Cleaning drone and cleaning system

Abstract

To automatically and surely clean even a place having a large step to a floor surface without using an automatic cleaner.SOLUTION: The cleaning drone 1 includes an aircraft body 10 that flies in an unmanned manner, a brush 11 attached to the aircraft body 10, a brush drive mechanism 12 that rotates the brush 11, an air sucking and discharging unit 13 that is provided in the aircraft body 10, outside air from a sucking port 17a, and discharges the sucked air to the outside from a discharging port 17b, and a dust filter 18 that captures dust mixed in the air sucked by the air sucking and discharging unit 13.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an unmanned flying cleaning drone and a cleaning system using the cleaning drone. [Background technology]

[0002] Conventionally, automatic vacuum cleaners that travel and automatically clean indoor floors, etc., have been known. However, these automatic vacuum cleaners cannot clean places where the automatic vacuum cleaner cannot travel, such as the top surface of a shelf that has a large step from the floor.

[0003] To solve this problem, Patent Document 1 proposes a system that includes an automatic vacuum cleaner that automatically cleans floor surfaces and a drone (unmanned aerial vehicle) that can fly automatically and blow air downward. In this system, the drone flies above the shelves and blows air to drop dust on the shelves onto the floor, and the dust that has fallen to the floor is then sucked up by the unmanned vacuum cleaner. In this way, the dust on the shelves is cleaned. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-11734 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional example, cleaning is performed by a cooperative effort between an automatic vacuum cleaner and a drone, and there is a problem in that the drone alone cannot clean the top of a shelf.

[0006] Furthermore, drones use their airflow to remove dust from shelves, but dust adhering to the top surface of a shelf may not be easily removed by airflow alone, creating the problem that dust that has accumulated on the shelf cannot be reliably removed.

[0007] Therefore, an object of the present invention is to provide a cleaning drone that can automatically and reliably clean even places with large steps in the floor surface without using an automatic vacuum cleaner, and a cleaning system using a cleaning drone. [Means for solving the problem]

[0008] The present invention has been made in consideration of the above problems, and is a cleaning drone characterized by comprising: (1) an unmanned flying aircraft body; a cleaning tool attached to the aircraft body; a cleaning tool drive mechanism that causes the cleaning tool to perform a sweeping action; air suction and discharge means that is provided on the aircraft body and that sucks in outside air through a suction port and discharges the sucked air to the outside through a discharge port; and a dust capture unit that captures dust mixed in the air sucked in by the air suction and discharge means.

[0009] (2) In the above (1), the air suction and exhaust means is a cleaning drone characterized in that the exhaust port exhausts air downward.

[0010] (3) In the above (2), the cleaning drone is characterized in that the exhaust outlets are provided in multiple locations and the exhaust air volume of each exhaust outlet can be controlled individually.

[0011] (4) In the above (1) or (2), the air suction and discharge means is a cleaning drone characterized in that it has a suction port for sucking in air in addition to the suction port for sucking in dust swept up by the cleaning tool.

[0012] (5) In the above (1) or (2), the aircraft body is a cleaning drone characterized in that it has attachment portions for the cleaning tool at multiple locations.

[0013] (6) In the above (1) or (2), the cleaning drone is characterized in that the cleaning tool is detachably attached to the aircraft body.

[0014] (7) In the above (1) or (2), the cleaning drone is characterized in that the aircraft body is equipped with a dust detection sensor for detecting the type, shape, size, and amount of dust to be cleaned.

[0015] (8) In the above (1) or (2), the cleaning drone is characterized in that the aircraft body is provided with a protective cover that covers the entire outer periphery of the propeller.

[0016] (9) A cleaning system comprising the cleaning drone described in (1) or (2) above and an operating device capable of communicating with the cleaning drone.

[0017] (10) In the above (9), the cleaning system is characterized by including a charging station for charging the cleaning drone. [Effects of the Invention]

[0018] According to the present invention, a cleaning drone flies above a surface to be cleaned, a cleaning tool drive mechanism causes the cleaning tool to perform a cleaning operation, dust displaced by the cleaning operation is sucked in through a suction port of an air suction / discharge means, and the dust in the sucked air is captured by a dust capture unit. Because the cleaning tool applies a direct external force to the dust on the surface to be cleaned, even dust adhering to the surface to be cleaned is easily displaced, and once displaced, the dust is easily sucked in by the suction force of the air suction / discharge means. As a result, automatic cleaning can be performed reliably without the use of an automatic vacuum cleaner, even in places with large steps relative to the floor. [Brief explanation of the drawings]

[0019] The drawings illustrate specific embodiments of the invention according to the present disclosure, including essential features of the invention as well as alternative and preferred embodiments.

[0020] [Figure 1] FIG. 1 is a plan view of a cleaning drone according to a first embodiment. [Figure 2] FIG. 1 is a side view of the cleaning drone according to the first embodiment. [Figure 3] FIG. 1 shows the first embodiment and is a schematic cross-sectional view of the main parts of the air suction and discharge means and dust capture unit of the cleaning drone. [Figure 4] FIG. 1 shows the first embodiment, where (a) is a diagram showing the cleaning drone in a standby position at the charging station and charging, and (b) is a diagram showing the cleaning drone in a position above the charging station and replacing brushes. [Figure 5] FIG. 2 is a functional block diagram of the cleaning drone according to the first embodiment. [Figure 6] FIG. 2 is a functional block diagram of the operation terminal side according to the first embodiment. [Figure 7] 5 is a flowchart illustrating an outline of the operation of the cleaning system according to the first embodiment. [Figure 8] 1A and 1B show the first embodiment, in which (a) is a plan view showing the cleaning drone performing cleaning, and (b) is a side view showing the cleaning drone performing cleaning. [Figure 9] 10A and 10B show a second embodiment, in which (a) is a plan view showing the cleaning drone performing cleaning, and (b) is a side view showing the cleaning drone performing cleaning. [Figure 10] 10A and 10B show a third embodiment, in which (a) is a plan view showing the cleaning drone performing cleaning, and (b) is a side view showing the cleaning drone performing cleaning. [Figure 11] 10A and 10B show a fourth embodiment, in which (a) is a plan view showing the cleaning drone performing cleaning, and (b) is a side view showing the cleaning drone performing cleaning. [Figure 12] 10A and 10B show a fifth embodiment, in which (a) is a plan view showing the cleaning drone performing cleaning, and (b) is a side view showing the cleaning drone performing cleaning. DETAILED DESCRIPTION OF THE INVENTION

[0021] Each embodiment will be described in detail below with reference to the accompanying drawings. In these embodiments, a description of already known technologies will be omitted. Furthermore, the following merely illustrates devices and methods for embodying the technical concept of the invention, and the technical concept of the present invention is not limited to the following. Various modifications can be made to the technical concept of the present invention within the scope of the claims. It should be noted that the drawings are schematic and may differ from the actual product.

[0022] 1 to 8 show a first embodiment of the present invention. The cleaning system of the first embodiment includes a cleaning drone (unmanned cleaning air vehicle) 1 that can fly unmanned, an operation terminal 5 that is an operation device that can communicate with the cleaning drone 1, and a charging station 6 that charges the cleaning drone 1.

[0023] (Cleaning drone) The cleaning drone 1 comprises an unmanned flying aircraft body 10, a brush 11 which is a cleaning tool attached to the aircraft body 10, a brush driving mechanism 12 (shown in Figure 5) which is a cleaning tool driving mechanism, an air suction and exhaust means 13 (shown in Figure 3), and a dust filter 18 (shown in Figure 3) which is a dust capture section.

[0024] In this first embodiment, the aircraft body 10 is a quadcopter having four propellers 10a. The aircraft body 10 obtains lift by sucking in air from above and compressing the sucked air downward as the four propellers 10a rotate.

[0025] Brush attachment parts 16, which are cleaning tool attachment parts, are provided at 90-degree rotation intervals on the outer periphery of the side of the aircraft body 10. Each brush attachment part 16 is provided with an attachment part gripping mechanism 44 (shown in FIG. 5) and an attachment part rotation mechanism 45 (shown in FIG. 5).

[0026] The attachment gripping mechanism 44 can move a pair of gripping portions (not shown) in the brush attachment 16 between a gripping position and a release position. In the gripping position, the brush attachment 16 grips the brush 11. In the release position, the brush attachment 16 releases the grip of the brush 11.

[0027] The attachment rotation mechanism 45 can move the rotation position of the brush attachment part 16 between a cleaning position and a replacement position. At the cleaning position, as shown in Figures 2 and 8(b), the brush 11 is positioned so that it extends diagonally downward from the aircraft body 10. At the replacement position, as shown in Figure 4(b), the brush 11 is positioned so that it extends directly downward from the aircraft body 10.

[0028] The brush 11 has a brush body 11a and a support rod 11b that supports the brush body 11a. In this first embodiment, the brush body 11a has a relatively low bristle density and relatively high bristle rigidity. The brush 11 will be described in detail below. The tip of the support rod 11b is selectively detachably attached to each brush attachment part 16.

[0029] The brush drive mechanism 12 (shown in FIG. 5) rotates the brush 11 attached to the brush attachment portion 16 around its axis. In other words, the rotation of the brush body 11a directly applies an external force to the dust G on the surface to be cleaned, moving and collecting the dust G. In this first embodiment, the rotation of the brush body 11a is the cleaning operation. Here, the dust G refers to dust, dirt, smaller particles, etc., and does not matter in size.

[0030] The air suction and discharge means 13 has a duct 17 attached to the aircraft body 10 and a suction mechanism 43 (shown in Figures 3 and 5). One end of the duct 17 protrudes outward from the side of the aircraft body 10, with this protruding end forming a suction port 17a. The suction port 17a is located near the brush body 11a attached to the bristle attachment part 16 and downstream in the direction in which dust G on the surface to be cleaned moves as the brush body 11a rotates. The other end of the duct 17 protrudes directly downward from the center of the underside of the aircraft body 10, with this protruding end forming a discharge port 17b.

[0031] The suction mechanism 43 generates an air suction force within the duct 17, sucks in outside air through the suction port 17a, and discharges the sucked air to the outside through the discharge port 17b.

[0032] 3, the dust filter 18 is disposed so as to completely block the internal passage of the duct 17. All of the air sucked by the air suction and discharge means 13 passes through the dust filter 18, and dust G mixed in the air during this passage is captured by the dust filter 18. The air that has passed through the dust filter 18, i.e., the air from which dust G has been removed, passes through the duct 17 and is discharged from the discharge port 17b. The dustproof filter 18 is detachably attached to the duct 17. Therefore, the dustproof filter 18 can be easily cleaned and replaced.

[0033] Duct 17 is provided with a dust collection waste door 19 immediately upstream of dust filter 18. Dust collection waste door 19 is equipped with a dust collection waste door opening / closing mechanism 46 (shown in FIG. 5). Dust collection waste door opening / closing mechanism 46 can move dust collection waste door 19 between a closed position (position shown by solid lines in FIG. 3) that closes the inside of duct 17, and an open position (position shown by imaginary lines in FIG. 3) that opens the inside of duct 17 downward. By setting dust collection waste door 19 to the open position, dust G that has accumulated inside duct 17 can be disposed of to the outside. The charging stand may be configured to automatically remove the dust G accumulated in the duct 17.

[0034] Next, a configuration centered on the control system of the cleaning drone 1 will be described with reference to the functional block diagram of Fig. 5. The aircraft body 10 is provided with a control device 20, an input unit 21, an antenna 22, a light source (not shown), and the like.

[0035] The control device 20 includes a processor, a storage unit (RAM (Random Access Memory) and ROM (Read Only Memory)), etc. The processor is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or an ASIC (Application Specific Integrated Circuit). The control device 20 executes a control program stored in the storage unit using the processor. The control program includes an automatic driving program.

[0036] The control device 20 is responsible for overall control of the cleaning drone 1. The details are explained below. The control device 20 receives detection outputs from an image sensor 23, a distance sensor 24, a position sensor 25a, a GPS sensor 25b, a speed sensor 26, an acceleration sensor 27, an attitude angle sensor 28, an attitude angular velocity sensor 29, and the like.

[0037] The image sensors 23 are arranged all around the cleaning drone 1 (up and down, front and back, left and right) and acquire image data of objects in the entire periphery. The image sensors 23 are, for example, CCD imaging elements or CMOS. The image sensors 23 also function as a surrounding confirmation sensor for checking surrounding objects and dust. The surrounding confirmation sensor may be composed of a laser irradiation unit and the image sensors (cameras) 23. The distance sensors 24 are arranged all around (up and down, front and back, left and right) the cleaning drone 1, and detect the distance to surrounding objects. The distance sensors 24 are, for example, object detection sensors or proximity sensors. The position sensor 25a detects the movement of surrounding objects. The GPS sensor 25b detects the position of the cleaning drone 1. GPS stands for Global Positioning System. Light sources (not shown) are arranged all around the cleaning drone 1 (up and down, front and back, left and right), and illuminate the object to be photographed by the image sensor 23. The light source is, for example, an LED light, and may be one that simply illuminates the object to be photographed, one that emits parallel light, one that makes dust G more visible, or a combination of these types.

[0038] The control device 20 has an environmental measurement unit 30, a position determination unit 31, a flight control unit 32, a charging control unit 33, a suction drive control unit 34, a brush drive control unit 35, a brush attachment control unit 36, a dust collection disposal door control unit 37, and a communication unit 38.

[0039] The environment measurement unit 30 creates 3D (three-dimensional) map data of the surrounding environment based on the detection information from the image sensor 23 and distance sensor 24. To create the 3D map data, for example, "MATLAB (registered trademark) Navigation Toolbox" or the like is used. Furthermore, based on the detection information from the image sensor 23 and distance sensor 24, the environment measurement unit 30 analyzes not only the position of dust G on the surface to be cleaned in the cleaning area, but also the type, shape, size, amount, etc. of the dust G. In other words, the image sensor 23 and distance sensor 24 also function as dust detection sensors.

[0040] The position determination unit 31 recognizes the current position of the cleaning drone 1 based on the detection information of the GPS sensor 25b. In addition, the position determination unit 31 determines the position of the cleaning point in the room based on the analysis information of the environment measurement unit 30 and the position information acquired by the position determination unit 31 itself.

[0041] The flight control unit 32 controls the drive of the four propeller motors 39 to fly the cleaning drone 1 based on flight commands from the operation terminal 5 or the control unit 20. The flight control unit 32 controls the drive of the four propeller motors 39 using detection information from the distance sensor 24, position sensor 25a, speed sensor 26, acceleration sensor 27, attitude angle sensor 28, attitude angular velocity sensor 29, etc. During normal flight, the flight control unit 32 controls flight to avoid contact with other objects based on detection information from the image sensor 23, distance sensor 24, and position sensor 25a. However, cleaning operations and landing operations are excluded. Flight commands from the control unit 20 include flight along an automatic flight route pre-stored in the memory unit.

[0042] When the remaining charge of the rechargeable battery 40 falls below a specified value, the charging control unit 33 issues a command to charge the rechargeable battery 40 at the charging station 6. When a charging command is issued from the charging control unit 33, the flight control unit 32 switches the flight of the cleaning drone 1 to return to the charging station 6 and controls the cleaning drone 1 to be in a standby state (a state in which charging is possible). The charging command from the charging control unit 33 has the highest priority.

[0043] The suction drive control unit 34 controls the driving of the suction mechanism 43 of the air suction / exhaust means 13 . The brush drive control unit 35 controls the drive of the brush drive mechanism 12. In other words, it controls the rotation of the brush 11 attached to the brush attachment unit 16.

[0044] The brush attachment control unit 36 ​​controls the driving of the attachment gripping mechanism 44 and the attachment rotating mechanism 45 . The dust-collecting waste disposal door control unit 37 controls the driving of the dust-collecting waste disposal door opening / closing mechanism 46. That is, it controls the opening and closing of the dust-collecting waste disposal door 19.

[0045] The input unit 21 has, for example, operation keys, and allows the user to input commands, information, etc. Even if the operation terminal 5 cannot be used or is not used, the user can input commands, information, etc. directly to the cleaning drone 1.

[0046] The communication unit 38 transmits transmission information to the operation terminal 5 or the like via the antenna 22, and receives transmission information from the operation terminal 5 or the like via the antenna 22. The communication unit 38 performs communication using a wireless LAN such as WiFi (registered trademark) or any communication standard such as Bluetooth (registered trademark).

[0047] (Operation terminal) As shown in Fig. 6, the operation terminal 5 is, for example, a smartphone. The operation terminal 5 has a control device 50. The control device 50 includes a processor, a storage unit (RAM and ROM), etc. The processor is, for example, a CPU, an MPU, or an ASIC. The control device 50 executes a control program stored in the storage unit by means of the processor.

[0048] The control device 50 has a communication unit 51 and a signal processing unit 53. The communication unit 51 transmits transmission information to the cleaning drone 1 or the like via the antenna 52, and receives transmission information from the cleaning drone 1 or the like via the antenna 52. The signal processing unit 53 processes input information from the input unit 54 and received information from the communication unit 51, and creates display information for the display unit 55. The input unit 54 is operated by a user, and user command information (e.g., a cleaning start command, a flight route command, a cleaning point command) is input. The display unit 55 displays information desired by the user (e.g., the flight position of the cleaning drone). For example, a 3D (three-dimensional) map of the surrounding environment created by the environment measurement unit 30 is displayed on the display unit 55, and the user specifies a cleaning point using the input unit 54 based on the 3D (three-dimensional) map.

[0049] (charging station) The charging station 6 has a station main body 60, a charging stand 61 protruding from the center of the station main body 60, and a charger 62 provided on the charging stand 61. The station main body 60 is provided with a plurality of brush storage compartments 63 around the periphery of the charging stand 61. Each brush storage compartment 63 is, for example, an arc-shaped recess, and by storing the brush body 11a of the brush in the recess, the brush 11 can be stored in an upright position.

[0050] The charger 62 can move between a protruding position (see FIG. 4(a)) where it protrudes above the charging base 61 and a retracted position (see FIG. 4(b)) where it retracts into the charging base 61. When the cleaning drone 1 lands on the top surface of the charger 62 (hereinafter referred to as the standby state), the charger 62 can charge the cleaning drone 1 contactlessly.

[0051] When the charger 62 is in the protruding position shown in Figure 4(a) and the cleaning drone 1 lands on the top surface of the charger 62, the cleaning drone 1 is positioned at a height higher than the tip of the support rod 11b of the brush 11 stored in the brush storage section 63.

[0052] When the charger 62 is in the retracted position shown in Figure 4(b) and the cleaning drone 1 is positioned in the air close to the charger 62 and the top surface of the charging stand 61, the height relationship is such that the brush attachment portion 16 of the cleaning drone 1 is located below the tip of the support rod 11b of the brush 11 stored in the brush storage portion 63. In this first embodiment, the cleaning drone 1 and the charging station 6 are configured to perform non-contact charging, but they may also be configured to perform contact charging, or may be capable of both non-contact charging and contact charging.

[0053] (Brush attachment and replacement) The brush attachment operation of the cleaning drone 1 will now be described. As shown in Figures 4(a) and (b), two types of brushes 11, 11A are stored in the brush storage section 63 of the charging station 6. The two types of brushes 11, 11A are the brushes 11 attached to the cleaning drone in this first embodiment, namely, the brush with a relatively low bristle density and relatively high bristle rigidity, and the brush 11A with a very high bristle density, very soft bristle rigidity, and a very soft (fluffy) feel on the contact surface.

[0054] As shown in FIG. 4(b), the charger 62 of the charging station 6 is placed in the exit position, and the cleaning drone 1 hovers in the air near the charger 62. The brush attachment part 16 to be attached is positioned directly above the support rod 11b of the desired type of brush 11 (or 11A). While maintaining this position, the altitude of the cleaning drone 1 is gradually lowered, and the base of the support rod 11b of the brush 11 (or 11A) is inserted into the brush attachment part 16. The attachment can be achieved by grasping the base of the support rod 11b with a pair of gripping parts (not shown) of the brush attachment part 16. Note that FIG. 4(b) shows the brush 11 in the gripped state. In addition, the replacement work of the brush 11 (or 11A) may be performed by the cleaning drone 1 landing on the charger 62.

[0055] Next, we will explain the brush replacement operation of the cleaning drone 1. It is assumed that the brush 11 is attached to the cleaning drone 1 and that the brush storage section 63 of the charging station 6 has space.

[0056] As shown in FIG. 4(b), the charger 62 of the charging station 6 is placed in the exit position, the cleaning drone 1 is hovered near the charger 62, and the brush attachment part 16 is moved from the cleaning position to the replacement position. Then, the altitude of the cleaning drone 1 is gradually lowered and the tip of the brush body 11a is inserted into an empty brush storage part 63 of the charging station 6. Once stored in the brush storage part 63, the pair of gripping parts (not shown) of the brush attachment part 16 are released, and the altitude of the cleaning drone 1 is gradually raised to complete removal. Next, a new brush 11A is attached using the brush attachment operation described above, and the process is complete.

[0057] (Outline of cleaning system operation) Next, the general operation of the cleaning system will be described based on the flowchart in Figure 7. The cleaning drone 1, with one brush 11 attached, lands on the charger 62 of the charging station 6 and is in a standby state (the state in Figure 4(a)).

[0058] The control device 20 of the cleaning drone 1 constantly checks whether a cleaning start command has been received from the operation terminal 5 or the like (step S1). When a cleaning start command has been received, it checks whether the remaining battery charge is equal to or greater than a specified value (step S2). If the remaining battery charge is less than the specified value, i.e., insufficient, it waits until the remaining battery charge is equal to or greater than the specified value. The charging status of the cleaning drone 1 is given top priority.

[0059] If the remaining battery power is equal to or greater than a specified value, i.e., if there is sufficient battery power, flight begins (step S3). The flight path is, for example, one circle along the wall near the ceiling of the room, and 3D map data of the indoor environment is created by the environment measurement unit 30 (step S4). The 3D map data can be created by comparing it with previously learned data, which can simplify data creation.

[0060] The position determination unit 31 determines a cleaning point (which may be one location, or two or more locations) that meets the cleaning conditions for the cleaning drone 1 (for example, a location that is 50 cm or more above the floor) from the 3D map data (step S5).

[0061] Next, the control device 20 causes the cleaning drone 1 to fly to the first cleaning point (step S6). When the cleaning drone 1 flies to the first cleaning point, the position determination unit 31 accurately identifies the cleaning area based on the detection information from the image sensor 23 and the distance sensor 24 (step S7).

[0062] 8(a) and 8(b), the brush body 11a assumes a flying posture in contact with the surface to be cleaned in the cleaning area, rotates the brush 11, and starts cleaning by sucking air through the suction port 17a (step S8). Then, dust G on the surface to be cleaned is swept and moved by the rotation of the brush 11, and collected, and the collected dust G is sucked through the suction port 17a. The dust G sucked into the duct 17 through the suction port 17a together with the air is captured and removed by the dust filter 18, and the air from which the dust G has been removed passes through the duct 17 and is discharged to the outside through the discharge port 17b. Note that FIGS. 8(a) and 8(b) show an example in which dust G is removed from the top surface of a shelf T, which is the surface to be cleaned.

[0063] The sweeping operation by the brush 11 and the suction of the dust G by the air suction and discharge means 13 are performed evenly over the entire surface to be cleaned in the cleaning area, and the cleaning is completed (step S9).

[0064] When cleaning of the first cleaning point is completed, the control device 20 checks whether there is a next cleaning point (step S10). If there is no next cleaning point, the control device 20 flies to the charging station 6 and enters a standby state to wait for the next command (steps S11 and S1).

[0065] If there is a next cleaning point, the control device 20 flies to that cleaning point and performs cleaning in the same manner as the previous cleaning operation (step S10, steps S6 to S9). When cleaning of all cleaning points is completed (step S10), the control device 20 flies to the charging station 6 and enters a standby state to wait for the next command (steps S11, S1).

[0066] (Modifications and applications of cleaning operations) Next, modified and applied examples of the cleaning operation will be described. The control unit 20 controls the movement speed of the brush 11 moving over the surface to be cleaned in the cleaning area by controlling the movement speed of the cleaning drone 1 or the angle of the brush 11. The angle of the brush 11 relative to the surface to be cleaned in the cleaning area is controlled by controlling the attitude of the cleaning drone 1, or the angle of the brush attachment part 16, or by controlling both the attitude of the cleaning drone 1 and the angle of the brush attachment part 16. Similar control can also be used depending on the shape of the surface to be cleaned in the cleaning area. For example, the other diagonal angle of the brush 1 is adjusted depending on the shape of the surface to be cleaned.

[0067] When determining whether cleaning of the entire cleaning area has been completed (step S9), the control device 20 may be able to select the next operation by setting. In other words, once cleaning of a cleaning point by a predetermined operation has been completed, it checks whether dust G has been completely removed from the detection information of the image sensor 23 and the distance sensor 24. If dust G has not been completely removed, cleaning of that area is restarted. Only when dust G has been completely removed is it determined that cleaning of one cleaning point has been completed. This reliably prevents any cleaning from being left undone. Furthermore, the completion of cleaning may be determined based on the remaining amount of dust G, the completion of cleaning within a certain period of time, the completion of cleaning in a certain pattern, or other factors.

[0068] Furthermore, when the cleaning drone 1 flies to the cleaning point, the position determination unit 31 accurately identifies the cleaning area based on the detection information from the image sensor 23 and the distance sensor 24 (step S7), and at the same time, the environment measurement unit 30 analyzes the dust situation in the cleaning area (type of dust G, shape of dust G, size of dust G, and amount of dust G) based on the detection information from the image sensor 23 and the distance sensor 24. Based on the analysis results, the control device 20 may instruct the brush drive control unit 35 on the number of rotations of the brush 11 and the rotation speed of the brush 11, and may also instruct the suction drive control unit 34 on the air suction strength. This enables cleaning according to the dust situation.

[0069] If the control device 20 determines that the type of brush 11 needs to be changed based on the above analysis results, it may perform control to replace the brush 11. In other words, the cleaning drone 1 may be returned to the charging station 6 to replace the brush 11, and then fly back to the cleaning point to perform cleaning with the new brush 11A.

[0070] The control device 20 divides the cleaning process into multiple steps, forcibly inserts a charging process between the divided cleaning processes, and controls the power consumption of the rechargeable battery 40 so that it does not exceed a predetermined amount. By controlling in this way, the rechargeable battery 40 to be installed can be made smaller and lighter, and ultimately the cleaning drone 1 can be made smaller and lighter.

[0071] The control device 20 recognizes the location of the trash can based on 3D (three-dimensional) map data of the surrounding environment. The control device 20 periodically or in response to a user's instruction flies the cleaning drone 1 over the trash can and automatically opens and closes the dust collection disposal door 19 to discard the dust G. Alternatively, the dust G may be disposed of at the charging station 6.

[0072] (Effects of the first embodiment) As described above, according to this first embodiment, the cleaning drone 1 comprises an unmanned aircraft body 10 that flies, a brush 11 attached to the aircraft body 10, a brush drive mechanism 12 that rotates the brush 11, an air suction and discharge means 13 that is provided on the aircraft body 10 and that sucks in outside air through a suction port 17a and discharges the sucked air to the outside through a discharge port 17b, and a dust filter 18 that captures dust G mixed in the air sucked in by the air suction and discharge means 13.

[0073] Therefore, cleaning drone 1 flies above the surface to be cleaned, and while flying, brush drive mechanism 12 causes brush 11 to perform a cleaning operation. Dust G moved by the cleaning operation is sucked through suction port 17a of air suction and discharge means 13, and dust G in the sucked air is captured by dust filter 18. Because brush 11 applies a direct external force to dust G on the surface to be cleaned, even dust G adhering to the surface to be cleaned is easily moved. Once moved, dust G loses adhesion to the surface to be cleaned or has only very weak adhesion, so it can be easily sucked up by the suction force of air suction and discharge means 13. As described above, cleaning can be performed automatically and reliably without using an automatic floor cleaner, even on places with large steps relative to the floor, such as shelves and desks.

[0074] The Cleaning Drone 1 can also be used to clean floors that are usually cleaned by a regular vacuum cleaner. By combining this method with the use on uneven surfaces mentioned above, you can clean all areas of your home even if you don't have a regular vacuum cleaner.

[0075] The air suction / exhaust means 13 has an outlet 17b that discharges air downward, which can assist the lift force and reduce the power consumption.

[0076] The aircraft body 10 is provided with an image sensor 23 and a distance sensor 24, i.e., a dust detection sensor, that detects the type, shape, size, and amount of dust G to be cleaned. Therefore, appropriate cleaning can be performed according to the type, shape, size, and amount of dust G.

[0077] The cleaning drone system is equipped with an operation terminal 5, so that the user can operate the cleaning drone 1 remotely.

[0078] The cleaning drone system includes a charging station 6, which makes it easy to charge the cleaning drone 1.

[0079] (Second embodiment) 9 shows a second embodiment of the present invention. The cleaning system of the second embodiment differs from the cleaning system of the first embodiment in part in the configuration of the cleaning drone 1A.

[0080] That is, the duct 17 of the air suction and discharge means 13 branches into four on the downstream side of the dust filter 18. The outlets 17b of the four branch ducts 48 extend to positions below the support positions of the four propellers 10a and are positioned so as to discharge air directly downward from those positions. The amount of air discharged into the four branch ducts 48 is adjustable.

[0081] 9, the same components as those in the first embodiment are designated by the same reference numerals as those in the first embodiment for clarity.

[0082] In this second embodiment, for the same reasons as in the first embodiment, it is possible to automatically and reliably clean places with large steps in relation to the floor, such as shelves and desks, without using an automatic floor cleaner.

[0083] In this second embodiment, the duct 17 of the air suction and discharge means 13 used for dust removal can also be used for lift assistance and attitude control of the cleaning drone 1, resulting in reduced power consumption.

[0084] (Third embodiment) 10 shows a third embodiment of the present invention. The cleaning system of the third embodiment is different from the cleaning system of the first embodiment in part in the configuration of the cleaning drone 1B.

[0085] That is, a lift assist duct 49 is connected to the duct 17 of the air suction / discharge means 13. The tip of the lift assist duct 49 opens directly upward at the center of the aircraft body 10, and a directly upward suction port 49a is formed.

[0086] The air sucked in through the suction port 17a opening near the brush body 11a and from which dust G has been removed by the dust filter 18, and the air sucked in through the directly above suction port 49a opening above the center of the aircraft body 10, are discharged to the discharge port 17b opening at the lower center of the aircraft body 10. In other words, a larger amount of air is discharged directly below the aircraft body 10 than in the first embodiment. Furthermore, dust that has not been captured by the duct 17 and has been blown up can be removed by being sucked in through the suction port 49 directly above the lift assist duct 49.

[0087] The configuration other than the above is the same as that of the first embodiment, and therefore a duplicated description will be omitted. In addition, in Fig. 10, the same components as those in the first embodiment are denoted by the same reference numerals for clarity.

[0088] In this third embodiment, for the same reasons as in the first embodiment, it is possible to automatically and reliably clean places with large steps in relation to the floor, such as shelves and desks, without using an automatic floor cleaner.

[0089] In this third embodiment, a lift assist duct 49 is added to the duct 17 of the air suction and exhaust means 13 used for dust removal to exhaust a large amount of air downward, so that it can also be used to assist the lift of the cleaning drone 1, thereby reducing power consumption.

[0090] The lift assistance duct 49 may be connected downstream or upstream of the dust filter 18 of the duct 17 of the air suction and discharge means 13. However, connecting downstream of the dust filter 18 is more effective for assisting lift because it reduces air resistance passing through the lift assistance duct 49. Furthermore, if airborne dust G is also to be removed, the lift assistance duct 14 should be joined upstream of the dust filter 18, or a separate filter should be provided. The lift assistance duct 49 does not suck in as much dust G as the duct 17, so a separate filter may be provided. The separate filter does not need to be equipped with an automatic disposal function.

[0091] (Fourth embodiment) 11 shows a fourth embodiment of the present invention. The cleaning system of the fourth embodiment is different from the cleaning system of the first embodiment in part of the configuration of the cleaning drone 1C.

[0092] That is, the four brush attachment parts 16 provided at 90-degree rotation positions of the aircraft body 10 are arranged to rotate together around the side of the aircraft body 10 by the driving force of a rotation drive mechanism (not shown). In other words, all of the brush attachment parts 16 can be selectively positioned in proximity to the suction port 17a of the duct 17 of the air suction and discharge means 13.

[0093] The cleaning drone 1 flies to the cleaning point with multiple brushes 11 attached. By selectively positioning multiple types of brush attachment parts 16 in proximity to the suction port 17a of the duct 17, sweeping and cleaning with multiple types of brushes 11 is possible.

[0094] The configuration other than the above is the same as that of the first embodiment, and therefore a duplicated description will be omitted. In Fig. 11, the same components as those of the first embodiment are denoted by the same reference numerals for clarity.

[0095] In this fourth embodiment, for the same reasons as in the first embodiment, it is possible to automatically and reliably clean places with large steps on the floor, such as shelves and desks, without using an automatic floor cleaner.

[0096] In this fourth embodiment, the four bristle attachment portions 16 can be rotated together around the side of the aircraft body 10 by the driving force of a rotation drive mechanism (not shown). Therefore, when cleaning is performed using multiple types of brushes 11, the cleaning time can be reduced.

[0097] More specifically, in the first embodiment, two methods are possible for sweeping and cleaning using multiple brushes 11, 11A. One method is to perform a suction action on the cleaning area using brush 11 and duct 17 located in the vicinity of suction port 17a, then return to charging station 6 to replace with a new type of brush 11A, and then fly back to the cleaning point and perform a suction action on the cleaning area using the new brush 11A and suction port 17a of duct 17.

[0098] Another method is to attach different types of brushes 11, 11A to the brush attachment portions 16 at multiple locations, fly the brush, and sweep the area to be cleaned with the brush 11 located close to the suction port 17a of the duct 17, and then perform suction with the suction port 17a of the duct 17 on the area to be cleaned, and then temporarily perform only sweeping with the brush 11A located farther from the suction port 17a of the duct 17 on the area to be cleaned, and then perform only suction with the suction port 17a of the duct 17 on the area to be cleaned. Compared to either of these methods, the fourth embodiment shortens the cleaning time.

[0099] (Fifth embodiment) 12 shows a fifth embodiment of the present invention. The cleaning system of the fifth embodiment is different from the cleaning system of the first embodiment in part of the configuration of the cleaning drone 1D.

[0100] That is, the entire outer periphery (front, back, left, right, top and bottom) of the aircraft body 10 including the four propellers 10a of the cleaning drone 1D is covered with the protective cover 70.

[0101] The configuration other than the above is the same as that of the first embodiment, and therefore a duplicated description will be omitted. In addition, in Fig. 10, the same components as those in the first embodiment are denoted by the same reference numerals for clarity.

[0102] In this fifth embodiment, for the same reasons as in the first embodiment, it is possible to automatically and reliably clean places with large steps in relation to the floor, such as shelves and desks, without using an automatic floor cleaner.

[0103] In the fifth embodiment, it is possible to prevent problems caused by the cleaning drone 1D directly contacting anything, including indoor objects such as furniture, and the bodies of people, animals, etc.

[0104] In this fifth embodiment, the protective cover 70 covers the entire outer periphery (front-to-back, left-to-right, top-to-bottom) of the aircraft body 10, including the four propellers 10a of the cleaning drone 1D, but it may also be configured to cover the outer periphery of at least four propellers 10a.

[0105] The protective cover 70 is preferably designed to have a lightweight structure that causes as little interference as possible with the suction of air from above the propeller 10a and the compressed air being sent below the propeller 10a.

[0106] (Variation) In each of the above embodiments, the aircraft body 10 is a quadcopter having four propellers 10a, but it may also be a tricopter having three propellers 10a, a hexacopter having six propellers 10a, an octacopter having eight propellers 10a, or any other type.

[0107] In each of the above embodiments, the brush drive control unit 34 rotates the brush 11, 11A on the surface to be cleaned, but it may also be a horizontal reciprocating movement on the surface to be cleaned, a movement that combines rotation and reciprocating movement, a rotation while applying vibration, or a reciprocating movement while applying vibration. In other words, although the sweeping action is a rotational movement in each of the above embodiments, it is sufficient as long as it is an action that can sweep up dust G. It is preferable that the reciprocating movement is performed with the brush body 11a in contact with the surface to be cleaned on the outbound path and with the brush body 11a not in contact with or only lightly touching the surface to be cleaned on the return path.

[0108] In each of the above embodiments, the bristle attachment portions 16 are provided at four locations on the aircraft body 10, but except for the fourth embodiment, the number may be one, two, three, or five or more. In the fourth embodiment, at least two or more locations are required.

[0109] In each of the above-described embodiments, the dust detection sensor is composed of the image sensor 23 and the distance sensor 24, but it may be composed of only the image sensor 23. However, a configuration using both the image sensor 23 and the distance sensor 24 enables more accurate analysis of the dust situation. In each of the above-described embodiments, the dust capturing portion is formed by the dust filter 18, but it may be formed in any manner that can capture the dust G. For example, it may be a cyclone type that collects the dust G by centrifugal force.

[0110] In each of the above-described embodiments, the duct 17 is fixed to the aircraft body 10, but the suction port 17a of the duct 17 may be configured to be rotatable around the aircraft body 10. By configuring it in this way, it is possible to rotate the duct 17 and change the position of the suction port 17a to the side of the brush that is desired to be used, or to adjust the position of the suction port 17a relative to the brush 11.

[0111] In each of the above embodiments, the instruction to start cleaning may be given by a timer, or may be given each time the switch is turned on. Also, a warning may be issued when cleaning starts. The end of cleaning may be given by a timer, or may be performed according to a predetermined route. Furthermore, a sensor may be provided to detect the suction force of dust G, and a warning may be issued when the sensor detects that the suction force has fallen below a predetermined reference value. A differential pressure sensor may be provided to detect clogging of the dustproof filter 18, and a warning may be issued when the differential pressure sensor detects clogging.

[0112] In the following embodiments, the cleaning area can be set as follows: That is, the cleaning area can be set as a pre-set area, such as the entire indoor area that the cleaning drones 1, 1A to 1D can access, or the entire indoor area within a certain distance from the charging station 6. A distance sensor is used to check in advance whether walls and ceilings are within a certain distance.

[0113] In each of the above-described embodiments, the air suction / discharge means 13 is provided with a means for checking the suction of dust G and differential pressure sensors disposed before and after the dust filter 18 for checking clogging of the dust filter 18, thereby enabling the state of dust G captured by the dust filter 18, the timing of disposal of the dust G captured by the dust filter 18, and other conditions to be recognized, allowing control according to the situation. For example, if the output of the suction mechanism 43 is controlled according to the state of suction of dust G by the means for checking the suction of dust G, the dust G can be sucked in accurately.

[0114] In each of the above embodiments, the cleaning drone 1 may be provided with a warning means to issue a warning to those around it before it starts flying. Also, an emergency stop command may be issued from the charging stand 6 or the operation terminal 5, allowing it to be stopped both before and after flight.

[0115] (Application example) In the above-described embodiments, the cleaning drones 1, 1A to 1D are configured to have a cleaning function, but they may also be configured to have a cleaning mechanism along with the cleaning function. Although the distinction between cleaning and cleaning cannot be made precisely and there is some overlap, roughly speaking, cleaning is considered to be the removal of dust from the surface to be cleaned, and cleaning is considered to be the removal of dirt from the surface to be cleaned and making it clean.

[0116] In other words, the cleaning drone is configured to include an aircraft body, a cleaning tool, a cleaning tool drive mechanism, an air suction and discharge means, and a dust capture unit, and the aircraft body is also equipped with a wiping member (e.g., a sheet material) and a wiping member drive mechanism that moves the wiping member. First, as in each of the above embodiments, dust is removed from the surface to be cleaned using the cleaning tool, cleaning tool drive mechanism, air suction and discharge means, and the dust capture unit. Then, the wiping drive mechanism moves the wiping member in a reciprocating motion over the surface to be cleaned, wiping away dirt along with the dust.

[0117] The cleaning drone is also configured to include a wiping member (e.g., a sheet material) mounted on the aircraft body and a wiping member drive mechanism that moves the wiping member. The wiping member drive mechanism moves the wiping member in a reciprocating motion or the like over the surface to be cleaned, capturing dust and wiping away dirt.

[0118] Furthermore, the cleaning drone is configured to include a wiping member on the aircraft body, a cleaning tool drive mechanism for moving the cleaning tool, and a liquid applicator for applying a liquid. First, the liquid applicator applies a cleaning agent, detergent, water, or the like to the surface to be cleaned, and then the wiping drive mechanism moves the wiping member in a reciprocating motion or the like over the surface to be cleaned, capturing dust and wiping away any dirt.

[0119] (Cleaning tools) Cleaning tools are tools used to sweep or brush away dust, and include brushes, sponges, mops, dusters, etc. Brushes vary in density, flexibility, and stiffness of the bristles used, and are selected based on the type of dust to be cleaned. Bristles are also made from a variety of materials, including bird feathers, animal hair, and synthetic resin (microfiber).

[0120] Although each embodiment has been described in detail above, it is not limited to a specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or a plurality of components of the above-described embodiments. [Explanation of symbols]

[0121] 1. Cleaning drone 5. Operation terminal (operation device) 6. Charging Station 10. Aircraft body 10a propeller 11,11A Brush (cleaning tool) 12 Brush drive mechanism (cleaning tool drive mechanism) 13 Air suction and exhaust means 16 Brush attachment part (cleaning tool attachment part) 17a Suction port 17b Outlet 18 Dustproof filter (dust capture part) 23 Image sensor (dust detection sensor) 24 Distance sensor (dust detection sensor) 49a Upper suction port (suction port) 70 Protective Cover G Dust

Claims

1. An unmanned aircraft body, a cleaning tool attached to the aircraft body; a cleaning tool drive mechanism that causes the cleaning tool to perform a sweeping action; an air suction / exhaust means provided in the aircraft body, for sucking in outside air through an intake port and discharging the sucked air to the outside through an exhaust port; A cleaning drone characterized by comprising a dust capture unit that captures dust mixed in the air sucked by the air suction and discharge means.

2. The cleaning drone according to claim 1 , wherein the air suction and exhaust means exhausts air downward through the exhaust port.

3. The cleaning drone according to claim 2 , wherein the exhaust outlets are provided at a plurality of locations, and the exhaust air volume of each of the exhaust outlets can be controlled individually.

4. The cleaning drone according to claim 1 or 2, characterized in that the air suction and discharge means has, as the suction port, a suction port for sucking in air in addition to the suction port for sucking in dust swept up by the cleaning tool.

5. The cleaning drone according to claim 1 or 2, characterized in that the aircraft body has attachment portions for the cleaning tool at multiple locations.

6. The cleaning drone according to claim 1 or 2, characterized in that the cleaning tool is detachably attached to the aircraft body.

7. The cleaning drone according to claim 1 or 2, characterized in that the aircraft body is provided with a dust detection sensor for detecting the type, shape, size, and amount of dust to be cleaned.

8. The cleaning drone according to claim 1 or 2, characterized in that the aircraft body is provided with a protective cover that covers the entire outer periphery of the propeller.

9. The cleaning drone according to claim 1 or 2; A cleaning system characterized by comprising an operating device capable of communicating with the cleaning drone.

10. The cleaning system according to claim 9, further comprising a charging station for charging the cleaning drone.

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