Self-propelled cleaning device

Abstract

To provide a self-propelled cleaning device capable of cleaning not only a floor surface but also an inside of a hole on the floor surface.SOLUTION: A self-propelled cleaning device 1 that cleans a floor surface includes: a detection part 11 that is used for detecting a hole on the floor surface; a cleaning part 12 that cleans the inside of the hole detected by the detection part 11; a drive part 14 that moves vertically to insert the cleaning part 12 into the hole; and a control part 24 that controls the drive part 14 and the cleaning part 12 to clean the inside of the hole, according to the detection of the hole by the detection part 11.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a self-propelled cleaning device. [Background technology]

[0002] Conventionally, there is known a technology related to a self-propelled floor cleaning device equipped with a cleaning module such as a rotating brush. Patent Document 1 discloses a self-propelled vacuum cleaner equipped with a rotating shaft for an auxiliary brush, which leads to reductions in weight, power consumption, and cost, and can suppress the driving noise of the auxiliary brush. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-047357 Summary of the Invention [Problem to be solved by the invention]

[0004] A technique for cleaning the inside of holes formed in floor surfaces is desired.

[0005] In view of the above circumstances, an object of the present disclosure is to provide a self-propelled cleaning device that can clean not only the floor surface but also the inside of holes in the floor surface. [Means for solving the problem]

[0006] A self-propelled cleaning device according to an embodiment of the present disclosure includes: A self-propelled cleaning device for cleaning floor surfaces, a detection unit used to detect holes in the floor surface; a cleaning unit that cleans the inside of the hole detected by the detection unit; a drive unit that moves up and down to insert the cleaning unit into the hole; a control unit that controls the drive unit and the cleaning unit in response to detection of the hole using the detection unit to clean the inside of the hole; Equipped with. [Effects of the Invention]

[0007] According to one embodiment of the present disclosure, it is possible to provide a self-propelled cleaning device that can clean the inside of holes in a floor in addition to the floor surface. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an external perspective view illustrating an example of a configuration of a self-propelled cleaning device according to an embodiment of the present disclosure. [Figure 2] 2 is a perspective view showing an example of the internal configuration of the self-propelled cleaning device of FIG. 1. FIG. [Figure 3] 4 is a flowchart for explaining a first example of a cleaning method executed by the self-propelled cleaning device of FIG. [Figure 4] 10 is a flowchart for explaining a second example of a cleaning method executed by the self-propelled cleaning device of FIG. [Figure 5] 10 is a flowchart illustrating a third example of a cleaning method executed by the self-propelled cleaning device of FIG. [Figure 6] 2 is a schematic diagram for explaining an example of the operation of the self-propelled cleaning device of FIG. 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0010] Fig. 1 is an external perspective view showing an example of the configuration of a self-propelled cleaning device 1 according to an embodiment of the present disclosure. Fig. 2 is a perspective view showing an example of the internal configuration of the self-propelled cleaning device 1 of Fig. 1. An example of the configuration of the self-propelled cleaning device 1 according to an embodiment will be mainly described with reference to Figs. 1 and 2. The self-propelled cleaning device 1 autonomously moves over a floor surface located indoors or outdoors and cleans the floor surface.

[0011] As shown in FIG. 1, the self-propelled cleaning device 1 has multiple components that make up its exterior. These components include a first cover 10, a second cover 20, a bumper 30, and an output module 40. As shown in FIG. 2, the self-propelled cleaning device 1 has multiple components inside the first cover 10. These components include a detection unit 11, a first cleaning unit 12, a second cleaning unit 13, and a drive unit 14. The self-propelled cleaning device 1 has multiple components inside the second cover 20. These components include a third cleaning unit 21, a suction unit 22, a movement unit 23, a control unit 24, and a memory unit 25. The self-propelled cleaning device 1 also has a first sensor unit 26 and a second sensor unit 27 that are exposed above the top surface of the second cover 20, and a third sensor unit 31 that is attached to a corner of the bumper 30.

[0012] The first cover 10 is a hollow rectangular parallelepiped cover that houses the detection unit 11, the first cleaning unit 12, the second cleaning unit 13, and the drive unit 14. The first cover 10 provides a protective space by covering the movement space of the drive unit 14, which moves to change the position of the first cleaning unit 12. The first cover 10 may be waterproof to protect against rain, for example, so that the self-propelled cleaning device 1 can be used outdoors.

[0013] The second cover 20 is a hollow rectangular parallelepiped cover that houses the third cleaning unit 21, the suction unit 22, the moving unit 23, the control unit 24, and the memory unit 25. The second cover 20 covers the space in which the control unit 24 and other components are arranged, providing a protective space. The second cover 20 may be waterproof to protect against rain, for example, so that the self-propelled cleaning device 1 can be used outdoors.

[0014] The bumper 30 is arranged in a frame shape so as to surround the lower edge portions of the first cover 10 and the second cover 20. The output module 40 includes, for example, indicators arranged on the surfaces of the first cover 10 and the second cover 20 so as to be visible from the outside. In addition, the output module 40 may include, for example, a speaker. The output module 40 notifies nearby users of malfunctions and other problems of the self-propelled cleaning device 1.

[0015] The detection unit 11 includes one or more detection modules used to detect holes in the floor surface to be cleaned by the self-propelled cleaning device 1. The detection modules include, for example, sensors such as LiDAR and cameras. "LiDAR" is an abbreviation for Light Detection and Ranging. The first cleaning unit 12 includes one or more cleaning modules that clean the inside of holes detected by the detection unit 11. The cleaning modules include, for example, suction nozzles and brushes. The first cleaning unit 12 may include multiple cleaning modules. The second cleaning unit 13 includes, for example, one or more side brushes that are used auxiliary in combination with the third cleaning unit 21 when cleaning the floor surface.

[0016] The drive unit 14 includes one or more drive modules that move up and down to insert the first cleaning unit 12 into a hole in the floor. The drive modules include, for example, an XY table 141 that moves the tip of the cleaning module of the first cleaning unit 12 in the X and Y directions and a Z stage 142 that moves the tip in the Z direction. The drive modules may also include any other module, such as a robot arm that can insert the tip of the cleaning module of the first cleaning unit 12 into a hole in the floor. The drive unit 14 may be detachably attached to the self-propelled cleaning device 1.

[0017] The third cleaning unit 21 includes, for example, one or more main brushes used in combination with the second cleaning unit 13 when cleaning the floor surface. The suction unit 22 includes, for example, one or more suction devices connected to the cleaning modules of the first cleaning unit 12. The suction devices cause the cleaning modules of the first cleaning unit 12 to suck up dirt and the like inside holes in the floor surface, allowing the cleaning modules to clean the inside of the holes. The moving unit 23 includes, for example, an endless track such as a crawler that allows the self-propelled cleaning device 1 to move.

[0018] The control unit 24 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. In this disclosure, a "processor" refers to, but is not limited to, a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. A "programmable circuit" refers to, but is not limited to, an FPGA. A "dedicated circuit" refers to, but is not limited to, an ASIC. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. "FPGA" is an abbreviation for Field-Programmable Gate Array. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 24 is communicatively connected to each component of the self-propelled cleaning device 1 and controls the operation of the entire self-propelled cleaning device 1.

[0019] The storage unit 25 includes one or more memories. Each memory included in the storage unit 25 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 25 stores any information used in the operation of the self-propelled cleaning device 1. For example, the storage unit 25 may store a system program, an application program, embedded software, and the like. The information stored in the storage unit 25 may be updatable with information obtained from, for example, a network.

[0020] The first sensor unit 26 includes one or more sensor modules used to identify the location of the self-propelled cleaning device 1 and correctly move along a path of travel when the self-propelled cleaning device 1 moves autonomously. The sensor modules include, for example, sensors such as LiDAR and a camera. The second sensor unit 27 includes one or more sensor modules that acquire measured values ​​of the self-propelled cleaning device 1's location as location information when the self-propelled cleaning device 1 moves autonomously. The location information includes, for example, an address, latitude, longitude, and altitude. The sensor modules include, for example, a receiver compatible with a satellite positioning system. The receiver includes, for example, a GNSS receiver such as a GPS receiver. "GPS" is an abbreviation for Global Positioning System. "GNSS" is an abbreviation for Global Navigation Satellite System. For example, the self-propelled cleaning device 1 may move autonomously indoors primarily using the LiDAR of the first sensor unit 26 and outdoors primarily using the GPS receiver of the second sensor unit 27.

[0021] The third sensor unit 31 includes one or more sensor modules that are used in combination with the first sensor unit 26 when the self-propelled cleaning device 1 moves autonomously. The sensor modules include sensors such as LiDAR and a camera. The third sensor unit 31 is used, for example, to detect surrounding obstacles so that the self-propelled cleaning device 1 does not come into contact with obstacles while moving.

[0022] The self-propelled cleaning device 1 configured as described above may be powered by a removable battery or the like. When the self-propelled cleaning device 1 is not moving autonomously, it may move based on a remote control operated by the user. The user may be able to operate the self-propelled cleaning device 1 based on a user interface using a tablet PC or the like. "PC" is an abbreviation for personal computer. The self-propelled cleaning device 1 may have an endless track of the moving part 23 as a wheel mechanism that can go up and down slopes. In addition, the self-propelled cleaning device 1 may further have a mechanism for moving the bumper 30 up and down in order to go up and down slopes.

[0023] Fig. 3 is a flowchart for explaining a first example of a cleaning method executed by the self-propelled cleaning device 1 of Fig. 1. The flowchart shown in Fig. 3 shows the flow of processing by the control unit 24 of the self-propelled cleaning device 1 when the self-propelled cleaning device 1 cleans a floor surface using the second cleaning unit 13 and the third cleaning unit 21.

[0024] In step S101, the control unit 24 acquires the coordinates of the current position on the floor surface to be cleaned by the self-propelled cleaning device 1. For example, the control unit 24 acquires the coordinates of the current position using at least one of the first sensor unit 26 and the second sensor unit 27.

[0025] In step S102, the control unit 24 acquires the coordinates of a destination position on the floor surface to be cleaned by the self-propelled cleaning device 1. In the present disclosure, the "destination position" is, for example, the final position of the self-propelled cleaning device 1 when the self-propelled cleaning device 1 has moved and completed cleaning of substantially the entire floor surface. The destination position may be determined autonomously by the control unit 24 using the LiDAR of the first sensor unit 26 or the like in accordance with the current position acquired in step S101, or may be determined by the control unit 24 based on a setting input by the user or the like.

[0026] In step S103, the control unit 24 calculates a first route from the coordinates of the current position of the self-propelled cleaning device 1 acquired in step S101 to the coordinates of the destination position acquired in step S102. In the present disclosure, the "first route" is, for example, a movement route of the self-propelled cleaning device 1 that enables the self-propelled cleaning device 1 to move and clean substantially the entire floor surface.

[0027] In step S104, the control unit 24 operates the cleaning units including the second cleaning unit 13 and the third cleaning unit 21.

[0028] In step S105, the control unit 24 starts moving the self-propelled cleaning device 1 along the first path calculated in step S103. For example, with the cleaning unit operating in step S104, the control unit 24 moves the self-propelled cleaning device 1 along the first path while controlling the movement unit 23.

[0029] In step S106, the control unit 24 determines whether the self-propelled cleaning device 1 has arrived at the destination position acquired as information in step S102. For example, the control unit 24 executes the determination process of step S106 using at least one of the first sensor unit 26 and the second sensor unit 27. If the control unit 24 determines that the self-propelled cleaning device 1 has arrived at the destination position, it executes the process of step S107. If the control unit 24 determines that the self-propelled cleaning device 1 has not arrived at the destination position, it executes the process of step S106 again.

[0030] In step S107, if the control unit 24 determines in step S106 that the self-propelled cleaning device 1 has arrived at the destination position, it stops the cleaning unit that has been operating since step S104. In addition, the control unit 24 also stops the movement unit 23, thereby ending the movement of the self-propelled cleaning device 1.

[0031] Fig. 4 is a flowchart illustrating a second example of a cleaning method performed by the self-propelled cleaning device 1 of Fig. 1. The flowchart shown in Fig. 4 shows the flow of processing by the control unit 24 of the self-propelled cleaning device 1 when the self-propelled cleaning device 1 uses the first cleaning unit 12 to clean holes in a floor surface one by one in a single stop. The control unit 24 may perform the processing shown in Fig. 4 individually, or may perform the processing in combination with the processing shown in Fig. 3. That is, the control unit 24 may control the self-propelled cleaning device 1 so that the self-propelled cleaning device 1 only cleans the insides of holes in the floor surface, or may control the self-propelled cleaning device 1 so that the self-propelled cleaning device 1 cleans the floor surface in addition to the holes.

[0032] In step S201, the control unit 24 acquires the coordinates of the current position on the floor surface where the self-propelled cleaning device 1 is to clean a hole. For example, the control unit 24 acquires the coordinates of the current position using at least one of the first sensor unit 26 and the second sensor unit 27.

[0033] In step S202, the control unit 24 acquires the coordinates of a target position on the floor surface where the hole is to be cleaned by the self-propelled cleaning device 1. The target position may be determined autonomously by the control unit 24 using the LiDAR of the first sensor unit 26 or the like in accordance with the current position acquired in step S201, or may be determined by the control unit 24 based on an input setting by the user or the like.

[0034] In step S203, the control unit 24 calculates a first route from the coordinates of the current position of the self-propelled cleaning device 1 acquired in step S201 to the coordinates of the destination position acquired in step S202.

[0035] In step S204, the control unit 24 starts moving the self-propelled cleaning device 1 along the first route calculated in step S203. For example, the control unit 24 controls the movement unit 23 to move the self-propelled cleaning device 1 along the first route.

[0036] In step S205, the control unit 24 determines whether the self-propelled cleaning device 1 has arrived at the destination position acquired as information in step S202. For example, the control unit 24 executes the determination process of step S205 using at least one of the first sensor unit 26 and the second sensor unit 27. If the control unit 24 determines that the self-propelled cleaning device 1 has arrived at the destination position, it ends the process. If the control unit 24 determines that the self-propelled cleaning device 1 has not arrived at the destination position, it executes the processes from step S206 onwards.

[0037] In step S206, if the control unit 24 determines in step S205 that the self-propelled cleaning device 1 has not arrived at the destination position, it determines whether or not a hole in the floor surface has been detected by the detection unit 11 while the self-propelled cleaning device 1 is moving along the first path. If the control unit 24 determines that a hole has been detected, it executes the processes of step S207 and onward. If the control unit 24 determines that a hole has not been detected, it returns to step S205 and repeats the processes.

[0038] In step S207, if the control unit 24 determines that a hole has been detected in step S206, it controls the movement unit 23 to stop the self-propelled cleaning device 1. For example, the control unit 24 stops the self-propelled cleaning device 1 just before the hole detected in step S206.

[0039] In step S208, the control unit 24 acquires the coordinates of the center position of the hole detected in step S206. For example, the control unit 24 uses the detection unit 11 to acquire the coordinates of the center position of the hole.

[0040] Next, in steps S209 and S210, the control unit 24 controls the drive unit 14 and the first cleaning unit 12 to clean the inside of the hole in the floor in response to the detection of the hole using the detection unit 11. At this time, if the coordinates of the center position of the hole acquired in step S208 are outside the driving range of the drive unit 14, the control unit 24 may fine-tune the position of the self-propelled cleaning device 1 so that the coordinates are included within the driving range. In other words, the control unit 24 may slightly move the self-propelled cleaning device 1 while controlling the movement unit 23.

[0041] In step S209, the control unit 24 controls the drive unit 14. For example, the control unit 24 inputs the coordinates of the center position of the hole acquired in step S208 into the XY table 141 of the drive unit 14. The control unit 24 controls the XY table 141 to move the tip of the first cleaning unit 12 so that the tip of the first cleaning unit 12 is positioned at the coordinates of the input center position. Next, the control unit 24 moves the Z stage 142 in the vertical direction to insert the tip of the first cleaning unit 12 into the hole in the floor surface.

[0042] In step S210, the control unit 24 controls the first cleaning unit 12. For example, in step S209, the control unit 24 operates the first cleaning unit 12 with the tip of the first cleaning unit 12 inserted into the hole in the floor. As a result, the control unit 24 causes the self-propelled cleaning device 1 to start cleaning the inside of the hole using the first cleaning unit 12. The control unit 24 turns off power to the first cleaning unit 12 to stop the first cleaning unit 12. As a result, the control unit 24 causes the self-propelled cleaning device 1 to end cleaning the inside of the hole using the first cleaning unit 12.

[0043] In step S211, the control unit 24 transitions the drive unit 14 to a standby state. For example, the control unit 24 moves each of the XY table 141 and the Z stage 142 of the drive unit 14 to a standby position. The standby position is, for example, a position when the self-propelled cleaning device 1 is not cleaning a hole and is simply moving on the first path.

[0044] In step S212, the control unit 24 moves the self-propelled cleaning device 1 again along the first path while controlling the movement unit 23. Thereafter, the control unit 24 repeats the processes from step S205 onwards.

[0045] Fig. 5 is a flowchart for explaining a third example of a cleaning method executed by the self-propelled cleaning device 1 of Fig. 1. The flowchart shown in Fig. 5 shows, as a separate flow, the flow of processing that follows when multiple holes are detected by the detection unit 11 in step S206 of the flowchart shown in Fig. 4. The flowchart shown in Fig. 5 shows the flow of processing by the control unit 24 of the self-propelled cleaning device 1, in order for the self-propelled cleaning device 1 to use the first cleaning unit 12 to clean multiple holes in the floor surface in a single stop.

[0046] When the detection unit 11 detects multiple holes on the floor surface in step S206 of Fig. 4, the control unit 24 acquires the coordinates of the center position of each of the multiple holes in step S208. Thereafter, the control unit 24 proceeds to the processing flow of the flowchart shown in Fig. 5.

[0047] In step S301, the control unit 24 determines whether the multiple holes detected in step S206 can be cleaned in one stop of the self-propelled cleaning device 1. The control unit 24 determines, for example, whether the coordinates of the center position of each of the multiple holes, acquired in step S208, are within the driving range of the drive unit 14. If the control unit 24 determines that the coordinates of the center position of each of the multiple holes are within the driving range and that the multiple holes can be cleaned in one stop, it executes the process of step S302. If the control unit 24 determines that the coordinates of the center position of each of the multiple holes are not within the driving range and that the multiple holes cannot be cleaned in one stop, it executes the process from step S209 onwards in FIG. 4 in the same manner as described above, without executing the other processes shown in FIG. 5.

[0048] In the processing of steps S302 to S305, if the control unit 24 determines in step S301 that multiple holes can be cleaned in one stop, it updates the movement path from the first path calculated in step S203 of Figure 4 to a second path that allows multiple holes to be cleaned in one stop of the self-propelled cleaning device 1.

[0049] In step S302, if the control unit 24 determines in step S301 that multiple holes can be cleaned in one stop, it acquires the coordinates of the intermediate positions of the multiple holes based on the central positions of each of the multiple holes acquired in step S208 of Figure 4.

[0050] In step S303, the control unit 24 sets the intermediate position acquired in step S302 as a path point on the path along which the self-propelled cleaning device 1 moves.

[0051] In step S304, the control unit 24 updates the coordinates of the destination position acquired in step S202 of Fig. 4 in accordance with the setting of the new route point in step S303. That is, the control unit 24 moves the destination position in accordance with the deviation of the new route point from the first route in step S303, and corrects the coordinates of the destination position.

[0052] In step S305, the control unit 24 updates the movement path to a new second path connecting the new path point set in step S303 and the destination position updated in step S304. That is, the control unit 24 updates the movement path from the first path calculated in step S203 of Fig. 4 for cleaning one hole at a time with one stop of the self-propelled cleaning device 1 to a second path that allows multiple holes to be cleaned with one stop of the self-propelled cleaning device 1.

[0053] Next, the control unit 24 returns to step S212 in FIG. 4 and moves the self-propelled cleaning device 1, which is stopped on the first path, to the second path. Thereafter, the control unit 24 repeats the processes from step S205 to step S212 shown in FIG. 4 according to the second path updated in step S305 in FIG. 5. At this time, when the detection unit 11 detects multiple holes, the control unit 24 may control the drive unit 14 to insert multiple cleaning modules of the first cleaning unit 12 into the multiple holes, respectively. That is, the control unit 24 may simultaneously clean the interiors of the multiple holes with the multiple cleaning modules. On the other hand, if the first cleaning unit 12 includes only one cleaning module, the control unit 24 may sequentially clean the multiple holes one by one with the single cleaning module during a single stop of the self-propelled cleaning device 1.

[0054] Fig. 6 is a schematic diagram for explaining an example of the operation of the self-propelled cleaning device 1 of Fig. 1. Fig. 6 is a conceptual diagram for explaining the process when the control unit 24 of the self-propelled cleaning device 1 updates the movement path of the self-propelled cleaning device 1 from the first path to the second path in step S305 of Fig. 5.

[0055] As shown in the upper half of FIG. 6, in step S203 of FIG. 4, the control unit 24 sets the movement path of the self-propelled cleaning device 1 to a first path R1. The first path R1 is the movement path taken by the self-propelled cleaning device 1 when it uses the first cleaning unit 12 to clean holes in the floor one by one in a single stop. The first path R1 is a movement path such that, when the self-propelled cleaning device 1 stops, only one hole is included within the cleaning range R0, i.e., the driving range of the drive unit 14. The self-propelled cleaning device 1 cleans holes H1, H2, H3, H4, H5, H6, H7, H8, and H9 in order, one by one in a single stop, under the control of the control unit 24.

[0056] On the other hand, as shown in the lower half of FIG. 6, if the control unit 24 determines in step S301 of FIG. 5 that multiple holes can be cleaned in one stop, it updates the movement path of the self-propelled cleaning device 1 from the previously set first path R1 to a second path R2. The second path R2 is the movement path when the self-propelled cleaning device 1 uses the first cleaning unit 12 to clean multiple holes in the floor surface in one stop. The second path R2 is a movement path such that, when the self-propelled cleaning device 1 stops, the multiple holes are included within the cleaning range R0, i.e., the driving range of the drive unit 14. For example, the second path R2 is a movement path that passes through the coordinates of the intermediate positions of the multiple holes.

[0057] For example, the self-propelled cleaning device 1 may clean holes H1 and H6 in one stop under the control of the control unit 24. Similarly, the self-propelled cleaning device 1 may clean holes H2 and H5 in one stop. The self-propelled cleaning device 1 may clean holes H3 and H4 in one stop. The self-propelled cleaning device 1 may clean holes H4 and H9 in one stop. The self-propelled cleaning device 1 may clean holes H5 and H8 in one stop. The self-propelled cleaning device 1 may clean holes H6 and H7 in one stop.

[0058] The self-propelled cleaning device 1 according to one embodiment described above can clean not only the floor surface but also the inside of holes in the floor. The self-propelled cleaning device 1 can automatically clean holes in the floor and the floor. The self-propelled cleaning device 1 automates cleaning tasks that were previously performed manually, thereby reducing the amount of work required for cleaning and improving cleaning efficiency. For example, the self-propelled cleaning device 1 can also be used to clean floors inside ships. The self-propelled cleaning device 1 can also clean the inside of lashing holes, i.e., holes for inserting vehicle fastening members, present on ships. The self-propelled cleaning device 1 can provide the function of autonomously moving to clean intentionally or unintentionally formed holes in the floor, along with the floor surface.

[0059] When the self-propelled cleaning device 1 detects multiple holes using the detection unit 11, it controls the drive unit 14 to insert multiple cleaning modules into the multiple holes, respectively. This allows the self-propelled cleaning device 1 to clean multiple holes simultaneously, thereby reducing cleaning time. By updating the movement path from the first path to the second path, the self-propelled cleaning device 1 controls itself to stop at an intermediate position between multiple holes when cleaning holes in the floor, making it possible to clean multiple holes at once with a single stop. Therefore, the self-propelled cleaning device 1 can reduce cleaning time.

[0060] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each configuration or step can be rearranged so as not to be logically inconsistent, and multiple configurations or steps can be combined or divided into one.

[0061] For example, a program describing the processing content for realizing each function of the self-propelled cleaning device 1 according to one embodiment can be stored in a memory of an electronic device that constitutes the self-propelled cleaning device 1, and the program can be read and executed by a processor of the electronic device. Therefore, the present disclosure can also be realized as a program that can be executed by a processor.

[0062] Alternatively, the present disclosure may be realized as a non-transitory computer-readable medium storing a program that can be executed by one or more processors to cause the self-propelled cleaning device 1 according to one embodiment to perform each function. It should be understood that these are also encompassed within the scope of the present disclosure. [Explanation of symbols]

[0063] 1 Self-propelled cleaning device 10 First Cover 11 Detection unit 12 1st Cleaning Department (Cleaning Department) 13 2nd Cleaning Department 14 Drive unit 141 XY table 142 Z Stage 20 Second Cover 21 3rd Cleaning Department 22 Suction part 23 Mobile Unit 24 Control Unit 25 Memory section 26 First sensor section 27 Second sensor section 30 Bumper 31 Third sensor section 40 Output Module H1, H2, H3, H4, H5, H6, H7, H8, H9 holes R0 cleaning range R1 1st pathway R2 Second pathway

Claims

1. A self-propelled cleaning device for cleaning floor surfaces, a detection unit used to detect holes in the floor surface; a cleaning unit that cleans the inside of the hole detected by the detection unit; a drive unit that moves up and down to insert the cleaning unit into the hole; a control unit that controls the drive unit and the cleaning unit in response to detection of the hole using the detection unit to clean the inside of the hole; Equipped with Self-propelled cleaning device.

2. The self-propelled cleaning device according to claim 1, the cleaning unit includes a plurality of cleaning modules; When the detection unit detects the plurality of holes, the control unit controls the drive unit to insert the plurality of cleaning modules into the plurality of holes, respectively. Self-propelled cleaning device.

3. The self-propelled cleaning device according to claim 1 or 2, The control unit calculates a first path from coordinates of a current position of the self-propelled cleaning device to coordinates of a destination position, and determines whether or not the detection unit has detected the hole while the self-propelled cleaning device is moving along the first path. Self-propelled cleaning device.

4. The self-propelled cleaning device according to claim 3, the control unit detects the plurality of holes using the detection unit, and when it determines that the plurality of holes can be cleaned in one stop of the self-propelled cleaning device, updates the movement path from the first path to a second path that can clean the plurality of holes in one stop. Self-propelled cleaning device.

5. The self-propelled cleaning device according to claim 4, the second path is a movement path that passes through coordinates of intermediate positions of the plurality of holes; Self-propelled cleaning device.

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