Robot

Abstract

To clean various objects to be cleaned by using chemicals.SOLUTION: A robot according to an embodiment includes a robot body, a chemical tank, and a control unit. The robot body includes a traveling unit and is capable of autonomous traveling. The chemical tank is detachably connected to the robot body and stores a plurality of cleaning chemicals. The control part detects the dirt state of the cleaning object, selects a cleaning chemical suitable for the dirt state from a plurality of cleaning chemicals, and controls the operation of the robot body so as to clean the cleaning object by using the selected cleaning chemical.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The disclosed embodiments relate to a robot. [Background technology]

[0002] Conventionally, autonomous cleaning robots that clean indoor floors such as hardwood floors have been known (see, for example, Patent Document 1). Among these cleaning robots, robots that have the function of a vacuum cleaner that sucks up dust and the like and the function of a wet mop that wipes with water are also known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2024-74658 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the robots of the prior art are robots dedicated to cleaning floors and cannot clean objects that require chemicals to be used for cleaning, such as toilet bowls and sinks.

[0005] The present invention has been made in view of the above, and has an object to provide a robot that cleans various cleaning targets using chemicals. [Means for solving the problem]

[0006] According to one embodiment, a robot includes a robot body, a chemical tank, and a control unit. The robot body includes a traveling unit and is capable of autonomous travel. The chemical tank is detachably connected to the robot body and stores a plurality of cleaning chemicals. The control unit detects the level of soiling of an object to be cleaned, selects a cleaning chemical appropriate to the level of soiling from the plurality of cleaning chemicals, and controls the operation of the robot body to clean the object to be cleaned using the selected cleaning chemical. [Effects of the Invention]

[0007] According to one aspect of the embodiment, various cleaning targets can be cleaned using chemicals. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of a cleaning system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an outline of the cleaning robot according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an outline of a cleaning robot according to an embodiment. [Figure 4] FIG. 4 is a functional block diagram showing an outline of a control device of a cleaning robot according to an embodiment. [Figure 5] FIG. 5 is a flowchart illustrating a process executed by the cleaning robot according to the embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a computer hardware configuration that functions as a cleaning robot or a management device. DETAILED DESCRIPTION OF THE INVENTION

[0009] The present invention will be described below through embodiments, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0010] A cleaning system 1 including a cleaning robot 2 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an outline of the cleaning system 1 according to an embodiment.

[0011] The cleaning system 1 includes a cleaning robot 2 and a management device 4. The cleaning robot 2 and the management device 4 are connected via a network N. For example, a plurality of cleaning robots 2 may be provided.

[0012] The network N is, for example, a mobile communication network such as LTE (Long Term Evolution) or 5G.

[0013] The cleaning robot 2 is an autonomous robot that performs various operations by receiving power from a built-in battery (not shown). The cleaning robot 2 also has a chemical tank 20 (see FIG. 2) that stores cleaning chemicals, and uses the cleaning chemicals to clean the toilet, sink, floor, and other cleaning targets.

[0014] The management device 4 is, for example, a server device. The management device 4 may also be a cloud server. The management device 4 collects, from the cleaning robot 2, information on the operating state of the cleaning robot 2 (whether it is cleaning or moving), location information of the cleaning robot 2, and information on the battery state of the cleaning robot 2, for example.

[0015] Next, the cleaning robot 2 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 and Fig. 3 are diagrams showing an outline of the cleaning robot 2 according to an embodiment. Fig. 2 shows a side view of the cleaning robot 2 as seen from the right side, and Fig. 3 shows a side view of the cleaning robot 2 as seen from the left side.

[0016] As shown in FIG. 2, the cleaning robot 2 includes a robot main body 10, a detection unit 12, a control device 13, and a chemical tank 20. The cleaning robot 2 is capable of autonomous travel and cleans a cleaning target. The cleaning target may be, for example, a toilet (toilet bowl), fixtures installed in a facility such as a washroom, or a floor. The cleaning target may also be the robot main body 10 or rollers 14a of a traveling unit 14 described below.

[0017] The robot body 10 is a one-legged, pillar-shaped humanoid robot attached to a base such as an automated guided vehicle (AGV). The robot body 10 comprises a trunk 10a, one leg 10b, and a running mechanism 14 that moves the robot body 10.

[0018] The robot body 10 has at least a waist joint located at the upper end of the leg, an ankle joint located at the lower end of the leg, and a knee joint located between the waist and ankle. In other words, the robot body 10 has at least three joints: a joint at the part corresponding to a human waist, a joint at the part corresponding to a human ankle, and a joint at the part corresponding to a human knee.

[0019] For example, if the torso 10a is modeled after the upper half of a human body, the robot body 10 may further include arms 10c and a head 10d. The robot body 10 may also include additional joints above the waist joint, which is the third joint from the bottom. For example, the robot body 10 may further include at least one of a shoulder joint located at the top of the arms 10c, a wrist joint located at the bottom of the arms 10c, a finger joint 10e located approximately at the bottom of the arms 10c, and a neck joint located at the bottom of the head 10d. Hereinafter, the arms 10c and fingers 10e may be collectively referred to as "arms."

[0020] Here, the legs 10b are movably attached to the torso 10a at the waist and movably attached to the running part 14 at the ankles. The arms 10c are movably attached to the torso 10a at the shoulders. The head 10d is movably attached to the torso 10a at the neck.

[0021] Furthermore, the robot body 10 can freely change the position and orientation of the torso 10a, legs 10b, arms 10c, and head 10d by moving the above-mentioned joints back and forth and left and right, and by rotating them relative to a horizontal plane. This allows the robot body 10 to move like a human being and clean the cleaning target.

[0022] The robot body 10 is provided with a driving mechanism such as a motor for moving each part such as the legs 10b, arms 10c, and head 10d.

[0023] Furthermore, the running unit 14 is, for example, an automated guided vehicle. For example, one running unit 14 is attached to one leg 10b. One or more rollers 14a such as wheels are provided on one running unit 14. For example, four rollers 14a are provided on one running unit 14. However, the number of rollers 14a on one running unit 14 is not limited to this.

[0024] The rollers 14a can rotate relative to the traveling unit 14. For example, the rollers 14a rotate when rotation generated by a motor is transmitted to the rollers 14a. The robot body 10 can travel when the rollers 14a rotate.

[0025] Fingers 10e are provided at the tip of the arm 10c. For example, five fingers 10e are provided at the tip of the arm 10c. Each finger 10e can be bent by a driving mechanism such as a motor.

[0026] The detection unit 12 is provided, for example, in the head 10d of the robot main body 10. The detection unit 12 may be provided in, for example, the running unit 14 or the torso unit 10a other than the head 10d. The detection unit 12 detects the situation around the robot main body 10. The detection unit 12 includes, for example, a high-sensitivity camera capable of 360-degree sensing, LiDAR (Light Detection and Ranging), a thermal camera, radar, etc. The detection unit 12 may include sensors for vision recognition, fine sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, etc. A plurality of detection units 12 may be provided. The detection unit 12 may be multiple types of sensors, etc.

[0027] The detection unit 12 also includes a positioning device. The positioning device is, for example, a GNSS (Global Navigation Satellite System) that receives radio waves from navigation satellites orbiting in the sky to determine position and time. The positioning device also includes a communication module that transmits information about its own detected position. The positioning device detects the position of the detected accident as the position of the robot main body 10. The detected position information of the robot main body 10 is transmitted to the management device 4 via the network N.

[0028] The control device 13 is a control device that controls the operation of the robot main body 10. Specifically, the control device 13 rotates each joint provided on the robot main body 10 using a motor (not shown), thereby moving the torso 10a, legs 10b, arms 10c, head 10d, and fingers 10e, thereby changing the posture of the robot main body 10. An example of the configuration of the control device 13 will be described later with reference to FIG. 4.

[0029] The chemical tank 20 includes a tank body 21, a magnet 22, and a traveling section 23. The tank body 21 is a tank that stores a plurality of cleaning chemicals therein. The cleaning chemicals are, for example, chlorine-based or oxygen-based disinfectant detergents, cleansers, disinfectant bleaches, etc. The cleaning chemicals may be liquid or powder. Furthermore, each cleaning chemical is separated inside the tank body 21 by a partition plate (not shown).

[0030] 2, the tank body 21 has a plurality of discharge nozzles 211, 212 arranged on the right side, which is the outer circumferential surface of the tank. The plurality of discharge nozzles 211 are connected to the inside of the tank body 21 and are configured to be able to discharge each of the plurality of cleaning chemicals stored inside to the outside (the object to be cleaned).

[0031] 3, tank body 21 has a plurality of cleaning tools 213-216 arranged on the left side, which is the outer circumferential surface of the tank. Cleaning tool 213 is a mop member for cleaning the floor. Cleaning tool 214 is a blower (such as a hairdryer). Cleaning tool 215 is a discharge nozzle for discharging water.

[0032] The water is stored, for example, inside the tank body 21. The cleaning tool 216 is, for example, a wiping member such as toilet paper. Among the cleaning tools 213 to 216, the cleaning tool 213, which is a mop member, is detachably attached to the tank body 21 by a magnet or the like. In other words, the cleaning tool 213, which is a mop member, can be removed from the tank body 21 and used.

[0033] Magnet 22 is a connecting member that detachably connects running unit 14 of robot body 10 and running unit 23 of chemical tank 20. Magnet 22 detachably connects running unit 14 and running unit 23 by adhering to each of running unit 14 and running unit 23 by magnetic force. Note that magnet 22 may be detachable from each of running unit 14 and running unit 23, or may be permanently fixed to or built into either running unit 14 or running unit 23.

[0034] The tank body 21 is provided on the upper part of the running part 23, and rollers such as wheels are provided on the running part 23. For example, four rollers are provided on the running part 23. However, the number of rollers on the running part 23 is not limited to this.

[0035] The rollers are driven wheels and can rotate relative to running unit 23 in accordance with the movement of running unit 14. Chemical tank 20 can move due to the rotation of the rollers of running unit 23. In other words, chemical tank 20 can move in accordance with the movement of running unit 14 of robot body 10.

[0036] 2, the robot body 10 can move the arm portion (arm portion 10c and fingers 10e) under the control of the control device 13 to grasp the discharge nozzles 211, 212. In FIG. 2, the right arm portion (first arm portion) disposed on the right side of the robot body 10 is shown grasping the discharge nozzle 212.

[0037] With the right arm gripping the discharge nozzle 212, the robot main body 10 can change the posture of the right arm to point the discharge nozzle 212 toward the cleaning target. This allows the robot main body 10 to spray the cleaning chemicals onto the cleaning target by discharging the cleaning chemicals from the discharge nozzle 212.

[0038] 3, the robot body 10 can grasp cleaning tools 213 to 216 by moving the arm portion (arm portion 10c and fingers 10e) under the control of the control device 13. In FIG. 3, the left arm portion (second arm portion) disposed on the left side of the robot body 10 is shown in a posture in which the cleaning tool 213 is grasped.

[0039] The robot main body 10, while holding the cleaning tool 213 with the left arm, can remove the cleaning tool 213 from the tank main body 21 by changing the posture of the left arm, and bring the cleaning tool 213 into contact with the object to be cleaned. This allows the robot main body 10 to clean (polish) the object to be cleaned using the cleaning tool 213.

[0040] In this way, the robot body 10 can grasp and use cleaning chemicals and cleaning tools with different arm sections (right arm section and left arm section), respectively, and can spray cleaning chemicals and clean with the cleaning tools in parallel, thereby improving the efficiency of cleaning work.

[0041] Furthermore, as described above, the cleaning robot 2 can select cleaning chemicals according to the state of dirt on the object to be cleaned and clean the object to be cleaned using the selected cleaning chemicals, thereby being able to clean a variety of objects to be cleaned using cleaning chemicals.

[0042] As shown in Fig. 4, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32. Fig. 4 is a functional block diagram showing an outline of the control device 13 of the cleaning robot 2 according to the embodiment.

[0043] The communication unit 30 is wirelessly connected to the network N. The communication unit 30 transmits and receives information to and from the management device 4 via the network N. The communication unit 30 transmits various pieces of information detected by the detection unit 12 to the management device 4.

[0044] The storage unit 31 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), an optical disk, etc. The storage unit 31 stores various programs and various data.

[0045] The control unit 32 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output ports, etc., and various other circuits. The control unit 32 may also be configured with hardware such as an integrated circuit, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control unit 32 includes a detection unit 321, a selection unit 322, and an operation control unit 323.

[0046] The detection unit 321 detects the dirt state of the cleaning target based on the information detected by the detection unit 12. First, the detection unit 321 detects the cleaning target. For example, the detection unit 321 detects the cleaning target based on an image captured by a camera, which is a sensor of the detection unit 12.

[0047] For example, the detection unit 321 performs template matching between a template image of a cleaning target specified by the management device 4 and an image obtained from the detection unit 12, and detects the cleaning target if the template image is included in the image.

[0048] Next, when the detection unit 321 detects the cleaning target, it identifies the positional relationship between the cleaning target and the cleaning robot 2, and moves the position of the cleaning robot 2 relative to the cleaning target to a working position. More specifically, the template image is an image captured at the working position, and the detection unit 321 detects that the cleaning robot 2 has reached the working position when the degree of match between the image captured by the camera and the template image is equal to or greater than a threshold. The working position is the position where the cleaning robot 2 will clean the cleaning target, and is the optimal (easy to clean) position for cleaning the cleaning target.

[0049] Next, the detection unit 321 detects the dirt state of the cleaning target using the sensor of the detection unit 12. Specifically, the detection unit 321 detects whether the cleaning target is dirty, the degree of dirt, the type of dirt, etc. The presence or absence of dirt, the degree of dirt, and the type of dirt can be detected based on an image captured by a camera, for example.

[0050] Specifically, the detection unit 321 detects the presence or absence of dirt based on the comparison result between a reference image captured when the cleaning target is free of dirt and an actual image captured of the cleaning target. For example, if there is a part where the color tone is different between the area of ​​the cleaning target in the actual image and the area of ​​the cleaning target in the reference image, the detection unit 321 detects that part as a dirty part (i.e., detects the presence of dirt).

[0051] The detection unit 321 also calculates a dirt ratio, which is the ratio of the area occupied by dirty areas to the area of ​​the region to be cleaned, and detects the dirt ratio as the degree of dirt. Note that the degree of dirt may be classified, for example, as "high" or "low" depending on the dirt ratio.

[0052] Furthermore, the detection unit 321 detects the type of dirt based on the color, shape, etc. of the dirty area. The types of dirt include, for example, water stains, mold, excrement (feces, etc.), etc.

[0053] The selection unit 322 selects a cleaning method according to the dirt state detected by the detection unit 321. Specifically, the selection unit 322 selects cleaning chemicals and cleaning tools according to the dirt state.

[0054] For example, when the object to be cleaned is a toilet bowl, the selection unit 322 selects an acidic detergent cleaning chemical when the inside of the toilet bowl is soiled with limescale, and selects an alkaline detergent when the inside of the toilet bowl is soiled with mold or feces.

[0055] Furthermore, the selection unit 322 selects the cleaning tool 215, which is a discharge nozzle that discharges water a predetermined time (for example, 5 minutes) after the cleaning chemicals have been sprayed inside the toilet bowl. In other words, the selection unit 322 selects a cleaning method for cleaning the inside of the toilet bowl by flushing water after the cleaning chemicals have been sprayed.

[0056] It is preferable not to perform cleaning such as scrubbing the inside of the toilet bowl with a brush, etc., in order to prevent dirt from adhering to the robot body 10. Furthermore, the selection unit 322 wipes the outside of the toilet bowl using, for example, the cleaning tool 216, which is a wiping member.

[0057] In addition, when the object to be cleaned is a washbasin, the selection unit 322 selects a cleaning method of spraying water after spraying cleaning chemicals into the washbasin, and selects a cleaning method of wiping the washbasin counter using a cleaning tool 216 which is a wiping member.

[0058] Furthermore, when the cleaning target is a floor, the selection unit 322 selects a cleaning method in which water is sprayed onto the floor using the cleaning tool 215, and then the floor is wiped using the mop member of the cleaning tool 213.

[0059] Furthermore, when the cleaning target is the roller 14a of the traveling unit 14, the selection unit 322 selects a cleaning method using a cleaning tool for the roller 14a of the traveling unit 14. For example, the selection unit 322 selects a cleaning method using a mop member or a wiping member.

[0060] The operation control unit 323 controls the operation of the robot main body 10 in accordance with the cleaning method selected by the selection unit 322. For example, the operation control unit 323 controls the first arm to grab the cleaning chemical selected by the selection unit 322. The operation control unit 323 also controls the second arm to grab the cleaning chemical selected by the selection unit 322.

[0061] Specifically, the rotation angle of the joint of the arm unit is determined for each cleaning chemical or cleaning tool, and the operation control unit 323 rotates the joint to a rotation angle corresponding to the selected cleaning chemical or cleaning tool. Alternatively, the operation control unit 323 may store the installation positions of the cleaning chemicals and cleaning tools in the tank body 21, and calculate the rotation angle of the joint that allows the tip of the arm unit (i.e., the finger 10e) to reach the installation position.

[0062] Next, a process executed by the cleaning robot 2 according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating a process executed by the cleaning robot 2 according to the embodiment.

[0063] First, the control unit 32 of the cleaning robot 2 detects the cleaning target (step S101). Next, the control unit 32 detects the dirt level of the cleaning target (step S102). Next, the control unit 32 selects a cleaning method based on the dirt level (step S103). Next, the control unit 32 controls the operation of the robot body 10 to clean the cleaning target in accordance with the selected cleaning method (step S104), and the process ends.

[0064] 6 is a diagram schematically illustrating an example of a computer hardware configuration that functions as the cleaning robot 2 or the management device 4. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "units" of the device according to the present embodiment, or can cause the computer 1200 to perform operations associated with the device according to the present embodiment or one or more "units," and / or can cause the computer 1200 to perform a process according to the present embodiment or steps of the process. Such a program can be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0065] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communications interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid-state drive, or the like. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0066] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into the graphics controller itself, and causes the image data to be displayed on the display device 1218.

[0067] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0068] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or programs that depend on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0069] The programs are provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0070] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0071] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and may perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0072] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequences of the programs, and write the results back to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0073] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0074] The blocks in the flowcharts and block diagrams in the present embodiments may represent stages of a process in which an operation is performed or "parts" of an apparatus responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, including integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0075] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture, including instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick, integrated circuit card, etc.

[0076] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0077] Computer-readable instructions may be provided locally or over a wide area network (WAN) such as a local area network (LAN), the Internet, etc. to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or programmable circuitry, such that the processor or programmable circuitry executes the computer-readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0078] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0079] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0080] 1. Cleaning system 2. Cleaning robot 4 Management device 10 Robot body 10a Torso 10b Legs 10c arm 10d head 10e finger 12,321 Detector 13 Control device 14,23 Running part 14a Roller 20 Chemical Tank 21 Tank body 22 Magnet 30 Communications Department 31 Storage section 32 Control Unit 211,212 Discharge nozzle 213,214,215,216 Cleaning tools 322 Selection Section 323 Motion control section

Claims

1. a robot body that is equipped with a running unit and capable of autonomous running; a chemical tank detachably connected to the robot body and storing a plurality of cleaning chemicals; a control unit that detects a dirt state of an object to be cleaned, selects a cleaning chemical that matches the dirt state from the plurality of cleaning chemicals, and controls the operation of the robot body to clean the object to be cleaned using the selected cleaning chemical; A robot equipped with:

2. The robot further includes a magnet member that detachably connects the traveling portion of the robot body and the chemical tank. The robot of claim 1 .

3. The chemical tank includes: A plurality of discharge nozzles for discharging each of the plurality of cleaning chemicals are arranged on the outer peripheral surface of the tank, The control unit The robot body is controlled so that the arm of the robot body grasps the discharge nozzle corresponding to the selected cleaning chemical and discharges the cleaning chemical onto the cleaning target. The robot of claim 1 .

4. The chemical tank includes: Cleaning tools are placed on the outer surface of the tank, The control unit The robot body is controlled so that the first arm portion grips the discharge nozzle and the second arm portion grips the cleaning tool. The robot according to claim 3.

5. The cleaning target is: It is a toilet, The cleaning tool is A wiping member, The control unit Controlling the robot body to perform a finishing wipe of the toilet bowl using the wiping member The robot according to claim 4.

6. The cleaning target is: It is a sink, The cleaning tool is A wiping member, The control unit Controlling the robot body to perform a finishing wipe of the washbasin using the wiping member The robot according to claim 4.

7. The cleaning target is: It is a floor, The cleaning tool is A mop member, The control unit Controlling the robot body to clean the floor using the mop member The robot according to claim 4.

8. The cleaning target is: The traveling portion, The control unit Controlling the robot body to perform cleaning using the cleaning tool on the traveling part The robot according to claim 4.

Images