JP7063738B2 - Autonomous vacuum cleaner and cleaning system - Google Patents

Description

An embodiment of the present invention relates to an autonomous traveling vacuum cleaner and a cleaning system provided with a liquid supply means for supplying a liquid to a surface to be cleaned.

Conventionally, an autonomous traveling type electric vacuum cleaner that cleans a floor surface while autonomously traveling on the floor surface as a surface to be cleaned is known. In recent years, as this type of electric vacuum cleaner, a vacuum cleaner that wipes the floor surface with water by spraying a liquid such as water on the floor surface and running while applying a cleaning body to the sprayed position is known. There is. However, the floor surface to be cleaned by the electric vacuum cleaner includes a floor surface such as flooring suitable for wiping with water and a floor surface such as a carpet unsuitable for wiping with water, and the liquid is continuously sprayed while traveling. That was sometimes unfavorable.

Japanese Unexamined Patent Publication No. 2014-131768 Japanese Patent Publication No. 2016-511670

An object to be solved by the present invention is to provide an autonomous traveling vacuum cleaner and a cleaning system capable of supplying a liquid at a desired position and timing for cleaning.

The autonomous traveling vacuum cleaner of the embodiment has a traveling main body, a liquid supply means for supplying a liquid to the surface to be cleaned, a cleaning means for cleaning the surface to be cleaned using the liquid, and a communication means for communicating with an external device. A traveling control unit for controlling the traveling of the main body, a storage means for storing a predetermined area of the surface to be cleaned, a supply control means, and a surface for discriminating the surface to be cleaned for discriminating the surface to be cleaned are provided. The autonomous travel type vacuum cleaner has an automatic mode in which the main body is autonomously driven by the travel control unit and a manual mode in which the main body is remotely traveled by the travel control unit in response to a travel command input from an external device via a communication means. It has a registration mode in which the main body is remotely traveled by the travel control unit in response to the reception of a travel command input from an external device via the communication means, and a predetermined area of the surface to be cleaned is stored in the recording means. In the registration mode, the storage means stores a predetermined area on the surface to be cleaned, triggered by the reception of an area registration command input from an external device via the communication means. The supply control means supplies the liquid by the liquid supply means when the cleaning means cleans a predetermined area in the automatic mode, and triggers the reception of the liquid supply command input from the external device via the communication means in the manual mode. The liquid is supplied by the liquid supply means , and whether or not the liquid can be supplied to the surface to be cleaned is determined according to the determination result of the surface to be cleaned. In the manual mode, if the supply control means determines that the liquid should not be supplied to the surface to be cleaned based on the determination result of the surface to be cleaned despite receiving the liquid supply command, the liquid is applied to the surface to be cleaned. Notify the user that it will not be supplied .

It is explanatory drawing which shows the cleaning system of one Embodiment. (a) is a plan view schematically showing the autonomous traveling vacuum cleaner of the same cleaning system from above, and (b) is a plan view schematically showing the autonomous traveling vacuum cleaner of the same cleaning system from below. (a) is a block diagram showing the internal structure of the autonomous traveling vacuum cleaner as above, and (b) is a block diagram showing the internal structure of the external device of the same as above. Same as above It is explanatory drawing which shows an example of the manual mode screen by the display means of an external device. Same as above It is explanatory drawing which shows an example of the registration mode screen by the display means of an external device. Same as above It is explanatory drawing which shows an example of the automatic mode screen by the display means of an external device. Same as above It is an explanatory diagram showing an example of display transition in the display means of the external device. Same as above It is a flowchart showing the control of the autonomous traveling type vacuum cleaner. Same as above. It is a flowchart which shows the manual mode control of the autonomous traveling type vacuum cleaner. Same as above. It is a flowchart which shows the registration mode control of the autonomous traveling type vacuum cleaner. Same as above. It is a flowchart which shows the automatic mode control of the autonomous traveling type vacuum cleaner.

Hereinafter, one embodiment will be described with reference to the drawings.

In FIG. 1, 1 is an autonomous traveling vacuum cleaner. The autonomous traveling type vacuum cleaner 1 is hereinafter simply referred to as a vacuum cleaner 1. The vacuum cleaner 1 cleans the floor surface while autonomously traveling on the floor surface, which is the surface to be cleaned as the traveling surface. The vacuum cleaner 1 constitutes a cleaning system 3 together with an external device 2 such as an information terminal.

As shown in FIGS. 1, 2 (a) and 2 (b), the vacuum cleaner 1 includes a main body 5. Further, the vacuum cleaner 1 is provided with a traveling means 6 for traveling the main body 5. The traveling means 6 includes a traveling control unit 9 (FIG. 3A) that controls a motor 8 that drives the driving wheels 7. Further, it is preferable that the traveling means 6 is provided with a turning wheel. In addition, instead of the drive wheel 7, an endless track or the like as a traveling wheel as a driven portion can be used. Hereinafter, the direction along the traveling direction of the main body 5 will be described as the front-rear direction (arrows FR and RR directions shown in FIG. 2), and the left-right direction or both-side direction orthogonal to the front-rear direction will be described as the width direction.

Further, the vacuum cleaner 1 includes a cleaning means 10. The cleaning means 10 includes a liquid supply means 11 that supplies a liquid to the floor surface in front of the cleaning means 10. The liquid supply means 11 transfers a liquid such as water or a cleaning liquid stored in a storage unit 12 such as a liquid cup or a storage tank to the floor surface in front of or below the main body 5 by a supply drive unit 13 such as a motor or a pump. It is configured to be supplied by spraying or dropping. The liquid supply means 11 includes a supply control unit 14 (FIG. 3A) as a supply control means for controlling the operation of the supply drive unit 13 to control the supply of the liquid to the floor surface. The supply control unit 14 of the present embodiment is a determination means for determining whether or not to supply the liquid to the floor surface. Further, the cleaning means 10 includes a cleaning control unit 18 that controls a cleaning body motor 17 that drives the rotary cleaning body 16. The rotary cleaning body 16 is arranged at the lower front portion of the main body 5. The rotary cleaning body 16 is both for wet cleaning or wiping to polish the floor surface to which liquid is supplied, and for dry cleaning or dry wiping to clean the floor surface without using liquid. Alternatively, each dedicated one may be selectively used. Further, the cleaning means 10 may be provided with a wiping body 19 for wiping off, for example, the polished liquid or excess liquid on the floor surface at the rear lower portion of the rotary cleaning body 16 of the main body 5. The wiping body 19 is arranged at the lower part of the main body 5. Since the wiping body 19 is used for wet cleaning using a liquid and is unnecessary for dry cleaning, it is preferable that the wiping body 19 is removable from the main body 5.

Further, as shown in FIG. 3A, the vacuum cleaner 1 includes a detection means 20. The detection means 20 detects information for supporting driving and cleaning. The detection means 20 of the present embodiment includes a floor detection sensor 21 which is a means for discriminating the surface to be cleaned to detect the type of the floor surface. As the floor detection sensor 21, for example, an infrared sensor or the like that detects the type of the floor surface by using reflection of infrared rays or the like may be used, or a contact sensor or the like that detects the type of the floor surface by the contact resistance of the floor surface or the like may be used. It may be used, a sensor or the like that detects the type of the floor surface by analyzing the image of the floor surface captured by the camera may be used, or these may be used in any combination. Further, the detecting means 20 of the present embodiment includes a running obstacle sensor 22 which is a traveling obstacle detecting means for detecting a traveling obstacle such as a step on the floor surface or an obstacle. As the traveling obstacle sensor 22, for example, an infrared sensor or an ultrasonic sensor may be used, a sensor using an image captured by one or more cameras, or the like may be used, or a sensor that detects an object or a step by contact may be used. May be used, or these may be used in any combination. Further, the detection result by the detection means 20 is processed by the detection processing unit 23 which is a cleaning surface discrimination means, and the type of the floor surface is discriminated.

Further, the vacuum cleaner 1 includes a communication means 25 for communication with the external device 2 (FIG. 3 (b)). The communication means 25 is, for example, a wireless LAN module such as a WiFi (registered trademark) module or a wireless communication means such as a Bluetooth (registered trademark) module. The information transmitted / received by the communication means 25 may be processed by, for example, the communication processing unit 26.

Further, the vacuum cleaner 1 may be provided with a cartographic means. The map creating means recognizes, for example, the arrangement of traveling obstacles detected by the detecting means, creates map data of a traveling area in which the main body 5 can travel, and estimates its own position. Since known SLAM (simultaneous localization and mapping) techniques and the like can be used for map data creation and self-position estimation, details will be omitted.

Further, the vacuum cleaner 1 includes a memory 30. As the memory 30, a non-volatile memory such as a flash memory is used. The memory 30 stores various data referred to by the travel control unit 9, the supply control unit 14, the cleaning control unit 18, the detection processing unit 23, and the like. For example, the memory 30 may store map data created by the map creating means. Further, the data stored in the memory 30 is processed by the data processing unit 31.

Further, the vacuum cleaner 1 includes a microcomputer 32. In the microcomputer 32, for example, a CPU as a calculation unit, a RAM as a temporary storage unit, and the like are connected via a bus, and the CPU cooperates with the RAM to execute a program stored in the storage unit (memory 30). By doing so, the functions of each unit such as the traveling control unit 9, the supply control unit 14, the cleaning control unit 18, the detection processing unit 23, the communication processing unit 26, and the data processing unit 31 are realized.

Further, the vacuum cleaner 1 includes a power supply unit. As the power supply unit, a battery such as a secondary battery is preferably used. The power supply unit supplies power to the motor 8, the supply drive unit 13, the cleaning body motor 17, the detection means 20, the communication means 25, the microcomputer 32, and the like.

As shown in FIGS. 1 and 3B, the external device 2 includes a display 35 which is a display means having a touch input function. Further, the external device 2 includes an external device communication means 36 capable of communicating with the communication means 25 (FIG. 3A) of the vacuum cleaner 1. The external device communication means 36 of the present embodiment wirelessly communicates with the communication means 25 (FIG. 3 (a)) directly via a network such as the Internet or via short-range wireless communication such as Bluetooth (registered trademark). It is possible. Further, the external device 2 includes a control means 37. The control means 37 is connected to a CPU as a calculation unit, a RAM, a ROM, etc. as a storage unit via a bus, and the CPU cooperates with the RAM to execute a program stored in the ROM to execute each unit. Function is realized. Further, the external device 2 includes a power supply unit such as a secondary battery. As the external device 2, for example, a PC, a smartphone, a tablet PC, or the like is preferably used. Further, the external device 2 may be provided with various other functions, but in the present embodiment, the description is omitted for the sake of clarity.

Then, for example, a control program is installed in the external device 2. The control program may be a dedicated program or may be formed by using a general-purpose browser or the like.

Next, the operation of one embodiment will be described.

The vacuum cleaner 1 of the present embodiment has, for example, a mode in which the main body 5 is remotely controlled according to a manual input by the user and the main body 5 travels, and the liquid can be supplied by the liquid supply means 11 at a position desired by the user. In this embodiment, the mode is referred to as a manual mode. As the user interface of the manual mode of the present embodiment, any one can be used. For example, as the manual mode screen V1 on the display 35 of the external device 2, for example, as shown in FIG. 4, an arrow. Controlled by icons A1 to A4 that imitate traveling directions such as, icons B1 that are liquid supply instruction means that imitate buttons and the like, and icons B2 that are manual mode end instruction means that imitate buttons and the like. It is displayed by the program for. The icon B1 may be displayed, for example, "spray" or the like so that the user can easily understand the instruction by the icon B1, but this display displays the liquid supply means 11 of the present embodiment on the floor surface. It is not limited to spraying liquid. Similarly, the icon B2 may be displayed, for example, "mode end" or the like so that the user can easily understand the instruction by the icon B2.

Then, when the user touches the icons A1 to A4, for example, the travel command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. To. In the vacuum cleaner 1, based on the travel command received by the communication means 25, the travel control unit 9 controls the drive of the motor 8 to operate the drive wheels 7 in the travel means 6, so that the main body 5 has icons A1 to A1 to operate. Drive in the direction indicated by A4. Icon A1 of the present embodiment is, for example, the forward movement of the main body 5 of the vacuum cleaner 1, icon A2 is, for example, the backward movement of the main body 5 of the vacuum cleaner 1, icon A3 is, for example, a left turn of the main body 5 of the vacuum cleaner 1, and icon A4 is. For example, the right turn of the main body 5 of the vacuum cleaner 1 is shown. The travel command by the icons A1 to A4 is continued after one touch operation, whether it is continued while each icon A1 to A4 is touched, or is continued for a predetermined time after one touch operation. May continue until the next operation is performed. In this case, after the touch operation of the icons A1 to A4, an icon or the like for instructing the stop may be displayed.

Further, when the user touches the icon B1, for example, the liquid supply command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. .. In the vacuum cleaner 1, the supply control unit 14 controls the drive of the supply drive unit 13 to supply the liquid stored in the storage unit 12 to the floor surface based on the liquid supply command received by the communication means 25, and the cleaning control is performed. Part 18 controls the drive of the cleaning body motor 17 to rotate the rotary cleaning body 16 to polish and clean the floor surface. Although the liquid is supplied from the liquid supply means 11 while the vacuum cleaner 1 is running, the running of the vacuum cleaner 1 may be temporarily stopped when the liquid is supplied. Further, whether the liquid supply command by the icon B1 is continued while the icon B1 is touched or is continued for a predetermined time after one touch operation, the liquid supply command is next after one touch operation. It may be continued until the operation of is performed. In this case, after the touch operation of the icon B1, an icon for instructing the stop of spraying may be displayed at the position of the icon B1.

Further, the supply control unit 14 may determine whether or not to supply the liquid to the floor surface according to the type of the floor surface determined by the surface to be cleaned surface discriminating means. For example, when the type of the floor surface determined by the surface to be cleaned surface determining means at the position designated by the touch operation of the icon B1 is not suitable for supplying a liquid such as a carpet, the supply control unit 14 may be used. Do not supply liquid to the floor regardless of the liquid supply command from the user. In this case, for example, in the vacuum cleaner 1, the user may be notified that the liquid is not supplied because the type of the floor surface is not suitable for supplying the liquid. As the notification, for example, a known appropriate configuration may be adopted, such as transmitting a signal for displaying the notification content on the display 35 from the communication means 25 or emitting a voice by the voice output means.

Further, when the user touches the icon B2, for example, the end command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. The vacuum cleaner 1 terminates the manual mode based on the termination command received by the communication means 25.

Further, the vacuum cleaner 1 of the present embodiment stores a floor area in the memory 30 based on the information input by the user by the external device 2, and autonomously causes the main body 5 to travel to the stored area by the traveling means 6. The liquid can be supplied by the liquid supply means 11.

Therefore, the vacuum cleaner 1 of the present embodiment has a mode in which the area for supplying the liquid by the liquid supply means 11 can be stored in the memory 30 based on the information input by the user by the external device 2. In this embodiment, the mode is referred to as a registration mode. As the user interface of the registration mode of the present embodiment, any one can be used. For example, as the registration mode screen V2 on the display 35 of the external device 2, for example, an arrow as shown in FIG. The icons A5 to A7, which are driving direction instruction means imitating the above, and the icons B3, which are registration instruction means imitating a button or the like, are displayed by a control program or the like. The icon B3 may be displayed, for example, "registration" or the like so that the user can easily understand it.

Then, when the user touches the icons A5 to A7, for example, the travel command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. To. In the vacuum cleaner 1, based on the travel command received by the communication means 25, the travel control unit 9 controls the drive of the motor 8 to operate the drive wheels 7 in the travel means 6, so that the main body 5 has icons A5 to ... Drive in the direction indicated by A7. Icon A5 of the present embodiment indicates, for example, the advance of the main body 5 of the vacuum cleaner 1, icon A6 indicates, for example, a left turn of the main body 5 of the vacuum cleaner 1, and icon A7 indicates, for example, a right turn of the main body 5 of the vacuum cleaner 1. .. As described above, the travel command by the icons A5 to A7 also continues for a predetermined time after each touch operation, whether it continues while each icon A5 to A7 is touched. After one touch operation, it may continue until the next operation is performed.

Further, when the user touches the icon B3, for example, the area registration command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. .. In the vacuum cleaner 1, the area is stored in the memory 30 via the data processing unit 31 based on the area registration command received by the communication means 25. At this time, for example, the data processing unit 31 may determine whether or not to store the floor surface in the memory 30 according to the type of the floor surface determined by the surface to be cleaned surface discriminating means. For example, if the type of floor surface determined by the surface to be cleaned surface discrimination means at the position designated by the touch operation of the icon B3 is not suitable for supplying liquid such as a carpet, the data processing unit 31 is used as an area. May not be stored in the memory 30. In this case, for example, in the vacuum cleaner 1, the user may be notified that the liquid is not supplied because the type of the floor surface is not suitable for supplying the liquid, as in the manual mode.

The area stored in the memory 30 by the registration mode may be singular or plural. When the area stored in the memory 30 is singular, if the area is stored in the memory 30 in advance, the new area may be overwritten in the memory 30 by executing the registration mode. Further, display names such as "Area 1" and "Area 2" may be set in the area stored in the memory 30. This display name may be, for example, a list of numbers related to the date, time, etc. when the icon B3 is touch-operated, or may be arbitrarily changed by the user. Further, the area stored in the memory 30 can be deleted in the registration mode or the like. The registration mode is not limited to such an embodiment. For example, the map data stored in the memory 30 is displayed as a user interface on the display 35 of the external device 2, and the user touches a desired position from the displayed map data. By selecting or designating by inputting an operation or the like, the area for supplying the liquid by the liquid supply means 11 may be stored in the memory 30, or the vacuum cleaner 1 may discriminate the floor surface by, for example, the surface to be discriminated means. Based on the result of autonomous driving while doing so, the area for supplying the liquid may be stored in the memory 30. This autonomous travel may be started when the user inputs an area registration command from the external device 2, or autonomous travel at any other timing may be used.

Then, when the area is stored in the memory 30 by a touch operation of the icon B3 or the like, the vacuum cleaner 1 ends the registration mode.

Further, the vacuum cleaner 1 of the present embodiment has a mode capable of autonomously traveling so that the liquid is supplied by the liquid supply means 11 in the area of the floor surface set in the memory 30 by the registration mode. In this embodiment, the mode is referred to as an automatic mode. When the automatic mode is selected, in the traveling means 6, the traveling control unit 9 controls the drive of the motor 8 to drive the main body 5, and in the cleaning means 10, the supply control unit 14 of the liquid supply means 11 controls the drive unit. The drive of 13 is controlled to supply the liquid from the storage unit 12 to the floor surface, and the cleaning control unit 18 controls the drive of the motor 17 for the cleaning body to rotate the rotary cleaning body 16 and supply the liquid to the floor surface. Polish and clean. As the user interface of the automatic mode of the present embodiment, for example, the display 35 of the external device 2 has the automatic mode screen V3, and as shown in FIG. 6, for example, the icon B4 which is a stop instruction means imitating a button or the like. For example, the icon B5, which is an automatic mode end instruction means imitating a button or the like, is displayed by a control program or the like. The icon B4 may be displayed, for example, "stop" so that the user can easily understand the instruction by the icon B4. Similarly, the icon B5 may be displayed, for example, "mode end" or the like so that the user can easily understand the instruction by the icon B5.

Then, when the user touches the icon B4, for example, a stop command and a liquid supply command are issued as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. Will be sent. In the vacuum cleaner 1, based on the stop command received by the communication means 25, the traveling means 6 stops the main body 5 at that position when traveling, and the liquid is being supplied by the liquid supplying means 11. The supply means 11 stops the supply of the liquid. Further, when the vacuum cleaner 1 is stopped, the icon B4 may be provided with, for example, a function of a start instruction means for instructing the start of the automatic mode. That is, in the present embodiment, when the vacuum cleaner 1 is stopped in the automatic mode, for example, when the icon B4 is touch-operated, the external device communication means 36 can be directly connected to the communication means 25 of the vacuum cleaner 1, or the Internet or the like. The start command is indirectly transmitted as information via the network. For example, when the icon B4 is equipped with this function, the display of the automatic mode screen V3 is programmed so that the character display of the icon B4 is switched to, for example, "start" or "restart" when running or the supply of liquid is stopped. May be good. In the vacuum cleaner 1, based on the start command received by the communication means 25, the traveling means 6 restarts the traveling of the main body 5 if the traveling is stopped, and the liquid supply means 11 if the liquid supply is stopped. Restart the liquid supply.

Further, when the user touches the icon B5, for example, the end command is transmitted as information directly from the external device communication means 36 to the communication means 25 of the vacuum cleaner 1 or indirectly via a network such as the Internet. The vacuum cleaner 1 terminates the automatic mode based on the termination command received by the communication means 25.

Only one of the manual mode, the registration mode, and the automatic mode may be provided in the vacuum cleaner 1, but the vacuum cleaner 1 of the present embodiment includes both the manual mode, the registration mode, and the automatic mode. , The user can selectively use each mode. For example, as the user interface of the present embodiment, one of the manual mode, the registration mode, and the automatic mode is selected on the display 35 of the external device 2, for example, as the mode selection screen V4, as shown in FIG. An icon R1 such as a radio button for selecting an area, an icon R2 such as a radio button for selecting an area when the automatic mode is selected, and an icon B6 imitating a button for determining selection. , Is displayed, for example, by a control program. The icon B6 may be displayed, for example, "decision" or the like so that the user can easily understand the instruction by the icon B6. Then, when the user touch-operates the icons R1 and R2 to select a mode and touches the icon B6, for example, a selection command corresponding to each mode is transmitted as information from the external device communication means 36 and the external device. The display of the display 35 of 2 changes according to the selected mode. That is, in the present embodiment, the display 35 of the external device 2 is displayed so as to be selectively transitionable from the mode selection screen V4 to the manual mode screen V1, the registration mode screen V2, and the automatic mode screen V3. Further, when the icon B2 is touch-operated on the manual mode screen V1 shown in FIG. 4, the icon B3 is touch-operated on the registration mode screen V2 shown in FIG. 5, and the automatic mode screen V3 is shown in FIG. When the icon B5 is touch-operated, for example, the display 35 of the external device 2 transitions to the mode selection screen V4 shown in FIG. 7, respectively. That is, in the present embodiment, the mode selection screen V4, the manual mode screen V1, the registration mode screen V2, and the automatic mode screen V3 are displayed on the display 35 of the external device 2 so as to be reversibly transitionable from each other. Ru.

The operation and control of the vacuum cleaner 1 will be described with reference to the flowcharts shown in FIGS. 8 to 11.

First, the vacuum cleaner 1 determines whether the manual mode, the registration mode, or the automatic mode is selected by the user based on the selection command received by the communication means 25 (step S1). .. Then, when it is determined in step S1 that the manual mode is selected, manual mode control is performed (step S2). If it is determined in step S1 that the registration mode has been selected, registration mode control is performed (step S3). Further, when it is determined in step S1 that the automatic mode is selected, it is determined whether or not the area is stored in the memory 30 (step S4), and in step S4, the area is not stored in the memory 30. If it is determined that the area is stored in the memory 30 in step S4, the automatic mode control is performed (step S5). These steps S1 to S5 correspond to waiting for input by the user on the mode selection screen V4 (FIG. 7) of the external device 2 and shifting to each mode after input.

In the manual mode control shown in FIG. 9, the vacuum cleaner 1 determines whether or not there is a travel command from the user based on whether or not the travel command is received by the communication means 25 (step S10). If it is determined in step S10 that there is a travel command, the travel control unit 9 controls the drive of the motor 8 to operate the drive wheels 7 to drive the main body 5 according to this travel command (step S11). , Proceed to step S12. Further, if it is determined in step S10 that there is no travel command, the process proceeds to step S12. Then, the vacuum cleaner 1 determines whether or not there is a liquid supply command from the user based on whether or not the liquid supply command is received by the communication means 25 (step S12). When it is determined in step S12 that there is a liquid supply command, the supply control unit 14 determines whether or not to supply the liquid to the floor surface based on the type of the floor surface determined by the surface to be cleaned surface determining means (step). S13). When it is determined in step S13 that the liquid is to be supplied, the supply control unit 14 drives the supply drive unit 13 to supply the liquid of the storage unit 12 to the floor surface, and the cleaning control unit 18 drives the cleaning body motor 17. The floor surface is polished and cleaned by the rotary cleaning body 16 by controlling the drive of (step S14), and the process proceeds to step S16. If it is determined in step S13 that the liquid will not be supplied to the floor surface, the user is notified that the liquid will not be supplied to the floor surface (step S15), and the process proceeds to step S16. If it is determined in step S13 that there is no liquid supply command, it is determined whether or not to terminate the manual mode based on whether or not the communication means 25 has received the termination command (step S16). In step S16, if it is determined to end the manual mode, the process returns to step S1, and if it is determined not to end the manual mode, the process returns to step S10. The control of steps S10 to S16 corresponds to the user's input on the manual mode screen V1 (FIG. 4).

In the registration mode control shown in FIG. 10, the vacuum cleaner 1 determines whether or not there is a travel command from the user based on whether or not the travel command is received by the communication means 25 (step S20). If it is determined in step S20 that a travel command has been input, the travel control unit 9 controls the drive of the motor 8 to operate the drive wheels 7 to drive the main body 5 according to this travel command (step S21). ), Proceed to step S22. If it is determined in step S20 that there is no travel command, the vacuum cleaner 1 determines whether or not there is an area registration command from the user based on whether or not the area registration command has been received by the communication means 25. Determine (step S22). If it is determined in step S22 that there is no area registration command, the process returns to step S20. If it is determined in step S22 that there is an area registration command, the data processing unit 31 determines whether or not to store the area in the memory 30 (step S23). If it is determined in step S23 that the area is stored in the memory 30, the data processing unit 31 stores the area in the memory 30 (step S24), ends the registration mode, and returns to step S1. The area stored in the memory 30 is associated with the map data stored in advance in the memory 30. Further, in step S23, when it is determined that the memory 30 is not stored due to the type of the floor surface or the like, the user is notified that the area is not stored (step S25), and the process returns to step S20. The control of steps S20 to S25 corresponds to the user's input on the registration mode screen V2 (FIG. 5).

In the automatic mode control shown in FIG. 11, in the vacuum cleaner 1, the travel control unit 9 controls the drive of the motor 8 to operate the drive wheels 7 to the area selected based on the input from the user (step S30). The main body 5 is autonomously driven (step S31). At this time, the travel control unit 9 determines whether or not there is a stop command from the user based on whether or not the stop command has been received by the communication means 25 (step S32). When it is determined in step S32 that there is a stop command, the vacuum cleaner 1 stops the motor 8 by the traveling control unit 9 to stop the traveling of the main body 5 (step S33), and receives the start command by the communication means 25. Based on whether or not there is a start command from the user, it is determined (step S34). If it is determined in step S34 that there is a start command, the process proceeds to step S36. If it is determined in step S34 that there is no start command, the vacuum cleaner 1 determines whether or not to end the automatic mode based on whether or not the communication means 25 has received the end command (step S35). .. In step S35, if it is determined to end the automatic mode, the process returns to step S1, and if it is determined not to end the automatic mode, the process returns to step S34. If it is determined in step S32 that there is no stop command, the vacuum cleaner 1 determines whether or not the main body 2 is located in the area stored in the memory 30 (step S36). If it is determined in step S36 that the area is not located, the process returns to step S31. Further, in step S36, when it is determined that the position is located in the area, the supply control unit 14 drives the supply drive unit 13 to supply the liquid of the storage unit 12 to the floor surface, and the cleaning control unit 18 drives the cleaning body motor 17. The floor surface is polished and cleaned by the rotary cleaning body 16 by controlling the drive of the (step S37). In step S37, the main body 2 may be stopped or may be traveling at a low speed, for example. Next, the vacuum cleaner 1 determines whether or not there is a stop command from the user based on whether or not the communication command is received by the communication means 25 (step S38). If it is determined in step S38 that there is no stop command, the vacuum cleaner 1 determines whether or not the polishing cleaning is completed (step S39). If it is determined in step S39 that the polishing has been completed, the automatic mode is terminated and the process returns to step S1. If it is determined in step S39 that the polishing and cleaning has not been completed, the process returns to step S37. If it is determined in step S38 that there is a stop command, the supply control unit 14 stops the supply drive unit 13 to stop the liquid supply, and the cleaning control unit 18 stops the cleaning body motor 17. Stop the rotary cleaning body 16 to stop polishing and cleaning (step S40). Next, the vacuum cleaner 1 determines whether or not there is a start command from the user based on whether or not the start command has been received by the communication means 25 (step S41). If it is determined in step S41 that there is a start command, the process proceeds to step S39. If it is determined in step S41 that there is no start command, it is determined whether or not to end the automatic mode based on whether or not the communication means 25 has received the end command (step S42). If it is determined in step S42 that the automatic mode is to be terminated, the process returns to step S1. If it is determined in step S42 that the automatic mode is not terminated, the process returns to step S41. Steps S30 to S42 correspond to user input on the automatic mode screen V3 (FIG. 6).

As described above, according to one embodiment, the supply control is based on the information input from the external device 2 via the communication means 25 or when the predetermined area stored in the memory 30 is cleaned by the cleaning means 10. By supplying the liquid to the floor surface by the liquid supply means 11 by the unit 14, the liquid can be supplied and cleaned at a desired position and timing. For example, the position of the floor surface to be cleaned using the liquid and the liquid. Easy-to-use cleaning is possible, such as being able to easily distinguish the position of the floor surface to be cleaned without using.

By storing the area of the floor surface to which the liquid is supplied by the liquid supply means 11 in the memory 30 based on the information input from the external device 2 via the communication means 25, the user can use the external device 2 with a simple configuration. It is possible to register the area of the floor surface to which the liquid is supplied.

That is, by having a registration mode for storing the floor area in the memory 30 by the area registration command input from the display 35 of the external device 2, a desired area to which the liquid can be supplied can be easily registered.

In the registration mode, when the vacuum cleaner 1 is manually operated by a traveling command input from the display 35 of the external device 2, it is possible to reliably store a predetermined area in which the liquid can be supplied desired by the user in the memory 30. can.

Further, in the registration mode, when the area registration command input from the display 35 of the external device 2 is received, the user can store in the memory 30 a predetermined area in which the vacuum cleaner 1 can autonomously travel and supply liquid. This predetermined area can be automatically stored in the memory 30 without the need for inputting a predetermined area to which the liquid can be supplied or operating the vacuum cleaner 1.

Further, by making it possible to register a plurality of areas for supplying the liquid in the memory 30, in the automatic mode, the user can select from a plurality of areas and automatically supply the liquid.

Since the area registered in the memory 30 is deleted based on the information input from the external device 2 via the communication means 25, the registered area can be easily changed while effectively using the capacity of the memory 30. ..

The supply control unit 14 determines whether or not the liquid can be supplied from the liquid supply means 11 to the floor surface according to the type of the floor surface determined by the surface to be cleaned surface discriminating means, thereby supplying the liquid such as a carpet. Even if the user inputs information to supply the liquid to the floor surface which is not suitable for the floor surface, it is possible to control not to supply the liquid.

The supply control unit 14 has a manual mode in which the liquid supply means 11 supplies the liquid to the floor surface based on the liquid supply command input from the external device 2, so that the user can use the external device 2 to obtain a desired position or a desired position. It becomes possible to supply the liquid to the floor surface at the timing.

In particular, in the manual mode, the main body 5 can be driven based on the information input from the external device 2 via the communication means 25, so that the user can manually move the main body 5 to a desired position and move the main body 5 to the floor surface. While looking at the location of the vacuum cleaner 1 that is automatically traveling, it is possible to instruct the spraying of the liquid at the timing and position where the liquid is desired to be sprayed. Therefore, it is possible to prevent the liquid from being sprayed on the floor surface which is not suitable for cleaning with the liquid.

Since the vacuum cleaner 1 starts or ends the automatic mode in which the liquid is supplied in a predetermined area while autonomously traveling, according to the user's input of the start command and the end command from the display 35 of the external device 2, the user starts. By simply inputting a command and an end command, the desired floor area can be automatically cleaned with a liquid.

Manual mode selection screen V4 is displayed on the display 35 of the external device 2, and the vacuum cleaner 1 is driven to a desired position on the floor surface by manual input from the mode selection screen V4 to supply liquid by the liquid supply means 11. The mode screen V1 and the registration mode screen V2 that allows the area of the floor surface to which the liquid is supplied by the liquid supply means 11 to be registered in the memory 30, and the cleaning so that the liquid is supplied by the liquid supply means 11 in the set area. By selectively displaying the automatic mode screen V3 instructing the autonomous driving of the machine 1 and the mode selection screen V4, each mode can be selected and cleaning can be easily started.

In the above embodiment, the display 35 of the external device 2 is not limited to the one provided with the touch input function, and the icon displayed on the display 35 using the input means such as keys and buttons provided in the external device 2. Etc. may be input.

Further, the external device 2 is not limited to the one having the display 35 having the touch panel function, and a controller or the like provided with a button or the like as a setting means instead of the icon may be used.

Further, the vacuum cleaner 1 is provided with an electric blower for suction cleaning, a suction port for sucking dust by suction of the electric blower, a dust collecting unit for collecting dust sucked from the suction port, and the like, and performs normal suction cleaning. It is preferable to have a configuration that also functions as a vacuum cleaner. In this case, it is preferable that the rotary cleaning body 16 can be replaced with one suitable for sucking dust.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 Autonomous vacuum cleaner 2 External device 3 Cleaning system
6 main body
9 Travel control unit
10 Cleaning means
11 Liquid supply means
14 Supply control unit as a supply control means
25 means of communication
30 Memory as a means of storage
35 Display as a means of display
36 External device communication means
37 Control means

Claims (8)

The main body that can run and
A liquid supply means that supplies liquid to the surface to be cleaned,
A cleaning means for cleaning the surface to be cleaned with a liquid,
Communication means to communicate with external devices,
A travel control unit that controls the travel of the main body,
A storage means for storing a predetermined area of the surface to be cleaned, and
A supply control means for supplying a liquid by the liquid supply means and
A means for discriminating the surface to be cleaned, which is provided with a means for discriminating the surface to be cleaned .
An automatic mode in which the main body is autonomously traveled by the travel control unit, and a manual mode in which the main body is remotely traveled by the travel control unit in response to a travel command input from the external device via the communication means. A registration mode in which the main body is remotely traveled by the travel control unit in response to the reception of the travel command input from the external device via the communication means, and a predetermined area of the cleaned surface is stored in the recording means. Have,
In the registration mode, the storage means stores a predetermined area of the surface to be cleaned, triggered by reception of an area registration command input from the external device via the communication means.
The supply control means supplies a liquid by the liquid supply means when the cleaning means cleans the predetermined area in the automatic mode, and is input from the external device via the communication means in the manual mode. The liquid is supplied by the liquid supply means triggered by the reception of the liquid supply command, and whether or not the liquid can be supplied to the cleaned surface is determined according to the determination result of the cleaned surface determining means. ,
In the manual mode, when the supply control means determines that the liquid is not supplied to the surface to be cleaned based on the determination result of the surface to be cleaned even though the liquid supply command is received, the liquid is determined. Notify the user that the cleaning surface is not supplied with
An autonomous vacuum cleaner that features this . The autonomous traveling vacuum cleaner according to claim 1 , wherein the storage means can register a plurality of the predetermined areas. The autonomous traveling vacuum cleaner according to claim 1 or 2 , wherein the predetermined area stored in the storage means is deleted based on information input from the external device. The autonomous traveling vacuum cleaner according to any one of claims 1 to 3 .
A cleaning system characterized by including the above-mentioned external device. The external device is
An external device communication means capable of communicating with the autonomous vacuum cleaner,
A display means for displaying predetermined information and inputting the travel command , the area registration command, and the liquid supply command.
When the liquid supply command is input, the external device communication means is controlled to cause the autonomous traveling vacuum cleaner to transmit the liquid supply command, and when the area registration command is input, the external device communication. The cleaning system according to claim 4 , further comprising a control means for controlling the means to cause the autonomous traveling vacuum cleaner to transmit the area registration command . The claim is characterized in that the external device has an icon for inputting the traveling command according to the traveling direction of the main body, an icon for inputting the liquid supply command, and a mode for displaying on the same screen in the display means. Item 5. Cleaning system according to item 5 . The external device is characterized by having a mode in which an icon for inputting the travel command and an icon for inputting the area registration command according to the travel direction of the main body are displayed on the same screen in the display means. The cleaning system according to claim 5 or 6 . In the display means of the external device, a start / end command instructing the start and end of the automatic mode is input, and the start / end command is input.
When the start / end command is input, the control means controls the external device communication means to cause the autonomous traveling vacuum cleaner to transmit the start / end command.
The cleaning system according to any one of claims 5 to 7 , wherein the autonomous traveling vacuum cleaner starts or ends the automatic mode based on the start / end command.

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