Cleaning robot

Abstract

This cleaning robot comprises: an object detection unit that detects the presence of a person in a cleaning area; a movement determination unit that determines a movement direction; a movement control unit that controls a movement direction and a movement speed; and a drive mechanism that moves the cleaning robot in accordance with a designated movement direction and movement speed. When the presence of a person in the cleaning area is detected, the movement determination unit sets the current position of the person as a target point. The movement control unit moves the cleaning robot toward the target point.

Description

Cleaning robot

[0001] The present invention relates to an autonomous cleaning robot.

[0002] In recent years, autonomous cleaning robots (hereinafter simply referred to as "cleaning robots") that autonomously move around and clean floors have become popular. By having cleaning robots take over floor cleaning tasks that were previously performed by humans, benefits such as freeing up time for other tasks and reducing labor costs can be enjoyed.

[0003] JP 2023-168219 A JP 2024-61810 A Japanese Patent No. 7326642 A

[0004] Although a cleaning robot is merely a tool for cleaning floors without human intervention, the inventors have recognized that there are many people who find a cleaning robot adorable like a pet when they see it moving around on the floor and cleaning.

[0005] The present invention was completed based on the above-mentioned viewpoint of the inventor, and its main object is to provide a cleaning robot that performs actions toward people similar to those of pets.

[0006] In one aspect of the present invention, a cleaning robot includes an object detection unit that detects the presence of a person within a cleaning area, a movement determination unit that determines a movement direction, a movement control unit that controls the movement direction and movement speed, and a drive mechanism that moves the cleaning robot according to the specified movement direction and movement speed. When the movement determination unit detects the presence of a person within the cleaning area, it sets the person's current position as a target point. The movement control unit moves the cleaning robot toward the target point.

[0007] According to the present invention, it is easy to form an attachment to a cleaning robot.

[0008] FIG. 1 is an external view of a cleaning robot. FIG. 2 is an image diagram showing a state in which a cleaning robot approaches a person. FIG. 3 is an image diagram showing a state in which a cleaning robot makes contact with a person. FIG. 4 is a hardware configuration diagram of a cleaning robot. FIG. 5 is a functional block diagram of a cleaning robot. FIG. 6 is a data structure diagram of pattern management information. FIG. 7 is a flowchart showing the flow before and after the execution of "meddling". FIG. 8 is a data structure diagram of information on people who can be contacted. FIG. 9 is a flowchart showing the flow of "meddling".

[0009] The cleaning robot of this embodiment can only clean floors, like conventional cleaning robots, but can also clean floors while performing charming movements like those of pets (hereinafter referred to as "participation behavior"). Alternatively, the cleaning robot of this embodiment can simply perform participation behavior only. Below, we will first provide an overview of the cleaning robot of this embodiment and explain "messing," which is one of the participation behaviors performed by the cleaning robot. Next, we will explain the detailed configuration of the cleaning robot. Next, we will explain "messing" by the cleaning robot and the detailed processing flow before and after performing it.

[0010] 1 is an external view of the cleaning robot 100. The cleaning robot 100 is an autonomous robot that determines its behavior based on the external environment. The external environment is recognized by various sensors, such as a distance measurement sensor, a contact sensor (both of which will be described later), and a camera.

[0011] The cleaning robot 100 is designed to move indoors. In the following description, an example of the cleaning robot 100 is described, in which the range of movement is within a house H where a family F consisting of a father, mother, older brother, and younger sister lives. Furthermore, people who are involved with the cleaning robot 100, i.e., the members of the family F, are collectively referred to as "users."

[0012] The main body 102 of the cleaning robot 100 has a circular shape when viewed from above. The shape of the main body 102 when viewed from above may be triangular or rectangular, and is not particularly limited. The shape of the cleaning robot 100 is not limited to the shape of current typical cleaning robots, and may be, for example, the shape of a pet robot modeled after an animal such as a dog. The cleaning robot 100 moves using two wheels 104, most of which are hidden by the main body 102. The rotation speed and direction of the two wheels 104 can be controlled independently. In addition, training wheels (not shown) are installed on the forward direction side of the cleaning robot 100 to prevent the main body 102 of the cleaning robot 100 from tilting and to ensure smooth rotational movement of the cleaning robot 100.

[0013] A suction port 106 for sucking in dirt present on the floor surface and two collection brushes 108 for collecting the dirt are installed on the bottom surface of the main body 102 on the side in the forward direction of the cleaning robot 100. The cleaning robot 100 collects dirt on the floor surface by horizontally rotating the collection brushes 108 arranged like propellers and sends the dirt toward the suction port 106. The number of collection brushes 108 is not particularly limited and may be one or three or more.

[0014] A distance measuring sensor 110, a camera 112, a display 114, and a speaker 116 are installed on the top surface of the main body 102. The distance measuring sensor 110 is a sensor that measures the distance between the cleaning robot 100 and the wall of the house H, or between a person, object, etc. present within the house H at regular time intervals. For example, the distance measuring sensor 110 is assumed to be a sensor that can measure distance using LiDAR (Light Detection and Ranging). The camera 112 captures images of the scenery within the house H. The display 114 displays a mode selection screen, a pattern selection screen (both of which will be described later), and the like, which allow the user to select an operation to be performed by the cleaning robot 100. The display 114 is assumed to be a liquid crystal touch panel. The speaker 116 outputs operation guide audio, etc.

[0015] A contact sensor 118 is installed on the side of the main body 102. The contact sensor 118 detects pressure when the cleaning robot 100 comes into contact with a wall of the house H or a person, object, or the like present in the house H. When pressure is detected by the contact sensor 118, the cleaning robot 100 performs an operation to move away from the contact object.

[0016] Fig. 2 is an image diagram showing the cleaning robot 100 approaching a person. Fig. 3 is an image diagram showing the cleaning robot 100 coming into contact with a person. As described above, the cleaning robot 100 has a range of movement within the house H. Here, a state will be described in which the cleaning robot 100, cleaning the living room of the house H, performs "messing" as one of its involvement behaviors.

[0017] Before the cleaning robot 100 starts cleaning the floor, the user operates various screens on the display 114 to select an operation that the user wants the cleaning robot 100 to perform. First, the user selects either the "cleaning mode" button or the "cleaning pet mode" button on a mode selection screen (not shown) to select a basic operation of the cleaning robot 100. The "cleaning mode" (first mode) is a mode in which the cleaning robot 100 only cleans the floor, as with conventional cleaning robots 100. The "cleaning pet mode" (second mode) is a mode in which the cleaning robot 100 not only cleans the floor but also performs an involvement action selected on a pattern selection screen, which will be described later. Here, it is assumed that the user selects the "cleaning pet mode" button. At this time, a pattern selection screen is displayed on the display 114 instead of the mode selection screen.

[0018] The pattern selection screen (not shown) displays buttons for selecting an engagement action that the cleaning robot 100 wants to perform from among multiple engagement actions (engagement patterns) that the cleaning robot 100 can perform in the cleaning pet mode. The pattern selection screen displays, for example, a "mess" button that causes the cleaning robot 100 to make contact with a person (hereinafter referred to as "mess"), and a "round and round" button that causes the cleaning robot 100 to circle around a person (hereinafter referred to as "round and round"). Here, it is assumed that the user selects the "mess" button. It is further assumed that the user selects the "execute" button. As a result, the cleaning robot 100 starts cleaning the floor and performs "mess" during the floor cleaning.

[0019] The cleaning robot 100 uses SLAM (Simultaneous Localization and Mapping) to create a spatial map simulating a living room in advance using measurement data from the distance measurement sensor 110. The cleaning robot 100 also sets a cleaning route in advance based on the created spatial map. These processes performed by the cleaning robot 100 are known, so a detailed description thereof will be omitted here.

[0020] 2, older brother B, one of the members of family F, is sitting on a sofa in the living room, relaxing and reading a book. Meanwhile, the cleaning robot 100 moves around the living room floor, cleaning the floor, according to the cleaning route set in advance as described above.

[0021] At 3:00 PM, the cleaning robot 100 starts capturing images of the living room scene with the camera 112 at regular intervals while cleaning the floor. Assume that the camera 112 has captured an image in which brother B appears. At this time, the cleaning robot 100 determines whether or not the person captured in the captured image is a person who may perform an involvement action (hereinafter referred to as a "contactable person"). Here, it is assumed that brother B falls under the contactable person category. At this time, the cleaning robot 100 moves away from point P on the cleaning route, which is the position where the image in which brother B appears was captured, and starts moving forward toward brother B.

[0022] While moving forward toward brother B, the distance measuring sensor 110 of the cleaning robot 100 measures the distance between the cleaning robot 100 and the person (brother B) who may come into contact with the cleaning robot 100 (hereinafter referred to as the "two-person distance") at regular time intervals. Assume that the two-person distance has decreased to a change threshold value. More specifically, in this embodiment, the change threshold value is 10 cm. When the two-person distance reaches the change threshold value, the cleaning robot 100 decelerates to a speed (second speed) slower than the previous speed (first speed) and moves forward toward brother B. Preferably, the second speed is set to 80% or less of the first speed. As a result of continuing to move forward, the cleaning robot 100 lightly touches brother B's foot, as shown in FIG. 3 . After contact, the cleaning robot 100 moves away from brother B. When the two-person distance reaches the change threshold value, the cleaning robot 100 moves forward again and lightly touches brother B's foot. The cleaning robot 100 repeats this reciprocating movement three times. Thereafter, the cleaning robot 100 leaves the brother B and returns to point P. Note that the cleaning robot 100 continues cleaning the floor even while it deviates from the cleaning route and returns.

[0023] In this way, when the user selects the "Mess" button on the pattern selection screen, the cleaning robot 100 performs an action of contacting the user while cleaning the floor. This action is similar to the action that a pet takes to attract the owner's attention, and therefore, the user can develop an attachment to the cleaning robot 100.

[0024] Next, the detailed configuration of the cleaning robot will be described. Fig. 4 is a hardware configuration diagram of the cleaning robot 100. The cleaning robot 100 includes a battery 120, an internal sensor 122, a storage device 124, a processor 126, and a drive mechanism 128. The units are connected to each other by a power line 130 and a signal line 132. The battery 120 supplies power to the units via the power line 130. The units send and receive control signals via the signal line 132. The battery 120 is a secondary battery such as a lithium-ion secondary battery, and is the power source for the cleaning robot 100.

[0025] The internal sensor 122 is a collection of various sensors built into the cleaning robot 100. In this embodiment, these include the distance measurement sensor 110, the contact sensor 118, and the camera 112. The storage device 124 is composed of non-volatile memory and volatile memory, and stores computer programs and various setting information. The processor 126 is a means for executing computer programs. The drive mechanism 128 is an actuator that controls the wheels 104 and the collecting brush 108. The drive mechanism 128 changes the direction and speed of movement of the cleaning robot 100 by changing the rotation speed and direction of each of the two wheels 104. The drive mechanism 128 also rotates the collecting brush 108 horizontally to clean floor surfaces. In addition, the display 114, the speaker 116, and the like are also mounted.

[0026] FIG. 5 is a functional block diagram of the cleaning robot 100. The components of the cleaning robot 100 are realized by hardware including computing units such as a CPU (Central Processing Unit) and various coprocessors, storage devices such as memory and storage, and wired or wireless communication lines connecting them, as well as software stored in the storage devices and supplying processing instructions to the computing units. The computer program may be composed of device drivers, an operating system, various application programs located at higher levels than these, and libraries that provide common functions to these programs. The blocks described below represent functional blocks rather than hardware configurations.

[0027] The cleaning robot 100 includes a user interface processing unit 140, a data storage unit 150, a data processing unit 160, an internal sensor 122, and a drive mechanism 128. The user interface processing unit 140 accepts operations from a user via an input device and is responsible for user interface-related processing such as image display and audio output. The data storage unit 150 stores various data. The data storage unit 150 corresponds to the storage device 124 (see FIG. 2 ). The data processing unit 160 performs various processes based on various data acquired by the internal sensor 122, operation instructions input by the user interface processing unit 140, and data stored in the data storage unit 150. The data processing unit 160 corresponds to the processor 126 and the computer program executed by the processor 126. The data processing unit 160 also functions as an interface between the internal sensor 122, the drive mechanism 128, the user interface processing unit 140, and the data storage unit 150.

[0028] The user interface processing unit 140 includes an input unit 141 that accepts input from a user and an output unit 142 that outputs various information such as images and sounds to the user. As described above, the display 114 provided on the top surface of the main body 102 of the cleaning robot 100 is assumed to be a liquid crystal touch panel. Therefore, the display 114 corresponds to both the input unit 141 and the output unit 142. The speaker 116 (see FIG. 1 ) also corresponds to the output unit 142.

[0029] The data processing unit 160 includes an object detection unit 161, an object determination unit 162, a distance measurement unit 163, a movement determination unit 164, a movement control unit 165, a mode selection unit 166, and a pattern selection unit 167. While cleaning floors, the cleaning robot 100 captures images of the space in the house to be cleaned (the cleaning area) at regular intervals using the camera 112. At this time, the object detection unit 161 detects a person's figure from the captured image and identifies that person. The object determination unit 162 determines whether the person identified by the object detection unit 161 is a contactable person based on contactable person information (described below) stored in the data storage unit 150. The distance measurement unit 163 measures the distance from the cleaning robot 100 to the wall of the cleaning area, the distance to a person in the cleaning area, and the distance to various objects in the cleaning area at regular intervals. In other words, the distance measurement sensor 110 corresponds to the distance measurement unit 163.

[0030] The movement determination unit 164 determines the movement speed and direction of the cleaning robot 100. The movement control unit 165 controls the drive mechanism 128, such as the wheels 104, according to instructions from the movement determination unit 164 to move the cleaning robot 100. More specifically, before starting floor cleaning, the movement determination unit 164 creates a spatial map simulating a living room using measurement data from the distance measurement sensor 110 and sets a cleaning route. Furthermore, when the target determination unit 162 determines that a person in a captured image is a possible contact person, the movement determination unit 164 sets a destination (target point) for the cleaning robot 100 based on the direction in which the possible contact person is located and the distance between them. The movement determination unit 164 instructs the movement control unit 165 to move the cleaning robot 100 according to the cleaning route and target point set by the movement determination unit 164. The movement control unit 165 drives the wheels 104 to move the cleaning robot 100 along the route instructed by the movement determination unit 164.

[0031] The mode selection unit 166 instructs the movement determination unit 164 and the like to execute a process associated with the button selected by the user on the mode selection screen. More specifically, assume that the "cleaning mode" button is selected on the mode selection screen. In this case, the mode selection unit 166 executes a floor cleaning program, thereby instructing the movement determination unit 164 to start floor cleaning. The movement determination unit 164 instructs the movement control unit 165 to move the cleaning robot 100 according to the cleaning route set by the movement control unit 165. The movement control unit 165 drives the wheels 104 to move the cleaning robot 100 along the cleaning route, thereby starting floor cleaning.

[0032] Assume a scene in which "Cleaning Pet Mode" is selected on the mode selection screen, and a button for an involvement pattern to be executed by the cleaning robot 100 is selected on the pattern selection screen. In this case, the mode selection unit 166 executes a floor cleaning program, thereby instructing the movement determination unit 164 to start floor cleaning. The mode selection unit 166 also instructs the pattern selection unit 167 to execute a program associated with the involvement pattern. As described above, the movement determination unit 164 instructs the movement control unit 165 to execute movement according to the cleaning route. The movement control unit 165 drives the wheels 104. The cleaning robot 100 starts cleaning the floor by moving along the cleaning route.

[0033] The pattern selection unit 167 receives an instruction from the mode selection unit 166 and refers to pattern management information, which will be described later. When the time registered in the pattern management information arrives, the pattern selection unit 167 executes a program associated with the selected involvement pattern, thereby instructing the camera 112, the object detection unit 161, the object determination unit 162, the movement determination unit 164, and the movement control unit 165 to execute processing.

[0034] More specifically, upon receiving an instruction from the pattern selection unit 167, the camera 112 begins capturing images at regular time intervals. The object detection unit 161 identifies the identity of the person appearing in the captured image. The object determination unit 162 determines whether the person appearing in the captured image is a person who may be contacted. If the person appearing in the captured image is a person who may be contacted, the movement determination unit 164 sets the location of the person who may be contacted as a target location. The movement determination unit 164 interrupts movement on the cleaning route, directs the cleaning robot 100 toward the target location, and instructs the movement control unit 165 to perform an involvement action. The movement control unit 165 drives the wheels 104 in accordance with the instruction from the movement determination unit 164, thereby moving the cleaning robot 100 to the target location and performing the involvement action. When the involvement action ends, the movement determination unit 164 instructs the movement control unit 165 to return to the point on the cleaning route where movement was interrupted. The movement control unit 165 moves the cleaning robot 100 to the point on the cleaning route where the movement was interrupted, and then resumes driving the wheels 104 along the cleaning route.

[0035] FIG. 6 is a data structure diagram of the pattern management information 200. In the pattern management information 200, pattern IDs that identify contribution patterns and parameters for setting details of the contribution patterns are registered in association with each other. In the pattern ID column, IDs (pattern IDs) of contribution patterns (programs) that correspond to selection buttons displayed on the pattern selection screen are registered. In the parameter column, various setting items that can be changed by the user, such as the start time of a program associated with the contribution pattern, are registered. The user can change the various setting items in the parameter column using a parameter change screen (not shown) displayed on the display 114. The setting values ​​of the various setting items changed by the user are registered in the pattern management information 200 by the pattern selection unit 167.

[0036] For example, "P01" is registered as the pattern ID corresponding to "messing" in the first line of the pattern management information 200 in Fig. 6. In the parameter column, "15:00" is registered as the execution start time (contact timing) of "messing" and "3" is registered as the number of times contact is made with possible contactees. Note that the frequency of "messing," or in other words, the time interval (contact timing) for executing "messing," is "N / A" and is not set.

[0037] As a result of the above, it is assumed that the user selects the "mess" button on the pattern selection screen. At this time, the pattern selection unit 167 refers to the first row of the pattern management information 200 in FIG. 6. When the time registered in the parameter field (15:00 (3:00 PM)) arrives, the pattern selection unit 167 reads out from the data storage unit 150 and executes a program for executing the involvement pattern ("mess") with pattern ID = P01. As a result, the cleaning robot 100 performs an operation of contacting a contactable person three times. In the example shown in FIGS. 2 and 3, processing is executed based on the content registered in the first row of the pattern management information 200 in FIG. 6.

[0038] In the second line of the pattern management information 200 in FIG. 6 , "P02" is registered as the pattern ID corresponding to "round and round." In the parameter column, "13:00" is registered as the execution start time of "round and round," and "4" is registered as the number of times to go around the possible contactor. From the above, assume that the user selects the "round and round" button on the pattern selection screen. At this time, the pattern selection unit 167 references the second line of the pattern management information 200 in FIG. 6 . When the time registered in the parameter column (13:00 (1:00 PM)) arrives, the pattern selection unit 167 reads and executes a program for executing the involvement pattern ("round and round") with pattern ID = P02 from the data storage unit 150. This causes the cleaning robot 100 to perform an operation of going around the possible contactor four times. In this way, the involvement behavior performed by the cleaning robot 100 changes depending on the button selected by the user on the pattern selection screen.

[0039] The following describes the detailed process flow of "meddling" by the cleaning robot 100 and the process flow before and after the execution of "meddling" based on the examples shown in Figures 2 and 3. Figure 7 is a flowchart showing the process flow before and after the execution of "meddling."

[0040] As described above, the user selects the "Cleaning Pet Mode" button on the mode selection screen, selects the "Mess" button on the pattern selection screen, and then selects the "Execute" button. The mode selection unit 166 executes a floor cleaning program, thereby instructing the movement determination unit 164 to start floor cleaning. The mode selection unit 166 also instructs the pattern selection unit 167 to execute a program associated with the involvement pattern. The movement determination unit 164 instructs the movement control unit 165 to execute movement according to the cleaning route. The movement control unit 165 drives the wheels 104 to move the cleaning robot 100 along the cleaning route, thereby starting cleaning of the living room floor of the house H. The pattern selection unit 167 receives the instruction from the mode selection unit 166 and refers to the first row of the pattern management information 200 in FIG. 6 .

[0041] Assume that 3:00 PM arrives while cleaning robot 100 is cleaning the floor. At this time, pattern selection unit 167 reads out a program corresponding to pattern ID=P01 from data storage unit 150 in accordance with the time (15:00 (3:00 PM)) registered in the parameter field of the first line of pattern management information 200. Pattern selection unit 167 executes the program read out from data storage unit 150 instead of the floor cleaning program. Pattern selection unit 167 instructs target detection unit 161, target determination unit 162, movement determination unit 164, and movement control unit 165 to execute processing (three "messages") in accordance with the number of contacts (3) registered in the parameter field of the first line of pattern management information 200.

[0042] The camera 112 captures images of the living room at regular intervals. Each time a captured image is acquired, the object detection unit 161 detects people from the captured image by comparing it with photos of each member of family F pre-registered in the data storage unit 150. Here, it is assumed that the object detection unit 161 detects and identifies the younger sister studying from the captured image (S10). At this time, the object detection unit 161 notifies the object determination unit 162 that the younger sister has been detected and identified. The object determination unit 162 references the possible contact person information 300 and determines whether the younger sister is a possible contact person (S12).

[0043] 8 is a data structure diagram of the possible contact person information 300. In the possible contact person information 300, user IDs and possible contact person flags are registered in association with each other. In the possible contact person information 300 of FIG. 8, user IDs "F01" to "F04" are registered. More specifically, for each user ID, "F01" corresponds to the father, "F02" corresponds to the mother, "F03" corresponds to the older brother B, and "F04" corresponds to the younger sister. In the possible contact person flag column, "1" is registered if the involvement action by the cleaning robot 100 is acceptable, and "0" is registered otherwise.

[0044] 8, the mother (user ID=F02) and older brother B (user ID=F03) have a contactable person flag of "1" and are therefore able to accept the involvement action (messing) of the cleaning robot 100. On the other hand, the father (user ID=F01) and younger sister (user ID=F04) have a contactable person flag of "0", and therefore are unable to accept the involvement action (messing) of the cleaning robot 100.

[0045] The user can freely change the contactable person flag depending on the situation they are in, using a contact possibility setting screen (not shown) displayed on the display 114. For example, the contactable person flag is basically set to "1," but if the user wants to concentrate on studying or take a short nap, the user can set the contactable person flag to "0." Furthermore, before cleaning the floor, the user can take a picture of themselves with the camera 112 of the cleaning robot 100, associate it with the user ID of the contactable person information 300, and register the picture of themselves in advance in the data storage unit 150.

[0046] For example, suppose that the mother has taken a photo of herself using the camera 112 in advance, and registered it in the data storage unit 150 in association with the user ID=F02. Furthermore, suppose that the mother has set the contactable flag to "1" on the contactability setting screen, and has been registered as shown in the contactable person information 300 of FIG. 7. Suppose that while cleaning the floor, the mother's photo is taken by the camera 112. According to the contactable person information 300 of FIG. 8, the contactable person flag for the user ID=F02 associated with the mother's photo is "1." Therefore, the cleaning robot 100 determines that it is OK to perform an involvement behavior on the mother.

[0047] 8, the possible contact flag corresponding to user ID F04 (younger sister) is "0." That is, the target determination unit 162 determines that the younger sister is not a possible contact person (N in S12). Therefore, cleaning of floors along the cleaning route by the cleaning robot 100 and capturing of images by the camera 112 continue.

[0048] It is assumed that the target detection unit 161 then detects and identifies the figure of brother B from the captured image. The target determination unit 162, which has been notified by the target detection unit 161 that brother B has been detected and identified, references the possible contact person information 300 and determines whether brother B is a possible contact person. In the possible contact person information 300 of FIG. 8, the possible contact person flag corresponding to user ID=F02 (brother B) is "1". In other words, the target determination unit 162 determines that brother B is a possible contact person (Y in S12). At this time, the target determination unit 162 instructs the movement determination unit 164 to set a target point.

[0049] The movement determination unit 164 sets a target point based on the direction in which older brother B is located and the distance between them. The movement determination unit 164 instructs the movement control unit 165 to move the cleaning robot 100 toward the target point (older brother B). The movement control unit 165 drives the wheels 104 in accordance with the instruction from the movement determination unit 164, and moves the cleaning robot 100 away from the cleaning route toward the target point (S14). Hereinafter, the point on the cleaning route when the cleaning robot 100 starts moving toward the target point is referred to as the "return point." The movement determination unit 164 registers the coordinates of the return point P on the spatial diagram in return point information (not shown). Note that the speed (first speed) of the cleaning robot 100 when moving toward the target point may be the same as the movement speed on the cleaning route, or may be changed.

[0050] As described above, the movement control unit 165 moves the cleaning robot 100 forward toward the target point at the first speed. At this time, the distance measurement unit 163 (distance measurement sensor 110) measures the distance between the two at regular time intervals and determines whether the distance reaches the changed boundary value (10 cm) (S16). If the distance between the two does not reach the changed boundary value, the movement control unit 165 continues to move the cleaning robot 100 forward at the first speed (N in S16). It is assumed that the distance between the two reaches the changed boundary value. In this case, the movement determination unit 164 instructs the movement control unit 165 to move along a route and at a speed that will perform "messing" three times. In accordance with the instruction from the movement determination unit 164, the movement control unit 165 drives the wheels 104. In this manner, the cleaning robot 100 performs the involvement behavior ("messing") (Y in S16). The content of the involvement behavior changes depending on the button selected on the pattern selection screen.

[0051] 9 is a flowchart showing the flow of "messing." In response to an instruction from the movement determination unit 164, the movement control unit 165 moves the cleaning robot 100 forward toward the target point at the speed (second speed) specified in the program with pattern ID=P01 (S20). As described above, the second speed is slower than the first speed. As a result of continuing to move forward, the cleaning robot 100 reaches the target point. That is, the cleaning robot 100 lightly touches the foot of brother B (S22). At this time, the contact sensor 118 installed on the side of the main body 102 of the cleaning robot 100 detects the pressure caused by contact with brother B. When the contact sensor 118 detects the pressure, the movement control unit 165 moves the cleaning robot 100 backward (S24).

[0052] When the distance between the two reaches the changed boundary value, the movement control unit 165 moves the cleaning robot 100 forward toward the target point at the second speed. When the contact sensor 118 detects pressure due to contact with brother B, the movement control unit 165 moves the cleaning robot 100 backward. In this way, the cleaning robot 100 executes the "mess" action by repeating the sequence of forward movement, contact, and backward movement, in other words, the operations of steps S20 to S24, three times.

[0053] When the involvement behavior ("messing") by the cleaning robot 100 ends, the movement determination unit 164 refers to the coordinates of the return point P on the space diagram registered in the return point information. The movement determination unit 164 instructs the movement control unit 165 to move the cleaning robot 100 toward the return point P. The movement control unit 165 moves the cleaning robot 100 to the return point P in accordance with the instruction from the movement determination unit 164 (S26). When the cleaning robot 100 reaches the return point P, the movement control unit 165 resumes driving the wheels 104 along the cleaning route. In this way, the cleaning robot 100 in this embodiment performs an involvement behavior toward a person who can come into contact with the person while cleaning the floor.

[0054] [Summary] The cleaning robot 100 of the present invention has been described above. In recent years, cleaning robots 100 that autonomously move and clean floors have become popular in homes and businesses to free up time for other tasks and reduce labor costs. The cleaning robot 100 is merely a tool for cleaning floors without human intervention. However, the present inventor recognized that there are many people who, upon seeing the cleaning robot 100 moving around and cleaning the floor, find it adorable, like a pet. In light of this background, the present inventor conceived a cleaning robot 100 that can be attached to people by performing charming movements (engagement behaviors) like those of a pet, rather than simply being painted or decorated.

[0055] Conventionally, the cleaning robot 100 moves to clean floors while avoiding walls, people, and objects within the cleaning area. However, the cleaning robot 100 of the present invention moves specifically toward a specific person. More specifically, the cleaning robot 100 is equipped with a camera 112, which captures images of the scenery in the cleaning area at regular intervals. When a potential contact person is detected in the captured image, the cleaning robot 100 approaches the target contact person. This allows the potential contact person to feel as if their pet has recognized them and is approaching them. Furthermore, because the cleaning robot 100 moves near the potential contact person, it is inevitable that the cleaning robot 100 can be made to focus on cleaning the potential contact person's activity area.

[0056] The cleaning robot 100 of the present invention performs "messing" as one of the engagement behaviors. More specifically, "messing" refers to performing a reciprocating motion multiple times, such as approaching a person who can be contacted, contacting the person, and then moving away a short distance. By performing "messing," the cleaning robot 100 can remind the person who can be contacted of the behavior of a pet poking at its owner in order to get their attention. This can make the person who can be contacted feel emotions similar to the affection and closeness felt toward a pet. Furthermore, it is possible to provide comfort not only to the person who can be contacted, but also to the user (family member F) who is watching the "messing" by the cleaning robot 100.

[0057] The user can select a mode (cleaning mode) in which the cleaning robot 100 of the present invention only cleans floors, and a mode (cleaning pet mode) in which the cleaning robot 100 performs an action in addition to cleaning floors. When the user wants the cleaning robot 100 to quickly clean the floors of the entire cleaning area, the user can select the "cleaning mode" instead of the "cleaning pet mode" to allow the cleaning robot 100 to function as a conventional cleaning robot 100.

[0058] The cleaning robot 100 of the present invention reduces its approach speed before coming into contact with a person who may be contacted when the distance between the cleaning robot 100 and the person who may be contacted is equal to or less than a predetermined value, thereby preventing the cleaning robot 100 from colliding with the person who may be contacted and ensuring safety.

[0059] In the cleaning robot 100 of the present invention, contact-rejecting individuals can be freely set. For example, individuals who want to concentrate on their work or who want to relax without being disturbed by anyone are not set as contact-rejecting individuals. This prevents the cleaning robot 100 from engaging with individuals who do not want to be contacted, so that the individuals do not feel uncomfortable with the presence of the cleaning robot 100.

[0060] The user can select an engagement action that the user wants the cleaning robot 100 of the present invention to perform from among multiple engagement actions. More specifically, as described above, the user selects the "Mess" button or the "Spin" button on the pattern selection screen. This causes the cleaning robot 100 to perform actions such as poking the person who can be contacted or spinning around the person who can be contacted. In this way, by providing multiple types of engagement actions for the cleaning robot 100 to perform, the user can avoid getting bored with the cleaning robot 100.

[0061] The user can freely set the number of contacts and the timing of contacts of the cleaning robot 100 of the present invention. For example, if the user wants the cleaning robot 100 to "tamper" a lot, the user can set the number of contacts to be large. Also, if the user wants the cleaning robot 100 to pay attention to them after they get home from work, the user can set the timing of contact to coincide with the time they get home. In this way, by freely setting the number of contacts and the timing of contacts, the cleaning robot 100 can be like a pet that the user can have a convenient relationship with.

[0062] The present invention is not limited to the above-described embodiments and modifications, and the components can be modified without departing from the spirit of the invention. Various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications. Furthermore, some components can be omitted from all the components shown in the above-described embodiments and modifications.

[0063] [Variation 1] In the present embodiment, it has been described that the user can set the operations to be performed by the cleaning robot 100 by operating various screens displayed on the display 114 installed on the main body 102 of the cleaning robot 100. The user may also set the operations to be performed by the cleaning robot 100 by operating a communication terminal such as a smartphone. In this case, the cleaning robot 100 includes a communication unit (not shown).

[0064] For example, suppose that the user selects the "cleaning mode" button on the mode selection screen displayed on the communication terminal. At this time, the communication terminal transmits an instruction to execute the "cleaning mode" to the cleaning robot 100. The communication unit of the cleaning robot 100 receives the instruction to execute the "cleaning mode" from the communication terminal. When the communication unit receives the instruction to execute the "cleaning mode", the mode selection unit 166 instructs the movement control unit 165 to execute movement according to the cleaning route. In this manner, the cleaning robot 100 may execute an operation in response to an execution instruction from the communication terminal.

[0065] [Variation 2] In the present embodiment, the mode selection screen has been described as displaying a button for a "cleaning mode" in which the cleaning robot 100 only cleans floors, and a button for a "cleaning pet mode" in which the cleaning robot 100 performs a participation action in addition to cleaning floors. As a third mode, a button for a "pet mode" in which the cleaning robot 100 only performs a participation action without cleaning floors may be added.

[0066] [Variation 3] Alternatively, a "cleaning skip mode" button may be added as a fourth mode to the mode selection screen, allowing the user to set the ratio of floor cleaning and participation behavior performed by the cleaning robot 100. In this case, when the user selects the "cleaning skip mode" button, a ratio setting screen (not shown) is displayed on the display 114. On the ratio adjustment screen, the user can set the ratio of floor cleaning and participation behavior performed by the cleaning robot 100.

[0067] For example, suppose the user sets floor cleaning to 80% and involvement behavior to 20%. In this case, the user can portray the cleaning robot 100 as a "good boy" that cleans diligently but occasionally comes to pay attention to things. Alternatively, the user can set floor cleaning to 20% and involvement behavior to 80%. In this case, the user can portray the cleaning robot 100 as a "bad boy" that always clings to people it can contact and doesn't clean much. In this way, the "slacker cleaning mode" can give the cleaning robot 100 a unique characteristic, which can further increase the user's interest in the cleaning robot 100.

[0068] [Variation 4] In the present embodiment, the pattern selection screen has been described as displaying a "Mess" button that causes the cleaning robot 100 to make contact with a person, a "Spin" button that causes the cleaning robot 100 to circle around a person, etc. In addition, the pattern selection screen may also display an "Alarm" button that causes the cleaning robot 100 to make contact with a sleeping person (hereinafter referred to as "alarm").

[0069] Suppose the user selects the "Wake Up" button. In this case, the cleaning robot 100 moves forward toward a sleeping person who can be contacted, provided that the cleaning robot 100 finds the sleeping person who can be contacted. Then, similar to the "Mess" action, the cleaning robot 100 makes contact with the sleeping person multiple times. In this way, the cleaning robot 100 wakes up the person who can be contacted.

[0070] By having the cleaning robot 100 execute the "wake-up" function, the person who can be contacted can experience the feeling of being woken up by a pet. This allows the cleaning robot 100 to provide the person who can be contacted with a pleasant awakening. Furthermore, since the "wake-up" function is an action of poking the person who can be contacted to wake them up, the cleaning robot 100 can function as a silent alarm clock.

[0071] [Variation 5] Additionally, the user may be able to select a button on the pattern selection screen that causes the cleaning robot 100 to perform an action of rubbing against a person. More specifically, "rubbing" refers to the cleaning robot 100 performing a reciprocating movement while remaining in contact with the user. The cleaning robot 100 may perform a rubbing action instead of immediately moving backwards when it comes into contact with the user. There is no particular limitation on the action of the cleaning robot 100 that can be selected on the pattern selection screen, as long as the action attracts the user's attention through contact.

[0072] [Variation 6] In the opposite case, the cleaning robot 100 may perform the involvement behavior at a location away from the user. For example, the pattern selection screen may display a "chase" button that causes the cleaning robot 100 to perform an action of following a contactable person at a constant distance (hereinafter referred to as "chasing").

[0073] Assume that the user selects the "chase" button. In this case, the cleaning robot 100 sets a target point based on the position of the contactable person in the captured image and the distance between the two people, every time an image is acquired by the camera 112. That is, the target point is updated every time an image is captured by the camera 112. The cleaning robot 100 may always move toward the latest target point so that the distance between the two people does not become shorter than the changed boundary value.

[0074] By performing the "chase" action by the cleaning robot 100, the person who can contact the cleaning robot 100 can experience the sensation of a pet becoming attached to the person and following them. In this way, the cleaning robot 100 may perform an action that does not involve contact with the user, as long as the action fosters a sense of attachment in the user toward the cleaning robot 100. Furthermore, the pattern selection screen may display a button that allows the user to select an engagement pattern that executes such an action.

[0075] [Variation 7] A "Random" button may be displayed on the pattern selection screen. When the user selects the "Random" button, the cleaning robot 100 randomly executes an action from among "Mess," "Spin," "Wake Up," etc. This method does not allow the user to know which action the cleaning robot 100 will execute, thereby emulating the whimsical nature of a pet.

[0076] [Variation 8] In the present embodiment, the cleaning robot 100 has been described as basically moving toward and touching a person. As a variation, the cleaning robot 100 may intentionally touch something other than a person. For example, the cleaning robot 100 may intentionally touch a stuffed animal or the like that is placed on the floor. This method can create the impression of a clumsy robot that has touched the wrong object, and can make the user feel attached to the cleaning robot 100.

[0077] [Modification 9] In the present embodiment, the cleaning robot 100 has been described as detecting a person from an image captured by the camera 112 and determining a person who may come into contact with the person. As a modification, the cleaning robot 100 may detect the presence of a person using an internal sensor 122 other than the camera 112. More specifically, the cleaning robot 100 may be provided with a temperature sensor, an odor sensor, a microphone, etc., and may detect the presence of a person based on body temperature, odor, voice, footsteps, breathing, and other sounds.

[0078] [Modification 10] In the present embodiment, the cleaning robot 100 is described as slowing down from the first speed to the second speed before coming into contact with a person who can be contacted. However, as a modification, the speed of the cleaning robot 100 may remain constant or may be accelerated. For example, when approaching a person who can be contacted, the cleaning robot 100 may accelerate to a speed faster than the first speed and contact the person who can be contacted with a stronger pressure. This method can create the mischievous feeling of a lively pet.

[0079] [Modification 11] The cleaning robot 100 in this embodiment may perform the engagement behavior while outputting a sound from the speaker 116. For example, the speaker 116 may output a phrase such as "Hey, hey, pay attention to me" in a cute voice when approaching a contactable person. This can further enhance the cuteness of the cleaning robot 100, making it easier for the user to feel attached to the cleaning robot 100.

[0080] [Variation 12] The cleaning robot 100 in this embodiment may be able to set people, objects, etc. that the cleaning robot 100 should not come into contact with (hereinafter referred to as "rejected objects"). More specifically, for example, before starting floor cleaning, the user sets an expensive pot as a repelled object on an rejected object setting screen (not shown). Alternatively, the user captures an image of the expensive pot with the camera 112 and registers the captured image in the data storage unit 150. When the camera 112 captures an image of the expensive pot while the cleaning robot 100 is cleaning the floor, the movement determination unit 164 resets the cleaning route to avoid the expensive pot. The movement determination unit 164 may instruct the movement control unit 165 to move the cleaning robot 100 along the new cleaning route. This makes it possible to prevent damage to items due to contact with the cleaning robot 100.

[0081] Alternatively, before starting floor cleaning, the movement determination unit 164 may regard babies as targets to be avoided and set a cleaning route in advance that avoids babies. The cleaning robot 100 may save multiple images of "babies" and set people corresponding to "babies" as targets to be avoided. In this case, the cleaning robot 100 may not perform an engagement behavior aimed at a baby when a baby appears in a captured image. This can prevent the baby from being injured by contact with the cleaning robot 100 and increase safety. Such a control method can suppress engagement behaviors toward people, objects, pets, etc. that are inappropriate targets for engagement behaviors.

Claims

1. A cleaning robot comprising: an object detection unit that detects the presence of a person within a cleaning area; a movement determination unit that determines a movement direction; a movement control unit that controls the movement direction and movement speed; and a drive mechanism that moves the device in accordance with a specified movement direction and movement speed, wherein when the presence of the person within the cleaning area is detected, the movement determination unit sets the current position of the person as a target point, and the movement control unit moves the device toward the target point.

2. The cleaning robot of claim 1, further comprising a contact sensor that detects contact with a person, wherein the movement control unit moves the device toward the target point until contact with the person whose presence has been detected is detected.

3. The cleaning robot of claim 1, further comprising a mode selection unit that sets a mode selected by a user from a plurality of modes including a first mode that performs only cleaning actions and an involvement action of moving toward the person when the presence of the person is detected, and a second mode that can perform both cleaning actions and involvement actions.

4. The cleaning robot of claim 2, further comprising a distance measurement unit that measures the distance between the device and the target point, wherein the movement control unit moves the device at a second speed slower than the first speed when the distance between the device and the target point becomes equal to or less than a predetermined value while the device is moving at a first speed.

5. The cleaning robot of claim 2, further comprising a target determination unit that determines whether the person whose presence is detected is a person who can be contacted, and the movement control unit moves the device toward the target point on the condition that the person whose presence is detected is the person who can be contacted.

6. The cleaning robot of claim 2, further comprising a pattern selection unit that selects one of a plurality of predefined involvement patterns for the manner in which the device will be involved with the person whose presence has been detected, wherein the movement control unit moves the device toward the target point in a movement direction and at a movement speed specified based on the selected involvement pattern.

7. The cleaning robot described in claim 6, wherein the pattern selection unit is capable of selecting the number of contacts with the person whose presence has been detected as a parameter included in the involvement pattern, and the movement control unit moves the device back and forth in directions toward and away from the target point by an amount equal to the selected number of contacts.

8. The cleaning robot described in claim 6, wherein the pattern selection unit is capable of selecting the timing of contact with the person whose presence has been detected as a parameter included in the involvement pattern, and the movement control unit moves the device toward the target point when the selected contact timing arrives.

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