JP2000353013A - Cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a cleaning robot that a work to teach map information about a cleaning area of the same room by every cleaning robot is eliminated. SOLUTION: A memory card inserting part 26 is provided in the cleaning robot 1 and a memory card 27 is inserted into the memory card inserting part 26 when the cleaning robot 1 is operated. Plural pieces of map data in which the cleaning area of the room, etc., which is desired to be cleaned is registered as coordinate data are stored in the memory card 27. Any of the arranged plural cleaning robots 1 is ready to clean the same room simply by inserting the memory card 27 into the memory card inserting part 26. In addition, an identification number is stored in the memory card 27, selection and setting of functions preset in the cleaning robot 1 according to a taste of an individual, etc., are automatically performed based on the identification number of the memory card 27.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaning robot.

[0002]

2. Description of the Related Art A self-propelled cleaning robot of this type is disclosed in Japanese Patent Application Laid-Open Nos. 9-269824 and 7-281752. The cleaning robot may be a sweeper type that runs on the floor by itself and sweeps dust with a built-in brush and takes it into a dust box, or a polisher type in which a cleaning solution is dropped and the floor is polished with a sponge.
Since the cleaning robot runs and cleans itself, the worker does not need to be monitored during that time.

[0003] The reason that the cleaning robot can self-propelled to clean the room is because it has map information of a cleaning area that stores the shape and size of the room. In this way, map information for teaching the shape and size of the room is provided.
For example, a cleaning robot is caused to actually travel through a room and search for the map information of a cleaning area. For example, one building is usually provided with a plurality of cleaning robots.

[0004]

However, when a plurality of cleaning robots clean the same room, it is necessary to teach map information of a cleaning area in the same room for each vehicle. If it is troublesome, a dedicated cleaning robot must be used for each room. Normally, the cleaning robot is responsible for cleaning multiple rooms, so while cleaning other rooms,
No matter how much other cleaning robots were vacant and idle, they had to wait. In this case, there is a problem that the cleaning robot cannot be used during that time, wasteful time is consumed, and efficiency is poor.

[0005] For this reason, it is usually necessary to work to teach map information of the cleaning area of the same room for each vehicle, and it takes time to teach map information of the cleaning area. there were. Although the cleaning robot can use a plurality of functions, it is troublesome to switch settings for using the functions. For example, the function is switched according to the user's preference. However, when one cleaning robot is used by a plurality of cleaning operators (cleaning management companies), the user's favorite is changed every time the operator changes. A setting switching operation to switch the setting to the function had to be performed. Further, for example, since the functions to be used are different between the cleaning operator and the maintenance contractor, the maintenance contractor must switch the setting and return to the original setting again after the maintenance is completed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a first object of the present invention is to eliminate the need to teach map information of a cleaning area in the same room for each cleaning robot. It is to provide a cleaning robot. Second
An object of the present invention is to eliminate a troublesome operation of switching the function of the cleaning robot according to the user's preference every time the user of the cleaning robot changes.

[0007]

According to the first aspect of the present invention, there is provided a self-propelled cleaning robot for cleaning a cleaning surface, wherein map information for recognizing a cleaning area is provided. A storage medium for storing, a connector capable of detachably attaching the storage medium and reading data stored in the storage medium in the attached state, and reading from the storage medium via the connector Control means for controlling the traveling drive unit and the cleaning drive unit so as to grasp the cleaning area based on the map information and to clean the cleaning area.

According to this configuration, when the cleaning robot performs the cleaning operation, the storage medium is attached to the connector and connected. Based on the map information read from the storage medium via the connector, the control unit grasps the cleaning area, controls the traveling drive unit and the cleaning drive unit, and causes the cleaning robot to clean the cleaning area. By attaching the storage medium to an empty cleaning robot among the plurality of cleaning robots, any of the cleaning robots can clean a room or the like in which the storage area is stored in the storage medium. That is, since the storage medium can be shared and used by a plurality of cleaning robots, the cleaning robot can be used efficiently.

According to a second aspect of the present invention, in the first aspect of the present invention, the storage medium stores identification data, and identifies the storage medium based on the identification data read from the storage medium. And a function switching means for switching a function preset for the cleaning robot in accordance with a result of identification of the storage medium by the identification means.

According to this configuration, the storage medium is identified by the identification means based on the identification data read from the storage medium, and the function preset in the cleaning robot is switched by the function switching means in accordance with the identification result. Therefore, a desired function is automatically set only by attaching the storage medium to the connector.

According to a third aspect of the present invention, in the first or second aspect of the invention, the storage medium is readable and writable and has identification data stored therein.
Identification means for identifying the storage medium based on the identification data read from the storage medium, information acquisition means provided for causing the cleaning robot to acquire information, and the identification information among the information acquired by the information acquisition means. Information writing means for writing information according to the identification result of the storage medium by the means into the storage medium.

According to this configuration, information according to the identification result of the storage medium by the identification means among the information acquired by the information acquisition means is selected by the information writing means and written into the storage medium. Therefore, the setting in which desired information is written to the storage medium is automatically performed only by attaching the storage medium to the connector.

According to a fourth aspect of the present invention, in the second or third aspect of the present invention, the identification data is data content capable of identifying a cleaning worker and a maintenance company, and the function switching means. According to another aspect of the present invention, the setting of the function for the cleaning operator and the function for the maintenance contractor are switched in accordance with the identification result of the storage medium by the identification unit.

According to this structure, the identification means identifies whether the storage medium is for a cleaning worker or a maintenance company based on the identification data read from the storage medium. According to the identification result of the storage medium by the identification means, the function is switched by the function switching means to one of the settings for the cleaning operator and for the maintenance contractor. Therefore, the function according to the identification result among the functions for the cleaning operator and the functions for the maintenance contractor is automatically set only by attaching the storage medium to the connector.

According to a fifth aspect of the present invention, in the invention of the fourth aspect, the function switching means is set for a cleaning worker according to a result of identification of the storage medium by the identification means. The gist is to release the function when the identification result for the maintenance company is obtained.

According to this configuration, when the identification result for the maintenance company is obtained in accordance with the identification result of the storage medium by the identification means, the limiter function set for the cleaning operator is released by the function switching means. .

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 2 and 3, the cleaning robot 1 includes a drive wheel 3 as a front wheel and a caster wheel 4 as a rear wheel on the bottom of the main body 2. The left and right driving wheels 3, 3 are independently driven by running motors 5, 6 as running drive units provided in the main body 2. A frusto-conical side brush 7 is provided on two arm portions 2a extending slightly to the left and right of the front part of the main body 2 while expanding. The side brushes 7, 7 are left and right arm portions 2a.
And has a function of rotating in the direction of the arrow shown in FIG. 3 to sweep left and right dust inward. A cylindrical main brush 9 is disposed at the bottom of the main body 2 behind the drive wheel (front wheel) 3. The main brush 9 is driven by a main brush motor 10 as a cleaning drive unit provided in the main body 2, and has a function of rotating in the direction of an arrow shown in FIG.

At the front of the main body 2, a dust box 11 is disposed immediately in front of the main brush 9, and a suction port 11a is formed at a portion of the dust box 11 facing the main brush 9. At the rear of the body 2 is a vacuum motor 1
2 and a vacuum unit (negative pressure generator) 13 driven by a vacuum motor 12 are provided.
When the vacuum unit 13 is driven, the inside of the dust box 11 becomes negative pressure, and the dust brushed forward by the main brush 9 is sucked and removed into the dust box 11 from the suction port 11a. The suction port 11a of the dust box 11 is provided with a rubber lip 11b to help take dust into the suction port 11a.

The cleaning robot 1 has three obstacle sensors 14 at the front of the main body 2, two obstacle sensors 15 at the left and right sides of the main body 2, and three obstacle sensors 16 at the rear of the main body 2. Is provided. Three types of obstacle sensors 14, 15, 16
Detect obstacles in front, side and rear.

A gyro 17 is provided at the center of the front of the main body 2.
Is built-in. The gyro 17 is for detecting the posture angle (direction) θ of the cleaning robot 1, and the posture angle θ is used for grasping the current position at the time of traveling control.

A display device 18 is embedded in the rear upper surface of the main body 2. The screen 18a of the display device 18 is the input device 19
The touch panel also serves as a keypad, and input operations can be performed by operating display buttons on the screen 18a. In addition, an infrared camera 20 and an infrared light 21 are provided at the front center of the main body 2. Further, two grips 22 used by an operator to manually move the cleaning robot 1 are provided at a rear portion of the main body 2.

The cleaning robot 1 is an electric self-propelled vehicle, and a main body 2
A battery 23 (shown in FIG. 2) is built in the lower rear portion of the battery.
A charger 24 (shown in FIG. 2) is provided on the bottom surface of the main body 2 for charging the battery wirelessly by a magnetic induction method from a charger (not shown) installed at a predetermined place on the ground. Further, an antenna 25 for performing wireless communication for remotely operating the cleaning robot 1 is provided at a rear portion of an upper surface of the main body 2.

A memory card 27 as a storage medium is inserted into a memory card insertion portion (memory connector) 26 provided as a connector provided on the upper rear surface of the main body 2. The memory card 27 stores a plurality of map data for instructing the cleaning robot 1 on the cleaning area. Inside the main body 2, a controller 28 (shown in FIG. 2) as control means for controlling communication control and operation control of the cleaning robot 1 is provided.

FIG. 1 is a block diagram showing an electrical configuration of the cleaning robot 1. As shown in FIG. The controller 28 includes two microcomputers (hereinafter simply referred to as microcomputers) 31,
32. The microcomputer 31 is for operation control that controls traveling control and cleaning control, and the microcomputer 32 is for communication that controls communication. The two microcomputers 31 and 32 are connected to each other via a bus to enable mutual transmission of data.

The input ports of the microcomputer 31 are connected to three types of obstacle sensors 14, 15, 16, a gyro 17, a battery sensor 33, a dust-full detection sensor 34, and motor current detection sensors 35, 36, 37. I have. The output ports of the microcomputer 31 are connected to the traveling motors 5,
6, side brush motors 8, 8, main brush motor 1
0 and the vacuum motor 12
Through 43. The traveling motors 5 and 6 are provided with encoders 44 and 45 for detecting the number of rotations, and each of the encoders 44 and 45 is connected to an input port of the microcomputer 31. The rotation speed of each of the motors 5, 6, 8, 10, 12 is controlled by drivers 38 to 43.

The microcomputer 31 has a camera 20 connected to an output port via a drive circuit 46, and an image processing section 47 for processing image data captured by the camera 20 connected to an input port. The light 21 is connected to an output port of the microcomputer 31 via a drive circuit 48. A memory card 27 is connected to an input / output port of the microcomputer 31 via a memory card insertion unit 26. The drive circuit 4 is connected to the output port of the microcomputer 31.
9, a speaker 50 is connected.

The microcomputer 31 has a built-in memory 51. The memory 51 stores various program data necessary for controlling the operation of the cleaning robot 1, and includes a travel control program, an authentication number collation program, an abnormality detection program, and the like.

On the other hand, the display device 18, the input device 19, and the communication device 52 are connected to the communication microcomputer 32. The communication device 52 can wirelessly communicate with the remote controller 54 via the antennas 25 and 53. By operating the remote controller 54, the cleaning robot 1 can be remotely operated manually.

The microcomputer 31 executes an abnormality detection program to detect an obstacle running impossible abnormality, a battery remaining shortage, a dust full abnormality, and a brush replacement time based on detection signals of the sensors 14 to 16 and 33 to 37. When any one of these abnormalities is detected, the cleaning robot 1 is instructed to interrupt the cleaning operation. Here, the obstacle running impairment abnormality is an abnormality when the obstacle obstructs the traveling road and has to be stopped for a certain period of time. The brush replacement time is determined based on the fact that the motor current value when the worn brushes 7, 9 run idle due to insufficient contact with the floor surface continues for a certain time or more.

The memory card 27 stores map data as map information. The map data includes at least coordinate data (cleaning area data) of a cleaning area such as a floor of a room to be cleaned by the cleaning robot 1. For example, fixed obstacles such as pillars are removed from the cleaning area. The microcomputer 31 can use the cleaning area data to grasp the position, shape, and size of the cleaning area from the origin on the map coordinates. The memory card 27 can store a plurality of cleaning area data of a room or the like.

The registration of the cleaning area data to the memory card 27 is performed by making the cleaning robot 1 make a round along the outer periphery of the floor (cleaning area) of the room by remote control using the remote controller 54, thereby making the cleaning robot 1 (microcomputer). 31) is performed by searching for a cleaning area and learning its coordinates. The memory 51 stores a cleaning area teaching program for performing this registration work. Of course, it is also possible to create the cleaning area data on a personal computer (CAD or the like) using the design drawing data of the room and the like, and copy and store the data on the memory card 27. The map data stored in the memory card 27 is used when determining a traveling route in the traveling control program.

The traveling control program is a program for determining the traveling route in the cleaning area and controlling the traveling so that the cleaning robot 1 follows the traveling route.
The travel route is determined according to a predetermined rule set in advance, using the cleaning area data of the map data read from the memory card 27. The traveling control includes the encoder 44,
The running speed V obtained from the detection signal from the sensor 45, the attitude angle θ obtained from the detection signal from the gyro 17, and the yaw rate (posture angular velocity) ω (= Δθ / Δt) are executed as control parameters. The current position is the attitude angle θ that changes every moment
And a current point coordinate on a map coordinate of a moving point that has moved from the origin on a road obtained by accumulating the running distance at that time over time. The data of the traveling speed V and the yaw rate ω are used for attitude control for placing the cleaning robot 1 on a target path.

The memory card 27 stores authentication number data for identifying the user (memory card 27) in addition to map data (cleaning area data). Microcomputer 3
Reference numeral 1 denotes whether or not the person who intends to operate the cleaning robot 1 is a person who is permitted to use the cleaning robot 1 by checking the authentication number by the authentication number checking program.

The authentication number includes a personal identification data portion for specifying the user and a belonging identification data portion for identifying whether the user is a cleaning operator or a maintenance company. If the authentication number of the memory card 27 is registered when the memory card 27 is inserted into the memory card insertion portion 26, the cleaning robot 1 can be operated. However, if the authentication number is not registered, the cleaning robot 1
Is not allowed to run. Further, the personal identification data portion is also used when reading the setting data in which which of the functions prepared for the individual to be used by the cleaning robot 1 to use is set in advance according to personal preference. Used. The identification means is constituted by the microcomputer 31. The function switching means includes microcomputers 31 and 32.
It consists of. The information writing means is constituted by the microcomputer 31.

Each of the memories 51 and 55 stores setting data for each function which is a basis for selectively using various functions prepared for the cleaning robot 1. The memory 55 stores a menu display program for displaying a menu screen on the display screen 18a. There are two types of menu screen data used in the menu display program, one for the cleaning operator and the other for the maintenance company.

In the memory 51, a plurality of cleaning condition setting data serving as the basis of the function are prepared for each function so that the operator can switch the cleaning operation condition as desired. Further, the memory 51 stores setting data relating to a limiter function of cleaning operation conditions. The limiter function is a function in which the upper limit of the motor rotation speed is limited in a normal cleaning operation, and the maximum running speed, the running acceleration, the brush rotation speed, and the vacuum rotation speed have upper limits (limiters). When it is recognized from the authentication number of the memory card 27 that the maintenance company uses the limiter function, the limiter function is released.

The memory 51 has a sound program for generating a warning sound. A function of switching and selecting the language of the warning voice between Japanese and English and a function of switching and selecting the warning voice between a male voice and a female voice are provided. That is,
Two types of Japanese warning voice data and English warning voice data are prepared for male voice and female voice.

Further, the memory 51 is provided with three-stage settings from a fine setting to a coarse setting of a travel path interval (a pitch of a return path when the robot is turned back) when the cleaning robot 1 performs a cleaning operation. These settings can be set according to personal preference from the authentication number.

The memory 51 has an operation management program for detecting and recording an operation state. Daily report management data of the operation status is created for each operation day and stored in the memory 55.
The daily report management data is data that indicates detailed operating conditions such as the operating time and the cleaning place. By viewing this, it is possible to confirm whether or not the cleaning robot 1 has properly performed the given cleaning operation. In this case, the encoders 44 and 45 used for measuring the traveling distance and the clock in the microcomputer 31 constitute information acquisition means. This operation management program is executed at least when the authentication number is for the cleaning worker.

Further, the memory 51 is provided with a maintenance program for grasping the operation status from the viewpoint of maintenance. Information such as a failure of a sensor or a failure of the controller 28 is obtained from input signal values from the various sensors 14 to 17, 33 to 37, and the like, and voltage values of circuits in the controller 28.
Each time operation is performed, maintenance data is created and stored in the memory 51.
Is stored. In this case, various sensors 14 to 17, 33
37 to 37 and the microcomputer 31 constitute information acquisition means. This maintenance program is executed at least when the authentication number is for a maintenance company. In addition,
A plurality of cleaning robots 1 are provided in facilities such as a building, a station, and an airport.

Next, the operation of the cleaning robot 1 will be described. When using the cleaning robot 1, the memory card 27 is inserted into the memory card insertion section 26.

For example, when the cleaning robot 1 is used in common by a plurality of workers, a plurality of memory cards 27 and 2 are used.
Any of 7A, 27B and 27C is cleaning robot 1
Inserted into. Memory cards 27, 27A, 27B, 2
7C stores different cleaning area data.

The memory card 27 is inserted into the memory card insertion section 2
6, the data stored in the memory card 27 can be shared among a plurality of cleaning robots 1 and used. For example, even if the cleaning area data of the room A is stored only in the memory card 27, any one of the plurality of cleaning robots 1 can clean the room A as long as the memory card 27 is inserted. it can. Therefore, the teaching operation for moving the cleaning robot 1 along the periphery of the room need only be performed once for one memory card 27 in each room. When cleaning the room A, the memory card 27 in which the room is registered may be used.

The memory card 27 is inserted into the memory card insertion section 2
6, the microcomputer 31 executes an authentication number checking program to check whether the authentication number data read from the memory card 27 is registered. If the authentication number is registered, the operation of the cleaning robot 1 is permitted. If the authentication number is not registered, the operation of the cleaning robot 1 is not permitted. When the operation of the cleaning robot 1 is permitted, for example, a menu screen is displayed on the display screen 18a.

When the memory card 27 is identified by the authentication number, the setting data corresponding to the authentication number of the memory card 27 is read from the memory 51. For example, when displaying the previous menu screen, it is determined whether the authentication number is for the cleaning worker or the maintenance company, and if it is the identification number for the cleaning worker, it has the minimum necessary functions A simple menu screen with a small number of buttons is displayed. On the other hand, if the identification number is for a maintenance company, a complicated menu screen with many buttons that can use many functions is displayed.

The setting data for the function used when executing the voice generating program is also automatically set from the authentication number. For example, setting of function selection for Japanese / English, function selection for male voice / female voice Is automatically performed by the microcomputer 31. For this reason, a warning is issued by the gender sound set in the language set in advance by the preference of the worker.

The daily report management data is stored in the memory data 27.
The setting of whether or not to record is automatically made by the microcomputer 31 based on the authentication number. If the designation of recording is set, daily operation data is created when the cleaning robot 1 is operated, and is recorded in a predetermined storage area of the memory card 27. Is done.

If the memory card 27C records the authentication number of the maintenance company, and the memory card 27C is inserted, the microcomputer 31 determines that the maintenance company uses the cleaning robot 1 and The limiter function is canceled. In normal cleaning work, the upper limit (limiter) of the motor rotation speed, which was set because the limiter function is effective, is released, and the motors 5, 6, 8, and 10 can be used at full power, and the traveling speed and traveling The acceleration, the brush rotation speed and the vacuum rotation speed can be increased to the maximum values.

If it is the authentication number of the maintenance company, the maintenance information obtained and accumulated during the operation of the cleaning robot 1 is written in the memory card 27C. The maintenance company can see the maintenance information written in the memory card 27 on a personal computer, for example, and use it as a reference for maintenance and periodic medical examinations.

As described in detail above, according to the present embodiment,
The following effects can be obtained. (1) Since the cleaning area data is given to the cleaning robot 1 by inserting the memory card 27, as long as the memory card 27 is inserted into any one of the plurality of cleaning robots 1, the memory card is provided. The room registered in 17 can be cleaned. Therefore, the teaching operation of manually operating the cleaning robot 1 to register the cleaning area data of a room or the like need only be performed once for each room. Further, if the cleaning area data is registered in the internal memory of the cleaning robot 1, only the room registered in the memory of the cleaning robot 1 can be cleaned, and the cleaning robot 1 cleans another room. If you are working, you must wait until the cleaning work is completed.
However, since the room is registered in the memory card 27, the cleaning robot 1 which has no available hands is
As long as is inserted, any cleaning robot 1 can clean the same room, so that each cleaning robot 1 can be used efficiently.

(2) Since the authentication number data is recorded on the memory card 27 and the setting according to the identification result of the authentication number is automatically performed, it is not necessary to change the setting. The cleaning robot 1 can be operated with the same settings. For example, the warning setting function can be automatically switched according to the identification result of the authentication number, so that the same language and voice warning can always be used.

(3) The identification number data is used to identify whether it is for a cleaning operator or a maintenance operator, and a limiter function is applied to the operator to limit the number of motor revolutions and the like. Is released. Therefore, the maintenance worker does not need to perform the operation of releasing the limiter function, and the maintenance work becomes easier.

(4) When the menu display screen is the cleaning operator's authentication number, a simple display screen with the minimum number of buttons is displayed. When the menu display screen is the maintenance operator's authentication number, more detailed functions can be used. A complicated menu screen with many buttons is displayed. Therefore, a menu screen that is easy for both the operator and the maintenance contractor to use can be used. For example, since unnecessary buttons are not displayed for an operator, operations such as setting change are easy to understand and use. On the other hand, the buttons of the functions that the user wants to use are displayed on the menu screen, so that the maintenance work can be easily performed.

(5) Since personal preference settings are automatically set based on the authentication number data, a worker who needs daily report management data can use the cleaning robot even if another worker has used it before. The daily report management data can always be taken out without the operation of switching 1 to its own setting.

The embodiment is not limited to the above, but can be implemented in the following modes. The authentication number may not be recorded on the memory card 27. Even with this configuration, when cleaning a room, the memory card 27 in which the room is registered may be used, and the work of registering the room only needs to be performed once. In addition, the cleaning robot 1 that is available can be used.

The map data (map information) may include, for example, travel route data in addition to the cleaning area data. ○ One cleaning area may be registered in one storage medium.

Switching of functions prepared for the cleaning robot (voice switching, menu screen switching, etc.) is not limited to the above embodiment. In a cleaning robot having a function that can be switched by a function other than the above, one of the functions may be automatically set based on the identification result of the memory card (storage medium).

The data recorded on the memory card (storage medium) by the cleaning robot is not limited to daily report management data or maintenance information such as operating status. Other data to be taken out from the cleaning robot may be recorded on the memory card.

The traveling route may be determined based on the identification result of the memory card (storage medium). ○ A storage medium using an authentication number that does not identify the cleaning operator and the maintenance company may be used.

The storage medium is not limited to the memory card 27. For example, a floppy disk or MO (magneto-optical disk) may be used. In addition, a CD (compact disk) can be used only by reading data.

The cleaning robot is not limited to the sweeper type. For example, the present invention may be applied to a cleaning robot that performs a wax operation or a cleaning robot that polishes a floor surface with a cleaning liquid. The technical ideas (inventions) other than the claims ascertained from the above embodiments and other examples are described below.

(1) In any one of claims 1 to 5,
A map information creating means (microcomputer 3) for creating a map information of the cleaning area by writing the stored information into the storage medium by running the cleaning robot manually and searching for the traveling route.
1) is provided.

According to this configuration, the storage medium for storing the cleaning area can be used in common for all the cleaning robots, so that the manual operation for creating the map information of the cleaning area by running the cleaning robot is performed only once. Only needs to be done.

(2) In any one of claims 1 to 5,
A lock release means (microcomputer) for releasing the lock function when the identification data is collated with the registered correct one based on the identification result of the storage medium by the identification means; 31).

According to this configuration, it is possible to prevent anyone other than the authorized person from operating the cleaning robot. (3) A cleaning operation content switching device according to any one of claims 2 to 5, wherein the function switching means switches the setting of the cleaning operation content according to the identification result of the storage medium. (Microcomputer 31).

According to this configuration, the content of the cleaning operation can be automatically set based on the identification result read from the storage medium. (4) In claim 5, the limiter function is to limit the upper limit of the number of rotations of the motor (5, 6, 8, 10) used for the cleaning operation.

(5) In claim 4, the control means stores a plurality of menu display data having different menu display contents in the storage means (55), and the function switching means stores the menu display contents by the identification means. A menu function switching means (microcomputer 32) for switching according to the identification result of the storage medium is provided. According to this configuration, simply by attaching the storage medium, menu display contents suitable for each of the cleaning operator and the maintenance contractor can be provided.

(6) In any one of claims 2 to 5,
The control means stores a plurality of warning voice data having different voice contents in the storage means (51), and the function switching means switches the warning voice setting function according to the identification result of the storage medium. And a microcomputer 31). According to this configuration, the warning is issued with the audio content suitable for the cleaning place or the like simply by attaching the storage medium.

(7) In the technical concept of the above (6), the difference in the voice content is a difference in language, and the storage means stores a plurality of warning voice data in different languages. Is provided with a warning voice language switching means (microcomputer 31) for switching a setting language of the warning voice according to the identification result of the storage medium. According to this configuration, a warning is issued in a voice in a language suitable for the cleaning place or the like simply by attaching the storage medium.

[0070]

As described in detail above, according to the first to fifth aspects of the present invention, any one of a plurality of cleaning robots can be cleaned by using a storage medium, and a plurality of cleaning robots can be cleaned. Since the storage medium can be shared and used by the robot, the cleaning robot that is free can be used efficiently.

According to the invention described in claim 2, according to claim 1
In addition to the effects of the present invention, the function preset in the cleaning robot is switched according to the identification result of the storage medium, so that the desired function can be automatically set only by attaching the storage medium to the connector.

According to the invention described in claim 3, according to claim 2
In addition to the effect of the invention, the information according to the identification result of the storage medium among the information obtained by the cleaning robot is written in the storage medium, so that the desired information can be stored later simply by attaching the storage medium to the connector. It can be used by taking it out of the medium.

According to the invention set forth in claim 4, according to claim 2
Or, in addition to the effect of the third aspect, the storage medium is automatically set to either the function for the cleaning worker or the function for the maintenance worker according to the identification result as to whether the storage medium is for the cleaning worker or for the maintenance worker. Just by attaching it to the connector, it can be automatically set to a function suitable for the cleaning operator, maintenance company or its user.

According to the invention set forth in claim 5, according to claim 4,
In addition to the effect of the invention, when the storage medium is identified for the maintenance company based on the identification data of the storage medium, the limiter function set for the cleaning worker is released, so that the storage medium is connected to the connector during the maintenance work. It is an appropriate function suitable for the user without having to release the limiter function just by wearing it.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an electrical configuration of a cleaning robot according to an embodiment.

FIG. 2 is a side view of the cleaning robot.

FIG. 3 is a plan view of a cleaning robot.

[Explanation of symbols]

Reference numeral 1 denotes a cleaning robot, 5, 6 a traveling motor as a traveling drive unit, 8 a side brush motor as a cleaning drive unit.
10. Main brush motor as cleaning drive, 26 ...
Memory card insertion unit as a connector, 27 ... Memory card as a storage medium, 28 ... Controller constituting control means, 31 ... Microcomputer constituting function switching means and identification means, information acquisition means and information writing means ,
32: microcomputers constituting function switching means, 38 to 41 ...
A driver that constitutes the control means.

Claims (5)

[Claims] 1. A self-propelled cleaning robot for cleaning a cleaning surface, comprising: a storage medium for storing map information for recognizing a cleaning area; and a detachable and removable storage medium. A connection unit capable of reading data stored in the storage medium in a wearing state; and grasping a cleaning area based on the map information read from the storage medium via the connection unit, and cleaning the cleaning area. Cleaning robot comprising a driving unit and a control unit for controlling the cleaning driving unit. 2. The cleaning robot according to claim 1, wherein identification data is stored in the storage medium, and identification means for identifying the storage medium based on identification data read from the storage medium; A cleaning robot comprising: a function switching unit that switches a function preset for the cleaning robot in accordance with a result of the identification of the storage medium by the identification unit. 3. The cleaning robot according to claim 1, wherein the storage medium is readable and writable and has identification data stored therein, and the storage medium is based on the identification data read from the storage medium. Identification means for identifying the information; information acquisition means provided for causing the cleaning robot to acquire information; and information corresponding to the identification result of the storage medium by the identification means among the information acquired by the information acquisition means. A cleaning robot comprising: an information writing unit that writes information to a storage medium. 4. The cleaning robot according to claim 2, wherein the identification data is data content capable of distinguishing between a cleaning worker and a maintenance contractor, and the function switching unit is configured by the identification unit. A cleaning robot that switches setting of functions for a cleaning worker and a maintenance company according to a result of identification of the storage medium. 5. The cleaning robot according to claim 4, wherein the function switching unit sets a limiter function set for a cleaning worker according to a result of the identification of the storage medium by the identification unit for a maintenance company. Cleaning robot that is released when the identification result is obtained.