JP2019106125A - Cleaning information providing device - Google Patents

Abstract

To prevent generation of a cleaning map which an autonomous traveling cleaner is unable to execute.SOLUTION: A cleaning information providing device 120 being the cleaning information providing device 120 that provides information for cleaning a floor to an autonomous traveling cleaner 110 comprises: a floor map display unit 131 that displays a floor map in which a regulation line being information to regulate passage of the autonomous traveling cleaner 110 is indicated; a traveling information receiving unit 162 that receives a cleaning start place to start cleaning and a cleaning stop place to stop the cleaning on the basis of the displayed floor map; an arrival determination unit 163 that determines whether or not the autonomous traveling cleaner 110 can arrive from the cleaning start place to the cleaning stop place by means of the regulation line; and an information output unit 164 that outputs arrival impossibility information indicating that the cleaner cannot arrive when it is determined that the cleaner cannot arrive.SELECTED DRAWING: Figure 17

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a cleaning information providing device that provides a map for cleaning the autonomous traveling cleaner.

  In recent years, the autonomous traveling vacuum cleaner makes it possible to create a map of a traveling area based on the self-position estimation result during cleaning, and specify an area to be cleaned next time based on the map (Patent Document 1).

  According to this document, while cleaning, odometry information and information from various sensors provided in the vacuum cleaner such as a camera and a distance measuring sensor are used to determine the relative position of oneself based on the movement of oneself and the positional relationship with the surroundings. There has been proposed an autonomous traveling vacuum cleaner that estimates, determines where in the room it is, and creates a map that allows the user to freely select the cleaning area to be cleaned next based on the information.

JP, 2002-085305, A

  However, on a large floor such as a hotel or a large commercial facility, a map may be created by dividing one floor into a plurality of areas, and cleaning may be performed for each area. When creating a divided map including such cleaning information, even if one divided area is displayed on one screen as a whole, a cleaning start place for starting cleaning and a cleaning end place for ending the cleaning It becomes difficult to set up correctly. On the other hand, when the map is enlarged and displayed, the relative positional relationship between the cleaning start point and the cleaning end point can not be grasped, and the cleaning start point and the cleaning end point may be set in two areas, and the cleaning can not be performed. .

  The present invention solves the above problems, and when creating a map for cleaning in which a wide floor is divided into a plurality of areas, the cleaning start point and the cleaning end point of cleaning can be easily set in one area. The purpose is to provide a cleaning information providing device that can be completed.

  The cleaning information provision device according to the present invention is a cleaning information provision device for providing information for cleaning the floor to an autonomous traveling cleaner which autonomously travels and cleans the floor, and the autonomous traveling cleaner A floor map display unit for displaying a floor map in which a restriction line is displayed, which is information for restricting the passage of a vacuum cleaner, a cleaning start place where the autonomous traveling cleaner starts cleaning, and a cleaning end place where cleaning is ended The traveling information receiving unit that receives based on the floor map that has been received, the reaching determination unit that determines whether the autonomous traveling cleaner can reach the cleaning ending location from the cleaning start location by the restriction line, and the arrival determining unit can not reach And an information output unit that outputs unreachable information indicating that it can not be reached.

  In addition, implementing the program for making a computer perform each process contained in the said cleaning information provision apparatus also corresponds to implementation of this invention. Of course, implementing a recording medium on which the program is recorded also falls within the practice of the present invention.

  Even when one area obtained by dividing the map into a plurality of areas is wide, the cleaning start position and the cleaning end position can be easily set in one area.

It is a figure which shows the vacuum cleaner system in Embodiment 1 with the building of cleaning object. FIG. 1 is a plan view showing an appearance of an autonomous traveling vacuum cleaner according to Embodiment 1. FIG. 2 is a bottom view showing an appearance of the autonomous traveling vacuum cleaner according to Embodiment 1. FIG. 5 is a block diagram showing each functional unit of a control unit of the autonomous traveling cleaner in the first embodiment. 5 is a diagram showing an initial map generated by an initial map generation unit in Embodiment 1. FIG. FIG. 2 is a block diagram showing each functional unit of the cleaning information provision device in Embodiment 1. It is a figure which shows the floor map which the floor map production | generation part in Embodiment 1 produced | generated based on a predetermined | prescribed algorithm. FIG. 7 is a diagram showing a floor map corrected through the interface in the first embodiment. FIG. 7 is a block diagram showing in detail the functional units provided in the floor map generation unit in the first embodiment. FIG. 7 is a diagram showing a state in which a restriction wire reception unit according to Embodiment 1 receives a restriction wire. FIG. 7 is a diagram showing an enlarged map displayed by the enlarged display unit in the first embodiment. FIG. 7 is a diagram showing a state in which the restriction wire receiving unit in the first embodiment receives a first correction. FIG. 8 is a diagram showing an enlarged map of the reached position identified by the reached position identifying unit in the first embodiment. FIG. 10 is a diagram showing a magnified map near the second end displayed by the magnified display unit in the first embodiment. 5 is a flowchart showing an operation of a floor map generation unit in Embodiment 1. FIG. 7 is a diagram showing two types of cleaning maps generated by the cleaning map generator in the first embodiment. FIG. 5 is a block diagram showing in detail the functional units included in the cleaning map generation unit in the first embodiment. It is a figure which shows the expansion map of the cleaning start location which the expansion display part in Embodiment 1 displayed. It is a figure which shows the state which displayed the reach additional information which the information output part in Embodiment 1 displayed on the expansion map. 7 is a flowchart showing an operation of the cleaning map generation unit in the first embodiment. 5 is a flowchart showing the flow of the operation of the cleaning information providing device in the first embodiment. FIG. 6 is a diagram showing a display state of a floor map generated by a floor map generation unit in Embodiment 1. FIG. 7 is a diagram showing a display state of a cleaning map generated by the cleaning map generation unit in the first embodiment. It is a figure which shows the screen where the state after duplication of the cleaning map in Embodiment 1 was displayed.

  Next, an embodiment of the autonomous traveling cleaner in the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the autonomous running cleaner in this invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to only the following embodiments. Therefore, among the components in the following embodiments, components that are not described in the independent claim showing the highest concept of the present invention are not necessarily required to achieve the object of the present invention, It is described as constituting a preferred embodiment.

  In addition, the drawings are schematic diagrams in which emphasis, omission, and adjustment of ratios are appropriately performed to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

Embodiment 1
FIG. 1 is a diagram showing a vacuum cleaner system including a cleaning information providing apparatus according to the embodiment, together with a building to be cleaned.

  As shown in the figure, in the facility 200 such as a hotel or a tenant building, the vacuum cleaner system 100 includes a plurality of autonomously traveling vacuum cleaners 110 for cleaning the plurality of floors 201 identical or similar in shape, and the floor 201. And a cleaning information providing device 120 for providing information for cleaning. In addition, they can communicate with each other through a router by wireless communication based on the Wi-Fi standard.

  FIG. 2: is a top view which shows the external appearance of the autonomous running vacuum cleaner in embodiment. FIG. 3 is a bottom view showing an appearance of the autonomous traveling vacuum cleaner according to the embodiment.

  As shown in these figures, the autonomous traveling cleaner 110 according to the embodiment autonomously travels all or part of the cleaning area 202, which is an area to be cleaned such as a common part of each floor 201. The robot cleaner is a robot type vacuum cleaner which sucks the dust present in the cleaning area 202.

  According to the present embodiment, the autonomous traveling cleaner 110 includes a body 220 on which various components are mounted, a drive unit 230 for moving the body 220, a cleaning unit 240 for collecting dust present in the cleaning area 202, and dust A suction unit 250 for suctioning inside the body 220, a control unit 270 for controlling the drive unit 230, the cleaning unit 240, and the suction unit 250, and various sensors are provided.

  The body 220 is a housing that accommodates the drive unit 230, the control unit 270, and the like, and is configured such that the upper portion is removable from the lower portion. A bumper which is displaceable with respect to the body 220 is attached to an outer peripheral portion of the body 220. Further, as shown in FIG. 3, the body 220 is provided with a suction port 221 for sucking the dust into the body 220.

  The drive unit 230 causes the autonomous traveling cleaner 110 to travel based on an instruction from the control unit 270. In the present embodiment, one drive unit 230 is disposed on each of the left side and the right side with respect to the center in the width direction of the body 220 in a plan view. The number of drive units 230 is not limited to two, and may be one or three or more.

  The drive unit 230 has a wheel that travels on the cleaning surface, a travel motor that applies torque to the wheel, and a housing that accommodates the travel motor. Each wheel is accommodated in a recess formed on the lower surface of the body 220 and is rotatably attached to the body 220.

  The drive system of the autonomous traveling cleaner 110 of the present embodiment is a facing two-wheel type having the caster 279 as an auxiliary wheel, and by controlling the rotation of the two wheels independently, going straight, receding, left turning, The autonomous traveling cleaner 110 can freely travel such as right rotation.

  The cleaning unit 240 is a unit for sucking in dust from the suction port 221, and includes a main brush disposed in the suction port 221, a brush drive motor for rotating the main brush, and the like.

  The suction unit 250 is disposed inside the body 220, and has a fan case and an electric fan disposed inside the fan case. The electric fan sucks the air inside the trash can unit 251 and discharges the air to the outside of the body 220 to suck the dirt from the suction port 221 and store the trash in the trash can unit 251.

  The following sensors can be illustrated as various sensors with which the autonomous traveling vacuum cleaner 110 is provided.

  The obstacle sensor 273 is a sensor that detects an obstacle present in front of the body 220. In the case of the present embodiment, an ultrasonic sensor is used as the obstacle sensor 273. The obstacle sensor 273 includes a transmitting unit 271 disposed in the center of the front of the body 220, and receiving units 272 arranged on both sides of the transmitting unit 271, and transmitted from the transmitting unit 271 and reflected by the obstacle. When the receiving unit 272 receives the returned ultrasonic waves, the distance and the position of the obstacle can be detected.

  The distance measuring sensor 274 detects the distance between an object such as an obstacle present around the body 220 and the body 220. In the case of the present embodiment, the distance measuring sensor 274 is an infrared sensor having a light emitting unit and a light receiving unit, and measures the distance based on the time until the infrared light reflected by the obstacle returns.

  Distance measuring sensors 274 are respectively disposed and arranged at the front top on the right side and the front top on the left side, and the distance measuring sensor 274 on the right side outputs light toward the right front of the body 220 and measures the left side. The distance sensor 274 outputs light toward the left front of the body 220. With such a configuration, when the autonomous traveling cleaner 110 turns, the distance measurement sensor 274 detects the distance between the body 220 and the object closest to the contour of the body 220.

  The collision sensor (not shown) is a switch contact displacement sensor which is turned on as a bumper attached around the body 220 is pushed against the body 220 in contact with an obstacle.

  The two-dimensional distance measuring device 275 is a device that grasps the upper space of the body 220 as a two-dimensional image and measures the distance to an object present in the image. The 2.5-dimensional information measured by the two-dimensional distance measuring device 275 may be processed by the information processing unit to grasp the current position of the autonomous traveling cleaner 110 from the position of the feature point in the information and the distance. It can be done. The type of the two-dimensional distance measuring device 275 is not particularly limited, and may be, for example, LiDAR (Light Detection and Ranging), ToF (Time of Flight), a compound eye camera, or the like.

  The floor surface sensor 276 is disposed at a plurality of locations on the bottom surface of the body 220, and detects whether or not a floor surface as the cleaning area 202 exists. In the case of the present embodiment, the floor surface sensor 276 is an infrared sensor having a light emitting portion and a light receiving portion, and when infrared light emitted from the light emitting portion returns, there is a floor surface and only light below the threshold value is returned. The case is detected as no floor.

  The encoder is provided in the drive unit 230, and detects the rotation angle of each of a pair of wheels rotated by the traveling motor. The traveling amount, the turning angle, the speed, the acceleration, the angular velocity and the like of the autonomous traveling cleaner 110 can be calculated from the information from the encoder.

  The acceleration sensor detects an acceleration when the autonomous traveling cleaner 110 travels, and the angular velocity sensor detects an angular velocity when the autonomous traveling cleaner 110 turns. The information detected by the acceleration sensor and the angular velocity sensor is used as information for correcting an error caused by the idle rotation of the wheel.

  The dust amount sensor 277 includes, for example, a light emitting element and a light receiving element, and the light receiving element detects and outputs the amount of light emitted from the light emitting element. Based on the output information, the amount of light received is associated with the amount of dust. Specifically, it is determined that the amount of dust decreases as the amount of light decreases, and dust amount information indicating that is generated.

  The above obstacle sensor 273, distance measurement sensor 274, collision sensor, two-dimensional distance measurement device 275, floor surface sensor 276, encoder, dust amount sensor 277 are exemplifications, and the autonomous traveling cleaner 110 is all sensors. You do not have to prepare. In addition, the autonomous traveling cleaner 110 may be provided with a sensor different from the above.

  FIG. 4 is a block diagram showing each functional part of the control unit of the autonomous traveling cleaner in the embodiment. As shown in the figure, the control unit 270 of the autonomous traveling cleaner 110 is a unit that controls the drive unit 230 to autonomously travel the autonomous traveling cleaner 110 to execute cleaning. In addition, the control unit 270 provided in at least one of the autonomous traveling cleaners 110 has a function of generating an initial map which is information indicating the form of the floor 201 from traveling results based on information obtained from various sensors during autonomous traveling. ing. In the case of the present embodiment, the control unit 270 includes a self position information generation unit 285, an initial map generation unit 281, a storage device 299, and a notification unit 286.

  The self-position information generation unit 285 is a processing unit that generates self-position information at a plurality of locations obtained by the self-position estimation technique, based on the information acquired from various sensors while the autonomous traveling cleaner 110 is traveling or cleaning. .

  A processing unit that generates an initial map 260 as shown in FIG. 5 using the traveling record which is a set of self position information generated by the self position information generating unit 285 and stores the initial map 260 in the storage device 299 It is. Here, the initial map 260 is a set of self position information at a plurality of locations, and indicates an area where the autonomous traveling cleaner 110 can travel in the cleaning area 202. Therefore, although it is considered that the shape of the floor surface of the cleaning area 202 is approximated, for example, a certain area can not be moved due to the presence of a falling object, or the door between the common part and the dedicated part happens to open. If it happens, it may deviate from the shape of the actual cleaning area 202. Moreover, since the information acquired from the various sensors with which the autonomous traveling vacuum cleaner 110 is equipped includes an error, there may exist an unrecognized wall, a false detection wall, and the like. Specifically, for example, the initial map 260 is an environmental map or the like obtained by SLAM.

  When the initial map 260 is generated by the initial map generation unit 281 based on travel results and stored in the storage device 299, the notification unit 286 initially transmits the cleaning information provision device 120 to the cleaning information provision device 120 by wireless communication based on the Wi-Fi standard. It is a processing unit that reports information indicating that the map 260 has been generated. Further, the notification unit 286 transmits the initial map 260 to the cleaning information providing apparatus 120 by wireless communication or the like according to a request from the cleaning information providing apparatus 120 or forcibly.

  FIG. 6 is a block diagram showing each functional unit of the cleaning information providing device in the embodiment. The cleaning information providing device 120 is a device for creating cleaning information to be provided to the plurality of autonomous traveling cleaners 110 based on the initial map 260 generated by at least one of the plurality of autonomous traveling cleaners 110, as shown in FIG. As shown in the figure, the initial map acquisition unit 121, the floor map generation unit 122, the cleaning map generation unit 123, the copy unit 124, and the map information provision unit 125 are provided as functional units.

  In the case of the present embodiment, the cleaning information providing device 120 is a portable terminal device, and includes a storage device for storing a computer program, a processor for processing instructions included in the computer program, and various information by wire or wireless. The communication device includes a communication device for receiving and transmitting, a display device 129 (see FIG. 1) showing an operator the processing result and the like as an image, and an interface 128 for receiving an input from the operator. The cleaning information providing device 120 implements each functional unit by executing a computer program stored in a storage device by a processor and controlling various devices.

  Moreover, the cleaning information provision apparatus 120 has the vacuum cleaner identification information which can identify the several autonomous traveling cleaners 110, respectively. The cleaning information providing device 120 can provide separate information to each of the plurality of autonomous traveling cleaners 110 based on the cleaner identification information. In addition, the cleaning information providing apparatus 120 can hold information specific to each of the identified autonomous traveling cleaners 110, for example, information such as which floor 201 is in charge of the floor.

  The initial map acquisition unit 121 is a processing unit that acquires the initial map 260 transmitted from at least one of the autonomous traveling cleaners 110 based on wireless communication and the like.

  The floor map generation unit 122 is a processing unit that generates the floor map 261 shaped based on the acquired initial map 260. In the case of the present embodiment, the initial map 260 acquired by the initial map acquisition unit 121 is an environment map acquired by SLAM and has a relatively large amount of information. A floor map 261 with a relatively small amount of information is generated, which comprises data in which the outline of the area 202, that is, the boundary between the area to be cleaned and the area other than the area is indicated as a restriction line 141 (see FIG. 7). Specifically, for example, the floor map generation unit 122 automatically generates the floor map 261 including the restriction line 141 based on the initial map 260 using a predetermined algorithm.

  The floor map generation unit 122 also has a function of receiving a correction of the restriction line 141 of the generated floor map 261 via the interface 128 or the like, and generating a new floor map 261. Specifically, for example, the floor map generation unit 122 displays the floor map 261 (see FIG. 7) including the restriction lines 141 automatically generated on the display device 129 via the display unit 126. In the initial floor map 261 displayed on the display device 129, an error, an unrecognized wall, an erroneously detected wall, and the like included in the initial map 260 are reflected as they are. The operator who sees the displayed initial floor map 261 uses the interface 128 to add, delete or correct the defective part, and the floor map generation unit 122 generates a new floor map 261 (see FIG. 8). .

  FIG. 9 is a block diagram showing in detail the functional units provided in the floor map generation unit. As shown in the figure, the floor map generation unit 122 includes a floor map display unit 131, a restriction line reception unit 132, an enlargement display unit 133, a scroll unit 134, and an arrival position specification unit 135. In the case of the present embodiment, the floor map generation unit 122 further includes a reference control line reception unit 136.

  As described above, the floor map display unit 131 is a processing unit that causes the display device 129 to display the floor map 261 including the restriction line 141 via the display unit 126. Here, the regulation line 141 is information for regulating the passage of the autonomous traveling cleaner 110, and in the actual floor 201, the regulation line 141 is autonomous beyond the virtual line corresponding to the regulation line 141 shown on the floor map 261. The traveling cleaner 110 can not travel.

  The restriction line reception unit 132 is a processing unit that receives a first end, which is information indicating the positions of both ends of the restriction line 141 to be added based on the floor map 261 displayed on the display device 129, and a second end. Although the method of receiving the first end and the second end is not particularly limited, in the case of the present embodiment, the interface 128 designates the position in the screen corresponding to the screen displayed on the display device 129. For example, as illustrated in FIG. 10, the restriction line accepting unit 132 is configured to have the first end 151 and the second end 152 by an operation in which the operator touches the screen of the display device 129 with a finger. You may accept it. In addition, a swipe operation may be performed on the interface 128, and the first touch position may be the first end 151, and the position where the finger is separated from the interface 128 may be the second end 152.

  The enlarged display unit 133 causes the display device 129 to display, through the display unit 126, an enlarged map 265 in which the floor map near the first end 151 or the second end 152 accepted by the restriction line accepting unit 132 is magnified. It is a department. In the case of the present embodiment, the enlargement display unit 133 automatically enlarges the floor map in the vicinity of the first end 151 when the restriction line reception unit 132 receives the first end 151 and the second end 152. Further, as shown in FIG. 11, the enlargement display unit 133 is an enlargement map at a magnification at which one of the received first end 151 and second end 152 and the restriction line 141 closest to the end are displayed. It is displaying 265.

  Here, the restriction line reception unit 132 receives a change in the position of the first end 151 or the second end 152 of the restriction line 141 previously received based on the enlargement map 265 displayed by the enlargement display unit 133. Specifically, for example, the restriction line reception unit 132 drags the first end 151 displayed on the enlarged map 265, taps a new position, or the like, thereby, as shown in FIG. The change of the position in the floor map 261 of is received.

  As described above, when the restriction line reception unit 132 receives an input of a new restriction line 141, the enlargement display unit 133 does not wait for any end portion of the restriction line 141 without waiting for another input from the operator. An enlarged magnified map 265 is displayed. As described above, the operator can easily recognize the positional deviation of the end of the input control line 141 in the floor map 261, and in particular, when the end is displayed together with the existing control line 141, It is possible to easily show the deviation of the relative positional relationship with the control line 141 of FIG. Then, in the enlarged map 265, fine correction of the position of the end can be easily performed. Therefore, even when the floor map 261 is wide, the position of the end of the control line 141 can be accurately grasped and input efficiently.

  Although the display of the enlarged map 265 near the first end 151 and the fine correction of the position of the first end 151 have been described above, the second end 152 is operated by the operator as shown in FIG. The magnified display portion 133 may display the magnified map 265 in the vicinity, and the restriction line acceptance portion 132 may accept fine correction of the position of the second end 152 as in the case of the first end 151.

  The scroll unit 134 is a processing unit that receives the scroll of the enlarged map 265. In the case of the present embodiment, the operator swipes on the screen on which the enlarged map 265 is displayed or touches the triangular scroll icon 266 displayed on the screen to accept the scroll of the enlarged map 265. Scrolling of the enlarged map 265 is executed by the instruction of the operator, for example, as shown in FIG. 14, when the end of the newly inputted restriction line 141 and the existing restriction line 141 are not simultaneously displayed on the enlarged map 265. Be done.

  The reaching position specifying unit 135 virtually moves one of the end portions displayed in the enlarged map 265 based on the scroll direction axis received by the scroll unit 134 and determines the reaching position at which the end portion reaches the existing restriction line 141. It is a processing unit to identify. In the case of the present embodiment, when the operator swipes on the screen on which the enlarged map 265 is displayed, the reached position specifying unit 135 acquires the direction axis of the swipe from the interface 128 and sets it as the scroll direction axis. Move the displayed end (the second end 152 in FIG. 14) in the swipe direction (or the opposite direction) along the scroll direction axis, and use the intersection point that first intersects the restriction line 141 as the arrival position . In addition, when the operator touches the scroll icon 266, the end portion is set to the scroll direction as the direction indicated by the scroll icon 266 (in the case of the present embodiment, in the screen, left, right, upward or downward). Move virtually.

  When the reaching position is specified in the reaching position specifying unit 135, the enlarged display unit 133 displays the enlarged map 265 together with the new restricting line 141 including the end reaching the vicinity of the reaching position and the existing restricting line 141. Do. The enlarged display unit 133 not only displays the enlarged map 265 in the vicinity of the arrival position but also virtually moves the end to the arrival position in the floor map 261 in a state where the end is displayed in the enlarged map 265 The position of the enlarged map 265 may be displayed as an animation that is moved sequentially.

  In addition, when one of the restriction lines 141 present in the floor map 261 displayed on the screen of the display device 129 is designated by the operator before the scroll unit 134 receives the scroll operation, the restriction line 141 is used as a reference restriction line. And the standard regulation line acceptance unit 136 accepts it. In this case, the arrival position specifying unit 135 sets the scroll axis along the direction axis along the reference restriction line, the direction axis perpendicular to the reference restriction line, or the direction axis predetermined from the direction axis at a predetermined angle to the reference restriction line. The end may be virtually moved along the scroll direction axis and in the swipe direction or the direction indicated by the scroll icon 266.

  In addition, the reaching position specifying unit 135 may specify the candidate position while moving the end point virtually along the predetermined direction axis. The candidate position does not intersect the restriction line 141 newly input in a predetermined area including the end portion to be virtually moved (for example, in the area indicated by the enlarged map 265) until reaching the arrival position. If the restriction line 141 exists, the position of this end is the candidate position.

  When the candidate position is specified by the arrival position specifying unit 135, the enlargement display unit 133 displays an enlargement map 265 in the vicinity of the candidate position together with the end portion and the restriction line 141.

  The operator who confirms the enlarged map 265 finely corrects the position of the end through the interface 128 if the candidate position is near the target position, and the restriction line accepting unit 132 corrects the position of the end. Do.

  Also, if the candidate position is not near the target position, the operator resumes scrolling. When the virtual movement of the end is resumed, the arrival position specifying unit 135 may specify the position where the restriction line 141 which is the candidate of the candidate is interrupted as the next candidate position. Also in this case, the enlarged display unit 133 displays the enlarged map 265 in the vicinity of the next candidate position.

  The arrival position specifying unit 135 moves the end virtually, for example, when the end reaches the periphery of the floor map 261 generated by the predetermined algorithm from the initial map 260 when the arrival position can not finally be specified. It is also possible to return to the position before the movement, and change the direction axis to virtually move to search for the arrival position.

  Next, a series of operations of the floor map generation unit 122 will be described using the flowchart shown in FIG.

  For the floor map 261 displayed on the screen of the display device 129 by the floor map display unit 131, the operator writes the restriction line 141 at a desired position using the interface 128. The restriction line reception unit 132 receives information on the positions of the first end 151 and the second end 152 from the interface 128 (S201).

  Next, the enlargement display unit 133 displays the enlargement map 265 in which the first end 151 and the vicinity thereof are shown (S202). When the operator who confirms the enlarged map 265 thinks that the correction of the position of the first end 151 is necessary (S203: Yes), the position of the first end 151 is corrected through the interface 128 (S204).

  Next, a magnified map 265 in which the second end 152 and the vicinity thereof are displayed is displayed by an operation of the operator (S205). When the operator thinks that scrolling is necessary (S206: Yes), the operator executes scrolling via the interface 128, and the scroll unit 134 receives the direction axis for moving the end portion and the movement direction (S207) .

  The arrival position specifying unit 135 moves the second end 152 based on the direction axis and the movement direction received by the scroll unit 134, and determines the presence or absence of a candidate position (S208). If the candidate position exists (S208: Yes), the enlarged map 265 including the candidate position is displayed (S209).

  If it is determined that the operator who has confirmed the enlarged map 265 is not the target position, an operation to move to the next candidate is performed (S210: Yes).

  The arrival position specifying unit 135 sequentially displays the candidate positions until the candidate position disappears, and when the candidate positions disappear (S208: No), determines the presence or absence of the arrival position (S211). When the reaching position exists (S211: Yes), the enlargement display unit 133 displays the enlargement including the reaching position (S212). On the other hand, when the arrival position does not exist (S211: No), the position of the second end 152 may be returned, and the direction axis may be changed to perform the search (S213).

  The operator determines the necessity of the correction based on the enlarged map 265 displayed last (S214), and if necessary, the correction is added (S215), and the input of the new restriction line 141 is finished.

  In addition, although the above demonstrated the 2nd end 152, the position of the 1st end 151 can be corrected by the same operation | movement also about the 1st end 151. FIG.

  Returning to the entire description of the cleaning information providing apparatus 120 of FIG. 6, the cleaning map generation unit 123 is a cleaning map 262 obtained by adding information on cleaning to the floor map 261 corrected and generated by the cleaning map generation unit 123. Is a processing unit that generates Information on cleaning includes, for example, the cleaning start point S (see FIG. 16) of the autonomous traveling cleaner 110, the cleaning end point G, the cleaning route, the charging point C, the material of the floor, the area to be cleaned and the area not cleaned is there.

  As an example of generating the cleaning map 262, an operator operating the cleaning information providing apparatus 120 via the interface 128 or the like generates the cleaning map 262 by inputting information on cleaning on the floor map 261. As a specific input content, as shown in FIG. 16, the cleaning area 301 and cleaning are performed using the additional recording restriction line 142 etc. which is an arbitrary restriction line added in advance by the cleaning map generation unit 123 The non-cleaning area 302, the cleaning start area S, the cleaning end area G, the charging area C, etc. are input on the floor map 261 using the interface 128 to generate the cleaning map 262.

  In the case of the present embodiment, the cleaning map generation unit 123, as shown in FIG. 16, for one floor map 261, a plurality of cleaning maps such as a first cleaning map 263 and a second cleaning map 264, which are cleaning maps 262. It is possible to generate 262. Thus, by generating a plurality of cleaning maps 262 for one floor map 261, for example, on a weekday, the autonomous traveling cleaner 110 is cleaned based on the first cleaning map 263, and the holidays are cleaned second It is possible to cause the autonomous traveling cleaner 110 to execute different types of cleaning depending on the time, day, month, season, weather, etc., by making the autonomous traveling cleaner 110 clean based on the map 264.

  The cleaning map generation unit 123 can also receive a correction of the cleaning map 262 already generated via the interface 128 or the like to generate a new cleaning map 262.

  FIG. 17 is a block diagram showing in detail the functional units included in the cleaning map generation unit. As shown in the figure, the cleaning map generation unit 123 includes a traveling information reception unit 162, an arrival determination unit 163, and an information output unit 164, and a floor map display unit 131 which is shared with the floor map generation unit 122. , And an enlarged display unit 133. Further, in the case of the present embodiment, a reach enabling unit 165 is further provided.

  In generating the cleaning map 262, the floor map display unit 131 causes the display device 129 to display the floor map 261 generated earlier through the display unit 126.

  The traveling information reception unit 162 is a processing unit that receives the cleaning start point S at which the autonomous traveling cleaner 110 starts cleaning and the cleaning end point G at which the cleaning is ended based on the displayed floor map. The method of receiving the cleaning start point S and the cleaning end point G is not particularly limited, but in the case of the present embodiment, an operation in which the operator touches the screen of the display device 129 with the finger via the interface 128 Thus, the traveling information reception unit 162 receives the cleaning start part S and the cleaning end part G, respectively. In the case of the present embodiment, the traveling information reception unit 162 can also receive the postscript restriction line 142 which is one of the restriction lines 141. The specific reception method is the same as that of the floor map generation unit 122, and the modules may be shared.

  When the enlarged display unit 133 functions in the cleaning map generation unit 123, the display unit 126 is an enlarged map 265 in which a floor map in the vicinity of the cleaning start place S or cleaning end place G received by the traveling information reception unit 162 is enlarged. Via the display device 129. In the case of the present embodiment, when the traveling information reception unit 162 receives the cleaning start location S and the cleaning end location G, the enlarged display unit 133 automatically shows a floor map near the cleaning start location S as shown in FIG. To expand.

  Here, the traveling information accepting unit 162 may accept a change in the position of the cleaning start location S or the cleaning end location G based on the enlarged map 265 displayed by the enlarged display unit 133. Specifically, for example, the traveling information reception unit 162 may receive the change of the position by dragging the cleaning start point S or the cleaning end point G displayed on the enlarged map 265.

  The arrival determination unit 163 is a processing unit that determines whether the autonomous traveling cleaner 110 can reach the cleaning end location G from the cleaning start location S by the limitation line 141 including the additional recording limitation line 142. Although the determination logic in the arrival determination unit 163 is not particularly limited, for example, one of the cleaning start point S and the cleaning end point G exists in the area closed by the restriction line 141 including the additional recording restriction line 142. It is determined that the vehicle can not reach when the other exists outside the area.

  The information output unit 164 is a processing unit that outputs unreachable information indicating that the arrival determination unit 163 can not arrive when it is determined that the arrival determination unit 163 can not arrive. The arrival additional information output from the information output unit 164 is not particularly limited, and can be exemplified by a message displayed on the screen of the display device 129 as shown in FIG. In addition, the shape or color of the icon of the cleaning end point G on the screen may be changed, blinked, or the like may be used as the additional arrival information. In the case of the present embodiment, the information output unit 164 outputs the reach additional information to the reach enabling unit 165.

  When the reach additional information is output from the information output unit 164, the reach enabling unit 165 selects one of the cleaning start point S, the cleaning end point G, and the additional recording restriction line 142 which is the changeable restriction line 141. The autonomous traveling cleaner 110 is moved to a position where it can reach from the cleaning start point S to the cleaning end point G. The processing logic of the reach enabling unit 165 is not particularly limited. For example, the control line 141 separating the cleaning start point S and the cleaning end point G, specifically, the cleaning start point S and the cleaning end point G Move along one of the cleaning start point S and cleaning end point G toward the other until it reaches the area that includes the other along the direction axis orthogonal to the restriction line 141 that intersects straight lines The thing to make it can be illustrated. In this case, one of the cleaning start point S and the cleaning end point G which is closer to the control line 141 may be moved. In addition, when the restriction line 141 that intersects when the cleaning start point S and the cleaning end point G are connected by a straight line is the additional recording restriction line 142, the cleaning start point S and the cleaning end point G are fixed, The postscript restriction line 142 may be moved.

  Further, as the process of the reach enabling unit 165, either one of the cleaning start point S and the cleaning end point G may be moved to a position where it can reach the area including the other at the shortest or near that position. In addition, the cleaning start point S and the cleaning end point G are fixed, and the additional recording restriction line 142 closest to the cleaning start point S or the cleaning end point G is moved to clean the cleaning start point S and the cleaning end point G. It may be included in one area.

  Furthermore, when the reach enabling unit 165 moves the postscript restriction line 142 which is the changeable restriction line 141 to a reachable position, the area of the cleaning area after movement with respect to the area of the cleaning area before movement The movement of the additional recording restriction line 142 may be excluded if the value of the value becomes equal to or greater than a predetermined threshold. For example, when the area of the cleaning area after movement increases by 30% or more as a threshold with respect to the area of the cleaning area before moving the additional recording restriction line 142, the movement of the additional recording restriction line 142 is excluded and another method For example, the cleaning start point S or the cleaning end point G may be moved. As a result, significant fluctuations in the cleaning area can be suppressed.

  Next, a series of operations of the cleaning map generation unit 123 will be described using the flowchart shown in FIG.

  With respect to the floor map 261 displayed on the screen of the display device 129 by the floor map display unit 131, the traveling information reception unit 162 receives the cleaning start location S specified by the operator at the desired position using the interface 128 (S301) . The magnified display unit 133 magnifies and displays the vicinity of the cleaning start point S (S302). Subsequently, the traveling information reception unit 162 receives the cleaning end point G designated by the operator (S303), and the enlargement display unit 133 enlarges and displays the vicinity of the cleaning end point G (S304).

  Next, the arrival determination unit 163 determines whether the autonomous traveling cleaner 110 can reach from the cleaning start point S to the cleaning end point G (S305). When it is determined that the arrival determination unit 163 can not reach (S305: Yes), the information output unit outputs the additional arrival information (S306).

  Next, the reach enabling unit 165 moves any one of the cleaning start point S, the cleaning end point G, and the additional recording restriction line 142 so that the autonomous traveling cleaner 110 can reach from the cleaning start point S to the cleaning end point G. , And to reach it (S307). Finally, the state after reachability is displayed on the display device 129 (S308).

  As described above, even when the cleaning start point S and the cleaning end point G are determined as the cleaning information in the floor map 261 divided into a plurality of wide areas by the additional recording restriction line 142, the operator can not execute the cleaning. Can be notified. Furthermore, the cleaning information providing device 120 can search for and present a solution.

  Returning to the entire description of the cleaning information providing apparatus 120 of FIG. 6, the copying unit 124 copies at least one of the floor map 261 generated by the floor map generation unit 122 and the cleaning map generated by the cleaning map generation unit 123. Processing unit. In the case of the present embodiment, the cleaning information providing device 120 has vacuum cleaner identification information for identifying the plurality of autonomous traveling cleaners 110 respectively, and the copying unit 124 includes at least one of the floor map 261 and the cleaning map. Is replicated as many as the number of autonomous traveling cleaners 110 identified. In addition, the copying unit 124 associates the vacuum map identification information with at least one of the copied floor map 261 and the cleaning map.

  In addition, when the floor map generation unit 122 generates a new floor map 261, the copying unit 124 can update the already copied floor map 261 to a new floor map 261. In addition, the copying unit 124 may update only a specific floor map 261 among the plurality of floor maps 261 already copied to the new floor map 261.

  In addition, when the cleaning map generation unit 123 generates a plurality of cleaning maps 262 for one floor map 261, the copying unit 124 may copy all of the plurality of cleaning maps 262. The filled cleaning map 262 may be selectively replicated.

  The map information providing unit 125 is a processing unit that provides the replicated cleaning map 262 to the corresponding plurality of autonomous traveling cleaners 110 by wireless communication or wired communication. In the case of the present embodiment, the map information providing unit 125 uses the router etc. based on the Wi-Fi standard on the cleaning map 262 etc. associated with the cleaner identification information corresponding to each of the plurality of autonomous traveling cleaners 110. To provide.

  When providing the cleaning map 262 to the autonomous traveling cleaner 110, the map information providing unit 125 may determine which cleaning map 262 to provide when there are multiple types of cleaning maps 262. is there. For example, based on the information on the schedule separately acquired by the cleaning information providing apparatus 120, the first condition or the second condition is the date and time when the autonomous traveling cleaner 110 enters the preparation stage before the cleaning is performed. If it is a holiday, the first cleaning map 263 corresponding to the first condition is provided to the corresponding autonomous traveling cleaner 110 if the first condition is satisfied, and the second cleaning condition is satisfied if the second condition is satisfied. A second cleaning map 264 corresponding to the condition is provided to the corresponding autonomous traveling cleaner 110.

  In addition, the map information providing unit 125 cleans the floor surface corresponding to the wet floor when it is raining based on the information on the environment of the place where the autonomous traveling cleaner 110 executes the cleaning, for example, the information on the current weather. A map 262 may be provided and a clean map 262 corresponding to a dry floor surface if it is not raining.

  In addition, the map information provision unit 125 acquires state information of the autonomous traveling cleaner 110, for example, information on whether or not the battery is fully charged, and if the cleaning based on the first cleaning map 263 is completed, the second charging is completed. If the cleaning map 264 is provided to the corresponding autonomous traveling cleaner 110 and the cleaning based on the second cleaning map 264 is completed and then fully charged, the first cleaning map 263 or the third cleaning map (not shown) A corresponding autonomous traveling cleaner 110 may be provided. According to this, a large floor is divided into a plurality of sections, one autonomous traveling cleaner 110 cleans each section, and charging is performed after cleaning of one section is completed, and if fully charged, the next is performed The compartments can be cleaned. In addition to such conditions, the map information providing unit 125 can select the cleaning map 262 to be provided based on various first conditions, second conditions, and the like.

  Next, based on the flowchart shown in FIG. 21, an example of operation | movement of the cleaning information provision apparatus 120 in the cleaner system 100 is demonstrated.

  After causing any floor 201 to travel on at least one of the autonomous traveling cleaners 110 included in the cleaner system 100 and creating the initial map 260, the initial map acquisition unit 121 of the cleaning information providing apparatus 120 performs the initial processing. The map 260 is acquired (S101).

  Next, based on the initial map 260 acquired by the floor map generation unit 122, the floor map 261 composed of vector data and the like is generated by predetermined logic (S102). The generated floor map 261 is displayed on the display device 129 by the display unit 126 as shown in FIG. 22 (S103).

  The operator who operates the display device 129 determines whether it is necessary to correct the floor map 261 (S104), and if necessary, corrects the floor map 261 as described above through the interface 128. A new floor map 261 is generated.

  Next, as shown in FIG. 23, information regarding cleaning is input on the floor map 261 displayed on the display device 129 via the interface 128, and the cleaning map generator 123 generates the cleaning map 262 (S106). .

  Next, the copying unit 124 copies the generated cleaning map 262 by the number corresponding to the plurality of autonomous traveling cleaners 110 (S107). The display unit 126 displays the copy result on the display device 129 as shown in FIG. 24 (S108). In the case of the present embodiment, the cleaning map 262 has two types, ie, a first cleaning map 263 for the north area (weekdays), and a second cleaning map 264 for the south area (holiday). 124 duplicates all these cleaning maps 262.

  Here, when it is desired to individually modify the cleaned cleaning map 262 (S109), transition to a cleaning map correction screen as shown in FIG. 23 is made by touching the corresponding pencil mark shown on the screen. The operator can also individually correct the cleaning map 262 (S110).

  Next, the map information providing unit 125 provides each autonomous traveling cleaner 110 with an appropriate cleaning map 262 based on the date and time (S112). The map information providing unit 125 can also individually transmit and provide the cleaning map 262 instructed by the operator via the interface 128.

  As described above, in the case where the plurality of autonomous traveling cleaners 110 cleans a plurality of large floors having the same or similar form, based on the initial map 260 created by at least one autonomous traveling cleaner 110. The floor map 261 can be generated simply and efficiently, and the cleaning map 262 generated based on the floor map 261 can be duplicated and provided to the autonomous traveling cleaner 110 responsible for each floor. Therefore, the vacuum cleaner system 100 can be activated in a short time with high efficiency.

  Also, even if the layout of each floor changes in a unified manner, such as placing decorative figurines in the same place on each floor, the master's floor map 261 should be corrected as easily and efficiently as when launching it. By generating and copying the cleaning map 262 based on the newly generated floor map 261, the cleaning map can be provided to each autonomous traveling cleaner 110 simply and efficiently.

Second Embodiment
Subsequently, another embodiment of the floor map generation unit 122 of the cleaning information providing device 120, in particular, the arrival position specifying unit 135 will be described. The same reference numerals are given to components (portions) having the same operations and functions as those in the first embodiment, and the same shapes, mechanisms, and structures as the first embodiment, and the description will be omitted. The differences from the first embodiment will be described below, and the description of the same contents will be omitted.

  The reaching position specifying unit 135 virtually moves the second end 152 in the direction from the first end 151 toward the second end 152 based on the first end 151 and the second end 152 received by the restriction wire receiving unit 132. The second end 152 identifies the reached position at which the regulation line 141 has already been reached. Thereby, the operator designates the first end 151 and the second end 152 using the interface 128 to operate the operator until the display position of the second end 152 or the display of the enlarged map 265 including the rear position. It runs automatically without it. As a result, the labor of the operator can be further reduced than in the case of the first embodiment.

  In this case, the virtual movement of the second end 152 may be along the direction axis connecting the first end 151 and the second end 152 and extends at a predetermined angle with respect to a predetermined reference restriction line. It may be along the direction axis.

  The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be used as an embodiment of the present invention. Further, modifications obtained by applying various modifications to those skilled in the art without departing from the spirit of the present invention, that is, the meaning indicated by the language described in the claims, are also included in the present invention. Be

  For example, although the cleaning information providing apparatus 120 has been described as an apparatus capable of mutually exchanging information with a plurality of autonomous traveling cleaners 110 as a part of the cleaner system 100, the cleaning information providing apparatus 120 has been described. May be one that sends and receives information to and from one autonomous traveling cleaner 110. Also, it may be incorporated in the autonomous traveling cleaner 110.

  Further, when the cleaning map generation unit 123 receives an input of the cleaning start point S or the cleaning end point G, the enlarged display unit 133 does not display the enlarged map 265, and the cleaning start point S is displayed as it is. The cleaning end point G may be processed.

  Although the case of the transparent touch panel disposed on the screen of the display device 129 as the interface 128 has been described, the present invention is not limited to this, and the cursor displayed on the screen is moved by a mouse, a keyboard or the like to One end 151 and the second end 152 may be designated.

  Further, provision of the cleaning map 262 may be provided not only by communication via a router based on the Wi-Fi standard, but also by one-to-one communication with each autonomous traveling cleaner 110.

  In addition, although the case where the floor of each floor of the building is cleaned has been described, the cleaner system 100 may be applied to a factory or a large-scale commercial facility having a plurality of floors of the same form or similar forms in a large site. .

  In addition, although the case where the cleaning unit 262 duplicates the cleaning map 262 is shown, the floor map may also be replicated corresponding to each autonomous traveling cleaner 110. In addition, the floor map 261 that has been replicated may be corrected individually. Also in this case, the newly entered control line 141 can be added according to the above embodiment.

  In addition, some or all of the processing units included in the vacuum cleaner system 100 may be present on the cloud system. For example, the cleaning information providing apparatus 120 may have the editing function of the floor map 261 and the cleaning map 262, and the server connected to the network may have the map information providing unit 125. Specifically, the cleaning map 262 edited by a terminal such as a tablet or a PC is stored in the storage device of a server connected to the network, and the server and the autonomous traveling cleaner 110 are connected via the network. The map information providing unit 125 may have the appropriate cleaning map 262 according to the situation.

  The present invention can be used to provide information to an autonomously traveling vacuum cleaner that automatically cleans a large floor surface such as a hotel, a tenant building, a large commercial facility, and the like.

100 cleaner system 110 autonomous traveling cleaner 120 cleaning information provision device 121 initial map acquisition unit 122 floor map generation unit 123 cleaning map generation unit 124 duplication unit 125 map information provision unit 126 display unit 128 interface 129 display device 131 floor map display unit 132 restriction line reception unit 133 enlarged display unit 134 scroll unit 135 arrival position specification unit 136 reference restriction line reception unit 141 restriction line 142 first end restriction 152 first end 152 second end 162 travel information reception unit 163 arrival judgment unit 164 information output Part 165 Reachable part 200 Facility 201 Floor 202 Cleaning area 220 Body 221 Suction port 230 Drive unit 240 Cleaning unit 250 Suction unit 251 Box unit 260 Initial map 261 Floor map 262 Cleaning map 263 First cleaning map 264 Second cleaning map 265 Enlarged map 266 Scroll icon 270 Control unit 271 Transmitter 272 Receiver 273 Obstacle sensor 274 Distance sensor 275 Two-dimensional distance measuring device 276 Floor surface sensor 277 Dust amount sensor 279 Caster 281 Initial map Generation unit 285 Self-position information generation unit 286 Notification unit 299 Storage device 301 Cleaning area 302 Non-cleaning area

Claims (5)

A cleaning information providing apparatus for providing information for cleaning the floor to an autonomous traveling cleaner which autonomously travels and cleans the floor, comprising:
A floor map display unit that displays a floor map on which a restriction line is displayed, which is information for restricting the passage of the autonomous traveling vacuum cleaner;
A traveling information reception unit that receives the cleaning start point at which the autonomous traveling vacuum cleaner starts cleaning and the cleaning end point at which the cleaning is ended based on the displayed floor map;
An arrival determination unit that determines whether the autonomous traveling cleaner can reach the cleaning end location from the cleaning start location by the restriction line;
An information output unit configured to output unreachable information indicating that the arrival determination unit can not reach, when it is determined that the arrival determination unit can not reach. The reach enabling unit according to claim 1, further comprising: a reach enabling unit that moves any one of the cleaning start point, the cleaning end point, and the changeable restriction line to a reachable position when the reach additional information is output. Cleaning information provision device. The reachability unit is
Move the cleaning start point, the cleaning end point, and the changeable restriction line to a position where it can be reached along a direction axis orthogonal to the restriction line separating the cleaning start point and the cleaning end point The cleaning information provision apparatus according to claim 1 or 2. The reachability unit is
The cleaning information according to any one of claims 1 to 3, wherein any one of the cleaning start point, the cleaning end point, and the changeable restriction line is moved to a position where the movement distance is the shortest or in the vicinity thereof. Provision device. The reachability unit is
When the changeable restriction line is moved to the reachable position, movement of the restriction line is excluded if the area of the cleaning area after movement becomes a predetermined threshold or more with respect to the area of the cleaning area before movement. The cleaning information provision apparatus according to any one of claims 1 to 4.

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