Robot

Abstract

A robot according to an embodiment comprises a robot body, a chemical tank, and a control unit. The robot body is provided with a traveling part and can autonomously travel. The chemical tank is detachably connected to the robot body and stores a plurality of cleaning chemicals. The control unit controls the operation of the robot body so as to detect the dirt state of a cleaning target, select a cleaning chemical that matches the dirt state from among the plurality of cleaning chemicals, and clean the cleaning target using the selected cleaning chemical.

Description

robot

[0001] The disclosed embodiments relate to a robot.

[0002] Conventionally, autonomous cleaning robots that clean indoor floors such as hardwood floors have been known (see, for example, Patent Document 1). Among these cleaning robots, robots that have both a vacuum cleaner function for sucking up dust and a wet mop function for wiping with water are also known.

[0003] JP 2024-74658 A

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

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

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

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

[0008] FIG. 1 is a diagram illustrating an overview of a cleaning system according to a first embodiment. FIG. 2 is a diagram illustrating an overview of a cleaning robot according to the first embodiment. FIG. 3 is a diagram illustrating an overview of a cleaning robot according to the first embodiment. FIG. 4 is a functional block diagram illustrating an overview of a control device for a cleaning robot according to the first embodiment. FIG. 5 is a flowchart illustrating processing executed by a cleaning robot according to the first embodiment. FIG. 6 is a diagram illustrating an example of a computer hardware configuration that functions as a cleaning robot or a management device. FIG. 7 is a diagram illustrating an overview of a cleaning robot according to a second embodiment. FIG. 8 is a diagram illustrating an overview of a cleaning robot according to the second embodiment. FIG. 9 is a diagram illustrating a bending forward posture.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0022] The robot body 10 is provided with drive mechanisms such as motors that move each part of the robot, such as the legs 10b, arms 10c, and head 10d.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0044] The storage unit 31 is realized by, for example, a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk drive (HDD), a solid state drive (SSD), an optical disk, etc. The storage unit 31 stores various programs and various data.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0078] Next, a second embodiment will be described with reference to FIGS.

[0079] A cleaning robot 2 according to a second embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 and Fig. 8 are diagrams showing an outline of the cleaning robot 2 according to the second embodiment. Fig. 7 shows a side view of the cleaning robot 2 as seen from the right side, and Fig. 8 shows a side view of the cleaning robot 2 as seen from the left side.

[0080] As shown in Fig. 7, the cleaning robot 2 includes a robot main body 10, a detection unit 12, a control device 13, and a chemical tank 20. The cleaning robot 2 is capable of autonomous travel and cleans a cleaning target. The cleaning target may be, for example, a toilet (toilet bowl), a piece of equipment installed in a facility such as a washroom, or a floor. The cleaning target may also be the robot main body 10 or the rollers of a traveling unit 23 (described later).

[0081] The robot body 10 is a one-legged pillar-shaped humanoid robot attached to a base such as an automated guided vehicle (AGV). The robot body 10 comprises a trunk 10a and one leg 10b.

[0082] The robot body 10 has at least a waist joint located at the upper end of the legs and a knee joint. In other words, the robot body 10 has at least two joints: a joint at the part corresponding to the waist of a human, and a joint at the part corresponding to the knee of a human.

[0083] For example, if the torso 10a is modeled after the upper half of a human body, the robot body 10 may further include arms 10c and a head 10d. The robot body 10 may also include additional joints above the waist joint, which is the third joint from the bottom. For example, the robot body 10 may further include at least one of a shoulder joint located at the top of the arm 10c, a wrist joint located at the bottom of the arm 10c, a finger joint 10e located approximately at the bottom of the arm 10c, and a neck joint located at the bottom of the head 10d. Hereinafter, the arm 10c and the finger 10e may be collectively referred to as the "arm."

[0084] Here, the legs 10b are movably attached to the torso 10a at the waist and movably attached to the fixed base 22 at the knees, the arms 10c are movably attached to the torso 10a at the shoulders, and the head 10d is movably attached to the torso 10a at the neck.

[0085] Furthermore, the robot body 10 can freely change the position and orientation of the torso 10a, legs 10b, arms 10c, and head 10d by moving the above-mentioned joints back and forth and left and right, and by rotating them relative to a horizontal plane. This allows the robot body 10 to move like a human being and clean the cleaning target.

[0086] The robot body 10 is provided with drive mechanisms such as motors that move each part of the robot, such as the legs 10b, arms 10c, and head 10d.

[0087] The arm 10c has fingers 10e at its tip. For example, five fingers 10e are provided at the tip of the arm 10c. Each finger 10e can be bent by a driving mechanism such as a motor.

[0088] The detection unit 12 is provided, for example, in the head 10d of the robot main body 10. Note that the detection unit 12 may be provided in a location other than the head 10d, such as the running unit 14 or the torso unit 10a. The detection unit 12 detects the situation around the robot main body 10. The detection unit 12 includes, for example, a high-sensitivity camera capable of 360-degree sensing, LiDAR, a thermal camera, radar, etc. The detection unit 12 may include sensors for vision recognition, fine sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, etc. A plurality of detection units 12 may be provided. The detection unit 12 may be multiple types of sensors, etc.

[0089] The detection unit 12 also includes a positioning device. The positioning device is, for example, a GNSS, and can receive radio waves from navigation satellites orbiting in the sky to determine position and time. The positioning device also includes a communication module that transmits information about its own detected position. The positioning device detects the position of the detected accident as the position of the robot main body 10. The detected position information of the robot main body 10 is transmitted to the management device 4 via the network N.

[0090] The control device 13 is a control device that controls the operation of the robot main body 10. Specifically, the control device 13 rotates each joint provided on the robot main body 10 using a motor (not shown), thereby moving the torso 10a, legs 10b, arms 10c, head 10d, and fingers 10e and changing the posture of the robot main body 10. An example of the configuration of the control device 13 will be described later with reference to FIG. 5.

[0091] The chemical tank 20 includes a tank body 21, a fixed base 22, and a travel section 23. The tank body 21 is a tank that stores a plurality of cleaning chemicals therein. The cleaning chemicals may be, for example, chlorine-based or oxygen-based disinfectant detergents, cleansers, disinfectant bleaches, etc. The cleaning chemicals may be liquid or powder. Furthermore, each cleaning chemical is separated inside the tank body 21 by a partition plate (not shown).

[0092] 7, the tank body 21 has a plurality of discharge nozzles 211, 212 arranged on the right side, which is the outer circumferential surface of the tank. The plurality of discharge nozzles 211 are connected to the inside of the tank body 21 and are configured to be able to discharge each of the plurality of cleaning chemicals stored inside to the outside (the object to be cleaned).

[0093] 8, the tank body 21 has a plurality of cleaning tools 213 to 216 arranged on the left side, which is the outer circumferential surface of the tank. The cleaning tool 213 is a mop member for cleaning the floor. The cleaning tool 214 is a blower (such as a hairdryer). The cleaning tool 215 is a discharge nozzle for discharging water.

[0094] The water is stored, for example, inside the tank body 21. The cleaning tool 216 is, for example, a wiping member such as toilet paper. Among the cleaning tools 213 to 216, the cleaning tool 213, which is a mop member, is detachably attached to the tank body 21 by a magnet or the like. In other words, the cleaning tool 213, which is a mop member, can be removed from the tank body 21 and used.

[0095] The fixed base 22 is a fixing member to which the robot body 10 and the chemical tank 20 are fixed. Specifically, the robot body 10 and the chemical tank 20 are fixed integrally (non-detachably) to the upper surface of the fixed base 22. The knee joints of the robot body 10 are fixed to the fixed base 22 so as to be movable.

[0096] The running unit 23 is, for example, an automated guided vehicle. The running unit 23 is provided on the underside of the fixed base 22 and is provided with rollers such as wheels. For example, the running unit 23 is provided with four rollers. Note that the number of rollers for the running unit 23 is not limited to this. Furthermore, the running unit 23 and the fixed base 22 may be configured as an integrated unit (non-detachable) or as separate units (detachable).

[0097] The rollers can rotate relative to the traveling unit 23. For example, the rollers are rotated by receiving rotation generated by a motor. The cleaning robot 2 can travel as a result of the rotation of the rollers.

[0098] 7, the robot main body 10 can move the arms (arm 10c and fingers 10e) under the control of the control device 13 to grasp the discharge nozzles 211 and 212. In FIG. 7, the right arm (first arm) located on the right side of the robot main body 10 is shown grasping the discharge nozzle 212.

[0099] With the right arm gripping the discharge nozzle 212, the robot main body 10 can change the posture of the right arm to point the discharge nozzle 212 toward the cleaning target. This allows the robot main body 10 to spray the cleaning chemicals onto the cleaning target by discharging the cleaning chemicals from the discharge nozzle 212.

[0100] 8, the robot body 10 can grasp cleaning tools 213 to 216 by moving the arms (arm 10c and fingers 10e) under the control of the control device 13. In FIG. 8, the robot body 10 is shown in a position where the left arm (second arm) located on the left side of the robot body 10 grasps the cleaning tool 213.

[0101] The robot main body 10 can change the posture of the left arm while holding the cleaning tool 213, thereby removing the cleaning tool 213 from the tank main body 21 and bringing the cleaning tool 213 into contact with the object to be cleaned. This allows the robot main body 10 to clean (polish) the object to be cleaned using the cleaning tool 213.

[0102] In this way, the robot body 10 can grasp and use cleaning chemicals and cleaning tools with different arm sections (right arm section and left arm section), respectively, and therefore can spray cleaning chemicals and clean with the cleaning tools in parallel, thereby improving the efficiency of cleaning work.

[0103] Furthermore, as described above, the cleaning robot 2 can select cleaning chemicals according to the state of dirt on the object to be cleaned and clean the object to be cleaned using the selected cleaning chemicals, thereby being able to clean a variety of objects to be cleaned using cleaning chemicals.

[0104] Next, the bending-forward posture when cleaning a floor with a mop member will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining the bending-forward posture. As shown in Fig. 9, when cleaning a floor with a mop member, the cleaning robot 2 controls the robot main body 10 to assume a bending-forward posture with the trunk 10a tilted.

[0105] Specifically, the cleaning robot 2 controls the robot body 10 to assume a forward bending posture in which the body 10a is approximately parallel to the ground (floor). More specifically, the cleaning robot 2 controls the robot body 10 to assume a forward bending posture in which the mop members attached to the tips of the arms (i.e., the fingers 10e) can come into contact with the ground. This allows the robot body 10 to clean the floor using the mop members gripped by the arms.

[0106] Furthermore, if the robot body 10 and the chemical tank 20 were configured as separate bodies, the robot body 10 would fall over and would not be able to maintain the forward bending posture in which the torso 10a is parallel to the ground. On the other hand, by configuring the robot body 10 and the chemical tank 20 as an integral unit as in the present disclosure, the robot body 10 can maintain the forward bending posture by assuming a forward bending posture parallel to the ground.

[0107] 9 shows the robot body 10 in a bent-forward position when cleaning the floor using a mop member, but the robot body 10 may also be configured to directly touch the floor to clean. For example, the cleaning robot 2 controls the robot body 10 to bend forward so that the tip of the arm can come into contact with the ground. This allows the robot body 10 to directly clean the floor using a cloth or the like, or to pick up dirt that has fallen on the floor.

[0108] Next, the operations of the detection unit 321, the selection unit 322, and the operation control unit 323 in the second embodiment will be described.

[0109] The detection unit 321 detects the dirt state of the cleaning target based on the information detected by the detection unit 12. First, the detection unit 321 detects the cleaning target. For example, the detection unit 321 detects the cleaning target based on an image captured by a camera, which is a sensor of the detection unit 12.

[0110] For example, the detection unit 321 performs template matching between a template image of a cleaning target specified by the management device 4 and an image obtained from the detection unit 12, and detects the cleaning target if the template image is included in the image.

[0111] Next, when the detection unit 321 detects a cleaning target, it identifies the positional relationship between the cleaning target and the cleaning robot 2, and moves the position of the cleaning robot 2 relative to the cleaning target to a working position. More specifically, the template image is an image captured at the working position, and the detection unit 321 detects that the cleaning robot 2 has reached the working position when the degree of match between the image captured by the camera and the template image is equal to or greater than a threshold. The working position is the position where the cleaning robot 2 will clean the cleaning target, and is the optimal (easy to clean) position for cleaning the cleaning target.

[0112] Next, the detection unit 321 detects the dirt state of the cleaning target using the sensor of the detection unit 12. Specifically, the detection unit 321 detects whether the cleaning target is dirty, the degree of dirt, the type of dirt, etc. The presence or absence of dirt, the degree of dirt, and the type of dirt can be detected based on an image captured by a camera, for example.

[0113] Specifically, the detection unit 321 detects the presence or absence of dirt based on the comparison result between a reference image captured when the cleaning target is clean and an actual image captured of the cleaning target. For example, if there is an area where the color tone differs between the area of ​​the cleaning target in the actual image and the area of ​​the cleaning target in the reference image, the detection unit 321 detects that area as a dirty area (i.e., detects the presence of dirt).

[0114] The detection unit 321 also calculates a dirt ratio, which is the ratio of the area of ​​the dirty area to the area of ​​the region to be cleaned, and detects the dirt ratio as the degree of dirt. Note that the degree of dirt may be classified, for example, as "high" or "low" depending on the dirt ratio.

[0115] The detection unit 321 also detects the type of dirt based on the color, shape, etc. of the dirty area. The types of dirt include, for example, water stains, mold, excrement (feces, etc.), etc.

[0116] The selection unit 322 selects a cleaning method depending on the dirt state detected by the detection unit 321. Specifically, the selection unit 322 selects cleaning chemicals and cleaning tools depending on the dirt state.

[0117] For example, when the object to be cleaned is a toilet bowl, the selection unit 322 selects an acidic cleaning chemical when the inside of the toilet bowl is soiled with limescale, and selects an alkaline detergent when the inside of the toilet bowl is soiled with mold or feces.

[0118] Furthermore, the selection unit 322 selects the cleaning tool 215, which is a discharge nozzle that discharges water a predetermined time (e.g., five minutes) after the cleaning chemicals have been sprayed inside the toilet bowl. In other words, the selection unit 322 selects a cleaning method for cleaning the inside of the toilet bowl by flushing water after the cleaning chemicals have been sprayed.

[0119] It is preferable not to perform cleaning such as scrubbing the inside of the toilet bowl with a brush, etc., in order to prevent dirt from adhering to the robot main body 10. The selection unit 322 also wipes the outside of the toilet bowl using, for example, the cleaning tool 216, which is a wiping member.

[0120] In addition, when the object to be cleaned is a washstand, the selection unit 322 selects a cleaning method of spraying water after spraying cleaning chemicals into the washbowl, and selects a cleaning method of wiping the washbowl counter with a cleaning tool 216 which is a wiping member.

[0121] Furthermore, when the cleaning target is a floor, the selection unit 322 selects a cleaning method in which water is sprayed onto the floor using the cleaning tool 215 and then the floor is wiped using the mop member of the cleaning tool 213.

[0122] Furthermore, when the cleaning target is the roller 14a of the traveling unit 14, the selection unit 322 selects a cleaning method using a cleaning tool for the roller 14a of the traveling unit 14. For example, the selection unit 322 selects a cleaning method using a mop member or a wiping member.

[0123] The operation control unit 323 controls the operation of the robot main body 10 in accordance with the cleaning method selected by the selection unit 322. For example, the operation control unit 323 controls the first arm to grab the cleaning chemical selected by the selection unit 322. The operation control unit 323 also controls the second arm to grab the cleaning chemical selected by the selection unit 322.

[0124] Specifically, the rotation angle of the joint of the arm unit is determined for each cleaning chemical or cleaning tool, and the operation control unit 323 rotates the joint to a rotation angle corresponding to the selected cleaning chemical or cleaning tool. Alternatively, the operation control unit 323 may store the installation positions of the cleaning chemicals and cleaning tools in the tank body 21, and calculate the rotation angle of the joint that allows the tip of the arm unit (i.e., the finger 10e) to reach the installation position.

[0125] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0126] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order.

[0127] REFERENCE SIGNS LIST 1 Cleaning system 2 Cleaning robot 4 Management device 10 Robot body 10a Torso 10b Legs 10c Arms 10d Head 10e Fingers 12, 321 Detection unit 13 Control device 14, 23 Travel unit 14a Roller 20 Chemical tank 21 Tank body 22 Magnet 30 Communication unit 31 Memory unit 32 Control unit 211, 212 Discharge nozzle 213, 214, 215, 216 Cleaning tool 322 Selection unit 323 Operation control unit

Claims

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

2. The robot according to claim 1, further comprising a magnet member that detachably connects the traveling part of the robot body and the chemical tank.

3. The robot according to claim 1, wherein the chemical tank has a plurality of discharge nozzles arranged on the outer circumferential surface of the tank for discharging each of the plurality of cleaning chemicals, and the control unit controls the robot body so that the arm of the robot body grasps the discharge nozzle corresponding to the selected cleaning chemical and discharges the cleaning chemical onto the object to be cleaned.

4. The robot according to claim 3, wherein the chemical tank has a cleaning tool disposed on the outer periphery of the tank, and the control unit controls the robot body to grasp the discharge nozzle with the first arm unit and grasp the cleaning tool with the second arm unit.

5. The robot according to claim 4, wherein the object to be cleaned is a toilet bowl, the cleaning tool is a wiping member, and the control unit controls the robot body to perform a finishing wipe of the toilet bowl using the wiping member.

6. The robot according to claim 4, wherein the object to be cleaned is a sink, the cleaning tool is a wiping member, and the control unit controls the robot body to perform a finishing wipe of the sink using the wiping member.

7. The robot according to claim 4, wherein the object to be cleaned is a floor, the cleaning tool is a mop member, and the control unit controls the robot body to clean the floor using the mop member.

8. The robot according to claim 4, wherein the cleaning target is the traveling unit, and the control unit controls the robot body to clean the traveling unit using the cleaning tool.

9. A robot comprising: a robot body capable of autonomous travel; a chemical tank formed integrally with the robot body and storing a plurality of cleaning chemicals; and a control unit that detects the state of dirt on an object to be cleaned, selects a cleaning chemical that suits the state of dirt from the plurality of cleaning chemicals, and controls the operation of the robot body to clean the object to be cleaned using the selected cleaning chemical.

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