JP2023152026A - Traveling work information processing system and autonomously traveling work device - Google Patents

Abstract

To effectively use an autonomously traveling work device taking advantage of the remote control function of the autonomously traveling work device.SOLUTION: A traveling work information processing system 1 comprises an autonomously traveling work device 2 which is capable of executing automatically traveling cleaning, an operation terminal 4 with which a user operates the autonomously traveling work device 2, and a management server 3 that manages the autonomously traveling work device 2. The autonomously traveling work device 2 includes an image capturing unit, and transmits captured data having been captured by the image capturing unit to the management server 3. The management server 3 acquires, as captured data, first captured data 60 in which the traveling state of the autonomously traveling work device 2 is captured, second captured data 61 in which the work state of the autonomously traveling work device 2 is captured, and third other captured data, causing the operation terminal 4 to display, in list form, at least one or more of the first captured data 60, the second captured data 61, and the third captured data.SELECTED DRAWING: Figure 22

Description

TECHNICAL FIELD The present invention relates to a traveling work information processing system equipped with an autonomous traveling work device that can autonomously run and perform automatic work according to a program input in advance, and to the autonomous traveling work device.

Conventionally, autonomous mobile work devices create or store environmental maps, travel routes, travel settings, and work settings (cleaning settings) according to programs input in advance, and autonomously travel based on the stored results. It has a function that allows it to perform autonomous work (automatic cleaning). For example, the autonomous working device is applied to an industrial (commercial use) autonomous working device (autonomous cleaning device) that cleans the floor surfaces of work areas of commercial facilities, offices, hotels, hospitals, and the like.

In commercial facilities such as offices that have multiple work areas or large work areas, multiple cleaning robots consisting of autonomous work devices are operated to perform autonomous work in each work area. A traveling work information processing system that manages work equipment via a network may be applied. In such a driving work information processing system, when an emergency situation occurs, such as when an unknown obstacle that does not exist on the environmental map is detected during the automatic driving work of each autonomous driving work device, the automatic driving work can be continued. For example, a remote control function may be used as a means of avoiding an emergency situation.

By the way, according to Patent Document 1, a system for providing wet floor notification uses a scrubbing robot that scrubs the floor and transports liquid, and sensors arranged to collect data around an area of the floor. The sensor is, for example, an imaging device that captures a first image of the floor. The system also includes an application that determines that liquid is on the floor by analyzing the data.

Special Publication No. 2020-534899

Although it is possible to detect residual water on the floor by using the technology described in Patent Document 1, this type of system does not provide information on the status of residual water to the operator remotely operating the autonomous mobile work device. I can't explain it in an easy-to-understand way. Furthermore, in this type of system, even if residual water is detected on the floor surface, it is not possible to eliminate the cause of the residual water, and it is also impossible to stop the subsequent generation of residual water. In this type of system, only a single operator can use the remote control function of the autonomous mobile work device, but multiple users cannot share the remote control function of the autonomous mobile work device. Furthermore, in an information processing system using this type of device, it is desired that the remote control function of the autonomous working device be used for purposes other than emergency avoidance. It is desired that the remote control function be shared with other users such as security guards and administrators. As described above, in recent information processing systems using autonomous mobile work devices, it is expected that the autonomous mobile work devices will be used more effectively by utilizing the remote control function of the autonomous mobile work devices.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide traveling work information processing that makes it possible to effectively utilize an autonomous traveling work device by utilizing the remote control function of the autonomous traveling work device. The objective is to provide systems and autonomous working devices.

In order to solve the above problems, a first traveling work information processing system of the present invention includes an autonomous traveling work device capable of autonomously running and performing automatic traveling work, and a user who can perform the autonomous traveling work. In a traveling work information processing system including an operation terminal for operating the device and a management server for managing the autonomous traveling work device, the autonomous traveling work device includes a photographing section, and the photographing section The management server transmits the captured data to the management server, and the management server captures, as the captured data, first captured data capturing the driving situation of the autonomous mobile working device and the working situation of the autonomous moving working device. the second photographing data and other third photographing data, and at least one of the first photographing data, the second photographing data, and the third photographing data according to a predetermined judgment. The present invention is characterized in that the above photographic data is displayed for viewing on the operating terminal.

According to the first traveling work information processing system of the present invention, the user of the autonomous traveling work device can check photographic data of various situations of the autonomous traveling work device using the operating terminal. Furthermore, since the photographed data goes through the management server to be viewed and displayed, the load placed on the autonomous mobile work device and the operating terminal can be reduced.

In order to solve the above problem, in the second traveling work information processing system of the present invention, the third photographed data is an image captured by a surveillance camera that monitors the work area in which the autonomous mobile work device travels, or The image is captured by a camera attached to the side of the cleaning section of the autonomous working device.

According to the second traveling work information processing system of the present invention, not only the traveling situation and work situation of the autonomous traveling work device, but also images from a surveillance camera that can visually check the surroundings of the autonomous traveling work device, and the autonomous traveling work device An image in which details of the cleaning section can be visually recognized can be acquired as third photographic data, and the user can refer to such third photographic data as necessary.

In order to solve the above problems, in a third driving work information processing system of the present invention, when the autonomous driving work device detects an error related to the automatic driving work, it transmits an error notification to the management server, If the management server has not received the error notification from the autonomous mobile work device, the management server performs the operation on any one of the first photographed data, the second photographed data, and the third photographed data. When viewing and displaying on the terminal and receiving the error notification from the autonomous mobile work device, at least two or more photographed data among the first photographed data, the second photographed data, and the third photographed data are displayed in parallel. It is characterized in that the operation terminal is displayed for viewing so as to be displayed.

According to the third driving work information processing system of the present invention, when an error related to automatic driving work is detected, the user can check the first photographed data, the second photographed data, and the third photographed data displayed in parallel. can be checked at the same time. This allows the user to understand the error situation in more detail.

Furthermore, in the fourth driving work information processing system of the present invention, when the management server has not received the error notification from the autonomous mobile work device, the management server may process the first photographed data, the second photographed data, and the second photographed data. 3. If one or more of the photographed data is displayed on the operating terminal so as to be displayed in a large size and displayed in parallel, and the error notification is received from the autonomous mobile work device, The present invention is characterized in that photographic data different from the displayed photographic data is displayed on the operating terminal so as to be displayed in a large size and in parallel.

According to the fourth driving work information processing system of the present invention, when an error related to automatic driving work is detected, the user can check the photographed data displayed in a large size to understand the error situation in more detail. It becomes possible to understand.

In order to solve the above problem, in a fifth traveling work information processing system of the present invention, the management server stores viewing settings regarding viewing of photographed data, and according to the viewing settings, the first photographed data and The present invention is characterized in that at least one of the second photographic data and the third photographic data is displayed for viewing on the operating terminal.

According to the fifth traveling work information processing system of the present invention, the management server has different roles for using the autonomous traveling work device for each user, and different types of users such as operators, managers, security guards, etc. Even in the case of multiple users, it is possible to view and display appropriate photographic data on the operating terminal according to each user's role. For example, an operator in charge of driving can view and display first photographic data that captures the driving situation, and an operator in charge of cleaning work can view and display second photographic data that captures the cleaning work situation. It is possible to accurately determine whether a problem is occurring with automatic running cleaning.

In order to solve the above problem, a sixth driving work information processing system of the present invention includes a plurality of operation terminals as the operation terminals, and each of the plurality of operation terminals logs into the management server. At this time, a selection request for selecting the autonomous mobile work device to be remotely controlled is sent to the management server, and the management server selects one of the autonomous mobile work devices by the two or more logged-in operation terminals. The present invention is characterized in that upon receiving the selection request, the photographed data transmitted from one of the autonomous mobile working devices is displayed for viewing on two or more of the operation terminals.

According to the sixth traveling work information processing system of the present invention, a plurality of users can check photographic data taken by one autonomous traveling work device on their respective operation terminals. Therefore, since a plurality of users can share photographic data, it is possible to effectively utilize the autonomous mobile working device by utilizing the remote control function of the autonomous mobile working device.

In order to solve the above problem, in a seventh driving work information processing system of the present invention, when the autonomous driving work device detects an error related to the automatic driving work, it transmits an error notification to the management server, and When the management server receives the error notification from the autonomous mobile work device, the management server transfers at least one photographed data among the first photographed data, the second photographed data, and the third photographed data to the operating terminal. is displayed for viewing, and a remote operation of the autonomous mobile work device by the operation terminal is accepted.

According to the seventh traveling work information processing system of the present invention, the user can remotely operate the autonomous traveling work device while checking the first photographed data, the second photographed data, and the third photographed data. .

In order to solve the above problem, in the eighth traveling work information processing system of the present invention, when the autonomous traveling work device detects an error related to the traveling situation of the autonomous traveling work device, the autonomous traveling work device sends the error notification to the management server. When the management server receives the error notification from the autonomous driving work device, the management server causes the operating terminal to view and display the first photographed data of the driving situation, and the autonomous driving by the operating terminal is performed. It is characterized by accepting remote control of the work equipment.

According to the eighth driving work information processing system of the present invention, the user can perform driving to avoid errors related to the driving situation by remote control while checking the first photographed data of the driving situation, Avoiding errors becomes accurate and easy.

In order to solve the above problem, in a ninth traveling work information processing system of the present invention, the autonomous traveling work device is characterized in that it includes a cleaning section that performs a floor cleaning work.

Further, in the tenth traveling work information processing system of the present invention, the photographing unit acquires the photographed data by photographing an image including the cleaning work situation behind the cleaning unit, and the management server The present invention is characterized in that the cleaning work status of the cleaning unit is determined based on the photographed data of the situation, and an error related to the cleaning work of the cleaning unit on the floor surface is detected.

According to the ninth to tenth traveling work information processing systems of the present invention, it is possible to perform floor cleaning work as an automatic traveling work, and by using photographic data obtained by appropriately photographing the cleaning work status of the cleaning section. Since abnormal operation of the cleaning unit can be detected, errors related to cleaning work can be accurately determined.

In order to solve the above problems, in the eleventh traveling work information processing system of the present invention, the cleaning section is configured to clean the floor surface using a cleaning liquid, and the photographing section is configured to clean the floor surface using a cleaning liquid. The cleaning work situation is photographed from above to obtain the second photographic data, and the management server determines the cleaning work status of the cleaning department based on the second photographic data that is a photograph of the cleaning work situation. It is characterized by detecting residual water on the floor surface.

Alternatively, in the twelfth traveling work information processing system of the present invention, the cleaning section is configured to clean the floor surface using a cleaning liquid, and the photographing section is configured to capture details of the cleaning work situation of the cleaning section. The third photographed data is obtained by photographing the cleaning work, and the management server determines the cleaning work status of the cleaning section based on the third photographed data of the cleaning work status.

Alternatively, in the thirteenth traveling work information processing system of the present invention, the cleaning section is configured to clean the floor surface using a cleaning liquid, and the photographing section is configured to clean the floor surface using a cleaning liquid, and the photographing section is configured to clean the floor surface while the autonomous traveling work device is turning. , the management server acquires the photographed data by photographing the cleaning work situation of the cleaning department, and the management server determines the cleaning work situation of the cleaning department based on the photographed data of the cleaning work situation; It is characterized by detecting residual water on the floor surface.

According to the eleventh to thirteenth traveling work information processing systems of the present invention, abnormal operation of the cleaning section can be detected by using photographic data obtained by appropriately photographing the cleaning work status of the cleaning section. Errors related to residual cleaning fluid or waste water on surfaces and other cleaning operations can be accurately determined.

In order to solve the above-mentioned problems, an autonomous working device of the present invention is an autonomous working device that can autonomously run and perform autonomous work, and that monitors the running status of the autonomous working device. The present invention is characterized in that it includes a first photographing section that acquires first photographic data that has been photographed, and a second photographing section that acquires second photographic data that has photographed the working situation of the autonomous mobile working device.

According to the autonomous mobile work device of the present invention, the user of the autonomous mobile work device can use the first photographic data of the driving situation and the second photographic data of the working situation as appropriate. It becomes possible.

According to the present invention, the traveling work information processing system and the autonomous traveling work device can utilize the remote control function of the autonomous traveling work device to effectively utilize the autonomous traveling work device.

1 is a block diagram showing the configuration of a traveling work information processing system according to a first embodiment of the present invention. FIG. 1 is a schematic diagram showing the configuration of an autonomous traveling work device in a traveling work information processing system according to a first embodiment of the present invention. FIG. 2 is a plan view illustrating an example of a cleaning area in which the autonomous mobile work device performs automatic cleaning work in the travel work information processing system according to the first embodiment of the present invention. 1 is a block diagram showing the configuration of an autonomous traveling work device in a traveling work information processing system according to a first embodiment of the present invention. FIG. FIG. 2 is a block diagram showing the configuration of a management server in the driving work information processing system according to the first embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of an operating terminal in the driving work information processing system according to the first embodiment of the present invention. FIG. 2 is a plan view illustrating an example of first photographed data obtained by photographing the traveling situation of the autonomous mobile work device in the traveling work information processing system according to the first embodiment of the present invention. FIG. 7 is a plan view illustrating an example of second photographic data obtained by photographing the cleaning work situation of the autonomous mobile work device in the travel work information processing system according to the first embodiment of the present invention. 2 is a table showing an example of personal registration information of each user in the driving work information processing system according to the first embodiment of the present invention. In the traveling work information processing system according to the first embodiment of the present invention, it is a table showing an example of device registration information of each autonomous traveling work device. 2 is a table showing an example of viewing settings for each user in the driving work information processing system according to the first embodiment of the present invention. FIG. 3 is a plan view showing an example of a remote control screen that displays first photographic data in the driving work information processing system according to the first embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data in the driving work information processing system according to the first embodiment of the present invention. FIG. 2 is a plan view showing an example of a remote control screen that displays first photographic data and second photographic data in parallel in the driving work information processing system according to the first embodiment of the present invention. FIG. 2 is a plan view showing an example of a remote control screen that displays first photographic data and second photographic data in parallel in a state where an unknown obstacle is present in the traveling work information processing system according to the first embodiment of the present invention; . FIG. 2 is a plan view showing an example of a remote control screen that displays first photographic data and second photographic data in parallel in a state where an unknown obstacle is present in the traveling work information processing system according to the first embodiment of the present invention; . FIG. 2 is a plan view showing an example of a remote control screen that displays first photographic data and second photographic data in parallel in a state where an unknown obstacle is present in the traveling work information processing system according to the first embodiment of the present invention; . FIG. 6 is a plan view showing an example of a remote control screen that exclusively displays first photographic data in a state where an unknown obstacle is present in the driving work information processing system according to the first embodiment of the present invention. FIG. 6 is a plan view showing an example of a remote control screen that exclusively displays first photographic data in a state where an unknown obstacle is present in the driving work information processing system according to the first embodiment of the present invention. FIG. 6 is a plan view showing an example of a remote control screen that exclusively displays first photographic data in a state where an unknown obstacle is present in the driving work information processing system according to the first embodiment of the present invention. FIG. 2 is a plan view showing an example of a login screen of an operating terminal in the driving work information processing system according to the first embodiment of the present invention. It is a flowchart which shows the example of operation which displays a remote control screen on an operation terminal in the driving work information processing system concerning the 1st embodiment of the present invention. It is a flow chart showing an example of the operation of the autonomous traveling work device in the traveling work information processing system according to the first embodiment of the present invention. FIG. 2 is a flowchart showing an example of the operation of the management server in the driving work information processing system according to the first embodiment of the present invention. FIG. It is a flow chart which shows an example of operation of an operation terminal in a driving work information processing system concerning a 1st embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a management server in a driving work information processing system according to a second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays first photographic data in the driving work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data obtained by photographing the cleaning section from above in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data obtained by photographing the cleaning section from above in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data obtained by photographing the cleaning section from the side in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data obtained by photographing the cleaning section from the side in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view illustrating an example of turning movement of the autonomous mobile work device when the cleaning unit operates normally in the travel work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view illustrating an example of turning movement of the autonomous mobile work device when the cleaning unit operates abnormally in the travel work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data of the cleaning section from above and from the side in parallel in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view showing an example of a remote control screen that displays second photographic data of the cleaning section from above and from the side in parallel in the traveling work information processing system according to the second embodiment of the present invention. FIG. 7 is a plan view illustrating an example of a remote control screen that displays a plurality of users associated with an autonomous mobile work device in a travel work information processing system according to another embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings. Although the following embodiments are preferred specific examples of the present invention and disclose various preferred techniques, the technical scope of the present invention is not limited to these aspects.

A traveling work information processing system 1 according to a first embodiment of the present invention will be described. As shown in FIG. 1, the traveling work information processing system 1 includes an autonomous traveling work device 2, a management server 3, and a plurality of operation terminals 4. The autonomous mobile work device 2 is configured to be able to run autonomously and perform automatic travel work, the management server 3 is configured to manage the autonomous mobile work device 2, and each operating terminal 4 is configured to: It is configured to operate the autonomous traveling work device 2. The autonomous working device 2 is communicably connected to the management server 3 via a predetermined network 5 , and each operating terminal 4 is communicably connected to the management server 3 via the predetermined network 5 .

Note that the driving work information processing system 1 may include a plurality of autonomous driving work devices 2 having similar functions for one management server 3, but in this embodiment, one autonomous driving work An example including the device 2 will be described. Further, the driving work information processing system 1 may include a plurality of operating terminals 4 having similar functions for one management server 3, but in this embodiment, two operating terminals 4 are provided. Explain an example. The plurality of operation terminals 4 are used by a plurality of users, including not only operators such as cleaning companies but also security guards, managers, and the like.

First, the autonomous traveling work device 2 will be explained. As shown in FIG. 2, the autonomous mobile working device 2 includes a device main body 10 for accommodating various parts, and a traveling section 11 for causing the device main body 10 to travel. The autonomous working device 2 functions as an autonomous cleaning device, including a cleaning section 12 that performs a cleaning operation on the floor surface FL below the device main body 10, as a working section that performs a predetermined task, for example. The autonomous working device 2 cleans all or part of a commercial facility such as a shopping mall, an office, a hotel, a hospital, a school, a factory, etc. as a cleaning area (work area), for example, as shown in FIG. The floor surface FL of the area is targeted for cleaning (work target).

The autonomous working device 2 also includes a measurement unit 13 that measures the positional relationship between the device main body 10 and non-working objects such as surrounding walls and obstacles (for example, ornaments), and a measurement unit 13 that measures the positional relationship between the device body 10 and non-work objects such as surrounding walls and obstacles (for example, ornaments). It also includes an obstacle detection section 14 for detecting obstacles. The autonomous traveling work device 2 includes a first photographing section 15 that photographs the front of the device main body 10 and a second photographing section 16 that photographs the rear of the device main body 10. The autonomous mobile work device 2 supplies electric power to each part of the autonomous mobile work device 2 and an operation display unit 17 consisting of a touch panel for operating and displaying various functions of the autonomous mobile work device 2, and a battery (not shown). ) and a power supply unit 18 for controlling the remaining amount monitoring and charging of the battery.

Furthermore, the autonomous running work device 2 has various parts and functions (running by the running unit 11, cleaning by the cleaning unit 12, measurement by the measuring unit 13, and monitoring by the first imaging unit 15 and the second imaging unit 16). an apparatus-side control unit 20 that performs overall control of the camera (photography, etc.); an apparatus-side storage unit 21 that stores a cleaning plan (work plan) consisting of travel data of the travel unit 11 and cleaning data (work data) of the cleaning unit 12; It includes a device-side communication section 22 for communicating with external devices such as the server 3 and each operation terminal 4.

Next, an overview of the operation of the autonomous mobile work device 2 will be explained.

The autonomous working device 2 is a vehicle capable of running manually and autonomously, and operates by being switched to one of the following operating modes: learning mode, reproduction (automatic) mode, and manual mode. . The autonomous traveling work device 2 can switch its operation mode according to the operation of the operation terminal 4 or the operation display section 17.

In the learning mode and the manual mode, the autonomous traveling work device 2 performs manual traveling or manual cleaning (manual work) in response to manual operations on the operating terminal 4 or the operation display unit 17 by a worker such as a cleaning staff, an operator, or an administrator. The learning running cleaning (learning running work) and manual running cleaning (manual running work) are carried out respectively. In addition, in the learning driving cleaning, an environmental map of the cleaning area is created and stored along with the learning driving, and driving data showing the driving route and driving condition during the learning driving, and cleaning data showing the cleaning state during the learning cleaning. and stores a cleaning plan including travel data and cleaning data.

In the reproduction mode, the autonomous traveling work device 2 performs automatic traveling cleaning (automatic traveling work) to reproduce the cleaning plan selected by the operator from among the cleaning plans stored in the learning traveling cleaning. Based on the selected cleaning plan and the corresponding environmental map, automatic travel and automatic cleaning (automatic work) are performed in accordance with automatic operation by the device-side control unit 20.

A cleaning plan is composed of a plurality of steps along a travel route, and each step is associated with travel data and cleaning data. The step interval may be set to a predetermined time interval (for example, 25 ms) when performing learning running cleaning, or may be set to a predetermined movement distance of the autonomous mobile work device 2 (for example, 0.5 m). may be done. In addition to the above, the cleaning plan may be stored in association with each step of the elapsed time from the start of learning travel cleaning.

The travel data includes, for example, self-position data on the travel route of the travel unit 11 (X and Y coordinates indicating the self-position on the environmental map, angle with respect to the direction of the starting position), a steering flag (straight ahead, left turn, right turn), It includes the traveling speed [m/s] in the traveling direction and the turning speed [deg/s], and the traveling route can be plotted based on the traveling data. Alternatively, the running speed may be switched to one of a plurality of speed levels, and the running data may be stored by converting the running speed into numbers (for example, 8 levels from 0 to 7).

The cleaning data includes, for example, the pad pressure of the cleaning member 24, the amount of water supplied by the cleaning liquid supply section 25, and the amount of suction from the suction section 26. The pad pressure is the force that presses the cleaning member 24 against the floor FL, the supply water amount is the amount of cleaning liquid (working liquid) supplied to the floor FL by the cleaning liquid supply section 25, and the suction amount is the force that presses the cleaning member 24 against the floor FL. is the operating strength of a suction blower (not shown) when suctioning dirty water after washing from the floor surface FL. Note that the pad pressure, the amount of water supplied, and the amount of suction may be switched to any of a plurality of levels of strength, and the cleaning data is the level of intensity of the pad pressure, amount of water supplied, and amount of suction that is set to a number (for example, 0 to 2). It is a good idea to convert it into 3 levels, 5 levels from 0 to 4, etc.) and memorize it. Note that the cleaning data may include activation/stoppage and rotation speed of the cleaning member 24.

Next, each part of the autonomous working device 2 will be explained.

The running section 11 is provided at the lower part of the device main body 10, and includes one front wheel 11a as a driving wheel, and a pair of rear wheels 11b as auxiliary wheels. Tires can be installed. The front wheel 11a is provided at the center in the width direction of the device on the front side in the traveling direction, and includes a travel drive motor (not shown) and a front wheel rotation encoder (not shown). The running section 11 drives the running drive motor to rotate the front wheels 11a to move the device body 10 forward, and stops the device body 10 by stopping the rotation of the front wheels 11a. By controlling the driving of the traveling drive motor, the traveling speed of the autonomous traveling work device 2 (traveling section 11) is adjusted (acceleration/deceleration). Note that the traveling section 11 may cause the device main body 10 to move backward by the traveling drive motor reversing the front wheels 11a.

Further, the front wheel 11a includes a steering shaft (not shown), a steering motor (not shown), and a steering rotation encoder (not shown). The traveling section 11 drives the steering motor to rotate the steering shaft to change the direction of the front wheels 11a and steer the device main body 10, and moves the device main body 10 forward while changing the direction of the front wheels 11a. The traveling work device 2 (traveling unit 11) is made to turn left (turn left) or turn right (turn right). By controlling the drive of the steering motor, the steering angle of the autonomous traveling work device 2 (traveling section 11) is adjusted. For example, by rotating the steering shaft and controlling the steering motor so as to tilt the steering angle 90 degrees to the left or right with respect to the direction of travel, the device main body 10 can be turned forward or backward. Turn to the left or right.

The pair of rear wheels 11b are provided at the rear in the traveling direction and spaced apart in the device width direction (horizontal direction), and are each equipped with an encoder (not shown) for determining the travel distance from the amount of rotation. The pair of rear wheels 11b rotates in accordance with the movement of the device main body 10 driven by the front wheels 11a. The traveling speed adjustment (acceleration/deceleration) and steering of the autonomous traveling work device 2 (traveling section 11) are performed by the traveling drive motor while feeding back the amount of rotation of each of the rear wheels 11b using an encoder provided on the rear wheels 11b. This may be done by controlling the steering motor. In addition, although this embodiment has described an example including the front wheel 11a of the driving wheel and the rear wheel 11b of the auxiliary wheel, the present invention is not limited to this example. For example, in other embodiments, the front wheel 11a of the auxiliary wheel 11a and a pair of rear wheels 11b.

When the operation mode is set to the learning mode or the manual mode, the traveling section 11 operates in response to manual operation of the operation terminal 4 or the operation display section 17 by the operator or worker. In addition, when the operation mode is set to the reproduction mode, the traveling unit 11 controls the device side control unit 20 (reproduction control unit 34) based on the traveling data and environmental map of the cleaning plan selected by the operator or worker. Operate according to control.

The cleaning unit 12 is provided at the lower part of the apparatus main body 10 and is configured to clean the floor surface FL below the apparatus main body 10. When the operation mode is set to the learning mode or the manual mode, the cleaning unit 12 operates in response to manual operation of the operating terminal 4 or the operation display unit 17 by the operator or worker. In addition, when the operation mode is set to the reproduction mode, the cleaning unit 12 also controls (automatically controls) the device-side control unit 20 (reproduction control unit 34) based on the cleaning data of the cleaning plan selected by the operator or worker. operation).

The cleaning unit 12 includes, for example, a wet cleaning mechanism that cleans the floor surface FL using a cleaning liquid, and includes a cleaning member 24 (working member) that contacts the floor surface FL and cleans the floor surface FL, and a cleaning member 24 that cleans the floor surface FL by contacting the floor surface FL, and a cleaning member 24 that cleans the floor surface FL by contacting the floor surface FL. It includes a cleaning liquid supply section 25 that supplies the cleaning liquid to the surface FL, and a suction section 26 that sucks the used cleaning liquid that has cleaned the floor surface FL, that is, dirty water. The cleaning unit 12 includes a cleaning member motor (not shown) that rotates the cleaning member 24 on the floor surface FL, and a cleaning member that moves the cleaning member 24 in the vertical direction with respect to the floor surface FL and varies the pad pressure. and an actuator (not shown). The cleaning section 12 includes a sewage collection section (not shown) that collects the sewage sucked by the suction section 26 . Note that, when the floor surface FL is carpeted, the cleaning unit 12 may be configured to perform dry cleaning work without using a cleaning liquid. Alternatively, the autonomous working device 2 may be a dry floor cleaning machine that does not include the cleaning liquid supply unit 25 and removes dust on the floor FL by suction.

The cleaning member 24 includes a pair of cleaning pads, a pair of cleaning brushes, etc. that are attached in parallel in the device width direction (horizontal direction) approximately in the center in the traveling direction. The cleaning pad or cleaning brush on the left side rotates clockwise when viewed from above, and the cleaning pad or cleaning brush on the right side rotates counterclockwise when viewed from above, and rotates from the front to the rear at the center side in the width direction. As a result, the dirty water and dust in front of the pair of cleaning pads or the pair of cleaning brushes are collected toward the center in the width direction and discharged to the rear. Note that the cleaning pad and the cleaning brush may be configured as one instead of a pair.

The cleaning liquid supply unit 25 is configured to supply and spray cleaning liquid onto the floor FL from a cleaning liquid tank (not shown) using a supply pump (not shown).

The suction unit 26 is composed of a suction blower or the like, and collects the sucked wastewater to a wastewater recovery unit (not shown). The sewage collection section receives and collects sewage discharged rearward from the cleaning member 24 by a squeegee 27 provided behind the cleaning member 24 and in contact with the floor surface FL, and connects to a sewage duct connected to the suction section 26. (not shown), the collected wastewater is sucked using the suction force of the suction unit 26, and the sucked wastewater is collected into a wastewater tank connected to the wastewater duct.

The measurement unit 13 includes a laser range finder (LRF) that measures the positional information (for example, the angle and distance with respect to the traveling direction of the device body 10) between the device body 10 and non-work objects such as surrounding walls and obstacles. ) 13a, etc. The measurement unit 13 measures the positional information with respect to the non-work object at, for example, every predetermined timing (for example, every 25 ms) while the apparatus main body 10 is traveling. The LRF 13a is configured to have a detection range over the front side and both left and right sides of the device main body 10.

The obstacle detection unit 14 includes a plurality of proximity sensors 14a (detection units) such as ultrasonic sensors that detect the presence or absence of walls or obstacles within a predetermined distance from the device main body 10, and a step on the floor FL near the device main body 10. The device includes a step sensor such as an infrared sensor that detects a bump, a bumper sensor that is attached to a bumper (not shown) on the front lower side of the device main body 10 and detects contact with a wall or an obstacle. The obstacle detection unit 14 may be in operation at all times while the device main body 10 is traveling.

The first photographing unit 15 photographs the running situation of the autonomous mobile working device 2, and includes a first imaging device 15a such as a CCD (Charge Coupled Device) camera. The first imaging device 15a is, for example, attached to the front upper side of the device main body 10, and photographs the front of the device main body 10 to photograph the running situation of the autonomous mobile work device 2, as shown in FIG. , obtains the first photographic data 60. Note that the first photographing unit 15 is not limited to one that photographs in one direction to obtain one piece of first photographed data 60, but is one that photographs in multiple directions and acquires two or more first photographed data 60. But that's fine.

The second photographing unit 16 photographs the cleaning work situation (work situation) of the autonomous mobile working device 2, and includes a second imaging device 16a such as a CCD camera. A second imaging device 16a such as a CCD camera that photographs the rear of the device main body 10 is provided. By photographing from at least one side, the cleaning work situation of the autonomous mobile work device 2 is photographed, and second photographic data 61 is acquired as shown in FIG. 8 . Alternatively, the second photographing section 16 may be configured with a wide-angle camera provided at the rear of the device main body 10, and may photograph from the upper rear side to the lower rear diagonally. Note that the second imaging device 16a may be arranged to capture an image including the cleaning section 12 (for example, the squeegee 27). Further, the second photographing unit 16 is not limited to one that photographs in one direction to obtain one piece of second photographed data 61, but is one that photographs in multiple directions to obtain two or more pieces of second photographed data 61. But that's fine.

The operation display section 17 is provided on the rear upper side of the apparatus main body 10 and includes a touch panel, etc., and each part of the operation display section 17 is connected to the apparatus-side control section 20. The operation display unit 17 includes, for example, a key switch (not shown) for operating the start/stop of the autonomous mobile work device 2 and an emergency stop button (not shown) for operating the emergency stop of the autonomous mobile work device 2. ).

The touch panel of the operation display section 17 displays various screens in response to control signals from the device-side control section 20, and transmits operation signals to the device-side control section 20 based on touch operations on each screen. For example, the touch panel of the operation display unit 17 displays a mode selection screen (not shown) from which an operation mode can be selected, or displays the running speed of the running unit 11 and the cleaning operation of the cleaning member 24 in learning mode and manual mode. Displays a setting screen (not shown) on which settings can be made such as /stop and pad pressure, operation/stop of cleaning liquid supply from the cleaning liquid supply unit 25 and amount of water supplied, operation/stop of suction from the suction unit 26, amount of suction, etc. .

The power supply unit 18 includes a battery (power supply) and a charging circuit mounted inside the device main body 10, and the battery is charged by connecting to an external power supply, and also supplies power to each part of the autonomous traveling work device 2. . The power supply unit 18 may output a signal indicating the remaining battery level to the device-side control unit 20.

The device-side control unit 20 is composed of a computer such as a CPU (Central Processing Unit), and as shown in FIGS. 2 and 4, it has ROM (Read Only Memory), RAM (Random Access Memory), hard disk, flash memory, etc. It is connected to a device-side storage section 21 and a device-side communication section 22 including the device side storage section 21 and the device side communication section 22 . The device-side control unit 20 also includes the above-described traveling unit 11, cleaning unit 12, measurement unit 13, obstacle detection unit 14, first imaging unit 15, second imaging unit 16, operation display unit 17, power supply unit 18, etc. It is connected to each part of the autonomous traveling work device 2.

Further, the device-side control section 20 is communicably connected to an external device via a device-side communication section 22 . The device-side communication unit 22 performs wireless communication with external devices such as the management server 3 and the plurality of operating terminals 4 using a wireless LAN communication standard such as Wi-Fi. The device-side communication unit 22 may, for example, collect first photographic data 60 obtained by photographing the traveling situation of the autonomous mobile working device 2 by the first imaging unit 15 while the autonomous mobile working device 2 is performing automatic cleaning. The second photographing unit 16 transmits second photographing data 61 obtained by photographing the cleaning work situation of the autonomous mobile work device 2 and the measurement result that is the measurement result of the measuring unit 13 to the management server 3. Alternatively, the first photographic data 60, the second photographic data 61, and the environmental map data as the measurement results of the measuring section 13 are stored in the device side storage section 21 and transmitted to the management server 3 according to the timing. It may be.

The device-side storage unit 21 stores programs and data for controlling each part and various functions of the autonomous mobile work device 2, and the device-side control unit 20 performs operations based on the programs and data stored in the device-side storage unit 21. By executing arithmetic processing using the controller, each part and various functions are controlled in an integrated manner. For example, the device-side control section 20 executes a program stored in the device-side storage section 21 to cause the mode switching section 30, learning control section 31, map creation section 32, and cleaning plan creation to be performed as shown in FIG. 33, a reproduction control section 34, and a remote operation control section 35. Thereby, the autonomous working device 2 can autonomously travel and work automatically according to a program stored in advance. Further, the device-side storage unit 21 stores one or more cleaning plans, and also stores an environmental map corresponding to each cleaning plan.

The mode switching unit 30 switches the operation mode to any one of a learning mode, a reproduction mode, and a manual mode according to the operation of each operating terminal 4 or the operation display unit 17.

The learning control unit 31 acquires travel data of the travel unit 11 and cleaning data of the cleaning unit 12 at predetermined step intervals while learning travel cleaning is performed in the learning mode, and stores them in the device-side storage unit 21. .

The learning control unit 31 acquires, for example, self-position data (X coordinate, Y coordinate, angle) as travel data based on the position information measured by the measurement unit 13. Further, the running speed of the front wheel 11a is detected by the front wheel rotation encoder of the front wheel 11a of the running section 11, and the running speed of the running section 11 is obtained based on the detection result. Furthermore, the steering rotational speed of the front wheel 11a is detected by the steering rotation encoder of the front wheel 11a of the traveling section 11, and the turning speed of the traveling section 11 is obtained based on the detection result. The learning control unit 31 includes, for example, cleaning operation/stop and pad pressure set for the cleaning member 24, cleaning liquid supply operation/stop and water supply amount set for the cleaning liquid supply unit 25, as cleaning data, for example. The suction operation/stop and suction amount set for the suction unit 26 are acquired.

The map creation unit 32 uses a technique such as SLAM (Simultaneous Localization and Mapping) to estimate its own position and create an environmental map in real time while the learning travel cleaning is performed in the learning mode.

Specifically, the map creation unit 32 calculates the positions of the device body 10 and non-work objects such as walls around the device body 10 as the measurement results of the measurement unit 13 during learning run cleaning of a predetermined cleaning area. The information is acquired, and based on the measurement results of the measurement unit 13, a local map around the device main body 10 is created at each predetermined time interval or at each predetermined distance interval. Furthermore, the map creation unit 32 estimates the self-position (coordinates) of the autonomous mobile work device 2 in the local map based on the local map and the detection results (the amount of movement of the travel unit 11) by each encoder of the travel unit 11. do.

Then, when completing the learning travel cleaning, the map creation unit 32 creates an environmental map of the cleaning area by connecting (synthesizing) each local map. Furthermore, the map creation unit 32 creates a travel route by connecting (synthesizing) self-positions (each position information measured by the measurement unit 13) in the local map. By using this environmental map, the state of the driving route within the work area (such as the presence or absence of unknown obstacles) can be determined based on the self-position in the local map and the position information of non-work targets measured by the measurement unit 13. can be detected.

The cleaning plan creation unit 33 associates the travel data and cleaning data that the learning control unit 31 stored in the device-side storage unit 21 while the learning travel cleaning was being performed for each step when completing the learning travel cleaning. Create a cleaning plan (work plan).

The cleaning plan creation unit 33 receives input of a plan name for the created cleaning plan on a predetermined input screen (not shown) on the touch panel of the operation display unit 17, and creates the plan name input by the operator or the like. Add to cleaning plan. The cleaning plan creation unit 33 stores the created cleaning plan in the device-side storage unit 21 in association with the environmental map created by the map creation unit 32 in the same learning running cleaning. In addition, the cleaning plan creation unit 33 can use the autonomous mobile work device 2 as a computer, or external devices such as the management server 3 or each operation terminal 4, or the information input in advance without performing learning driving cleaning. If an environmental map, travel data, and cleaning data are created in advance by automatically creating a travel route according to a program, a cleaning plan may be created using these environmental maps, travel data, and cleaning data. Note that the cleaning plan creation unit 33 preferably causes the management server 3 to recognize the cleaning plan and environmental map for performing automatic running cleaning by transmitting the cleaning plan and the environmental map to the management server 3 via the device-side communication unit 22.

When the operation mode is the reproduction mode, the reproduction control section 34 receives the selection of a cleaning plan on a predetermined cleaning plan selection screen (not shown) on the touch panel of the operation display section 17, and displays the selected cleaning plan on the device. It reads out from the side storage section 21 and controls the traveling section 11 and the cleaning section 12 to perform automatic traveling cleaning based on the traveling data and cleaning data of this cleaning plan and the environmental map corresponding to the cleaning plan.

At this time, the reproduction control unit 34 executes the automatic cleaning while estimating the self-position of the autonomous mobile working device 2 on the environmental map corresponding to the cleaning plan. For example, the reproduction control unit 34 uses the map creation unit 32 to create a local map using technology such as SLAM, estimates the self-position of the autonomous mobile work device 2 in the local map, and converts the local map into an environment. By matching with the map, the self-position on the environmental map is estimated.

Then, the reproduction control section 34 controls the traveling section 11 based on the step-by-step self-position data of the traveling data of the cleaning plan and the self-position estimated on the environmental map, and based on the cleaning data of the cleaning section 12. control the cleaning work step by step.

In addition, during automatic cleaning, the reproduction control unit 34 detects non-work targets such as obstacles using the laser range finder 13a of the measurement unit 13 and the proximity sensor 14a of the obstacle detection unit 14, and detects non-work targets such as obstacles. It is preferable to control the traveling section 11 so as to decelerate when the object approaches a predetermined safe distance, and to stop when the distance from the non-working object becomes less than a predetermined safe distance.

The reproduction control unit 34 uses first photographic data 60 obtained by photographing the traveling situation of the autonomous mobile working device 2 by the first photographing unit 15 and the cleaning work situation of the autonomous mobile working device 2 by the second photographing unit 16 during automatic traveling cleaning. The device-side communication unit 22 transmits the second photographic data 61 obtained by photographing the image data 61 and the measurement result obtained by the measurement unit 13 to the management server 3 .

When the reproduction control unit 34 detects an error that makes it impossible for the autonomous mobile working device 2 to continue traveling during automatic traveling cleaning, the reproduction control unit 34 transmits an error notification indicating the inability to travel to the management server 3 via the device side communication unit 22. For example, when the reproduction control unit 34 detects an unknown obstacle that does not exist on the environmental map in the traveling direction based on the measurement results of the measurement unit 13, the reproduction control unit 34 determines that the distance from the autonomous mobile work device 2 to the obstacle is determined by a predetermined distance. When the robot approaches an obstacle until it reaches the stopping distance, it stops automatically cleaning and waits for manual or remote operation. When the reproduction control unit 34 detects an unknown obstacle, the reproduction control unit 34 transmits an error notification indicating that the vehicle cannot travel due to the obstacle to the management server 3 via the device-side communication unit 22.

In addition, when the reproduction control unit 34 detects an error that makes it impossible for the autonomous mobile work device 2 to continue cleaning work during automatic travel cleaning, the reproduction control unit 34 sends an error notification indicating that the work is impossible to the management server 3 via the device side communication unit 22. Send. For example, the reproduction control section 34 monitors the operation of each section of the cleaning section 12, such as the cleaning member 24, the cleaning liquid supply section 25, and the suction section 26, using a sensor or the like, and based on the monitoring results, determines whether the cleaning operation is defective (for example, , residual water on the floor surface FL due to a suction failure of sewage) is detected, the automatic running cleaning is stopped and the state is put on standby for manual operation or remote operation. When the reproduction control unit 34 detects a malfunction in the cleaning unit 12, it transmits an error notification indicating that work is impossible due to the malfunction to the management server 3 via the device-side communication unit 22.

The remote operation control unit 35 is configured to allow the device-side communication unit 22 to communicate with external devices such as the management server 3 and each operating terminal 4 while the autonomous mobile work device 2 is performing automatic cleaning when the operation mode is the reproduction mode. When a remote control command is received, remote control running is executed instead of automatic running cleaning. The remote operation control unit 35 controls the traveling unit 11 and the cleaning unit 12 so that the autonomous mobile working device 2 travels in accordance with the remote operation corresponding to the remote operation command during remote operation driving. The remote operation control unit 35 temporarily suspends the automatic travel cleaning when executing the remote control travel, and restarts the automatic travel cleaning by the reproduction control unit 34 when the remote control travel ends. Note that the reproduction control unit 34 may restart the automatic traveling cleaning automatically in response to the end of the remote-controlled traveling, or in response to a restart operation using the operating terminal 4 (for example, operation of a restart button). At this time, the reproduction control unit 34 restarts the automatic traveling cleaning from the position on the traveling route closest to the position of the autonomous traveling work device 2.

For example, when the remote control instructs to move forward, stop, turn right, or turn left, the remote operation control unit 35 controls the traveling unit 11 so that the autonomous mobile work device 2 moves forward, stops, turns right, or turns left. In addition, the setting of the traveling speed of the traveling section 11 may be received by remote control. The remote operation control unit 35 may receive settings for execution/stop of cleaning work by the cleaning unit 12 by remote control, and also controls the operation/stop of cleaning of the cleaning member 24, the pad pressure, and the cleaning liquid supply of the cleaning liquid supply unit 25. Individual settings such as operation/stop and amount of water supplied, operation/stop of suction of the suction unit 26, and amount of suction may be accepted. Note that the remote operation control section 35 may control the cleaning section 12 so as to always stop the cleaning work when performing remote operation traveling, regardless of the remote operation.

Further, when the remote operation instructs to avoid an obstacle, the remote operation control section 35 controls the traveling section 11 according to the remote operation described above, and also controls the obstacle avoidance based on the measurement results of the measurement section 13. It is preferable to control the traveling section 11 so that the vehicle travels at a predetermined safe distance from objects. At this time, it is preferable that the remote operation control unit 35 continues the remote operation while detecting an obstacle in the direction of movement of the autonomous mobile work device 2, and ends the remote operation when no obstacles are detected. . Alternatively, the remote operation control unit 35 may terminate the remote operation traveling in response to the remote operation. In addition, when the remote control instructs automatic avoidance of an obstacle, the remote control unit 35 avoids the obstacle by automatic driving, and ends the remote controlled driving by automatic driving when no obstacles are detected. The traveling section 11 may be controlled in this manner. When the remote operation control unit 35 ends the remote operation driving, the remote operation control unit 35 transmits a notification of the end of the remote operation driving to the management server 3 via the device side communication unit 22.

Further, when the remote control instructs the first photographing section 15 or the second photographing section 16 to perform photographing operations, the remote operation control section 35 controls the photographing operation of the first photographing section 15 or the second photographing section 16 or the first photographing section 15 and the second photographic data 61 photographed by the second photographing section 16. Note that the remote operation control unit 35 may control the shooting direction and zoom of the first shooting unit 15 and the second shooting unit 16 for shooting. The remote operation control unit 35 is not limited to the above-mentioned remote operation, and may accept various remote operations for each part of the autonomous mobile working device 2 to control each part.

Next, the management server 3 will be explained. The management server 3 manages the autonomous mobile work device 2 and also manages the operating authority of users such as operators and administrators who use each operating terminal 4. The management server 3 includes a server-side control section 40, a server-side storage section 41, and a server-side communication section 42, as shown in FIG.

The server-side control unit 40 centrally controls each part and various functions of the management server 3, and is composed of a computer such as a CPU, and includes a server-side storage unit 41 including ROM, RAM, hard disk, flash memory, etc. It is connected to the communication section 42.

Further, the server-side control unit 40 is communicably connected to an external device via a server-side communication unit 42 . The server-side communication unit 42 performs wireless communication with external devices such as the autonomous mobile work device 2 and each operation terminal 4 owned by a user such as an operator or administrator using a wireless LAN communication standard such as Wi-Fi. For example, the server-side communication unit 42 transmits first photographed data 60 obtained by photographing the traveling situation of the autonomous mobile work device 2 by the first photographing unit 15 of the autonomous mobile work device 2, or the first photographed data 60 obtained by photographing the driving situation of the autonomous mobile work device 2 by the first photographing unit 15 of the autonomous mobile work device 2, The second photographed data 61 capturing the cleaning work situation and the measurement results of the measurement unit 13 of the autonomous mobile work device 2 are received from the autonomous mobile work device 2, and the first photographed data 60 and the second photographed data 61 are received from the autonomous mobile work device 2. The remote control screen 70 (see FIGS. 12 to 20, etc.) that displays the following information is displayed on each operating terminal 4 for viewing. The server-side communication unit 42 receives a remote control from each operating terminal 4 and transmits a remote control command corresponding to the remote control to the autonomous traveling work device 2.

The server-side storage unit 41 stores programs and data for controlling each part and various functions of the management server 3, and the server-side control unit 40 performs calculations based on the programs and data stored in the server-side storage unit 41. By executing processes, each part and various functions are controlled in an integrated manner. For example, the server-side control unit 40 operates as a device-terminal linking unit 45, an image viewing control unit 46, and a remote operation command unit 47 by executing a program stored in the server-side storage unit 41.

The management server 3 manages users such as operators and administrators of each operating terminal 4, and the server side storage unit 41 stores personal identification information as personal registration information of each user. Information (personal code), name, affiliation, user type, password, etc. are registered. The management server 3 manages the autonomous mobile working devices 2, and the server side storage unit 41 stores device identification information (robot identification code) as device registration information of each autonomous mobile working device 2, as shown in FIG. , name, etc. are registered. In addition, the management server 3 receives the cleaning plan and environmental map created by the autonomous mobile work device 2 through learning driving cleaning, and the operation details of the operator terminal 4 by the operator, through the server-side communication unit 42, and transmits the history to the server side. It is preferable to store it in the storage unit 41.

Furthermore, the management server 3 configures viewing settings for screens such as a remote control screen 70 (see FIGS. 12 to 20, etc.) that is displayed on each operating terminal 4 for remote control of the autonomous mobile work device 2 that performs self-driving cleaning. can be registered for each user whose personal registration information is registered, and personal identification information is stored in the server side storage unit 41 as the viewing settings of the remote control screen 70 of each user, as shown in FIG. 11, for example. (personal code), image viewing settings, etc. are registered. The viewing settings may be registered in advance when the user's personal registration information is registered, or may be registered or changed by an authorized administrator or the like in response to an arbitrary operation using the operating terminal 4. .

On the remote control screen 70, the first photographing data 60 obtained by the first photographing unit 15 of the autonomous mobile working device 2 photographing the driving situation of the autonomous mobile working device 2, and the first photographing data 60 obtained by photographing the driving situation of the autonomous mobile working device 2 by the second photographing unit 16, and the cleaning work of the autonomous mobile working device 2 are displayed. Although photographic data such as the second photographic data 61 of the situation can be displayed, the image viewing setting indicates the display type of which photographic data is to be displayed. The display types include "Camera 1" which displays the first photographic data 60 in a single manner, "Camera 2" which displays the second photographic data 61 in a single manner, and the first photographic data 60 and the second photographic data 61 which are displayed in parallel. There are "camera 1/camera 2", etc. Note that the display type for displaying the photographic data in parallel is not limited to two photographic data, but may be one in which three or more photographic data are displayed in parallel. Further, regarding the display type in which two or more pieces of photographic data are displayed in parallel, the arrangement of the photographic data may be set in advance, or may be set according to an arbitrary operation by the user using the operating terminal 4.

In the management server 3, at least one display type is set as an option in each user's image viewing settings, and on the remote control screen 70, shooting is performed according to one display type selected from the one or more display types. Data is displayed. Note that one or more display types set in each user's image viewing settings may be automatically set according to each user's user type or affiliation, or the user may set the display type automatically according to the user type or affiliation of each user. It may be set according to any operation used. For example, in the image viewing settings when the user type is administrator, the display types of "Camera 1", "Camera 2", and "Camera 1/Camera 2" are set, and the user type is both driving and cleaning. The display types of "Camera 1" and "Camera 2" are set in the image viewing settings for an operator who is in charge of driving only, and the image viewing settings for an operator whose user type is only in charge of driving are as follows: If the display type of "Camera 1" is set and the user type is an operator responsible only for cleaning, the image viewing setting is set to the display type of "Camera 2" and the user type is a security guard. The display type of "Camera 1" is set in the image viewing settings.

In addition, in each user's image viewing settings, one display type among one or more display types is set as priority display, and on the remote control screen 70, the display type of priority display is selected as the initial state, Alternatively, a display type other than priority display may be selectable in accordance with an arbitrary operation by the user using the operating terminal 4. Note that the priority display may be automatically set according to the user type or affiliation of each user, or may be set according to an arbitrary operation by the user using the operating terminal 4. In FIG. 11, user types for priority display are shown surrounded by white ellipses. For example, when the user type is an administrator, the priority display is set to "Camera 1/Camera 2", and when the user type is an operator who is responsible for both driving and cleaning, the priority display is set to "Camera 1". '' and the user type is set to "Camera 1" for an operator whose user type is only responsible for driving, and the priority display for an operator whose user type is only for cleaning is "Camera 1". When the user type is security guard, the priority display is set to "camera 1".

The device-terminal linking unit 45 links the autonomous mobile working device 2 and the operating terminal 4 in order to enable the autonomous traveling working device 2 to be remotely controlled by the operating terminal 4. For example, the device-terminal linking unit 45 receives a request for selecting an autonomous mobile working device 2 that is desired to be remotely controlled from an operating terminal 4 that has logged into the management server 3, and selects the autonomous mobile working device 2 and the operating terminal 4. Link. Note that the device-terminal linking unit 45 is capable of linking one operating terminal 4 to one autonomous mobile working device 2, as well as linking one operating terminal 4 to one autonomous traveling working device 2. When a selection request is made, two or more operation terminals 4 can be linked to one autonomous mobile work device 2.

While the operating terminal 4 is logged in to the management server 3, the device-terminal linking unit 45 stores linking information associating the operating terminal 4 and the autonomous traveling work device 2 linked to the operating terminal 4 on the server side. It is stored in the storage unit 41. When the device-terminal linking unit 45 links the operating terminal 4 and the autonomous mobile working device 2, it transmits a success notification in response to the selection request to the operating terminal 4. Further, the device-terminal linking unit 45 is configured to connect the operating terminal 4 when the operation terminal 4 logs out from the management server 3, when the selection request for the autonomous mobile work device 2 is canceled, or when the selection request is made to another autonomous mobile work device 2. At this time, the linking information between the operating terminal 4 and the autonomous mobile work device 2 is deleted from the server-side storage unit 41.

The image viewing control section 46 selects the first photographed data 60 photographed by the first photographing section 15 and the second photographed data 61 photographed by the second photographing section 16 in the autonomous running work device 2 and displays the selected data on the operation terminal 4. It is to be displayed. For example, the image viewing control unit 46 creates a remote control screen 70 that displays the first photographed data 60 and the second photographed data 61, and presents the remote control screen 70 to the operating terminal 4. The image viewing control unit 46 basically displays the moving images of the first photographed data 60 and the second photographed data 61 on the remote control screen 70, but in response to an arbitrary operation by the user using the operating terminal 4, A still image cut out from the first photographic data 60 or the second photographic data 61 may be displayed. The image viewing control unit 46 creates the remote operation screen 70 as a screen created on the website managed by the management server 3, and displays the remote operation screen 70 corresponding to each operation terminal 4 only on the operation terminal 4. It is best to make it accessible.

Specifically, the image viewing control unit 46 creates a remote control screen 70 for each of the one or more operating terminals 4 that are linked to each autonomous mobile work device 2 that performs automatic cleaning. In order to do this, the user's personal registration information when each of the one or more operating terminals 4 logs into the management server 3 is read from the server-side storage unit 41. The image viewing control unit 46 reads the viewing settings corresponding to the personal identification information of each of the read personal registration information from the server side storage unit 41, and selects the display type (photographing) to be viewed by each user based on the image viewing settings of the viewing settings. data). The image viewing control unit 46 creates a remote control screen 70 that displays photographed data of the display type selected for each user, and causes the remote control screen 70 to be viewed and displayed on the operating terminal 4 corresponding to the user. Note that the image viewing control unit 46 does not need to constantly display the photographed data on the remote control screen 70 displayed on the operating terminal 4. For example, the photographic data may be displayed at the timing when the management server 3 receives an error notification, or the photographic data may be displayed in the device-side storage section in response to each user's instruction input to the remote control screen 70 after the automatic running cleaning. The configuration may be such that the photographic data stored in 21 is read out and displayed.

On the remote control screen 70 displayed on the operating terminal 4, the image viewing control unit 46 displays a login name 71 indicating the user who has logged in using the operating terminal 4, and a login name 71 indicating the user who has logged in using the operating terminal 4, as shown in FIGS. The device name 72 indicating the linked autonomous traveling work device 2 is displayed. The image viewing control unit 46 also controls, on the remote operation screen 70, an image display area 73 for displaying the photographed data selected for each user, and the first photographing unit 15 and second photographing unit 16 for photographing the photographed data. A camera operation field 74 for performing photographing operations is displayed. The image viewing control section 46 operates a zoom button 75 for operating the zoom of the first photographing section 15 and the second photographing section 16 and the photographing direction of the first photographing section 15 and the second photographing section 16 in the camera operation field 74. A photographing direction button 76 is displayed in an operable manner. Note that when displaying photographic data captured by a wide-angle camera as the first photographing section 15 or the second photographing section 16 in the image display area 73, it may be displayed as an image with the point to be watched at the center of the angle of view. However, it may be further enlarged and displayed.

The image viewing control unit 46 displays a travel operation field (not shown) for performing travel operation of the travel unit 11 on the remote control screen 70, and displays the travel speed and speed of the travel unit 11 in the travel operation field. , it may be possible to remotely control the traveling section 11 to move forward, stop, turn right or turn left. In addition, the image viewing control unit 46 displays a cleaning operation column (not shown) for performing a cleaning work operation of the cleaning unit 12 on the remote operation screen 70, and selects the cleaning member of the cleaning unit 12 in the cleaning operation column. 24, the pad pressure, the operation/stop of the cleaning liquid supply section 25 of the cleaning section 12, the amount of water supplied, the operation/stop of the suction section 26 of the cleaning section 12, the amount of suction, etc. may be remotely controlled.

If the display type of "Camera 1" is selected from the image viewing settings (for example, if "Camera 1" is selected as the priority display in the image viewing settings for an operator or security guard who is only in charge of driving), the image viewing control unit 46 controls the display type. If selected), as shown in FIG. 12, only the first photographic data 60 is displayed singly in the image display area 73. The image viewing control unit 46 controls when the display type of "Camera 2" is selected from the image viewing settings (for example, when the priority display "Camera 2" is selected in the image viewing settings of an operator in charge of only cleaning). 13), only the second photographic data 61 is displayed singly in the image display area 73, as shown in FIG. When the display type of "Camera 1/Camera 2" is selected from the image viewing settings (for example, in the image viewing settings of an operator or administrator who is in charge of both driving and cleaning, the image viewing control unit 46 selects the When the display "Camera 1/Camera 2" is selected, the first photographic data 60 and the second photographic data 61 are displayed in parallel in the image display area 73, as shown in FIG.

When displaying the photographic data in parallel, one of the photographic data may be displayed in a large size and the other photographic data may be displayed in a small size. For example, the first photographic data 60 may be displayed in a large window, and the second photographic data 61 may be displayed in a small window within or outside the range of the first photographic data 60. Note that it is advisable to set in advance in the viewing settings which photographed data should be displayed in a larger size. Alternatively, in the initial stage, the parallel display of shooting data is displayed in the same size, and depending on the selection operation of one shooting data, one shooting data is displayed larger and the other shooting data is displayed smaller. You may switch.

Furthermore, upon receiving an error notification from the autonomous mobile work device 2, the image viewing control unit 46 performs an error notification regardless of the display type selected from the image viewing settings based on the user type of the user who logged in with the operation terminal 4. , change the photographic data displayed in the image display area 73. For example, if the autonomous mobile work device 2 detects an unknown obstacle that does not exist on the environmental map in the direction of travel, the autonomous mobile work device 2 will send a notification indicating a warning that the unknown obstacle may not be avoided and the vehicle will be unable to travel. Otherwise, an error notification indicating that travel is not possible will be sent to the management server 3. At this time, the image viewing control unit 46 will transmit the first photographed data 60 of the unknown obstacle, as shown in FIG. It will be displayed in the image display area 73. The image viewing control unit 46 does not change the photographed data displayed in the image display area 73 when the user type is an administrator or a security guard, but when the user type is an operator, the image viewing control unit 46 does not change the photographed data displayed in the image display area 73. Similar to the administrator's remote control screen 70 shown in FIG. Note that when the autonomous mobile work device 2 travels around an unknown obstacle, as shown in FIG. 16, the unknown obstacle is not photographed in the first photographed data 60 but is photographed in the second photographed data 61. Furthermore, after the autonomous mobile work device 2 passes around the unknown obstacle, the unknown obstacle is photographed in both the first photographed data 60 and the second photographed data 61, as shown in FIG. It disappears.

Alternatively, the image viewing control unit 46 may change the photographed data displayed in the image display area 73 based not only on the user type but also on the content of the error notification. For example, if the user type is an operator who is in charge of only driving, the image viewing control unit 46 may cause the error notification to be performed while maintaining a predetermined distance (safety distance) from the obstacle for which the error notification has been set in advance. If the error notification cannot be avoided and is due to the inability to drive, only the first photographed data 60 may be displayed single-handedly in the image display area 73, but if the error notification is due to the inability to work, the first photographed data 60 And the second photographic data 61 is changed to be displayed in parallel in the image display area 73. In addition, if the user type is an operator who is responsible only for cleaning, and the error notification is due to inability to work, the image viewing control unit 46 simply displays only the second photographed data 61 in the image display area 73. However, if the error notification is due to an inability to travel, the first photographed data 60 and the second photographed data 61 are changed to be displayed in parallel in the image display area 73.

When displaying photographed data in parallel when an error notification is received, it is preferable to display photographed data in a larger size that is different from the photographed data that was displayed in a larger size before the error notification. For example, if the first photographic data 60 is displayed in a large size and the second photographic data 61 is displayed in a small size before the error notification, when an error notification is received, the first photographic data 60 is displayed in a small size, It is preferable to display the second photographic data 61 in a large size. Alternatively, when an error notification is received, the parallel display of photographed data may be such that if the error is caused by driving, the first photographed data 60 is displayed in a larger size, and if the error is caused by cleaning work, the second photographed data 60 is displayed in a larger size. The data 61 may be displayed in a large size.

In addition, if the error notification is due to an inability to work, the image viewing control unit 46 sets the cleaning unit 12 (for example, the squeegee 27) as the focus point, and displays the second photographed data 61 centered on the focus point in the image display area. It is preferable to control each part so that it is displayed in 73. For example, the image viewing control unit 46 detects the gaze point based on the second imaging data 61, and uses the second imaging unit 16 to capture an image centered on the gaze point based on the detection result. It is preferable to control the photographing direction of the second imaging device 16a so that the location becomes the center of the image of the second photographic data 61. In addition, when the remote operation command unit 47 controls the second photographing unit 16 in response to remote control by the operation terminal 4, the image viewing control unit 46 controls the second image photographed by the second imaging device 16a whose photographing direction is controlled. The photographed data 61 may be displayed in the image display area 73.

In addition, if the error notification is due to the inability to drive, the image viewing control unit 46 sets the unknown obstacle that causes the inability to drive as the focus point, and displays photographic data of the focus point in the image display area 73 exclusively. Each part may be controlled to display the information.

For example, the image viewing control unit 46 acquires the environmental map acquired from the autonomous mobile work device 2 and the measurement results of the measurement unit 13, and grasps the position information of the unknown obstacle on the environmental map based on these. Further, the image viewing control unit 46 acquires the coordinate system of the first photographed data 60 using visual SLAM or the like. Then, the image viewing control unit 46 acquires the feature points of the environmental map and the feature points of the first photographed data 60, matches them, and associates them, so that the environmental map and the first photographed data 60 are linked. Map each coordinate. The image viewing control unit 46 grasps the position information of the unknown obstacle on the environmental map in the first photographed data 60 based on such correspondence. Then, the image viewing control unit 46 corrects the first photographed data 60 based on the position information of the unknown obstacle (i.e., the gaze point) in the first photographed data 60 so that the image is centered on the gaze point. Alternatively, in order for the first imaging unit 15 to capture an image centered on the gazing location, the imaging direction of the first imaging device 15a is controlled so that the gazing location becomes the center of the image of the first imaging data 60. It's good to do that.

In addition, an omnidirectional (360°) camera is used as the first imaging device 15a to capture the image so that the angle of view is centered in the direction in which the unknown obstacle is detected, obtain the first captured data 60, and view the image. The control unit 46 may display the image of the first photographed data 60 in the image display area 73. In this case, since distortion occurs around the image, an image centered on the gaze point may be displayed as a conceptual image that has been corrected to remove the distortion so that it can be easily understood by the user.

For example, as shown in FIG. 18, the image viewing control unit 46 uses first photographic data 60a obtained by normally photographing the front of the autonomous mobile work device 2 by the first photographing unit 15, and an unknown obstacle as a point of focus. The first photographed data 60b corrected to be centered in the image may be displayed in the image display area 73.

In addition, when the autonomous mobile work device 2 travels around an unknown obstacle, the image viewing control unit 46 uses the first imaging unit 15 to normally scan the front of the autonomous mobile work device 2, as shown in FIG. Even if the first photographic data 60 photographed on the street and the second photographic data 61 photographed by the second photographing unit 16 so as to focus on an unknown obstacle at the center of the image are displayed in the image display area 73. good.

The image viewing control unit 46 basically displays the first photographed data 60 and the second photographed data 61 on the remote control screen 70, but the traveling work information processing system 1 monitors the cleaning area (work area). In the case of cooperation with a photographing unit such as a surveillance camera (not shown), images photographed by the surveillance camera may be acquired from the surveillance camera and displayed on the remote control screen 70 as third photographic data. . For example, when photographing data taken with an unknown obstacle as a gaze point is exclusively displayed in the image display area 73, the image viewing control unit 46 displays the image taken by the surveillance camera of the area including the unknown obstacle. It may also be acquired from a surveillance camera and displayed in the image display area 73.

For example, as shown in FIG. 20, the image viewing control unit 46 uses first photographic data 60 obtained by normally photographing the front of the autonomous mobile working device 2 by the first photographing unit 15, and an area including an unknown obstacle. Surveillance data 63 (third photographed data) photographed by a surveillance camera may be displayed in the image display area 73.

When the remote operation command section 47 receives the error notification from the autonomous mobile working device 2, it transmits a remote operation request to the operation terminal 4 through the server side communication section 42. Further, when the remote operation is received from the operation terminal 4 by the server-side communication unit 42, the remote operation command unit 47 generates a remote operation command corresponding to the remote operation.

For example, when the remote operation instruction unit 47 receives an error notification from the autonomous mobile working device 2 that has detected an unknown obstacle indicating that it is unable to travel due to the obstacle, the remote operation command unit 47 sends a remote operation request to the operating terminal via the server side communication unit 42. Send to 4. Further, when the remote operation is received from the operation terminal 4 by the server-side communication unit 42, the remote operation command unit 47 generates a remote operation command corresponding to the remote operation. Specifically, based on the first photographic data 60 photographed by the first photographing unit 15 in the autonomous mobile working device 2 and the measurement data measured by the measuring unit 13, obstacles are detected in the direction of movement of the autonomous mobile working device 2. If detected, and if the remote control is an instruction to avoid the obstacle, the remote control command unit 47 causes the remote control unit 47 to avoid the obstacle by driving within a predetermined safe distance for automatic cleaning. Generates a remote control command that instructs the user to do the following:

Further, when the remote control is a travel instruction such as forward, stop, right turn, left turn, etc., the remote control instruction unit 47 generates a remote control command for the travel instruction, and If the travel setting instruction is such as, the remote operation command unit 47 generates a remote operation command for the travel setting instruction. When the remote control is a work instruction such as execution/stop of cleaning work of the cleaning unit 12, the remote control command unit 47 generates a remote control command for the work instruction, and the remote control is a work instruction such as execution/stop of cleaning work of the cleaning member 24. In the case of individual setting instructions such as stop and pad pressure, operation/stop of cleaning liquid supply from the cleaning liquid supply unit 25 and supply water amount, suction operation/stop of the suction unit 26 and suction amount, the remote control instruction unit 47 Generates a remote control command for setting instructions.

When the remote operation is a photographing operation instruction for the first photographing section 15 or the second photographing section 16, the remote operation command section 47 generates a remote operation command for the photographing operation instruction. For example, the remote control command section 47 receives a photographing operation instruction indicating an operation in a photographing direction and an operation for zooming in or zooming out regarding the first photographing section 15 or the second photographing section 16, and generates a remote control command. Note that when the remote control instruction unit 47 displays only the first photographed data 60 or only the second photographed data 61 in the image display area 73 of the remote control screen 70 based on each user's image viewing settings, It is preferable to receive a photographing operation instruction and generate a remote operation instruction only in this case.

Further, the remote control command unit 47 is not limited to the above-described remote control, and may receive various remote controls for each part of the autonomous mobile working device 2 and generate remote control commands for controlling each part.

In addition, when the autonomous mobile working device 2 finishes the remote controlled driving and the server side communication unit 42 receives a notification of the end of the remote controlled driving from the autonomous mobile working device 2, the remote control command unit 47 starts the remote controlled driving. A termination notification is transmitted to the operation terminal 4 by the server side communication unit 42.

Next, the operation terminal 4 will be explained. The operating terminal 4 includes a personal computer, a tablet terminal, or the like owned by a user such as an operator, a manager, or a security guard who uses the autonomous mobile work device 2. As shown in FIG. 6, the operation terminal 4 includes a terminal-side control section 50, a terminal-side storage section 51, a terminal-side communication section 52, and a display section 53 configured with a touch panel or the like.

The terminal-side control unit 50 controls each part and various functions of the operating terminal 4, and is composed of a computer such as a CPU, and includes a terminal-side storage unit 51 including ROM, RAM, hard disk, flash memory, etc. It is connected to a communication section 52 and a display section 53.

Further, the terminal-side control unit 50 is communicably connected to external equipment via a terminal-side communication unit 52. The terminal side communication unit 52 performs wireless communication with external devices such as the autonomous mobile work device 2 and the management server 3 using a wireless LAN communication standard such as Wi-Fi. For example, the terminal side communication unit 52 transmits an instruction to select the autonomous mobile working device 2 to the management server 3 in order to link the autonomous mobile working device 2 desired to be remotely operated. The terminal side communication unit 52 accesses the website managed by the management server 3 and acquires the remote operation screen 70 for operating the autonomous mobile work device 2 linked to the operation terminal 4, and also A remote operation using the remote operation screen 70 is transmitted to the management server 3.

The terminal side storage unit 51 stores programs and data for controlling each part and various functions of the operating terminal 4, and the terminal side control unit 50 performs calculations based on the programs and data stored in the terminal side storage unit 51. By executing processes, each part and various functions are controlled in an integrated manner. For example, the terminal-side control unit 50 operates as a login processing unit 55, a device selection unit 56, a display control unit 57, and an operation input unit 58 by executing a program stored in the terminal-side storage unit 51.

The login processing unit 55 accepts login processing to the management server 3 using the operation terminal 4 by an operator or administrator. As shown in FIG. 21, the login processing unit 55 displays a login screen 65 for performing login processing on the display unit 53, and displays personal identification information ( accepts input of personal code) and password. The login screen 65 may be composed of a screen created on a website managed by the management server 3. Personal identification information and passwords are managed by the management server 3. The login processing unit 55 transmits a login request including the input personal identification information and password to the management server 3 via the terminal side communication unit 52.

When the management server 3 authenticates the personal identification information and password based on the login request and transmits login success to the operation terminal 4, the device selection unit 56 selects the autonomous mobile work device that is desired to be remotely operated according to the login success. A device selection screen (not shown) for selecting 2 is displayed on the display section 53, and the selection of the autonomous working device 2 is accepted on the device selection screen. The device selection screen may be composed of a screen created on a website managed by the management server 3. The device selection unit 56 transmits a selection instruction for the selected autonomous mobile working device 2 to the management server 3 via the terminal side communication unit 52. Thereby, the autonomous traveling work device 2 and the operating terminal 4 are linked by the management server 3.

The display control unit 57 displays information when the operating terminal 4 logs into the management server 3 and selects the autonomous traveling work device 2, and when the autonomous traveling working device 2 linked to the operating terminal 4 performs automatic traveling cleaning. , as shown in FIGS. 12 to 20, a remote control screen 70 for remotely controlling the autonomous mobile working device 2 is acquired by the terminal side communication unit 52 and displayed on the display unit 53. As described above, the remote control screen 70 displays the first photographed data 60 photographed by the first photographing section 15 of the autonomous mobile working device 2 selected by the operating terminal 4 and the second photographed data photographed by the second photographing section 16. 61 is displayed based on the viewing settings of the user of the operating terminal 4.

In addition, when the autonomous mobile work device 2 detects an unknown obstacle and the terminal side communication unit 52 receives a remote operation request from the management server 3, the display control unit 57 displays the autonomous driving on the remote operation screen 70. A recommendation notification for remote control of the work device 2 is displayed. Further, when the autonomous mobile work device 2 finishes remote-controlled driving and the terminal-side communication unit 52 receives a remote-controlled driving completion notification from the management server 3, the display control unit 57 displays the remote-controlled driving on the remote-controlled screen 70. Displays a notification that the operation run has ended.

The operation input section 58 accepts input operations on various screens such as the remote operation screen 70 , and transmits the remote operation input using the remote operation screen 70 to the management server 3 via the terminal side communication section 52 . For example, when the autonomous mobile work device 2 that performs automatic cleaning detects an error that prevents it from running or is unable to perform work, and sends an error notification, and the management server 3 sends a remote control request to the operation terminal 4, The operation input unit 58 allows the remote operation screen 70 to accept remote operations for avoiding errors.

The remote control that the operation input unit 58 receives on the remote control screen 70 may be the operation of the running unit 11 or the cleaning unit 12 in the running operation column or the cleaning operation column of the remote control screen 70. Accepts remote operations such as avoiding unknown obstacles and re-running cleaning. The operation input unit 58 instructs the autonomous mobile work device 2 to perform such remote control via the management server 3 to avoid running around unknown obstacles or to avoid problems with the floor surface FL caused by suction problems of sewage. Errors can be avoided by re-executing cleaning for remaining water on the floor surface FL or dirt remaining on the floor surface FL. Further, the remote control may be performed by operating the first photographing unit 15 or the second photographing unit 16 in the camera operation field 74 of the remote control screen 70, and thereby the operation input unit 58 can be operated to center the gaze point that is the cause of the error. By accepting a remote control to take a picture at a location and instructing the autonomous traveling work device 2 to perform such remote control via the management server 3, the data obtained by taking a picture centered on the gazing area is acquired and displayed in the image display area 73. View in detail.

Next, an example of the operation of displaying the remote control screen 70 of the autonomous mobile work device 2 on the operation terminal 4 in the travel work information processing system 1 will be described with reference to the flowchart of FIG. 22.

First, in the traveling work information processing system 1, in order to perform automatic traveling cleaning of the cleaning area, a worker such as a cleaning company places the autonomous traveling work device 2 at a cleaning start position (start position) of the cleaning area (step S1 ).

The operating terminal 4 is operated by the operator operating the autonomous mobile work device 2 to access the management server 3 and display the login screen 65 (step S2). In addition, when the operating terminal 4 performs a login process by entering personal identification information and a password on the login screen 65 (step S3), the input login information is sent to the management server 3, and the management server 3 By authenticating the identification information and password, login of the operating terminal 4 is accepted (step S4).

When the operating terminal 4 successfully logs into the management server 3, it accesses the management server 3 and displays a device selection screen (not shown). At this time, in response to successful login, the management server 3 switches from the login screen 65 to the device selection screen and presents it to the operating terminal 4 (displays it for viewing). Further, in the operation terminal 4, when the autonomous mobile work device 2 is selected on the device selection screen (step S5), a request for selecting the autonomous mobile work device 2 is sent to the management server 3, and the management server 3 selects the autonomous mobile work device 2 on the device selection screen. and the autonomous mobile working device 2 are linked and managed (step S6).

When the operation terminal 4 receives the notification of success in response to the selection request from the management server 3, it transmits a screen request regarding the remote operation screen 70 to the management server 3 in order to remotely control the autonomous mobile working device 2 (step S7). In response to such a screen request, the management server 3 transmits a data request regarding various data such as photographic data required for creating the remote control screen 70 to the autonomous mobile working device 2 linked to the operating terminal 4. (Step S8). Note that the operation terminal 4 and the autonomous traveling work device 2 may be linked in advance before work.

In response to such a data request, the autonomous traveling work device 2 acquires various data such as the first photographed data 60 photographed by the first photographing section 15 and the second photographed data 61 photographed by the second photographing section 16. and transmits it to the management server 3 (step S9). The management server 3 controls the remote operation screen 70 based on various data such as the first photographed data 60 and the second photographed data 61 received from the autonomous mobile work device 2 and the viewing settings of the user who has logged in with the operating terminal 4. is created (step S10) and made accessible from the operating terminal 4 corresponding to the user.

At this time, in response to the screen request, the management server 3 switches from the device selection screen to the remote control screen 70 and presents it to the operating terminal 4 (displays it for viewing) (step S11). Note that the management server 3 may present the remote control screen 70 of the autonomous mobile working device 2 to the operating terminal 4 while the operating terminal 4 selects the autonomous mobile working device 2 .

Next, an example of the automatic traveling cleaning operation of the autonomous traveling work device 2 in the traveling work information processing system 1 will be described with reference to the flowcharts of FIGS. 23 to 25. 23 shows the operation of the autonomous mobile work device 2, FIG. 24 shows the operation of the management server 3, and FIG. 25 shows the operation of the operating terminal 4.

First, when the autonomous traveling work device 2 starts automatic traveling cleaning (step S21 in FIG. 23), while executing the automatic traveling cleaning, the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data are collected. Various data such as the second photographic data 61 photographed by the unit 16 are acquired and transmitted to the management server 3 (step S22 in FIG. 23).

At this time, in the operation example, the process moves to step A in FIG. 24(a), and when the management server 3 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 (as shown in FIG. 24(a) Step S31), based on the first photographic data 60 and the second photographic data 61 and the viewing settings of the user of the operational terminal 4 linked to the autonomous mobile work device 2, the corresponding operation terminal 4 is displayed. A remote control screen 70 is created (step S32 in FIG. 24(a)). In addition, on the remote control screen 70, based on the user's viewing settings, first photographed data 60 photographing the driving situation of the autonomous mobile work device 2 and second photographic data 60 photographing the cleaning work situation of the autonomous mobile work device 2 are displayed. 61 is displayed. The management server 3 makes the created remote control screen 70 accessible to the corresponding operating terminal 4 for viewing and display (step S33 in FIG. 24(a)).

At this time, in the operation example, the process moves to step B in FIG. 25, and the operating terminal 4 accesses the management server 3 to view and display the remote control screen 70 (step S41 in FIG. 25). As a result, while the autonomous traveling work device 2 is performing the automatic traveling cleaning, the operation terminal 4 can use the remote control screen 70 to display the first photographed data 60 of the traveling situation of the autonomous traveling work device 2 and the autonomous traveling work. The second photographic data 61 which is a photograph of the cleaning work status of the device 2 can be confirmed.

By the way, if the autonomous working device 2 does not detect an error (for example, an unknown obstacle that does not exist on the environmental map) that would make it unable to run or work during the execution of the autonomous cleaning (step S23 in FIG. 23). No), the automatic traveling cleaning is continued, and when the automatic traveling cleaning is finished (step S24 in FIG. 23: Yes), the operation of the traveling work information processing system 1 is ended. On the other hand, when the autonomous mobile work device 2 detects an error that makes it unable to travel or work while executing the automatic travel cleaning (step S23 in FIG. 23: Yes), it transmits an error notification to the management server 3 ( Step S25 in FIG. 23), the automatic running cleaning is stopped and standby (step S26 in FIG. 23).

At this time, in the operation example, the process moves to step C in FIG. 24(b), and when the management server 3 receives an error notification from the autonomous mobile work device 2 (step S34 in FIG. 24(b)), the management server 3 operates the remote control request. It is transmitted to the terminal 4 (step S35 in FIG. 24(b)). In addition, the management server 3 changes the photographic data displayed on the remote control screen 70 based on the user type of the user of the operating terminal 4 in response to the error notification. For example, when the user type is an administrator or a security guard, the management server 3 does not change the photographic data, but when the user type is an operator, the management server 3 changes the first photographic data 60 and the second photographic data. Both data 61 are displayed in parallel.

Further, in the operation example, the process moves to step D in FIG. 25, and when the operation terminal 4 receives a remote control request from the management server 3 (step S42 in FIG. 25), it displays a recommendation notification for remote control of the autonomous mobile work device 2. (Step S43 in FIG. 25).

In the operation terminal 4, when a permission response is made to the remote operation recommendation notification on the remote operation screen 70 (step S44 in FIG. 25: Yes), the remote operation is transmitted to the management server 3 (step S44 in FIG. 25). S45).

At this time, in the operation example, the process moves to step E in FIG. 24(c), and when the management server 3 receives a remote operation from the operation terminal 4 (step S36 in FIG. 24(c)), it controls the remote control corresponding to the remote operation. The operation command is transmitted to the autonomous mobile work device 2 (step S37 in FIG. 24(c)).

Further, in the operation example, the process moves to step F in FIG. 23, and while the autonomous mobile work device 2 is waiting after stopping automatic cleaning, when receiving a remote control command from the management server 3 (step S27 in FIG. :Yes), the vehicle operates to avoid errors according to manual remote control, for example, runs while avoiding obstacles (step S28 in FIG. 23).

When the remote control using the operating terminal 4 ends, the autonomous traveling work device 2 ends the remote control running. Thereafter, when the operation terminal 4 performs a restart operation to restart the autonomous running cleaning, the operating terminal 4 transmits a restart command to the management server 3, and the management server 3 further sends such a restart command to the autonomous running work device 2. send to. The autonomous traveling work device 2 restarts the automatic traveling cleaning in response to the restart command, and moves to step S22 in FIG. 23 in the operation example.

As described above, according to the present embodiment, the traveling work information processing system 1 includes an autonomous traveling work device 2 capable of autonomously traveling and performing automatic traveling cleaning (automatic traveling work). , a plurality of operation terminals 4 for each of a plurality of users to operate the autonomous mobile work device 2, and a management server 3 for managing the autonomous mobile work device 2. The autonomous running work device 2 is equipped with photographing sections such as a first photographing section 15 and a second photographing section 16, and stores photographic data such as first photographing data 60 and second photographing data 61 photographed by the photographing section on a management server. Send to 3. When each of the plurality of operation terminals 4 logs into the management server 3, the plurality of operation terminals 4 transmits a selection request to the management server 3 to select an autonomous mobile working device 2 to be remotely controlled. The management server 3 receives a request for selecting one autonomous mobile work device 2 from two or more logged-in operation terminals 4, and transfers the photographic data transmitted from one autonomous mobile work device 2 to the two or more operation terminals 4. View and display.

With such a configuration, in the traveling work information processing system 1, a plurality of users can check photographic data taken by one autonomous traveling work device 2 on their respective operating terminals 4. Therefore, since a plurality of users can share photographic data, it is possible to utilize the remote control function of the autonomous mobile work device 2 to effectively utilize the autonomous mobile work device 2.

Further, in the present embodiment, in the driving work information processing system 1, the management server 3 stores viewing settings for viewing photographed data for each user, and allows one user to use the data according to the viewing settings corresponding to one user. The photographic data is displayed for viewing on the operation terminal 4 corresponding to the user.

With such a configuration, in the driving work information processing system 1, the management server 3 is configured to have different roles for using the autonomous driving work device 2 for each user, and user types such as operators, managers, security guards, etc. Even if the data is different, appropriate photographic data can be viewed and displayed on the operating terminal 4 according to the role of each user. For example, an operator in charge of driving may be allowed to view and display first photographed data 60 that captures driving conditions, and an operator in charge of cleaning work may be allowed to view and display second photographed data 61 that is a photograph of cleaning work conditions. This allows you to accurately determine whether there is a problem with automatic cleaning.

Further, in the present embodiment, in the traveling work information processing system 1, the photographing units such as the first photographing unit 15 and the second photographing unit 16 take a first photograph of the traveling situation of the autonomous mobile work device 2 as photographic data. The data 60 and second photographed data 61 obtained by photographing the working situation of the autonomous mobile working device 2 are acquired. When the autonomous driving work device 2 detects an error related to the automatic driving work, it transmits an error notification to the management server 3. If the management server 3 has not received an error notification from the autonomous mobile work device 2, the management server 3 causes the operation terminal 4 to view and display either the first photographed data 60 or the second photographed data 61, and displays the data from the autonomous mobile work device 2. When an error notification is received, the first photographed data 60 and the second photographed data 61 are displayed for viewing on the operating terminal 4 so as to be displayed in parallel.

Specifically, the autonomous mobile work device 2 includes a cleaning section 12 that performs cleaning work on the floor surface FL, and the second photographing section 16 photographs the cleaning work status of the cleaning section 12 and generates second photographed data 61. When the autonomous mobile work device 2 detects an error related to the cleaning work of the cleaning unit 12 , it transmits an error notification to the management server 3 . When the management server 3 receives an error notification from the autonomous mobile work device 2, the management server 3 causes the first operating terminal 4 to view and display the second photographed data 61 of the cleaning work situation, and performs the autonomous driving work using the first operating terminal 4. Accepts remote control of device 2.

Alternatively, the first photographing unit 15 photographs the driving situation of the autonomous mobile work device 2 to obtain the first photographed data 60, and the autonomous mobile work device 2 detects an error related to the driving situation of the autonomous mobile work device 2. Then, an error notification is sent to the management server 3. When the management server 3 receives an error notification from the autonomous mobile work device 2, the management server 3 displays the first photographed data 60 of the driving situation on the one operation terminal 4, and displays the first photographed data 60 of the driving situation on the one operation terminal 4, 2. Accepts remote control.

With such a configuration, in the traveling work information processing system 1, the operator can simultaneously check the first photographed data 60 photographing the driving situation and the second photographing data 61 photographing the cleaning work situation. While driving to avoid errors by remote control, cleaning operations can be performed accurately and easily, making error avoidance accurate and easy.

Next, a driving work information processing system 1 according to a second embodiment will be described. Hereinafter, in the description of the second embodiment, the same components as those of the driving work information processing system 1 of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

In particular, in the second embodiment, the traveling work information processing system 1 uses the first photographing data 60 obtained by photographing the driving situation by the first photographing section 15 of the autonomous mobile working device 2, and the first photographing data 60 photographing the cleaning work situation by the second photographing section 16 of the autonomous mobile working device 2. The cleaning work status is determined based on the second photographic data 61 obtained.

In the second embodiment, the server-side control unit 40 of the management server 3 executes the program stored in the server-side storage unit 41 to perform the device-terminal linking unit 45, image viewing, etc., as shown in FIG. In addition to the control section 46 and the remote operation command section 47, it operates as a work situation determination section 48. The work situation determination unit 48 determines the cleaning work situation based on first photographic data 60 that captures the driving situation and second photographic data 61 that captures the cleaning work situation.

When the work situation determination unit 48 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 by the server-side communication unit 42 while the autonomous mobile work device 2 is performing automatic cleaning, Based on the first photographic data 60 and the second photographic data 61, the cleaning work status of the floor FL (for example, the dirt status of the floor FL after cleaning, the residual water of cleaning liquid or sewage, etc.) is determined.

Specifically, the work situation determination unit 48 extracts a floor image of the floor FL from the first photographed data 60 and the second photographed data 61, and compares it with a reference image showing the floor FL in a clean state. , it is determined whether the floor surface FL is dirty or not as the cleaning work status. For example, as shown in FIG. 27, the work situation determination unit 48 extracts a floor image from the first photographed data 60, divides the floor image into a plurality of regions, and divides the floor image into a plurality of regions. By comparing with the reference image, it is determined whether or not each area of the floor FL is dirty as a cleaning work status. Note that the work situation determination unit 48 can similarly determine whether each area of the floor surface FL is dirty using the second photographic data 61. The reference image is created by the management server 3 when the autonomous mobile work device 2 cleans each cleaning area for the first time, for example, when performing learning travel cleaning or when the administrator determines that the floor surface FL is clean. , the floor image is acquired by extracting the floor image from the first photographic data 60 photographed by the first photographing section 15 and the second photographic data 61 photographed by the second photographing section 16, and is stored in the server-side storage section 41 of the management server 3. It is a good idea to remember this.

Further, the work status determination unit 48 extracts the posture image of the cleaning unit 12 from the second photographed data 61, and compares it with a reference image showing the posture of the cleaning unit 12 in a normal state, thereby determining the cleaning work status of the cleaning unit 12. It may be determined whether or not it is operating normally. For example, as shown in FIGS. 28 and 29, the work situation determination unit 48 acquires a posture image of the cleaning unit 12 (squeegee 27) photographed from above using the second photographic data 61, and compares the posture image and the reference image. By comparing, it is determined whether or not the cleaning section 12 (squeegee 27) is operating normally as the cleaning work status. The squeegee 27 of the cleaning section 12 is rotatable left and right, and is normally maintained at its normal position, but in the event of an abnormality such as a foreign object getting caught or a movable part sticking, the squeegee 27 may rotate from its normal position. It may become fixed. In addition, FIG. 28 shows an example in which the squeegee 27 of the cleaning section 12 is maintained at the normal position and normally collects cleaning liquid and waste water, and operates normally. In FIG. 29, the squeegee 27 of the cleaning section 12 is maintained at the normal position An example is shown in which the cleaning liquid and waste water are not collected completely due to the rotating position, and the device is not operating normally (operating abnormally). The reference image is obtained by the management server 3 acquiring a posture image from the second photographed data 61 photographed by the second photographing unit 16 while the autonomous mobile work device 2 is stopped before starting cleaning. It is preferable to store it in the server-side storage unit 41 of the server.

Alternatively, the work situation determination unit 48 may use the analysis results of the second photographed data 61, the measurement results of a vibration meter provided in the cleaning unit 12 (squeegee 27), the rotation sensor of the cleaning member motor of the cleaning member 24, or the cleaning member 24. Measurement results of the current sensor of the cleaning member motor for controlling the appropriate pressing force on the floor surface FL, detection results of the position sensor of the cleaning member actuator of the cleaning member 24, detection results of the rotation sensor of the squeegee 27, etc. Based on this, the cleaning work status of the cleaning section 12 may be determined. For example, when the work status determination unit 48 detects an abnormality such as vibration of the cleaning unit 12 (squeegee 27), such as when a measured value of a vibration meter is equal to or higher than a predetermined abnormal value, the work status determination unit 48 determines that the cleaning unit 12 is in a cleaning work status. It may be determined that the squeegee (squeegee 27) is operating abnormally. Further, the image viewing control section 46 may display the analysis results, measurement results, and detection results for evaluating such abnormal operation of the cleaning section 12 on the remote operation screen 70 and display the results on the operation terminal 4 for viewing.

Further, the work status determination unit 48 uses a photographing unit such as a camera provided on the side (for example, the lateral tip) of the cleaning unit 12 (squeegee 27) to detect the cleaning unit as shown in FIGS. 30 and 31. 12 (squeegee 27) from the side is acquired from the autonomous traveling work device 2, a posture image of the cleaning section 12 is acquired from the photographed data, and the posture image and the reference image are compared. As the cleaning work status, it may be determined whether the cleaning section 12 (squeegee 27) is operating normally. The photographic data may be stored in the server-side storage unit 41 as cleaning detail photographic data (third photographic data) like other photographic data such as the first photographic data 60 and the second photographic data 61. In addition, FIG. 30 shows an example in which the squeegee 27 of the cleaning section 12 is maintained at the normal position and normally collects cleaning liquid and waste water, and is operating normally. In FIG. An example will be shown in which the cleaning liquid and waste water cannot be collected because the cleaning liquid and waste water are not fully collected because the cleaning liquid and waste water are stuck and the cleaning liquid is not operating normally (operating abnormally).

The work status determination unit 48 also uses an imaging unit such as a camera provided on the side surface of the device body 10 to take an aircraft photograph of the state of the side surface of the device body 10 (water wetness, degree of dirt, degree of damage such as unevenness, etc.). data (third photographic data) or detailed cleaning photographic data (third photographic data) obtained by photographing a detailed cleaning situation such as a corner near a wall in the cleaning area may be acquired from the autonomous mobile work device 2. Then, the work status determination unit 48 may determine the cleaning work status of the cleaning unit 12 based on third photographic data that captures the cleaning work status of such detailed cleaning work.

Further, it is preferable that the image viewing control unit 46 displays the above-mentioned aircraft photographing data and cleaning detail photographing data as third photographing data on the remote control screen 70 and displays the data on the operating terminal 4 for viewing. This allows the user of the operating terminal 4 to check damage to the device main body 10 and the detailed cleaning status of the cleaning area. Therefore, the image viewing control unit 46 uses the first photographed data 60 obtained by photographing the driving situation by the first photographing section 15 of the autonomous mobile work device 2 and the second photographed data 61 obtained by photographing the cleaning work situation by the second photographing section 16. Among the third photographic data described above, at least one photographic data can be displayed on the remote control screen 70 and displayed on the operating terminal 4, and as in the first embodiment, this remote control Remote operation of the autonomous mobile work device 2 can be accepted on the screen 70.

Thereby, the user of the autonomous mobile working device 2 can check photographic data of various situations of the autonomous mobile working device 2 using the operating terminal 4. Furthermore, since the photographed data is passed through the management server 3 to be viewed and displayed, the load placed on the autonomous mobile work device 2 and the operation terminal 4 can be reduced. In addition to the driving and working conditions of the autonomous mobile work device 2, images from a surveillance camera that allow a bird's-eye view of the surroundings of the autonomous work device 2, and images that allow the details of the cleaning section 12 of the autonomous work device 2 to be viewed. can be acquired as the third photographic data, and the user can refer to such third photographic data as necessary. Further, the user can remotely operate the autonomous mobile work device 2 while checking the first photographic data 60, the second photographic data 61, and the third photographic data.

In this case, the image viewing settings in the viewing settings of the remote control screen 70 are based on the first photographed data 60 obtained by photographing the driving situation by the first photographing section 15 of the autonomous mobile work device 2, and the first photographed data 60 obtained by photographing the driving situation by the first photographing section 15 of the autonomous mobile work device 2, and the first photographed data 60 obtained by photographing the driving situation by the second photographing section 16 of the autonomous mobile work device 2. In addition to the second photographed data 61, the third photographed data described above is also included. For example, the display types of the image viewing settings include "Camera 1" which displays the first photographed data 60 in a single manner, "Camera 2" which displays the second photographic data 61 in a single manner, and the first photographed data 60 and the second photographed data. In addition to "Camera 1/Camera 2" that displays the data 61 in parallel, "Camera 3" that displays the third shooting data in a single display, and "Camera 1/Camera" that displays the first shooting data 60 and the third shooting data in parallel. 3", "Camera 2/Camera 3" which displays the second photographic data 61 and third photographic data in parallel, "Camera 1/Camera" which displays the first photographic data 60, second photographic data 61 and third photographic data in parallel. 2/Camera 3", and at least one display type is set as an option in each user's image viewing settings.

By using such viewing settings, when multiple photographic data such as the first photographic data 60, the second photographic data 61, and the third photographic data are available, appropriate viewing data can be selected according to the role of each user. The photographic data can be viewed and displayed on the operation terminal 4.

Further, as in the first embodiment, if an error notification is not received from the autonomous mobile work device 2, the image viewing control unit 46 updates the first photographed data 60, the second photographed data 61, and the third photographed data. Among them, any one of the photographed data is displayed on the remote control screen 70 for viewing and display on the operation terminal 4, while if an error notification is received from the autonomous mobile work device 2, the first photographed data 60 and the second photographed data are displayed. It is also possible to display at least two or more of the data 61 and the third imaging data in parallel on the remote control screen 70 and display them on the operating terminal 4 for viewing. In this case, it is preferable to set the display type when no error notification is received and the display type when an error notification is received in the viewing settings in advance.

Thereby, when an error related to the automatic driving operation is detected, the user can simultaneously check the first photographed data 60, the second photographed data 61, and the third photographed data displayed in parallel. This allows the user to understand the error situation in more detail.

Further, as in the first embodiment, if an error notification is not received from the autonomous mobile work device 2, the image viewing control unit 46 updates the first photographed data 60, the second photographed data 61, and the third photographed data. Among them, if one or more photographed data are displayed in a large size and displayed in parallel on the remote control screen 70 and viewed and displayed on the operation terminal 4, but an error notification is received from the autonomous mobile work device 2, an error occurs. It is also possible to display photographed data different from the photographed data that was displayed in a large size before the notification on the remote control screen 70 so as to display them in a large size and in parallel, so that the data can be viewed and displayed on the operation terminal 4. In this case, it is preferable to set the display type and the type of photographed data to be displayed in a large size in advance in the viewing settings when an error notification is not received.

As a result, when an error related to automatic driving operation is detected, the user can understand the error situation in more detail by checking the large displayed photographic data.

By the way, when the autonomous working device 2 runs while turning, the squeegee 27 of the cleaning section 12 fails to collect cleaning liquid and waste water, and residual water is likely to be generated. Therefore, the work situation determination unit 48 generates a plurality of continuous posture images of the cleaning unit 12 (squeegee 27) based on a plurality of continuous second photographic data 61 taken while the autonomous mobile work device 2 is turning. It may be determined whether or not the cleaning section 12 (squeegee 27) is operating normally as the cleaning work status by acquiring the plurality of posture images and comparing the respective corresponding reference images.

That is, the work situation determination unit 48 determines whether the cleaning unit 12 (squeegee 27) is operating normally during the turning movement of the autonomous mobile work device 2. Even in this case, the reference image is generated by the management server 2 when the autonomous mobile work device 2 travels in the cleaning area for the first time, for example, when performing learning travel cleaning and when the autonomous mobile work device 2 performs turning travel. However, if a plurality of posture images are respectively extracted from a plurality of continuous second photographic data 61 photographed by the second photographing section 16 and stored in the server-side storage section 41 of the management server 3. good. Note that FIG. 32 shows an example in which the squeegee 27 of the cleaning unit 12 is operating normally when the autonomous mobile work device 2 is turning, and FIG. Here is an example where is not operating normally (operating abnormally). In FIGS. 32 and 33, the imaging range in which the second imaging unit 16 photographs the second imaging data 61 is indicated by a chain line. Note that the normal operation of the squeegee 27 may be determined by predefining the normal posture range of the squeegee 27 corresponding to the turning state.

When the work status determining unit 48 determines the cleaning work status and detects an abnormal operation of the cleaning unit 12 (squeegee 27), the work status determination unit 48 transmits an abnormality notification of the cleaning work status to the operating terminal 4 via the server-side communication unit 42.

In the second embodiment, as shown in FIGS. 28 to 31, the image viewing control unit 46 displays a piece of second photographic data 61 obtained by photographing the cleaning unit 12 (squeegee 27) from above or from the side on the remote control screen. However, by displaying two or more pieces of second photographic data 61 obtained by photographing the cleaning section 12 (squeegee 27) on the remote control screen 70, the cleaning section 12 (squeegee 27) can be displayed as a focus point. It may be displayed exclusively. For example, as shown in FIG. 34, the image viewing control section 46 displays second photographic data 61a photographing the cleaning section 12 (squeegee 27) from above and second photographing data 61b photographing the cleaning section 12 from the side on a remote control screen. 70 may be displayed in parallel on the left and right. Further, as shown in FIG. 35, the image viewing control unit 46 displays first photographic data 60 photographing the driving situation on the remote control screen 70, and further displays first photographic data 60 photographing the cleaning section 12 (squeegee 27) from above. The second photographic data 61a and the second photographic data 61b photographed from the side may be displayed vertically in parallel on the remote control screen 70.

Further, parallel display including two or more pieces of second photographed data 61 may be performed according to the display type of image viewing settings set in advance, but if the autonomous mobile work device 2 detects an error, image viewing It may be performed regardless of the settings. For example, when the management server 3 receives an error notification due to the inability to work from the autonomous mobile working device 2, the image viewing control unit 46 focuses on the cleaning unit 12 (squeegee 27) that causes the inability to work, and Photographic data obtained by photographing the gaze point may be exclusively displayed on the remote control screen 70.

In the second embodiment, when the operating terminal 4 receives a notification of abnormality in the cleaning work status from the management server 3 through the terminal side communication unit 52, it notifies the user of the abnormality in the cleaning work status. For example, the operation terminal 4 may notify abnormalities in the cleaning work status by text on the screen, a warning sound, or lighting or blinking of a warning lamp.

As described above, according to the second embodiment, in the traveling work information processing system 1, the cleaning section 12 is configured to clean the floor surface FL using the cleaning liquid, and the second imaging section 16 is configured to clean the floor surface FL using the cleaning liquid. The cleaning work status of the cleaning unit 12 is photographed from above to obtain second photographed data 61, and the management server 3 determines the cleaning work status of the cleaning unit 12 based on the second photographed data 61 photographing the cleaning work situation. Then, residual water of cleaning liquid or sewage on the floor surface FL is detected.

Alternatively, in the traveling work information processing system 1, the cleaning section 12 is configured to clean the floor surface FL using a cleaning liquid, and the second photographing section 16 photographs the cleaning work status of the cleaning section 12 from the side. The management server 3 determines the cleaning work status of the cleaning unit 12 based on the second photographed data 61 that captures the cleaning work status, and removes cleaning liquid and sewage from the floor surface FL. Detect residual water.

Alternatively, in the traveling work information processing system 1, the cleaning unit 12 is configured to clean the floor surface FL using a cleaning liquid, and the second imaging unit 16 is configured to clean the cleaning unit while the autonomous mobile working device 2 is turning. The management server 3 captures the cleaning work status of the cleaning unit 12 based on the second photographed data 61 by photographing the cleaning work status of the cleaning unit 12 continuously from above. is determined, and residual water of cleaning liquid or sewage on the floor surface FL is detected.

With such a configuration, the traveling work information processing system 1 can detect abnormal operation of the cleaning unit 12 by appropriately photographing the cleaning work status of the cleaning unit 12 and using the second photographed data 61. , it is possible to accurately determine errors related to cleaning work such as residual water of cleaning liquid or sewage on the floor surface FL.

In the above-described embodiment, an example was explained in which the login name 71 indicating only the user who logged in with the operating terminal 4 is displayed on the remote control screen 70 of each operating terminal 4, but the present invention is limited to this example. Not done. In another embodiment, when a plurality of operation terminals 4 are linked to one autonomous mobile work device 2 in the management server 3, the image viewing control unit 46 controls each of the operation terminals 4 as shown in FIG. On the remote control screen 70 of the operating terminal 4, a login name 71 indicating each user of a plurality of operating terminals 4 linked to the same autonomous mobile working device 2 may be displayed. At this time, the image viewing control unit 46 may highlight the login name 71 of the user of the operating terminal 4 on the remote control screen 70 of each operating terminal 4.

Furthermore, in the above-described embodiment, an example has been described in which the autonomous mobile work device 2 acquires the first photographed data 60 that captures the driving situation and the second photographed data 61 that captures the cleaning work situation. It is not limited to this example. In another embodiment, the autonomous mobile work device 2 collects the cleaning area in which the autonomous mobile work device 2 travels, in addition to the first photographic data 60 photographing the driving situation and the second photographic data 61 photographing the cleaning work situation. In order to guard the area as a security area, the security camera may be configured to acquire security photography data of the security area. For example, the autonomous mobile work device 2 may be equipped with a security imaging device (not shown) for photographing the security area to photograph security shooting data, or a security camera angle directed toward the security area may be provided. The first imaging unit 15 may be controlled so that the first imaging device 15a photographs security imaging data.

In this case, the image viewing control unit 46 of the management server 3 controls the remote control screen of the operating terminal 4 whose user type in the personal registration information is security guard to display the security shooting data in the image display area 73. Create 70. As shown in FIG. 36, the image viewing control unit 46 accepts a selection operation on the image of a security guard who senses an abnormality in the security photography data displayed on the remote control screen 70 of the operating terminal 4, and 4 transmits the position information of the selected operation location in the security photographic data to the management server 3. The image viewing control unit 46 also grasps the coordinate system of the environmental map based on the environmental map and the measurement results of the measurement unit 13, and also grasps the coordinate system of the security photographed data using visual SLAM or the like. By matching and associating the feature points of the environmental map with the feature points of the security photographic data, each coordinate of the environmental map and the security photographic data is associated. The image viewing control unit 46 acquires the position information of the selected operation part on the environmental map based on the position information of the selected operation part in the security photography data and the above-described correspondence, and based on this position information. The position information of the selected operation location in the cleaning area is grasped and transmitted to the operation terminal 4. The operation terminal 4 notifies the security guard of the location information of the selected operation location in the cleaning area by text on the screen or the like.

Further, in the above-described embodiment, the device-terminal linking unit 45 of the management server 3 receives a request for selecting one autonomous mobile work device 2 from the operation terminal 4, and selects the one autonomous mobile work device 2 from the operation terminal 4. Although an example of linking with the operating terminal 4 has been described, the present invention is not limited to this example. In another embodiment, the device-terminal linking unit 45 receives a request for selecting a plurality of autonomous mobile working devices 2 from an operating terminal 4, and selects the plurality of autonomous working devices 2 and the operating terminal 4. You can also tie it. In this case, the device-terminal linking unit 45 may accept a request for selecting a plurality of autonomous mobile working devices 2 when the user type of the personal registration information of the user of the operating terminal 4 is a security guard or the like. . In addition, the image viewing control unit 46 of the management server 3 allows the operation terminal 4 linked to the plurality of autonomous working devices 2 to display one or more autonomous working devices among the plurality of autonomous working devices 2. It is preferable to create the remote control screen 70 so that the photographed data of the traveling work device 2 is displayed in the image display area 73. Note that it is preferable that one or more autonomous mobile working devices 2 displaying photographed data can be selected by the user according to an arbitrary operation using the operating terminal 4. With this configuration, users can refer to each photographic data acquired by multiple autonomous working devices 2 according to their selection, so they can easily check for layout changes and the presence or absence of obstacles in each cleaning area of the facility. can be grasped.

Further, in the embodiment described above, the image viewing control unit 46 of the management server 3 creates the remote operation screen 70 and presents it as a screen on the website, and displays the remote operation screen 70 on the operation terminal 4 logged into the management server 3. Although an example of viewing and displaying has been described, the present invention is not limited to this example. In another embodiment, the image viewing control unit 46 transmits photographing data such as the first photographing data 60 and the second photographing data 61 and the viewing settings of each user to the operating terminal 4, and the operating terminal 4 The remote control screen 70 may be created and displayed based on these.

Further, the present invention can be modified as appropriate within the scope of the gist or idea of the invention that can be read from the claims and the entire specification, and the traveling work information processing system and autonomous traveling work device that involve such modifications can be modified as appropriate. is also included in the technical idea of the present invention.

The present invention uses an autonomous working device that can autonomously run and carry out automatic work to perform cleaning work on the floors of commercial facilities such as shopping malls, as well as automatic work in work areas such as factories and railway terminals. The present invention can be suitably used in a traveling work information processing system equipped with an industrial (commercial) work robot, such as an automatic floor washing/cleaning device or a security device that monitors with a camera.

1 Traveling work information processing system 2 Autonomous traveling work device 3 Management server 4 Operation terminal 11 Traveling section 12 Cleaning section (work section)
13 Measurement section 15 First photographing section 20 Device-side control section 22 Device-side communication section 34 Reproduction control section 35 Remote operation control section 40 Server-side control section 42 Server-side communication section 45 Device-terminal linking section 46 Image viewing control section 47 Remote Operation instruction section 48 Work status determination section 50 Terminal side control section 52 Terminal side communication section 53 Display section 57 Display control section 58 Operation input section 60 First photographed data 61 Second photographed data 70 Remote operation screen

Claims (14)

An autonomous working device capable of autonomously running and performing automated work, an operating terminal for a user to operate the autonomous working device, and management for managing the autonomous working device. In a driving work information processing system equipped with a server,
The autonomous running work device includes a photographing unit, and transmits photographic data photographed by the photographing unit to the management server,
The management server stores, as photographic data,
first photographic data photographing the driving situation of the autonomous mobile work device;
second photographic data photographing the working situation of the autonomous mobile working device;
Obtain other third shooting data,
A driving operation characterized by causing at least one photographic data of the first photographic data, the second photographic data, and the third photographic data to be viewed and displayed on the operating terminal according to a predetermined judgment. Information processing system. The third photographic data is an image captured by a surveillance camera that monitors the work area in which the autonomous mobile work device runs, or an image captured by a camera attached to the side of a cleaning section included in the autonomous mobile work device. The traveling work information processing system according to claim 1. When the autonomous driving work device detects an error related to the automatic driving work, the autonomous driving work device transmits an error notification to the management server,
If the management server has not received the error notification from the autonomous mobile work device, the management server may send any one of the first photographed data, the second photographed data, and the third photographed data to the When viewing and displaying on the operation terminal and receiving the error notification from the autonomous mobile work device, at least two or more photographed data among the first photographed data, the second photographed data, and the third photographed data are displayed. The driving work information processing system according to claim 1 or 2, wherein the driving work information processing system is caused to be displayed on the operating terminal so as to be displayed in parallel. If the management server has not received the error notification from the autonomous mobile work device, the management server may enlarge one or more of the first photographed data, the second photographed data, and the third photographed data. When the error notification is received from the autonomous mobile work device, the captured data that is different from the captured data that was displayed in a large size before the error notification is displayed in a large size and displayed in parallel. The driving work information processing system according to claim 3, wherein the driving work information processing system causes the operating terminal to display the information for viewing. The management server stores viewing settings related to viewing of photographic data, and according to the viewing settings, at least one of the first photographic data, the second photographic data, and the third photographic data is displayed. The driving work information processing system according to claim 1 or 2, wherein the data is displayed for viewing on the operating terminal. The operating terminal includes a plurality of operating terminals,
When each of the plurality of operation terminals logs into the management server, each of the plurality of operation terminals transmits a selection request to the management server to select the autonomous mobile work device to be remotely controlled,
The management server receives the selection request for one of the autonomous mobile working devices from the two or more logged-in operating terminals, and transfers the photographic data transmitted from one of the autonomous mobile working devices to the two or more operating terminals. The traveling work information processing system according to claim 1 or 2, wherein the traveling work information processing system is displayed for viewing on an operating terminal. When the autonomous driving work device detects an error related to the automatic driving work, the autonomous driving work device transmits an error notification to the management server,
When the management server receives the error notification from the autonomous mobile work device, the management server performs the operation on at least one photographed data among the first photographed data, the second photographed data, and the third photographed data. The traveling work information processing system according to claim 1 or 2, wherein the traveling work information processing system is displayed on a terminal and receives remote control of the autonomous traveling work device by the operation terminal. When the autonomous mobile work device detects an error related to the running status of the autonomous mobile work device, the autonomous mobile work device transmits the error notification to the management server,
When the management server receives the error notification from the autonomous mobile work device, the management server causes the operation terminal to view and display the first photographed data of the driving situation, and allows the operation terminal to remotely control the autonomous mobile work device. The traveling work information processing system according to claim 7, wherein an operation is accepted. The traveling work information processing system according to claim 1 or 2, wherein the autonomous traveling work device includes a cleaning section that performs floor cleaning work. The photographing unit acquires the photographic data by photographing an image including a cleaning work situation behind the cleaning unit,
The management server is characterized in that the management server determines the cleaning work status of the cleaning unit based on the photographed data of the cleaning work status, and detects an error related to the cleaning work of the cleaning unit on the floor surface. The traveling work information processing system according to claim 9. The cleaning unit is configured to clean the floor surface using a cleaning liquid,
The photographing unit acquires the second photographic data by photographing the cleaning work situation of the cleaning unit from above,
10. The management server according to claim 9, wherein the management server determines the cleaning work status of the cleaning section based on the second photographed data of the cleaning work status, and detects residual water on the floor surface. The driving work information processing system described. The cleaning unit is configured to clean the floor surface using a cleaning liquid,
The photographing unit acquires the third photographic data by photographing details of the cleaning work situation of the cleaning unit,
The traveling work information processing system according to claim 9, wherein the management server determines the cleaning work status of the cleaning section based on the third photographed data of the cleaning work status. The cleaning unit is configured to clean the floor surface using a cleaning liquid,
The photographing unit photographs the cleaning work situation of the cleaning unit while the autonomous mobile work device is turning, and acquires the photographed data;
The management server according to claim 9, wherein the management server determines the cleaning work status of the cleaning section based on the photographed data of the cleaning work status and detects residual water on the floor surface. Driving work information processing system. An autonomous working device capable of autonomously running and working automatically,
a first photographing unit that acquires first photographic data of a traveling situation of the autonomous mobile work device;
a second photographing unit that acquires second photographic data of a working situation of the autonomous mobile work device;
An autonomous working device characterized by comprising:

Images