Cleaning drones and cleaning systems

Abstract

To automatically and reliably clean even a place having a large step with respect to a floor surface without using an automatic vacuum cleaner. [Solution] 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 exhaust means 13 provided on the aircraft body 10 that sucks in outside air through a suction port 17a and exhausts the sucked air to the outside through an exhaust port 17b, and a dust filter 18 that captures dust mixed in the air sucked in by the air suction and exhaust means 13.

Description

[Technical field]

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

[0002] Conventionally, automatic vacuum cleaners that automatically clean indoor floors and the like 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 with respect to 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 drops dust on the shelves to the floor with the air, and the dust that has fallen to the floor is 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] JP 2022-11734 A Summary of the Invention [Problem to be solved by the invention]

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

[0006] In addition, drones use their airflow to knock dust off shelves, but for example, dust that is attached to the top surface of a shelf may not be easily moved by airflow alone, creating the problem that dust that has accumulated on the shelf cannot be reliably cleaned.

[0007] Therefore, an object of the present invention is to provide a cleaning drone that can automatically and reliably clean even in places where there is a large step 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 provides an aircraft cleaning system comprising: (1) an aircraft body that flies unmanned; a cleaning tool attached to the aircraft body; a cleaning tool drive mechanism that is provided on the aircraft body and causes the cleaning tool to perform a sweeping action; air suction and discharge means that is provided on the aircraft body and 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 by the air suction and discharge means; the aircraft body is provided with a cleaning tool attachment part to which the cleaning tool is attached on its outer periphery, the cleaning tool comprising a brush body and a support rod that supports the brush body and is provided on the cleaning tool attachment part; the cleaning tool drive mechanism is configured to cause the cleaning tool attached to the cleaning tool attachment part to perform a sweeping action; the air suction and discharge means includes a duct that is attached to the aircraft body, one end of the duct protruding outward from a side surface of the aircraft body, and this protruding end is formed as a suction port, the suction port being: The cleaning tool that is subjected to a sweeping operation by the cleaning tool drive mechanism A position adjacent to the brush body And downstream This is a cleaning drone that is characterized by being configured to be positioned.

[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 exhaust means is a cleaning drone characterized in that it 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.

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

[0013] (6) In the above (1) or (2), the cleaning tool is a cleaning drone characterized in that it is removably 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), a cleaning system is characterized by including a charging station for charging the cleaning drone. Effect of the Invention

[0018] According to the present invention, the cleaning drone flies up to the sky above the surface to be cleaned, the cleaning tool drive mechanism causes the cleaning tool to perform the cleaning operation, the dust moved by the cleaning operation is sucked in through the suction port of the air suction and discharge means, and the dust in the sucked air is captured by the dust capture section. Since 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 moved, and once moved, the dust is easily sucked in by the suction force of the air suction and discharge means. As a result, it is possible to automatically and reliably clean even places with large steps relative to the floor surface without using an automatic vacuum cleaner. [Brief description of the drawings]

[0019] The drawings show 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 the cleaning drone according to the first embodiment. [Diagram 2] FIG. 1 is a side view of the cleaning drone according to the first embodiment. [Diagram 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 the air above the charging station and replacing brushes. [Diagram 5] FIG. 1 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] FIG. 1 shows the first embodiment, where (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]13 shows 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] 13 shows 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] 13 shows 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] 13 shows 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 PREFERRED EMBODIMENTS

[0021] Each embodiment will be described in detail below with reference to the accompanying drawings. In this embodiment, the description of already known technologies will be omitted. In addition, the following is an example of an apparatus and method for embodying the technical idea of ​​the invention, and the technical idea of ​​the present invention is not limited to the following. The technical idea of ​​the present invention can be modified in various ways within the scope of the matters described in the claims. In particular, 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 aircraft body 10, a brush 11 which is a cleaning tool attached to the aircraft body 10, a brush drive mechanism 12 (shown in Figure 5) which is a cleaning tool drive 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 surface 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 rotating 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 portion 16 between a gripping position and a release position. In the gripping position, the brush attachment portion 16 grips the brush 11. In the release position, the brush attachment portion 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, the brush 11 is positioned in a direction extending diagonally downward from the aircraft body 10, as shown in Fig. 2 and Fig. 8(b). At the replacement position, the brush 11 is positioned in a direction extending directly below the aircraft body 10, as shown in Fig. 4(b).

[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 a 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 about its axis. In other words, the rotation of the brush body 11a exerts an external force directly on the dust G on the surface to be cleaned, moving and collecting the dust G. In this first embodiment, the rotational action of the brush body 11a is the cleaning action. Here, the dust G refers to dust, dirt, fine particles smaller than these, and the like. It does not matter what size it is.

[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 Figs. 3 and 5). One end of the duct 17 protrudes outward from the side surface of the aircraft body 10, and this protruding end is formed as a suction port 17a. The suction port 17a is located in the vicinity of the brush body 11a attached to the brush attachment part 16, and downstream in the direction in which dust G on the surface to be cleaned moves due to the rotation of the brush body 11a. The other end of the duct 17 protrudes directly downward from the center position of the underside of the aircraft body 10, and this protruding end is formed as 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 exhausts the sucked air to the outside through the exhaust 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 dust-proof filter 18 is detachably provided on the duct 17. Therefore, the dust-proof filter 18 can be easily cleaned and replaced.

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

[0034] Next, a configuration centered on a 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 by the processor. The control program includes an automatic driving program.

[0036] The control device 20 is responsible for the overall control of the cleaning drone 1. The details will be described 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 sensor 23 is arranged all around (up and down, front and back, left and right) the cleaning drone 1, and acquires image data of objects in the entire surroundings. The image sensor 23 is, for example, a CCD imaging element or a CMOS. The image sensor 23 also functions 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 sensor (camera) 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 objects in the all around. 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, such as 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 irradiates parallel light, one that makes dust G easier to see, or a combination of multiple types of these.

[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 the distance sensor 24. For example, "MATLAB (registered trademark) Navigation Toolbox" or the like is used to create the 3D map data. Furthermore, 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 dust G based on the detection information from the image sensor 23 and the distance sensor 24. In other words, the image sensor 23 and the 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 itself.

[0041] The flight control unit 32 controls the driving of the four propeller motors 39 based on flight commands from the operation terminal 5 or the control unit 20 to fly the cleaning drone 1. The flight control unit 32 utilizes 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., to control the driving of the four propeller motors 39. The flight control unit 32 controls the flight so as to avoid contact with other objects during normal flight based on detection information from the image sensor 23, distance sensor 24, and position sensor 25a. However, cleaning operations and landing operations are excluded. The flight command from the control unit 20 is flight on an automatic flight route previously stored in the memory unit, etc.

[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 (chargeable state). 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-collection waste door control unit 37 controls the driving of the dust-collection waste door opening / closing mechanism 46. That is, it controls the opening and closing of the dust-collection waste door 19.

[0045] The input unit 21 has, for example, an operation key, and allows a user to input commands, information, etc. Even if the operation terminal 5 cannot be used or is not used, the user can directly input commands, information, etc. 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 according to a wireless LAN such as WiFi (registered trademark) or an arbitrary communication standard such as Bluetooth (registered trademark).

[0047] (Operation terminal) The operation terminal 5 is, for example, a smartphone, as shown in Fig. 6. The operation terminal 5 has a control device 50. The control device 50 includes a processor, a storage unit (RAM and ROM), and the like. 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 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, etc. via the antenna 52, and receives transmission information from the cleaning drone 1, etc. 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 required by the user (e.g., the flight position of the cleaning drone), etc. For example, the display unit 55 displays a 3D (three-dimensional) map of the surrounding environment created by the environment measurement unit 30, and the user specifies a cleaning point with 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 can store the brush 11 in an upright state by storing the brush body 11a of the brush in the recess.

[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, 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 above 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 exit position shown in Figure 4 (b) and the cleaning drone 1 is in a position close to the charger 62 and the upper 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 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 be described. As shown in Fig. 4(a) and (b), two types of brushes 11, 11A are accommodated in the brush storage section 63 of the charging station 6. The two types of brushes 11, 11A are the brush 11 attached to the cleaning drone in this first embodiment, that is, the brush 11 with a relatively low bristle density and a relatively high bristle rigidity, and the brush 11A with a very high bristle density, a 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 set to the exit position, and the cleaning drone 1 hovers in the vicinity of the charger 62, and 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 part 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 holding the base part 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 being held. 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, a description will be given of 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 a vacant space.

[0056] As shown in FIG. 4(b), the charger 62 of the charging station 6 is set to the exit position, the cleaning drone 1 is hovered in the vicinity of 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 increased to complete removal. Next, a new brush 11A is attached by the brush attachment operation described above, and the process is completed.

[0057] (Outline of the operation of the cleaning system) Next, the general operation of the cleaning system will be described based on the flowchart in Fig. 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 Fig. 4(a)).

[0058] The control device 20 of the cleaning drone 1 constantly checks whether there is a cleaning start command from the operation terminal 5 or the like (step S1). When there is a cleaning start command, it checks whether the remaining battery level is equal to or greater than a specified value (step S2). If the remaining battery level is less than the specified value, that is, insufficient, it waits until the remaining battery level is equal to or greater than the specified value. The charging state of the cleaning drone 1 has the highest priority.

[0059] When the remaining battery power is equal to or greater than a specified value, that is, when there is sufficient battery power, flight begins (step S3). The flight path is, for example, one revolution 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 and checking 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 surface) from the 3D map data (step S5).

[0061] Next, the control device 20 flies the cleaning drone 1 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 of the image sensor 23 and the distance sensor 24 (step S7).

[0062] Next, as shown in Fig. 8(a) and (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 together with air into the duct 17 through the suction port 17a 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 exhaust port 17b. Note that Fig. 8(a) and (b) show an example in which dust G is removed from the top surface of a shelf T as the surface to be cleaned.

[0063] The sweeping action 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 goes into standby mode 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 goes into standby mode 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 moving speed of the brush 11 moving on the surface to be cleaned in the cleaning area by controlling the moving 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. The same control can 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. That is, once cleaning of a cleaning point by a predetermined operation is completed, it is confirmed 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 part of the 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 (type of dust G, shape of dust G, size of dust G, amount of dust G) of the cleaning area based on the detection information from the image sensor 23 and the distance sensor 24. Based on the analysis result, 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 instruct the suction drive control unit 34 on the suction strength of the air. This makes it possible to perform cleaning according to the dust situation.

[0069] When the control device 20 determines that it is necessary to change the type of the brush 11 based on the above analysis result, the control device 20 may perform control to replace the brush 11. In other words, the cleaning drone 1 may be temporarily returned to the charging station 6 to replace the brush 11, and then may fly to the cleaning point again to perform cleaning with the new brush 11A.

[0070] The control device 20 divides the cleaning process into several steps, and forcibly inserts a charging process between the divided cleaning processes, thereby controlling 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 mounted can be made smaller and lighter, and thus 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 up to the sky above the trash can and automatically opens and closes the dust collection and disposal door 19 to discard the dust G. The dust G may also 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 exhaust means 13 provided on the aircraft body 10 that sucks in outside air through a suction port 17a and exhausts the sucked air to the outside through an exhaust port 17b, and a dust filter 18 that captures dust G mixed in the air sucked in by the air suction and exhaust means 13.

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

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

[0075] The air suction and exhaust means 13 exhausts air downward from the exhaust port 17b. Therefore, lift can be assisted, resulting in reduced power consumption.

[0076] The aircraft body 10 is provided with an image sensor 23 and a distance sensor 24, that is, a dust detection sensor, for detecting 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 a user can operate the cleaning drone 1 remotely.

[0078] The cleaning drone system includes a charging station 6, making 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 is partially different from the cleaning system of the first embodiment in the configuration of the cleaning drone 1A.

[0080] That is, the duct 17 of the air suction and exhaust means 13 is branched into four on the downstream side of the dust filter 18. The exhaust ports 17b of the four branch ducts 48 are each extended to a position below the support positions of the four propellers 10a, and are each positioned so as to exhaust air directly downward from each of those positions. The amount of exhaust air to the four branch ducts 48 is configured to be adjustable.

[0081] The configuration other than the above is the same as that of the first embodiment, and therefore a duplicated description will be omitted. Also, in Fig. 9, the same components as those of the first embodiment are given the same reference numerals for clarity.

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

[0083] In the second embodiment, the duct 17 of the air suction and exhaust 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 partially different from the cleaning system of the first embodiment in the configuration of the cleaning drone 1B.

[0085] That is, a lift assistance duct 49 is connected to the duct 17 of the air suction and discharge means 13. The tip of the lift assistance 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 from the suction port 17a opening near the brush body 11a and from which dust G has been removed by the dustproof filter 18 is discharged to the exhaust port 17b opening at the center below the aircraft body 10, and the air sucked from the directly above suction port 49a opening at the center above 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, any dust that cannot be captured by the duct 17 and is 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. Also, in Fig. 10, the same components as those of the first embodiment are given 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 on the floor, such as shelves and desks, without using an automatic vacuum cleaner for the floor.

[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 since the air resistance passing through the lift assistance duct 49 is smaller. Furthermore, in order to remove the stirred-up dust G, the lift assistance duct 14 is either joined upstream of the dust filter 18 or a separate filter is 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 provided 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 in the configuration of a 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 integrally 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 the vicinity of the suction port 17a of the duct 17 of the air suction and discharge means 13.

[0093] The cleaning drone 1 flies to a cleaning point with multiple brushes 11 attached. By selectively positioning multiple types of brush attachment parts 16 in the vicinity of 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. Also, 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 vacuum cleaner for the floor.

[0096] In the fourth embodiment, the four brush attachment parts 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 shortened.

[0097] More specifically, in the first embodiment, when sweeping and cleaning with a plurality of brushes 11, 11A, two methods are possible. In one method, after performing a suction action on the cleaning area with the brush 11 and duct 17 located in the vicinity of the suction port 17a, the brush returns to the charging station 6 and is replaced with a new type of brush 11A, and then flies again to the cleaning point and performs a suction action on the cleaning area with the new brush 11A and the suction port 17a of the duct 17.

[0098] Another method is to fly different types of brushes 11, 11A attached to the brush attachment parts 16 at multiple locations, and sweep the area to be cleaned with the brush 11 located close to the suction port 17a of the duct 17 and perform a suction action by the suction port 17a of the duct 17, and then once only sweep the area to be cleaned with the brush 11A located farther from the suction port 17a of the duct 17, and then only perform a suction action by the suction port 17a of the duct 17 on the area to be cleaned. Compared to any 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 partially different from the cleaning system of the first embodiment in the configuration of a cleaning drone 1D.

[0100] That is, the entire outer periphery (front / back, left / right, top / bottom periphery) of the aircraft body 10 including the four propellers 10a of the cleaning drone 1D is covered with a 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. Also, in Fig. 10, the same components as those of the first embodiment are given 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 even places with large steps on the floor, such as shelves and desks, without using an automatic vacuum cleaner for the floor.

[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 periphery) 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 the four propellers 10a.

[0105] It is preferable that the protective cover 70 has 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] (Modification) In each of the above embodiments, the aircraft body 10 is a quadcopter having four propellers 10a, but it may be a tricopter having three propellers 10a, a hexacopter having six propellers 10a, an octacopter having eight propellers 10a, or something else.

[0107] In each of the above-described embodiments, the brush drive control unit 34 rotates the brush 11, 11A on the surface to be cleaned, but it may also be a movement of reciprocating horizontally on the surface to be cleaned, a movement that combines rotation and reciprocating, a movement of rotating while applying vibration, or a movement of reciprocating while applying vibration. That is, in each of the above-described embodiments, the sweeping action is a rotational action, but it may be an action that can sweep up dust G. It is preferable that the reciprocating action is performed with the brush body 11a in contact with the surface to be cleaned on the outward 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-described embodiments, the bristle attachment parts 16 are provided at four locations on the aircraft body 10, but except for the fourth embodiment, the number of locations may be one, two, three, or five or more. In the fourth embodiment, the number of locations must be at least two.

[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 more accurate analysis of the dust situation is possible when the sensor is composed of both the image sensor 23 and the distance sensor 24. In each of the above-described embodiments, the dust trapping portion is formed of the anti-dust filter 18, but it may be of any configuration capable of trapping the dust G. For example, a cyclone type that collects the dust G by centrifugal force may be used.

[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 in this way, it is possible to rotate the duct 7 and change the position of the suction port 17a to the side of the brush to be used, or to adjust the position of the suction port 17a relative to the brush 11.

[0111] In each of the above-described 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 fixed 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 is 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 embodiment, the cleaning area can be set as follows. That is, the cleaning area can be set to the entire indoor area that the cleaning drones 1, 1A to 1D can reach, the entire indoor area within a certain distance from the charging station 6, or a pre-set area. A distance sensor is used to confirm in advance that 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 the like to be recognized, enabling control according to the situation. For example, by controlling the output of the suction mechanism 43 according to the state of suction of dust G by the means for checking the suction of dust G, dust G can be sucked in accurately.

[0114] In each of the above-described embodiments, the cleaning drone 1 may be provided with a warning means to issue a warning to the surroundings before starting flight. Also, an emergency stop command may be issued from the charging stand 6 or the operation terminal 5 to enable emergency stopping before and after flight.

[0115] (Application example) In each of the above embodiments, the cleaning drone 1, 1A to 1D is provided with a cleaning function, but a cleaning mechanism may be provided along with the cleaning function. Although cleaning and cleaning cannot be accurately distinguished and there is some overlap, roughly speaking, the action of cleaning is to remove dust from the surface to be cleaned, and cleaning is to remove dirt from the surface to be cleaned and make it clean.

[0116] That is, 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 also includes a wiping member (e.g., a sheet material) on the aircraft body and a wiping member drive mechanism for moving the wiping member. First, as in each of the above embodiments, dust on the surface to be cleaned is removed by the cleaning tool, the cleaning tool drive mechanism, the air suction and discharge means, and the dust capture unit, and then the wiping drive mechanism moves the wiping member in a reciprocating motion on the surface to be cleaned to wipe off dirt together with the dust.

[0117] The cleaning drone is configured to include a wiping member (e.g., a sheet material) on the aircraft body and a wiping member drive mechanism for moving the wiping member. The wiping member drive mechanism moves the wiping member in a reciprocating motion or the like on the surface to be cleaned to capture dust and wipe off 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 application means for applying a liquid. First, the liquid application means 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 on the surface to be cleaned to capture dust and wipe off the dirt.

[0119] (Cleaning tools) Cleaning tools are tools used to sweep or brush away dust, and include brushes, sponges, mops, dusters, etc. Brushes come in a variety of types, depending on the density, flexibility, and stiffness of the bristles used, and are selected based on the condition of the 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 above in detail, it is not limited to a specific embodiment, and various modifications and changes are possible within the scope of the claims. In addition, it is also possible to combine all or a plurality of components of the above-mentioned 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 Dust 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 for causing the cleaning tool to perform a sweeping action; an air suction and exhaust means provided in the aircraft body for sucking in outside air through a suction port and exhausting the sucked air to the outside through a discharge port; a dust capture unit that captures dust mixed in the air sucked by the air suction and discharge means; Equipped with The aircraft body includes a cleaning tool attachment portion for attaching the cleaning tool to an outer periphery thereof, The cleaning tool includes a brush body and a support rod that supports the brush body and is provided on the cleaning tool attachment part, The cleaning tool drive mechanism is configured to cause the cleaning tool attached to the cleaning tool attachment part to perform a sweeping action, the air suction and exhaust means comprises a duct attached to the aircraft body, One end of the duct protrudes from a side surface of the aircraft body to the outside, and the protruding end is formed as a suction port; The suction port is configured to be located near and downstream of the brush body of the cleaning tool that is subjected to a sweeping operation by the cleaning tool drive mechanism. A cleaning drone that features

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 outlet is provided at a plurality of locations, and the exhaust air volume of each exhaust outlet can be controlled individually.

4. The cleaning drone according to claim 1 or 2, characterized in that the air suction and exhaust 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 a plurality of attachment portions for the cleaning tool.

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. A cleaning drone according to claim 1 or 2; A cleaning system 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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