JP7315262B2 - Cleaning system, robot cleaning device constituting cleaning system, and flying object device - Google Patents

Description

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

2. Description of the Related Art In recent years, there has been provided a robot cleaning device that moves autonomously on a floor surface of a cleaning area while sucking an object to be cleaned such as dust present on the floor surface to perform cleaning. According to this robot cleaning device, the cleaning area such as a room can be cleaned without the user's involvement, which is very convenient.

However, since the robot cleaning device targets dust and the like existing on the floor surface of the cleaning area, it cannot target dust and the like existing not on the floor surface of the cleaning area but at a predetermined height position from the floor surface, such as on furniture placed on the floor surface.

Regarding this problem, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2010-162263), in addition to the robot cleaning device, an air cleaner that removes small-particle-sized floating dust and chemical substances that continue to float in the air in the cleaning area is installed at a fixed position such as a room in the cleaning area. A cleaning system has been proposed in which a dust removing device and a dust removing device operate simultaneously to perform cleaning in cooperation with each other.

JP 2010-162263 A

However, the air purifier, floating dust removal device, and dust removal device that work in conjunction with the robot cleaning device in Patent Document 1 remove small-sized floating dust and chemical substances that continue to float in the air in the cleaning area, or quasi-floating dust that floats in the air but falls to the floor over time.

Therefore, in order to clean dust existing at a predetermined height from the floor such as on furniture or dust adhering to the curtain, the user had to drop the dust onto the floor by hitting, dropping the dust from the shelf, or shaking or hitting the curtain, as in the conventional cleaning.

Moreover, even if the user drops the dust onto the floor surface in this way, the robot cleaning device, the air cleaner, the floating dust removing device, and the dust removing device are not configured to suck the dropped dust in a timely manner, so there is a problem that it is difficult to perform an accurate cleaning operation. In particular, air purifiers, floating dust removal devices, and dust removal devices are only installed at fixed positions in the cleaning area, so there is a problem that it is necessary to install a plurality of units in the cleaning area so as to cover the entire cleaning area.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cleaning system that can solve the above problems.

In order to solve the above problems, the invention of claim 1 is
At least two devices: a self-propelled robot cleaning device that performs a cleaning action by sucking an object to be cleaned on the floor while traveling on the floor; an air cleaning device that is movable on the floor and includes suction means for sucking dust;
a cleaning instruction device;
has
The cleaning instruction device accepts a device selection input by a user as to whether one of the robot cleaning device, the air cleaning device, and the flying object device is to be operated independently or to operate the at least two devices in cooperation, and when the device selection input to operate independently is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated. To provide a cleaning system that

In the invention of claim 1 having the above configuration, the user can input device selection through the cleaning instruction device to operate any one of the robot cleaning device, the air cleaning device, and the flying device independently, or to operate at least two of the robot cleaning device, the air cleaning device, and the flying device in cooperation with each other. The cleaning instruction device starts only the single device designated by the device selection input when receiving the device selection input to operate independently, and starts the devices to be operated in cooperation designated by the device selection input when receiving the device selection input to operate in cooperation.

According to the cleaning system of the present invention, any one of the robot cleaning device, the air cleaning device, and the flying device can be operated independently according to the cleaning instruction information from the cleaning instruction device, and at least two of the robot cleaning device, the air cleaning device, and the flying device can be operated in cooperation, which is convenient.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation|movement. FIG. 4 is a diagram for explaining map data of a cleaning area in the first embodiment of the cleaning system according to the present invention; FIG. FIG. 4 is a diagram for explaining map data of a cleaning area in the first embodiment of the cleaning system according to the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation|movement. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation|movement. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the structural example of 1st Embodiment of the cleaning system by this invention, and its operation|movement. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining a structural example of a mechanical part of an example of a robot cleaning device that constitutes a first embodiment of a cleaning system according to the present invention; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining a structural example of a mechanical part of an example of a robot cleaning device that constitutes a first embodiment of a cleaning system according to the present invention; 1 is a diagram for explaining an electrical configuration example of an example of a robot cleaning device that constitutes a first embodiment of a cleaning system according to the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining a configuration example of a mechanical section of an example of an aircraft device that constitutes a first embodiment of a cleaning system according to the present invention; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining an electrical configuration example of an example of an aircraft device that constitutes a first embodiment of a cleaning system according to the present invention; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining an electrical configuration example of an example of an air purifier that constitutes a first embodiment of a cleaning system according to the present invention; 1 is a diagram for explaining an electrical configuration example of an example of a cleaning instruction device that constitutes a first embodiment of a cleaning system according to the present invention; FIG. FIG. 4 is a diagram for explaining an example of a cleaning plan menu in the first embodiment of the cleaning system according to the present invention; FIG. FIG. 4 is a diagram showing part of a flow chart for explaining the operation flow of an example of the cleaning instruction device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 4 is a diagram showing part of a flow chart for explaining the operation flow of an example of the cleaning instruction device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 4 is a diagram showing a part of a flow chart for explaining the operation flow of an example of the robot cleaning device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 4 is a diagram showing a part of a flow chart for explaining the operation flow of an example of the robot cleaning device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 4 is a diagram showing part of a flow chart for explaining the operation flow of an example of the flying object device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 4 is a diagram showing part of a flow chart for explaining the operation flow of an example of the flying object device that constitutes the first embodiment of the cleaning system according to the present invention; FIG. 10 is a diagram showing part of a flow chart for explaining the operation flow of an example of the flying object device that constitutes the second embodiment of the cleaning system according to the present invention; FIG. 7 is a diagram showing part of a flow chart for explaining the operation flow of an example of the robot cleaning device that constitutes the second embodiment of the cleaning system according to the present invention; FIG. 5 is a diagram for explaining another operation example in the first embodiment of the cleaning system according to the present invention;

An embodiment of a cleaning system according to the present invention will be described below with reference to the drawings. First, the outline of the embodiment of the cleaning system according to the present invention will be described by describing the cleaning mode executed by the embodiment of the cleaning system according to the present invention with reference to FIGS. 1 to 6. FIG.

[Overview of first embodiment of cleaning system]
A first embodiment of the cleaning system described below comprises a cleaning instruction device 1, a robot cleaning device 2, an aircraft device 3, and an air cleaning device 4, as shown in FIG. In this embodiment, the robot cleaning device 2, the flying device 3, and the air cleaning device 4 cooperate with each other while performing wireless communication in a cleaning area for which map data is prepared in advance according to an instruction from the cleaning instruction device 1. - 特許庁

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 stored in a cleaning instruction device 1, a robot cleaning device 2, an aircraft device 3, and an air cleaning device 4.

In this example, the cleaning instruction device 1 instructs the robot cleaning device 2 and the flying device 3 to create the map data of the cleaning area, and based on this, the robot cleaning device 2 and the flying device 3 run and fly 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 cameras provided by them, and creates map data of the cleaning area based on the received information. A method of creating map data of the cleaning area will be described in detail later.

The cleaning instruction device 1 sends the created map data of the cleaning area to the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 to store 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. The cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 store map data of each cleaning area in association with, for example, identification information given to each cleaning area. A room name may be set and input for each cleaning area, and the room name may be associated with identification information and stored in each device. The name of the room is not limited to the setting input, and may be automatically generated by the cleaning instruction device 1, the robot cleaning device 2, the flying device 3, or the air cleaning 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 (living room) 10 is assumed as a cleaning area, a table 11 is placed approximately in the center of the floor surface 10S, a sofa 12 is placed near it, and a bookshelf 13 is placed along the wall without windows. A curtain 15 is hung on the large window 14 of the living room 10 . A small window 16 is provided on another wall, and a blind curtain 17 is provided in the small window 16 .

The map data of the cleaning area includes data indicating the occupied positions (occupied ranges) of obstacles (table 11, sofa 12, bookshelf 13, etc. in the case of the living room 10 in FIG. 1) on a two-dimensional plane when viewed from above in a direction orthogonal to the floor 10S, and the obstacles and objects present on the walls of the cleaning area in the height direction perpendicular to the floor 10S (large window 14, curtain 15, and small window 16 in the case of the living room 10 in FIG. 1). and data indicating the occupied position (occupied range) of the blind curtain 17, etc.). In this example, the map data includes, as reference data, captured image information of the inside of the cleaning area captured by a camera included in the robot cleaning device 2 or the flying object device 3, as will be described later.

An example of a map based on map data when the cleaning area is the living room 10 shown in FIG. 1 will be described with reference to FIG. FIG. 2A is a diagram for explaining the occupied positions (occupied ranges) of obstacles on a two-dimensional plane when the cleaning area is the living room 10 shown in FIG. 1, and FIG.

In FIG. 2A, the horizontal direction of the floor surface 10S of 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. Further, as shown in FIG. 2B, the direction orthogonal to the floor surface 10S is defined as the Z-axis direction, and the height position from the floor surface 10S is represented by the Z coordinate.

That is, the map data includes information on the occupied positions (occupied ranges) of the table 11 (legs), the sofa 12 (legs), and the bookshelf 13 as obstacles on the two-dimensional plane (floor surface 10S), as indicated by hatching in FIG. 2(A). 2B, the map data includes information on the occupied position (occupied range) in the height direction from the floor 10S of obstacles such as the table 11 (the legs and the upper surface of the table), the sofa 12 (the legs and the seat surface), and the bookshelf 13. For the window frame portion of the window 14 and the window frame portion of the small window 16, information on the occupied position (occupied range) above the two-dimensional plane (floor surface 10S). Including.

The map data includes information on the height position of the top surface of the table 11, the height position of the top surface of the bookshelf 13, the height position of the window frame portion of the window 14 and the window frame portion of the small window 16. FIG. The height position information is detected from the hovering height position of the flying body device 3 by photographing the respective height positions with a camera while the flying body 3 hovers at the height position of the upper surface of the table 11, the height position of the upper surface of the bookshelf 13, and the upper and lower height positions of the window frame part of the window 14 and the window frame part of the small window 16. - 特許庁

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

In the cleaning system of the first embodiment, the operation of cleaning the floor surface by the robot cleaning device 2 is the main cleaning operation, and the auxiliary operation of the flying object device 3 and/or the air cleaning device 4 cooperates. Of course, the flying body device 3 may be the main action, and the auxiliary actions of the robot cleaning device 2 and/or the air cleaning device 4 may cooperate, or the air cleaning device 4 may be the main action, and the auxiliary actions of the robot cleaning device 2 and/or the flying body device 3 may cooperate.

In this embodiment, after the creation of the map data of the cleaning area is completed in the cleaning instruction device 1, the user can register a linked location where the robot cleaning device 2, the flying device 3, and the air cleaning device 4 can perform cleaning operations in cooperation in the cleaning area. The map data is stored including the position information of the associated location, the name of the associated location, and the like.

Further, in this embodiment, when the user starts the cleaning operation of the cleaning system, the user can set a cleaning procedure instruction (hereinafter referred to as a cleaning plan) to the cleaning instruction device 1, which indicates in what order and how the robot cleaning device 2 should clean the floor surface in the cleaning area specified by the map data. Note that 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, for example, may be added to the information of those cleaning plans and stored in association with the map data of the cleaning area. Also, the cleaning plan may be set to a timer.

The cleaning plan can include specification of cooperation locations in the cleaning area where the robot cleaning device 2 and the flying object device 3 and/or the air cleaning device 4 cooperate to perform cleaning operations. Then, the cooperation action to be executed at the designated cooperation place is also set. A plurality of places can be designated as the cooperation place and the cooperation operation in one cleaning area, and the position information of the designated cooperation place and the information of the cooperation operation are stored in association with the map data of each cleaning area.

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

A continuous arrow LS in FIG. 3(A) indicates an example of a cleaning procedure in a cleaning plan for the robot cleaning device 2 . The cleaning procedure instruction data indicated by the continuous arrow LS is stored in association with the map data, for example, by registering position data of major points such as both ends of a straight line and corners. Note that the position PO in FIG. 3A is the home position of the robot cleaning device 2 in the cleaning area of this example, and a charging device for the robot cleaning device 2, for example, is installed at this position PO. In this example, the flying object device 3 also waits at this position PO as its home position. The air purifying device 4 may be set at this position PO as the home position, but may be stopped at any position. Of course, the flying body device 3 may also be stopped at an arbitrary position.

In FIGS. 3A and 3B, double-lined arrows Pc1, Pc2, Pc3, Pc4, and Pc5 are examples of linked locations, respectively. The information on the linking place is stored in association with the map data by registering the position data specifying the linking 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. Instead of the location data of the linked location, a preset linked location name may be stored.

In addition, in the cooperation place information, a device that cooperates with the robot cleaning device 2 and a cooperation operation that is executed by the device that cooperates 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 device 3 or the air cleaning device 4, or both the flying device 3 and the air cleaning device 4 can be selected.

In this embodiment, the flying object device 3 is equipped with a cleaning aid, which will be described later. For example, it is configured to be able to perform an auxiliary operation of grasping an object to be cleaned such as paper scraps 51 (see FIG. 1) existing on the upper surface of the bookshelf 13, and to perform an auxiliary operation of dropping dust 52 (see FIGS. 1 and 4), which is an example of an object to be cleaned existing on the upper surface of the bookshelf 13, onto the floor with the brush provided in the cleaning aid.

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

In addition, the flying object device 3 is configured to be able to grasp the curtain 15 with a cleaning aid (such as a magic hand) and swing it left and right to perform an auxiliary operation of dropping dust adhering to the curtain 15.例文帳に追加Further, the flying object device 3 is configured to drop dust adhering to the surface of each wing by rubbing the surface of each wing of the blind curtain 17 with a brush of a cleaning aid. There are various kinds of cleaning aids other than magic hands and brushes, and for example, by hitting each wing of the blind curtain 17 with the hitting of the cleaning aid (striking each wing), the dust adhering to the surface of the wing may be dropped.

The air cleaning device 4 also has a suction means for sucking dust, and as an auxiliary operation, the suction force can be switched between, for example, "strong", "medium", and "weak". The cooperative operation by the air purifying device 4 is an operation of sucking dust that is in the process of falling, and the suction force at that time can be selected and designated as "strong", "medium", or "weak". Of course, the suction force at that time can be set to any one of "strong", "medium", and "weak" according to the amount of dust that is in the process of falling.

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

Then, the cooperating devices among the robot cleaning device 2, the flying device 3, and the air cleaning device 4 which have received the cleaning start instruction activate themselves to start the specified cleaning operation. In this case, when the cleaning instruction device 1, the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 already exist in the designated cleaning area, the cleaning operation can be started immediately, but when the cooperating device is in a place other than the designated cleaning area, the cooperating device moves to the designated cleaning area. Therefore, in this embodiment, the cleaning instruction device 1, the robot cleaning device 2, the flying device 3, and the air purifying device 4 hold cleaning area map data including map information of movement routes between cleaning areas.

In the following description, it is assumed that, for example, the robot cleaning device 2 is given a cleaning procedure instruction indicated by a continuous arrow LS shown in FIG.

For the position of the bookshelf 13, both the flying device 3 and the air purifying device 4 are selected and designated as devices to be linked. It is assumed that an operation (see FIG. 4) of dropping the dust 52 onto the floor using a brush provided in the cleaning aid is registered. Further, when the cooperation location is the bookshelf 13, the auxiliary operation of the cooperation performed by the air purifier 4 is registered as the operation of setting the suction force to "strong" so as to suck the falling dust.

Further, it is assumed that both the flying object device 3 and the air cleaning device 4 are selected and specified as devices to be linked with respect to the position of the window 14 as the linking location. As the coordinated auxiliary operation performed by the flying object device 3, an operation of dropping the dust adhering to the curtain 15 by grasping and shaking the curtain 15 with a cleaning aid or rubbing the surface of the curtain 15 with a brush is registered.

Furthermore, it is also assumed that both the flying object device 3 and the air cleaning device 4 are selected and designated as devices to be linked with respect to the position of the small window 16 as the linking location. As the coordinated action performed by the flying object device 3, an action of grasping and shaking the curtain 15 with a cleaning aid or rubbing the surface of the curtain 15 with a brush to drop the dust adhering to the curtain 15 (see FIG. 5) is registered.

If there are a plurality of curtains, depending on the type of curtain (drapes, lace, etc.), material (cotton, silk, acrylic, polyester, rayon, etc.), size (height, width), etc., the cooperative auxiliary operation performed by the flying device 3 may be changed, and the suction force "strong" or "weak" may be changed as the cooperative operation performed by the air cleaning device 4. For example, in the case of a fragile material such as silk, the assisting action should be polite and the suction force should be "weak".

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

That is, the robot cleaning device 2 starting from the home position PO cleans the floor surface 10S in the same manner as usual until the position of the bookshelf 13, which is the first cooperation place. Then, when the robot cleaning device 2 reaches the position of the bookshelf 13, which is the cooperation place, it temporarily stops traveling and cleaning operation, and wirelessly transmits a call notification requesting flying to the position of the bookshelf 13, which is the cooperation place, to the flying object device 3. The robot cleaning device 2 also sends a call notification to the air cleaning device 4 requesting it to move to the position of the bookshelf 13, which is the cooperation place, for cooperation (see FIG. 4). In this case, the call notification includes information for identifying the linked location, for example, the location information of the bookshelf 13 or the linked location name (bookshelf). The information for identifying the collaboration location is included in the call notification in the same way below. Note that the call notification can also include information for designating the time (time) to start the cooperative operation, for example, time information such as "immediately", "5 minutes later", or "10:15". Furthermore, it is possible to include the time required for the cooperation operation (scheduled time required, for example, about 3 minutes).

The flying object device 3 that has arrived at the position of the bookshelf 13 by flying notifies the robot cleaning device 2 and the air cleaning device 4 that it has arrived at the position of the bookshelf 13, which is the cooperation place. This arrival notification includes the current position information of the flying body device 3, and the device that receives this arrival notification can confirm that it has arrived at the designated cooperation location. The arrival notification includes the current location of the sending device, and so on.

After that, the flying body device 3 picks up 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 picked up by the cleaning aid based on image recognition of the picked-up image. Then, when it is determined that there is an object to be cleaned such as paper waste 51 that can be caught by the cleaning aid, after notifying the robot cleaning device 2 of the fact by wireless communication, the object to be cleaned is caught by the cleaning aid, moved in flight, and stored in a waste basket 2WS provided in the robot cleaning device 2. - 特許庁

After storing the paper scraps 51 in the dust basket 2WS of the robot cleaning device 2, or when it is determined that there is no object to be cleaned such as the paper scraps 51 that can be caught by the cleaning aid on the upper surface of the bookshelf 13, the flying body device 3 waits for reception of an arrival notification to the position of the bookshelf 13 from the air cleaning device 4.例文帳に追加

The air cleaning device 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, it notifies the robot cleaning device 2 and the flying object device 3 to that effect.

When the flight device 3 confirms the reception of the arrival notification from the air cleaning device 4 to the position of the bookshelf 13, it notifies both the robot cleaning device 2 and the air cleaning device 4 of starting the operation of dropping dust existing on the upper surface of the bookshelf 13 as a cooperative operation registered in the cleaning plan, and starts the operation of dropping the dust using the brush provided in the cleaning aid. Regarding the dropping operation, it is also possible to add directional information indicating in which direction the object is dropped or direction information indicating in which direction the object is dropped. In this case, the direction information may be determined by the flying device 3 and notified to both the robot cleaning device 2 and the air cleaning device 4, or may be specified by the robot cleaning device 2 or the air cleaning device 4 and notified to the flying device 3. Of course, the cleaning instruction device 1 may also be notified.

The air cleaning device 4 receives a notification to the effect of starting the operation of dropping dust from the flying object device 3, and activates a suction means to suck what can be sucked out of the falling dust. 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, which receives the notification to the effect of starting the dust dropping operation from the flight device 3, waits at a position avoiding the drop point of the dust dropping from the upper surface of the bookshelf 13. - 特許庁

Then, when the flight device 3 determines that the operation of dropping the dust from the upper surface of the bookshelf 13 is finished, it wirelessly transmits a notification to that effect to the robot cleaning device 2 and the air cleaning device 4. - 特許庁After that, the flying body device 3 returns to the home position PO by flying and waits.

The robot cleaning device 2, which has received the notification that the operation of dropping the dust from the upper surface of the bookshelf 13 is completed, waits for the lapse of time when it can be considered that all the dust has fallen on the floor surface from the time of receiving the notification, and performs the suction cleaning operation on the floor surface near the bookshelf 13 where the dust seems to have fallen.

In addition, the air cleaning device 4, which receives the notification that the operation of dropping the dust from the upper surface of the bookshelf 13 is completed, waits for the elapse of the time when it can be considered that all the dust has fallen on the floor surface from that time, and stops the suction operation. And the air purifier 4 waits at the said position in this embodiment. In addition, the air cleaning device 4 may continue to wait at the position without stopping the suction operation. Alternatively, it may move following the movement of the robot cleaning device 2 .

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

The flying body device 3 that has flown to the position of the window 14 and has moved to the position of the window 14 notifies the robot cleaning device 2 and the air cleaning device 4 that it has arrived at the position of the window 14 . After that, the flying object device 3 notifies both the robot cleaning device 2 and the air cleaning device 4 of starting the operation of dropping the dust adhering to the curtain 15, which is the auxiliary operation registered in the cleaning plan, and starts the operation of dropping the dust. That is, the flying object device 3 grabs and shakes the curtain 15 with a cleaning aid, or rubs the surface of the curtain 15 with a brush provided in the cleaning aid, thereby executing the operation of dropping the dust adhering to the curtain 15.例文帳に追加

An air cleaning device 4, which receives a notification to the effect of starting an operation for dropping dust from a flying object device 3, operates a suction means with a "strong" suction force in order to suck dust that can be sucked out of the falling dust.

Further, the robot cleaning device 2, which has received the notification to the effect of starting the operation of dropping dust from the flying object device 3, waits at a position avoiding the falling point of the dust falling from the curtain 15.例文帳に追加

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

The robot cleaning device 2, having received the notification to the effect that the operation of dropping the dust from the curtain 15 is completed, waits for the lapse of time to consider that all the dust has fallen on the floor surface from the time of receiving the notification, and performs the suction cleaning operation on the floor surface near the lower part of the curtain of the window 14 where the dust is supposed to have fallen.

Further, the air cleaning device 4, which receives the notification of the completion of the operation of dropping the dust from the curtain 15, waits for the lapse of time from the point of time when it can be considered that all the dust has fallen on the floor surface, and stops the suction operation. And the air purifier 4 waits at the said position in this embodiment. In addition, the air cleaning device 4 may continue to wait at the position without stopping the suction operation. Alternatively, it may move following the movement of the robot cleaning device 2 .

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

The auxiliary operation for the cooperation of the flying device 3 at the cooperation place of the small window 16 is the operation of rubbing the surface of each blade of the blind curtain 17 with the brush of the cleaning aid 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 after that, and when the cleaning is completed, it returns to the home position PO and is charged by the charging device. In FIG. 3, the cleaning procedure instruction is indicated by a continuous arrow line, but in short, it is the same as the instruction of at what timing or in what order the cooperative operation at one or a plurality of cooperative locations is to be executed during the cleaning operation. Therefore, in cleaning the floor surface 10S, the robot cleaning device 2 does not move along the continuous arrow, but cleans the entire area of the floor surface 10S in which the robot cleaning device 2 can travel and clean, which is the same as 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. FIG. 7(A) is a view of the robot cleaning device 2 of this example as seen from its upper surface 2a side, and FIG. 7(B) is a view of the robot cleaning device 2 of this example as seen from the side. FIG. 8A is a view of the robot cleaning device 2 of this example as seen from the bottom surface 2b side including the suction port 21 thereof, and FIG. 8B is a view of the robot cleaning device 2 of this example as seen from the forward traveling direction during the cleaning operation. In FIGS. 7A, 7B, and 8A, the arrow AR indicates the traveling direction (forward direction) during the cleaning operation of the robot cleaning device 2. As shown in FIG.

As shown in FIGS. 7 and 8, the robot cleaning device 2 of this example comprises a substantially rectangular flat-shaped housing. On the upper surface 2a of the robot cleaning device 2, as shown in FIG. 7A, a display unit 22 made up of, for example, an LCD (Liquid Crystal Display) and a transmission/reception unit 23 for wireless communication are provided. A waste basket 2WS is provided on the upper surface 2a of the robot cleaning device 2. As shown in FIG.

A touch panel is provided on the display screen of the display unit 22, and a group of operation buttons are displayed on the display screen. The wireless communication transmitting/receiving unit 23 is for wirelessly communicating with the cleaning instruction device 1 , the aircraft device 3 and the air cleaning device 4 . Upon receiving a control signal by radio signal from the cleaning instruction device 1, the robot cleaning device 2 can start driving, stop driving, and perform mode control.

A suction port 21 is provided on the bottom surface 2b of the robot cleaning device 2, as shown in FIG. 8(A). As indicated by the dotted line in FIG. 8(B), the housing of the robot cleaning device 2 is provided with a dust collection chamber 24 that communicates with the suction port 21 and collects the sucked objects to be cleaned. Although not shown in FIGS. 7 and 8, the housing of the robot cleaning device 2 is provided with a suction driving section for sucking an object to be cleaned into the dust collection chamber 24 .

The robot cleaning device 2 of this embodiment includes a rolling brush 25 and a flexible brush 26 inside the suction port 21, as shown in FIG. 8(A). A roller 27 is provided at the front and center of the suction port 21 on the bottom surface 2b of the housing of the robot cleaning device 2 in the direction of movement during the cleaning operation. The roller 27 is mounted so as to be rotatable within a plane in which the axial direction of the rotating shaft is parallel to the bottom surface 2b. Therefore, the axial direction of the rotation shaft of the roller 27 can be directed not only in the direction orthogonal to the arrow AR but also in any direction. On both sides of the suction port 21 of the bottom surface 2b, there are provided wheels 28, 29 that are rotationally driven by a traveling drive section (not shown in FIG. 8).

The wheels 28 and 29 are driven and rotated by the traveling drive unit to allow the robot cleaning device 2 to run on its own. As described above, the rollers 27 can rotate in any direction as the rotation axis direction. 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 section.

And the robot cleaning device 2 is provided with an imaging part in this embodiment. That is, the camera CM21 is provided on the side surface of the housing in front of the rollers 27 of the robot cleaning device 2 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2b. Further, in this embodiment, the cameras CM22 and CM23 are provided in substantially the corners of the side surface of the housing where the camera CM21 is provided, and whose imaging direction (optical axis direction) is an oblique direction that intersects the direction indicated by the arrow AR. The optical axis directions of the cameras CM22 and CM23 may be set so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 2b as in the case of the camera CM21. 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 photographing direction (optical axis direction) is substantially parallel to the bottom surface 2b.

The camera CM21 photographs the front of the robot cleaning device 2 in the traveling direction with a predetermined angle of view. In addition, the cameras CM22 and CM23 photograph the oblique right direction and the oblique left direction of the running direction at a predetermined angle of view. Further, the camera CM 24 photographs the rear of the robot cleaning device 2 in the traveling direction with 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 imaging lens.

Further, the robot cleaning device 2 of this example is provided with distance measuring sensors SS21 and SS22 on the right side of the robot cleaning device 2 as shown in FIG.

That is, when an instruction to create a cleaning area map is received from the cleaning instruction device 1, the robot cleaning device 2 traces the outline of the cleaning area by moving in a fixed direction along the walls of the room and obstacles along the wall such as the bookshelf 13. - 特許庁In this case, the robot cleaning device 2 may be made to run in such a state that the side surface of the robot cleaning device 2 is lightly in contact with the wall, but since it is difficult for the robot cleaning device 2 to run smoothly, in this example, the robot cleaning device 2 is made to run at a predetermined distance, for example, about 5 cm away from the wall by monitoring the sensor outputs of the distance measuring sensors SS21 and SS22 provided on the side surface of the robot cleaning device 2.

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 the cleanable area on the floor surface of the target cleaning area from the position information sent from the robot cleaning device 2 .

In this case, the cleaning instruction device 1 detects and registers an area frame wider by, for example, about 5 cm, which is a separation distance (offset distance) between the robot cleaning device 2 and a wall or an obstacle on the side of the wall, as area frame information of a cleanable area of an area to be cleaned to be obtained.

In this example, the robot cleaning device 2 is provided on the right side of the robot cleaning device 2 in order to allow the robot cleaning device 2 to travel along walls and obstacles in the cleaning area counterclockwise when creating the cleaning area map. Further, distance measuring sensors may be provided on both left and right sides of the robot cleaning device 2 so as to use any running direction. Further, distance 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 the electrical circuit configuration of the robot cleaning device 2 of this embodiment. 9, the robot cleaning device 2 has an electric circuit configuration as shown in FIG. 11, a cooperative processing unit 212, a timer unit 213, cameras CM21 to CM24, and ranging 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 rotates the wheels 28 and 29 to make the robot cleaning device 2 self-propelled.

The display unit 204 constitutes the display unit 22, and in this example, consists of an LCD. The touch panel 205 supplies the control unit 201 via the system bus 200 with instruction input information based on pressing of one of the touch-type operation buttons described above. The control unit 201 executes processing according to the instruction input information.

The wireless communication unit 206 is for wirelessly communicating with the cleaning instruction device 1, the flying device 3, and the air cleaning device 4, and in this embodiment, it is configured as a wireless LAN function unit using Wi-Fi (registered trademark), for example. 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 device 3, or the air cleaning device 4 as the other party.

Under the control of the control unit 201, the wireless communication unit 206 transmits the transmission information generated by the transmission information generation unit 207 to the device specified as the destination among the cleaning instruction device 1, the flying device 3, and the air cleaning device 4 through the wireless LAN. Also, the wireless communication unit 206 transfers instruction information and notification information sent from the cleaning instruction device 1, the flying device 3, and the air cleaning device 4 to the received information analysis unit 208 via the wireless LAN.

The received information analysis unit 208 analyzes the instruction information and notification information sent from the cleaning instruction device 1, the flying device 3, and the air cleaning device 4 via the wireless LAN, and supplies the information to the map creation operation control unit 211 or the cooperation processing unit 212 according to the analysis results.

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

Self-position detector 210 detects the position of the self-device. This self-position detection unit 210 detects the movement direction and the running distance by using, for example, a means for detecting the self-position by receiving radio waves from GPS (Global Positioning System) satellites, a movement direction detection means using a geomagnetic sensor, and an acceleration detection means such as a gyro.

The map creation operation control unit 211 operates when receiving a map data creation request of the cleaning area from the cleaning instruction device 1, and executes operation control such as running control for enabling the cleaning instruction device 1 to detect the outline of the cleanable area of the cleaning area for which map data is created, and transmission of travel position information at that time to the cleaning instruction device 1 through the wireless communication unit 206. In addition, as will be described later, the map creation operation control unit 211 also performs operation control for creating map data in cooperation with the aircraft 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 when the cleaning plan indicates that the cleaning plan includes a cooperative action that is not independent of the device itself. Then, it performs processing control such as travel control of its own device for performing cooperative operations included in the cleaning plan and mutual communication with a cooperative device.

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

Under the control of the control unit 201, the transmission information generation unit 207 generates transmission image information of captured image information from each of the cameras CM21 to CM24 when the robot cleaning device 2 travels to create a cleaning area map or during cleaning operation, and transmits the image information to the cleaning instruction device 1 and other cooperating devices. In this case, the captured image information from each of the cameras CM21 to CM24 is provided with camera identification information (camera ID) indicating which camera the captured image information belongs to. The transmission information generation unit 207 appropriately performs encoding processing such as data compression on the captured image information from each of the cameras CM21 to CM24, generates transmission image information, and transmits the transmission image information through the wireless communication unit 206.

In this embodiment, each of the cameras CM21, CM22, CM23, and CM24 is provided with an illumination unit made up of, for example, an LED, although illustration is omitted. Lighting of the lighting unit is controlled by the control unit 201 . In this case, the control unit 201 uses software processing to measure the brightness of the images captured by the cameras CM21, CM22, CM23, and CM24 (such as the average brightness of the captured images), and when the brightness of the captured images is below a predetermined value, the control unit 201 controls the illumination unit to light up. Note that the control unit 201 may control the illumination unit to always light up when the cameras CM21, CM22, CM23, and CM24 are in the imaging operation state.

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

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 can be implemented by the control unit 201 as software processing functions.

<<Overview of operation of robot cleaning device 2>>
When the control unit 201 receives a cleaning start instruction input through the touch panel 205, or receives a cleaning start instruction from the cleaning instruction device 1 through the wireless communication unit 206, the control unit 201 supplies a drive start control signal to the suction drive unit 221 and the travel drive unit 222 through the suction control unit 202 and the travel control unit 203 to start driving them, thereby allowing the robot cleaning device 2 to start the automatic cleaning operation while self-propelled.

When the control unit 201 receives a cleaning stop instruction input through the touch panel 205 or receives a cleaning stop instruction input from the cleaning instruction device 1 through the wireless communication unit 206, the control unit 201 supplies a drive stop control signal to the suction drive unit 221 and the travel drive unit 222 through the suction control unit 202 and the travel control unit 203 to stop driving the suction drive unit 221 and the travel drive unit 222, thereby stopping the automatic cleaning operation by the robot cleaning device 2. Further, when the control part 201 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 part 209 is completed, it autonomously returns to the home position PO of the cleaning area, couples with the charging device at the home position PO, and controls to start charging.

Furthermore, in this embodiment, when the control unit 201 receives a cleaning start instruction input from the cleaning instruction device 1 through the wireless communication unit 206, the received information analysis unit 208 analyzes the cleaning plan information included in the received information, and determines whether the cleaning is performed by the own device alone or is accompanied by cooperative operation with other devices. When it is determined that the device itself will perform cleaning, the control unit 201 generates a control signal based on the cleaning support program stored in the built-in memory, supplies the control signal to the suction drive unit 221 and the travel drive unit 222 through the suction control unit 202 and the travel control unit 203, and controls the drive.

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 driving unit 221 and the traveling driving unit 222, the cooperative processing unit 212 and the timer unit 213 described above cooperate to execute the cooperative operation as described above.

Then, when receiving a cleaning area map creation request from the cleaning instruction device 1, the control unit 201 causes the self-device 3 to travel so as to search for the outline of the cleaning area while securing 5 cm from the wall using the distance sensors SS21 and SS22, and wirelessly transmits the position information during the travel to the cleaning instruction device 1. Thereby, the cleaning instruction device 1 can detect the outline of the cleanable area of the cleaning area.

A cleanable area such as a table 11 or a sofa 12 existing on the floor surface in the central part of the room, which is the cleaning area, can be detected by cooperation between the flying object device 3, the robot cleaning device 2 and the cleaning instruction device 1.例文帳に追加The map creation operation control unit 201 also executes operation control for that purpose.

That is, the flying object device 3 sends information on the captured image of the camera that captures the image below to the cleaning instruction device 1 together with information on the image capturing position (including 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 flight device 3, and recognizes the position information and the occupied area of the cleaning area of the recognized table 11 and sofa 12 on the floor. Then, the cleaning instruction device 1 sends the recognized positional 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 .

An operation control unit 211 during map creation of the robot cleaning device 2 estimates a travelable area under the table 11 or the sofa 12 from the received positional information of the table 11 or the sofa 12 on the floor surface of the cleaning area and the occupied area information thereof, attempts to travel, and sends the result (for example, a group of position information when the robot is able to travel) to the cleaning instruction device 1. Prior to trial running of the robot cleaning device 2, the map creation operation control unit 211 of the robot cleaning device 2 recognizes the image captured by the camera whose shooting direction is the traveling direction, and can confirm whether the device 2 can run under the table 11 or the sofa 12 based on the image recognition result of the captured image.

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

As described above, the cleaning instruction device 1 can create map data of the cleaning area including not only the outline of the cleaning area but also the leg spaces of tables, sofas, etc. as cleanable areas.

When the reception information analysis unit 208 analyzes the cleaning plan information included in the cleaning start instruction and determines that the cooperation device and the cooperation operation are set, 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 other apparatus to cooperate with, the cooperation location, and the cooperation operation at the cooperation location. Then, the cooperation processing unit 212 executes the control processing for performing the cooperation operation described above with reference to FIGS. 3 to 6. FIG. In this case, the cooperation processing unit 212 generates transmission information (notification information) to be transmitted to other devices in cooperation. Then, as described above, the cooperation processing unit 212 determines the cooperation location where the own device is located and the cooperation timing, and transmits the generated transmission information to other cooperating devices through the transmission information generation unit 207 and the wireless communication unit 206. In this case, the transmission information to be transmitted to other cooperating devices includes information on the cooperating location and information on the cooperating 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, the cooperation processing unit 212, and the timer unit 213 can be realized as software functions by the computer that constitutes the control unit 201.

<Configuration example of flight device 3>
<<Mechanical Configuration Example of Flight 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 top view of the flying body device 3 of this embodiment, and FIG. 10B is a side view of the flying body device 3 of this embodiment.

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

The rotary blade mechanisms 34A, 34B, 34C, and 34D are configured to rotationally drive the rotary blades 342A, 342B, 342C, and 342D by rotationally driving rotary blade shafts (not shown) by motor drive units 341A, 341B, 341C, and 341D, respectively. The motor drive units 341A, 341B, 341C, and 341D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 32 . The motor drive units 341A, 341B, 341C, and 341D and the drive control unit 32 use a battery (not shown) as a power source for rotation drive and drive control. Various mechanical units, camera groups, various sensors, control units, and the like, which will be described later, are also supplied with power from the battery. For 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 signals from the drive control unit 32, so that the aircraft device 3 can perform various movement operations such as takeoff, landing, ascent (directly upward, diagonally upward), downward (directly downward, diagonally downward), right turn, left turn, forward movement, backward movement, right shift, and left shift. Positional control of the ring position is enabled.

The drive control unit 32 is provided on the upper surface of the body housing 35 of the aircraft device 3 . Two legs 36A and 36B are also attached to the body housing 35 of the aircraft device 3 so as to face each other. In this example, the legs 36A and 36B are made of trapezoidal pipe members, and as shown in FIG.

In this example, as shown in FIGS. 10A and 10B, a camera CM31 is provided on the upper surface of the housing of the drive control unit 32. As shown in FIGS. 10A and 10B, cameras CM32 to CM35 are provided on the four side surfaces of the body housing 35 of the aircraft device 3, respectively. Further, a camera CM36 is provided on the bottom surface of the body housing 35 of the flying body device 3, as shown in FIG. 10(B).

The optical axes (corresponding to the photographing direction) of the cameras CM31 to CM36 are perpendicular to the respective mounting surfaces of the cameras CM31 to CM36, and a predetermined range of angle of view can be photographed centering on the optical axis direction.

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

In this example, the magic hand section 38 is provided on the front side surface of the body housing 35 of the flying body device 3, as shown in FIGS. 10(A) and 10(B). The magic hand portion 38 is composed of a connecting joint portion 38a, a connecting arm portion 38b, and a grasping portion 38c. The connecting joint portion 38 a is joined to the main body housing 35 of the aircraft device 3 . The connecting arm portion 38b is connected to the connecting joint portion 38a so that the connecting arm portion 38b itself can rotate about its axial direction. The grip portion 38c is attached to the tip of the connecting arm portion 38b.

The gripping portion 38c is formed by attaching two arcuate gripping arms 381 and 382 to a drive fulcrum portion 383 so as to face each other. In the initial state, the gripping arms 381 and 382 are in a state in which their tips face each other with a predetermined distance therebetween, as shown in FIG. 10(A). In the magic hand section 38 of this example, the grasping arms 381 and 382 are driven to approach each other as indicated by the arrow HL in FIG.

In this example, the coupling portion 38a of the magic hand portion 38 is provided with a gripping arm driving portion (not shown). The gripping arm driving portion operates to apply a tensile force toward the coupling portion 38a to the driving fulcrum portion 383 of the gripping portion 38c and the gripping arms 381 and 382 via the connecting arm portion 38b. By this tensile force, the gripping arms 381 and 382 are driven to approach each other with the driving fulcrum portion 383 as the driving fulcrum, as indicated by the arrow HL. That is, the gripping arms 381 and 382 operate to grip objects to be cleaned such as paper waste. The gripping arm drive section provided in the coupling portion 38a is controlled by a control signal from the control section provided in the aircraft device 3 so that the gripping arms 381 and 382 can perform gripping operations.

In addition, the coupling portion 38a is also provided with a mechanism for controlling the rotation of the connecting arm portion 38b about the axial direction. Control is performed such that the direction of the plane including the two gripping arms 381 and 382 is always parallel to the upper surface of the main body housing 35 of the aircraft device 3, or the direction of the plane including the two gripping arms 381 and 382 is controlled to intersect (including orthogonally) the upper surface of the main body housing 35 of the flying body device 3. It is designed to be able to

In this embodiment, brush portions 384 and 385 are attached below the two gripping arms 381 and 382 as shown in FIG. 10(B). The brush portions 384 and 385 are constructed by implanting animal hair or hair-like resin under the gripping arms 381 and 382 .

The magic hand unit 38 configured as described above receives a control signal from the control unit of the flying device 3 and grips a detected object to be cleaned such as paper waste. The control unit of the flying device 3 controls the two gripping arms 381 and 382 of the magic hand unit 38 in conjunction with the flight control (including hovering) of the flying device 3 to a position where the object to be cleaned can be gripped, and the gripping arms 381 and 382 grip the object to be cleaned at that position. During this control, the control section controls the drive control unit 32 to control the attitude while also referring to the captured image information of the cameras CM31 to CM36. It should be noted that a place (upper surface of the bookshelf 13) where the flying body device 3 can land and work such as gripping an object to be cleaned may be done by landing instead of hovering.

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

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

The aerial flight drive section 302 supplies drive control signals to the motor drive sections 341A, 341B, 341C, and 341D of the rotary wing mechanisms 34A, 34B, 34C, and 34D of the aerial flight mechanism section 31 under the control of the control section 301, respectively.

The gyro sensor 303 detects changes in acceleration of the flying device 3 during flight, and is used to detect the direction of flight, its speed, and attitude of the flying device 3 . The geomagnetic sensor 304 is used to detect in which direction the flying object device 3 is flying. The altitude sensor 305 is for detecting the altitude at which the flying object device 3 is located at that time, and is composed of, for example, an air 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 device 3 is used, and avoid collisions with them during flight.

The cleaning area map data storage unit 307 stores map data of the cleaning area regarding the room in which the aircraft device 3 is used. As described above, the cleaning area map data includes not only two-dimensional map data on the floor surface of the room to be cleaned, but also positional 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 aircraft device 3 .

The memory of the control unit 301 of the flight device 3 of this embodiment stores an application program for panorama photography (for example, Photosynth), and as described above, the flight device 3 previously flies in the room where the flight device 3 is used, and uses all or part of the cameras CM31 to CM36 to photograph the interior within a range of 360 degrees. Then, the control unit 301 uses an application program for panorama photography to generate indoor 3D image information from the photographed image information, and stores the cleaning area map data including the generated 3D image information in the cleaning area map data storage unit 307.

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

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

When flight is started from a base (home position) and moves in the air in response to a command based on the activation information by the control unit 301, the flight drive signal generation unit 309 calculates a movement direction and a movement distance in order to generate a flight drive signal for moving indoors from the position information of the base stored in the cleaning area map data storage unit 307 and the position information of the own device detected by the own position detection unit 308.

Based on the calculated direction and distance, the flight drive signal generation unit 309 uses information from the gyro sensor 303, the geomagnetic sensor 304, the altitude sensor 305, and the like, and also refers to the images captured by the cameras CM31 to CM36 of the camera group 311. Based on this, the flight drive signal generation unit 309 generates a flight drive signal for moving from the base position to the specified coordinated position, and supplies it 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 the motor drive units 341A to 341D of the four rotor mechanisms 34A to 34D, respectively. The generated flight drive signal is supplied to each of the motor drive sections 341A to 341D of the aerial flight mechanism section 31 through the aerial flight drive section 302 .

In response to this flight drive signal, the aerial flight mechanism unit 31 rotationally drives each of the rotor blades 342A to 342D to move from the base to the coordinated position, or from the position where the coordinated operation has ended to the base by flying in the air.

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

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

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

The wireless communication unit 312 transmits, under the control of the control unit 301, the transmission information generated by the transmission information generation unit 313 to the device specified as the destination among the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 through the wireless LAN. The wireless communication unit 206 also transfers instruction information and notification information sent from the cleaning instruction device 1, the robot cleaning device 2, and the air cleaning device 4 to the received information analysis unit 314 via the wireless LAN.

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

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

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

In FIG. 11, the flight drive signal generator 309, the position/attitude control signal generator 310, the transmission information generator 313, the received information analyzer 314, the cooperation processor 315, and the magic hand controller 316 can be implemented by the controller 301 as software processing functions.

<Configuration example of air purifier 4>
The air purifying device 4 of this embodiment has the same configuration as conventionally known air purifying devices, except that it has wheels for traveling. Therefore, in this specification, the description of the structural example of the mechanical part of the air cleaner 4 is omitted.

<<Example of Circuit Configuration of Air Cleaner 4>>
FIG. 12 is a diagram showing the electrical circuit configuration of the air cleaner 4 of this embodiment. As shown in FIG. 11, the air purifying device 4 has an electric circuit configuration as shown in FIG. , the cameras CM41 to CM44 and the image recognition unit 412 are connected.

A suction drive unit 421 is connected to the suction control unit 402 , and a travel drive unit 422 is connected to the travel control unit 403 . The suction drive unit 421 is for sucking dust from the suction port 21 . The sucked dust is cleaned using a dust collection filter or the like. The travel drive unit 422 rotates the wheels so that the air cleaning device 4 is self-propelled.

The display unit 404 consists 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 to the control unit 401 via the system bus 400 based on pressing of any of the touch-type operation buttons displayed on the display screen. The control unit 401 executes processing according to the instruction input information.

The wireless communication unit 406 is for wirelessly communicating 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 wireless LAN function unit. The transmission information generation unit 407 generates transmission information to be transmitted through the wireless communication unit 406 with the cleaning instruction device 1, the robot cleaning device 2, or the flying object device 3 as the other party.

Under the control of the control unit 401, the wireless communication unit 406 transmits the transmission information generated by the transmission information generation unit 407 to the device specified as the destination among the cleaning instruction device 1, the robot cleaning device 2, or the flying device 3 through the wireless LAN. The wireless communication unit 406 also transfers instruction information and notification information sent from the cleaning instruction device 1, the robot cleaning device 2, or the flying object device 3 to the received information analysis unit 408 via the wireless LAN.

The received information analysis unit 408 analyzes instruction information and notification information sent from the cleaning instruction device 1, the robot cleaning device 2, and the flying device 3 via the wireless LAN, and supplies the analysis results 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 when the cleaning plan indicates that the cleaning plan includes a cooperative operation that is not independent of the self device. Then, it performs processing control such as travel control of its own device for performing cooperative operations included in the cleaning plan and mutual communication with a cooperative device. The cooperation processing unit 411 performs cooperative operations with the cleaning instruction device 1 and the robot cleaning device 2 as described above according to the analysis result received from the received information analysis unit 408 .

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

Self-position detector 410 detects the position of the self-device. This self-position detection unit 210 detects the movement direction and the running distance by using, for example, a means for detecting the self-position by receiving radio waves from GPS (Global Positioning System) satellites, a movement direction detection means using a geomagnetic sensor, and an acceleration detection means such as a gyro.

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

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

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

The control unit 401 monitors the image recognition results of the images captured by the cameras CM41, CM42, CM43, and CM44, thereby detecting obstacles during running and moving while avoiding the obstacles.

In FIG. 12, the suction control unit 402, the travel control unit 403, the transmission information generation unit 407, the reception information analysis unit 408, the own position detection unit 410, and the cooperation processing unit 411 can be realized by the control unit 401 as software processing functions.

<Configuration example of cleaning instruction device 1>
In this embodiment, the cleaning instruction device 1 is configured as a dedicated device as a remote control device (remote control device) having a display screen. The appearance of the cleaning instruction device 1 of this embodiment is omitted from the drawing, but it has a configuration of a device having a relatively flat housing that can accept touch-type operation input and has a relatively large display screen. Note that the cleaning instruction device 1 is not a dedicated device, but may be configured as a portable terminal such as a smartphone, tablet, or portable personal computer in which an application for realizing the same function is installed. In addition, the cleaning instruction device 1 is not limited to a portable terminal, and may be a wristwatch type terminal, an eyeglass type terminal, a terminal built into a contact lens, a stationary computer such as a desktop type, or a smart speaker (AI speaker).

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

<<Example of circuit configuration of cleaning instruction device 1>>
FIG. 13 is a diagram showing the electrical circuit configuration of the cleaning instruction device 1 of this embodiment. As an electrical circuit configuration, as shown in FIG. 13, the cleaning instruction device 1 is connected to a control unit 101 equipped with a microcomputer via a system bus 100 with a display unit 102, a touch panel 103, a wireless communication unit 104, a transmission information generation unit 105, a reception information analysis unit 106, a cleaning area map data generation unit 107, a cleaning area map data storage unit 108, an image recognition unit 109, a linked location reception unit 110, and a cleaning plan reception unit 1. 11 and are connected.

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

Through the touch panel 103, in this embodiment, at least the user makes a request to generate map data of a cleaning area and a request to start cleaning a 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 cleaning device 4, and is configured as a wireless LAN function unit in this embodiment. The transmission information generation unit 105 generates transmission information to be transmitted through the wireless communication unit 406 with the robot cleaning device 2, the flying object device 3, or the air cleaning device 4 as the other party.

Under the control of the control unit 101, the wireless communication unit 104 transmits the transmission information generated by the transmission information generation unit 105 to the device specified as the destination among the robot cleaning device 2, the flying device 3, or the air cleaning device 4 via the wireless LAN.

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

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

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

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

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 generator 107 generates cleaning area map data for the cleaning area of each room to be cleaned. The generated cleaning area map data is stored in the cleaning area map data storage unit 108 in association with the identification information of each cleaning area (room).

A cooperation place reception part 110 displays a cleaning area map based on cleaning area map data stored in a cleaning area map data storage part 108 on a display screen of a display part 102, and accepts registration setting by a user of a cooperation place where the robot cleaning device 2, the flying body device 3 and the air cleaning device 4 can perform cleaning operation in cooperation with each other on the display screen through the touch panel 103.

In this case, the cooperation place reception part 110 displays obstacles such as the table, sofa, and bookshelf, window curtains, small window blind curtains, etc. as cooperation place candidates on the cleaning area map in advance. Then, the user designates, through the touch panel 103, a place to be actually cleaned in cooperation from among the cooperation place candidates. In this embodiment, the user can specify (selectively specify) the cooperation action at each cooperation place, and the specification of the cooperation action is accepted through the touch panel 103 . The accepted linked location and linked action are stored in the cleaning area map data storage unit 108 in association with each cleaning area map data.

When the cleaning area is, for example, the living room 10 shown in FIG. 1 described above, for example, if the cooperation place is the installation position of the bookshelf 13, the action of gripping and removing paper waste on the upper surface and dropping the dust from the upper surface is registered as the cooperation action. Further, for example, when the cooperation place is the position of the window 14 over which the curtain 15 is hung, an action of dropping dust from the curtain 15 is registered as the cooperation action.

Then, when the control unit 101 of the cleaning instruction device 1 receives a user's request to start cleaning the cleaning area, in this embodiment, the cleaning plan reception unit 111 is activated to receive the designation of the cleaning area and the cleaning plan for the designated cleaning area from the user. Note that 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 information specifying a preset cleaning plan. Alternatively, the cleaning plan set immediately before the cleaning start request operation may be used as the cleaning plan to be executed by the cleaning start request operation.

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

As shown in FIG. 14, as a cleaning plan, it is possible to select and specify a case of executing either "robot cleaning device alone", "flying body device alone", or "air cleaning device alone" without cooperation, or "cooperation". The example of FIG. 14 shows a state in which the user selects and designates "cooperation". When "cooperation" is selected, as shown in FIG. 14, it is possible to select and input a "cooperation device" for receiving a selection designation of a device that operates in cooperation, a "cooperation location" for receiving selection designation of a location to cooperate with, and a "cooperation operation" for receiving selection designation of a cooperation operation at the cooperation location.

When the reception of the cleaning plan by the cleaning plan reception part 111 is completed, the control part 101 of the cleaning instruction device 1 activates the designated device to start cleaning in the designated cleaning area when the device designated by the cleaning plan is single. Further, when the designation in the cleaning plan is "cooperation", the control part 101 discriminates what the cooperative devices are, activates each of the cooperative devices, and transmits a cleaning start instruction including selection designation of a cooperative place and cooperative operation to each device.

In FIG. 13, the transmission information generation unit 105, the reception information analysis unit 106, the cleaning area map data generation unit 107, the image recognition unit 109, the linked location reception unit 110, and the cleaning plan reception unit 111 can be implemented by the control unit 101 as software processing functions.

[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 device 3, and the air cleaning device 4, which constitute the embodiment of the cleaning system described above, will be described with reference to flowcharts.

<Description of operation of cleaning instruction device 1>
FIG. 15 and FIG. 16 following it are diagrams showing a flow chart for explaining an example of the operation flow of the cleaning instruction device 1 . 15 and 16, the control unit 101 of the cleaning instruction device 1 executes the functions of 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 linked location reception unit 110, and the cleaning plan reception unit 111 as software processing functions.

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 a cleaning area map creation request operation has been received (step S101). When it is determined in this step S101 that a cleaning area map creation request operation has been received, the control unit 101 gives identification information to the designated cleaning area and accepts designation of the cleaning area name from the user (step S102). Here, when the cleaning area name is not received from the user, the cleaning area number (for example, order of creation) provisionally 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 device 3 (step S103).

Then, the robot cleaning device 2 and the flying object device 3 start the operation for creating a cleaning area map. That is, as described above, the robot cleaning device 2 runs and moves so as to generate the contour information of the cleanable area of the cleaning area, and the momentary position information at that time and the captured image information of the cameras CM21 to CM24 are 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 its momentary position information and image information captured by 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), creates cleaning area map data using the collected cleaning area map creation information, and stores and holds the created cleaning area map data (step S105).

When the creation and storage of the cleaning area map data is completed, the control unit 101 displays the cleaning area map on the display screen of the display unit 102 using the generated cleaning area map data, and prompts the user to input information related to cooperation, such as confirmation or registration of cooperation locations and registration of cooperation operations (step S106).

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

Next, the control unit 101 transmits the cleaning area map data and its accompanying information to each of the robot cleaning device 2, the flying object device 3, and the air cleaning device 4 (step S108). With this, the control unit 101 ends the processing in response 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 designation of the cleaning area. When it is determined in step S111 that the cleaning start request operation has not been performed, the control unit 101 performs other processing (step S112), and then returns the processing to step S101 of FIG.

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

Next, the control unit 101 analyzes the received cleaning plan (step S115), and determines whether or not cooperation is specified (step S116). In this step S116, if there is no cooperation designation and the cleaning plan is for a single device, the control unit 101 sends a start instruction to the designated device among the robot cleaning device 2, flying device 3, and air cleaning device 4 (step S117). After that, the control unit 101 transmits a cleaning start instruction including the position information of the cleaning place specified in the cleaning plan within the cleaning area to the activated device (step S118). Then, the control unit 101 of the cleaning instruction device 1 ends the processing.

Further, when it is determined in step S116 that cooperation has been specified, the control unit 101 recognizes the devices to be linked from the analysis result of the cleaning plan in step S115 (step S119), and sends an activation instruction to each of the recognized devices (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 cooperation devices (step S121). Then, the control unit 101 of the cleaning instruction device 1 ends the processing.

<Description of the operation of the robot cleaning device 2>
FIG. 17 and FIG. 18 following it are diagrams showing a flow chart for explaining an example of the operation flow of the robot cleaning device 2 . 17 and 18, the control unit 201 of the robot cleaning device 2 executes the suction control unit 202, the travel control unit 203, the transmission information generation unit 207, the received information analysis unit 208, the map creation operation control unit 211, and the cooperation processing unit 212 as software processing functions.

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

Then, the control unit 201 determines whether or not cooperation is designated based on the analysis result of the cleaning start instruction (step S204). When it is determined in step S204 that the cooperation designation is not 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 part 201 determines whether or not the instructed cleaning is finished (step S206), continues the cleaning operation when it is determined not to be finished, and returns to the home position when it is determined to be finished (step S207), and finishes the processing.

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

Then, the control part 201 determines whether or not the user has arrived at the coordinated place designated by the coordinated designation (step S212), and when it determines that the user has not arrived at the coordinated place, continues the normal floor surface cleaning. In step S212, when it is determined that the device has arrived at the cooperation place, the control unit 201 sends a notification to call other devices specified for cooperation to move to the cooperation place through the wireless communication unit 206, and waits at the cooperation place (step S213).

As described above, when the flying object device 3 and/or the air cleaning device 4 that receives the call notification from the robot cleaning device 2 arrives at the specified cooperation place, it notifies the arrival to the other cooperation device.

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

In step S214, if the other device to work with has not arrived, step S214 is repeated to wait for the arrival of the other device to work with, and when the arrival of the other device to work with is confirmed, the control unit 201 executes the cooperation operation with the other device set at the cooperation place, as described above with reference to FIGS. 4 to 6 (step S215).

Next, the control part 201 determines whether or not the cooperation operation is finished (step S216), and when it is decided that it is not finished, it continues the cooperation operation, and when it is decided that it is finished, it moves to another place according to the instruction of the cleaning plan and continues cleaning (step S217).

Next, the control unit 201 determines whether or not there is an unfinished designation of another cooperation place (step S218), and when it is determined that there is an unfinished designation of another cooperation place, returns the process to step S212, and repeats the processes after step S212. Then, when it is determined in step S218 that there is no unfinished designation of another linked location, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing after step S206.

The cleaning area is the living room 10, and the linked locations specified in the cleaning plan are the bookshelf 13, the window 14 over which the curtain 15 is hung, and the small window 16 provided with the blind curtain 17. Further, as the coordinated action at the linked location of the bookshelf 13, the operation of discarding paper waste and dropping the dust on the upper surface of the bookshelf 13 is registered, and at the coordinated location of the window 14 over which the curtain 15 is hung, the motion of dropping the dust from the curtain 15 is registered. When an operation of dropping dust from each blade of the blind curtain 17 is registered as a coordinated operation at the coordinated place of the small window 16 provided with the blind curtain 17, the coordinated motion at each of the coordinated places described above with reference to FIGS. 4 to 6 is sequentially performed.

In this case, if the action of dropping dust is designated as the cooperative action in step S215, the robot cleaning device 2 waits at a predetermined position near the cooperation place until receiving a notification of the start and/or the end of the action of dropping dust from the flying object device 3, waits for the time for the dust to surely fall on the floor surface, and executes the cleaning action by running while sucking the floor surface near the bookshelf 13 as a cooperative action. In the case of the coordinated operation of dropping dust from the curtain 15, and in the case of the coordinated operation of dropping the dust from each blade of the blind curtain 17, the same cooperative operation is performed.

<Description of the operation of the aircraft device 3>
FIG. 19 and FIG. 20 following it are diagrams showing flowcharts for explaining an example of the operation flow of the flying object device 3 . 19 and 20, the control unit 301 of the flying object device 3 executes 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 as software processing functions.

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

Then, the control unit 301 determines whether or not cooperation is designated based on the analysis result of the cleaning start instruction (step S304). When it is determined in step S304 that the cooperation designation is not made, the control unit 301 starts the operation according to the cleaning plan instructed by the cleaning start instruction (step S305). Then, the control part 201 determines whether or not the instructed operation is completed (step S306), continues the instructed operation when it is determined not to be completed, and returns to the home position when it is determined to be completed (step S307), and terminates the processing.

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

Then, the control unit 301 monitors reception of a call from another cooperating device (step S312), and when it determines that no call has been received, returns the process to step S311 and continues waiting for a call.

When it is determined in step S312 that a call has been received from another cooperating device, the control unit 301 controls its own device to move to the cooperating place designated by the call (step S313). Then, the control unit 301 monitors the position of its own device to determine whether or not it has arrived at the cooperation place (step S314). If it has not arrived at the cooperation place, it repeats step S314 to wait for the arrival at the cooperation place.

Then, the control unit 301 executes cooperative operation with another device (step S316). That is, for example, when the above-described bookshelf 13 is used as the cooperation place and the above-described cooperation operation is specified, the control unit 301 first flies to the position of the upper surface of the bookshelf 13, hovers, and determines whether or not there is paper waste from the captured image information of the cameras CM31 to CM34. Then, when there is paper waste, the magic hand part 38 is used to grasp the paper waste, and the robot cleaning device 2 flies and moves so as to store the paper waste in the waste basket 2WS.

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

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, grasps the place where the dust is dropped and the surrounding conditions, and determines whether to execute or stop the operation of dropping the dust. That is, for example, if there is a person, especially an infant, in the place where the dust is to be dropped, the operation of dropping the dust is stopped, and the associated device (robot cleaning device 2 or air cleaning device 4) is notified to that effect. Also, if there is food or drink in the room or on the table 11, the operation of dropping the dust is stopped, and the associated device (robot cleaning device 2 or air cleaning device 4) is notified to that effect. Also, if there is a water tank or the like at the drop destination, the dust dropping operation is stopped in the same way, and the associated device (robot cleaning device 2 or air cleaning device 4) is notified to that effect. Further, the control unit 301 refers to the photographed image information of the camera to drive and control the cleaning aid 38 so as not to drop dust in places where cleaning is difficult even if dust is removed, such as behind a large-sized television, behind shelves such as chests and bookshelves, and between shelves.

Further, the control part 301 of the flying body device 3 analyzes the photographed image information of each camera of the camera group 311, determines whether or not the object existing on the upper surface of the bookshelf 13 is an object to be cleaned, and if it is not an object to be cleaned, leaves it as it is and notifies 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., leave them as they are or collect them in one place so as not to scatter them, and notify the robot cleaning device 2 and the cleaning instruction device 1 to that effect together with the types of valuables as important matters.

In the case of a valuable item, the magic hand unit 38 is used to grasp the valuable item, and the valuable item is stored in the trash basket 2WS of the robot cleaning device 2 or in a valuables box (not shown), or is stored (placed) in a valuables space (not shown, but may be on the table 11) previously installed or designated in the living room 10, and the robot cleaning device 2 and the cleaning instruction device 1 are notified of the type and storage location of the valuable item. In this case, the notification from the flying object device 3 is added with information on the photographed image of the valuable article photographed by the camera. Then, the robot cleaning device 2 and the cleaning instruction device 1 are configured to display the notified valuable article type, storage location, and photographed image of the valuable article on the display screen of the display unit.

As a result of judging whether or not an object existing on the upper surface of the bookshelf 13 is an object to be cleaned, the flying object device 3 determines whether the object to be cleaned is an object to be cleaned, such as a piece of glass or metal, which is dangerous if dropped on the floor, and leaves the object, such as a piece of glass or metal, which is dangerous to be dropped on the floor, as it is, and notifies the robot cleaning device 2 or the cleaning instruction device 1 to that effect.

Then, when the controller 301 of the flying object device 3 determines that the operation of dropping the dust on the entire upper surface of the bookshelf 13 is completed, it notifies the robot cleaning device 2 or the air cleaning device 4 of the completion of the operation of dropping the dust by wireless communication.

Note that each of the start notification and end notification of the operation of dropping dust from the flying object device 3 includes information (position information and name of the linked location) specifying the linked location that executed the process. The robot cleaning device 2 and the air purifying device 4 that have received these notifications can confirm the linked location where the action of dropping the dust has been performed by the information specifying the linked location. Similarly, the notification of stopping the operation of dropping dust from the flying object device 3 also includes information (position information and the name of the linked place) specifying the cooperation place where the operation is stopped, and the robot cleaning device 2 and the air cleaning device 4 that receive this cancellation notice can confirm the cooperation place where the action of dropping dust is stopped.

In this case, as described above, the robot cleaning device 2 waits until all the dust falls on the floor based on the notification from the flying device 3, and performs the cleaning operation of absorbing the dust on the floor around the bookshelf. Since the air cleaning device 4 performs the operation of absorbing dust floating in the air, it immediately starts the dust absorbing operation when it receives the start notification of the operation of dropping the dust on the upper surface of the bookshelf 13 from the flying object device 3. - 特許庁

Next, the control unit 301 determines whether or not the cooperative operation in step S316 as described above has ended (step S317). The completion of this coordinated operation may be determined when the flying object device 3 transmits a notification of the completion of the operation of dropping the dust, or when a cleaning completion notification of the floor area around the bookshelf 13 is received from the robot cleaning device 2.例文帳に追加

If it is determined in step S317 that the cooperative operation has ended, the control unit 301 controls its own device to return to the home position in this example (step S318). Of course, you may wait at the place where the cooperation operation ends.

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

<Description of the operation of the air cleaner 4>
The operation flow of the air cleaning device 4 is the same as the operation flow of the flying object device 3 described with reference to FIGS. Therefore, in this specification, description of the operation flow of the air purifying device 4 will be omitted except for the detailed content of the cooperative operation executed in step S316.

That is, as described above, the air purifying device 4, as a coordinated operation in step S316, immediately starts the dust absorbing operation upon receiving the start notification of the dust dropping operation from the flying object device 3, and performs the operation of absorbing the dust floating in the air.

In the case of the flying object device 3, after the cooperating operation is completed, it returns to the home position, but in the case of the air cleaning device 4, it may return to the home position or continue to stay at the cooperating place where the cooperating operation was performed.

[Effects of the first embodiment]
As described above, according to the cleaning system of the above-described embodiment, since the flying object device 3 drops dust from a high place where the robot cleaning device 2 cannot clean by collecting dust, it is possible to perform cleaning in the same manner as when cleaning by a vacuum cleaner after being beaten by a person when cleaning by a person.

In addition, in the cleaning system of the above-described embodiment, when the flying object device 3 drops dust, the air cleaning device 4 can cooperate with the air cleaning device 4 to perform an air suction operation.

Further, according to the cleaning system of the above-described embodiment, the user simply designates a cleaning plan and instructs the start of cleaning, and the above-described cleaning operation is automatically performed, which is convenient. In this case, by supplying a cleaning start instruction to each device at the time specified by the timer, the cleaning operation can be performed while the householder is away.

[Second embodiment]
In the above-described first embodiment of the cleaning system, the robot cleaning device 2, which receives a cleaning start instruction from the cleaning instruction device 1, first starts cleaning through traveling, and at each linked location, the flying body device 3 and the air cleaning device 4 as other linked devices are called to perform the linked operation. However, the cleaning sequence including the coordinated operation in the cleaning system of this embodiment is not limited to the cleaning operation in the sequence as described above.

The cleaning system of the second embodiment comprises a cleaning instruction device 1, a robot cleaning device 2, a flying object device 3, and an air cleaning device 4, all of which have the same configuration as in the first embodiment, but the sequence of cleaning operations is different from that of the first embodiment. In the second embodiment, the flying object device 3 and the air purifier 4 perform the specified coordinated operation at the specified coordinated location prior to the cleaning operation of the robot cleaning device 2 . Then, the flying object device 3 and the air cleaning device 4 wirelessly transmit a notification of the end to the robot cleaning device 2 after completing the cooperative operation. This end notification includes information (position information or name of the linked location) specifying the linked location.

In the cleaning system of the second embodiment, the robot cleaning device 2 starts traveling so as to clean the floor surface of the cleaning area after receiving from the flying object device 3 or the air cleaning device 4 the end notification of the coordinated operation at the first coordinated location among the coordinated locations designated by the cleaning plan.

The robot cleaning device 2 can confirm that the operation of dropping the dust, which is the cooperative operation, has already been completed at the cooperative place by receiving the end notification of the cooperative operation from the flying object device 3 or the air cleaning device 4.例文帳に追加Therefore, in the cleaning system of the second embodiment, unlike the first embodiment, the robot cleaning device 2 does not have to wait for the operation of dropping the dust by the flying body device 3 at the linked location, and can perform the cleaning operation while continuously traveling the designated cleaning area.

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

That is, when the control unit 301 of the flying device 3 constituting the cleaning system of the second embodiment determines in step S304 of FIG. 19 that the cleaning plan specifies cooperation, it moves to the first cooperation place, and when it arrives at the cooperation place, it wirelessly transmits the arrival notification to other cooperating devices, such as the robot cleaning device 2 and the air cleaning device 4 (step S321 of FIG. 21). The arrival notification includes information (location information of the linked location or linked location name) specifying the linked location where the user has arrived. Note that the device that has received the arrival notification can recognize the linked location by referring to the stored cleaning area map data with the information specifying the linked location.

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

Then, when it is determined in step S322 that a device that should operate cooperatively at the cooperation place is specified, the control unit 301 determines whether or not the device collaborating at the cooperation place has arrived at the cooperation place (step S323). In this case, an arrival notice is sent from a device that should operate cooperatively at the cooperation place when it arrives at the cooperation place, and depending on whether or not the arrival notice is received, in step S323, it is determined whether or not the devices working together at the cooperation place have arrived at the cooperation place.

Then, in step S323, upon confirming the reception of the arrival notification from the cooperating device at the cooperating place, the control unit 301 executes the coordinating operation at the cooperating place (step S324). For example, in the case of the cleaning plan shown in FIG. 3, the coordinated operation in this case is the operation of removing paper scraps present on the upper surface of the bookshelf 13 by the flying body device 3 and the operation of dropping dust from the upper surface of the bookshelf 13.

In this case, the flying body device 3 stores the paper wastes gripped by the magic hand part 38 in the waste basket 2WS of the robot cleaning device 2, sends a current position request to the robot cleaning device 2 by radio communication, moves to the current position sent from the robot cleaning device 2, and stores the paper wastes. When storing the paper waste, the flying body device 3 requests the robot cleaning device 2 to temporarily stop traveling, and stores the paper waste in the waste basket 2WS of the robot cleaning device 2 in the stopped state. However, without temporarily stopping the running of the robot cleaning device 2, the robot cleaning device 2 may be confirmed by a camera based on the current position of the robot cleaning device 2, and the robot cleaning device 2 may fly and move above the moving robot cleaning device 2 in accordance with the running of the robot cleaning device 2 to store paper wastes in the waste basket 2WS of the robot cleaning device 2. - 特許庁

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

When it is determined in step S322 that no device to operate cooperatively at the linked location is specified, the control unit 301 jumps the process from step S322 to step S324 and executes the linked operation at the linked location. In this case, the cooperative operation is only the removal of paper scraps by the flying object device 3 and the operation of dropping dust.

Next, the control unit 301 monitors whether or not the cooperative operation has ended (step S325), and when it is determined that the cooperative operation has ended, notifies the other cooperating devices (the robot cleaning device 2 and/or the air cleaning device 4) of the end of the cooperative operation at the relevant cooperative location (step S326).

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

The operation flow of the air cleaning device 4 in the second embodiment is the same as the operation flow of the flying object device 3 described using FIG.

That is, as described above, the air purifier 4, as the coordinated operation of step S324, immediately starts the dust absorbing operation upon receiving the start notification of the dust dropping operation from the flying object device 3, and performs the operation of absorbing the dust floating in the air.

In the case of the flying object device 3, after the cooperating operation is completed, it returns to the home position, but in the case of the air cleaning device 4, it may return to the home position or continue to stay at the cooperating place where the cooperating operation was performed.

Next, the operation flow of the robot cleaning device 2 in this second embodiment will be described. FIG. 22 is a flow chart of the main part of the operational flow of the robot cleaning device 2 that constitutes the cleaning system of the second embodiment. The flowchart portion of the operation flow without cooperation shown in FIG. 17 is executed in exactly the same way by the robot cleaning device 2 that constitutes the cleaning system of the second embodiment. Then, the robot cleaning device 2 that constitutes the cleaning system of the second embodiment executes the flow chart of the operation shown in FIG. 22 instead of the flow chart portion of the flow of operation shown in FIG. 18 .

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 in FIG. 17 that the cleaning plan specifies cooperation, it waits for reception of a notification of completion of the cooperation operation at the first cooperation location from another device to cooperate with (step S221 in FIG. 22).

In step S221, when it is confirmed that the notification of the completion of the cooperation operation at the first cooperation place has been received from another device to cooperate with, 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 self-device 2 after the elapse of the time from the reception of the end notification of the cooperation operation at the first cooperation place to the time until the dust falls on the floor surface (step S223).

Then, the control unit 201 determines whether or not a notification of completion of the cooperation operation at another cooperation location has been received from another device to cooperate with (step S224). In this step S224, when it is determined that the end notification of the cooperation operation at another cooperation place has been received from another device to cooperate with, 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, instead of receiving an end notification, the control unit 201 may recognize and store (additionally store) the location where the linked action has ended, and store (additional storage) so that the location of the unfinished part of the linked action can be specified even if the linked action ends incompletely, such as when the battery runs out in the middle or the user forcibly terminates the linked action.

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

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

When it is determined in step S227 that the cooperation operation at the arrived 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 an unfinished designation of another cooperation place (step S229), and when it is determined that there is an unfinished designation of another cooperation place, returns the process to step S224, and repeats the processes after step S224. Then, when it is determined in step S229 that there is no unfinished designation of another linked location, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing after step S206.

Further, when it is determined in step S227 that the coordinated action at the arrived coordinated place has not been completed, the control unit 201 suspends the cleaning action (step S230). Then, the control unit 201 waits for reception of a notification of completion of the cooperative action at the relevant cooperation place from another device to cooperate with (step S231), and if no notification of the end of the cooperative action at the relevant cooperation place is received, repeats step S231 to wait for reception of the notification of the end of the cooperative action at the relevant cooperation place, and after confirming reception of the notification of the end of the cooperative action at the relevant cooperation place, waits for a predetermined time from the reception of the notification of the end of the cooperation action, and restarts the cleaning operation (step S232). In this case, the predetermined time from the reception of the end notification is longer than or equal to the time required for the dust to fall to the floor surface due to the action of dropping the dust.

After step S232, the control unit 201 shifts the process to step S229 to determine whether or not there is an unfinished designation of another cooperation place, and when it is determined that there is an unfinished designation of another cooperation place, returns the process to step S224, and repeats the processes after step S224. Then, when it is determined in step S229 that there is no unfinished designation of another linked location, the control unit 201 shifts the processing to step S206 in FIG. 17 and executes the processing after step S206.

In the above example, in step S221, the robot cleaning device 2 waits for reception of the end notification of the cooperation operation at the first cooperation place designated by the cleaning plan before starting the cleaning operation. The predetermined time in this case is the time in consideration of the end of the cooperation operation at the first cooperation place, for example, the robot cleaning device 2 can determine the predetermined time considering the time required to move the distance from the home position to the first cooperation place.

[Effect of Second Embodiment]
According to the above-described second embodiment, since the process of dropping dust at the linked place is performed in advance, the robot cleaning device 2 can suck the dust that has already fallen on the floor surface without waiting for the dust to drop at the linked place. Therefore, the robot cleaning device 2 does not need time to wait at the cooperating place during cleaning, so that the specified cleaning area can be cleaned in the same time as when no cooperating place is specified.

[Other embodiments or modifications]
In the cleaning system of the above-described embodiment, the cleaning instruction device 1 is configured not to participate in the cleaning operation after transmitting the cleaning start instruction to the other devices that make up the cleaning system.

In that case, the robot cleaning device 2, the flying device 3 and the air cleaning device 4 all communicate with the cleaning instruction device 1 without communicating with each other. That is, each device periodically notifies the cleaning instruction device 1 of the information of its own position, and also sends the notification of arrival at the cooperation place, the start notification of the cooperation operation, and the end notification of the cooperation operation to the cleaning instruction device 1 by wireless communication. Then, the cleaning instruction device 1 transmits an instruction to move to a cooperation place, an instruction to start a cooperation operation, and the like to a device to cooperate with by wireless communication.

Further, in the second embodiment, the flying body device 3 and the air cleaning device 4 are configured to finish the cooperative operation at all the linked locations before the robot cleaning device 2 performs the cleaning operation.

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

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

The flying object device 3 may be provided with a broom-like or mop-like cleaning aid for dropping dust existing on the ceiling by stroking the ceiling of the room, and the dust may be dropped from the ceiling while the air cleaning device 4 is moved to follow it. In this case, the robot cleaning device 2 may follow the position of the floor where the dust dropped by the flying device 3 exists with a time delay.

Further, the cleaning aid for the flying device 3 is not limited to the above example, and may be a cleaning aid for beating a curtain, blowing wind, or wiping the upper surface of a shelf with a mop or cloth. Further, the cleaning aid may be configured to be replaceable with respect to the body housing of the aircraft device 3 .

Also, although the wireless communication units 104, 206, 312, and 406 have a configuration of a wireless LAN using Wi-Fi (registered trademark), it is needless to say that the configuration is not limited to this and may be configured using other communication standards.

In addition, although the cleaning system of the above-described embodiment is configured to include the air cleaning device 4, the air cleaning device 4 may be omitted. Also, instead of the air cleaning device 4, another cooperating device such as a deodorizing device may be provided.

Each of the robot cleaning device, the flying device, and the other cooperating device such as the air purifying device that constitute the cleaning system may be composed of a plurality of units instead of one. In this case, any one of other cooperative devices such as a robot cleaning device, an aircraft device, and an air cleaning device, or some of them may be one unit and others may be multiple units, or all devices may be multiple units.

Then, the plurality of devices may be operated simultaneously in one cleaning plan, or one of the plurality of devices may be selected according to the cleaning area according to the cleaning plan. In addition, a plurality of devices may divide the area within the cleaning area designated by the cleaning plan and share the work.

When using a plurality of devices, each device can be identified in the cleaning plan menu of FIG.

Further, although the robot cleaning device 2 of the above embodiment has a cleaning function by suction, it may have a wiping function instead of the cleaning function by suction, or may have both a cleaning function by suction and a wiping function. When a plurality of robot cleaning devices are used as described above, one of them may be a robot cleaning device having a suction cleaning function and the other a robot cleaning device having a wiping function.

In the above-described embodiment, the linked place is a place where bookshelves, windows, and tables that are fixedly installed in the room exist. However, as shown in FIG. 23, it is also possible to apply the flying device 3 to the clothes of a person 61 who has returned home by hitting it with its cleaning aid 38 or rubbing it with a brush to remove dust and pollen, the robot cleaning device 2 sucking the fallen dust and pollen, and the air cleaning device 4 sucking dust and pollen in the process of falling. There is. In this case, for example, the function of the cleaning instruction device is incorporated in the smartphone possessed 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 of the entrance. .

Alternatively, the cleaning instruction device is installed at the entrance and has a human sensor, and when it recognizes a person who has returned home, for example, the cleaning area is the entrance space, the cooperation place is the entrance stile of the entrance, and the cooperation device is the robot cleaning device 2, the flying device 3, and the air cleaning device 4. An instruction to start the cleaning plan is sent to the robot cleaning device 2, the flying device 3, and the air cleaning device 4, which are the cooperation devices, and these devices are activated as described above to perform cleaning. may be made.

In the above-described embodiment, it is assumed that the cleaning area is a room, and the cleaning area is set for each room. In this case, the cleaning area map data includes information on the route for moving between a plurality of rooms, since the devices such as the robot cleaning device, the flying device, and the air purifying device perform coordinated operations while moving between rooms.

The cleaning system according to the present invention is not limited to use in ordinary homes, but can also be used in factories and stores (including department stores, supermarkets, convenience stores, etc.).

In the above-described embodiment, if the cleaning instruction device is present in the cleaning system, the cleaning plan information is stored in the storage unit provided in the cleaning instruction device, and if the function of the cleaning instruction device is provided in the robot cleaning device, the flying device, the air cleaning device, etc., the cleaning plan information is stored in the storage section provided in those devices. You may do so. The cleaning area map data may also be stored in the cloud storage unit, and acquired from the cloud storage unit when creating a cleaning plan or executing the cleaning plan.

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

For example, with the cleaning area as a three-dimensional motion detection target space area, two light emission tracking devices provided in each cleaning area, and optical position notification units (hereinafter referred to as trackers) installed in each of the robot cleaning device 2, the flying device 3, and the air cleaning device 4 can be used to detect the position of the own device.

The two light emission tracking devices have the same configuration, and each includes a laser light emitting section for emitting infrared laser light, a search means for searching the space area to be detected by the emitted infrared laser light, and an optical position detecting means for detecting light emission from the light emitting section of the tracker that receives the infrared laser light. In this case, for example, one luminescence tracking device searches the cleaning area in the horizontal direction, and the other luminescence tracking device searches the cleaning area in the vertical direction so as to cover the entire cleaning area in the three-dimensional space.

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

The light emission tracking device controls the laser light emitting section by the search means, emits an infrared laser light so as to search and scan the motion detection object space area so as to detect the position of the tracker, and searches. Each of the trackers monitors the reception of the infrared laser light with a sensor, and turns on the light-emitting part composed of the LED when the sensor detects the reception of the infrared laser light. The luminescence tracking device detects the position of each device to which the tracker is attached in the motion detection target space region by detecting the luminescence of the light emitting unit of the tracker. The light emission tracking device is configured to be able to detect the elapsed time from the light emission time of the emitted infrared laser at the time of detection when light emission of the light emitting unit of the tracker is 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 cleaning device 4, and notify each device of the spatial position information of the detected tracker in the motion detection target spatial region.

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

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

Claims (63)

At least two devices: a self-propelled robot cleaning device that performs a cleaning action by sucking an object to be cleaned on the floor while traveling on the floor; an air cleaning device that is movable on the floor and includes suction means for sucking dust;
a cleaning instruction device;
has
The cleaning instruction device accepts a device selection input by a user as to whether one of the robot cleaning device, the air cleaning device, and the flying object device is to be operated independently or to operate the at least two devices in cooperation, and when the device selection input to operate independently is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated. cleaning system. The cleaning instruction device has a function of receiving a cleaning plan for a cleaning area by a user including the device selection input, and when receiving an instruction to start the cleaning plan from the user, determines whether the cleaning plan includes the device selection input to be operated in cooperation with the device selection input. 3. The cleaning system of claim 1, wherein the system notifies the. 3. The cleaning system according to claim 1 or claim 2, wherein the cleaning instruction device further receives designation of a cooperation location to be operated in cooperation within a cleaning area when the input for selecting the device to be operated in cooperation is received, and notifies the device to be operated in cooperation of the designated cooperation location. 4. The cleaning system according to claim 3, wherein the cleaning instruction device further receives designation of an execution order for the plurality of cooperation locations when there are a plurality of designated cooperation locations, and notifies the designated execution order to the device to be operated in cooperation. one of the at least two devices is the air vehicle device;
The flying device and the device operating in cooperation with the flying device have communication means for wirelessly communicating with each other,
At the coordinated location in the cleaning area, the flying body device uses the cleaning aid to drop the object to be cleaned at a location higher than the floor surface onto the floor, and transmits a notification regarding the operation of dropping the object to be cleaned onto the floor to the devices operating in cooperation,
5. The cleaning system according to claim 3 or 4, wherein the device that cooperates with the flying device receives a notification regarding an action of dropping the object to be cleaned onto the floor at the cooperation location in the cleaning area and performs an action that cooperates with the flying device. 6. The cleaning system according to claim 5, wherein the notification related to the action of dropping the object to be cleaned onto the floor transmitted by the flying device includes a start notice of the dropping action and/or an end notice of the dropping action at the linked location. 7. The cleaning system according to claim 5, wherein the notification regarding the operation of dropping the object to be cleaned onto the floor sent by the flying device includes information on the direction of drop. wherein the at least two devices are the air vehicle device and the robot cleaning device;
The flying object device and the robot cleaning device have communication means for wirelessly communicating with each other,
When the robot cleaning device arrives at the cooperation place received from the cleaning instruction device, the robot cleaning device sends a call notification requesting the flying object device to move to the arrival cooperation place,
The cleaning system according to any one of claims 3 to 7, wherein the flying body device moves to the cooperation place based on the reception of the call notification, and when it arrives at the cooperation place, notifies the robot cleaning device of the arrival and performs an operation to cooperate with the robot cleaning device. 9. The cleaning system according to claim 8, wherein the call notification includes designation of a time to start cooperating operation. The cleaning system according to Claim 8 or Claim 9, wherein the call notification includes a time required for a coordinated operation. one of the at least two devices is the air vehicle device;
The flying device and the device operating in cooperation with the flying device have communication means for wirelessly communicating with each other,
The cleaning system according to any one of claims 3 to 7, wherein the flying object device moves to the linked location received from the cleaning instruction device and notifies the linked device of the start and/or end of the operation of dropping the object to be cleaned. one of the at least two devices is the air vehicle device;
The flying device and the device operating in cooperation with the flying device have communication means for wirelessly communicating with each other,
The flying object device waits at the linked location received from the cleaning instruction device,
12. The cleaning system according to any one of claims 3 to 7 or 11, wherein the device that operates in cooperation with the flying body device notifies the flying body device of the arrival at the linked location when the device arrives at the linked location indicated by the cleaning plan received from the cleaning instruction device, and performs an operation that cooperates with the flying body device. 13. The cleaning system according to any one of claims 3 to 12, wherein the cleaning instruction device has a function of accepting designation of the action to be performed in cooperation at the designated cooperation place. one of the at least two devices is the air vehicle device;
The flying body device and a device that operates in cooperation with the flying body device store map data of the cleaning area including the position of the cooperation place, and
A device that operates in cooperation with the flying object device includes a first position detection unit that detects the position of the aircraft in the cleaning area,
The flying object device includes a second position detection unit that detects the position of the aircraft in the cleaning area,
14. The cleaning system according to any one of claims 3 to 13, wherein the flying device and a device that operates in cooperation with the flying device detect the position of the cooperation location from stored map data of the cleaning area. 15. The cleaning system according to any one of claims 3 to 14, wherein the robot cleaning device comprises means for recognizing and storing the coordinated location at which the coordinated operation has ended, based on a notification from another coordinated device. 16. The cleaning system according to any one of claims 3 to 15, wherein the robot cleaning device is provided with means for storing in such a way that, in addition to the location of the cooperation, the location of the unfinished portion can be specified when the operation of cooperating with another device is completed incomplete. 17. The cleaning system according to any one of claims 1 to 16, wherein the cleaning instruction device further receives a specification of the timing to operate in cooperation when the input for selecting the device to operate in cooperation is received, and notifies the device to operate in cooperation of information on the specified timing. The cleaning system according to any one of claims 1 to 17, wherein the cleaning instruction device is provided in any one of the flying device, the robot cleaning device, and the air cleaning device. The cleaning system according to any one of claims 1 to 18, wherein the cleaning instruction device is a portable terminal, a wristwatch type terminal, a spectacle type terminal, a contact lens type terminal, or a stationary type terminal. The cleaning aid of the aircraft device includes a function for gripping an object to be cleaned,
20. The cleaning system according to any one of claims 1 to 19, wherein the robot cleaning device includes a storage section that stores an object to be cleaned held by the cleaning aid of the flying device. 21. The cleaning system according to any one of claims 1 to 20, wherein the flying device is on standby at a predetermined base, and returns to the base after performing an operation in cooperation with a device that operates in cooperation with the flying device. The cleaning system according to any one of claims 1 to 21, wherein at least one of each of the robot cleaning device, the air cleaning device, and the flying device is plural. The cleaning system according to any one of claims 1 to 22, wherein the cleaning instruction device includes a human sensor, and starts operating when the human sensor detects a person. The robot cleaning device in a cleaning system comprising: a self-propelled robot cleaning device that performs a cleaning action by sucking an object to be cleaned on the floor while traveling on the floor; an air cleaning device that is movable on the floor and includes suction means for sucking dust;
a traveling drive unit for autonomously traveling and moving on the floor surface;
a suction driving unit that sucks an object to be cleaned on the floor surface that can be sucked by the device itself and stores the object in a dust collection chamber;
a communication unit for wirelessly communicating with the air cleaning device and/or the flying object device;
A cleaning instruction unit that accepts device selection input by the user as to whether the own device, the air cleaning device, and the flying device are to be operated independently, or to operate the self device and/or the air cleaning device and the flying device in cooperation with each other, and when the device selection input to operate independently is accepted, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the cleaning instruction unit to be operated in cooperation specified by the device selection input. and
A robot cleaning device comprising: The cleaning instruction unit has a function of receiving a cleaning plan for a cleaning area by a user including the device selection input, and determines whether or not the cleaning plan includes the device selection input to be operated in cooperation with the cleaning plan when receiving an instruction to start the cleaning plan by the user. 25. The robotic cleaning device of claim 24, wherein the device notifies the. 26. The robot cleaning device according to claim 24 or 25, wherein, when receiving the device selection input to be operated in cooperation, the cleaning instruction unit further receives designation of the cooperation location to be operated in cooperation within the cleaning area, and notifies the device to be operated in cooperation of the designated cooperation location. 27. The robot cleaning device according to claim 26, wherein when there are a plurality of designated cooperation locations, the cleaning instruction unit further receives designation of an execution order for the plurality of cooperation locations, and notifies the device to be operated in cooperation with the designated execution order. storing map data of the cleaning area including the position of the linked location;
28. The robot cleaning device according to claim 26 or 27, wherein the position of the cooperation place is detected from the stored map data of the cleaning area. When arriving at the linked location, sending a call notification to the flying object device so as to move to the linked location where it arrived;
29. The robot cleaning device according to any one of claims 26 to 28, characterized in that when it receives a notification that it has arrived at said cooperation place from said flying device that has received said call notification, it performs an operation that cooperates with said flying device. 29. The robot cleaning device according to any one of claims 26 to 28, characterized in that, when it arrives at the cooperation place, it notifies the flying object device waiting at the cooperation place of the arrival at the cooperation place, and performs an operation in cooperation with the flying object device. 31. The robot cleaning device according to any one of claims 26 to 30, further comprising means for recognizing and storing the coordinated location where the coordinated operation has ended, based on a notification from another coordinated device. 32. The robot cleaning device according to any one of claims 26 to 31, further comprising means for storing so that, in addition to the location of cooperation, the location of the unfinished portion can be specified when the operation of cooperating with another device is completed incomplete. The robot cleaning device according to any one of claims 24 to 32, further comprising a wiping drive instead of or in addition to the suction drive. A self-propelled robot cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface, and/or an air cleaning device that is movable on the floor surface and has suction means for sucking dust, and an aircraft device in a cleaning system that includes an aircraft device that flies and moves in the air,
an aerial flight mechanism unit for flying and moving in the air;
cleaning aids and
a communication unit for wirelessly communicating with the robot cleaning device and/or the air cleaning device;
A cleaning instruction unit that accepts a device selection input by a user as to whether the self-device, the robot cleaning device, and the air cleaning device are to be operated independently or to operate the robot cleaning device and/or the air cleaning device and the self-device in cooperation with each other, and when the device selection input to operate independently is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated. and
An aircraft device comprising: The cleaning instruction unit has a function of receiving a cleaning plan for a cleaning area by a user including the device selection input, and determines whether or not the cleaning plan includes the device selection input to be operated in cooperation with the cleaning plan when receiving an instruction to start the cleaning plan by the user. 35. The air vehicle device of claim 34, wherein: 36. The flying body device according to claim 34 or claim 35, wherein, when receiving the device selection input to be operated in cooperation, the cleaning instruction unit further receives designation of the cooperation location to be operated in cooperation within the cleaning area, and notifies the device to be operated in cooperation of the designated cooperation location. 37. The flying body device according to claim 36, wherein, when there are a plurality of designated cooperation locations, the cleaning instruction unit further receives designation of an execution order for the plurality of cooperation locations, and notifies the device to be operated in cooperation with the designated execution order. storing map data of the cleaning area including the position of the linked location;
38. The flying body device according to claim 36 or 37, wherein the location of said linked location is detected from said stored map data of said cleaning area. 39. The flying body device according to any one of claims 36 to 38, characterized in that, when it moves to said cooperation place and arrives at said cooperation place based on receiving a call notification from said robot cleaning device, it notifies said arrival to said robot cleaning device, and performs an operation in cooperation with said robot cleaning device. Stand by at the cooperation location,
39. The flying object device according to any one of claims 36 to 38, wherein after receiving a notification of said arrival at said linked place from said robot cleaning device that has arrived at said linked place received from said cleaning instruction unit, it performs an operation that cooperates with said robot cleaning device. Equipped with one or a plurality of cameras that capture the linked location and its surroundings,
41. The flying body apparatus according to any one of claims 36 to 40, further comprising a judgment means for judging whether or not to perform an operation of dropping the object to be cleaned onto the floor based on the image information captured by the camera. 42. The flying object apparatus according to claim 41, wherein, when it is determined that an infant is present in the place where the object to be cleaned is to be dropped, the determination means determines to stop the action of dropping the object to be cleaned, and notifies a cooperating device to that effect. 43. The aircraft apparatus according to claim 41 or claim 42, wherein, when it is determined that there is food or drink in the place where the object to be cleaned is to be dropped, the determination means determines to stop the action of dropping the object to be cleaned, and notifies a cooperating device to that effect. 44. The flying body apparatus according to any one of claims 41 to 43, wherein the determination means determines to stop the operation of dropping the cleaning target when determining that the location where the cleaning target is to be dropped is a location that is difficult to clean, and notifies a cooperating device to that effect. 45. The flying body apparatus according to any one of claims 41 to 44, characterized in that, when the judgment means judges that the object to be cleaned to be dropped is dangerous if dropped, it judges to stop the operation of dropping the object to be cleaned, and notifies a cooperating device to that effect. Equipped with one or a plurality of cameras that capture the linked location and its surroundings,
determining means for determining whether or not an object existing at the linked location is an object to be cleaned based on image information captured by the camera;
46. The flying object device according to any one of claims 36 to 45, characterized in that, when the determining means determines that an object existing in the linked location is not an object to be cleaned, a linked device is notified to that effect. 47. The flying body device according to claim 46, wherein the discrimination means has a function of discriminating a valuable item as an object other than the object to be cleaned, and when the valuable item is discriminated, notifies a cooperating device of the type and/or location of the valuable item. 48. The aircraft apparatus according to claim 47, further comprising means for moving said valuable item to a predetermined accommodation location when said valuable item is determined by said determination means. The aircraft apparatus according to any one of claims 34 to 48, wherein the cleaning aid comprises at least one means of rubbing with a brush, tapping, and grasping and shaking means. Equipped with a camera,
Based on the image information captured by the camera, means for recognizing the image of the curtain,
50. The flying body device according to any one of claims 34 to 49, wherein the image-recognized dust on the curtain is dropped using the cleaning aid. equipped with a camera,
The flying body device according to any one of claims 34 to 50, wherein the robot cleaning device is image-recognized based on image information captured by the camera, and flies over the robot cleaning device in accordance with running. A self-propelled robot cleaning device that performs a cleaning action by sucking an object to be cleaned on the floor surface while traveling on the floor surface, and/or an aircraft device that flies in the air and is equipped with a cleaning aid, and an air cleaning device that can move on the floor surface, wherein
a traveling drive unit for autonomously traveling and moving on the floor surface;
a suction means for sucking dust;
a communication unit for wirelessly communicating with the robot cleaning device and/or the flying object device;
When the aircraft device, the robot cleaning device, the self -device operates alone, or the robot cleaning device and the / or the self -device, the aircraft device is accepted and operated, and the device selection input is accepted by the user, and the equipment selection input that is operated alone is accepted. If you accept the specified single device specified by the device selection input, and accept the device selection input that is linked and operate, the cleaning instruction portion that launches the device that is specified in the specified device in the device selection input.
An air cleaning device comprising: The cleaning instruction unit has a function of receiving a cleaning plan for a cleaning area by a user including the device selection input, and determines whether or not the cleaning plan includes the device selection input to be operated in cooperation with the cleaning plan when receiving an instruction to start the cleaning plan by the user. 53. The air freshening device of claim 52, wherein: 54. The air purifier according to claim 52 or 53, wherein, when receiving the device selection input to be operated in cooperation, the cleaning instruction unit further receives designation of the cooperation location to be operated in cooperation within the cleaning area, and notifies the device to be operated in cooperation of the designated cooperation location. 55. The air purifier according to claim 54, wherein, when there are a plurality of designated cooperation locations, the cleaning instruction unit further receives designation of an execution order for the plurality of cooperation locations, and notifies the device to be operated in cooperation with the designated execution order. storing map data of the cleaning area including the position of the linked location;
56. The air purifier according to claim 54 or 55, wherein the position of the linked location is detected from the stored map data of the cleaning area. 57. The air purifier according to any one of claims 54 to 56, characterized in that, when it moves to said linked place based on receiving a call notification from said robot cleaning device or said flying body device and arrives at said linked place, said arrival is notified to said robot cleaning device or said flying body device, and said cleaning operation is performed in cooperation with said robot cleaning device. Stand by at the cooperation location,
58. The air purifying device according to any one of claims 54 to 57, wherein after receiving a notification of arrival at the linked location from the robot cleaning device and/or the flying object device that has arrived at the linked location and received from the cleaning instruction unit, an operation that cooperates with the robot cleaning device and/or the flying object device is performed. 59. The air cleaner according to any one of claims 52 to 58, wherein the suction means has a variable suction force according to the amount of dust that is falling. A cleaning system comprising at least two devices: a self-propelled robot cleaning device that moves on the floor surface and performs a cleaning action by sucking an object to be cleaned on the floor surface; an air cleaning device that is movable on the floor surface and has a suction means for sucking dust;
Means for accepting device selection input by a user as to whether to operate any one of the robot cleaning device, the air cleaning device, and the flying object device independently or to operate the at least two devices in cooperation, activating only the single device specified by the device selection input when the device selection input to operate independently is received, and activating the device to be operated in cooperation specified by the device selection input when the device selection input to operate in cooperation is received;
Program for cleaning instruction device to function as A cleaning system comprising: a self-propelled robot cleaning device that moves on the floor surface and performs a cleaning operation by sucking an object to be cleaned on the floor surface; an air cleaning device that is movable on the floor surface and has a suction means for sucking dust; a computer provided in the robot cleaning device, which has a suction drive unit for performing wireless communication with the flying object device and/or the air cleaning device;
Cleaning instruction means for receiving device selection input by the user as to whether the own device, the air purifying device, and the flying device are to be operated independently, or to operate the self device and/or the air purifying device and the flying device in cooperation with each other, and when the device selection input to operate independently is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated. ,
A program for robot cleaning devices to function as A cleaning system comprising: a self-propelled robot cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor surface while traveling on the floor surface; and/or an air cleaning device that is movable on the floor surface and has a suction means for sucking dust; computer provided by
Cleaning instruction means for receiving a device selection input by a user as to whether the self-device, the robot cleaning device, and the air cleaning device are to be operated independently, or to operate the robot cleaning device and/or the air cleaning device and the self-device in cooperation with each other, and when the device selection input to operate independently is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated. ,
A program for aircraft equipment to function as An air cleaning device in a cleaning system comprising: a self-propelled robot cleaning device that performs a cleaning operation by sucking an object to be cleaned on the floor while traveling on the floor; and/or an air vehicle device that flies in the air and is equipped with a cleaning aid; a computer provided in the air purifier,
cleaning instruction means for receiving a device selection input by a user as to whether the flying body device, the robot cleaning device, and the flying body device are operated independently or to operate the robot cleaning device and/or the robot cleaning device and the flying body device in cooperation with each other, and when the device selection input to operate alone is received, only the single device specified by the device selection input is activated, and when the device selection input to be operated in cooperation is received, the device to be operated in cooperation specified by the device selection input is activated;
A program for air purifiers to function as

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