JP7089290B2 - Cleaning systems, robotic cleaning devices, flying objects and air purifiers that make up the cleaning system, and programs - Google Patents

Description

The present invention relates to a cleaning system, a robotic cleaning device constituting the cleaning system, an air vehicle and an air purifying device, and a program.

In recent years, a robot cleaning device has been provided that autonomously travels on the floor surface of a cleaning area while sucking a cleaning object such as dust existing on the floor surface to perform cleaning. According to this robot cleaning device, it is very convenient to be able to clean a room, which is a cleaning area, without the involvement of a user.

However, since the robot cleaning device targets dust and the like existing on the floor surface of the cleaning area as cleaning objects, it is not on the floor surface of the cleaning area but on the floor surface such as furniture placed on the floor surface. Dust and the like existing at a predetermined height cannot be cleaned.

Regarding this problem, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2010-162263), in addition to the robot cleaning device, floating with a small particle size that continues to float in the air of the cleaning area at a fixed position such as a room in the cleaning area. An air purifier that removes dust and chemicals is installed, and a floating dust remover and dust remover (airflow dust collection system) that removes quasi-floating dust that is floating in the air but falls to the floor over time. ) Is installed, and a cleaning system has been proposed in which a robot cleaning device, an air purifier, a floating dust removing device, and a dust removing device are operated at the same time to perform cleaning in cooperation with each other.

Japanese Unexamined Patent Publication No. 2010-162263

However, in Patent Document 1, the air purifier, the floating dust removing device, and the dust removing device that cooperate with the robot cleaning device are used to keep floating in the air in the cleaning area with small particle size of floating dust and chemical substances, or in the air. It removes quasi-floating dust that is floating but falls to the floor surface over time, and dust that exists at a predetermined height from the floor surface such as on furniture and dust that adheres to the curtain. Dust that is not floating in the air, such as dust, is not subject to cleaning.

Therefore, in order to target dust existing at a predetermined height from the floor surface such as on furniture or dust adhering to the curtain, the user can use the same method as in conventional cleaning. Dust had to be dropped onto the floor by tapping, dropping dust from the shelves, shaking the curtains, hitting, and so on.

Moreover, even if the user drops the dust on the floor surface in this way, the robot cleaning device, the air purifier, the floating dust removing device, and the dust removing device suck the dropped dust in a timely manner. Since it is not configured as such, there is a problem that it is difficult to perform an accurate cleaning operation. In particular, since the air purifier, floating dust remover, and dust remover are only installed at fixed positions in the cleaning area, multiple units are installed in the cleaning area so as to cover the entire cleaning area. There was a problem that it was also necessary to do.

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

In order to solve the above problems, the invention of claim 1 is
An air vehicle device equipped with a cleaning aid that flies in the air and drops an object to be cleaned at a place higher than the floor surface onto the floor surface .
A self-propelled robot cleaning device that sucks and cleans an object to be cleaned on the floor surface while traveling on the floor surface, or a self-propelled robot cleaning device that can move on the floor surface and is more than the floor surface. An air purifier equipped with a suction means that sucks dust that falls from a high place ,
Cleaning instruction device and
Have ,
Provided is a cleaning system characterized in that the flying object device and the robot cleaning device or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device.

In the invention of claim 1 having the above configuration, the flying object device that flies and moves in the air and the self-propelled robot cleaning device or the air purifying device cooperate with each other according to the cleaning instruction information of the cleaning instruction device. To perform cleaning operation. Therefore, the flying object device and the robot cleaning device or the air purifying device are controlled so as to perform accurately coordinated operations at the coordinated place in the cleaning area according to the cleaning instruction information from the cleaning instruction device.

According to the cleaning system according to the present invention, the flying object device and the air purifying device or the robot device are appropriately linked according to the cleaning instruction information from the cleaning instruction device.

It is a figure for demonstrating the configuration example of 1st Embodiment of the cleaning system by this invention, and its operation. It is a figure for demonstrating the map data of the cleaning area in 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the map data of the cleaning area in 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the configuration example of 1st Embodiment of the cleaning system by this invention, and its operation. It is a figure for demonstrating the configuration example of 1st Embodiment of the cleaning system by this invention, and its operation. It is a figure for demonstrating the configuration example of 1st Embodiment of the cleaning system by this invention, and its operation. It is a figure for demonstrating the configuration example of the mechanism part of the example of the robot cleaning apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the configuration example of the mechanism part of the example of the robot cleaning apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the electric configuration example of the example of the robot cleaning apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the structural example of the mechanical part of the example of the flying body apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the electric configuration example of the example of the flying body apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the electric configuration example of an example of the air purifier which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating the electric configuration example of an example of the cleaning instruction apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure for demonstrating an example of the cleaning plan menu in 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the cleaning instruction apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the cleaning instruction apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the robot cleaning apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the robot cleaning apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the flying object apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the flying object apparatus which constitutes the 1st Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the flying object apparatus which constitutes the 2nd Embodiment of the cleaning system by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation flow of the example of the robot cleaning apparatus which constitutes the 2nd Embodiment of the cleaning system by this invention. It is a figure for demonstrating another operation example in 1st Embodiment of the cleaning system by this invention.

Hereinafter, embodiments of the cleaning system according to the present invention will be described with reference to the drawings. First, the outline of the embodiment of the cleaning system according to the present invention will be described by explaining the cleaning mode executed by the embodiment of the cleaning system according to the present invention with reference to FIGS. 1 to 6.

[Overview of the first embodiment of the cleaning system]
As shown in FIG. 1, the first embodiment of the cleaning system described below includes a cleaning instruction device 1, a robot cleaning device 2, an air vehicle device 3, and an air purifying device 4. Then, in this embodiment, according to the instruction of the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air purifying device 4 wirelessly communicate with each other in the cleaning area where the map data is created in advance. While working together, clean up.

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

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

The cleaning instruction device 1 sends the created map data of the cleaning area to the robot cleaning device 2, the flying object device 3, and the air purifying device 4 and stores them. When there are a plurality of rooms to be cleaned, the cleaning instruction device 1 creates map data of the cleaning area for each room. Then, in the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air purifying device 4, for example, the map data of each cleaning area is stored in association with the identification information given to each cleaning area. do. A room name may be set and input to each of the cleaning areas, and the room name may be associated with the identification information and stored in each device. The name of the room is not limited to the setting input, and may be automatically generated by the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, or the air purifying device 4.

As an example of the cleaning area, the map data of the cleaning area will be described. In the examples shown in FIGS. 1 to 3, for example, a living room 10 is assumed as a cleaning area, a table 11 is placed substantially in the center of the floor surface 10S, and a sofa 12 is placed in the vicinity thereof. A bookshelf 13 is placed near the wall without windows. A curtain 15 is hung on the large window 14 of the living room 10. Further, the other wall has a small window 16, and the small window 16 is provided with a blind curtain 17.

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

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

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

That is, as shown by the diagonal lines in FIG. 2A, the map data includes the table 11 (legs), the sofa 12 (legs), and the bookshelf as obstacles on the two-dimensional plane (floor surface 10S). Contains information on 13 occupied positions (occupied areas). Further, as shown by diagonal lines in FIG. 2B, the map data includes the table 11 (legs and the upper surface of the table), the sofa 12 (the legs and the seating surface), the bookshelf 13, etc. as obstacles. , Information on the occupied position (occupied range) in the height direction from the floor surface 10S is included, and the window frame portion of the window 14 and the window frame portion of the small window 16 are above the two-dimensional plane (floor surface 10S). Includes information on the occupied position (occupied area).

The map data includes information on the height position of the upper surface of the table 11, the height position of the upper surface of the bookshelf 13, and the height position of the window frame portion of the window 14 and the window frame portion of the small window 16. The information on the height position is that the flying object 3 has the height position of the upper surface of the table 11, the height position of the upper surface of the bookshelf 13, and the height above and below the window frame portion of the window 14 and the window frame portion of the small window 16. By taking a picture of each height position with a camera while hovering at each position, the hovering height position of the flying object device 3 is detected.

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

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

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

Further, in this embodiment, when the user causes the cleaning system to start the cleaning operation, the user sets the robot cleaning device 2 on the floor surface in the cleaning area specified by the map data with respect to the cleaning instruction device 1. It is configured so that cleaning procedure instructions (hereinafter referred to as a cleaning plan) can be set in what order and how to perform cleaning. The cleaning plan may be set in advance. In that case, a plurality of cleaning plans can be specified, and information such as a cleaning plan number is added to the information of those cleaning plans and stored in association with the map data of the cleaning area. You may do it. In addition, the cleaning plan may be capable of setting a timer.

The cleaning plan can include designation of a cooperation place where the robot cleaning device 2 in the cleaning area and the flying object device 3 and / or the air purifying device 4 cooperate with each other to perform a cleaning operation. .. Then, the cooperation operation to be executed at the designated cooperation place is also set. It is possible to specify multiple locations within one cleaning area for the cooperation location and cooperation operation, and the location information and cooperation operation information of the specified cooperation location are associated with the map data of each cleaning area. Is remembered.

3 (A) and 3 (B) show the cleaning plan information stored (registered) in association with the map data of the cleaning area when the living room 10 is used as the cleaning area, and the information on the cooperation position. Here is an example of.

The continuous arrow line LS in FIG. 3A shows an example of the cleaning procedure in the cleaning plan for the robot cleaning device 2. The cleaning procedure instruction data shown by the continuous arrow line LS is stored in association with the map data by registering the position data of the main points such as both ends of the straight line portion and the corner. The position PO in FIG. 3A is the home position of the robot cleaning device 2 in the cleaning area of this example, and for example, a charging device of the robot cleaning device 2 is installed at this position PO. In this example, the flying object device 3 also waits at this position PO as the home position. The air purifying device 4 may have this position PO as the home position, but may be stopped at any position. Of course, the flying object device 3 may also be stopped at an arbitrary position.

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

Further, in the information of the cooperation place, the device that cooperates with the robot cleaning device 2 and the cooperation operation executed by the device that cooperates with the robot cleaning device 2 are set by the user and registered in association with each other. As a device that cooperates with the robot cleaning device 2, either the flying object device 3 or the air purifying device 4 or both the flying object device 3 and the air purifying device 4 can be selected.

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

In this embodiment, an example of a cleaning object to be dropped is described as dust, but it is not limited to so-called dust, and small paper scraps and plastics, hair, dead insects, pollen, etc. that cannot be grasped by the cleaning aid are small. It is an object to be cleaned, and includes a general object that can be sucked by the robot cleaning device 2 and can be sucked by the air purifying device 4.

Further, the flying object device 3 is configured so that the curtain 15 can be grasped by a cleaning assisting tool (magic hand or the like) and shaken left and right to perform an auxiliary operation of dropping dust adhering to the curtain 15. ing. Further, the flying object device 3 can drop the dust adhering to the surface of the feather pieces by rubbing each of the surfaces of the feather pieces of the blind curtain 17 with a brush (brush) of the cleaning aid. It is configured as follows. There are various types of cleaning aids, not limited to magic hands and brushes. For example, by hitting each feather piece of the blind curtain 17 with the tapping of the cleaning aid (tapping each feather piece), the surface of the feather piece can be touched. It may be configured so that the adhering dust can be dropped.

Further, the air purifying device 4 is provided with a suction means for sucking dust, and as an auxiliary operation, the suction force can be switched to, for example, "strong", "medium", and "weak". There is. The cooperative operation by the air purifier 4 is an operation of sucking dust in the middle of falling, and the suction force at that time can be selected and specified as "strong", "medium", or "weak". Has been done. Of course, the air purifying device 4 can also determine the suction force at that time to be "strong", "medium", or "weak" according to the amount of dust in the middle of falling.

Next, the cooperation of the cleaning operation in the cleaning system of this embodiment will be described. The cleaning instruction device 1 accepts the user's designation of the cleaning area and the cleaning plan by the cleaning start request operation by the user. The cleaning plan includes a cleaning procedure instruction for the robot cleaning device 2, designation of a linked device, and a linked operation performed by the designated linked device in cooperation with each other. Then, the cleaning instruction device 1 wirelessly transmits a cleaning start instruction including information on the designated cleaning area and the cleaning plan to all the linked devices to activate them.

Then, the cooperating device among the robot cleaning device 2, the flying object device 3, and the air purifying device 4 that has received the cleaning start instruction activates its own device to start the designated cleaning operation. In this case, if the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air purifying device 4 already exist in the designated cleaning area, the cleaning operation can be started immediately. However, when the linked device is in a place other than the designated cleaning area, the linked device moves to the designated cleaning area. Therefore, in this embodiment, the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air purifying device 4 hold the cleaning area map data including the map information of the movement route between the cleaning areas. It is a thing.

In the following description, according to the cleaning plan, for example, the robot cleaning device 2 is instructed on the cleaning procedure shown by the continuous arrow line LS shown in FIG. 3 (A), and the position of the bookshelf 13 as a cooperation place ( It is assumed that the position of the window 14 (arrow Pc2 in FIG. 3) and the position of the small window 16 (arrow Pc3 in FIG. 3) are specified.

Then, both the flying object device 3 and the air purifying device 4 are selectively designated as the devices to be linked with respect to the position of the bookshelf 13 as the linking place, and the bookshelf 13 is performed as the linking operation performed by the flying object device 3. If it is possible to grab the upper surface of the paper scrap 51 with a cleaning aid of the flying object device 3, for example, the scrap basket 2WS provided in the robot cleaning device 2 (FIG. 7 and FIG. 7 described later). The operation of storing the bookshelf 13 (see FIG. 8) and the operation of dropping the dust 52 existing on the upper surface of the bookshelf 13 onto the floor surface using a brush (brush) provided on the cleaning aid (see FIG. 4) are registered. It is assumed that it has been done. Further, as the auxiliary operation of cooperation performed by the air purifier 4 at the position of the cooperation place of the bookshelf 13, it is assumed that the operation of making the suction force "strong" so as to suck the dust in the middle of falling is registered.

Further, it is assumed that both the flying object device 3 and the air purifying device 4 are selectively designated as the devices to be linked with respect to the position of the window 14 as the linking place. Then, as an auxiliary operation of cooperation performed by the flying object device 3, the dust adhering to the curtain 15 is dropped by grasping and shaking the curtain 15 with a cleaning auxiliary tool or rubbing the surface of the curtain 15 with a brush. It is assumed that the operation of making the air purifier 4 is registered, and the auxiliary operation of the cooperation performed by the air purifier 4 is the operation of making the suction force "strong" so as to suck the dust in the middle of falling.

Further, it is assumed that both the flying object device 3 and the air purifying device 4 are selectively designated as the devices to be linked with each other even when the linking location is the position of the small window 16. Then, as the cooperative operation performed by the flying object device 3, the dust adhering to the curtain 15 is dropped by grasping and shaking the curtain 15 with a cleaning auxiliary tool or rubbing the surface of the curtain 15 with a brush. (See FIG. 5) is registered, and it is assumed that the cooperative operation performed by the air purifier 4 is an operation in which the suction force is set to "strong" so as to suck dust in the middle of falling.

When there are multiple curtains, the flying object device 3 depends on the type of curtain (drape, lace, etc.), material (cotton, silk, acrylic, polyester, rayon, etc.), size (height, width), etc. The auxiliary operation of the cooperation performed by the air purifier 4 may be changed, or the "strong" and "weak" of the suction force may be changed as the cooperative operation performed by the air purifying device 4. For example, in the case of a fragile material such as silk, the auxiliary movement is carefully set and the suction force is set to "weak".

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

That is, the robot cleaning device 2 starting from the home position PO cleans the floor surface 10S up to the position of the bookshelf 13, which is the first cooperation place, in the same manner as usual. Then, when the robot cleaning device 2 arrives at the position of the bookshelf 13 which is the cooperation place, the traveling movement and the cleaning operation are temporarily stopped, and the flying object device 3 is requested to fly to the position of the bookshelf 13 which is the cooperation place. Send a call notification wirelessly. The robot cleaning device 2 also sends a call notification requesting the air purifier 4 to move to the position of the bookshelf 13, which is a cooperation place, for cooperation (see FIG. 4). In this case, the call notification includes information for specifying the cooperation place, for example, the position information of the bookshelf 13 which is the cooperation place or the name of the cooperation place (bookshelf). The same applies to the following, in which the call notification includes information for specifying the cooperation location. The call notification may include information for designating the time (time) for starting the linked operation, for example, time information such as "immediately from now", "5 minutes later", and "10:15". .. Further, the required time of the cooperative operation (scheduled required time, for example, about 3 minutes) can be included.

The flying object device 3 that has flown and arrived at the position of the bookshelf 13 notifies the robot cleaning device 2 and the air purifying device 4 that it has arrived at the position of the bookshelf 13, which is a cooperation place. The arrival notification also includes the current position information of the flying object device 3, and the device receiving the arrival notification can confirm that the device has arrived at the designated cooperation location. The arrival notification includes the current position of the transmitted device, and so on.

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

Then, the flying object device 3 states that after the paper scraps 51 are stored in the scrap cage 2WS of the robot cleaning device 2, or on the upper surface of the bookshelf 13, there is no object to be cleaned such as the paper scraps 51 that can be grasped by the cleaning aid. When the determination is made, the reception of the arrival notification from the air purifier 4 to the position of the bookshelf 13 is awaited.

The air purifier 4 moves to the position of the bookshelf 13 in response to the request of the robot cleaning device 2, and when it arrives at the position of the bookshelf 13, notifies the robot cleaning device 2 and the flying object device 3 that cooperate with each other to that effect.

Upon confirming the receipt of the arrival notification from the air purifier 4 to the position of the bookshelf 13, the air vehicle device 3 drops the dust existing on the upper surface of the bookshelf 13 as a cooperative operation registered in the cleaning plan. Both the robot cleaning device 2 and the air purifying device 4 are notified to start the operation of causing the dust to be dropped, and the operation of dropping the dust is started by using the brush provided in the cleaning auxiliary tool. As for the dropping operation, it is also possible to add direction information on which direction the drop is made or direction information on which direction the drop is made. In this case, the direction information may be determined by the flying object device 3 and notified to both the robot cleaning device 2 and the air purifying device 4, or may be designated by the robot cleaning device 2 or the air purifying device 4 and the flying object device. 3 may be notified. Of course, the cleaning instruction device 1 may also be notified.

Upon receiving the notification from the flying object device 3 that the operation of dropping the dust is started, the air purifying device 4 activates the suction means in order to suck the falling dust that can be sucked. The suction force at that time is set to "strong" according to the setting of the cleaning plan described above.

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

Then, when the flying object device 3 determines that the operation of dropping the dust from the upper surface of the bookshelf 13 is completed, the flying object device 3 wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air purifying device 4. After that, the flying object device 3 flies to the home position PO, returns, and stands by.

The robot cleaning device 2 that has received the notification that the operation of dropping the dust from the upper surface of the bookshelf 13 has been completed waits for the elapse of time from the time when the notification is received so that it can be considered that all the dust has fallen on the floor surface. Then, a suction cleaning operation is performed on the floor surface where dust in the vicinity of the bookshelf 13 is considered to have fallen.

Further, the air purifier 4 that has received the notification that the operation of dropping the dust from the upper surface of the bookshelf 13 has been completed waits for the lapse of time from that point so that it can be considered that all the dust has fallen on the floor surface. , Stop the suction operation. Then, in this embodiment, the air purifier 4 stands by at the position. The air purifying device 4 may continue to stand by at the position without stopping the suction operation. Alternatively, the robot cleaning device 2 may move following the movement of the robot cleaning device 2.

Next, when the robot cleaning device 2 determines that the cooperation operation at the position of the bookshelf 13 is completed, the robot cleaning device 2 follows the cleaning procedure instruction indicated by the continuous arrow line LS instructed in the cleaning plan, and the window 14 which is the next cooperation place. Perform normal suction cleaning operations up to the position. Then, when the robot cleaning device 2 arrives at the position of the window 14 which is the cooperation place, the traveling movement and the cleaning operation are temporarily stopped, and the robot cleaning device 3 is made to fly to the position of the window 14 for cooperation. Ask to. The robot cleaning device 2 also requests the air purifying device 4 to move to the position of the window 14 for cooperation (see FIG. 5). Of course, the cleaning plan and cleaning procedure are not limited to this, and can be set arbitrarily. Of course, the cleaning plan and cleaning procedure may be changed depending on the day of the week and the time zone, or the cleaning plan and cleaning procedure may be changed during cleaning.

The flying object device 3 that has flown and moved to the position of the window 14 notifies the robot cleaning device 2 and the air purifying device 4 that it has arrived at the position of the window 14. After that, the flying object device 3 notifies both the robot cleaning device 2 and the air purifying device 4 that the operation of dropping the dust adhering to the curtain 15, which is an auxiliary operation registered in the cleaning plan, is started. Then, the operation of dropping the dust is started. That is, the flying object device 3 grips and shakes the curtain 15 with the cleaning aid, or rubs the surface of the curtain 15 with the brush provided on the cleaning aid to remove dust adhering to the curtain 15. Perform the action of dropping.

Upon receiving the notification from the flying object device 3 that the operation of dropping the dust is started, the air purifying device 4 uses the suction force "strong" to suck the falling dust that can be sucked. To operate with.

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

Then, when the flying object device 3 determines that the operation of dropping the dust from the curtain 15 is completed, the flying object device 3 wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air purifying device 4. After that, the flying object device 3 flies to the home position PO, returns, and stands by.

Upon receiving the notification that the operation of dropping the dust from the curtain 15 has been completed, the robot cleaning device 2 waits for the lapse of time from the time when the notification is received so that it can be considered that all the dust has fallen on the floor surface. A suction cleaning operation is performed on the floor surface where dust in the vicinity of the lower part of the curtain of the window 14 is considered to have fallen.

Further, the air purifying device 4 that has received the notification that the operation of dropping the dust from the curtain 15 has been completed waits for the lapse of time so that it can be considered that all the dust has fallen on the floor surface from that point of time, and then sucks the dust. Stop operation. Then, in this embodiment, the air purifier 4 stands by at the position. The air purifying device 4 may continue to stand by at the position without stopping the suction operation. Alternatively, the robot cleaning device 2 may move following the movement of the robot cleaning device 2.

Next, when the robot cleaning device 2 determines that the cooperation operation at the position of the window 14 is completed, the small window 16 which is the next cooperation place is in accordance with the cleaning procedure instruction indicated by the continuous arrow line LS instructed by the cleaning plan. Perform normal suction cleaning operation up to the position of. Then, when the robot cleaning device 2 arrives at the position of the window 14 which is the cooperation place, the robot cleaning device 2 and the flying object device 3 and the air purifying device 4 are in the same manner as the cooperation operation at the position of the bookshelf 13 and the position of the window 14 described above. Perform cleaning operations in cooperation (see FIG. 6).

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

In this example, when the cooperation operation at the cooperation place of the small window 16 is completed, the robot cleaning device cleans the floor surface 10S according to the cleaning procedure instruction by the cleaning plan, and when the cleaning is completed, the home position is completed. It returns to PO and is ready to be charged by the charging device. In FIG. 3, the cleaning procedure instruction is shown by a continuous arrow line, but the point is which timing or order during the cleaning operation to execute the cooperative operation at one or more cooperative locations. It is the same as the instruction of. Therefore, in cleaning the floor surface 10S, the robot cleaning device 2 does not move along the continuous arrow line, but the robot cleaning device 2 in the floor surface 10S can travel and can be cleaned. It goes without saying that cleaning everything is no different from the cleaning operation of a normal robot cleaning device.

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

As shown in FIGS. 7 and 8, the robot cleaning device 2 of this example includes a housing having a substantially rectangular flat shape. As shown in FIG. 7A, the upper surface 2a of the robot cleaning device 2 is provided with a display unit 22 made of, for example, an LCD (Liquid Crystal Display), and a transmission / reception unit 23 for wireless communication. Is provided. Further, a wastebasket 2WS is provided on the upper surface 2a of the robot cleaning device 2.

A touch panel is provided on the display screen of the display unit 22, and a group of operation buttons is displayed on the display screen. The transmission / reception unit 23 for wireless communication is for wireless communication with the cleaning instruction device 1, the flying object device 3, and the air purifying device 4. Upon receiving the control signal by the wireless signal from the cleaning instruction device 1, the robot cleaning device 2 can start driving, stop driving, and control the mode.

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

Then, as shown in FIG. 8A, the robot cleaning device 2 of this embodiment includes a rolling brush 25 and a flexible brush 26 in the suction port 21. A roller 27 is provided at substantially the center in front of the suction port 21 in the traveling direction during the cleaning operation with respect to the position of the suction port 21 on the bottom surface 2b of the housing of the robot cleaning device 2. The roller 27 is rotatably attached in a plane whose axis direction is parallel to the bottom surface 2b. Therefore, the axial direction of the rotation axis of the roller 27 can be directed not only in the direction orthogonal to the arrow AR but also in any direction. Wheels 28, 29 that are rotationally driven by a traveling drive unit (not shown in FIG. 8) are provided on both sides of the suction port 21 of the bottom surface 2b.

The robot cleaning device 2 rotates by itself when the wheels 28 and 29 are driven by the traveling drive unit and rotate. However, as described above, the roller 27 can rotate in any direction as the rotation axis direction. The robot cleaning device 2 is capable of not only traveling straight in the direction of the arrow AR, but also rotating and traveling in an arbitrary direction intersecting the arrow AR. Further, the robot cleaning device 2 can also travel backward in the direction opposite to the arrow AR by controlling the rotation direction of the wheels by the traveling drive unit.

Then, in this embodiment, the robot cleaning device 2 includes an image pickup unit. That is, a camera CM 21 is provided on the side surface of the housing in front of the roller 27 of the robot cleaning device 2 so that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 2b. Further, in this embodiment, an oblique direction (optical axis direction), which is a direction intersecting the direction indicated by the arrow AR, is set at substantially a corner of the side surface of the housing provided with the camera CM21. Cameras CM22 and CM23 are provided. As with the camera CM21, the optical axis directions of the cameras CM22 and CM23 may be such that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 2b, but in this example, the direction is higher than the parallel direction. It is installed slightly upward. Further, a camera CM 24 is provided on the side surface of the housing behind the roller 27 of the robot cleaning device 2 so that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 2b.

The camera CM 21 photographs the front of the robot cleaning device 2 in the traveling direction at a predetermined angle of view. Further, the cameras CM22 and CM23 take pictures in the diagonally right direction and the diagonally left direction in the traveling direction at a predetermined angle of view. Further, the camera CM 24 takes a picture of the rear of the robot cleaning device 2 in the traveling direction at a predetermined angle of view.

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

Further, the robot cleaning device 2 of this example can travel counterclockwise along the wall or obstacle of the room in order to detect the outline of the cleaning area when creating the cleaning area map. Distance measuring sensors SS21 and SS22 are provided on the right side surface of the robot cleaning device 2 as shown in FIG. 7B.

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

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

In this case, the cleaning instruction device 1 obtains an area frame as wide as, for example, about 5 cm, which is the distance (offset distance) between the robot cleaning device 2 and the wall or an obstacle near the wall. It is detected and registered as the information of the area frame of the cleanable area.

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

<< Explanation of circuit configuration example of robot cleaning device 2 >>
FIG. 9 is a diagram showing an electrical circuit configuration of the robot cleaning device 2 of this embodiment. As shown in FIG. 9, the robot cleaning device 2 has a suction control unit 202, a travel control unit 203, and a display device for a control unit 201 equipped with a microcomputer through a system bus 200 as an electrical circuit configuration. Unit 204, touch panel 205, wireless communication unit 206, transmission information generation unit 207, reception information analysis unit 208, cleaning area map data storage unit 209, own position detection unit 210, and map creation operation control unit. The 211, the cooperation processing unit 212, the timer unit 213, the cameras CM21 to CM24, and the distance measuring sensors SS21 to SS22 are connected.

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

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

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

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

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

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

The self-position detecting unit 210 detects the position of the self-device. The self-position detecting unit 210 has, for example, a means for detecting the self-position by receiving radio waves from a GPS (Global Positioning System) satellite, a means for detecting a moving direction using a geomagnetic sensor, a gyro, and the like. The acceleration detecting means is used to detect the moving direction and the mileage, and for example, the self-position in the cleaning area is detected depending on the direction and the amount of movement from the above-mentioned home position PO as a starting point.

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

The cooperation processing unit 212 operates when a cleaning start request including a cleaning plan is received from the cleaning instruction device 1 and indicates that the cleaning plan includes a cooperation operation other than the own device alone. Then, processing control such as running control of the own device for performing the cooperative operation included in the cleaning plan and mutual communication with the linked device is performed.

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

The transmission information generation unit 207, under the control of the control unit 201, transmits images of captured image information from each of the cameras CM21 to CM24 when the robot cleaning device 2 travels for creating a cleaning area map or during a cleaning operation. Information is generated and transmitted to the cleaning instruction device 1 and other linked devices. In this case, camera identification information (camera ID) as to which camera's captured image information is added to the captured image information from each of the cameras CM21 to CM24. The transmission information generation unit 207 generates the transmission image information by appropriately performing encoding processing such as data compression on the captured image information from each of the cameras CM21 to CM24, and transmits the image information through the wireless communication unit 206.

In this embodiment, although not shown, a lighting unit made of, for example, an LED is added to each of the cameras CM21, CM22, CM23, and CM24. The lighting unit is controlled by the control unit 201. In this case, the control unit 201 measures the brightness of the captured image from the cameras CM21, CM22, CM23, CM24 (such as the average value of the brightness of the captured image) by software processing, and the brightness of the captured image is predetermined. At the following times, the control unit 201 controls the lighting unit to be turned on. The control unit 201 may be controlled so that the illumination unit is always turned on when the cameras CM21, CM22, CM23, and CM24 are in the imaging operation state.

As described above, when the distance measuring sensors SS21 and SS22 receive a request for creating map data of the cleaning area from the cleaning instruction device 1, the control unit 201 uses the detection output to create the map data. Try to do it.

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

<< Outline of operation of robot cleaning device 2 >>
The control unit 201 is driven through the suction control unit 202 and the travel control unit 203 when the cleaning start instruction input is received through the touch panel 205 and when the cleaning disclosure instruction from the cleaning instruction device 1 is received through the wireless communication unit 206. The start control signal is supplied to the suction drive unit 221 and the traveling drive unit 222 to start driving them, so that the robot cleaning device 2 starts the automatic cleaning operation while traveling by itself.

Further, when the control unit 201 receives the cleaning stop instruction input through the touch panel 205, or when the cleaning stop instruction input from the cleaning instruction device 1 is received through the wireless communication unit 206, the suction control unit 202 and the travel control unit 203 The drive stop control signal is supplied to the suction drive unit 221 and the travel drive unit 222 to stop the drive of the suction drive unit 221 and the travel drive unit 222, and stop the automatic cleaning operation by the robot cleaning device 2. .. Further, when the control unit 201 autonomously determines that the cleaning of the entire area of the cleaning area corresponding to the cleaning area map data stored in the cleaning area map data storage unit 209 has been completed, the control unit 201 autonomously said the cleaning area. It returns to the home position PO of the above, combines with the charging device at the position of the home position PO, and controls to start charging.

Further, in this embodiment, when the control unit 201 receives the cleaning start instruction input from the cleaning instruction device 1 through the wireless communication unit 206, the control unit 201 receives the cleaning plan information included in the received information in the reception information analysis unit 208. To determine whether the cleaning is performed by the own device alone or the operation in cooperation with other devices is involved. Then, when it is determined that the own device is to perform cleaning by itself, the control unit 201 generates a control signal based on the cleaning support program stored in the built-in memory, and passes through the suction control unit 202 and the travel control unit 203. , The suction drive unit 221 and the traveling drive unit 222 are supplied to control the drive thereof.

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

Then, when a request for creating a cleaning area map is received from the cleaning instruction device 1, the operation control unit 211 at the time of map creation causes the control unit 201 to use the own device 3 and the distance measuring sensors SS21 and SS22 as described above. While securing 5 cm from the wall, the vehicle is driven so as to search for the contour of the cleaning area, and the position information during the travel is wirelessly transmitted to the cleaning instruction device 1. As a result, the cleaning instruction device 1 can detect the contour of the cleanable area of the cleaning area.

Then, in the cleanable area of the table 11 or the sofa 12, for example, which exists on the floor surface in the central part of the room which is the cleaning area, the flying object device 3, the robot cleaning device 2, and the cleaning instruction device 1 cooperate with each other. It is possible to detect with. The operation control unit 201 at the time of map creation also executes the operation control for that purpose.

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

The map creation operation control unit 211 of the robot cleaning device 2 estimates the travelable area below the table 11 and the sofa 12 from the received position information of the table 11 and the sofa 12 on the floor surface and the occupied area information thereof. , The running is tried, and the result (for example, the position information group when the running is possible) is sent to the cleaning instruction device 1. In addition, the operation control unit 211 at the time of map creation of the robot cleaning device 2 recognizes an image captured by a camera whose shooting direction is the traveling direction prior to the trial of traveling of the own device 2, and the image recognition result of the captured image. This makes it possible to confirm whether or not the own device 2 can travel below the table 11 and the sofa 12.

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

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

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

The cooperation processing unit 212 receives the analysis result of the received information analysis unit 208, and recognizes the cooperation operation at the cooperation place and the cooperation place with other devices to cooperate with each other. Then, the cooperation processing unit 212 executes the control processing for performing the above-mentioned cooperation operation described with reference to FIGS. 3 to 6. In this case, the cooperation processing unit 212 generates transmission information (notification information) to be transmitted to other devices to be linked. Then, as described above, the cooperation processing unit 212 determines the cooperation location and the cooperation timing in which the own device is located, and cooperates with the generated transmission information through the transmission information generation unit 207 and the wireless communication unit 206. Send to other devices. In this case, the transmission information transmitted to the other linked devices includes information on the cooperation location and information on the cooperation operation.

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

<Structure example of flying object device 3>
<< Mechanical configuration example of the flight object device 3 >>
FIG. 10 is a diagram for explaining a mechanical configuration example of the flying object device 3 of this embodiment. FIG. 10A is a view of the flying object device 3 of this embodiment as viewed from above, and FIG. 10B is a view of the flying object device 3 of this embodiment as viewed from the front side. It is a figure.

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

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

In this example, the motor drive units 341A, 341B, 341C, and 341D are independently controlled by the drive control signal from the drive control unit 32, so that the vehicle body device 3 takes off, lands, and climbs (true). It is designed to be able to perform various movement operations such as up, diagonally up), down (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, and in the vertical direction. It is possible to control the attitude such as the tilt angle and the position of the hovering position.

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

In this example, as shown in FIGS. 10A and 10B, a camera CM 31 is provided on the upper surface of the housing of the drive control unit 32. Further, as shown in FIGS. 10A and 10B, cameras CM32 to CM35 are provided on the four side surfaces of the main body housing 35 of the flying object device 3, respectively. Further, as shown in FIG. 10B, a camera CM36 is provided on the bottom surface of the main body housing 35 of the flying object device 3.

The optical axis of the cameras CM31 to CM36 (corresponding to the shooting direction) is a direction orthogonal to each mounting surface of the cameras CM31 to CM36, and a predetermined angle of view range can be shot around the optical axis direction.

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

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

The grip portion 38c has two arc-shaped grip arms 381 and 382 attached to the drive fulcrum portion 383 so as to face each other. In the initial state, the gripping arms 381 and 382 are in a state where their tips are opposed to each other by a predetermined distance as shown in FIG. 10 (A). Then, in the magic hand portion 38 of this example, the gripping arms 381 and 382 have the same mechanism as the well-known magic hand, with the drive fulcrum portion 383 as the drive fulcrum, as shown by the arrow HL in FIG. 10 (A). , The tips of the arms are driven so as to approach each other so that the substance can be grasped.

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

Further, the connecting joint portion 38a is also provided with a mechanism for controlling the rotation of the connecting arm portion 38b about the axial direction, and the direction of the surface including the two gripping arms 381 and 382 always flies, for example. It is controlled so as to be kept parallel to the upper surface of the main body housing 35 of the body device 3, and the direction of the surface including the two gripping arms 381 and 382 intersects with the upper surface of the main body housing 35 of the flying body device 3. It is possible to control the state (including orthogonality).

Then, in this embodiment, as shown in FIG. 10B, brush portions 384 and 385 are attached below the two gripping arms 381 and 382. The brush portions 384 and 385 are configured by flocking animal hair or hair-like resin hair below the gripping arms 381 and 382.

The magic hand unit 38 configured as described above receives a control signal from the control unit of the flying object device 3 and is configured to grip the detected object to be cleaned such as paper scraps. The control unit of the flying object device 3, in combination with the flight control (including hovering) of the flying object device 3, positions the two gripping arms 381 and 382 of the magic hand unit 38 so that the object to be cleaned can be gripped. It is controlled so that the object to be cleaned is gripped by the gripping arms 381 and 382 at that position. At the time of this control, the control unit controls the drive control unit 32 to control the attitude while also referring to the captured image information of the cameras CM31 to CM36. The place where the flying object device 3 can land and grip the object to be cleaned (the upper surface of the bookshelf 13) may be landed instead of hovering.

<< Explanation of circuit configuration example of flying object device 3 >>
A drive control device unit 30 is provided in the main body housing 35 of the flight body device 3 integrated with the drive control unit 32. FIG. 11 is a block diagram showing a configuration example of the drive control device unit 30 in the flying object device 3 of this embodiment. In FIG. 11, the battery is omitted.

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

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

The gyro sensor 303 detects a change in acceleration of the flying object device 3 during flight, and is used to detect the flight traveling direction of the flying object device 3, its speed, and its attitude. The geomagnetic sensor 304 is used to detect in which direction the flying object device 3 is flying and moving. The altitude sensor 305 is for detecting the altitude at which the flying object device 3 is located at that time point, and includes, for example, a barometric pressure sensor.

The obstacle sensor 306 is used to detect obstacles such as walls, chests of drawers, beds, and tables in the room where the flying object device 3 is used, and to avoid collisions with them when flying.

The cleaning area map data storage unit 307 stores map data of the cleaning area relating to the room where the flying object device 3 is used. As described above, the map data of the cleaning area includes not only the two-dimensional map data regarding the floor surface of the room which is the cleaning area, but also the position information in the height direction from the floor surface. That is, the map data of the cleaning area constitutes the moving space information of the flying object device 3.

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

In this case, in this example, as described above, the flying object device 3 defines a specific place in the cleaning area where it is used as a home position, and takes off and landing at that position as a base. In the information stored in the cleaning area map data storage unit 307, the position information of the predetermined home position is also stored. In addition, the cleaning area map data storage unit 307 contains information on the length, width, and height of the room to be used, height information on tables, sofas, bookshelves, etc., and positions (height positions) of windows and curtains. The positions (including), small windows and brand curtains (including height positions) are also stored in advance. Further, structural information of the room to be used, such as beams, pipe spaces, and columns, may be stored in advance.

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

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

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

In response to this flight drive signal, the aerial flight mechanism unit 31 rotationally drives each of the rotary wings 342A to 342D to move from the base to the cooperative position or from the position where the cooperative operation is completed to the base by aerial flight. I do.

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

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

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

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

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

The cooperation processing unit 315 operates when a cleaning start request including a cleaning plan is received from the cleaning instruction device 1 and indicates that the cleaning plan includes a cooperation operation other than the own device alone. Then, it performs processing control such as flight control of its own device for cooperative operation included in the cleaning plan and mutual communication with the linked device. The cooperative processing unit 315 performs a cooperative operation with the robot cleaning device 2 and the air purifying device 4 as described above according to the analysis result received from the received information analysis unit 314.

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

In FIG. 11, the flight drive signal generation unit 309, the position / attitude control signal generation unit 310, the transmission information generation unit 313, the reception information analysis unit 314, the cooperation processing unit 315, and the magic hand control unit 316 are described by the control unit 301. It can be realized as a software processing function.

<Configuration example of air purifier 4>
The air purifying device 4 of this embodiment has the same configuration as the conventionally known air purifying device, except that it is provided with wheels for traveling and moving. Therefore, in this specification, the description of the mechanism unit configuration example of the air purifier 4 will be omitted.

<< Circuit configuration example of air purifier 4 >>
FIG. 12 is a diagram showing an electrical circuit configuration of the air purifier 4 of this embodiment. As shown in FIG. 11, the air purifying device 4 has a suction control unit 402, a travel control unit 403, and a display unit for a control unit 401 equipped with a microcomputer through a system bus 400 as an electrical circuit configuration. 404, touch panel 405, wireless communication unit 406, transmission information generation unit 407, reception information analysis unit 408, cleaning area map data storage unit 409, own position detection unit 410, cooperation processing unit 411, and camera. The CM41 to CM44 and the image recognition unit 412 are connected to each other.

A suction drive unit 421 is connected to the suction control unit 402, and a travel drive unit 422 is connected to the travel control unit 403. The suction drive unit 421 is for sucking dust from the suction port 21. The sucked dust is cleaned by using a dust collecting filter or the like. The traveling drive unit 422 rotates the wheels to drive the air purifying device 4 by itself.

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

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

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

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

The cooperation processing unit 411 operates when a cleaning start request including a cleaning plan is received from the cleaning instruction device 1 and indicates that the cleaning plan includes a cooperation operation other than the own device alone. Then, processing control such as running control of the own device for performing the cooperative operation included in the cleaning plan and mutual communication with the linked device is performed. The cooperation processing unit 411 performs the above-mentioned cooperation operation with the cleaning instruction device 1 and the robot cleaning device 2 according to the analysis result received from the reception information analysis unit 408.

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

The self-position detecting unit 410 detects the position of the self-device. The self-position detecting unit 210 has, for example, a means for detecting the self-position by receiving radio waves from a GPS (Global Positioning System) satellite, a means for detecting a moving direction using a geomagnetic sensor, a gyro, and the like. The acceleration detecting means is used to detect the moving direction and the mileage, and for example, the self-position in the cleaning area is detected depending on the direction and the amount of movement from the above-mentioned home position PO as a starting point.

Each of the cameras CM41, CM42, CM43, and CM44 is in the front movement direction (direction in which the suction portion is present) of the air purifier 4, the left and right directions orthogonal to the front movement direction, and the sides opposite to the front movement direction. Each of the (rear side) directions is provided as an imaging direction.

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

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

By monitoring the image recognition results of the captured images of the cameras CM41, CM42, CM43, and CM44, the control unit 401 detects an obstacle during traveling and travels, and travels while avoiding the obstacle.

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

<Configuration example of cleaning instruction device 1>
In this embodiment, the cleaning instruction device 1 is configured as a dedicated device as a remote control device (remote control device) provided with a display screen. Although not shown, the appearance of the cleaning instruction device 1 of this embodiment is configured as a device having a relatively flat housing, which can accept operation input by a touch type and has a relatively large display screen. ing. The cleaning instruction device 1 is not a dedicated device, but may be configured as a portable terminal such as a smartphone, a tablet, or a portable personal computer in which an application for realizing the same function is installed. Further, the cleaning instruction device 1 is not limited to a portable terminal, but may be a wristwatch-type terminal, a glasses-type terminal, a terminal built in a contact lens, a stationary computer such as a desktop type, or a smart speaker (AI speaker). It may be.

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

<< Circuit configuration example of cleaning instruction device 1 >>
FIG. 13 is a diagram showing an electrical circuit configuration of the cleaning instruction device 1 of this embodiment. As shown in FIG. 13, the cleaning instruction device 1 has a display unit 102, a touch panel 103, and a wireless communication unit 104 for a control unit 101 on which a microcomputer is mounted, through a system bus 100, as an electrical circuit configuration. , Transmission information generation unit 105, reception information analysis unit 106, cleaning area map data generation unit 107, cleaning area map data storage unit 108, image recognition unit 109, cooperation location reception unit 110, cleaning plan reception unit 111. And are connected.

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

Through the touch panel 103, at least in this embodiment, the user makes a request to generate map data of the cleaning area and a request to start cleaning the designated cleaning area.

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

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

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

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

The image recognition unit 109 recognizes obstacles such as tables, sofas, and bookshelves existing in the room in the cleaning area, windows, curtains, blind curtains, etc. from the received captured image information, and the recognition result is obtained in the cleaning area. It is supplied to the cleaning area map data generation unit 107 in association with the position information.

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

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

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

In this case, the cooperation place reception unit 110 previously displays the above-mentioned obstacles such as tables, sofas, and bookshelves, window curtains, and small window blind curtains as cooperation place candidates on the cleaning area map. To do so. Then, the user designates a place to be actually cooperated and cleaned from the cooperation place candidates through the touch panel 103. Then, in this embodiment, the user is configured to be able to specify (selectively specify) the cooperation operation at each cooperation place, and accept the designation of the cooperation operation through the touch panel 103. The received cooperation place and cooperation operation are stored in the cleaning area map data storage unit 108 in association with each cleaning area map data.

When the cleaning area is, for example, the living room 10 shown in FIG. 1, for example, if the cooperation place is the installation position of the bookshelf 13, the operation of grasping and removing the paper dust and the like on the upper surface thereof and dropping the dust from the upper surface thereof. Etc. are registered as linked operations. Further, for example, when the cooperation place is the position of the window 14 on which the curtain 15 is hung, the operation of dropping dust from the curtain 15 is registered as the cooperation operation.

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

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

As shown in FIG. 14, as a cleaning plan, there are cases where the cleaning plan is executed by either "robot cleaning device alone", "flying body device alone", or "air purifier alone" without cooperation, and "cooperation". You can select and specify the case to be done. In the example of FIG. 14, "cooperation" is selected and specified by the user. When "cooperation" is selected, as shown in FIG. 14, a "cooperation device" for accepting the selection designation of the devices operating in cooperation and a "cooperation place" for accepting the selection designation of the cooperation place. , It is possible to select and input "cooperation operation" to accept the selection designation of cooperation operation at the cooperation place.

When the reception of the cleaning plan by the cleaning plan reception unit 111 is completed, the control unit 101 of the cleaning instruction device 1 activates the designated device when the device specified by the cleaning plan is independent. Start cleaning in the designated cleaning area. Further, when the designation in the cleaning plan is "cooperation", the control unit 101 determines what the cooperation device is, activates each of the cooperation devices, and selects the cooperation location and the cooperation operation. Send a cleaning start instruction including the designation to each device.

In FIG. 13, the control unit 101 is software for the transmission information generation unit 105, the reception information analysis unit 106, the cleaning area map data generation unit 107, the image recognition unit 109, the cooperation location reception unit 110, and the cleaning plan reception unit 111. It can also be realized as a wear processing function.

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

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

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

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

Then, the robot cleaning device 2 and the flying object device 3 start the operation for creating the cleaning area map. That is, as described above, the robot cleaning device 2 travels and moves so as to generate contour information of the cleanable area of the cleaning area, and the position information at that time and the captured image information of the cameras CM21 to CM24 are obtained. , Is sent to the cleaning instruction device 1 as information for creating a cleaning area map. Further, the flying object device 3 flies in the cleaning area and sends the position information every moment and the captured image information of the cameras CM31 to CM36 to the cleaning instruction device 1 as information for creating a cleaning area map.

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

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

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

Next, the control unit 101 transmits the cleaning area map data and its accompanying information to each of the robot cleaning device 2, the flying object device 3, and the air purifying device 4 (step S108). With the above, the control unit 101 ends the process according to the cleaning area map creation request.

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

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

Next, the control unit 101 analyzes the received cleaning plan (step S115) and determines whether or not the cooperation designation has been made (step S116). In step S116, when there is no cooperation designation and the cleaning plan is a single device, the control unit 101 issues a start instruction to the designated device among the robot cleaning device 2, the flying object device 3, and the air purifying device 4. Send (step S117). After that, the control unit 101 transmits a cleaning start instruction including the position information of the cleaning place designated by the cleaning plan in the cleaning area to the activated device (step S118). Then, the control unit 101 of the cleaning instruction device 1 ends the process.

Further, when it is determined in step S116 that the cooperation designation has been made, the control unit 101 recognizes the linked device from the analysis result of the cleaning plan in step S115 (step S119), and recognizes each of the recognized devices. A start instruction is sent to the user (step S120). After that, the control unit 101 transmits a cleaning start instruction including the position information of the cooperation place designated by the cleaning plan in the cleaning area and the information of the cooperation operation to each of the activated linked devices (step S121). Then, the control unit 101 of the cleaning instruction device 1 ends the process.

<Operation explanation of robot cleaning device 2>
FIG. 17 and FIG. 18 which is a continuation thereof are diagrams showing a flowchart for explaining an example of the operation flow of the robot cleaning device 2. In the following description, in the processing of each step in the flowcharts of FIGS. 17 and 18, the control unit 201 of the robot cleaning device 2 has the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, and the reception information analysis. A case where the unit 208, the operation control unit 211 at the time of map creation, and the cooperation processing unit 212 are executed as software processing functions will be described.

The control unit 201 of the robot cleaning device 2 monitors the reception of the start instruction from the cleaning instruction device 1 (step S201), and when it confirms the reception of the start instruction from the cleaning instruction device 1, starts the own device. (Step S202). Then, the control unit 201 receives the cleaning start instruction sent from the cleaning instruction device 1 and analyzes it (step S203).

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

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

Then, the control unit 201 determines whether or not it has arrived at the cooperation place instructed by the cooperation designation (step S212), and when it is determined that it has not arrived at the cooperation place, the normal floor cleaning is continued. When it is determined in step S212 that the device has arrived at the linked location, the control unit 201 sends a notification calling to move to the linked location to another device designated for linkage through the wireless communication unit 206, and the linked location. Wait at (step S213).

As described above, when the flying object device 3 and / or the air purifying device 4 that received the call notification from the robot cleaning device 2 arrives at the designated cooperation place, the arrival is notified to other cooperation devices. do.

Therefore, the control unit 201 determines whether or not the other linked device has arrived, depending on whether or not the arrival notification from the other linked device that has been called has been received (step S214). If there are a plurality of other devices to be linked, the reception of the arrival notification from all of the plurality of other devices is confirmed, and the arrival of the plurality of other devices is waited for.

If the other linked device has not arrived in step S214, the control unit 201 repeats step S214, waits for the arrival of the linked other device, and confirms the arrival of the linked other device. -Using FIG. 6, as described above, the cooperation operation with other devices set in the cooperation place is executed (step S215).

Next, the control unit 201 determines whether or not the cooperation operation has been completed (step S216), and when it is determined that the cooperation operation has not been completed, the control unit 201 continues the cooperation operation, and when it is determined that the cooperation operation has been completed, the instruction of the cleaning plan is instructed. According to, move to another place and continue cleaning (step S217).

Next, the control unit 201 determines whether or not there is a designation of another cooperation location that has not been completed (step S218), and when it is determined that there is a designation of another cooperation location that has not been completed, the process is stepped. The process returns to S212, and the processes after this step S212 are repeated. Then, when it is determined in step S218 that there is no designation of another unfinished cooperation location, the control unit 201 shifts the processing to step S206 of FIG. 17 and executes the processing after this step S206.

The cleaning area is the living room 10, and the cooperation place specified in the cleaning plan is the bookshelf 13, the window 14 on which the curtain 15 is hung, and the small window 16 provided with the blind curtain 17. In addition, the operation of discarding paper scraps and dropping the dust on the upper surface of the bookshelf 13 is registered as the cooperation operation at the cooperation place of the bookshelf 13, and the dust from the curtain 15 is the cooperation operation at the cooperation place of the window 14 on which the curtain 15 is hung. When the action of dropping the dust from each wing piece of the blind curtain 17 is registered as the linked action at the linked place of the small window 16 provided with the blind curtain 17, the action of dropping the dust is registered. The cooperation operation at each of the cooperation locations described with reference to FIGS. 4 to 6 described above will be sequentially performed.

In this case, when the operation of dropping dust is specified as the cooperative operation in step S215, the robot cleaning device 2 notifies the start of the operation of dropping dust from the flying object device 3 and / or Until the notification of the end is received, it waits at a predetermined position near the cooperation place, waits for the time for the dust to surely fall on the floor surface, and runs while sucking the floor surface near the bookshelf 13 for cleaning operation. The process of executing is performed as a cooperative operation. In the case of the cooperative operation of dropping dust from the curtain 15, and in the case of the cooperative operation of dropping dust from each wing piece of the blind curtain 17, the same cooperative operation is performed.

<Explanation of operation of the flight object device 3>
FIG. 19 and FIG. 20 which is a continuation thereof are diagrams showing a flowchart for explaining an example of the operation flow of the flying object device 3. In the following description, in the processing of each step in the flowcharts of FIGS. 19 and 20, the control unit 301 of the flight body device 3 is the flight drive signal generation unit 309, the position / attitude control signal generation unit 310, and the transmission information generation unit. The case where the reception information analysis unit 314, the cooperation processing unit 315, and the magic hand control unit 316 are executed as software processing functions will be described.

The control unit 301 of the flying object device 3 monitors the reception of the start instruction from the cleaning instruction device 1 (step S301), and when it confirms the reception of the start instruction from the cleaning instruction device 1, starts the own device. (Step S302). Then, the control unit 301 receives the cleaning start instruction sent from the cleaning instruction device 1 and analyzes it (step S303).

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

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

Then, the control unit 301 monitors the reception of the call from the other linked device (step S312), and when it is determined that the call has not been received, returns the process to step S311 and continues the call standby. ..

When it is determined in step S312 that a call from another linked device has been received, the control unit 301 controls the own device to move to the linked location designated by the call (step S313). Then, the control unit 301 determines whether or not it has arrived at the cooperation place by monitoring the position of its own device (step S314), and if it has not arrived at the cooperation place, repeats step S314 to reach the cooperation place. After waiting for the arrival of the device and determining that the device has arrived at the linked location, the other devices to be linked are notified of the arrival at the linked location by wireless communication (step S315).

Then, the control unit 301 executes a cooperative operation with another device (step S316). That is, for example, in the case where the above-mentioned bookshelf 13 is used as the cooperation place and the above-mentioned cooperation operation is specified, the control unit 301 first flies to the position of the upper surface of the bookshelf 13 and hovering. Then, whether or not the paper scraps are present is determined from the captured image information of the cameras CM31 to CM34. Then, when the paper scraps are present, the magic hand unit 38 is used to grasp the paper scraps and fly and move so as to be housed in the wastebasket 2WS of the robot cleaning device 2.

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

In this case, the control unit 301 of the flying object device 3 analyzes the captured image information of each camera of the camera group 311 to grasp the place where the dust is dropped and the situation around it, and performs an operation of dropping the dust. Try to decide whether to execute or stop. That is, for example, when there is a person in the place where the dust is dropped, especially when there is an infant, the dust falling operation is stopped and the device (robot cleaning device 2 or air purifying device 4) that cooperates to that effect is notified. do. Further, if there is food or drink on the room or the table 11, the dust falling operation is stopped, and the corresponding device (robot cleaning device 2 or air purifying device 4) is notified to that effect. Further, even if there is a water tank or the like at the drop destination, the dust drop operation is similarly stopped, and the device (robot cleaning device 2 or air purifying device 4) that cooperates to that effect is notified. Further, by referring to the image information taken by the camera, the control unit 301 can be placed in a place where it is difficult to clean even if dust is dropped, such as behind a large TV, behind a shelf such as a tongue or a bookshelf, or between shelves. Drives and controls the cleaning aid 38 so as not to drop dust.

Further, the control unit 301 of the flying object device 3 analyzes the captured image information of each camera of the camera group 311 to determine whether or not the object existing at the position of the upper surface of the bookshelf 13 is the object to be cleaned, and the object to be cleaned. If not, leave it as it is and notify the robot cleaning device 2 and the cleaning instruction device 1. In particular, in the case of valuables such as rings, credit cards, cash cards, memory cards, cash, etc., either leave them as they are or collect them in one place so that they will not be scattered, and notify the robot cleaning device 2 or cleaning instruction device 1 to that effect. Notify with the type of valuables as an important matter.

In the case of valuables, the magic hand unit 38 is used to grasp the valuables and store them in the wastebasket 2WS of the robot cleaning device 2 or in the valuables box (not shown), or. A robot cleaning device that moves to accommodate (place) the valuables in the living room 10 in a pre-installed or designated valuables space (not shown, may be on the table 11), and determines the type and storage location of the valuables. Notify 2 and the cleaning instruction device 1. In this case, the information of the captured image of the valuables taken by the camera is added to the notification from the flying object device 3. Then, the robot cleaning device 2 and the cleaning instruction device 1 display the type and storage location of the notified valuables and the photographed image of the valuables on the display screen of the display unit.

Further, even when the flying object device 3 determines that the object to be cleaned is the object to be cleaned as a result of determining whether or not the object existing on the upper surface of the bookshelf 13 is the object to be cleaned, the object to be cleaned is a piece of glass. Determine whether it is dangerous to drop it on the floor such as glass or metal, and leave the dangerous things such as glass pieces or metal on the floor as they are, and use the robot cleaning device 2 or cleaning to that effect. Notify the instruction device 1.

Then, when the control unit 301 of the flying object device 3 determines that the operation of dropping the dust in the entire upper surface of the bookshelf 13 has been completed, the robot cleaning device 2 or the air purifying device notifies the end of the operation of dropping the dust. Notify 4 by wireless communication.

It should be noted that each of the start notification and the end notification of the operation of dropping the dust from the flying object device 3 includes information (position information and cooperation place name) for specifying the cooperation place where the processing is executed. With the information specifying the cooperation location, the robot cleaning device 2 and the air purifying device 4 that have received these notifications can confirm the cooperation location where the operation of dropping dust is executed. Similarly, the stop notification of the operation of dropping dust from the flying object device 3 also includes information (position information and cooperation place name) for specifying the cooperation place where the operation was stopped, and the robot that received this stop notification. The cleaning device 2 and the air purifying device 4 can confirm the linked place where the operation of dropping dust is stopped.

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

Next, the control unit 301 determines whether or not the cooperation operation in step S316 as described above has been completed (step S317). The end of this cooperative operation may be determined by transmitting the end notification of the operation of dropping the dust by the flying object device 3, or the cleaning end notification of the floor area around the bookshelf 13 from the robot cleaning device 2. It may be determined by receiving.

When it is determined in step S317 that the cooperation operation is completed, the control unit 301 controls the own device to return to the home position in this example (step S318). Of course, you may be waiting at the place where the cooperation operation ends.

Next, the control unit 301 determines whether or not there is a designation of another unfinished cooperation place (step S319), and when it is determined that there is a designation of another unfinished cooperation place, the process is stepped. The process returns to S312, and the processes after this step S312 are repeated. Then, when it is determined in step S319 that there is no designation of another unfinished cooperation location, the control unit 301 shifts the processing to step S306 of FIG. 19 and executes the processing after this step S306.

<Operation explanation of air purifier 4>
The operation flow of the air purifying device 4 is the same as the operation flow of the flying object device 3 described with reference to FIGS. 19 and 20 except that the detailed contents of the cooperative operation executed in step S316 are different. Therefore, in this specification, the description of the operation flow of the air purifying device 4 will be omitted except for the detailed contents of the cooperative operation executed in step S316.

That is, as described above, as the cooperative operation of step S316, the air purifying device 4 starts the dust absorbing operation immediately after receiving the start notification of the operation of dropping the dust from the flying object device 3. Then, it works to absorb the dust flying in the air.

In the case of the air purifier device 3, the home position is returned after the cooperative operation is completed, but in the case of the air purifier 4, the home position may be returned and the cooperative operation is performed. You may stay at the place of cooperation you went to.

[Effect of the first embodiment]
As described above, according to the cleaning system of the above-described embodiment, the robot cleaning device 2 causes the flying object device 3 to drop the dust from a high place where the robot cleaning device 2 cannot collect and clean the dust. It is convenient to be able to perform the same cleaning as when cleaning with a vacuum cleaner after a person taps when cleaning.

Further, in the cleaning system of the above-described embodiment, when the flying object device 3 drops dust, the air purifying device 4 can be linked to perform an air suction operation, so that the air can be sucked in the middle of the fall. It is also possible to collect fine dust with the air purifying device 4.

Then, according to the cleaning system of the above-described embodiment, the user simply specifies a cleaning plan and gives an instruction to start cleaning, and the above-mentioned cleaning operation is automatically performed, which is convenient. In this case, by supplying the cleaning start instruction to each device at the time specified by the timer, the cleaning operation can be executed when the householder is away.

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

The cleaning system of the second embodiment has a system configuration of a cleaning instruction device 1, a robot cleaning device 2, a flying object device 3, and an air purifying device 4 having the same configuration as that of the first embodiment. However, the sequence of cleaning operations is different from that of the first embodiment. In this second embodiment, the flying object device 3 and the air purifying device 4 execute the designated cooperative operation prior to the cleaning operation of the robot cleaning device 2 at the designated cooperative location. Then, when the flying object device 3 and the air purifying device 4 end the cooperative operation, the end notification is wirelessly transmitted to the robot cleaning device 2. This end notification includes information (location information or cooperation place name) that identifies the cooperation place.

In the cleaning system of the second embodiment, the robot cleaning device 2 notifies the end of the cooperation operation at the first cooperation place among the cooperation places specified in the cleaning plan from the flying object device 3 and the air purifying device 4. After receiving the message, the vehicle starts running to clean the floor of the cleaning area.

By receiving the notification of the end of the cooperative operation from the flying object device 3 and the air purifying device 4, the robot cleaning device 2 confirms that the operation of dropping the dust, which is the cooperative operation, has already been completed at the cooperative location. Can be done. Therefore, in the cleaning system of the second embodiment, the robot cleaning device 2 does not need to wait for the operation of dropping the dust by the flying object device 3 at the cooperation place as in the case of the first embodiment. It is possible to perform a cleaning operation while continuously traveling in a designated cleaning area.

FIG. 21 is a flowchart of the main part of the operation flow of the flying object device 3 constituting the cleaning system of the second embodiment. The flow chart portion of the operation flow without cooperation shown in FIG. 19 is executed in exactly the same manner as the flying object device 3 constituting the cleaning system of the second embodiment. Then, the flying object device 3 constituting the cleaning system of the second embodiment executes the flow chart of the operation flow shown in FIG. 21 instead of the flowchart portion of the operation flow shown in FIG. 20.

That is, when it is determined in step S304 of FIG. 19 that the cooperation designation is made in the cleaning plan, the control unit 301 of the flying object device 3 constituting the cleaning system of the second embodiment moves to the first cooperation place. Then, upon arriving at the linked place, the arrival notification is wirelessly transmitted to other linked devices such as the robot cleaning device 2 and the air purifying device 4 (step S321 in FIG. 21). The arrival notification includes information (location information of the cooperation place or the name of the cooperation place) that identifies the arrival cooperation place. The device that has received the arrival notification can recognize the cooperation location by referring to the stored cleaning area map data with the information for specifying the cooperation location.

Then, the control unit 301 determines whether or not the device that should operate in cooperation at the cooperation place, in this example, the air purifying device 4 is designated as the cooperation device (step S322). Here, the device that operates in cooperation at the cooperation place is not a device that does not operate during the operation of dropping dust, which is a cooperative operation, as in the robot cleaning device 2, but during the operation of dropping dust. It is a device that should operate at the same time, such as an air purifying device 4 that performs an air purifying operation.

Then, when it is determined in step S322 that the device to cooperate and operate at the cooperation place is specified, the control unit 301 arrives at the cooperation place and the device that cooperates at the cooperation place arrives at the cooperation place. Whether or not it is determined (step S323), and if it has not arrived, step S323 is repeated to wait for the arrival of the cooperating device at the cooperation place. In this case, when the device that should operate in cooperation at the cooperation place sends an arrival notification when it arrives at the cooperation place, depending on whether or not the arrival notification has been received, in step S323, The device that cooperates at the cooperation place determines whether or not it has arrived at the cooperation place.

Then, upon confirming the receipt of the arrival notification from the devices that cooperate at the cooperation place in step S323, the control unit 301 executes the cooperation operation at the cooperation place (step S324). In the case of the cleaning plan shown in FIG. 3, for example, the cooperative operation in this case is an operation of removing paper dust existing on the upper surface of the bookshelf 13 by the flying object device 3 and an operation of dropping dust from the upper surface of the bookshelf 13. be.

In this case, the flying object device 3 stores the paper scraps gripped by the magic hand portion 38 in the wastebasket 2WS of the robot cleaning device 2, but sends a request for the current position to the robot cleaning device 2 by wireless communication. , Move to the current position sent from the robot cleaning device 2 and store the paper scraps. When storing the paper scraps, the flying object device 3 requests the robot cleaning device 2 to temporarily stop traveling so that the paper scraps are stored in the waste bin 2WS of the robot cleaning device 2 in the stopped state. However, in this way, without suspending the running of the robot cleaning device 2, the robot cleaning device 2 is confirmed by the camera depending on the current position of the robot cleaning device 2, and the sky above the moving robot cleaning device 2 is confirmed. The robot cleaning device 2 may fly and move in accordance with the running of the robot cleaning device 2 to store paper scraps in the wastebasket 2WS of the robot cleaning device 2.

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

When it is determined in step S322 that the device to be operated in cooperation at the cooperation place is not specified, the control unit 301 jumps the process from step S322 to step S324 and performs the cooperation operation at the cooperation place. To execute. In this case, the cooperative operation is only the operation of removing the paper dust by the flying object device 3 and the operation of dropping the dust.

Next, the control unit 301 monitors whether or not the cooperation operation is completed (step S325), and when it is determined that the cooperation operation is completed, the control unit 301 notifies the end of the cooperation operation at the cooperation location to another device for cooperation. Notify (robot cleaning device 2 and / or air purifying device 4) (step S326).

Then, the control unit 301 determines whether or not there is a designation of another unfinished cooperation place (step S327), and when it is determined that there is a designation of another unfinished cooperation place, the process is performed in step S321. Return to, and the process after this step S321 is repeated. Then, when it is determined in step S327 that there is no designation of another unfinished cooperation location, the control unit 301 shifts the processing to step S306 of FIG. 19 and executes the processing after this step S206.

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

That is, as described above, as the cooperative operation of step S324, as described above, the air purifying device 4 immediately absorbs the dust as soon as it receives the start notification of the operation of dropping the dust from the flying object device 3. It starts the operation and absorbs the dust flying in the air.

In the case of the air purifier device 3, the home position is returned after the cooperative operation is completed, but in the case of the air purifier 4, the home position may be returned and the cooperative operation is performed. You may stay at the place of cooperation you went to.

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

That is, when the control unit 201 of the robot cleaning device 2 constituting the cleaning system of the second embodiment determines in step S204 of FIG. 17 that the cooperation designation is made in the cleaning plan, the control unit 201 is from another device that cooperates. Waits for the reception of the end notification of the cooperation operation at the first cooperation place (step S221 in FIG. 22).

When the reception of the end notification of the cooperation operation at the first cooperation place is confirmed in step S221, the control unit 201 recognizes and stores the cooperation place where the cooperation operation has ended. (Step S222). Then, the control unit 201 starts the cleaning operation by the own device 2 after a lapse of time from the time when the notification of the end of the cooperation operation at the first cooperation place is received to the time when the dust falls on the floor surface is added. (Step S223).

Then, the control unit 201 determines whether or not the end notification of the cooperation operation at the other cooperation place has been received from the other cooperation device (step S224). When it is determined in step S224 that the notification of the end of the cooperation operation at the other cooperation place has been received from the other cooperation device, the control unit 201 recognizes the cooperation place where the cooperation operation has ended and additionally stores it. (Step S225). In step S221 or step S224, the control unit 201 cooperates even when the linkage operation is not completed, such as when the battery runs out in the middle or the user is forcibly terminated instead of receiving the termination notification. The linked place where the operation has ended may be recognized and stored (additional storage), and the part where the linked operation has not been completed may be stored (additional storage) so that it can be specified.

When it is determined in step S224 that the notification of the end of the cooperation operation at the other cooperation location has not been received from the other devices to be linked, and after the process of step S225 is completed, the position of the own device is determined. It is monitored and it is determined whether or not it has arrived at the cooperation place (step S226). When it is determined in step S226 that the cooperation location has not been reached, the control unit 201 returns the process to step S224 and repeats the processes after this step S224.

Then, when it is determined in step S226 that the cooperation location has arrived, the control unit 201 determines, based on the memory, whether or not the cooperation operation at the arrival cooperation location has been completed (step S227).

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

Next, the control unit 201 determines whether or not there is a designation of another unfinished cooperation place (step S229), and when it is determined that there is a designation of another unfinished cooperation place, the process is stepped. The process returns to S224, and the processes after this step S224 are repeated. Then, when it is determined in step S229 that there is no designation of another unfinished cooperation location, the control unit 201 shifts the processing to step S206 of FIG. 17 and executes the processing after this step S206.

Further, when it is determined in step S227 that the cooperation operation at the arrival cooperation place has not been completed, the control unit 201 temporarily suspends the cleaning operation (step S230). Then, the control unit 201 waits for the reception of the end notification of the cooperation operation at the cooperation place from the other linked device (step S231), and has not received the end notification of the cooperation operation at the cooperation place. , Step S231 is repeated to wait for the reception of the end notification of the cooperation operation at the cooperation place, and after confirming the reception of the end notification of the cooperation operation at the cooperation place, the cleaning is waited for the lapse of a predetermined time from the reception. The operation is restarted (step S232). In this case, the predetermined time from the reception of the end notification is a time equal to or longer than the time until the dust falls to the floor surface due to the operation of dropping the dust.

Then, after this step S232, the control unit 201 shifts the process to step S229, determines whether or not there is a designation of another unfinished cooperation place, and determines whether or not there is another unfinished cooperation place. When it is determined that there is a designation of, the process is returned to step S224, and the process after this step S224 is repeated. Then, when it is determined in step S229 that there is no designation of another unfinished cooperation location, the control unit 201 shifts the processing to step S206 of FIG. 17 and executes the processing after this step S206.

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

[Effect of the second embodiment]
According to the second embodiment described above, since the process of dropping the dust at the cooperation place is performed in advance, the robot cleaning device 2 has already reached the floor surface without waiting for the dust to fall at the cooperation place. It is possible to suck in the dust that has fallen on the floor. Therefore, the robot cleaning device 2 does not need time to wait at the cooperation place at the time of cleaning, so that the designated cleaning area can be cleaned in the same time as when the cooperation place is not specified. Become.

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

In that case, the robot cleaning device 2, the flying object device 3, and the air purifying device 4 do not communicate with each other, but all communicate with the cleaning instruction device 1. That is, each device periodically notifies the cleaning instruction device 1 of its own position information, and also wirelessly notifies the cleaning instruction device 1 of the arrival at the cooperation place, the start notification of the cooperation operation, and the end notification of the cooperation operation. Send by communication. Then, the cleaning instruction device 1 sends an instruction to move to the cooperation place to the cooperation device, an instruction to start the cooperation operation, and the like by wireless communication.

Further, in the second embodiment, the flying object device 3 and the air purifying device 4 are configured to end the cooperative operation at all the cooperative locations before the cleaning operation of the robot cleaning device 2 is executed. When the flying object device 3 and the air purifying device 4 wait at the cooperation place, wait for the robot cleaning device 2 to arrive, and receive the arrival notification from the robot cleaning device 2 to the cooperation place, the first implementation is performed. The cooperative operation may be performed as in the form.

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

Further, although the wastebasket 2WS is provided on the upper surface 2a of the robot cleaning device 2 of the above-described embodiment, the wastebasket 2WS may not be provided. When the wastebasket 2WS is not provided, the home position of the flying object device 3 is the robot cleaning device 2 as a space on the upper surface 2a of the robot cleaning device 2 where the flying object device 3 can land. It may be the upper surface 2a of.

The flying object device 3 is provided with a broom-shaped or mop-shaped cleaning aid that strokes the ceiling of the room to allow dust existing on the ceiling to fall, and the ceiling is moved while the air purifying device 4 is being followed. Dust may be dropped from the ceiling. In this case, the robot cleaning device 2 may move following the floor surface position where the dust dropped by the flying object device 3 exists with a time delay.

Further, the cleaning auxiliary tool of the flying object device 3 is not limited to the above-mentioned example, and is not limited to the above-mentioned example. You may try to do it. Further, the cleaning aid may be configured so that it can be replaced with respect to the main body housing of the flying object device 3.

Further, the wireless communication units 104, 206, 312, and 406 are configured as a wireless LAN using Wi-Fi (registered trademark), but the configuration is not limited to this, and other communication standards may be used. Of course.

Although the cleaning system of the above-described embodiment is configured to include the air purifying device 4, the air purifying device 4 may not be provided. Further, instead of the air purifying device 4, another coordinating device such as a deodorizing device may be provided.

Each of the other cooperative devices such as the robot cleaning device, the flying object device, and the air purifying device constituting the cleaning system may be composed of a plurality of units instead of one. In this case, any or some of the other coordinating devices such as the robot cleaning device, the flying object device and the air purifying device may be one unit, the other may be a plurality of units, and all the devices may be a plurality of units. You may.

Then, the plurality of devices may be operated at the same time in one cleaning plan, or one of the plurality of devices may be selected according to the cleaning area according to the cleaning plan. Further, the plurality of devices may be divided into areas in the cleaning area designated by the cleaning plan and shared.

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

Further, although the robot cleaning device 2 of the above-described embodiment has a cleaning function by suction, it may have a wiping cleaning function instead of the cleaning function by suction, and it may have a cleaning function by suction and a wiping cleaning function. It may have both of them. When using multiple robot cleaning devices as described above, one is a robot cleaning device with a suction cleaning function, and the other is a robot cleaning device with a wiping cleaning function, both at the same time or selected. On the other hand, the cleaning operation may be performed.

Further, in the above-described embodiment, the cooperation place is a place where a bookshelf, a window, and a table fixedly installed in the room exist, but as shown in FIG. 23, the clothes of the person 61 who came home are used. The flying object device 3 removes dust and pollen by hitting or rubbing with the cleaning auxiliary tool 38, and the robot cleaning device 2 sucks the dropped dust and pollen and also air. It is also applicable when the cleaning device 4 sucks dust and pollen in the middle of falling. In this case, the function of the cleaning instruction device is incorporated in, for example, a smartphone owned by the person 61 who has returned home, for example, the cleaning area is the entrance space, and the cooperation place is the entrance stile. The cooperation device is the robot cleaning device 2, the flying object device 3, and the air purifying device 4, and the instruction to start the cleaning plan is the robot cleaning device 2, the flying object device 3, and the air purifying device 4. And as described above, those devices are activated and cleaning is performed.

Alternatively, the cleaning instruction device is installed at the entrance and is equipped with a motion sensor, and when it recognizes a person who has returned home, for example, the cleaning area is the entrance space and the cooperation place is the entrance stile. The cooperation device is the robot cleaning device 2, the flying object device 3, and the air cleaning device 4, and the instruction to start the cleaning plan is the robot cleaning device 2, the flying object device 3, and the air cleaning device 4. They may be sent to and activated as described above to allow cleaning to be performed.

Further, in the above-described embodiment, the case where the cleaning area is a room is assumed and the cleaning area is set for each room. However, in a building having a plurality of rooms, a cleaning area including a plurality of rooms may be used. It may be possible to specify. In that case, devices such as robot cleaning devices, flying object devices, and air purifying devices perform cooperative operations while moving between rooms, so that the cleaning area map data is used to move between multiple rooms. It contains information on the route of.

Further, the cleaning system according to the present invention is not limited to use in ordinary houses, but can also be used in factories and stores (including department stores, supermarkets, convenience stores, etc.), in which case it is surrounded by a wall. It may be possible to specify a cleaning area in units such as a business section or a sales floor section instead of a closed room.

In the above-described embodiment, when the cleaning instruction device is present in the cleaning system, the function of the cleaning instruction device is the robot cleaning device, the flying object device, or the air cleaning device in the storage unit included in the cleaning instruction device. In the case of such equipment, the cleaning plan information is stored in the storage unit of those devices, but the cleaning plan information is stored in the cloud storage unit via the Internet for cleaning. You may access the memory of the cloud from an instruction device, a robot cleaning device, a flying object device, an air purifying device, or the like to obtain a cleaning plan. Further, the cleaning area map data may also be stored in the storage unit of the cloud, and may be acquired from the storage unit of the cloud when creating a cleaning plan or executing the cleaning plan.

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

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

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

Each tracker has different identification information for each device installed. Then, the tracker has a sensor that detects the infrared laser light from the light emission tracking device, and when the sensor detects the light reception of the infrared laser light, for example, an LED (Light) for notifying the light emission tracking device of the detection of the light reception. It is equipped with a light emitting unit consisting of an Emitting Diode). In this case, each of the trackers emits different light according to its own identification information.

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

The two light emission tracking devices are wirelessly connected to each of the robot cleaning device 2, the flying object device 3, and the air purifying device 4, and the motion detection target of the detected tracker is connected to each device. Notify the spatial position information in the spatial area.

Each of the robot cleaning device 2, the flying object device 3, and the air purifying device 4 can detect the position of each of the own devices in response to this notification.

1 ... Cleaning instruction device, 2 ... Robot cleaning device, 3 ... Flying object device, 4 ... Air purifier, 38 ... Magic hand unit as an example of cleaning aid, 104, 206, 312, 406 ... Wireless communication unit, CM21 ~ CM24, CM31 ~ CM36, CM41 ~ CM44 ... Camera

Claims (57)

An air vehicle device equipped with a cleaning aid that flies in the air and drops an object to be cleaned at a place higher than the floor surface onto the floor surface .
A self-propelled robot cleaning device that sucks and cleans an object to be cleaned on the floor surface while traveling on the floor surface, or a self-propelled robot cleaning device that can move on the floor surface and is more than the floor surface. An air purifier equipped with a suction means that sucks dust that falls from a high place ,
Cleaning instruction device and
Have,
A cleaning system characterized in that the flying object device and the robot cleaning device or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the flight is based on the cleaning instruction information. The body device and the robot cleaning device or the air purifying device are activated, and the cleaning plan including the designation of the cooperation place is notified to the flying object device and the robot cleaning device or the air purifying device. The cleaning system according to claim 1, wherein the cleaning system is to be used. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the cooperation place is added to the cleaning plan. When it is determined whether or not it is included, and when it is determined that the cooperation location is included, the flying object device and the robot cleaning device or the air purifying device are activated by the cleaning instruction information, and the cleaning plan is described. The cleaning system according to claim 1, wherein the flying object device and the robot cleaning device or the air purifying device are notified. The flying object device and the robot cleaning device or the air purifying device include a first communication means and a second communication means for wirelessly communicating with each other.
The flying object device is the cleaning target when the cleaning object is dropped onto the floor surface at a place higher than the floor surface by using the cleaning assisting tool in the cooperation place in the cleaning area. Notification regarding the action of dropping an object on the floor surface is transmitted to the robot cleaning device or the air purifying device through the first communication means.
Based on the fact that the robot cleaning device or the air purifying device receives a notification regarding an operation of dropping the cleaning object on the floor surface at the cooperation place in the cleaning area through the second communication means. Perform the cleaning operation in cooperation with each other.
The cleaning system according to claim 2 or 3, wherein the cleaning system is characterized in that. The notification regarding the operation of dropping the cleaning object onto the floor surface sent by the flying object device is characterized by including a notification of the start of the dropping operation and / or a notification of the end of the dropping operation at the cooperation place. The cleaning system according to claim 4. The cleaning system according to claim 4 or 5 , wherein the notification regarding an operation of dropping the cleaning object onto the floor surface sent by the flying object device includes information on the falling direction. The flying object device and the robot cleaning device are provided with communication means for wirelessly communicating with each other.
When the robot cleaning device reaches the cooperation place indicated by the cleaning plan received from the cleaning instruction device, the robot cleaning device requests the flying object device to move to the reached cooperation place. Send a notification,
Based on the receipt of the call notification, the flying object device moves to the cooperation place, and when it arrives at the cooperation place, it notifies the robot cleaning device of the arrival.
The cleaning system according to any one of claims 2 to 6 , wherein after the notification, the robot cleaning device and the flying object device perform the cleaning operation in cooperation with each other. The robot cleaning device and the flying object device are provided with communication means for wirelessly communicating with each other.
The flying object device moves ahead of the robot cleaning device to the cooperation location indicated by the cleaning plan received from the cleaning instruction device, and starts and / or operates an operation of dropping the cleaning object. The cleaning system according to any one of claims 2 to 6 , wherein the robot cleaning device is notified of the end. The flying object device and the robot cleaning device or the air purifying device are provided with a communication means for wirelessly communicating with each other.
The flying object device stands by at the cooperation place indicated by the cleaning plan received from the cleaning instruction device.
When the robot cleaning device or the air purifying device reaches the cooperation place indicated by the cleaning plan received from the cleaning instruction device, the flying object device is notified of the arrival at the cooperation place. death,
The invention according to any one of claims 2 to 6 or 8 , wherein after the notification, the flying object device and the robot cleaning device or the air purifying device perform the cleaning operation in cooperation with each other. Cleaning system. The cleaning system according to any one of claims 2 to 9 , wherein the cleaning plan includes designation of the cleaning operation performed in cooperation at the designated cooperation place. The flying object device and the robot cleaning device or the air purifying device store map data of the cleaning area including the position information of the cooperation location, and also store the map data.
The robot cleaning device or the air purifying device includes a first position detecting unit for detecting the position of the own machine in the cleaning area.
The flying object device includes a second position detecting unit for detecting the position of the own aircraft in the cleaning area.
The second to tenth claims, wherein the flying object device and the robot cleaning device or the air cleaning device detect the position of the cooperation place from the stored map data of the cleaning area. The cleaning system described in either. In the cleaning plan, a plurality of the cooperation locations in the cleaning area can be set.
The cleaning system according to any one of claims 2 to 11 , wherein the cleaning operation is performed in cooperation with each other at the cooperation place. The cleaning system according to any one of claims 1 to 12 , wherein the cleaning instruction device is provided in any of the flying object device, the robot cleaning device, and the air purifying device. The cleaning system according to any one of claims 1 to 12 , wherein the cleaning instruction device is a portable terminal, a wristwatch type terminal, a spectacles type terminal, a contact lens type terminal, or a stationary terminal. The cleaning aid of the flying object device includes a device having a function of gripping an object to be cleaned.
The cleaning system according to any one of claims 1 to 14 , wherein the robot cleaning device includes a storage unit for accommodating a cleaning object held by the cleaning assisting tool of the flying object device. One of claims 1 to 15 , wherein the flying object device is on standby at a predetermined base, and after performing the cleaning operation in cooperation with each other, the flying object device returns to the base. Cleaning system described in. A self-propelled robot cleaning device that sucks and cleans the object to be cleaned on the floor while running on the floor, and a self-propelled robot cleaning device.
An air vehicle device equipped with a cleaning aid that flies in the air and drops an object to be cleaned at a place higher than the floor surface onto the floor surface.
An air purifying device that is movable on the floor surface and has a suction means for sucking dust falling from a place higher than the floor surface.
Cleaning instruction device and
Have ,
A cleaning system characterized in that the flying object device and the robot cleaning device and / or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place and a cooperation device in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the cleaning instruction information With this, the flying object device, the robot cleaning device and / or the air purifying device are activated, and the cleaning plan is applied to the flying object device, the robot cleaning device and / or the air purifying device. 17. The cleaning system according to claim 17, wherein the cleaning system is to be notified. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place and a cooperation device in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the cleaning plan is assigned. It is determined whether or not the designation of the cooperation place and the cooperation device is included, and if the designation of the cooperation place and the cooperation device is included, the flying object device and the robot cleaning are performed by the cleaning instruction information. 17. The 17 . _ Cleaning system. The cleaning system according to claim 18 or 19, wherein the cleaning plan includes designation of the cleaning operation performed in cooperation at the designated cooperation place. The robot cleaning device and the flying object device and / or the air purifying device are provided with a communication means for wirelessly communicating with each other.
The flying object device is the cleaning target when the cleaning object is dropped onto the floor surface at a place higher than the floor surface by using the cleaning assisting tool in the cooperation place in the cleaning area. Notifying the robot cleaning device and / or the air purifying device of the action of dropping an object on the floor is transmitted to the robot cleaning device and / or the air purifying device.
The robot cleaning device and / or the air purifying device cooperate with each other to clean the cleaning object based on the notification regarding the operation of dropping the object to be cleaned on the floor at the cooperation place in the cleaning area. The cleaning system according to any one of claims 18 to 20, wherein the operation is performed. The notification regarding the operation of dropping the cleaning object onto the floor surface sent by the flying object device is characterized by including a notification of the start of the dropping operation and / or a notification of the end of the dropping operation at the cooperation place. 21. The cleaning system according to claim 21. 22 or 22. The cleaning system according to claim 21, wherein the notification regarding an operation of dropping the cleaning object onto the floor surface sent by the flying object device includes information on the falling direction. The flying object device and the robot cleaning device and / or the air purifying device are provided with a communication means for wirelessly communicating with each other.
The flying object device moves ahead of the robot cleaning device and / or the air purifying device to the cooperation location indicated by the cleaning plan received from the cleaning instruction device, and drops the cleaning object. The cleaning system according to any one of claims 18 to 23, wherein the robot cleaning device and / or the air purifying device is notified of the start and / or end of the operation. The robot cleaning device, the flying object device, and the air purifying device each include a first communication means, a second communication means, and a third communication means for wireless communication.
When the robot cleaning device reaches the cooperation place indicated by the cleaning plan received from the cleaning instruction device, the robot cleaning device reaches the flight object device and the air purifying device to the cooperation place. Send a call notification asking you to move,
Based on the receipt of the call notification, the flying object device and the air purifying device move to the cooperation place, and when they arrive at the cooperation place, notify the robot cleaning device of the arrival. death,
The invention according to any one of claims 18 to 24 , wherein after the notification, the flying object device and the robot cleaning device and / or the air purifying device perform the cleaning operation in cooperation with each other. Cleaning system. The robot cleaning device, the flying object device, and the air purifying device each include a first communication means, a second communication means, and a third communication means for wireless communication.
The flying object device and / or the air purifying device waits at the cooperation place indicated by the cleaning plan received from the cleaning instruction device.
When the robot cleaning device reaches the cooperation place indicated by the cleaning plan received from the cleaning instruction device, the robot cleaning device and / or the air purifying device are notified of the arrival at the cooperation place. Notify and
The invention according to any one of claims 18 to 24 , wherein after the notification, the flying object device and the robot cleaning device and / or the air purifying device perform the cleaning operation in cooperation with each other. Cleaning system. The robot cleaning device, the flying object device, and the air purifying device store map data of the cleaning area including the position information of the cooperation location, and also store the map data.
The robot cleaning device includes a first position detecting unit that detects the position of the own machine in the cleaning area.
The flying object device includes a second position detecting unit for detecting the position of the own aircraft in the cleaning area.
The air purifier includes a third position detecting unit that detects the position of the own machine in the cleaning area.
13 . Cleaning system described in the air. In the cleaning plan, a plurality of the cooperation locations in the cleaning area can be set.
The cleaning system according to any one of claims 18 to 27 , wherein the cleaning operation is performed in cooperation with each other at each of the cooperation places. One of claims 17 to 28 , wherein the flying object device is on standby at a predetermined base, and after performing the cleaning operation in cooperation with each other, the flying object device returns to the base. Cleaning system described in. The cleaning system according to any one of claims 17 to 29 , wherein the cleaning instruction device is provided in any of the robot cleaning device, the flying object device, and the air purifying device. The cleaning system according to any one of claims 17 to 30 , wherein the cleaning instruction device is a portable terminal, a wristwatch type terminal, a spectacles type terminal, a contact lens type terminal, or a stationary terminal. The cleaning aid of the flying object device includes a device having a function of gripping an object to be cleaned.
The cleaning system according to any one of claims 17 to 31 , wherein the robot cleaning device includes a storage unit for accommodating a cleaning object held by the cleaning assisting tool of the flying object device. The cleaning instruction device has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the cooperation place is added to the cleaning plan. When it is determined whether or not it is included and it is determined that the cooperation location is not included, the designated device among the flying object device, the robot cleaning device, and the air purifying device is activated by the cleaning instruction information, and the designated device is activated. The cleaning system according to any one of claims 1 to 32, wherein the cleaning plan is notified to the activated device. A flying object device equipped with a cleaning assisting tool that moves in the air and assists in dropping an object to be cleaned at a place higher than the floor surface onto the floor surface, and on the floor surface while traveling on the floor surface. A self-propelled robot cleaning device that sucks and cleans objects to be cleaned and / or can move on the floor surface and sucks dust that falls from a place higher than the floor surface. The robot cleaning device in a cleaning system that cooperates with an air cleaning device provided with means to perform a cleaning operation.
A traveling drive unit for autonomously traveling and moving on the floor surface,
A suction drive unit on the floor surface that sucks a cleaning object that can be sucked by its own device and stores it in the dust collection chamber.
With a communication unit for wireless communication with the flying object device and / or the air purifying device,
It has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the flying object device, its own device , and / or the air purifying A cleaning instruction unit that activates the device and notifies the flying object device , the own device, and / or the air purifying device of the cleaning plan including the designation of the cooperation location.
A robot cleaning device characterized by being equipped with. The map data of the cleaning area including the location information of the cooperation place is stored.
The robot cleaning device according to claim 34, wherein the position of the cooperation place is detected from the stored map data of the cleaning area. When the cooperation place specified in the cleaning plan is reached, a call notification for moving to the reached cooperation place is sent to the flying object device .
A claim characterized in that, when a notification indicating that the aircraft has arrived at the cooperation location is received from the flight object device that has received the call notification, the cleaning operation is executed in cooperation with the flight object device. 34 or the robot cleaning device according to claim 35. When the cooperation place specified by the cleaning plan received from the cleaning instruction unit is reached, the flight body device waiting at the cooperation place specified by the cleaning plan reaches the cooperation place. Notify and
The robot cleaning device according to any one of claims 34 to 36, wherein the cleaning operation is executed in cooperation with the flying object device after the notification. The robot cleaning device according to any one of claims 34 to 37, further comprising a wiping cleaning driving unit for a wiping cleaning function in place of or in addition to the suction driving unit. A self-propelled robot cleaning device that sucks and cleans an object to be cleaned on the floor while traveling on the floor and / or can move on the floor and is higher than the floor. The air purifying device in a cleaning system in which an air purifying device provided with a suction means for sucking dust falling from a place and a flying object device equipped with a cleaning assisting tool cooperate with each other to perform a cleaning operation. And,
The aerial flight mechanism unit for flying and moving in the air,
A cleaning aid for dropping an object to be cleaned at a place higher than the floor surface onto the floor surface,
A communication unit for wireless communication with the robot cleaning device,
Equipped with
It has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the own device, the robot cleaning device, and / or the air. A cleaning instruction unit that activates the cleaning device and notifies the own device, the robot cleaning device, and / or the air purifying device of the cleaning plan including the designation of the cooperation location.
An air vehicle device characterized by being equipped with. The map data of the cleaning area including the location information of the cooperation place is stored.
The flying object device according to claim 39, wherein the position of the cooperation place is detected from the stored map data of the cleaning area. Based on the reception of the call notification from the robot cleaning device, the robot moves to the cooperation place, and when it arrives at the cooperation place, the arrival is notified to the robot cleaning device.
The flying object device according to claim 39 or 40, wherein the cleaning operation is performed in cooperation with the robot cleaning device after the notification. Wait at the cooperation place specified in the cleaning plan,
After receiving the notification of the arrival of the robot cleaning device from the robot cleaning device that has reached the cooperation place indicated by the cleaning plan received from the cleaning instruction unit to the cooperation place, the cleaning operation is performed in cooperation with the robot cleaning device. The flying object device according to claim 39 or 40. It is equipped with one or more cameras that take pictures of the cooperation place and its surroundings, and
6 . To the flying object device. The determination means is characterized in that when it is determined that an infant is in a place where the object to be cleaned is dropped, it is determined that the operation of dropping the object to be cleaned is stopped, and a notification to that effect is given to the cooperating device. The flying object device according to claim 43 . When the determination means determines that the cleaning object to be dropped is dangerous when dropped, it determines that the operation of dropping the cleaning object is stopped, and cooperates to that effect. The flying object device according to claim 43 or 44 , which comprises notifying the device. It is equipped with one or more cameras that take pictures of the cooperation place and its surroundings, and
A discriminating means for determining whether or not an object existing in the linked place is an object to be cleaned based on the image information taken by the camera is provided.
The invention according to any one of claims 39 to 45 , wherein when the determination means determines that an object existing in the cooperation place is not a cleaning object, the determination means notifies the cooperation device to that effect. Aircraft equipment. The discriminating means has a function of discriminating valuables as being not the object to be cleaned, and when the valuables are discriminated, the discriminating means is characterized in that it notifies a device that cooperates with the type and / or location of the valuables. The flying object device according to claim 46 . 47. The flying object device according to claim 47 , further comprising means for moving the valuables to a predetermined storage location when the valuables are discriminated by the discriminating means. The flying object device according to any one of claims 39 to 48 , wherein the cleaning auxiliary tool includes at least one means of rubbing with a brush, a means of striking, and a means of grasping and shaking. A flying object device equipped with a cleaning aid that flies in the air and drops a cleaning object at a place higher than the floor surface onto the floor surface, and a cleaning object on the floor surface while traveling on the floor surface. In the air purifying device in a cleaning system that cooperates with a self-propelled robot cleaning device that sucks and performs a cleaning operation and / or an air purifying device that can move on the floor surface. There,
A traveling drive unit for autonomously traveling and moving on the floor surface,
A suction means for sucking dust falling from a place higher than the floor surface ,
With a communication unit for wireless communication with the robot cleaning device or the flying object device,
It has a function of accepting a cleaning plan including designation of a cooperation place in the cleaning area by the user, and when the user receives an instruction to start the cleaning plan, the own device, the robot cleaning device, and / or the flight. A cleaning instruction unit that activates the body device and notifies the own device, the robot cleaning device, and / or the flying body device of the cleaning plan including the designation of the cooperation location.
An air purifier characterized by being equipped with. The map data of the cleaning area including the location information of the cooperation place is stored.
The air purifying device according to claim 50 , wherein the position of the linked place is detected from the stored map data of the cleaning area. Based on the receipt of the call notification from the robot cleaning device or the flying object device, when the robot moves to the cooperation place and arrives at the cooperation place, the arrival is sent to the robot cleaning device or the flying object device. Notify and
The air purifying device according to claim 50 or 51 , wherein the cleaning operation is performed in cooperation with each other after the notification. Wait at the cooperation place specified in the cleaning plan,
After receiving the notification of the arrival of the robot cleaning device and / or the flying object device to the cooperation place that has reached the cooperation place indicated by the cleaning plan received from the cleaning instruction unit, the cooperation is performed. The air purifying device according to any one of claims 50 to 52 , which comprises performing a cleaning operation. A flying object device equipped with a cleaning assisting tool that flies in the air and performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface .
A self-propelled robot cleaning device that sucks and cleans an object to be cleaned on the floor surface while traveling on the floor surface, or a self-propelled robot cleaning device that can move on the floor surface and is more than the floor surface. An air purifier equipped with a suction means that sucks dust that falls from a high place ,
Cleaning instruction device and
Have ,
The cleaning instruction device in a cleaning system, characterized in that the robot cleaning device and the flying object device or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. A computer equipped with
A means of accepting a cleaning plan that includes the user's designation of a collaborative location within the cleaning area,
When the user receives the instruction to start the cleaning plan, the robot cleaning device is activated from the flying object device or the air purifying device to be linked with the robot cleaning device, and the cooperation location is designated. A means for notifying the robot cleaning device and the interlocking flying object device or the air purifying device of the cleaning plan including the robot cleaning device.
A program for cleaning instruction devices to function as. A flying object device equipped with a cleaning assisting tool that flies in the air and performs an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface .
A self-propelled robot cleaning device that sucks and cleans an object to be cleaned on the floor surface while traveling on the floor surface, or a self-propelled robot cleaning device that can move on the floor surface and is more than the floor surface. An air purifier equipped with a suction means that sucks dust that falls from a high place ,
Cleaning instruction device and
Have ,
The cleaning instruction device in a cleaning system, characterized in that the flying object device and the robot cleaning device or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. A computer equipped with
A means of accepting a cleaning plan that includes the user's designation of a collaborative location within the cleaning area,
A determination means for determining whether or not the cleaning plan includes the cooperation location when the user receives an instruction to start the cleaning plan.
When the determination means determines that the cooperation location is included, the flying object device and the robot cleaning device or the air purifying device are activated by the cleaning instruction information, and the cleaning plan is applied to the flying object. A means for notifying the device and the robot cleaning device or the air purifying device,
A program for cleaning instruction devices to function as. A self-propelled robot cleaning device that sucks and cleans the object to be cleaned on the floor while running on the floor, and a self-propelled robot cleaning device.
An air vehicle device that has a function of flying in the air and performing an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface.
An air purifying device that is movable on the floor surface and has a suction means for sucking dust falling from a place higher than the floor surface.
Cleaning instruction device and
Have ,
The cleaning instruction in a cleaning system characterized in that the robot cleaning device and the flying object device and / or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. The computer that the device has
A means of accepting a cleaning plan that includes the user's designation of a linked location and linked device in the cleaning area,
When the user receives the instruction to start the cleaning plan, the cleaning instruction information activates the linked flying object device, the linked robot cleaning device and / or the air purifying device , and the cleaning. A means for notifying the flying object device and the cooperating robot cleaning device and / or the air purifying device of the plan.
A program for cleaning instruction devices to function as. A self-propelled robot cleaning device that sucks and cleans the object to be cleaned on the floor while running on the floor, and a self-propelled robot cleaning device.
An air vehicle device that has a function of flying in the air and performing an auxiliary operation of dropping an object to be cleaned at a place higher than the floor surface onto the floor surface.
An air purifying device that is movable on the floor surface and has a suction means for sucking dust falling from a place higher than the floor surface.
Cleaning instruction device and
Have ,
The cleaning instruction in a cleaning system characterized in that the flying object device and the robot cleaning device and / or the air purifying device cooperate with each other to perform a cleaning operation in response to cleaning instruction information from the cleaning instruction device. The computer that the device has
A means of accepting a cleaning plan that includes the user's designation of a linked location and linked device in the cleaning area,
A determination means for determining whether or not the cleaning plan includes the designation of the cooperation location and the cooperation device when the user receives the instruction to start the cleaning plan.
When the discriminating means determines that the designation of the linked place and the linked device is included, the flying object device and the linked robot cleaning device and / or the air purifying device are activated by the cleaning instruction information. A means for notifying the flying object device and the cooperating robot cleaning device and / or the air purifying device of the cleaning plan.
A program for cleaning instruction devices to function as.

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