Abstract:
A cleaning robot ( 1 ) is provided with: a main body housing ( 2 ) that moves along a floor in a self-propelled manner with a suction port ( 6 ) and an exhaust port ( 7 ) open; a motor fan ( 22 ) positioned inside the main body housing ( 2 ); a dust collection part ( 30 ) driven by the motor fan ( 22 ) so as to collect airflow dust that has been suctioned from the suction port ( 6 ); an infrared remote controller ( 60 ) that specifies an arbitrarily-defined location in space for setting up the main body housing ( 2 ) by emitting infrared rays; and an infrared sensor ( 18 ) that detects the specified location specified by the infrared remote controller ( 60 ). The cleaning robot moves to the specified location detected by the infrared sensor ( 18 ) and then carries out a cleaning operation, or carries out a cleaning operation while moving to the specified location.

Description:
TECHNICAL FIELD 
       [0001]    The present invention relates to a cleaning robot that travels in a self-propelled manner on a floor surface. 
       BACKGROUND ART 
       [0002]    Patent Document 1 discloses a conventional cleaning robot. This cleaning robot has drive wheels provided at a main body housing thereof that is substantially circular in planar view, and performs cleaning while traveling in a self-propelled manner on a floor surface. In this case, the main body housing is designed to be of a thin type having a reduced height so as to allow cleaning under a table or the like. The main body housing is provided at a lower surface thereof with a sweep-up brush roller for collecting dust, and inside the main body housing, a dust storage portion is provided. 
         [0003]    Furthermore, this conventional cleaning robot includes a designation device (remote controller) that is a separate body from the main body housing. The cleaning robot receives from the designation device a start signal for starting a self-propelled mode, a halt signal for halting the self-propelled mode, and the like and executes operations corresponding to those signals, respectively. 
         [0004]    In the cleaning robot configured as above, upon a start of a cleaning operation, the drive wheels and the sweep-up brush roller are started to be driven. By rotation of the drive wheels, the main body housing travels in a self-propelled manner on a floor surface in a room, and dust is swept up by the sweep-up brush roller from the floor surface toward into the main body housing. The dust swept up from the floor surface is stored in the dust storage portion. 
         [0005]    This conventional cleaning robot is capable of executing a cleaning operation while traveling in a self-propelled manner at a command from the designation device (remote controller). Furthermore, this cleaning robot is also capable of executing a cleaning operation by receiving, via the designation device, a manually inputted command to, for example, move forward, move rearward, or turn around. 
       LIST OF CITATIONS 
     Patent Literature 
       [0006]    Patent Document 1: JP-A-2004-166968 (pages 9 to 12,  FIG. 1 ) 
       SUMMARY OF THE INVENTION 
     Technical Problem 
       [0007]    In order to make the above-described conventional cleaning robot move to a user&#39;s desired location, however, it is required that every command to, for example, move forward, move rearward, or turn around be manually transmitted one by one by using the designation device. This has led to a problem that it requires considerable effort to guide the cleaning robot to a user&#39;s desired location, resulting in a lot of time being taken to perform cleaning, and this might cause a feeling of discomfort to the user. Furthermore, there has also been a problem that power is consumed more than necessary. 
         [0008]    The present invention has been made in view of the above-described issues and has as its object to provide a cleaning robot that can be easily guided to a user&#39;s desired arbitrary location and thus is capable of implementing a cleaning operation with further improved efficiency. 
       Solution to the Problem 
       [0009]    In order to solve the above-described problems, a cleaning robot according to the present invention includes a main body housing that has a suction port and an air exhaust port formed therethrough and travels in a self-propelled manner on a floor surface, a motor-driven blower that is arranged in the main body housing, a dust collection portion for collecting therein dust in airflow sucked in through the suction port by driving of the motor-driven blower, a designation device that designates, by emitting an electromagnetic wave or a sound wave, an arbitrary location in an space in which the main body housing is installed, and a detection device that detects the location thus designated by the designation device. The cleaning robot moves to the designated location detected by the detection device, where it executes a cleaning operation, and/or executes a cleaning operation when moving to the designated location. 
         [0010]    According to this configuration, the main body housing of the cleaning robot travels in a self-propelled manner on a floor surface, and when the motor-driven blower is started to be driven, airflow containing dust is sucked in through the suction port formed through the main body housing. The dust contained in the airflow is collected in the dust collection portion. The airflow from which the dust has been removed in the dust collection portion passes through the motor-driven blower to be exhausted through the air exhaust port formed through the main body housing. Upon a user designating a desired location by using the designation device, the detection device in the cleaning robot detects the location thus designated, and the cleaning robot automatically moves to the designated location, where it executes a cleaning operation, and/or executes a cleaning operation when moving to the designated location. An “electromagnetic wave” as noted herein encompasses a radio wave, infrared radiation, a visible light ray, and ultraviolet radiation. 
         [0011]    Furthermore, in the cleaning robot configured as above, a length of time in which the cleaning robot stays at the designated location is made to vary according to a length of designation time in which designation using the electromagnetic wave or the sound wave is performed. 
         [0012]    According to this configuration, the cleaning robot executes a cleaning operation at a designated location for a length of time varying according to a length of designation time in which designation using an electromagnetic wave or a sound wave is performed. 
         [0013]    Furthermore, in cleaning robot configured as above, the electromagnetic wave emitted by the designation device is infrared radiation, and as the detection device, an infrared sensor that detects infrared radiation is used. 
         [0014]    According to this configuration, a user designates, by using infrared radiation, an arbitrary location in a space in which the main body housing is installed. The location thus designated is detected by the infrared sensor in the cleaning robot. 
         [0015]    Furthermore, the cleaning robot configured as above further includes an ion generation device that releases ions into airflow flowing through the air exhaust port. 
         [0016]    According to this configuration, airflow containing ions is delivered to inside a room through the air exhaust port formed through the main body housing. With this configuration, the cleaning robot moves to a designated location designated by a user by using the designation device, where it executes a cleaning operation, and delivers ions to inside a room at the designated location. 
       Advantageous Effects of the Invention 
       [0017]    According to the configuration of the present invention, the cleaning robot automatically moves to a designated location designated by a user by using the designation device, where it executes a cleaning operation. With this configuration, the cleaning robot can be easily guided to a user&#39;s desired arbitrary location, and thus cleaning at a user&#39;s designated location can be executed with promptness and reduced power consumption. Thus, there can be provided a cleaning robot that is capable of implementing a cleaning operation with further improved efficiency. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0018]    [ FIG. 1 ] is a perspective view of a cleaning robot according to an embodiment of the present invention. 
           [0019]    [ FIG. 2 ] is a vertical sectional side view of a main body housing of the cleaning robot shown in  FIG. 1 . 
           [0020]    [ FIG. 3 ] is a vertical sectional side view showing the cleaning robot in  FIG. 2  in a state where a dust collection portion is removed therefrom. 
           [0021]    [ FIG. 4 ] is a perspective view of a motor unit of the cleaning robot shown in  FIG. 2 . 
           [0022]    [ FIG. 5 ] is a block diagram showing a configuration of the cleaning robot in  FIG. 1 . 
           [0023]    [ FIG. 6 ] is a flow chart showing an operation related to cleaning at a designated location by the cleaning robot in  FIG. 1 . 
       
    
    
     DESCRIPTION OF EMBODIMENTS 
       [0024]    The following describes a cleaning robot according to an embodiment of the present invention with reference to  FIGS. 1 to 6 . 
         [0025]    First, as to the cleaning robot according to the embodiment of the present invention, a structure thereof is briefly described with reference to  FIGS. 1 to 5 , and a dust collection operation is described along therewith.  FIG. 1  is a perspective view of the cleaning robot,  FIG. 2  is a vertical sectional side view of a main body housing of the cleaning robot, and  FIG. 3  is a vertical sectional side view showing the cleaning robot in a state where a dust collection portion is removed therefrom. Further,  FIG. 4  is a perspective view of a motor unit of the cleaning robot, and  FIG. 5  is a block diagram showing a configuration of the cleaning robot. 
         [0026]    As shown in  FIG. 1 , a cleaning robot  1  has a main body housing  2  that is circular in planar view and travels in a self-propelled manner by driving drive wheels  5  on a battery  13  (for both of these, see  FIG. 2 ). The main body housing  2  is provided at an upper surface thereof with a lid portion  3  that is opened/closed for mounting/demounting a dust collection portion  30  (see  FIG. 2 ). 
         [0027]    As shown in  FIG. 2 , in the main body housing  2 , there are arranged a pair of drive wheels  5  that protrude from a bottom surface of the main body housing  2 . A rotation axis of the drive wheels  5  is arranged on a center line C of the main body housing  2 . When both the drive wheels  5  rotate in one direction, the main body housing  2  moves forward or rearward, and when the drive wheels  5  rotate in a direction opposite to each other, the main body housing  2  rotates in place about the center line C, i.e. turns around. The drive wheels  5  are driven by a travel motor  51  (see  FIG. 5 ). 
         [0028]    The main body housing  2  has, in a front part thereof that is to be directed forward in a travel direction when cleaning is performed, a suction port  6  provided at a lower surface thereof. The suction port  6  is constituted by an open surface of a concave portion  8  provided to be concave at the bottom surface of the main body housing  2  and formed to face a floor surface F. In the concave portion  8 , there is arranged a rotary brush  9  that rotates about a horizontal rotation axis thereof, and on both lateral sides of the concave portion  8 , a side brush  10  that rotates about a vertical rotation axis thereof is arranged. 
         [0029]    Forward of the concave portion  8 , a roller-shaped front wheel  15  is provided. At a rear end of the main body housing  2 , a rear wheel  16  that is a free wheel is provided. Normally, the front wheel  15  is separated from the floor surface F, and cleaning is performed with the rotary brush  9 , the drive wheels  5 , and the rear wheel  16  being in contact with the floor surface F. The front wheel  15  is configured to come in contact with a bump that may appear on a travel route so as to make it easy for the main body housing  2  to pass over the bump. 
         [0030]    At a rear end of the main body housing  2  on a peripheral surface thereof, charge terminals  4  for charging the battery  13  is provided. The main body housing  2  travels in a self-propelled manner to return to a charge stand  40  installed in a room, and thus the charge terminals  4  come in contact with terminal portions  41  provided at the charge stand  40 , causing the battery  13  to be charged. The charge stand  40  that is connected to a commercial power source is normally installed along a side wall S in a room. 
         [0031]    In the main body housing  2 , the dust collection portion  30  for collecting dust therein is arranged. The dust collection portion  30  is housed in a dust collection chamber  39  provided in the main body housing  2 . The dust collection chamber  39  is formed as an isolated chamber whose surrounding peripheral surfaces and bottom surface are covered, and wall surfaces thereof except at a front wall, therefore, are closed. At the front wall of the dust collection chamber  39 , a first air suction path  11  communicating with the concave portion  8  and a second air suction path  12  arranged above the concave portion  8  and communicating with an after-mentioned motor unit  20  are led out. 
         [0032]    The dust collection portion  30  is arranged on the center line C of the main body housing  2 , and opening the lid portion  3  of the main body housing  2  as shown in  FIG. 3  enables mounting/demounting of the dust collection portion  30 . The dust collection portion  30  is formed by mounting an upper cover  32  having a filter  33  to an upper surface of a dust collection container  31  of a bottomed cylindrical shape. The upper cover  32  is latched to the dust collection container  31  by using a movable latch portion  32   a  and can be removed from the dust collection container  31  by operating the latch portion  32   a.  Thus, dust accumulated in the dust collection container  31  can be discarded. 
         [0033]    At a peripheral surface of the dust collection container  31 , a flow-in path  34  having a flow-in port  34   a  formed at a tip end thereof and communicating with the first air suction path  11  is led out. In the dust collection container  31 , a flow-in portion  34   b  that is continuous with the flow-in path  34  and bent to guide airflow downward is provided. At a peripheral surface of the upper cover  32 , a flow-out path  35  having a flow-out port  35   a  formed at a tip end thereof and communicating with the second air suction path  12  is led out. 
         [0034]    Around each of the flow-in port  34   a  and the flow-out port  35   a,  packing (not shown) that comes in intimate contact with the front wall of the dust collection chamber  39  is provided. Thus, the inside of the dust collection chamber  39  housing the dust collection portion  30  therein is hermetically sealed. The front wall of the dust collection chamber  39  is formed to be an inclined surface so that the packing can be prevented from deteriorating due to sliding thereof against the front wall when the dust collection portion  30  is mounted/demounted. 
         [0035]    In the main body housing  2 , in an upper part rearward of the dust collection chamber  39 , a control board  14  having an after-mentioned CPU  14   a  (see  FIG. 5 ) is arranged. On the control board  14 , a control circuit including the CPU  14   a  that controls various portions of the cleaning robot  1  is provided. In a lower part rearward of the dust collection chamber  39 , the battery  13  that is demountable is arranged. The battery  13  is charged from the charge stand  40  via the charge terminals  4  and supplies power to the control board  14  and to respective motor portions of the drive wheels  5 , the rotary brush  9 , the side brush  10 , a motor-driven blower  22 , and the like. 
         [0036]    In the front part of the main body housing  2 , the motor unit  20  is arranged. As shown in  FIG. 4 , the motor unit  20  includes a housing  21  that is a resin molded article and the motor-driven blower  22  housed in the housing  21 . The motor-driven blower  22  is formed of a turbofan covered with a motor case  22   a.    
         [0037]    The motor case  22   a  of the motor-driven blower  22  has an air suction port (not shown) formed at one end thereof in an axial direction and an air exhaust port (not shown) formed at each of two locations on a peripheral surface thereof. At a front surface of the housing  21 , an opening portion  23  facing the air suction port of the motor case  22   a  and communicating with the second air suction path  12  is provided. In the housing  21 , on both lateral sides of the motor-driven blower  22 , a first air exhaust path  24   a  and a second air exhaust path  24   b  communicating with the air exhaust ports of the motor case  22   a,  respectively, are provided. The first and second air exhaust paths  24   a  and  24   b  communicate with an air exhaust port  7  (see  FIG. 2  and  FIG. 3 ) provided at the upper surface of the main body housing  2 . The air exhaust port  7  extends in a lateral direction perpendicular to a front-rear direction of the main body housing  2 . 
         [0038]    In the first air exhaust path  24   a,  an ion generation device  25  having a pair of electrodes (not shown) is arranged. A voltage having an alternating current waveform or an impulse waveform is applied to each of the electrodes of the ion generation device  25 , and ions generated by resulting corona discharge of the electrodes are released into the first air exhaust path  24   a,  namely, an air exhaust flow path between the motor-driven blower  22  and the air exhaust port  7 . 
         [0039]    A positive voltage is applied to one of the electrodes, and hydrogen ions generated by resulting corona discharge combine with water in the air to generate plus ions mainly formed of H + (H 2 O)m. A negative voltage is applied to the other of the electrodes, and oxygen ions generated by resulting corona discharge combine with water in the air to generate minus ions mainly formed of O 2   − (H 2 O)n. Herein, m and n are arbitrary natural numbers. H + (H 2 O)m and O 2   − (H 2 O)n aggregate on surfaces of floating bacteria and odor components in the air and surround the bacteria and odor components. 
         [0040]    Then, as expressed by Equations (1) to (3), H + (H 2 O)m and O 2   − (H 2 O)n aggregate-form, by collision, [—OH] (hydroxyl radical) and H 2 O 2  (hydrogen peroxide), which are active species, on surfaces of microorganisms and the like, thus destroying floating bacteria and odor components. Herein, m′ and n′ are arbitrary natural numbers. Based on this, bacteria eradication and deodorization in a room can be performed by generating plus ions and minus ions and delivering them to inside the room through the air exhaust port  7 . 
         [0000]      H +(H   2 O)m+O 2   − (H 2 O)n→.OH+1/2O 2 +(m+n)H 2 O   (1)
 
         [0000]      H + (H 2 O)m+H + (H 2 O)m′+O 2   − (H 2 O)n+O 2   − (H 2 O)n′→2.OH+O 2 +(m+m′+n+n′)H 2 O   (2)
 
         [0000]      H + (H 2 O)m+H + (H 2 O)m′+O 2   − (H 2 O)n+O 2   − (H 2 O)n′→H 2 O 2 +O 2 +(m+m′+n+n′)H 2 O   (3)
 
         [0041]    Herein, in order to control operations of the cleaning robot  1  as a whole, the control board  14  is composed of the CPU  14   a  shown in  FIG. 5  and other unshown electronic components. The CPU  14   a  is a central processing unit and controls, based on programs and data stored or inputted in a storage portion  17  or the like, the constituent components such as the motor-driven blower  22 , the ion generation device  25 , and the travel motor  51  to achieve a sequence of cleaning and ion delivery operations. Furthermore, the CPU  14   a  accepts user&#39;s condition settings related to the operations of the cleaning robot  1  from an operation panel (not shown) and has them stored in the storage portion  17  or the like. 
         [0042]    The cleaning robot  1  includes a motor driver  22   a  for driving the motor-driven blower  22  and a motor driver  51   a  for driving the travel motor  51 . The CPU  14   a  transmits a control signal to each of the motor driver  22   a  and the motor driver  51   a  so as to drive the motor-driven blower  22  and the travel motor  51 . 
         [0043]    Furthermore, the cleaning robot  1  includes an infrared sensor  18  for detecting infrared radiation with which irradiation is being performed in the vicinity of the main body housing  2 . The infrared sensor  18  is, for example, a quantum-type infrared sensor having 256 vertical pixels by 256 horizontal pixels and is, in the form of, for example, being incorporated in a camera having a lens or the like, arranged in the neighborhood of an apparatus exterior in order to detect infrared radiation outside the main body housing  2 . The CPU  14   a  is connected to the infrared sensor  18  via a control unit  18   a  and obtains, based on an output obtained from the infrared sensor  18 , information regarding infrared radiation with which irradiation is being performed in the vicinity of the outside of the main body housing  2 . 
         [0044]    Furthermore, as shown in  FIG. 1  and  FIG. 5 , the cleaning robot  1  includes an infrared remote controller  60  separate from the main body housing  2 . When an irradiation button  60   a  is pressed down by a user, the infrared remote controller  60  emits infrared radiation from an unshown irradiation portion thereof toward the outside. The infrared remote controller  60  is a designation device that designates, by emitting infrared radiation, an arbitrary location in a space in which the main body housing  2  is installed. Further, the infrared sensor  18  provided in the main body housing  2  is a detection device that detects a designated location designated by the infrared remote controller  60 . When a designated cleaning location in a space in which the main body housing  2  is installed is designated by using the infrared remote controller  60 , the cleaning robot  1  moves in a self-propelled manner to the designated location detected by the infrared sensor  18 , where it executes a cleaning operation. Also, the cleaning robot  1  executes a cleaning operation while traveling in a self-propelled manner when moving to the designated location. 
         [0045]    In the cleaning robot  1  configured as above, when a command to perform a cleaning operation is issued, the motor-driven blower  22 , the ion generation device  25 , the drive wheels  5 , the rotary brush  9 , and the side brush  10  are started to be driven. This causes the main body housing  2  to travel in a self-propelled manner in a predetermined area with the rotary brush  9 , the drive wheels  5 , and the rear wheel  16  being in contact with the floor surface F and sucks in airflow containing dust on the floor surface F through the suction port  6 . At this time, by rotation of the rotary brush  9 , dust on the floor surface F is swept up and guided into the concave portion  8 . Furthermore, by rotation of the side brush  10 , dust on lateral sides of the suction port  6  is guided into the suction port  6 . 
         [0046]    As shown by an arrow A 1 , the airflow sucked in through the suction port  6  flows rearward through the first air suction path  11  into the dust collection portion  30  via the flow-in port  34   a.  The airflow that has flowed into the dust collection portion  30 , after the dust therein is captured by the filter  33 , flows out from the dust collection portion  30  via the flow-out port  35   a.  Thus, dust is collected and accumulated in the dust collection container  31 . As shown by an arrow A 2 , the airflow that has flowed out from the dust collection portion  30  flows forward through the second air suction path  12  into the motor-driven blower  22  of the motor unit  20  via the opening portion  23 . 
         [0047]    The airflow that has passed through the motor-driven blower  22  flows through the first air exhaust path  24   a  and the second air exhaust path  24   b.  Airflow flowing through the first air exhaust path  24   a  contains ions released by the ion generation device  25 . Then, through the air exhaust port  7  provided at the upper surface of the main body housing  2 , as shown by an arrow A 3 , the airflow containing the ions is exhausted in an oblique direction toward upwardly rearward. Thus, cleaning in a room is performed, and ions contained in exhaust air from the main body housing  2  traveling in a self-propelled manner are spread out in the room to perform bacteria eradication and deodorization in the room. At this time, through the air exhaust port  7 , the air is exhausted toward upward, and thus dust on the floor surface F is prevented from flying up, so that cleanliness in the room can be improved. 
         [0048]    The cleaning robot  1  is not only capable of simultaneously executing a cleaning operation and an ion delivery operation as described above but also capable of executing a cleaning operation and an ion delivery operation independently of each other. 
         [0049]    Furthermore, when both the drive wheels  5  are made to rotate in a direction opposite to each other, the main body housing  2  rotates about the center line C, changing its orientation, to turn around. Thus, the main body housing  2  can be made to travel in a self-propelled manner throughout a desired area and can be made to travel while avoiding obstacles. The main body housing  2  may be made to move rearward by making both the drive wheels  5  rotate in a direction reverse to a case where the main body housing  2  moves forward. 
         [0050]    Upon completion of cleaning, the main body housing  2  travels in a self-propelled manner to return to the charge stand  40 . Thus, the charge terminals  4  come in contact with the terminal portions  41 , causing the battery  13  to be charged. 
         [0051]    Upon a user designating a designated cleaning location by using the infrared remote controller  60 , the cleaning robot  1  moves in a self-propelled manner to the designated location detected by the infrared sensor  18 , where it executes a cleaning operation. It is also possible to set the cleaning robot  1  to execute a cleaning operation while traveling in a self-propelled manner when moving to the designated location. 
         [0052]    Next, with reference to a flow shown in  FIG. 6 , a description is given of an operation related to cleaning at a designated location by the cleaning robot  1 .  FIG. 6  is a flow chart showing the operation related to cleaning at a designated location by the cleaning robot  1 . 
         [0053]    Upon a start of an operation of the cleaning robot  1  (START in  FIG. 6 ), the CPU  14   a,  while making the main body housing  2  travel to execute cleaning and ion delivery, actuates the infrared sensor  18  via the control unit  18   a  (Step # 101  in  FIG. 6 ). It is then judged whether or not the infrared sensor  18  has detected infrared radiation (Step # 102 ). In a case where the infrared sensor  18  has not detected infrared radiation (No in Step # 102 ), a return is made to Step # 101 , in which the detection of infrared radiation by the infrared sensor  18  is continuously performed. 
         [0054]    In a case where the infrared sensor  18  has detected infrared radiation (Yes in Step # 102 ), the CPU  14   a  judges whether or not the infrared radiation detected has an intensity not lower than a predetermined threshold value (Step # 103 ). A threshold value of an intensity of infrared radiation is preset and stored in the storage portion  17  or the like. 
         [0055]    In a case where the infrared sensor  18  has not detected infrared radiation having an intensity not lower than the predetermined threshold value (No in Step # 103 ), the CPU  14   a  determines that infrared radiation emitted from the infrared remote controller  60  has not been detected (has been undetected) (Step # 104 ). 
         [0056]    It is then judged whether or not the cleaning robot  1  is moving (Step # 105 ). In a case where the cleaning robot  1  is at a halt (No in Step # 105 ), a return is made to Step # 101 , in which the detection of infrared radiation by the infrared sensor  18  is continuously performed. On the other hand, in a case where the cleaning robot  1  is moving (Yes in Step # 105 ), the main body housing  2  is brought to a halt (movement completed) (Step # 106 ), after which a return is made to Step # 101 , in which the detection of infrared radiation by the infrared sensor  18  is continuously performed. 
         [0057]    In a case where, in Step # 103 , the infrared sensor  18  has detected infrared radiation having an intensity not lower than the predetermined threshold value (Yes in Step # 103 ), the CPU  14   a  determines that infrared radiation emitted from the infrared remote controller  60  has been detected (Step # 107 ). 
         [0058]    The CPU  14   a  then controls the travel motor  51  via the motor driver  51   a  to make the main body housing  2  move in a self-propelled manner to a designated location (Step # 108 ). Subsequently, the cleaning robot  1  executes a cleaning operation at the designated location (Step # 109 ). 
         [0059]    In the cleaning operation at the designated location, for example, the cleaning robot  1 , while driving the motor-driven blower  22 , makes both the drive wheels  5  rotate in a direction opposite to each other so that the main body housing  2  turns around in place about the center line C without moving. After this cleaning operation is executed for a preset given length of time, the cleaning operation is brought to a halt, and a return is made to Step # 101 , in which the detection of infrared radiation by the infrared sensor  18  is restarted. 
         [0060]    It is also possible to set the cleaning robot  1  to execute a cleaning operation while traveling in a self-propelled manner when moving to a designated location. Furthermore, a length of time in which the cleaning robot  1  stays, for the execution of cleaning, at a designated location designated by using the infrared remote controller  60  is set to a preset given length of time as described above, and in another possible configuration, a length of time in which the cleaning robot  1  stays at a designated location is made to vary according to a length of designation time in which designation using infrared radiation is performed. Moreover, a configuration also may be adopted in which an ion delivery operation is independently executed in a time in which the cleaning robot  1  stays at a designated location. 
         [0061]    Furthermore, as a designated location designated by using the infrared remote controller  60 , one location is designated as described above, and in another possible configuration, as such designated locations, a plurality of locations are designated in sequence, and cleaning is executed on a route connecting the plurality of designated locations. Moreover, a configuration also may be adopted in which, as such designated locations, three or more locations are designated, and cleaning in a region surrounded by those designated locations is executed. Further, a configuration also may be adopted in which irradiation with infrared radiation used for designating a designated location by using the infrared remote controller  60  is continually performed with the infrared radiation being moved so that the cleaning robot  1  executes cleaning while following the infrared radiation. 
         [0062]    As described above, the cleaning robot  1  includes the infrared remote controller  60  that designates, by emitting infrared radiation, an arbitrary location in a space in which the main body housing  2  is installed, and the infrared sensor  18  that detects the location thus designated by the infrared remote controller  60 , and moves to the designated location detected by the infrared sensor  18 , where it executes a cleaning operation. That is, upon a user designating a desired location by using the infrared remote controller  60 , the infrared sensor  18  in the cleaning robot  1  detects the location thus designated, and the cleaning robot  1  automatically moves to the designated location, where it executes a cleaning operation, and/or executes a cleaning operation when moving to the designated location. Thus, it is possible to solve the problem that cleaning at a user&#39;s desired designated location requires effort and takes a lot of time, thus causing a feeling of discomfort to the user. Furthermore, it is possible to prevent power from being consumed more than necessary for the cleaning. 
         [0063]    Furthermore, the cleaning robot  1  is configured so that a length of time in which it stays at a designated location is made to vary according to a length of designation time in which designation using infrared radiation is performed, and thus executes a cleaning operation at the designated location for a length of time varying according to the length of designation time. Thus, cleaning at a user&#39;s desired arbitrary location can be executed for a desired arbitrary length of time. 
         [0064]    Furthermore, as a designation device for making the cleaning robot  1  move to a designated location, where it executes a cleaning operation, the infrared remote controller  60  that emits infrared radiation is used, and as a detection device that detects a designated location, the infrared sensor  18  that detects infrared radiation is used. Thus, it is possible to provide increased handling ease for a user in designating a desired arbitrary location as a designated cleaning location. 
         [0065]    Furthermore, the cleaning robot  1  includes the ion generation device  25  that releases ions into airflow flowing through the air exhaust port  7  and thus is configured as follows. That is, the cleaning robot  1  moves to a designated location designated by a user by using the infrared remote controller  60 , where it executes a cleaning operation, and delivers ions to inside a room at the designated location. Thus, it is possible not only to automatically execute a cleaning operation at a designated location designated by a user but also to automatically execute an ion delivery operation at the designated location. 
         [0066]    Further, according to the configuration of the foregoing embodiment of the present invention, the cleaning robot  1  automatically moves to a designated location designated by a user by using the infrared remote controller  60 , where it executes a cleaning operation. With this configuration, the cleaning robot  1  can be easily guided to a user&#39;s desired arbitrary location, and thus cleaning at a user&#39;s designated location can be executed with promptness and reduced power consumption. Thus, there can be provided the cleaning robot  1  that is capable of implementing a cleaning operation with further improved efficiency. 
         [0067]    While the foregoing has described the embodiment of the present invention, the present invention is not limited in scope thereto and can be carried out in variously modified forms without departing from the spirit of the invention. 
         [0068]    For example, while the foregoing embodiment uses the infrared remote controller  60  as a designation device, a designation device that can be used is not limited to a device that emits infrared radiation and may be a device that emits any other type of electromagnetic wave such as a radio wave, a visible light ray, or ultraviolet radiation, or a sound wave. 
       INDUSTRIAL APPLICABILITY 
       [0069]    The present invention is applicable to a cleaning robot that travels in a self-propelled manner on a floor surface. 
       LIST OF REFERENCE SYMBOLS 
       [0070]      1  cleaning robot 
         [0071]      2  main body housing 
         [0072]      5  drive wheel 
         [0073]      6  suction port 
         [0074]      7  air exhaust port 
         [0075]      8  concave portion 
         [0076]      9  rotary brush 
         [0077]      10  side brush 
         [0078]      11  first air suction path 
         [0079]      12  second air suction path 
         [0080]      13  battery 
         [0081]      14  control board 
         [0082]      14   a  CPU 
         [0083]      17  storage portion 
         [0084]      18  infrared sensor (detection device) 
         [0085]      20  motor unit 
         [0086]      21  housing 
         [0087]      22  motor-driven blower 
         [0088]      23  opening portion 
         [0089]      24   a  first air exhaust path 
         [0090]      24   b  second air exhaust path 
         [0091]      25  ion generation device 
         [0092]      30  dust collection portion 
         [0093]      31  dust collection container 
         [0094]      51  travel motor 
         [0095]      60  infrared remote controller (designation device)