nozzle is provided at a lower part of the support part so as to face the surface to be cleaned,
The first opening is formed on the bottom surface of the accommodating part,
The support part is
A first communication port that is capable of supporting a bottom surface of the housing part and has a first communication port that opens a first flow path from the intake nozzle to the inside of the housing part through the first opening when the housing part is attached. a support member;
a second support that is capable of engaging with a side surface of the accommodating section and has a second communication port that opens an exhaust flow path from the inside of the accommodating section to the intake fan via the exhaust port when the accommodating section is attached; having a member;
The opening/closing member is provided in the housing part,
The cleaning device according to appendix 8, wherein the support part has a connecting part that is connected to the opening/closing member when the accommodating part is attached, and is disconnected from the opening/closing member when the accommodating part is removed.

<Appendix 10>
The accommodating portion is formed in a box shape long in the height direction of the cleaning device,
The cleaning device according to appendix 8 or 9, wherein the second suction port is formed in an upper part of the housing part.

<Appendix 11>
A cleaning system comprising a cleaning device that cleans a surface to be cleaned by sucking matter on the surface to be cleaned while moving in a predetermined direction of movement, the cleaning system comprising:
The cleaning device includes:
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position that opens the second suction port and a closed position that closes the second suction port;
a determination processing unit that determines whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A cleaning system comprising: an opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member based on a determination result by the determination processing section.

<Appendix 12>
A method applied to a cleaning device that cleans a surface to be cleaned by sucking matter on the surface to be cleaned while moving in a predetermined direction of movement, the method comprising:
The cleaning device includes:
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position for opening the second suction port and a closed position for closing the second suction port;
a determination step of determining whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A method including an opening degree changing step of changing the opening degree of the second suction port by moving the opening/closing member based on the determination result of the determination step.

10: Cleaning device 11: Device body 24: Storage unit 27: Magnetic sensor 29: Server device 30: Cleaning unit 31: Accommodation box 32: Support holder 33: Intake nozzle 40: Control unit 41: Laser sensor 42: Sonar sensor 43: Camera 70: Intake unit 72: Intake fan 73: Second communication port 80: Opening/closing mechanism 91: Shutter member 92: Moving mechanism 311: First opening 312: Discharge port 315: Filter 317: Second opening 323: First communication port 411 :Operation control section 412:Detection processing section 413:Position judgment processing section 414:Opening/closing control section 416:Filter judgment processing section 417:Output processing section 418:Setting reception section 419:Area setting section

Claims (12)

A cleaning device that cleans a surface to be cleaned by suctioning matter on the surface to be cleaned while moving in a predetermined direction of movement,
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position where the second suction port is opened and a closed position where the second suction port is closed;
a determination processing unit that determines whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A cleaning device comprising: an opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member based on a determination result by the determination processing section. The opening degree control unit moves the opening/closing member to the closed position to close the second intake port when it is determined that the cleaning device enters the specific area, and the opening control unit moves the opening/closing member to the closed position to close the second intake port, and causes the cleaning device to enter the specific area. The cleaning device according to claim 1, wherein the opening/closing member is moved to the open position to open the second suction port when it is determined that the device does not enter. The opening degree control unit moves the opening/closing member toward the closed position to reduce the opening degree of the second suction port when it is determined that the cleaning device enters the specific area, and The cleaning device according to claim 1, wherein when it is determined that the specific area is not entered, the opening/closing member is moved to the open position side to increase the opening degree of the second suction port. The apparatus further includes an area setting unit that determines an area where the suction material is equal to or more than a predetermined reference amount based on image data of the surface to be cleaned in the cleaning range of the cleaning device, and sets the area as the specific area. A cleaning device according to any one of claims 1 to 3. An area where the area where the aspirate is greater than or equal to a predetermined reference amount is determined based on variation information that causes a change in the amount of the aspirate in the cleaning range of the cleaning device, and the area is set as the specific area. The cleaning device according to any one of claims 1 to 3, further comprising a setting section. The cleaning device according to any one of claims 1 to 3, further comprising an area setting unit that receives a setting input for setting the specific area in the cleaning range of the cleaning device. further comprising a settings reception unit that receives settings input for causing the cleaning device to perform an air purification operation,
When the setting input is received by the setting reception unit, the opening degree control unit moves the opening/closing member from the closed position to the open position, and then controls the opening degree based on the determination result by the determination processing unit. The cleaning device according to any one of claims 1 to 3, wherein the opening degree of the second suction port is changed. It has a first opening that communicates with the intake nozzle and an outlet that is connected to the intake fan, and stores therein the aspirate that is sucked into the first intake port of the intake nozzle and flows into the first opening. further comprising a housing section for
The cleaning device according to any one of claims 1 to 3, wherein the second suction port is provided in the accommodating portion. a device main body provided with the intake fan;
further comprising a support part provided on the back surface of the device main body and detachably supporting the storage part,
The intake nozzle is provided at a lower part of the support part so as to face the surface to be cleaned,
The first opening is formed on the bottom surface of the accommodating part,
The support part is
A first communication port that is capable of supporting a bottom surface of the housing part and has a first communication port that opens a first flow path from the intake nozzle to the inside of the housing part through the first opening when the housing part is attached. a support member;
a second support that is capable of engaging with a side surface of the accommodating section and has a second communication port that opens an exhaust flow path from the inside of the accommodating section to the intake fan via the exhaust port when the accommodating section is attached; having a member;
The opening/closing member is provided in the housing part,
The cleaning device according to claim 8, wherein the support part has a connecting part that is connected to the opening/closing member when the accommodating part is attached, and is disconnected from the opening/closing member when the accommodating part is removed. The accommodating portion is formed in a box shape long in the height direction of the cleaning device,
The cleaning device according to claim 8, wherein the second suction port is formed in an upper part of the accommodating part. A cleaning system comprising a cleaning device that cleans a surface to be cleaned by sucking matter on the surface to be cleaned while moving in a predetermined direction of movement, the cleaning system comprising:
The cleaning device includes:
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position for opening the second suction port and a closed position for closing the second suction port;
a determination processing unit that determines whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A cleaning system comprising: an opening degree control section that changes the opening degree of the second suction port by moving the opening/closing member based on a determination result by the determination processing section. A method applied to a cleaning device that cleans a surface to be cleaned by sucking matter on the surface to be cleaned while moving in a predetermined direction of movement, the method comprising:
The cleaning device includes:
an intake nozzle having a first intake port and sucking the suction material by the suction force of an intake fan;
a second intake port for causing outside air to flow into the interior by the suction force;
a filter provided in a guide flow path that guides air flowing in from the first intake port and the second intake port to the intake fan;
an opening/closing member movable between an open position that opens the second suction port and a closed position that closes the second suction port;
a determination step of determining whether the cleaning device enters a predetermined specific area based on position information of the cleaning device;
A method including an opening degree changing step of changing the opening degree of the second suction port by moving the opening/closing member based on the determination result of the determination step.