JP7221817B2 - autonomous vacuum cleaner - Google Patents

Description

Embodiments of the present invention relate to autonomous vacuum cleaners.

2. Description of the Related Art Autonomous traveling vacuum cleaners (cleaning robots, autonomous vacuum cleaners) are known that divide or subdivide a cleaning area into a plurality of areas and clean each of the divided small areas.

JP 2018-147032 A

By the way, there are known autonomous vacuum cleaners having a function of sucking dust on a surface to be cleaned in a negative pressure to perform suction cleaning, and autonomous vacuum cleaners having a function of performing wiping cleaning by wiping the surface to be cleaned with a wiping member. It is Autonomous vacuum cleaners capable of performing suction cleaning and wiping cleaning at the same time are also known.

For example, a surface to be cleaned, such as flooring, can be easily sucked and wiped at the same time.

However, when performing wiping cleaning on a surface to be cleaned, such as a carpet or rug, dust adhering to the wiping member may re-adhere to the surface to be cleaned, or the wiping member and the surface to be cleaned may not adhere to each other. Battery power is consumed excessively due to large frictional resistance.

In other words, the preferred cleaning method differs for each surface to be cleaned having different properties. If the area to be cleaned is divided based on the properties of the surface to be cleaned, the preferred cleaning method will differ for each small area. In other words, in order to efficiently clean a cleaning area divided or subdivided into a plurality of areas, it is preferable to assign a preferred cleaning method to each divided area.

Therefore, the present invention provides an autonomous vacuum cleaner that has a function of performing suction cleaning and a function of performing wiping cleaning, and that can assign desired functions to each of a plurality of areas set by dividing or subdividing a cleaning place. The purpose is to propose

In order to solve the above problems, an autonomous vacuum cleaner according to an embodiment of the present invention provides suction cleaning for sucking dust on a surface to be cleaned in a cleaning place under negative pressure, wiping cleaning for wiping the surface to be cleaned with a wiping member, and an autonomous vacuum cleaner capable of performing at least two of a plurality of functions including: dispensing a solution onto a surface to be cleaned or said cleaning location; and an environmental map of said cleaning location and identified on said environmental map. a storage unit for storing a plurality of regions to be allocated, and region-by-region allocation information for allocating at least one of the plurality of functions to at least one of the plurality of regions; A control unit that autonomously moves the autonomous cleaner in the cleaning place by applying at least one of the plurality of functions assigned to each of the areas of , and a human detector that detects the presence or absence of surrounding people. and, the control unit does not perform the suction cleaning when a person is present around the autonomous cleaner .

1 is a system configuration diagram showing an operation control system including an autonomous vacuum cleaner according to an embodiment of the present invention; FIG. The right view of the vacuum cleaner which concerns on embodiment of this invention. The bottom view of the vacuum cleaner which concerns on embodiment of this invention. 1 is a block diagram of a vacuum cleaner according to an embodiment of the present invention; FIG. The figure which shows an example of the environmental map and divided cleaning place which the vacuum cleaner which concerns on embodiment of this invention memorize|stores. The figure which shows an example of the area|region allocation information which the vacuum cleaner which concerns on embodiment of this invention memorize|stores. A diagram showing another example of area allocation information stored by the vacuum cleaner according to the embodiment of the present invention.

An embodiment of a vacuum cleaner according to the present invention will be described with reference to FIGS. 1 to 7. FIG. In addition, the same code|symbol is attached|subjected to the same or corresponding structure in several drawings.

FIG. 1 is a system configuration diagram showing an operation control system including an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 1, an autonomous cleaner 1 according to this embodiment is communicably connected to an operation control system 2. As shown in FIG.

The operation control system 2 includes a server 4 communicably connected to the telecommunications network 3 . The operation control system 2 establishes a communication line for two-way information communication between the remote control terminal 5 and the autonomous cleaner 1 . The operation control system 2 also establishes a communication line for bi-directional information communication between the local terminal 6 and the autonomous cleaner 1 . The remote control terminal 5 and the local terminal 6 are collectively referred to as the control terminal 7 . The operation terminal 7 is an information terminal. The autonomous vacuum cleaner 1 improves usability (convenience) for the user through the operation control system 2, such as ease of operation, ease of operation, and easiness of operation.

The electric communication network 3 includes an external network 8 , a local communication network 9 , and a relay communication device 11 that relays information between the local communication network 9 and the external network 8 .

The local communication network 9 is a wireless or wired telecommunication network including relay communication equipment 11 . The autonomous cleaner 1 and the local terminal 6 are communicably connected to the local communication network 9 . The private network 9 is a so-called intranet. The local communication network 9 provides users with an extremely simple communication environment.

External network 8 includes the Internet 12 . The relay communication device 11, the server 4, and the remote control terminal 5 are connected to the Internet 12 via a public telephone network, a mobile telephone network, or the like. The operation control system 2 provides users with an extremely simple communication environment between the autonomous cleaner 1 and the remote control terminal 5 by interposing the Internet 12 .

The server 4 mediates information between the autonomous cleaner 1 and the remote control terminal 5 . The server 4 communicates with many autonomous cleaners 1 via the Internet 12 . The server 4 assigns an identifier to each autonomous cleaner 1 . The user of the autonomous cleaner 1 can connect between the remote control terminal 5 and the autonomous cleaner 1 at home, or between the remote control terminal 5 and the autonomous cleaner owned by the user, using the identifier provided by the server 4. Establish two-way communication with 1.

A remote control terminal 5 is connected to the Internet 12 via a public wireless line or a mobile phone line. The remote control terminal 5 communicates bi-directionally with the server 4 . The remote control terminal 5 receives input of operation instructions such as a cleaning operation start instruction and a stop instruction of the autonomous cleaner 1 . These operation instructions, such as a cleaning operation start instruction and a stop instruction, are transmitted to the autonomous cleaner 1 via a communication line. In addition, the remote control terminal 5 acquires information from the server 4 that notifies the state of the autonomous cleaner 1, such as operating, paused, or stopped, and outputs the state of the autonomous cleaner 1 to the screen. . The operation control system 2 enables transmission of information including commands from the remote control terminal 5 to the autonomous cleaner 1 at home, and transmits information representing the state of the autonomous cleaner 1 from the autonomous cleaner 1 to the remote control terminal 5. make it possible to receive information containing That is, the operation control system 2 can provide an environment in which the autonomous cleaner 1 at home can be operated from the remote control terminal 5 on the go. For example, the user can operate the autonomous cleaner 1 to clean the home in a timely manner while the user is away from home.

The autonomous cleaner 1 is a so-called robot cleaner. The autonomous cleaner 1 moves autonomously by consuming power of a secondary battery 22 mounted on a main body 21. - 特許庁The autonomous cleaner 1 moves on the surface to be cleaned f of the area A to be cleaned as a cleaning place in the living room, ie, the so-called floor surface, by running. The autonomous cleaner 1 moves around the cleaning surface f of the cleaning area A to perform cleaning. The autonomous cleaner 1 comprehensively moves and cleans the area A to be cleaned. After completing the cleaning of the surface f to be cleaned, the autonomous cleaner 1 autonomously returns to the station 23 (also referred to as "homecoming") and waits for the next cleaning operation.

The station 23 can be installed on the surface to be cleaned in the living room. The station 23 can smoothly connect or disconnect the autonomous cleaner 1 . Station 23 has a function of a so-called charging stand. In other words, the station 23 is a charging stand capable of charging the secondary battery 22 of the autonomous cleaner 1 . The station 23 includes a power cord 25 that conducts power from a commercial AC power source, and a charging circuit 26 that converts the AC voltage supplied through the power cord 25 and supplies DC voltage to the secondary battery 22 . .

The autonomous cleaner 1 that has returned to the station 23 charges the secondary battery 22 while waiting for the next cleaning operation. Therefore, the autonomous cleaner 1 saves the user the trouble of charging, and can respond to sudden cleaning operations requested by the user.

FIG. 2 is a right side view of the vacuum cleaner according to the embodiment of the invention.

FIG. 3 is a bottom view of the vacuum cleaner according to the embodiment of the invention.

A solid-line arrow F in FIGS. 2 and 3 indicates the forward direction of the autonomous cleaner 1 .

In addition to FIG. 1, as shown in FIGS. 2 and 3, the autonomous cleaner 1 according to the present embodiment performs suction cleaning for sucking dust on the surface f to be cleaned under negative pressure and wiping the surface f to be cleaned. , spraying the solution onto the surface f to be cleaned or the area A to be cleaned. The solution to be sprayed is, for example, an aromatic agent, a deodorant, electrolyzed water containing hypochlorous acid having a sterilizing action, or water for humidification. In this embodiment, the case of using electrolyzed water containing hypochlorous acid as a solution will be specifically described. Note that the autonomous cleaner 1 only needs to be able to perform at least two of the functions.

The autonomous cleaner 1 includes a main body 21, a moving part 31 that generates a force to move the autonomous cleaner 1, a cleaning part 32 that has a suction cleaning function and a wiping function, and a cover around the autonomous cleaner 1. A detection unit 33 that detects a detected object, a control unit 35 that controls the operation of the autonomous cleaner 1 by controlling the movement unit 31, the cleaning unit 32, and the detection unit 33, the movement unit 31, the cleaning unit 32, and the detection unit. and a secondary battery 22 that supplies electric power to each part of the autonomous cleaner 1 including the unit 33 and the control unit 35 .

The autonomous cleaner 1 also includes a storage tank 36 provided in the main body 21 for storing water, an electrolyzed water generator 37 for generating electrolyzed water by electrolyzing the water stored in the storage tank 36 , and the storage tank 36 . and a second supply unit 39 for supplying the electrolyzed water stored in the storage tank 36 to the inside of the main body 21 .

The main body 21 has a flat columnar shape, in other words, a disk shape. The main body 21, which is substantially circular in plan view, can suppress the turning radius during turning to be smaller than other shapes. In a plan view, the main body 21 may have a shape such as a square, or may have a fixed-width figure with a constant crossing width, such as a Reuleaux Triangle. good.

The main body 21 includes, for example, a synthetic resin main body case 41 and bumpers 42 provided on the side surfaces of the main body case 41 .

The main body case 41 and the storage tank 36 cooperate to define the outline of the main body 21 in plan view. In the present embodiment, the main body case 41 and the storage tank 36 have an arcuate outline cut off by a chord in plan view. The arc-shaped outline of the main body case 41 and the arc-shaped outline of the storage tank 36 combine at their respective chords to draw the circular outline of the main body 21 . Similarly, even if the main body 21 has a shape other than a circular shape, the outline of the main body 21 is drawn by combining the outline of the main body case 41 and the outline of the storage tank 36 . In addition, it is preferable that the storage tank 36 be accommodated inside the trajectory drawn by the outline of the main body case 41 when the main body 21 is rotated (spin turn, neutral turn, counter-rotation turn).

The height of the main body case 41 and the height of the storage tank 36 are substantially the same. Note that the height of the main body case 41 and the height of the storage tank 36 may be different. For example, the height of the storage tank 36 may be higher than the height of the main body case 41, and the storage tank 36 may protrude upward. Moreover, the height of the storage tank 36 may be lower than the height of the main body case 41, and the storage tank 36 may be recessed. Furthermore, the height of the storage tank 36 may be lower than the height of the body case 41 , and the storage tank 36 may be mounted on the upper surface of the body case 41 . In such a case, the upper surface of the main body case 41 may have a stepped difference between the portion where the storage tank 36 is mounted and other portions. It is preferable that the upper surface of the storage tank 36 and the upper surface of the main body case 41 substantially match each other in a state in which the storage tank 36 is mounted on the main body case 41 .

The moving part 31 includes a plurality of drive wheels 45 that can contact the surface f to be cleaned, a plurality of electric motors 46 that individually drive the respective drive wheels 45, and the drive wheels 45 together with the main body 21 on the surface f to be cleaned. A driven wheel 47 is provided.

Each driving wheel 45 transmits the force for moving the main body 21 to the surface f to be cleaned. Each driving wheel 45 rotates around an axis extending in the width direction of the main body 21, that is, in the lateral width direction. The plurality of drive wheels 45 includes at least one pair of drive wheels 45 . The rotation axes of the pair of drive wheels 45 are arranged substantially on the same line. The autonomous cleaner 1 can go straight and turn by a pair of drive wheels 45 . The driving wheels 45 are pressed against the surface f to be cleaned by a suspension device, a so-called suspension. The autonomous cleaner 1 may have an endless track instead of the drive wheels 45 .

Each electric motor 46 drives each drive wheel 45 independently. The autonomous cleaner 1 moves straight by rotating the left and right drive wheels 45 in the same direction, and turns by rotating the left and right drive wheels 45 in different directions. Straight running includes forward and backward. A turn includes a right turn and a left turn. In addition, the autonomous cleaner 1 adjusts the forward or backward speed by increasing or decreasing the output of the left and right driving wheels 45, or adjusts the size of the turning radius by varying the output of the left and right driving wheels 45. can do.

The driven wheel 47 is arranged substantially in the widthwise central portion and front portion of the lower portion of the main body 21 . The driven wheel 47 is a circular rotating body, such as a caster. The driven wheels 47 easily follow forward movement, retreating, and turning of the autonomous cleaner 1 to change direction and stabilize the traveling of the autonomous cleaner 1 . The center of gravity of the autonomous cleaner 1 supported by the drive wheels 45 and the driven wheels 47 is preferably located inside the triangle formed by the pair of drive wheels 45 and driven wheels 47 . Therefore, the autonomous cleaner 1 can move more stably.

The cleaning part 32 cleans the surface to be cleaned f below the main body 21 . More specifically, the cleaning unit 32 cleans the surface f to be cleaned immediately below the main body 21 and its surroundings. The cleaning unit 32 includes a suction cleaning unit 48 that generates suction negative pressure to suck dust from the surface f to be cleaned, and a wiping unit 49 that wipes or polishes the surface f to be cleaned below the main body 21. there is

The suction cleaning part 48 has a suction cleaning function. The suction cleaning unit 48 includes a suction port 51 provided on the bottom surface of the main body 21 , a rotating brush 52 disposed in the suction port 51 , a brush electric motor 53 for rotating the rotating brush 52 , and a dust collector provided on the main body 21 . A dust container 55 as a unit and an electric blower 56 housed in the main body 21 and fluidly connected to the dust container 55 are provided.

The air passage extending from the suction port 51 to the suction side of the electric blower 56 via the dust container 55 is a suction air passage 57 fluidly connected to the suction side of the electric blower 56 . The suction air passage 57 includes an upstream air passage 57 u from the suction port 51 to the dust container 55 and a downstream air passage 57 d from the dust container 55 to the electric blower 56 .

An air passage extending from the exhaust side of the electric blower 56 to the exhaust port of the main body 21 is an exhaust air passage 58 fluidly connected to the discharge side of the electric blower 56 . Exhaust air from the electric blower 56 is exhausted to the outside of the main body 21 through an exhaust air passage 58 .

The suction port 51 sucks dust together with air by suction negative pressure generated by the electric blower 56 . The suction port 51 is arranged on the forward side in the forward direction F of the wiping part 49 . The suction port 51 extends in the width direction of the main body 21 . In other words, the opening width of the suction port 51 in the left-right direction is larger than the opening width of the suction port 51 in the front-rear direction. Since the bottom surface of the main body 21 faces the surface f to be cleaned during autonomous movement, the suction port 51 removes dust on the surface f to be cleaned or dust scraped up from the surface f to be cleaned by the rotating brush 52. Can be easily inhaled.

The rotation center line of the rotating brush 52 is oriented in the width direction of the autonomous cleaner 1 . The rotating brush 52 contacts the surface f to be cleaned when the autonomous cleaner 1 is placed on the surface f to be cleaned so as to be movable. Therefore, the rotating brush 52 that is rotationally driven scrapes up the dust on the surface f to be cleaned. The dust that has been scraped up is efficiently sucked into the suction port 51 .

The brush electric motor 53 rotates the rotating brush 52 forward or backward. The forward rotation direction of the rotating brush 52 is the rotation direction that assists the driving force (propulsive force) of the autonomous cleaner 1 when moving forward. The reverse rotation direction of the rotating brush 52 is the rotation direction that assists the driving force (propulsive force) of the autonomous cleaner 1 when moving backward.

The dust container 55 is part of the suction air passage 57 . The dust container 55 accumulates dust sucked from the suction port 51 by suction negative pressure generated by the electric blower 56 . The dust container 55 includes a filter that filters and collects dust, and inertial separation such as centrifugal separation (cyclone separation) and straight separation (a separation method that separates dust from air by the difference in inertial force between air and dust traveling straight ahead). It is a separation device that accumulates dust by The dust container 55 is detachable from the main body 21 . The dust container 55 has a lid that can be opened and closed. The user can remove the dust container 55 from the main body 21, open the lid of the dust container 55, easily discard the dust accumulated in the dust container 55, and clean or wash the dust container 55. can.

The electric blower 56 is driven by consuming the power of the secondary battery 22 . The electric blower 56 sucks air from the dust container 55 to create suction negative pressure. The suction negative pressure generated in the dust container 55 acts on the suction port 51 . The main body 21 has an exhaust port for discharging the exhaust air from the electric blower 56 to the outside of the main body 21 .

The wiping part 49 has a wiping function. The wiping part 49 is located at the bottom of the main body 21 behind the suction port 51 . The wiping part 49 may be provided at the bottom of the main body case 41 or at the bottom of the storage tank 36 that defines the outline of the main body 21 in cooperation with the main body case 41 .

The wiping part 49 wipes, for example, the surface f to be cleaned below the main body 21 . The wiping part 49 includes a wiping member mounting part 62 to which the wiping member 61 is attachable and detachable, and the wiping member 61 .

The suction port 51 and the wiping member 61 are arranged back and forth in the forward direction of the autonomous cleaner 1 (the solid arrow F in FIG. 2), and the suction port 51 is arranged in front of the wiping member 61 . Therefore, when the autonomous cleaner 1 moves forward, the suction port 51 moves ahead of the wiping member 61 . Therefore, when the suction cleaning part 48 and the wiping cleaning part 49 function simultaneously, the wiping cleaning part 49 wipes the surface to be cleaned after the dust is removed by the suction cleaning part 48.例文帳に追加

The wiping member mounting portion 62 is fixed by attaching the sheet-shaped wiping member 61 using a hook-and-loop fastener, winding the sheet-shaped wiping member 61, or inserting a part of the wiping member 61 into the insertion port. It is the base to do. The wiping member mounting portion 62 brings the wiping member 61 into contact with the surface f to be cleaned while the autonomous cleaner 1 is placed on the surface f to be cleaned. The wiping member mounting portion 62 itself may also be detachable from the autonomous cleaner 1 .

The wiping member 61 is, for example, a wiping sheet made of a fibrous material such as woven fabric or non-woven fabric. The wiping member 61 is, for example, a wiper sheet, a duster cloth, a rag, a mop (a mass of fibers at the tip excluding the handle portion), or any other hygroscopic cleaning tool. Materials of the wiping member 61 are natural fibers such as cotton, regenerated fibers such as cellulose, polyester fibers, polyamide fibers such as nylon 6, nylon 66 and nylon 46, and synthetic fibers such as polyolefin fibers such as polyethylene and polypropylene. be. The wiping member 61 may be a sponge. Also, the wiping member 61 may integrally have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, superabsorbent resin, polymer absorber). The wiping member 61 integrally having a superabsorbent polymer member can hold a larger amount of electrolyzed water.

The wiping member 61 can be attached to and detached from the bottom surface of the wiping member mounting portion 62 . When the autonomous cleaner 1 is movably placed on the surface f to be cleaned, the wiping part 49 contacts the surface f to be cleaned. The wiping part 49 is preferably pressed against the surface f to be cleaned with a pressure that does not allow the driving wheels 45 to spin on the surface f to be cleaned. An elastic member such as foamed resin is provided between the wiping part 49 and the bottom surface of the main body 21 . This elastic member presses the wiping part 49 against the surface f to be cleaned with a uniform pressure.

The wiping member 61 is also one aspect of the first supply section 38 that supplies electrolyzed water to the outside of the main body 21 . The wiping member 61 wipes the surface f to be cleaned while being wet with the electrolyzed water supplied from the electrolyzed water generator 37 . The surface to be cleaned f wiped with electrolyzed water is sterilized.

When electrolyzed water is supplied to the surface f to be cleaned without the wiping member 61, the wiping member 61 can also wipe off the electrolyzed water sprayed on the surface f to be cleaned.

That is, the wiping member 61 is moistened with electrolyzed water, and can be used for so-called wet wiping, in which the electrolyzed water is applied to the surface f to be cleaned, and the electrolyzed water sprayed on the surface f to be cleaned is wiped off. It can also be used for so-called dry wiping. In other words, the autonomous cleaner 1 sprays or applies electrolyzed water containing hypochlorous acid to the surface f to be cleaned as it moves, thereby sterilizing the surface f to be cleaned.

Whether the wiping by the wiping member 61 is dry wiping or wet wiping depends on the amount of electrolyzed water sprayed from the electrolyzed water generator 37 onto the surface to be cleaned f and the amount of electrolyzed water supplied from the electrolyzed water generator 37 to the wiping member 61. It depends on the amount of electrolyzed water used. For example, if the amount of electrolyzed water supplied to the floor surface is very small, the electrolyzed water evaporates before the wiping member 61 is moistened. In such a case, dry wiping by the wiping member 61 continues. If the amount of supplied electrolyzed water sprinkled on the floor surface is large, the electrolyzed water does not completely evaporate and wets the wiping member 61 . In such a case, the dry wiping by the wiping member 61 eventually shifts from dry wiping to wet wiping.

In addition, the autonomous cleaner 1 can tilt the attitude of the main body 21 so that the wiping member 61 is separated from the surface f to be cleaned. For example, the autonomous cleaner 1 tilts the posture of the body 21 so that the wiping member 61 moves away from the surface f to be cleaned by bringing the grounding point of the driven wheel 47 closer to the bottom surface of the body 21 . Further, the autonomous cleaner 1 may be able to bring the wiping member mounting portion 62 closer to the main body 21 so that the wiping member 61 is separated from the surface f to be cleaned. An electric motor and a mechanism for transmitting the driving force of the electric motor are provided in the main body 21 in order to move the grounding point of the driven wheel 47 or the wiping member mounting portion 62 .

The detection unit 33 detects an object to be detected that approaches the main body 21 as the main body 21 moves or an object to be detected that comes into contact with the main body 21 . The detection unit 33 includes a camera unit 65 provided on the main body 21 for capturing an image of the surroundings of the autonomous cleaner 1, and a camera unit 65 provided on the main body 21 so that the main body 21 detects an object other than the autonomous cleaner 1, that is, an object to be detected. and a contact detection unit 67 provided in the main body 21 for detecting that the main body 21 has come into contact with an object other than the autonomous cleaner 1, that is, an object to be detected. I'm in.

The camera unit 65 is provided on the front surface of the main body 21 and photographs the forward direction of the autonomous cleaner 1, that is, the traveling direction when moving forward.

The autonomous cleaner 1 may be provided with a distance measuring device 68 that obtains depth information in the imaging range by a principle different from that of the stereo camera instead of or in addition to the camera section 65 .

The proximity detector 66 is, for example, an infrared sensor or an ultrasonic sensor. The proximity detection unit 66 using an infrared sensor includes a light-emitting element that emits infrared rays and a light-receiving element that receives light and converts it into an electric signal. The proximity detection unit 66 emits infrared light from the light emitting element, receives the infrared light reflected by the object to be detected by the light receiving element, and converts it into electric power. is detected before the main body 21 comes into contact with the object to be detected. The proximity detection unit 66 using an ultrasonic sensor detects an object using ultrasonic waves instead of infrared rays.

The contact detection unit 67 is a so-called bumper sensor. The contact detection part 67 is interlocked with the bumper 42 that mitigates the impact on the main body 21 when the moving main body 21 contacts the object to be detected. The bumper 42 is displaced so as to be pushed toward the inside of the main body 21 when it comes into contact with the object to be detected. The contact detection unit 67 detects the displacement of the bumper 42 to detect that the main body 21 has come into contact with the object to be detected. The contact detection unit 67 includes, for example, a microswitch that is turned on and off by displacement of the bumper 42, an infrared sensor that measures the amount of displacement of the bumper 42 without contact, and an ultrasonic sensor.

The secondary battery 22 stores power consumed by each part of the autonomous cleaner 1 including the moving part 31 , the cleaning part 32 , the detection part 33 and the control part 35 . The secondary battery 22 supplies power to each part of the autonomous cleaner 1 including the moving part 31 , the cleaning part 32 , the detection part 33 and the control part 35 . The secondary battery 22 is, for example, a lithium ion battery, and has a control circuit for controlling charging and discharging. This control circuit outputs information regarding charging and discharging of the secondary battery 22 to the control section 35 .

The storage tank 36 is a container that stores water and salt water. The water stored in the storage tank 36 may be tap water. The storage tank 36 is preferably detachable from the main body 21 in order to increase the convenience of water supply. The reservoir 36 has a lid that can be opened and closed. The storage tank 36 can be easily supplied with water or salt water by opening the lid. The storage tank 36 is provided with a water amount detection unit 71 that detects the amount of water in the storage tank 36 .

For example, the electrolyzed water generator 37 electrolyzes water to generate electrolyzed water in which ozone is dissolved, or electrolyzes salt water to generate electrolyzed water in which hypochlorous acid (HClO) is dissolved. generate. In Japan, tap water readily available at home contains chlorine as stipulated by the Water Supply Law. Under the Japanese Water Supply Law, the concentration of chlorine in tap water is set at 1/10 ppm (parts per million by mass, milligram per liter) or higher (Enforcement Regulations for the Water Supply Law based on Article 22 of the Water Supply Law (Ministry of Health, Labor and Welfare) Ordinance) Article 17, Item 3). The electrolyzed water generator 37 can easily generate electrolyzed water containing hypochlorous acid by electrolyzing water containing chlorine such as tap water in Japan or salt water. Electrolyzed water generator 37 includes electrodes 73 including a positive electrode and a negative electrode.

The electrode 73 of the electrolyzed water generator 37 is made of a material that is difficult to dissolve in water, such as titanium or platinum. In order to promote electrolysis, the electrode 73 may carry a platinum group metal such as iridium, platinum, ruthenium, or an oxide thereof. Chemical species such as hydrogen peroxide, active oxygen, and OH radicals are generated in electrolyzed water. The electrode 73 is provided within the reservoir 36 .

The electrolyzed water generator 37 may be of a one-chamber type without a partition between the positive electrode and the negative electrode, or a multi-chamber type including a two-chamber type and a three-chamber type having a partition between the positive electrode and the negative electrode. can be The single-chamber type electrolyzed water generator 37 neutralizes the acidic ionized water generated on the positive electrode side and the alkaline ionized water generated on the negative electrode side to produce electrolyzed water containing hypochlorous acid at an appropriate concentration. Generate. On the other hand, the multi-chamber electrolyzed water generator 37 generates acidic ionized water in the room containing the positive electrode, and generates alkaline ionized water in the room containing the negative electrode.

In the multi-chamber type electrolyzed water generator 37, the amounts of acidic ionized water and alkaline ionized water used may become uneven, and the burden of disposing of the remaining ionized water may arise. Unlike the multi-chamber type, the one-chamber type electrolyzed water generator 37 does not require the disposal of residual ionized water, and may be more convenient for the user than the multi-chamber type.

Further, if the solution used by the autonomous cleaner 1 is a solution such as an aromatic, a deodorant, or water that does not require electrolysis, the electrolyzed water generator 37 may be omitted.

The first supply unit 38 supplies electrolyzed water so as to be able to diffuse or spray the electrolyzed water into the atmosphere of the surface f to be cleaned and the area A to be cleaned. The first supply unit 38 supplies electrolyzed water to at least one of the wiping member 61, the surface f to be cleaned, and the atmosphere of the area A to be cleaned. The first supply unit 38 includes a first supply mechanism unit 75 that supplies electrolyzed water from the storage tank 36 to the wiping member 61, a second supply mechanism unit 76 that supplies the electrolyzed water from the storage tank 36 to the cleaning surface f, and the storage tank 36. and a third supply mechanism portion 77 for supplying electrolyzed water from the main body 21 to the atmosphere of the main body 21 . The first supply section 38 may have any one of the first supply mechanism section 75 , the second supply mechanism section 76 and the third supply mechanism section 77 .

The first supply mechanism unit 75 includes a first supply port 81 that supplies electrolyzed water to the back surface of the wiping member 61, and a first on-off valve 82 that supplies and shuts off the supply of electrolyzed water to the first supply port 81. , and a first water guide path 86 a that guides the electrolyzed water to the first supply port 81 . The front surface of the wiping member 61 is the surface that is in contact with the surface f to be cleaned, and the back surface of the wiping member 61 is the surface on the reverse side of the front surface, that is, the surface that is not in contact with the surface f to be cleaned. .

A plurality of first supply ports 81 may be provided. For example, the first supply ports 81 are preferably arranged in rows in the width direction of the main body 21 , that is, in the width direction of the wiping member 61 . The first supply ports 81 arranged in this manner can wet a wide range of the wiping member 61 with electrolyzed water. Also, the first supply port 81 may be an elongated flat opening having long sides extending in the width direction of the main body 21 .

The first on-off valve 82 is a so-called electromagnetic valve. The first supply mechanism part 75 supplies electrolyzed water by opening the first on-off valve 82 and by the height difference between the water level of the electrolyzed water in the storage tank 36 and the first supply port 81, that is, the water head difference. The first supply mechanism section 75 may include a pump for pumping up the electrolyzed water in the storage tank 36 instead of the first opening/closing valve 82 . Also, the first supply mechanism part 75 may simply be a flow path, such as a thin tube or an orifice, through which the electrolyzed water in the storage tank 36 flows out. In such a case, the inner diameter of the narrow tube or the diameter of the orifice is suitably set in order to obtain the required supply amount of electrolyzed water (supply amount per unit time).

The second supply mechanism part 76 has a function of spraying electrolyzed water onto the surface f to be cleaned. The second supply mechanism part 76 includes a second supply port 83 for spraying electrolyzed water on the surface f to be cleaned, a second on-off valve 84 for supplying and shutting off the supply of electrolyzed water to the second supply port 83, and a second water guide path 86 b that guides the electrolyzed water to the second supply port 83 .

The second supply port 83 is, for example, a nozzle capable of spraying electrolyzed water. The second supply port 83 supplies electrolyzed water to the surface to be cleaned f sandwiched between the suction port 51 and the wiping member 61 while the autonomous cleaner 1 is placed on the surface to be cleaned f. In other words, the second supply mechanism part 76 provides the surface to be cleaned sandwiched between the suction port 51 and the wiping member 61 from the second supply port 83 in a state where the autonomous cleaner 1 is placed on the surface to be cleaned f. Electrolyzed water is supplied to f.

A plurality of second supply ports 83 may be provided. For example, the second supply ports 83 are preferably arranged in rows in the width direction of the main body 21 , that is, in the width direction of the wiping member 61 . The second supply ports 83 arranged in this manner spray electrolyzed water over a wider area as the main body 21 advances. Further, the second supply port 83 may be an elongated flat nozzle having long sides extending in the width direction of the main body 21 .

The second on-off valve 84 is a so-called electromagnetic valve. The second supply mechanism part 76 supplies electrolyzed water by opening the second on-off valve 84 and using the height difference between the water level of the electrolyzed water in the storage tank 36 and the second supply port 83, that is, the water head difference. The second supply mechanism section 76 may include a pump for pumping up the electrolyzed water in the storage tank 36 instead of the second on-off valve 84 . Also, the second supply mechanism part 76 may simply be a flow path, such as a thin tube or an orifice, that allows the electrolyzed water in the storage tank 36 to flow out. In such a case, the inner diameter of the narrow tube or the diameter of the orifice is suitably set in order to obtain the required supply amount of electrolyzed water (supply amount per unit time).

The third supply mechanism part 77 has a function of spraying electrolyzed water to the atmosphere of the area A to be cleaned. The third supply mechanism unit 77 includes a first atomization device 85 that atomizes the electrolyzed water and supplies it to the atmosphere around the main body 21, a third water guide path 86c that guides the electrolyzed water to the first atomization device 85, It has

The first atomization device 85 is provided on the top surface of the main body 21 . The first atomization device 85 diffuses or sprays the atomized electrolyzed water into the atmosphere around the main body 21 .

The first atomization device 85 is a heating type that heats and atomizes the electrolyzed water, an ultrasonic type that vibrates the electrolyzed water with ultrasonic waves to atomize it, or a spray using the venturi effect, for example, atomizes the electrolyzed water. Electrolytic atomization that atomizes electrolyzed water using corona discharge, and a water crushing method that breaks up water molecules by diffusing electrolyzed water with a propeller that rotates at high speed. use. In either method, the first atomization device 85 atomizes the electrolyzed water so as to contain fine particles with a diameter of 100 micrometers or less, more preferably atomizes the electrolyzed water so as to contain fine particles with a diameter of 10 micrometers or less. do.

The first water conduit 86a, the second water conduit 86b, and the third water conduit 86c may be, for example, piping that connects the storage tank 36 and the first atomization device 85, and the electrolyzed water in the storage tank 36, for example, It may be a rope or rope that sucks up by capillary action and leads to the first atomization device 85 . The first water conduit 86a, the second water conduit 86b, and the third water conduit 86c may branch from other water conduits as shown in FIG. good.

The second supply unit 39 supplies the electrolyzed water stored in the storage tank 36 to the suction air passage 57 . The second supply unit 39 may supply the electrolyzed water to the upstream air passage 57u that connects the suction port 51 and the dust container 55, may supply the electrolyzed water to the dust container 55, or may supply the electrolyzed water to the dust container 55. The electrolyzed water may be supplied to the downstream air passage 57 d connecting the electric blower 56 with the electric blower 56 . In other words, the second supply unit 39 allows the electrolyzed water stored in the storage tank 36 to flow through the upstream air passage 57u connecting the suction port 51 and the dust container 55, the inside of the dust container 55, and the dust container 55 and the electric blower 56. is supplied to at least one of the downstream air passages 57d connecting the .

The second supply unit 39 evaporates the electrolyzed water and supplies the electrolyzed water to the upstream side air passage 57 u that connects the suction port 51 and the dust container 55 , the inside of the dust container 55 , and the downstream side that connects the dust container 55 and the electric blower 56 . It is supplied to at least one of the side air passages 57d. Therefore, the second supply unit 39 atomizes the electrolyzed water and supplies it to at least one of the upstream air passage 57u, the dust container 55, and the downstream air passage 57d connecting the dust container 55 and the electric blower 56. A second atomization device 87 and a fourth water conduit 88 that guides electrolyzed water from the storage tank 36 to the second atomization device 87 are provided.

The second atomization device 87 may be exposed in the upstream air passage 57u itself or in a space connected to the upstream air passage 57u, or may be exposed in the dust container 55 itself or in a space connected to the dust container 55. Alternatively, it may be exposed in the downstream air passage 57d itself or in a space connected to the downstream air passage 57d. The second atomization device 87 diffuses or sprays the atomized electrolyzed water to at least one of the upstream air passage 57u, the dust container 55, and the downstream air passage 57d.

Here, the "space connected to the upstream side air passage 57u", the "space connected to the dust container 55", and the "space connected to the downstream side air passage 57d" are affected by the suction negative pressure generated by the electric blower 56, and the air flow is reduced. It includes a portion where air flow is sufficiently generated, and also includes a portion where air flow is not sufficiently generated by the suction negative pressure while the suction negative pressure generated by the electric blower 56 acts and the flow stagnates.

The second atomization device 87 is a heating type that heats and atomizes the electrolyzed water, an ultrasonic type that vibrates the electrolyzed water with ultrasonic waves to atomize it, or a spray using the venturi effect, for example, atomizes the electrolyzed water. Electrolytic atomization that atomizes electrolyzed water using corona discharge, and a water crushing method that breaks up water molecules by diffusing electrolyzed water with a propeller that rotates at high speed. use. In either method, the second atomization device 87 atomizes the electrolyzed water so as to contain fine particles having a diameter of 100 micrometers or less, and more preferably atomizes the electrolyzed water so as to contain fine particles having a diameter of 10 micrometers or less. do.

The fourth water supply path 88 may be, for example, a pipe connecting the storage tank 36 and the second atomization device 87, and sucks up the electrolyzed water in the storage tank 36 by, for example, capillary action and leads it to the second atomization device 87. A rope or rope may be used. The fourth water guide path 88 may branch from another water guide path as shown in FIG. 2, or the fourth water guide path 88 may be connected to the storage tank 36 alone.

In place of or in addition to the second atomization device 87, the second supply unit 39 includes an upstream air passage 57u connecting the suction port 51 and the dust container 55, the inside of the dust container 55, and the dust container 55. At least one of the downstream air passages 57d connecting with the electric blower 56 may be provided with a water retaining body 91 for vaporizing the electrolyzed water.

The water holding body 91 is connected to the storage tank 36 via the same fourth water guiding path 88 as the second atomizing device 87 or a different water guiding path. The water holding body 91 absorbs the electrolyzed water supplied through the water conduit and enters a state containing the electrolyzed water. A portion of the water retainer 91 is in contact with the electrolyzed water passing through the water guide path connecting the storage tank 36 and the water retainer 91 . A portion of the water holding body 91 may be in direct contact with the electrolyzed water in the storage tank 36 without passing through the water conduit. The other part of the water holding body 91 may be exposed to the upstream air passage 57u itself or a space connected to the upstream air passage 57u, or may be exposed to the dust container 55 itself or a space connected to the dust container 55. Alternatively, it may be exposed in the downstream air passage 57d itself or in a space connected to the downstream air passage 57d.

The water holding body 91 holds electrolyzed water by its water absorption. Moreover, the water holding body 91 absorbs the electrolyzed water in the water conducting path connecting the storage tank 36 and the water holding body 91 by its water absorption. In other words, the autonomous cleaner 1 is configured such that the upstream air passage 57u connecting the suction port 51 and the dust container 55, the inside of the dust container 55, and the dust container 55 are connected by bringing the member having water absorption into contact with the electrolyzed water. Electrolyzed water is supplied to at least one of the downstream air passages 57 d that connect with the electric blower 56 . The water holding body 91 sucks up and moves the liquid by capillary action even if the place where the electrolyzed water is supplied (the upstream air passage 57u, the dust container 55, or the downstream air passage 57d) is at a position higher than the storage tank 36. can be done. By changing the degree and size of water absorption of the water holding body 91, it is possible to adjust the sucking power and height and avoid oversupply. Note that the water holding body 91 may be arranged below the storage tank 36 . In this case, the electrolyzed water is easily supplied to the water holding body 91 due to the difference in water head.

The water holding body 91 is, for example, a woven fabric or non-woven fabric. Materials of the water holding body 91 are natural fibers such as cotton, regenerated fibers such as cellulose, polyester fibers, polyamide fibers such as nylon 6, nylon 66 and nylon 46, and synthetic fibers such as polyolefin fibers such as polyethylene and polypropylene. be. The water retainer 91 may be a sponge. Moreover, the water holding body 91 may integrally have a member made of superabsorbent polymer (SAP, so-called absorbent polymer, superabsorbent resin, high molecular absorber). The water holding body 91 integrally having a superabsorbent polymer member can hold more electrolyzed water.

Evaporation of the electrolyzed water proceeds until the vapor pressure of the gas in the suction air passage 57 reaches the saturated vapor pressure. The vaporized electrolyzed water reaches the dust container 55 through the suction air passage 57 and sterilizes the dust accumulated in the dust container 55 .

The water holding body 91 can supply the electrolyzed water to the dust container 55 by evaporating the electrolyzed water by the flow of air inside the upstream air passage 57 u and the dust container 55 . The electrolyzed water vaporized by the air flow sterilizes dust accumulated in the dust container 55 . Also, part of the electrolyzed water passes through the dust container 55 due to the suction negative pressure, reaches the electric blower 56 , and sterilizes the exhaust air of the electric blower 56 . Also, the water holding body 91 evaporates the electrolyzed water by the air flow of the downstream air passage 57d, passes through the dust container 55, reaches the electric blower 56, and sterilizes the exhaust air of the electric blower 56. In addition, while the electric blower 56 is stopped, the water holding body 91 vaporizes the electrolyzed water in the upstream air passage 57u, the inside of the dust container 55, and the downstream air passage 57d, and supplies the electrolyzed water to the dust container 55. can supply. The vaporized electrolyzed water diffuses in the intake air passage 57 and sterilizes dust accumulated in the dust container 55 .

When the second supply unit 39 is provided in the downstream air passage 57d, the exhaust gas from the electric blower 56 can be sterilized by evaporating the electrolyzed water while the electric blower 56 is being driven. In other words, when the second supply unit 39 is provided in the downstream air passage 57d, while the electric blower 56 is being driven, the vaporized electrolyzed water is used to sterilize the exhaust air blown out from the autonomous cleaner 1. is used and the electric blower 56 is stopped, the dust accumulated in the dust container 55 can be sterilized.

On the other hand, when the second supply unit 39 is provided in the upstream air passage 57u or the dust container 55, the second supply unit 39 vaporizes the electrolyzed water by the air flow in the suction air passage 57, and the dust container 55 Electrolyzed water can be supplied to The electrolyzed water vaporized by the air flow in the suction air passage 57 sterilizes dust accumulated in the dust container 55 . Also, part of the electrolyzed water that has reached the dust container 55 passes through the dust container 55 due to the suction negative pressure, reaches the electric blower 56 , and sterilizes the exhaust air from the electric blower 56 .

The autonomous cleaner 1 includes a moisture absorbing portion 92 that is provided in the suction air passage 57 and absorbs electrolyzed water (moisture) sucked into the suction air passage 57 by suction negative pressure. When the electrolyzed water is sucked into the suction air passage 57 , the moisture absorption part 92 absorbs the electrolyzed water before reaching the electric blower 56 to prevent the electrolyzed water from reaching the electric blower 56 . The hygroscopic part 92 is, for example, a woven fabric or a non-woven fabric. The material of the moisture absorbing portion 92 is natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66, or nylon 46, or synthetic fiber such as polyolefin fiber such as polyethylene or polypropylene. be. The moisture absorption part 92 may be a sponge. Also, the hygroscopic part 92 may integrally have a member made of superabsorbent polymer (SAP). The hygroscopic part 92 integrally having a member made of high water-absorbent polymer can retain a larger amount of electrolyzed water.

The moisture absorbing portion 92 may be provided in the upstream air passage 57u of the intake air passage 57, or may be provided in the downstream air passage 57d. The moisture absorption part 92 may be provided inside the dust container 55 . The moisture absorption section 92 may be provided downstream of the second atomization device 87 and the water retainer 91 in the air flow. That is, the moisture absorbing section 92 is closer to the electric blower 56 than the second atomization device 87 and the water retaining body 91 in the intake air passage 57 . The moisture absorbing portion 92 may also serve as a filter for the dust container 55 that separates dust from the dust-containing air sucked into the suction air passage 57 .

FIG. 4 is a block diagram of a vacuum cleaner according to an embodiment of the invention.

As shown in FIG. 4 in addition to FIGS. 2 to 3, the autonomous cleaner 1 according to the present embodiment includes an electric motor 46 of the moving unit 31, a brush electric motor 53 and an electric blower 56 of the suction cleaning unit 48, and a detection unit. 33, the control unit 35, the electrolyzed water generator 37, the first supply mechanism unit 75 of the first supply unit 38, the second supply mechanism unit 76, the third supply mechanism unit 77, and the second atomization of the second supply unit 39 In addition to the device 87, the water amount detection unit 71, and the secondary battery 22, the communication unit 101, the electrolyzed water generation power supply unit 102 that applies voltage to the electrolyzed water generation device 37, and the odorous substances around the autonomous cleaner 1 and an odor detector 103 that detects the concentration of , and a human detector 105 that detects the presence or absence of people around the autonomous cleaner 1 .

The communication unit 101 includes a wireless communication unit that is connected to the local communication network 9 so as to be capable of wireless two-way communication, a transmission unit that transmits an infrared signal to the station 23 and includes, for example, an infrared light emitting element, and a signal from the station 23 or a remote controller. a receiver, for example comprising a phototransistor, for receiving the infrared signal of the

A wireless communication line is established between the wireless communication unit and the relay communication device 11 . The wireless communication unit transmits information to the operation terminal 7 via the relay communication device 11 and receives information from the operation terminal 7 via the relay communication device 11 .

The wireless communication unit transmits information notifying that driving is started to the operation terminal 7 via the relay communication device 11 . Also, the wireless communication unit receives information including an instruction to stop driving from the operation terminal 7 via the relay communication device 11 . In other words, the autonomous cleaner 1 can be remotely operated from the operation terminal 7 by the communication unit 101, thereby improving convenience for the user.

A camera unit 65 of the detection unit 33 is, for example, a digital camera. In other words, the camera unit 65 includes an imaging element 65a (image sensor) that converts a captured image into an electric signal, and an optical system 65b that forms (generates) an image on the imaging element 65a. The imaging element 65a is, for example, a CCD image sensor (Charge-Coupled Device image sensor) or a CMOS image sensor (Complementary metal-oxide-semiconductor image sensor). Therefore, the autonomous cleaner 1 can immediately handle the digital data of the image captured by the camera section 65 . That is, the image captured by the camera unit 65 can be compressed into a predetermined data format, converted into a binary image, or converted into a gray scale by using an image processing circuit, for example. The camera unit 65 captures an image in the visible light range, for example. An image in the visible light region has better image quality than, for example, an image in the infrared region, and can easily provide the user with visible information without performing complicated image processing.

The camera section 65 is a so-called stereo camera. Images captured by the camera unit 65 are overlapped in a capturing range including a front position extending from the center line in the width direction of the autonomous cleaner 1 . The camera unit 65 can obtain information about the depth in the imaging range, that is, the distance seen from the autonomous cleaner 1 . An image containing depth information is called a "distance image".

The camera section 65 may be provided with a lighting device such as an LED (Light Emitting Diode) or a light bulb. The lighting device illuminates part or all of the shooting range of the camera section 65 . The lighting device enables the camera unit 65 to obtain an appropriate image even in a dark place such as a shadow of obstacles such as furniture or in a dark environment such as at night.

A large number of pixels are arranged on the light receiving surface of the imaging element 65a. Each pixel on the light-receiving surface converts the received light into an electrical signal. By integrating information on the light received by each pixel according to the position of each pixel, an image representing the scenery captured by the camera unit 65 can be obtained. A general image sensor 65a captures a color image. Color images are represented by mixing three colors, red, green, and blue, for example.

The distance measuring device 68 includes a light emitting section 68a that emits light to a range for obtaining depth information, and a light receiving section 68b that receives the reflected light of the light emitted from the light emitting section 68a. The autonomous cleaner 1 can acquire distance information from the autonomous cleaner 1 to the object to be detected based on the time difference from when the light emitting unit 68a starts emitting light until the light receiving unit 68b receives the reflected light. The light emitting unit 68a emits, for example, infrared rays or visible light.

Odor detector 103 is, for example, a metal oxide semiconductor field effect transistor (MOSFET), a conductive polymer sensor, a quartz crystal microbalance sensor, or a surface acoustic wave (SAW) sensor. MOSFETs detect charged odor molecules that affect the electric field in a specific way. Conductive polymer sensors have organic polymer sensors that conduct electricity differently based on different types of odors. The quartz crystal microbalance sensor measures changes in quartz crystal frequency based on odors. A SAW sensor detects surface acoustic wave modulations caused by odors. Note that the odor detector 103 does not necessarily have to detect the odor itself as long as it can detect the concentration of a given odorant.

The human detector 105 is, for example, an infrared array sensor. The human detector 105 has light receiving portions arranged in a line or matrix for receiving infrared rays radiated by human body temperature. The human detector 105 detects a person based on the distribution of the received infrared light intensity received by the light receiving unit.

In addition, the human detector 105 only needs to be able to detect the presence or absence of a person around the main body 21 . For example, the human detector 105 outputs a pulse wave in the inaudible range, receives a reflected wave reflected by an object, and determines whether the device and the object are the same based on the time from the output of the pulse wave to the reception of the reflected wave. It may be an ultrasonic sensor that measures the distance between. The human detector 105 measures the distance between the human detector 105 and the person based on the capacitance between the human detector 105 and the person or an infrared reflection sensor that receives the emitted infrared rays. It may be a capacitive sensor that

The control unit 35 includes, for example, a central processing unit (CPU), various arithmetic programs executed (processed) by the central processing unit, an auxiliary storage device (for example, read only memory, ROM) for storing parameters and the like, a program It has a main memory (for example, random access memory, RAM) in which the working area of is dynamically allocated. The auxiliary storage device is preferably rewritable, such as non-volatile memory.

The control unit 35 controls the electric motor 46 of the moving unit 31, the brush electric motor 53 and the electric blower 56 of the suction cleaning unit 48, the detection unit 33, the electrolyzed water generator 37, the first supply mechanism unit 75 of the first supply unit 38, the second Second supply mechanism unit 76, third supply mechanism unit 77, second atomization device 87 of second supply unit 39, water amount detection unit 71, secondary battery 22, communication unit 101, odor detector 103, and human detection It is electrically connected to the device 105 . The control unit 35 controls the brush motor 53 and the electric blower 56 of the suction cleaning unit 48, the detection unit 33, the electrolyzed water generator 37, and the second First supply mechanism part 75, second supply mechanism part 76, third supply mechanism part 77 of first supply part 38, second atomization device 87 of second supply part 39, water amount detection part 71, odor detector 103, human It controls the sensor 105 and the secondary battery 22 .

The control unit 35 includes an autonomous movement control unit 106 that controls the autonomous movement of the autonomous cleaner 1, a detection control unit 107 that controls the operation of the detection unit 33, and a clock unit 108 that keeps time. . The autonomous movement control unit 106 and the detection control unit 107 are arithmetic programs.

The autonomous movement control unit 106 includes a map information storage unit 109 that stores environment map information (Environment Map), and a divided area that divides the cleaning area A on the environment map information to generate a plurality of divided cleaning locations (areas). A generation unit 111 , a movement control unit 112 that controls the operation of the electric motor 46 of the moving unit 31 , a suction cleaning control unit 113 that controls the operations of the brush electric motor 53 and the electric blower 56 of the suction cleaning unit 48 , and a wiping unit 49 . The wiping control unit 115 that switches and controls the wiping member 61 between the state in which it is in contact with the surface f to be cleaned and the state in which it is separated from the surface f to be cleaned, the electrolyzed water generator 37, and the first supply unit 38. A supply mechanism unit 75 , a second supply mechanism unit 76 , a third supply mechanism unit 77 , and a sterilization control unit 116 that controls operations of the second atomization device 87 of the second supply unit 39 are provided.

The map information storage unit 109 is a data area constructed in a storage area secured in an auxiliary storage device.

The environment map information is a set of data and has an appropriate data structure. The environmental map information converts the area A to be cleaned into data with an appropriate data structure. The environmental map information is read from the map information storage unit 109 secured in the auxiliary storage device to the main storage device and used, and is overwritten in the map information storage unit 109 after being updated as appropriate.

The environmental map information is information used for autonomous movement of the autonomous cleaner 1, and includes at least the shape of the area in which the autonomous cleaner 1 can move in the area to be cleaned A to be cleaned. The environment map information is constructed, for example, as a collection of 10-centimeter-side rectangles that are orderly arranged. The environmental map information may be prepared in advance when the autonomous cleaner 1 is used, or may be created at the same time as self-position estimation by Simultaneous Localization and Mapping (SLAM). The environment map information may be created and updated in the process of moving along with the cleaning operation. When creating environment map information by SLAM, the autonomous cleaner 1 preferably includes various sensors such as an encoder in addition to the detection unit 33 . The movement control unit 112 creates environment map information based on information acquired from the detection unit 33 and various sensors.

The environment map information is shared between the autonomous cleaner 1 and the operation terminal 7 . Therefore, the communication unit 101 transmits environment map information to the operation terminal 7 via the relay communication device 11 . By sharing the environment map information, the user can accurately grasp the current position (position information) of the autonomous cleaner 1 through the operation terminal 7 . In addition, the user can move the autonomous cleaner 1 by specifying an arbitrary location on the environment map information through the operation terminal 7 . Then, the user can easily grasp the situation of the destination to which the autonomous cleaner 1 is moved, that is, the destination of the movement, from the image captured by the camera unit 65 .

The divided area generation unit 111 identifies a plurality of areas generated in the environment map information, that is, a plurality of divided cleaning locations. The identification here means, for example, recording a plurality of divided cleaning locations in the data structure of the environmental map information, or recording a plurality of divided cleaning locations in a separate data structure associated with the data structure of the environmental map information. It may be one that records the location. In other words, a plurality of divided cleaning locations are recorded in a data area established in the map information storage unit 109 or a storage area other than the map information storage unit 109 secured in the auxiliary storage device with an appropriate data structure.

The divided area generator 111 divides the area to be cleaned A according to a predefined procedure or algorithm. For example, the divided area generation unit 111 divides the cleaning area into a plurality of uniform or non-uniform divided cleaning areas having a predetermined shape and size. The predetermined shape may be, for example, rectangular or non-rectangular, such as circular. Also, the divided area generation unit 111 generates divided cleaning areas for each room such as a living room, a corridor, a kitchen, a bedroom, and a bathroom. Based on the image captured by the camera unit 65 and the detection result of the distance sensor directed toward the wall and ceiling, the divided area generation unit 111 generates a typical geometric image that can be identified as a room partition, such as the width and height of the door. It identifies target shapes and attempts to locate doors and walls. Then, the divided area generating unit 111 generates divided cleaning locations based on the determined positions of the doors and walls. Furthermore, the divided area generating unit 111 generates divided cleaning locations based on the detection results of sensors capable of detecting boundaries between floor materials (flooring and carpet). It is preferable that the environment map and the divided cleaning locations can be displayed on the display units provided on the operation terminal 7 and the main body 21 . The user confirms the environment map and the divided cleaning areas through the operation terminal 7 and the display unit, moves the boundaries of the divided cleaning areas, adds new boundaries, and corrects or adds divided cleaning areas. or adapt the split cleaning stations to the user's needs.

The movement control unit 112 controls the movement unit 31 based on the environment map information to autonomously move the autonomous cleaner 1 . The movement control unit 112 controls the magnitude and direction of the current flowing through the electric motor 46 to rotate the electric motor 46 forward or backward. The movement control unit 112 controls driving of the driving wheels 45 by rotating the electric motor 46 forward or backward.

The suction cleaning control unit 113 individually controls the brush electric motor 53 and the electric blower 56 .

The sterilization control unit 116 controls the amount of electrolyzed water supplied from the storage tank 36 to the wiping member 61 by opening and closing the first on-off valve 82 of the first supply unit 38 . In addition, the sterilization control unit 116 controls the amount of electrolyzed water supplied from the storage tank 36 to the surface f to be cleaned by opening and closing the first on-off valve 82 of the first supply unit 38 . Further, the sterilization control unit 116 turns on/off (turns on/off, drives/stops) the operation of the first atomization device 85 of the first supply unit 38 to supply the fuel from the storage tank 36 to the surroundings of the autonomous cleaner 1 . Controls the supply of electrolyzed water. In addition, the sterilization control unit 116 turns on/off (turns on/off, drives/stops) the operation of the second atomization device 87 of the second supply unit 39 so that the electrolyzed water supplied from the storage tank 36 to the suction air passage 57 is Control the amount of supply.

In addition, the autonomous movement control unit 106 assigns at least one of a plurality of functions including a suction cleaning function, a wiping cleaning function, and a solution spraying function to at least one of the plurality of divided cleaning locations, and assigns storage of allocation information for each area. An information storage unit 117 is provided.

Then, the control unit 35 autonomously moves the autonomous cleaner 1 in the area A to be cleaned by applying at least one of the plurality of functions assigned to each of the plurality of divided cleaning locations based on the area-specific assignment information. Let That is, while the movement control unit 112 controls the movement unit 31 to autonomously move the autonomous cleaner 1 based on the environment map information and the information identifying the plurality of divided cleaning locations, the suction cleaning control unit 113 and the sterilization control are performed. The unit 116 performs at least one of a plurality of functions including a suction cleaning function, a wiping cleaning function, and a solution spraying function assigned to each divided cleaning location based on the region-specific assignment information. Such control executed by the control unit 35 is hereinafter referred to as "execution function allocation control for each area".

A detection control unit 107 controls the operation of the camera unit 65 . The detection control unit 107 causes the camera unit 65 to capture images at predetermined time intervals. The detection control section 107 stores the image captured by the camera section 65 in the detection result storage section 118 . The image captured by the camera unit 65 is secured in the main storage device in the detection result storage unit 118 . The detection result storage unit 118 stores images captured by the camera unit 65 . The detection result storage unit 118 has a capacity capable of storing a plurality of images.

The detection result storage unit 118 may store the image information representing the image captured by the camera unit 65 without processing, or may store the information necessary for image analysis processing so as to reduce the data size. Image information may be stored. The image information stored in the detection result storage unit 118 is, for example, an image obtained by converting an image captured by the camera unit 65 into a grayscale (hereinafter referred to as an image, the same as the original image captured by the camera unit 65). can be For grayscale images, the pixel values of the image correspond to the luminance values. When storing an image converted to grayscale, the control unit 35 can allocate a smaller amount of memory area (resource) to the detection result storage unit 118 than when storing the original image. be. Also, when the image converted to grayscale is used for subsequent analysis processing, the control unit 35 can reduce the load on the central processing unit compared to processing the original image. Image processing, including grayscaling of images, may be performed by the camera unit 65 . By executing the image processing in the camera section 65, the load on the central processing unit is reduced.

Further, the detection control unit 107 controls lighting and extinguishing of the lighting device. The illumination device brightens the image to facilitate the analysis process and improve accuracy.

Furthermore, the detection control unit 107 stores the detection result of the proximity detection unit 66, that is, the detection result that the object to be detected approaches the main body 21 and the separation distance between the object to be detected and the main unit 21 at that time, in the detection result storage unit 118. . The detection control unit 107 stores the detection result of the contact detection unit 67 , that is, the contact of the object to be detected with the main body 21 in the detection result storage unit 118 . The information stored in the detection result storage unit 118 can be associated with the environment map information and used for optimizing the movement route in the autonomous movement of the autonomous cleaner 1 .

The water amount detection unit 71 may be of a contact type or a non-contact type. The contact-type water level detection unit 71 is, for example, a float type that measures the water level based on the position in the vertical direction of a float provided in the storage tank 36, and detects the capacitance between a pair of electrodes to detect the water level. A known method such as a capacitance method for measurement can be adopted. The non-contact water level detection unit 71 can employ a known method of measuring the water level using, for example, radio waves, ultrasonic waves, or light waves.

In addition, the electrode 73 of the electrolyzed water generator 37 can also be used as the water amount detection unit 71 . The electrode 73 extending in the vertical direction has a portion that is submerged in water (inside the electrolyzed water) and a portion that is exposed to the gas in the storage tank 36 as the water level of the storage tank 36 (the liquid level of the electrolyzed water) changes. Percentage changes. A change in this ratio changes the current value flowing between the positive electrode and the negative electrode of the electrode 73 . Therefore, the amount of water stored in the storage tank 36 is estimated based on changes in the value of current flowing between the positive and negative electrodes of the electrode 73 .

The electrolyzed water generation power supply unit 102 applies a voltage to the electrode 73 of the electrolyzed water generator 37 . The electrolyzed water generating power supply unit 102 converts the power charged in the secondary battery 22 into a voltage suitable for generating electrolyzed water and applies the voltage to the electrode 73 .

Next, the area-by-area execution function allocation control executed by the autonomous cleaner 1 according to the present embodiment will be described in detail.

FIG. 5 is a diagram showing an example of an environment map and divided cleaning locations stored by the vacuum cleaner according to the embodiment of the present invention.

FIG. 6 is a diagram showing an example of area allocation information stored by the vacuum cleaner according to the embodiment of the present invention.

The autonomous cleaner 1 according to this embodiment stores environment map information in the map information storage unit 109 . The environment map information has an appropriate data structure describing the environment map of the area to be cleaned A as illustrated in FIG.

Also, the autonomous cleaner 1 stores information identifying a plurality of divided cleaning locations in the map information storage unit 109 or in a storage area other than the map information storage unit 109 secured in the auxiliary storage device. The information identifying the plurality of split cleaning locations has a suitable data structure describing the plurality of split cleaning locations as illustrated in FIG.

A region to be cleaned A illustrated in FIG. 5 is, for example, a residence. The area A to be cleaned has three rooms Ro1, Ro2, and Ro3, a dining room Di, a kitchen Ki, a bathroom Ba, a corridor Co used for coming and going, and an entrance FD. . In other words, multiple fishing seasons are identified on the environmental map. Each of these three rooms Ro1, Ro2, Ro3, dining room Di, kitchen Ki, bathroom Ba, corridor Co, and entrance FD is a divided cleaning place. Information identifying a plurality of divided cleaning locations records the plurality of divided cleaning locations in association with environmental map information. The first room Ro1 is carpeted. The floor material of places other than the first room Ro1, the bathroom Ba, and the entrance FD is flooring.

Intrusion of the autonomous cleaner 1 is prohibited in the bathroom Ba and the entrance FD. Information for prohibiting entry into divided cleaning areas may be recorded in area-specific allocation information, or may be recorded in environmental map information, information identifying a plurality of divided cleaning areas, and data areas other than these. Also good.

In addition, in FIG. 5, boundaries that actually exist, such as walls and steps in the area A to be cleaned, are identified by solid lines for the sake of convenience. Boundaries of divided cleaning areas where the autonomous cleaner 1 can come and go are identified by dashed lines for convenience.

Then, the autonomous cleaner 1 records the allocation information for each area in the allocation information storage unit 117 as shown in FIG.

In the area allocation information illustrated in FIG. 6, the suction cleaning function is allocated to the carpeted first room Ro1. In addition, the suction cleaning function and the wiping function are assigned to the rooms Ro2 and Ro3, the dining room Di, and the corridor Co, which have flooring. The kitchen Ki is assigned a suction cleaning function, a wiping cleaning function, and a solution spraying function. That is, kitchen Ki, which is at least one of the multiple areas, is assigned all of the multiple functions. Furthermore, the entrance FD is assigned a function of spraying the solution.

Then, the control unit 35 of the autonomous cleaner 1 sequentially moves the autonomous cleaner 1 to the plurality of divided cleaning locations identified in the area to be cleaned A, and performs the function assigned to each divided cleaning location. Execute.

That is, the autonomous cleaner 1 performs the suction cleaning function in the first room Ro1.

The autonomous cleaner 1 also performs the suction cleaning function and the wiping cleaning function in the rooms Ro2, Ro3, the dining room Di, and the corridor Co. In the wiping function, dry wiping or wet wiping using electrolyzed water can be selected for each divided cleaning area.

Furthermore, the autonomous cleaner 1 performs a suction cleaning function, a wiping cleaning function, and a solution spraying function in the kitchen Ki. In the solution spraying function, one or both of spraying the solution onto the surface f to be cleaned and spraying the solution onto the atmosphere around the autonomous cleaner 1 can be selected.

Note that entry of the autonomous cleaner 1 into the front door FD is prohibited. Therefore, the autonomous cleaner 1 performs the function assigned to the entrance FD at the boundary between the entrance FD and the divided cleaning area adjacent to the entrance FD, specifically the corridor Co. Specifically, the autonomous cleaner 1 performs a solution spraying function at the boundary between the entrance FD and the corridor Co.

In other words, the autonomous cleaner 1 executes at least one of the functions assigned to each of the divided cleaning locations based on the region-based assignment information. Therefore, the autonomous cleaner 1 can efficiently apply suitable functions to each of the divided cleaning locations, compared to cleaning the area A to be cleaned while constantly executing all of its functions. cleaning can be performed. For example, since the capacity of the storage tank 36 is limited, if the electrolyzed water is sprayed all over the area A to be cleaned, the electrolyzed water may be depleted. The autonomous cleaner 1 sprays electrolyzed water near the necessary locations, such as the kitchen Ki where cooking is performed and the entrance FD where the shoe cupboard is placed, to selectively and reliably remove these divided cleaning locations. bacteria can

In addition, the autonomous cleaner 1 can avoid inconvenience caused by constantly executing all of its functions. The autonomous vacuum cleaner 1 may, for example, wipe a carpeted room with the electrolyte-moistened wiping member 61, resulting in excessive dampening of the carpet or excessive frictional force between the wiping member 61 and the carpet. Excessive consumption of battery power can be avoided.

It should be noted that there may be a divided cleaning area to which no function is assigned, such as the bathroom Ba. Furthermore, even if it is a divided cleaning place where entry is permitted like the first room Ro1, it is not necessary to assign any function.

A plurality of functions assigned to each divided cleaning place may be executed simultaneously for each divided cleaning place, or may be sequentially and continuously executed for each divided cleaning place.

FIG. 7 is a diagram showing another example of area allocation information stored by the vacuum cleaner according to the embodiment of the present invention.

The region-by-region allocation information illustrated in FIG. 7 includes time information specifying the time at which the allocated function is to be executed. In the region-specific allocation information illustrated in FIG. 7, the suction cleaning function is allocated to the first room Ro1 from Monday to Friday at 14:00. Also, the flooring rooms Ro2 and Ro3, the dining room Di, and the corridor Co are assigned the suction cleaning function and the wiping function from Monday to Friday at 14:30. In addition, the kitchen Ki is assigned a suction cleaning function and a wiping function from Monday to Friday at 16:00. Furthermore, the kitchen Ki and the entrance FD are assigned a solution spraying function every day at 21:00.

Then, the control unit 35 executes at least one of the functions assigned to each of the divided cleaning locations based on the time information.

That is, the autonomous cleaner 1 performs the suction cleaning function in the first room Ro1 from Monday to Friday at 14:00.

The autonomous cleaner 1 also performs the suction cleaning function and the wiping function in the rooms Ro2, Ro3, the dining room Di, and the corridor Co from Monday to Friday at 14:30.

Furthermore, the autonomous cleaner 1 performs the suction cleaning function and the wiping function in the kitchen Ki at 16:00 from Monday to Friday, and the solution spraying function in the kitchen Ki and the entrance FD at 21:00 every day. Execute.

Therefore, the user can designate a period of time during which the user will be away from the house to complete vacuum cleaning and wiping, and designate a period of time after dinner to disinfect the kitchen Ki.

Further, when the concentration of the odorant detected by the odor detector 103 is lower than the predetermined threshold value, the control unit 35 does not have to spray the solution, that is, the electrolyzed water. When the concentration of the odorant is low and sterilization is unnecessary, the consumption of electrolyzed water is suppressed.

Furthermore, the control unit 35 does not need to perform suction cleaning when a person is present around the autonomous cleaner 1 based on the detection result of the human detector 105 . When suction cleaning is performed, corresponding noise is generated due to the driving of the brush motor 53 and the electric blower 56 . Therefore, when there are people around the autonomous cleaner 1, the noise can be reduced by stopping the electric brush motor 53 and the electric blower 56. FIG.

As described above, the autonomous cleaner 1 according to the present embodiment performs at least one of a plurality of functions assigned to each of a plurality of divided cleaning locations, such as a suction cleaning function, a wiping function, and a solution spreading function. Apply to move the autonomous vacuum cleaner autonomously. Therefore, the autonomous cleaner 1 can efficiently apply suitable functions to each of the divided cleaning locations, compared to cleaning the area A to be cleaned while constantly executing all of its functions. cleaning can be performed. In addition, the autonomous cleaner 1 can avoid inconvenience caused by constantly executing all of its functions.

In addition, the autonomous cleaner 1 according to the present embodiment has region-specific allocation information including time information specifying times for executing a plurality of functions assigned to each of a plurality of divided cleaning locations. perform at least one of a plurality of functions assigned to each of the plurality of divided cleaning locations based on the Therefore, the autonomous cleaner 1 can perform efficient cleaning by individually and timely applying suitable functions to each of the divided cleaning locations.

Furthermore, the autonomous cleaner 1 according to this embodiment includes a storage tank 36 that stores electrolyzed water as a solution, and performs wiping cleaning using the electrolyzed water. Therefore, the autonomous cleaner 1 can focus on divided cleaning locations that require sterilization using electrolyzed water, and can use electrolyzed water of limited capacity intensively.

Further, the autonomous cleaner 1 according to the present embodiment includes an atomization device that atomizes the electrolyzed water as a solution and sprays it on divided cleaning areas. Therefore, the autonomous cleaner 1 can focus on divided cleaning locations that require sterilization using electrolyzed water, and can use electrolyzed water of limited capacity intensively.

Furthermore, the autonomous cleaner 1 according to the present embodiment includes an odor detector 103 that detects the concentration of the odorant in the surroundings, and does not spray the solution when the concentration of the odorant is lower than a predetermined threshold. . Therefore, the autonomous cleaner 1 can suppress wasteful consumption of the solution even in a divided cleaning area where the solution is scheduled to be sprayed according to the user's setting, when there is no need to do so.

In addition, the autonomous cleaner 1 according to the present embodiment includes the human detector 105 that detects the presence or absence of people in the surroundings, and does not perform suction cleaning when there are people in the surroundings. Therefore, the autonomous cleaner 1 does not perform suction cleaning, which generates large noise among a plurality of functions, in a divided cleaning place where people are present, thereby suppressing discomfort to people in the place.

Therefore, according to the autonomous vacuum cleaner 1 according to the present embodiment, it has a function of performing suction cleaning and a function of performing wiping cleaning, and has a plurality of divided cleaning locations set by dividing or subdividing the area A to be cleaned. can be assigned a desired function.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Autonomous vacuum cleaner, 2... Operation control system, 3... Telecommunications network, 4... Server, 5... Remote control terminal, 6... Premises terminal, 7... Operation terminal, 8... External network, 9... Premises communication network, DESCRIPTION OF SYMBOLS 11... Relay communication apparatus, 12... Internet, 21... Main body, 22... Secondary battery, 23... Station, 25... Power supply cord, 26... Charging circuit, 31... Moving part, 32... Cleaning part, 33... Detection part, 35 Control unit 36 Storage tank 37 Electrolyzed water generator 38 First supply unit 39 Second supply unit 41 Main body case 42 Bumper 45 Drive wheel 46 Electric motor 47 Slave Driving wheel 48 Suction cleaning unit 49 Wiping cleaning unit 51 Suction port 52 Rotating brush 53 Electric motor for brush 55 Dust container 56 Electric blower 57 Suction air passage 57u Upstream wind Path 57d Downstream air passage 58 Exhaust air passage 61 Wiping member 62 Wiping member mounting portion 65 Camera portion 65a Image sensor 65b Optical system 66 Proximity detection portion 67 Contact detection unit 68 Distance measuring device 68a Light emitting unit 68b Light receiving unit 71 Water amount detection unit 73 Electrode 75 First supply mechanism unit 76 Second supply mechanism unit 77 Third Supply mechanism part 81 First supply port 82 First on-off valve 83 Second supply port 84 Second on-off valve 85 First atomization device 86a First water conduit 86b Second Second water conveying path 86c Third water conveying path 87 Second atomizing device 88 Fourth water conveying path 91 Water retainer 92 Moisture absorption part 101 Communication part 102 Electrolyzed water generation power supply part 103... Odor detector 105... Human detector 106... Autonomous movement control unit 107... Detection control unit 108... Clock unit 109... Map information storage unit 111... Divided area generation unit 112... Movement control unit , 113... Suction cleaning control part, 115... Cleaning control part, 116... Sterilization control part, 117... Allocation information storage part, 118... Detection result storage part.

Claims (6)

It has a plurality of functions including suction cleaning of sucking dust on a surface to be cleaned of a cleaning place with a negative pressure, wiping cleaning by wiping the surface to be cleaned with a wiping member, and spraying a solution on the surface to be cleaned or the cleaning place. An autonomous vacuum cleaner capable of performing at least two functions,
Stores an environmental map of the cleaning location, a plurality of areas identified on the environmental map, and area-specific allocation information that allocates at least one of the plurality of functions to at least one of the plurality of areas. a storage unit;
a control unit that autonomously moves the autonomous cleaner in the cleaning place by applying at least one of the plurality of functions assigned to each of the plurality of areas based on the area-specific assignment information;
and a human detector that detects the presence or absence of people in the surroundings ,
The control unit is an autonomous cleaner that does not perform the suction cleaning when a person is present around the autonomous cleaner . The area-specific allocation information includes time information specifying a time to execute the allocated function,
The autonomous cleaner according to claim 1, wherein the control unit executes at least one of the plurality of functions assigned to each of the plurality of areas based on the time information. 3. The autonomous vacuum cleaner according to claim 1, wherein at least one of said plurality of areas is an area to which all of said plurality of functions are assigned. 4. The autonomous cleaner according to any one of claims 1 to 3, comprising a storage tank for storing electrolyzed water, and performing said wiping cleaning using said electrolyzed water. 5. The autonomous vacuum cleaner according to any one of claims 1 to 4, further comprising: a storage tank for storing the electrolyzed water as the solution; and an atomizing device for atomizing the electrolyzed water and spraying the atomized water on the cleaning place. An odor detector that detects the concentration of odorous substances around the autonomous vacuum cleaner,
6. The autonomous vacuum cleaner according to claim 5, wherein the controller does not spray the solution when the concentration of the odorant is lower than a predetermined threshold.

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