JP4415422B2 - Cleaning robot - Google Patents

Cleaning robot Download PDF

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Publication number
JP4415422B2
JP4415422B2 JP16246199A JP16246199A JP4415422B2 JP 4415422 B2 JP4415422 B2 JP 4415422B2 JP 16246199 A JP16246199 A JP 16246199A JP 16246199 A JP16246199 A JP 16246199A JP 4415422 B2 JP4415422 B2 JP 4415422B2
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Japan
Prior art keywords
cleaning
cleaning robot
storage medium
means
maintenance
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Expired - Lifetime
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JP16246199A
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Japanese (ja)
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JP2000353013A (en
Inventor
恒 一条
Original Assignee
株式会社豊田自動織機
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled cleaning robot.
[0002]
[Prior art]
This type of self-propelled cleaning robot is disclosed in Japanese Patent Application Laid-Open Nos. 9-269824 and 7-281752. There are two types of cleaning robots: a sweeper type that self-runs on the floor surface and sweeps dust with a brush provided in the dust box, and a polisher type that dries cleaning liquid and polishes the floor surface with a sponge. Since the cleaning robot is self-propelled for cleaning, the operator does not need to monitor during that time.
[0003]
The reason why the cleaning robot can self-run and clean the room is because it has map information of the cleaning area that stores the shape and size of the room. In this way, map information is given to teach the shape and size of the room. For example, a cleaning robot was actually run through a room to search for map information for the cleaning area. For example, a single building is usually provided with a plurality of cleaning robots.
[0004]
[Problems to be solved by the invention]
However, when having multiple cleaning robots clean the same room, it was necessary to teach the map information of the cleaning area of the same room for each unit. If it is troublesome, a dedicated cleaning robot must be used for each room. Normally, a cleaning robot is responsible for cleaning multiple rooms, so while cleaning other rooms, you have to wait until the other cleaning robots are free of work until they finish cleaning. There wasn't. In this case, there is a problem that the cleaning robot cannot be used during that time, and a wasteful time is consumed, resulting in poor efficiency.
[0005]
For this reason, there has been a problem that it usually takes time to teach the map information of the cleaning area of the same room for each unit, and it takes time to teach the map information of the cleaning area. Although the cleaning robot can be used with a plurality of functions, it is troublesome to change the setting for using the functions one by one. For example, the function is switched according to the user's preference, but when a single cleaning robot is used by multiple cleaning workers (cleaning managers), each time the worker to use changes, It was necessary to change the setting to change the setting to the function. Further, for example, since the functions to be used are different between the cleaning operator and the maintenance company, the maintenance company has to switch the setting and perform the work of returning to the original setting after the maintenance is completed.
[0006]
The present invention has been made to solve the above-mentioned problems, and a first object of the present invention is to provide a cleaning robot that does not have to teach the map information of the cleaning area of the same room for each cleaning robot. It is to provide. The second object is to eliminate the troublesome operation of switching the functions of the cleaning robot according to the user's preference every time the user of the cleaning robot changes.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 is a self-propelled cleaning robot for cleaning a cleaning surface, Configured to be readable and writable, Stores map information for recognizing cleaning areas At the same time, identification data for identifying whether the user of the cleaning robot is a cleaning worker or a maintenance company is stored. A storage medium; a connector that is detachably attachable to the storage medium and that can read data stored in the storage medium in an attached state; and the storage medium that is read from the storage medium via the connector Control means for controlling the travel drive unit and the cleaning drive unit so as to grasp the cleaning area based on the map information and cause the cleaning area to be cleaned; ,in front Identification means for identifying whether the user is a cleaning worker or a maintenance company based on identification data read from the storage medium; Maintenance including the operation status of the cleaning robot when the travel drive unit and the cleaning drive unit are controlled so that the cleaning unit cleans the cleaning area. Get information You For of Information acquisition means; When the user is identified as a maintenance company among cleaning workers and maintenance companies by the identification means, Acquired by the information acquisition means Maintenance Affection News Information writing means for writing to the storage medium; Be equipped It is.
[0008]
According to this configuration, when the cleaning robot performs the cleaning operation, the storage medium is attached and connected to the connector. Based on the map information read from the storage medium via the connector, the control means grasps the cleaning area and controls the traveling drive unit and the cleaning drive unit to cause the cleaning robot to clean the cleaning area. By attaching the storage medium to a free cleaning robot among a plurality of storage media, it becomes possible to cause any cleaning robot to clean a room or the like in which a cleaning area is stored in the storage medium. That is, since the storage medium can be shared and used by a plurality of cleaning robots, the cleaning robot can be used efficiently.
Also acquired by information acquisition means maintenance Affection News It is written in the storage medium by the information writing means. For this reason, setting of writing desired information in the storage medium is automatically performed only by attaching the storage medium to the connector.
[0011]
Claim 2 In the invention described in claim 1 In the invention described in (1), the apparatus further includes function switching means for switching between functions set in advance for the cleaning robot for the cleaning operator and for the maintenance company according to the identification result of the user by the identification means.
[0012]
According to this configuration, By simply attaching the storage medium to the connector, the function corresponding to the identification result is automatically set among the functions for the cleaning operator and the maintenance company. .
[0015]
Claim 3 In the invention described in claim 2 The function switching means cancels the limiter function set for the cleaning worker according to the identification result of the user by the identification means when the identification result is a maintenance company. This is the gist.
[0016]
According to this configuration, by the identification means User Identification results But Maintenance contractor If it is The limiter function set for the cleaning worker is canceled by the function switching means.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
As shown in FIGS. 2 and 3, the cleaning robot 1 includes a driving wheel 3 as a front wheel and a caster wheel 4 as a rear wheel at the bottom of the main body 2. The left and right drive wheels 3, 3 are independently driven by travel motors 5, 6 as travel drive units disposed in the main body 2. A frustoconical side brush 7 is provided on the two arm portions 2 a that extend while slightly expanding to the left and right of the front portion of the main body 2. The side brushes 7 and 7 are driven by the side brush motors 8 and 8 as cleaning drive units disposed on the left and right arm portions 2a, and rotate in the direction of the arrow shown in FIG. It has a function. A cylindrical main brush 9 is disposed at the bottom of the main body 2 behind the drive wheel (front wheel) 3. The main brush 9 is driven by a main brush motor 10 as a cleaning drive unit disposed in the main body 2 and has a function of rotating in the direction of the arrow shown in FIG.
[0018]
A dust box 11 is disposed in front of the main body 2 immediately in front of the main brush 9, and a suction port 11 a is formed in a portion of the dust box 11 facing the main brush 9. A vacuum motor 12 and a vacuum unit (negative pressure generator) 13 driven by the vacuum motor 12 are disposed at the rear of the main body 2. When the vacuum unit 13 is driven, the inside of the dust box 11 becomes negative pressure, and the dust swept forward by the main brush 9 is sucked and removed into the dust box 11 from the suction port 11a. The suction port 11a of the dust box 11 is provided with a rubber lip 11b that assists in taking dust into the suction port 11a.
[0019]
The cleaning robot 1 includes three obstacle sensors 14 at the front of the main body 2, two obstacle sensors 15 at the left and right sides of the main body 2, and three obstacle sensors 16 at the rear of the main body 2. Front, side and rear obstacles are detected by the three types of obstacle sensors 14, 15 and 16.
[0020]
A gyro 17 is built in the front center of the main body 2. The gyro 17 is for detecting the posture angle (orientation) θ of the cleaning robot 1, and the posture angle θ is used for grasping the current position during travel control.
[0021]
A display device 18 is embedded in the rear upper surface of the main body 2. The screen 18a of the display device 18 is configured by a touch panel that also serves as the input device 19, and an input operation is possible by operating a display button on the screen 18a. In addition, an infrared camera 20 and an infrared light 21 are provided at the front center of the main body 2. In addition, two grips 22 are provided at the rear part of the main body 2 that are used by an operator to manually move the cleaning robot 1.
[0022]
The cleaning robot 1 is an electric self-propelled vehicle and incorporates a battery 23 (shown in FIG. 2) on the lower rear side of the main body 2. On the bottom surface of the main body 2, a charger 24 (shown in FIG. 2) for charging in a non-contact manner by an electromagnetic induction method from a charger (not shown) installed at a predetermined place on the ground. In addition, an antenna 25 that performs wireless communication for remotely operating the cleaning robot 1 is provided at the rear of the upper surface of the main body 2.
[0023]
A memory card 27 as a storage medium is inserted into a memory card insertion portion (memory connector) 26 as a connector provided on the upper rear surface of the main body 2. The memory card 27 stores a plurality of map data and the like for teaching the cleaning area to the cleaning robot 1. Inside the main body 2, a controller 28 (shown in FIG. 2) is disposed as a control means for controlling communication control and operation control of the cleaning robot 1.
[0024]
FIG. 1 is a block diagram showing an electrical configuration of the cleaning robot 1.
The controller 28 includes two microcomputers 31 and 32 (hereinafter simply referred to as microcomputers). The microcomputer 31 is for operation control that controls running control and cleaning control, and the microcomputer 32 is for communication that controls communication. Both microcomputers 31 and 32 are connected to each other via a bus so that mutual data transmission is possible.
[0025]
Three types of obstacle sensors 14, 15, 16, a gyro 17, a battery sensor 33, a dust full detection sensor 34, and motor current detection sensors 35, 36, 37 are connected to the input port of the microcomputer 31. Further, the traveling motors 5 and 6, the side brush motors 8 and 8, the main brush motor 10 and the vacuum motor 12 are connected to the output port of the microcomputer 31 through drivers 38 to 43, respectively. The traveling motors 5 and 6 include encoders 44 and 45 that detect the number of rotations thereof, and each encoder 44 and 45 is connected to an input port of the microcomputer 31. The motors 5, 6, 8, 10, 12 are controlled in rotation speed by drivers 38 to 43.
[0026]
The microcomputer 31 is connected to the output port via the drive circuit 46 and an image processing unit 47 that processes image data taken by the camera 20 is connected to the input port. The light 21 is connected to the output port of the microcomputer 31 via the drive circuit 48. A memory card 27 is connected to the input / output port of the microcomputer 31 via the memory card insertion unit 26. A speaker 50 is connected to the output port of the microcomputer 31 via a drive circuit 49.
[0027]
The microcomputer 31 has a built-in memory 51. The memory 51 stores various program data necessary to control the operation of the cleaning robot 1, and includes a travel control program, an authentication number verification program, an abnormality detection program, and the like.
[0028]
On the other hand, the display device 18, the input device 19, and the communication device 52 are connected to the communication microcomputer 32. The communication device 52 can wirelessly communicate with the remote controller 54 via the antennas 25 and 53. By operating the remote controller 54, it is possible to remotely operate the cleaning robot 1 manually.
[0029]
The microcomputer 31 executes an abnormality detection program to detect obstacle running inability abnormalities, battery shortage, garbage fullness, and brush replacement timing based on detection signals from the sensors 14 to 16 and 33 to 37. When any one of the abnormalities is detected, the cleaning robot 1 is instructed to interrupt the cleaning operation. Here, the obstacle travel failure abnormality is an abnormality when the obstacle is obstructed to stop for more than a certain period of time due to the obstacle being blocked. The brush replacement time is determined because the motor current value when the worn brushes 7 and 9 are idle due to insufficient contact with the floor surface continues for a certain time or more.
[0030]
The memory card 27 stores map data as map information. The map data includes at least coordinate data (cleaning area data) of a cleaning area such as a floor surface of a room to be cleaned by the cleaning robot 1. For example, fixed obstacles such as pillars are removed from the cleaning area. The microcomputer 31 can grasp the position / shape / width of the cleaning area from the origin on the map coordinates by using the cleaning area data. The memory card 27 can store a plurality of cleaning area data such as rooms.
[0031]
The cleaning area data is registered in the memory card 27 by causing the cleaning robot 1 (the microcomputer 31) to make a round along the outer periphery of the floor surface (cleaning area) of the room by remote control using the remote controller 54. This is done by searching the cleaning area and learning its coordinates. The memory 51 stores a cleaning area teaching program for performing this registration work. Of course, cleaning area data can be created on a personal computer (CAD or the like) using room design drawing data or the like, and can be copied and stored in the memory card 27. The map data stored in the memory card 27 is used when determining a travel route in the travel control program.
[0032]
The travel control program is a program for determining a travel route in the cleaning area and controlling travel so that the cleaning robot 1 is along the travel route. The travel route is determined according to a predetermined rule set in advance using the cleaning area data of the map data read from the memory card 27. The running control is executed using the running speed V obtained from the detection signals from the encoders 44 and 45, the posture angle θ obtained from the detection signal from the gyro 17 and the yaw rate (posture angular velocity) ω (= Δθ / Δt) as control parameters. Is done. The current position is obtained from the current position coordinates on the map coordinates of the moving point that has moved from the origin along the road that accumulates the attitude angle θ that changes every moment and the distance traveled over time. Each data of the traveling speed V and the yaw rate ω is used for posture control for placing the cleaning robot 1 on the target route.
[0033]
In addition to the map data (cleaning area data), the memory card 27 stores authentication number data for identifying the user (memory card 27). The microcomputer 31 determines whether or not the person who intends to operate the cleaning robot 1 is permitted to use by checking the authentication number by the authentication number checking program.
[0034]
The authentication number includes a personal identification data part for identifying the individual user and an affiliation identification data part for identifying whether the user is a cleaning worker or a maintenance company. If the authentication number of the memory card 27 is registered when it is inserted into the memory card insertion unit 26, the cleaning robot 1 can be operated. However, if the authentication number is not registered, the cleaning robot 1 is not permitted to operate. The personal identification data portion is also used when reading the setting data in which the function to be used among the functions prepared so that the individual can select the cleaning robot 1 is used according to personal preference. Used. The identification means is constituted by the microcomputer 31. The function switching means is constituted by the microcomputers 31 and 32. The information writing means is constituted by the microcomputer 31.
[0035]
In each of the memories 51 and 55, setting data for each function, which is a basis for properly using various functions prepared in the cleaning robot 1, is stored. The memory 55 stores a menu display program for displaying a menu screen on the display screen 18a. There are two types of menu screen data adopted for the menu display program, one for cleaning workers and one for maintenance contractors.
[0036]
In the memory 51, a plurality of cleaning condition setting data as a basis of the function is prepared for each function so that the worker can switch the cleaning work condition according to his / her preference. The memory 51 also stores setting data related to the limiter function for the cleaning work condition. The limiter function is a function that limits the upper limit of the motor rotation speed in normal cleaning work and sets an upper limit (limiter) for the maximum travel speed, travel acceleration, brush rotation speed, and vacuum rotation speed. When the maintenance company recognizes that the memory card 27 uses the authentication number, the limiter function is canceled.
[0037]
The memory 51 has a sound program for generating a warning sound. There are provided a function for switching and selecting a warning voice language between Japanese and English, and a function for switching and selecting a warning voice between male voice and female voice. That is, two types of warning voice data in Japanese and warning voice data in English are prepared for male voice and female voice, respectively.
[0038]
Further, the memory 51 is provided with three-stage settings from a fine setting to a rough setting of the travel path interval (pitch of the travel path when turned back) when the cleaning robot 1 performs the cleaning operation. These settings can also be set according to personal preference from the authentication number.
[0039]
The memory 51 also has an operation management program that detects and records the operation status. Daily report management data on the operating status is created for each operating day and stored in the memory 55. The daily report management data is data that shows the detailed operation status such as the operation time and the cleaning place. By seeing this, it is possible to confirm whether or not the cleaning operation given by the cleaning robot 1 has been performed properly. In this case, the encoders 44 and 45 used for measuring the travel distance, the clock in the microcomputer 31 and the like constitute information acquisition means. This operation management program is executed when it is at least an authentication number for the cleaning worker.
[0040]
The memory 51 is provided with a maintenance program for grasping the operation status from the maintenance aspect. Information such as sensor failure and controller 28 failure is obtained from input signal values from various sensors 14 to 17, 33 to 37, and voltage values of circuits in the controller 28. Maintenance data is created and stored in the memory 51 every time it is operated. In this case, the various sensors 14 to 17, 33 to 37, etc. and the microcomputer 31 constitute information acquisition means. This maintenance program is executed when it is at least an authentication number for a maintenance company. A plurality of cleaning robots 1 are provided in facilities such as buildings, stations, and airports.
[0041]
Next, the operation of the cleaning robot 1 will be described.
When using the cleaning robot 1, the memory card 27 is inserted into the memory card insertion unit 26.
[0042]
For example, when the cleaning robot 1 is shared and used by a plurality of workers, any one of the plurality of memory cards 27, 27A, 27B, and 27C is inserted into the cleaning robot 1. Different memory area data is stored in the memory cards 27, 27A, 27B, and 27C.
[0043]
By inserting and using the memory card 27 in the memory card insertion portion 26, the data stored in the memory card 27 can be shared and used among a plurality of cleaning robots 1. For example, even if the cleaning area data of the room A is stored only in the memory card 27, as long as the memory card 27 is inserted, any one of the plurality of cleaning robots 1 can clean the room A. it can. Therefore, the teaching work for causing the cleaning robot 1 to travel along the periphery of the room only needs to be performed once for each memory card 27 for each room. When the room A is cleaned, the memory card 27 in which the room is registered may be used.
[0044]
When the memory card 27 is inserted into the memory card insertion unit 26, the microcomputer 31 executes an authentication number verification program to verify whether the authentication number data read from the memory card 27 is registered. If the authentication number is registered, the operation of the cleaning robot 1 is permitted, but if the authentication number is not registered, the operation of the cleaning robot 1 is not permitted. When the operation of the cleaning robot 1 is permitted, a menu screen is displayed on the display screen 18a, for example.
[0045]
When the memory card 27 is identified by its authentication number, setting data corresponding to the authentication number of the memory card 27 is read from the memory 51. For example, when displaying the previous menu screen, it is determined whether the authentication number is the cleaning worker's authentication number or the maintenance contractor's authentication number. A simple menu screen with few buttons is displayed. On the other hand, if the identification number is for a maintenance company, a complicated menu screen with many buttons that can use many functions is displayed.
[0046]
Also, setting data for the function used when executing the voice generation program is automatically set from the authentication number. For example, setting of function selection for Japanese / English and function selection for male voice / female voice is set in the microcomputer 31. Automatically. Therefore, a warning is issued with a gender voice set in a language set in advance by the preference of the worker.
[0047]
Whether the daily report management data is recorded in the memory data 27 is also automatically set by the microcomputer 31 based on the authentication number. If the recording designation is set, daily report operation data is created when the cleaning robot 1 is operated. It is recorded in a predetermined storage area of the memory card 27.
[0048]
Further, if the memory card 27C records the authentication number of the maintenance contractor, when the memory card 27C is inserted, the microcomputer 31 determines that the maintenance contractor uses the cleaning robot 1, and the limiter function is Canceled. Since the limiter function is effective in normal cleaning work, the upper limit (limiter) of the motor speed that has been set is released, and the motors 5, 6, 8, and 10 can be used at full power. The acceleration, brush rotation speed, and vacuum rotation speed can be increased to the maximum values.
[0049]
If it is the maintenance company's authentication number, the maintenance information acquired and accumulated while the cleaning robot 1 is operating is written into the memory card 27C. For example, the maintenance company can use the maintenance information written in the memory card 27 on a personal computer as a reference for maintenance and periodic examination.
[0050]
As described above in detail, according to the present embodiment, the following effects can be obtained.
(1) Since the memory card 27 is inserted and the cleaning robot 1 is given the cleaning area data, as long as the memory card 27 is inserted into any of the plurality of cleaning robots 1, the memory card The room registered in 17 can be cleaned. Therefore, the teaching operation for manually operating the cleaning robot 1 to register the cleaning area data of the room or the like only needs to be performed once for each room. Further, when the cleaning area data is registered in the built-in memory of the cleaning robot 1, only the room registered in the memory of the cleaning robot 1 can be cleaned, and the cleaning robot 1 can clean other rooms. If you are working, you have to wait until you finish the cleaning. However, since the room is registered in the memory card 27, any cleaning robot 1 can clean the same room as long as the memory card 27 is inserted into the empty cleaning robot 1. The robot 1 can be used efficiently.
[0051]
(2) Since the authentication number data is recorded in the memory card 27 and the setting according to the authentication number identification result is automatically performed, there is no need to change the setting, and the same setting is always used. The cleaning robot 1 can be operated. For example, since the warning setting function can be automatically switched according to the identification number identification result, the same language / voice warning can always be used.
[0052]
(3) The identification number data identifies whether it is for a cleaning worker or a maintenance company, the limiter function is activated for the worker, the motor speed is restricted, and the limiter function is canceled for the maintenance company. The Therefore, the maintenance worker does not need to perform an operation for canceling the limiter function, and the maintenance work is facilitated.
[0053]
(4) When the menu display screen is the cleaning worker's authentication number, a simple display screen with the minimum number of buttons is displayed. When the menu display screen is the maintenance contractor's authentication number, more detailed functions can be used. Many complicated menu screens are displayed. Therefore, it is possible to use a menu screen that is easy for the operator and the maintenance company to work. For example, since buttons that are not necessary for the operator are not displayed, operations such as setting changes are easy to understand and use. On the other hand, since the buttons for the functions that the user wants to use are displayed on the menu screen, the maintenance work is facilitated.
[0054]
(5) Since personal preference settings are automatically set based on the authentication number data, workers who need daily report management data can use the cleaning robot 1 themselves even if other workers have used it before. The daily report management data can always be retrieved without switching to the setting.
[0055]
In addition, embodiment is not limited above, It can also implement in the following aspects.
A configuration in which the authentication number is not recorded in the memory card 27 may be used. Even in this configuration, when the room is cleaned, the memory card 27 in which the room is registered may be used, and the room registration work only needs to be performed once. Moreover, the cleaning robot 1 with a free hand can be used.
[0056]
The map data (map information) may include travel route data, for example, in addition to the cleaning area data.
○ One cleaning area may be registered in one storage medium.
[0057]
O Switching of functions (sound switching, menu screen switching, etc.) prepared for the cleaning robot is not limited to the above embodiment. In a cleaning robot having functions that can be switched by functions other than those described above, it may be possible to automatically set which one of the functions to select based on the identification result of the memory card (storage medium).
[0058]
○ The data recorded on the memory card (storage medium) by the cleaning robot is not limited to daily report management data and maintenance information such as operation status. Data to be taken out from other cleaning robots may be recorded on a memory card.
[0059]
○ The travel route may be determined based on the identification result of the memory card (storage medium).
A storage medium that uses an authentication number that does not identify the cleaning worker and the maintenance company may be used.
[0060]
The storage medium is not limited to the memory card 27. For example, a floppy or MO (magneto-optical disk) may be used. Further, a CD (compact disc) can be used only by reading data.
[0061]
○ The cleaning robot is not limited to the sweeper method. For example, the present invention may be applied to a cleaning robot that performs wax work or a cleaning robot that polishes the floor surface with a cleaning liquid.
Ascertained from each of the above embodiments and each other example Technique The technical idea (invention) is described below.
[0062]
(1 Qing A map information creating means (microcomputer 31) is provided for creating the map information of the cleaning area by causing the sweeping robot to run manually and retrieving the travel route, and writing it into the storage medium.
[0063]
According to this configuration, since the storage medium storing the cleaning area can be used in common for all cleaning robots, it is only necessary to perform the manual operation for generating the map information of the cleaning area by running the cleaning robot once.
[0064]
(2 Qing A lock function for permitting the operation of the sweeping robot, and when the identification data is collated with the registered correct one based on the identification result of the storage medium by the identification means, 31).
[0065]
According to this configuration, it is possible to prevent the cleaning robot from being operated by anyone other than an authorized person.
(3 Qing A plurality of settings for cleaning work contents are provided, and the function switching means includes cleaning work content switching means (microcomputer 31) for switching the setting of cleaning work contents according to the identification result of the storage medium.
[0066]
According to this configuration, the cleaning work content can be automatically set based on the identification result read from the storage medium.
(4 )in front The limiter function is an upper limit on the number of rotations of the motors (5, 6, 8, 10) used for the cleaning work.
[0067]
(5 ) System The control means stores a plurality of menu display data having different menu display contents in the storage means (55), and the function switching means switches the menu display contents according to the identification result of the storage medium by the identification means. Function switching means (microcomputer 32) is provided. According to this configuration, it is possible to obtain the menu display contents suitable for the cleaning operator and the maintenance contractor only by attaching the storage medium.
[0068]
(6 ) System The control means stores a plurality of warning voice data of different voice contents in the storage means (51), and the function switching means switches warning voice switching means (switching the warning voice setting function according to the identification result of the storage medium). A microcomputer 31) is provided. According to this configuration, the user is warned with a sound content suitable for the cleaning place or the like only by attaching the storage medium.
[0069]
(7) In the technical idea of the above (6), the difference in the audio content is a difference in language, and the storage means stores a plurality of warning audio data of different languages, and the function switching means A warning voice language switching means (microcomputer 31) for switching the voice setting language according to the identification result of the storage medium is provided. According to this configuration, only by attaching the storage medium, a warning is given with a voice in a language suitable for the cleaning place.
[0070]
【The invention's effect】
As detailed above each Claim In terms According to the described invention, any of the plurality of cleaning robots can be cleaned even if the storage medium is used, and the storage medium can be shared and used by the plurality of cleaning robots. The robot can be used efficiently.
[0072]
Also The desired information can be taken out from the storage medium later and used by simply attaching the storage medium to the connector.
[0073]
Claim 2 According to the invention described in (1), it is possible to automatically set a function suitable for a cleaning operator, a maintenance company, or a user thereof by simply attaching the storage medium to the connector.
[0074]
Claim 3 According to the invention described in (1), it is possible to obtain an appropriate function suitable for the user without performing the operation of releasing the limiter function simply by attaching the storage medium to the connector during maintenance work.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an electrical configuration of a cleaning robot according to an embodiment.
FIG. 2 is a side view of the cleaning robot.
FIG. 3 is a plan view of the cleaning robot.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Cleaning robot, 5, 6 ... Traveling motor as traveling drive part, 8 ... Side brush motor as cleaning drive part, 10 ... Main brush motor as cleaning drive part, 26 ... Memory card insertion part as connector , 27... Memory card as storage medium, 28... Controller constituting control means, 31... Function switching means and microcomputer as identification means, information acquisition means and information writing means, 32. Microcontrollers 38 to 41... Drivers constituting the control means.

Claims (3)

  1. A self-propelled cleaning robot that cleans the cleaning surface,
    Storage medium configured to be readable and writable , storing map information for recognizing the cleaning area, and storing identification data for identifying whether the user of the cleaning robot is a cleaning operator or a maintenance company When,
    A connector capable of detachably attaching the storage medium and capable of reading data stored in the storage medium in an attached state;
    Control means for controlling the travel drive unit and the cleaning drive unit so as to grasp the cleaning area based on the map information read from the storage medium via the connector and cause the cleaning area to be cleaned ;
    The user identifying means for identifying whether the maintenance provider is the cleaning worker based on the previous SL storage medium identification data read from,
    When the travel drive unit and the cleaning driving unit is controlled so as to perform cleaning of the cleaning area by the control unit, and because of the information acquisition means to acquire maintenance information including the operation status of the cleaning robot,
    If the user is identified to be a maintenance agency of cleaning workers and maintenance provider by said identification means, information writing means for writing the maintenance information obtained by said information obtaining means to the storage medium
    Cleaning robot that example Bei a.
  2. The cleaning robot according to claim 1,
    A cleaning robot further comprising function switching means for switching a function set in advance in the cleaning robot for a cleaning operator and for a maintenance company in accordance with the identification result of the user by the identification means .
  3. The cleaning robot according to claim 2 ,
    The function switching means is a cleaning robot that releases the limiter function set for a cleaning worker according to the identification result of the user by the identification means when the identification result is a maintenance company .
JP16246199A 1999-06-09 1999-06-09 Cleaning robot Expired - Lifetime JP4415422B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16246199A JP4415422B2 (en) 1999-06-09 1999-06-09 Cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16246199A JP4415422B2 (en) 1999-06-09 1999-06-09 Cleaning robot

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DE60123732T3 (en) 2000-11-20 2013-11-07 Ricoh Co., Ltd. A toner for developing electrostatic images, an image forming method and an image forming apparatus
EP2998816B1 (en) * 2001-06-12 2018-12-05 iRobot Corporation Multi-code coverage for an autonomous robot
KR100420171B1 (en) 2001-08-07 2004-03-02 삼성광주전자 주식회사 Robot cleaner and system therewith and method of driving thereof
DE10150423A1 (en) 2001-10-11 2003-04-30 Siemens Ag Method and arrangement as well as computer program with program code means and computer program product for assigning a partial area of a total area divided into several partial areas to one of several mobile units
US20040260405A1 (en) * 2003-06-18 2004-12-23 Ron Eddie Modular monitoring, control and device management for use with process control systems
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
ES2706729T3 (en) 2005-12-02 2019-04-01 Irobot Corp Robot system
JP2008191101A (en) * 2007-02-07 2008-08-21 Anritsu Sanki System Co Ltd Article inspection device
JP5427662B2 (en) * 2010-03-23 2014-02-26 株式会社日立産機システム Robot system

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