JP2000342498A - Cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make usable for security. SOLUTION: An infrared camera 28 to obtain image information of a cleaning area is provided, and the microcomputer 44 of a controller 38 takes images over time as security information by controlling an imaging control device 53. The microcomputer 44 sends sequentially image information to a work management computer connected to an intranet through an access point 5A and a wireless LAN module 45. The microcomputer 44 receives movement command signals sent by input operations based on image information in the work management computer 44 through the wireless LAN module 45 and controls the robot on the basis of the movement command signals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot for automatically moving a designated cleaning area to perform a cleaning operation.

[0002]

2. Description of the Related Art This type of cleaning robot is disclosed in Japanese Patent Application Laid-Open No. 7-2.
No. 81752 and JP-A-9-269824. Such a cleaning robot performs a cleaning operation while automatically moving the cleaning area through the cleaning area based on the cleaning area data obtained by converting the shape of the cleaning area into map data, for example, using the floor surface of each room in the building as a cleaning area. I do. At this time, the cleaning robot detects an obstacle existing in the cleaning area, and moves all over the cleaning area while automatically avoiding the obstacle. Such a cleaning operation by a cleaning robot is often performed at night when nobody is inside the building.

[0003] In buildings where no people are present at night, security is provided to prevent theft and the like. In order to perform such security for each room, a security guard patrols each room or monitors the room in a security room with a monitoring camera installed for each room.

[0004] Therefore, it is conceivable to use a cleaning robot for security to eliminate patrols by security personnel and to eliminate the need to provide a monitoring camera for each room.

[0005]

However, since the conventional cleaning robot is designed only for performing a cleaning operation, it cannot be used for security.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a cleaning robot that can be used for security.

[0007]

In order to solve the above-mentioned problems, the invention according to claim 1 is a self-propelled cleaning robot which obtains security information necessary for security. An acquisition unit and a wireless transmission unit that wirelessly transmits the security information are provided.

According to a second aspect of the present invention, in the first aspect, the security information is image information, and the security information acquiring means acquires the image information. According to a third aspect of the present invention, in the first aspect of the present invention, the security information is detection information of a moving object, and the security information obtaining means sequentially obtains image information with time and sets each image information. From the moving object.

According to a fourth aspect of the present invention, in the third aspect of the present invention, there is provided a warning means for giving a warning to the moving body based on the detection information of the moving body. According to a fifth aspect of the present invention, in the first aspect of the present invention, there is provided image information acquiring means for acquiring image information used for remotely moving the cleaning robot; Image information transmitting means for wirelessly transmitting the image information, movement command signal receiving means for receiving a movement command signal for remotely moving the cleaning robot, and movement control means for performing movement control based on the movement command signal And

According to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the wireless transmission means includes a management information terminal device to which the security information is transmitted. The security information is transmitted to the management information terminal device via a connection wireless communication device for connecting to the connected communication line network.

(Operation) According to the first aspect of the present invention,
Security information is wirelessly transmitted from the cleaning robot.

According to the invention described in claim 2, according to claim 1,
In addition to the effect of the invention described in (1), image information is wirelessly transmitted from the cleaning robot as security information. According to the third aspect of the invention, in addition to the operation of the first aspect, the detection information of the moving object is transmitted wirelessly.

According to the fourth aspect of the present invention, the third aspect is provided.
In addition to the effects of the invention described in (1), when a moving object moving in the cleaning area is detected from the image information, the cleaning robot issues a warning.

According to the invention described in claim 5, according to claim 1 of the present invention,
In addition to the effects of the invention described in any one of the fourth to fourth aspects, the cleaning robot can be remotely moved based on image information wirelessly transmitted from the cleaning robot.

According to the invention of claim 6, according to claim 1,
In addition to the effect of the invention according to any one of claims to 5, the security information wirelessly transmitted from the cleaning robot is transmitted to the management information terminal device connected to the communication line network.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 2 illustrates an automatic cleaning operation in which the work state and the machine state of a cleaning robot arranged for each of a plurality of cleaning areas to be cleaned are centrally managed, and each cleaning robot performs a cleaning operation on a floor surface of the cleaning area. It is a system diagram of a system.

The automatic cleaning system includes cleaning robots 3A, 3B, 3C, 3D arranged in a plurality of cleaning areas 2A, 2B, 2C existing in a facility provided with an intranet 1 as a communication line network; A work management computer 4 as a management information terminal device connected to the intranet 1 in a management room C in the facility is connected to each of the cleaning areas 2A to 2A.
Data communication is performed through access points 5A to 5C as wireless communication devices for connection of the intranet 1 provided for each C. Further, the automatic cleaning system is configured such that each of the cleaning robots 3A to 3D and the machine management computer 7 connected to the Internet 6 at the robot store D are connected to the Internet 6 to which the intranet 1 is connected via the server 8. In this case, data communication is carried out via the PC.

The work management computer 4 owns and operates each of the cleaning robots 3A to 3D.
It is used for processing information that needs to be performed by the cleaning department in the facility, that is, work information for grasping the progress of the cleaning work, machine information for grasping the functional state of the machine, and security. The security information is stored in a management room C or the like in the facility and operated by a cleaning staff.

The machine management computer 7 is for obtaining and managing information for machine maintenance work that needs to be performed at the robot shop D. The machine management computer 7 is installed at the robot shop D and operated by sales staff. Is done.

Each of the cleaning robots 3A to 3D is a self-propelled floor cleaning robot such as a sweeper type cleaning robot, a scrubber type cleaning robot, a vacuum type cleaning robot, or a wax type cleaning robot. Each cleaning robot 3A-3D
Is based on cleaning area data created and input in advance for each of the cleaning areas 2A to 2C, while automatically avoiding obstacles from reference points set in the cleaning areas 2A to 2C corresponding to the cleaning area data. The entire cleaning area 2A to 2C is moved to clean the floor surface. The cleaning area data is map data corresponding to the shape of the floor surface of the cleaning areas 2A to 2C to be cleaned.

Hereinafter, a sweeper type cleaning robot 3A which is one of the cleaning robots will be described. FIG. 3 is a side view of the cleaning robot 3A, and FIG. 4 is a plan view of the same.

The cleaning robot 3A has a pair of left and right drive wheels 11a and 11b at the bottom front side of the machine base 10, and also has a pair of left and right caster wheels 12a and 12b at the bottom rear side.
The left and right drive wheels 11a, 11b are
b is independently rotated left and right by running motors 13a and 13b provided inside the machine base 10, respectively. Each of the traveling motors 13a, 13b includes encoders 14a, 14b for detecting the number of rotations.

From both left and right sides of the machine base 10, a pair of left and right arms 15 extend forward so as to expand leftward and rightward toward the front. Rotating brushes 16a and 16b for cleaning the floor F are provided at the tip of each arm 15.
It is supported to contact. Each rotating brush 16
The brush motors 17a and 16b are opposed to each other by the brush motors 17a and 17b provided in the arm 15 so that the dust on the floor F is discharged to the lower side of the machine 10 as the machine 10 moves forward. It is driven to rotate in the direction.

Also, both drive wheels 11 are provided at the bottom of the machine base 10.
a, 11b, the center axis is arranged to extend left and right, and the cylindrical surface is rotated around the center axis as a rotation center while the brush surface is in contact with the floor surface in the width direction of the machine base 10. A brush 18 is provided. Rotating brush 18
Is rotated by a brush motor 19 provided in the machine base 10 so that the brush surface is directed in the direction opposite to the traveling direction of the machine base 10, and is rotated in the width range of the machine base 10 by left and right rotating brushes 16a and 16b. The collected dust on the floor F is swept forward.

The trash box 20 provided inside the machine base 10 in front of the rotating brush 18
For accommodating dust that is swept out forward by the air, and has an inlet 20a for taking in dust. Further, a negative pressure generator 21 provided at the rear of the machine base 10 is provided.
a is driven by the vacuum motor 21b to make the inside of the trash box 20 a negative pressure, and to suck the trash into the inside from the suction port 20a. Optical sensors 22a and 22b for counting dust are provided at a suction port 20a of the dust box 20. The optical sensor includes a light projector 22a for projecting light to the suction port 20a, and a light receiver 22b for receiving light from the light projector 22a.

At the front of the machine base 10, there are provided three obstacle sensors 23 for detecting obstacles existing in front of the machine base 10 when moving forward. On each of the left and right lateral surfaces of the machine base 10, two obstacle sensors 24 for detecting the distance to the wall are provided. Further, at the rear of the machine base 10, three obstacle sensors 25 are provided for detecting obstacles existing behind the machine base 10 when moving backward.

A gyro sensor 26 for detecting the absolute azimuth regardless of the attitude of the machine 10 is provided inside the machine 10.
Is provided. On the front upper surface of the machine base 10, the machine base 10
Light 27 for irradiating infrared rays in the forward direction of the vehicle
And an infrared camera 28 for photographing an area illuminated by the infrared light 27.

At the rear of the machine base 10, each motor 13a, 1
A battery 34 for supplying power to 3b, 17a, 17b, 19, 21b and the like is provided. In addition, a charging device 35 for non-contact charging of the battery 34 from outside is provided on the bottom surface of the machine base 1.

A battery voltmeter 36 for detecting the voltage of the battery 34 and each brush motor 1
Motor ammeters 37a, 37b, 37c (shown in FIG. 1) for detecting drive currents of 7a, 17b, 19 are provided.

A controller 38 is provided inside the machine base 10 for automatically performing a cleaning operation and for exchanging data with the work management computer 4 and the machine management computer 7.

A touch panel 39 for inputting commands to a controller 38 and a read / write device 41 to which a memory card 40 is connected are provided on the rear upper surface of the machine base 10.

An antenna 42 connected to the controller 38 is provided above the machine base 10. Machine 1
0, a pair of left and right grips 33a, which are gripped when the operator manually moves the cleaning robot 3A,
33b are provided.

Next, the electrical configuration of the cleaning robot configured as described above will be described with reference to the electrical block diagram of FIG. The controller 38 includes two microcomputers (hereinafter, referred to as microcomputers) 43 and 44 and a wireless LAN module 45. The microcomputers 43 and 44 are connected to perform data communication with each other. The microcomputer 43 includes a touch panel 39 and a wireless LAN module 4.
5 are connected. The antenna 42 is connected to the wireless LAN module 45.

The microcomputer 43 performs data communication with the microcomputer 44 and is provided between the work management computer 4 connected to the intranet 1 and the cleaning areas 2A to 2C where the cleaning robot 3A is disposed. Data is exchanged via the access points 5A to 5C of the intranet 1 and the wireless LAN module 45.
That is, the microcomputer 43 transfers to the microcomputer 44 various data and command signals transmitted from the work management computer 4 via the access points 5A to 5C. The microcomputer 43 transmits various data and signals output from the microcomputer 44 to the wireless LAN module 45 and the access point 5.
The data is transmitted to the work management computer 4 via A to 5C.

The microcomputer 44 comprises a memory 46, a timer 47
Etc. are provided. The microcomputer 44 includes, on its input side, encoders 14a and 14b, a light receiver 22b, obstacle sensors 23 to 25, a gyro sensor 26, and a battery voltmeter 3
6. Motor current sensors 37a to 37c are respectively connected, and the output motors thereof have driving motors 13a and 13b and side brush motors 1 via driving devices 48 to 52, respectively.
7a, 17b, a main brush motor 19, a vacuum motor 21b, a projector 22a, and an infrared light 27 are connected to each other. The infrared camera 28 is connected to the microcomputer 44 via an imaging control device 53 connected to the output side and an image processing device 54 connected to the input side. Further, the microcomputer 44 includes the read / write device 4
1 is connected.

The memory card 40 has a cleaning robot 3A
The respective cleaning area data created for a plurality of different cleaning areas 2A to 2C that are known to be cleaned in are stored in advance. Further, the memory card 40 stores, for each cleaning area data, cleaning degree data for instructing a standard cleaning degree in the cleaning areas 2A to 2C. The cleaning degree is the necessity of sweeping cleaning by the cleaning robot 3A, and as cleaning degree data,
Data for instructing the moving speed, the overlapping width of the cleaning range in the width direction with respect to the moving direction, and the rotational speed of each of the brushes 16a, 16b, 18 are stored.

In this embodiment, the infrared light 27, the infrared camera 28, the microcomputer 44, the imaging control device 53 and the image processing device 54 constitute security information obtaining means and image information obtaining means, and the microcomputers 43 and 44 and the wireless LAN The module 45 constitutes a wireless transmission unit, an image information transmission unit, and a movement command signal reception unit. The microcomputer 44 is a movement control unit.

The microcomputer 44, according to a control program stored in the memory 46 in advance, performs movement control processing, cleaning control processing, remote movement control processing, work information transmission processing, machine information transmission processing, imaging control processing, and moving object detection. Each process is executed.

As movement control processing, the microcomputer 44 operates the touch panel 39 or inputs data from the work management computer 4 from among a plurality of cleaning area data stored in the memory card 40 connected to the read / write device 41. Based on the cleaning area data selected by the operation, the detection signal of the gyro sensor 26, and the obstacle detected by each of the obstacle sensors 23 to 25, the cleaning area 2A to 2C corresponding to the cleaning area data The drive motors 13a and 13b are driven and controlled so that the machine base 10 is moved so as to move over the entire cleaning area 2A to 2C while automatically avoiding obstacles from the provided reference point.

The microcomputer 44 performs the cleaning control processing by executing the cleaning areas 2A to 2A stored in the memory card 40.
Based on the cleaning degree specified for each 2C or the cleaning degree instructed from the work management computer 4 via the intranet 1, each of the traveling motors 13a, 13b
And the brush motors 17a, 17b, and 19 are controlled so that the moving speed, the overlapping width of the cleaning range, and the brushes 16a, 1
By controlling the rotation speeds of 6b and 18, the floor surface is cleaned with the commanded cleaning degree.

The microcomputer 44 inputs, via the wireless LAN module 45 and the microcomputer 43, a movement command signal transmitted based on an input operation on the work management computer 4 as a remote movement control process. And microcomputer 4
Reference numeral 4 controls the traveling motors 13a and 13b based on the input movement command signal to move the machine base 10.

The microcomputer 44 calculates the moving position from the reference point based on the detected values of the encoders 14a and 14b and the detection signal of the gyro sensor 26 as work information transmitting processing, and determines the moving position for the cleaning work. The data is sequentially transmitted to the work management computer 4 as data indicating the progress state.
Also, the microcomputer 44 calculates and stores the total amount of dust sucked into the dust box 20 from the amount of dust detected by the optical sensors 22a and 22b during cleaning as work information transmission processing, and manages the total amount in work management. The data is sequentially transmitted to the computer 4.

In addition, the microcomputer 44 performs the machine information transmission processing by calculating the total operation time calculated based on the time measured by the timer 47, the detection value of the battery voltmeter 36, and the detection of each of the motor current sensors 37a to 37c. The values are sequentially transmitted to the work management computer 4 and the machine management computer 7, respectively.

The microcomputer 44 drives and controls the image pickup control device 53 to pick up an image of a region in the traveling direction that sequentially changes with the movement of the machine base 10 as an image pickup control process. To obtain image information to be used for moving the cleaning robots 3A to 3D by remote control. The microcomputer 44 sequentially transmits the acquired image information to the access point 5A for connecting to the intranet 1 to which the security work computer 4 to which the image information is to be transmitted is connected from the microcomputer 43 via the wireless LAN module 45. I do. Then, the microcomputer 44 transmits the image information to the work management computer 4 via the wireless LAN module 45 and the access point 5A.

Further, as the moving object detection processing, the microcomputer 44 performs image processing on image information of sequentially picked-up images, and detects the presence of the moving object from each image information output by the image processing device 54. When the microcomputer 44 detects a moving object, the microcomputer 44 transmits security information and a moving object detection signal as detection information to the work management computer 4 via the microcomputer 43.

It should be noted that the scrubber type, vacuum type and wax type cleaning robots other than the sweeper type cleaning robot 3A are the same except for the configuration of the cleaning function.

The work management computer 4 reads a plurality of cleaning area data stored in the memory card 40 connected to the read / write device 41, and enables one of the cleaning area data to be selected by an input operation. . Then, the cleaning area data selected by the input operation is subjected to the cleaning robots 3A to 3D to execute the cleaning area 2A to 3D.
The data is transmitted to the microcomputer 44 as 2C cleaning area data.
Alternatively, the cleaning area data newly created using the CAD is transmitted to the microcomputer 44 as cleaning area data of the cleaning area to be executed by the cleaning robots 3A to 3D.

The work management computer 4 transmits data indicating the movement position of the cleaning areas 2A to 2C from the reference point, which is transmitted from each of the cleaning robots 3A to 3D, to the cleaning areas 2A to 2C.
The information is stored as information indicating the progress of the cleaning operation at C, updated with the newly transmitted movement position, and displayed on demand. In addition, the work management computer 4 stores the total amount of dust transmitted by the microcomputer 44 of each of the cleaning robots 3A to 3D for each of the cleaning robots 3A to 3D, and displays it as necessary or requested. In addition, each cleaning robot 3A-3D
The total operating time, the detected value of the battery voltage, and
The motor current value is used as machine information for each of the cleaning robots 3A to 3A.
It is stored while being updated sequentially for each 3D, and is displayed as required.

When the work management computer 4 receives a moving object detection signal from each of the cleaning robots 3A to 3D, it performs display based on the moving object detection signal. Further, the work management computer 4 displays the image information transmitted by each of the cleaning robots 3A to 3D as image information that can be used to remotely move the cleaning robot 3A. The work management computer 4 generates a movement command signal for moving the cleaning robots 3A to 3D by remote control by an input operation, and transmits the movement command signals to the cleaning robots 3A to 3D.

On the other hand, the machine management computer 7 updates the total operating time, the detected value of the battery voltage, and the motor current value transmitted by each of the cleaning robots 3A to 3D while sequentially updating the operating status. The information is stored for each cleaning robot 3A to 3D as information for predicting the replacement time of consumable parts such as brushes and information for grasping machine troubles, and is displayed as required.

Next, the operation of the cleaning robot and the automatic cleaning system configured as described above will be described. To clean the cleaning areas 2A to 2C with the automatic cleaning system,
First, each of the cleaning robots 3A to 3D for performing a cleaning operation
Are moved to the respective cleaning areas 2A to 2C. To move the cleaning robots 3A to 3D to the cleaning areas 2A to 2C, an operator manually moves the cleaning robots 3A to 3D to the cleaning areas 2A to 2C. Alternatively, the cleaning operator in the management room C performs an input operation while viewing images transmitted from the cleaning robots 3A to 3D on the work management computer, and moves the cleaning robots 3A to 3D by remote control. Then, the cleaning robots 3A to 3D moved to the cleaning areas 2A to 2C are moved to the cleaning areas 2A to 2C.
It is arranged at the reference point set at C.

Next, for the cleaning robots 3A to 3D,
The cleaning area data of the cleaning areas 2A to 2C is set.
To set the cleaning area data, for example, the cleaning robot 3
The operator who manually moves A to the cleaning area 2A selects and designates the cleaning area data corresponding to the cleaning area 2A from the plurality of cleaning area data stored in the memory card 40 by the input operation on the touch panel 39. I do. Or,
The cleaning staff in the management room C selects and designates from a plurality of cleaning area data stored in the memory card 40 by an input operation on the work management computer 4. Alternatively, the user operates the work management computer 4 to transmit and set new cleaning area data. Then, the microcomputer 44 of the cleaning robot 3A enters a state of performing a cleaning operation based on the selected and specified cleaning area data.

Next, the work management computer 4 is operated to cause the microcomputer 44 to execute the movement control processing and the cleaning control processing. Then, the cleaning robot A moves all over the floor of the cleaning area 2A while automatically avoiding obstacles,
Sweep and clean the floor to the specified degree.

While the cleaning robot 3A is moving within the cleaning area 2A to perform sweeping cleaning, the microcomputer 44 controls the infrared camera 28 to sequentially capture images in front of the moving robot 3A and capture the images. The image is transmitted to the work management computer 4 wirelessly. Therefore, the images of the cleaning area 2A where the cleaning robot 3A is performing the cleaning operation are sequentially transmitted wirelessly as security information.

When a moving object exists in each image captured by the cleaning robot 3A, the microcomputer 44 detects the presence of the moving object from each image information in the moving object detection processing. When detecting the presence of the moving object, the microcomputer 44 wirelessly transmits a moving object detection signal to the work management computer 4. Then, the work management computer 4 issues a warning to warn that the moving object has been imaged. Therefore, the detection information of the moving object is transmitted wirelessly.

When a person in charge of cleaning in the management room C transmits a movement command signal to the cleaning robot 3A by an input operation based on the notification of the presence of the moving body by the work management computer 4, the cleaning robot 3A Microcomputer 44 moves machine base 10 in the direction instructed by the movement command signal by remote movement control processing. Therefore, by moving the imaging area of the infrared camera 28 in the moving direction of the moving body, the image of the moving body is continuously transmitted.

The other cleaning robots 3B to 3D have the same operation as the cleaning robot 3A. According to the present embodiment described in detail above, there are the following effects.

(1) The cleaning robots 3A to 3D require the cleaning areas 2A to 2C to guard the cleaning areas 2A to 2C.
2C is provided, and the microcomputer 44 of the controller 38 of the cleaning robots 3A to 3D controls the imaging of the infrared camera 28 to sequentially image the image information of the cleaning area with time. It was made to transmit by radio.

Accordingly, image information that can be used for guarding the cleaning areas 2A to 2C where the cleaning robots 3A to 3D perform the cleaning operation is wirelessly transmitted, so that the cleaning areas 2A to 3D are cleaned.
It can be used for 2C security.

(2) Cleaning areas 2A to 2 as security information
Since the image information of C is transmitted, the cleaning area 2A
~ 2C can be visually guarded by image information. (3) Image processing is performed on each image information sequentially imaged with the infrared camera 28 whose imaging is controlled by the microcomputer 44 of the cleaning robot 3A, and the microcomputer 44 detects the presence of the moving object from each image information obtained by the image processing. I made it. Then, at the time of detecting a moving object, the microcomputer 44 transmits a moving object detection signal. Therefore, the existence of the moving object to be guarded is notified. As a result, the work manager does not need to always pay attention to the transmission from the cleaning robots 3A to 3D, and the labor for security work is reduced.

(4) A movement command signal for moving the cleaning robot 3A by remote control is received by the wireless LAN module 45 based on the image information transmitted from the cleaning robot 3A, and the microcomputer 44 is operated based on the movement command signal. The machine base 10 was moved. Therefore, since the user can move to a position where image information that can be more efficiently used by security can be obtained, security work using image information can be performed more reliably.

(5) The microcomputer 44 of the cleaning robots 3A to 3D sends an image for security to the work management computer 4 connected to the intranet 1 via the access points 5A to 5C of the intranet 1 and the wireless LAN module 45. Send information. Therefore, it is possible to use the intranet 1 to intensively guard a plurality of cleaning areas 2A to 2D in which the cleaning robots 3A to 3D are arranged.

The embodiment is not limited to the above embodiment, but may be modified as follows. In the above embodiment, each of the cleaning robots 3A to 3D
However, the image information is transmitted to the access points 5A to 5C of the intranet 1 to which the work management computer 4 is connected. Then, the work management computer 4 receives the image information. This is connected to the LAN or Internet 6 to which the work management computer 4 is connected.
Send image information to the access point established in
The work management computer 4 may receive the image information. In this case, security for a plurality of cleaning areas in a facility where the intranet 1 is not provided can be intensively performed.

In the above embodiment, the cleaning areas 2A to 2A
A warning means for giving a warning to the moving body in C may be provided and the warning means may be controlled based on the detection information of the moving body to give a warning. The warning means includes a warning device (for example, a siren or a flash valve) for giving a warning by sound, light, or the like, and a warning control means (the microcomputer 44, the driving device) ). With this configuration, when the moving object is a living thing, a warning can be issued to the moving object.

The image picked up by the infrared camera 28 is
Instead of transmitting as image information for moving by remote operation, the position information of the machine for generating image information indicating the posture of the machine on a map of a preset cleaning area is transmitted. Is also good. In this case, remote control for moving the cleaning robot is facilitated.

○ As security information, instead of image information,
Flame, smoke, temperature, or one or more of gas, security information acquisition means, flame detection means, smoke detection means,
Temperature detecting means or gas detecting means may be used.
In this configuration, the cleaning areas 2A to 2C are defined by flame, smoke, temperature,
Alternatively, security can be provided by the presence or absence of gas.

The wireless transmission means may be configured to transmit security information as character information to a mobile phone as a transmission destination. In this case, since the security information is wirelessly transmitted to the mobile phone, security of the cleaning area can be performed by the mobile phone.

The cleaning robot may be provided with security information acquisition means and information recording means for recording security information detected by the security information acquisition means. When the security information is image information, a video tape recorder, a hard disk, or the like can be used as information recording means. When the security information is flame, smoke, temperature, or gas, information recording is performed. As a means, only the detection result can be stored in the memory card. In this configuration, security can be performed by extracting security information records from the cleaning robot when necessary.

Hereinafter, in addition to the inventions described in the claims, the technical ideas grasped from the above-described embodiments and the respective examples will be described together with their effects. (1) In the invention according to claim 1, the security information is any one or more of flame, smoke, temperature, and gas, and the security information acquisition unit includes a flame detection unit,
It is a smoke detection unit, a temperature detection unit, or a gas detection unit. According to such a configuration, security can be provided by any one or more of flame, smoke, temperature, and gas.

(2) In the first aspect of the present invention,
The wireless transmission unit is configured to transmit the security information as text information to a mobile phone as a transmission destination. According to such a configuration, security information is transmitted to the mobile phone as character information, so that security can be easily performed with the mobile phone.

(3) In the invention according to any one of claims 1 to 5, the wireless transmission means connects to an intranet to which a management information terminal device to which the security information is transmitted is connected. The security information is transmitted to the management information terminal device via a connection wireless communication device for performing the connection. According to such a configuration, security of a plurality of cleaning areas in the facility provided with the intranet can be intensively performed.

(4) A self-propelled cleaning robot,
A cleaning robot provided with security information acquisition means for acquiring security information necessary for security. According to such a configuration, it can be used for security.

(5) A cleaning robot according to the invention described in the above (4), further comprising information recording means for recording the security information. According to such a configuration, security can be performed by taking out a record of security information from the cleaning robot when necessary.

[0074]

According to the first to sixth aspects of the present invention, security information which can be used for security can be transmitted.

According to the second, fifth and sixth aspects of the invention, image information can be transmitted as security information. According to the third to sixth aspects of the present invention, it is possible to notify the presence of a moving object to be guarded.

According to the fourth, fifth and sixth aspects of the present invention,
It can warn mobiles to be guarded. Claim 5,
According to the invention described in Item 6, the security information can be remotely moved to a position where security information that can be better used for security can be obtained.

According to the invention described in claim 6, security of a plurality of cleaning areas that can be connected by a communication line network can be intensively performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an electrical configuration of a cleaning robot.

FIG. 2 is a system diagram showing an automatic cleaning system.

FIG. 3 is a side view of a sweeper type cleaning robot.

FIG. 4 is a plan view of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Intranet as a communication line network, 3A ... Cleaning robot, 4 ... Work management computer as management information terminal device, 5A-5C ... Access point as connection wireless communication device, 27 ... Security information acquisition means and image information Infrared light constituting acquisition means; 28, an infrared camera; 43, microcomputer constituting radio transmission means, image information transmission means and movement command signal receiving means;
4 ... Microcomputer as movement control means constituting security information acquisition means, image information acquisition means, wireless transmission means, image information transmission means and movement command signal reception means, 45 ... wireless transmission means, image information transmission means and Wireless LAN module constituting movement command signal receiving means, 53
.. An imaging control device constituting security information acquisition means and image information acquisition means;

Claims (6)

[Claims] 1. A self-propelled cleaning robot, comprising: security information acquisition means for acquiring security information necessary for performing security; and wireless transmission means for wirelessly transmitting the security information. robot. 2. The cleaning robot according to claim 1, wherein the security information is image information, and the security information acquisition unit acquires the image information. 3. The security information according to claim 1, wherein the security information is detection information of a moving object, and the security information acquiring means sequentially acquires image information with time and detects the moving object from each image information. Cleaning robot. 4. The cleaning robot according to claim 3, further comprising a warning unit that warns the moving body based on the detection information of the moving body. 5. An image information acquisition unit for acquiring image information used for remotely moving a cleaning robot, an image information transmission unit for wirelessly transmitting the image information, and moving the cleaning robot by remote operation. The cleaning robot according to any one of claims 1 to 4, further comprising: a movement command signal receiving unit that receives a movement command signal for performing the movement control; and a movement control unit that performs movement control based on the movement command signal. . 6. The wireless transmission unit transmits the security information via a connection wireless communication device for connecting to a communication line network to which a management information terminal device to which the security information is transmitted. The cleaning robot according to any one of claims 1 to 5, which transmits the cleaning robot to the management information terminal device.