JP2022025401A - Self-propelled vacuum cleaner, method for controlling self-propelled vacuum cleaner, and program - Google Patents

Abstract

To provide a self-propelled vacuum cleaner suppressing persons from having troublesome feeling even when cleaning an area where people go in and out.SOLUTION: A self-propelled vacuum cleaner 100 includes: a body part 10 traveling in a prescribed cleaning area 201 to clean the area; an information acquisition part 20 acquiring door opening/closing information on opening/closing of at least one door 301 adjacent to the prescribed cleaning area 201; a plan generation part 30 generating a cleaning plan relating to a traveling route for cleaning the prescribed cleaning area 201 by the body part 10; and a control part 40 determining propriety of travel around at least the one door 301 by the body part 10 on the basis of the acquired door opening/closing information and controlling traveling of the body part 10 on the basis of the determined result and the generated cleaning plan.SELECTED DRAWING: Figure 4

Description

The present invention relates to a self-propelled vacuum cleaner that performs cleaning while traveling autonomously, a control method and a program of the self-propelled vacuum cleaner.

Conventionally, a self-propelled vacuum cleaner that cleans the floor surface while traveling autonomously is known. When such a self-propelled vacuum cleaner is used in the home, the user feels the trouble of the self-propelled vacuum cleaner because the self-propelled vacuum cleaner that is cleaning hinders the movement of the user. There is. In order to suppress such annoyance of the user, a vacuum cleaner control system equipped with a function of determining the absence time of the user in each room and creating a cleaning schedule is known (see, for example, Patent Document 1). ).

Japanese Unexamined Patent Publication No. 2018-75167

For commercial self-propelled vacuum cleaners that clean common areas such as corridors of public facilities or office buildings, the usage status and operation method of self-propelled vacuum cleaners are different from those for home use, so they should be cleaned. Cleaning is required even when people come and go in the cleaning area.

Therefore, the present invention provides a self-propelled vacuum cleaner that can suppress people from feeling annoyed even when cleaning an area where people may come and go.

The self-propelled vacuum cleaner according to one aspect of the present invention is information for acquiring door opening / closing information regarding opening / closing of at least one door adjacent to the predetermined cleaning area and a main body portion that travels in a predetermined cleaning area for cleaning. The acquisition unit, the plan generation unit that generates a cleaning plan for the cleaning travel path in the predetermined cleaning area by the main body unit, and the at least one door by the main body unit based on the acquired door opening / closing information. It is provided with a control unit that controls the traveling of the main body portion based on the determination result and the generated cleaning plan.

Further, the control method of the self-propelled vacuum cleaner according to one aspect of the present invention is a control method of the self-propelled vacuum cleaner that autonomously travels and cleans a predetermined cleaning area, and is used in the predetermined cleaning area. The acquisition step for acquiring door opening / closing information regarding the opening / closing of at least one adjacent door, and the map information indicating the predetermined cleaning area are acquired, and the self-propelled vacuum cleaner is used based on the acquired map information. Based on the generation step of generating a cleaning plan for the cleaning travel path in the predetermined cleaning area and the acquired door opening / closing information, whether or not the self-propelled vacuum cleaner can travel around the at least one door. The determination step includes a determination step and a control step for controlling the running of the self-propelled vacuum cleaner based on the determination result and the generated cleaning plan.

Further, the program according to one aspect of the present invention is a program for causing a computer to execute the control method of the self-propelled vacuum cleaner.

The present invention may be realized as a non-temporary recording medium such as a CD-ROM that can be read by a computer that records the above program. Further, the present invention may be realized as information, data or a signal indicating the program. The programs, information, data and signals may be distributed via a communication network such as the Internet.

According to the self-propelled vacuum cleaner or the like according to one aspect of the present invention, even when cleaning the area where a person may come and go, it is possible to suppress the person from feeling annoyed.

FIG. 1 is a diagram for explaining an outline of a self-propelled vacuum cleaner according to an embodiment. FIG. 2 is a perspective view showing the appearance of the self-propelled vacuum cleaner according to the embodiment. FIG. 3 is a bottom view showing the appearance of the self-propelled vacuum cleaner according to the embodiment. FIG. 4 is a block diagram showing a characteristic functional configuration of the self-propelled vacuum cleaner according to the embodiment. FIG. 5 is a diagram showing an example of a door information database held by the self-propelled vacuum cleaner according to the embodiment. FIG. 6 is a diagram for explaining an example of the area around the door. FIG. 7 is a flowchart showing a processing procedure in the operation example 1 of the self-propelled vacuum cleaner according to the embodiment. FIG. 8 is a diagram showing the movement of the self-propelled vacuum cleaner in the operation example 1 of the self-propelled vacuum cleaner according to the embodiment. FIG. 9 is a flowchart showing a processing procedure in an example of an operation when the self-propelled vacuum cleaner according to the embodiment cleans the inside of the area around the door. FIG. 10 is a flowchart showing a processing procedure in the operation example 2 of the self-propelled vacuum cleaner according to the embodiment. FIG. 11 is a diagram showing the movement of the self-propelled vacuum cleaner in the operation example 2 of the self-propelled vacuum cleaner according to the embodiment. FIG. 12 is a flowchart showing a processing procedure in the operation example 3 of the self-propelled vacuum cleaner according to the embodiment. FIG. 13 is a diagram showing the movement of the self-propelled vacuum cleaner in the operation example 3 of the self-propelled vacuum cleaner according to the embodiment.

Hereinafter, embodiments of the self-propelled vacuum cleaner and the like according to the present invention will be described in detail with reference to the drawings. In addition, all of the embodiments described below show a preferable specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention.

It should be noted that those skilled in the art provide the accompanying drawings and the following description in order to fully understand the present invention, and are not intended to limit the subject matter described in the claims.

Further, each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, the same reference numerals are given to substantially the same configurations, and duplicate explanations may be omitted or simplified.

Further, in the following embodiments, expressions using "abbreviations" such as substantially triangles are used. For example, a substantially triangle means not only that it is a perfect triangle, but also that it is substantially a triangle, that is, it also includes, for example, a triangle with rounded corners. The same applies to expressions using other "abbreviations".

Further, in the following embodiments, the case where the self-propelled vacuum cleaner that runs and cleans in a predetermined area is viewed from the vertically upper side is described as a top view, and the case where the self-propelled vacuum cleaner is viewed from the vertically lower side is described as a bottom view. In some cases.

(Embodiment)
First, an outline of the self-propelled vacuum cleaner 100 according to the embodiment will be described. FIG. 1 is a diagram for explaining an outline of the self-propelled vacuum cleaner 100 according to the embodiment. FIG. 1 shows a predetermined cleaning area 200 in which the self-propelled vacuum cleaner 100 autonomously travels and cleans.

The self-propelled vacuum cleaner 100 is, for example, an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined cleaning area 200 (hereinafter, also simply referred to as a cleaning area 200). The cleaning area 200 is, for example, an area surrounded by a wall or the like in a building such as a hotel or a tenant building. The cleaning area 200 may be partially surrounded by a virtual wall set by the self-propelled vacuum cleaner 100. The cleaning area 200 is adjacent to at least one door, one door 300 and two doors 310 in the example shown in FIG. The door 300 is a door attached to the elevator 400 adjacent to the cleaning area 200, and the door 310 is a door attached to the room 410 adjacent to the cleaning area 200. The elevator 400 and the room 410 are located outside the cleaning area 200 and are not included in the cleaning area 200.

The self-propelled vacuum cleaner 100 acquires door opening / closing information regarding the opening / closing of the doors 300 and 310, and autonomously travels and cleans based on the acquired door opening / closing information and the cleaning plan. The self-propelled vacuum cleaner 100 determines whether or not to travel around the doors 300 and 310 based on the acquired door opening / closing information, and travels in the cleaning area 200 based on the determined result.

[Constitution]
Next, the configuration of the self-propelled vacuum cleaner 100 according to the embodiment will be described. FIG. 2 is a perspective view showing the appearance of the self-propelled vacuum cleaner 100 according to the embodiment. FIG. 3 is a bottom view showing the appearance of the self-propelled vacuum cleaner 100 according to the embodiment.

The self-propelled vacuum cleaner 100 runs around a predetermined area (for example, a cleaning area 200) while acquiring sensor data with a distance sensor 70, a camera 80, or the like, and obtains map information (data) indicating a map of the predetermined area. Generate. The self-propelled vacuum cleaner 100 calculates a traveling route to be traveled when cleaning a predetermined area based on the generated map information. The self-propelled vacuum cleaner 100 travels in a predetermined area and cleans on the calculated travel route.

Whether or not the self-propelled vacuum cleaner 100 avoids objects (obstacles) existing in the area by observing the state of a predetermined area using sensors such as a camera 80, a distance sensor 70, and a cliff sensor, for example. If there is an obstacle, the vehicle will move away from the calculated travel path and travel while avoiding the object for cleaning.

The self-propelled vacuum cleaner 100 generates map information of a predetermined area to be cleaned by, for example, SLAM (Simultaneus Localization and Mapping), and self-positions of the self-propelled vacuum cleaner 100 on the map shown in the generated map information. And make an estimate.

As shown in FIGS. 2 and 3, the self-propelled vacuum cleaner 100 includes, for example, a main body 10, two wheels 13, a main brush 19a, two side brushes 19b, a distance sensor 70, and a camera. Equipped with 80.

The main body 10 is a housing for accommodating each component included in the self-propelled vacuum cleaner 100. In the present embodiment, the main body 10 is substantially circular in top view. The shape of the main body 10 in a top view is not particularly limited. The top view shape of the main body portion 10 may be, for example, a substantially rectangular shape or a substantially triangular shape. As shown in FIG. 2, the main body 10 has a suction port 16 on the bottom surface.

The two wheels 13 are wheels for running the self-propelled vacuum cleaner 100 (in other words, the main body 10).

The main brush 19a is arranged in a suction port 16 which is an opening provided on the lower surface of the main body 10, and is a brush for sucking dust in a predetermined area, for example, a cleaning area 200.

The side brush 19b is provided on the lower surface of the main body 10 and is a brush for cleaning the cleaning area 200. In this embodiment, the self-propelled vacuum cleaner 100 includes two side brushes 19b. The number of side brushes 19b included in the self-propelled vacuum cleaner 100 may be one, three or more, and is not particularly limited.

The distance sensor 70 is an example of a sensor, and is a laser rangefinder or the like for measuring the distance between the self-propelled vacuum cleaner 100 and an object, a wall surface, or the like in a predetermined area. The distance sensor 70 is, for example, a so-called LIDAR (Light Detection and Ringing). The distance sensor 70 is provided, for example, on the upper part of the main body 10.

The camera 80 is an example of a sensor, and is an image pickup device that is arranged in the main body 10 and generates an image by taking an image of a predetermined area. The self-propelled vacuum cleaner 100 does not have to be equipped with the camera 80. The camera 80 outputs, for example, images of the doors 300 and 310 as information indicating the open / closed state of the door.

FIG. 4 is a block diagram showing a characteristic functional configuration of the self-propelled vacuum cleaner 100 according to the embodiment.

As shown in FIG. 4, the self-propelled vacuum cleaner 100 includes a distance sensor 70, a camera 80, an information acquisition unit 20, a plan generation unit 30, a control unit 40, a communication unit 50, and a storage unit 60. , A drive unit 11, a suction unit 14, and a cleaning unit 17.

The information acquisition unit 20 is a processing unit that acquires detected information (sensor data) from various sensors such as the distance sensor 70 and the camera 80. The self-propelled vacuum cleaner 100 includes, for example, as various sensors, a cliff sensor that measures the distance from the position where the self-propelled vacuum cleaner 100 is installed to the floor surface, and a self-propelled sensor, in addition to the distance sensor 70 and the camera 80. A slip sensor for detecting the movement of the vacuum cleaner 100, an ultrasonic sensor for detecting the distance from the self-propelled vacuum cleaner 100 to an arbitrary object, and the like may be provided. Further, for example, the self-propelled vacuum cleaner 100 may include a sensor for detecting odometry information used for calculating the direction in which the self-propelled vacuum cleaner 100 travels.

Further, the information acquisition unit 20 acquires the door opening / closing information output from the external device by using the communication unit 50. The door opening / closing information is, for example, information regarding the opening / closing status of the doors 300 and 310 such as whether or not the doors 300 and 310 are open or whether or not they are opened. Specifically, the door opening / closing information is, for example, an image of the doors 300 and 310, a detection result of the door sensor 130 provided on the doors 300 and 310, and the like.

Further, the door opening / closing information may be information for predicting whether or not the closed doors 300 and 310 open due to the comings and goings of people during cleaning of the cleaning area 200 by the self-propelled vacuum cleaner 100. .. Specifically, the door opening / closing information is, for example, information regarding the operation status of the elevator 400, information regarding the occupancy status of the room 410, and the like.

Further, the information acquisition unit 20 acquires information indicating the open / closed status of the output doors 300 and 310 from various sensors such as the distance sensor 70 and the camera 80, for example.

The plan generation unit 30 is a processing unit that generates plan information indicating the cleaning mode of the self-propelled vacuum cleaner 100 based on the map information indicating the cleaning area 200. For example, how the main body 10 of the self-propelled vacuum cleaner 100 travels and cleans the cleaning area 200, that is, a cleaning plan relating to the traveling route of cleaning in the cleaning area 200 by the main body 10 (in other words, plan information). ) Is a processing unit that generates.

For example, the plan generation unit 30 acquires map information. The map information includes, for example, information indicating the cleaning area 200 as shown in FIG. For example, the map information defines the X-axis and the Y-axis, which are axes orthogonal to each other. The plan generation unit 30 acquires map information, for example, by generating map information by SLAM. The plan generation unit 30 may acquire map information acquired by the information acquisition unit 20 from an external data server or the like using the communication unit 50. Further, the map information may be stored in the storage unit 60 in advance.

Further, the plan generation unit 30 is based on the acquired map information, and the traveling path of the self-propelled vacuum cleaner 100 (that is, the traveling path of the main body 10), specifically, the rotation speed of the wheel motor 12 and the wheels. A cleaning plan that determines a traveling method that is a control method of the drive unit 11 such as the direction of the 13 is generated.

Further, in addition to the traveling path of the self-propelled vacuum cleaner 100, the plan generation unit 30 controls the suction unit 14 (for example, the suction force, more specifically, the rotation speed of the suction motor 15) and cleaning. A cleaning plan showing a cleaning method including a control method of the unit 17 (for example, the rotation speed of the brush motor 18) is generated.

The control unit 40 is a processing unit that controls the traveling of the main body unit 10. Further, the control unit 40 determines whether or not the main body 10 can travel around the doors 300 and 310 based on the door opening / closing information acquired by the information acquisition unit 20. Specifically, the control unit 40 determines whether or not the doors 300 and 310 can travel around the doors 300 and 310 by analyzing the acquired door opening / closing information and determining whether or not the doors 300 and 310 open. .. As a result, even if the doors 300 and 310 are closed and it is unclear whether or not a person enters or exits only from the appearance of the doors 300 and 310, it is determined whether or not the doors 300 and 310 can travel around the doors 300 and 310. can. Further, the control unit 40 may determine whether or not the doors 300 and 310 can travel around the doors 300 and 310 by analyzing the acquired door opening / closing information and determining whether or not the doors 300 and 310 are open.

The control unit 40 controls the running of the main body unit 10 based on the determined result and the cleaning plan generated by the plan generation unit 30, and causes the main body unit 10 to clean the cleaning area 200. The control unit 40 controls the drive unit 11, the suction unit 14, and the cleaning unit 17 to cause the main body unit 10 to run the cleaning area 200 for cleaning.

Further, the control unit 40 detects the self-position of the self-propelled vacuum cleaner 100 in the cleaning area 200. The control unit 40 is based on, for example, the distance to an object including obstacles, walls, etc. located around the self-propelled vacuum cleaner 100 input from the distance sensor 70, and the map information of the cleaning area 200. The coordinates of the self-propelled vacuum cleaner 100 in the map indicated by the map information are calculated. When the control unit 40 controls the travel of the main body unit 10, the control unit 40 periodically detects the self-position, and uses the self-position to drive the main body unit 10 based on the cleaning plan.

The various processing units of the information acquisition unit 20, the plan generation unit 30, and the control unit 40 include, for example, a control program for each processing unit to execute processing and a CPU (Central Processing Unit) that executes the control program. It will be realized from. Various processing units of the information acquisition unit 20, the plan generation unit 30, and the control unit 40 may be realized by one or a plurality of CPUs.

The communication unit 50 is a communication module (communication circuit) capable of communicating with an external device separate from the self-propelled vacuum cleaner 100. The communication unit 50 communicates with an external device by short-range wireless communication such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). Further, the communication unit 50 may communicate with an external device via a wide area communication network such as the Internet. The communication standard used for the communication performed by the communication unit 50 is not particularly limited.

Here, the types of external devices will be described. As shown in FIG. 4, the external device includes, for example, at least one of a management server 110, an indoor camera 120, a door sensor 130, and a door camera 140. The external device with which the communication unit 50 communicates is not particularly limited, and the communication unit 50 may communicate with an external device other than the external device shown in FIG.

The management server 110 is, for example, a server that executes information processing such as an elevator operation system, a room reservation system such as a conference system, an air conditioning system, or a lighting system. The management server 110 outputs, for example, information on the operation status of the elevator 400, the reservation status of the room 410, the usage status of the air conditioning or the lighting of the room 410, and the like as the door opening / closing information to the communication unit 50.

The indoor camera 120 is, for example, a camera that images the inside of the room 410 adjacent to the cleaning area 200. The indoor camera 120 outputs the captured image to the communication unit 50 as door opening / closing information.

The door sensor 130 is, for example, a sensor that detects the opening / closing of the doors 300 and 310. The door sensor 130 outputs the detected result to the communication unit 50 as door opening / closing information.

The door camera 140 is, for example, a camera that images the doors 300 and 310 adjacent to the cleaning area 200. The door camera 140 outputs the captured image to the communication unit 50 as the door opening / closing information.

The storage unit 60 is a memory for storing map information, a door information database 61, and the like. The storage unit 60 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like. Further, the storage unit 60 stores, for example, a control program executed by various processing units such as the control unit 40.

The door information database 61 is table information including information about doors such as doors 300 and 310 adjacent to the cleaning area 200. The door information database 61 is stored in the storage unit 60 in association with the map information of the cleaning area 200, for example. For example, when the self-propelled vacuum cleaner 100 holds a plurality of map information of a cleaning area, the self-propelled vacuum cleaner 100 holds a door information database 61 for each of the plurality of map information. The self-propelled vacuum cleaner 100 may hold one door information database 61 corresponding to a plurality of map information.

The information about the door includes, for example, information indicating the position of the door, information indicating the area around the door, which is an area around the door, and the like. FIG. 5 is a diagram showing an example of a door information database 61 held by the self-propelled vacuum cleaner 100 according to the embodiment. As shown in FIG. 5, the door information database 61 includes, for example, information indicating the ID of the door, information indicating the position of the door, and information indicating the area around the door. In the door information database 61, information indicating the ID of the door, information indicating the position of the door, and information indicating the area around the door of the door are associated with each other. The information included in the door information database 61 may be stored in the storage unit 60 by being input by the user by an input device (not shown) or the like, and may be stored in the storage unit 60 by the plan generation unit 30 or the like, the distance sensor 70 and the camera. Each information created by using the sensor data input from 80 or the like may be stored in the storage unit 60.

The door ID is an identifier for identifying each door. In the example shown in FIG. 5, a numerical value such as "1" is shown as information indicating the ID of the door.

Further, the information indicating the position of the door is information indicating the point where the position of the door (for example, the center of the door) is in the map information. In the example shown in FIG. 5, XY coordinates such as (x1, y1) are shown as information indicating the position of the door. The information indicating the position of the door may be information indicating the range in which the door is located.

Further, the information indicating the area around the door is information indicating the range where the area around the door is located in the map information. In the example shown in FIG. 5, two XY coordinates such as (x11, y11) and (x12, y12) are shown as information indicating the area around the door. "X11" and "x12" are different numerical values, and "y11" and "y12" are different numerical values. The area around the door is, for example, a rectangular area including the two XY coordinates as vertices.

Further, in the door information database 61, as the information indicating the area around the door, for example, the information indicating the area around the door in the range of the size according to the form of the door such as the size of the door and the opening / closing style of the door is the information indicating the door. It is associated with the ID etc. of.

FIG. 6 is a diagram for explaining an example of the area around the door. In FIG. 6, the door 310a is a door that opens outward, and the door 310b is a door that opens inward. The door peripheral areas 510a and 510b are, for example, areas in which people entering and exiting the doors 310a and 310b are likely to pass. The shape of the door peripheral areas 510a and 510b is, for example, a rectangle, but is not particularly limited, and may be a circle, a semicircle, a quadrangle other than a rectangle, a triangle, or the like.

As shown in FIG. 6, for example, the range of the door peripheral area 510a corresponding to the door 310a is larger than the range of the door peripheral area 510b corresponding to the door 310b. As described above, the door information database 61 contains information indicating the area around the door in a size range according to the form of the door such as the opening / closing style of the door (outer hinged door, inner hinged door, sliding door, folding door, etc.). It is associated with the ID of the door. As a result, for example, since the door peripheral area 510a is relatively small, it is possible to prevent the self-propelled vacuum cleaner 100 from easily colliding with a person entering and exiting the door 310a and the door 310a. Further, for example, since the door peripheral area 510b is relatively large, it is possible to prevent the self-propelled vacuum cleaner 100 from avoiding an unnecessarily large range for cleaning. Therefore, the efficiency of cleaning by the self-propelled vacuum cleaner 100 is improved. Further, depending on the size of the door, information indicating the area around the door may be associated with the ID of each door or the like so that the larger the door, the larger the range of the area around the door.

The door information database 61 may include information indicating the form of the door instead of the information indicating the area around the door. In this case, for example, the control unit 40 determines the range of the area around the door according to the form of the door based on the information indicating the form of the door and the information indicating the position of the door.

[Operation example 1]
Next, operation example 1 of the self-propelled vacuum cleaner 100 according to the embodiment will be described.

FIG. 7 is a flowchart showing a processing procedure in the operation example 1 of the self-propelled vacuum cleaner 100 according to the embodiment. FIG. 8 is a diagram showing the movement of the self-propelled vacuum cleaner 100 in the operation example 1 of the self-propelled vacuum cleaner 100 according to the embodiment.

In the operation example 1 of the self-propelled vacuum cleaner 100, as shown in FIG. 8, the self-propelled vacuum cleaner 100 cleans the cleaning area 201 provided adjacent to the door 301 attached to the elevator 401. ..

The self-propelled vacuum cleaner 100 starts cleaning by receiving, for example, a signal instructing the start of cleaning from the user. The method of receiving the signal by the self-propelled vacuum cleaner 100 is not particularly limited, but for example, in the self-propelled vacuum cleaner 100, the signal transmitted by the user operating a communication device such as a smartphone is transmitted by the communication unit 50. Receive. Further, the self-propelled vacuum cleaner 100 may have an operation unit such as a button for acquiring an instruction to start cleaning from the user.

As shown in FIG. 7, first, the plan generation unit 30 acquires the map information (step S11). For example, the plan generation unit 30 acquires map information indicating a map of the cleaning area 201 stored in the storage unit 60. If the map information does not exist in the storage unit 60, for example, the plan generation unit 30 may acquire the map information by generating the map information by SLAM, or may use the communication unit 50 to communicate with an external device. Map information may be acquired.

Next, the plan generation unit 30 generates a cleaning plan regarding the travel route for cleaning in the cleaning area 201 by the main body unit 10 based on the acquired map information (step S12). For example, the plan generation unit 30 calculates a travel route based on the map information acquired in step S11, assuming that the entire cleaning area 201 is an area to be cleaned, and the drive unit 11 uses the calculated travel route. By controlling the suction unit 14 and the cleaning unit 17, a cleaning plan for running and cleaning the main body unit 10 is generated. The plan generation unit 30 may generate a cleaning plan by acquiring a cleaning plan stored in the storage unit 60 or an external device in advance.

Next, the control unit 40 detects the self-position based on the sensor data acquired from the distance sensor 70 by the information acquisition unit 20 and the acquired map information (step S13). For example, the control unit 40 repeatedly detects the self-position while the main body unit 10 is traveling.

Next, the control unit 40 determines whether or not the door 301 attached to the elevator 401 exists around the self-propelled vacuum cleaner 100 based on the detected self-position and the acquired map information. (Step S14). For example, the control unit 40 refers to the door information database 61 of the storage unit 60, and uses the information indicating the position of the door to determine whether or not there is a door whose distance from the self-position is equal to or less than a predetermined size. This determines whether or not the door 301 exists around the self-propelled vacuum cleaner 100.

When the control unit 40 determines that the door 301 attached to the elevator 401 does not exist around the self-propelled vacuum cleaner 100 (NO in step S14), the cleaning area 201 is located in the main body 10 based on the current cleaning plan. Continue cleaning (step S15).

When the control unit 40 determines that the door 301 attached to the elevator 401 exists around the self-propelled vacuum cleaner 100 (YES in step S14), the information acquisition unit 20 uses the self-propelled vacuum cleaner 100 as door opening / closing information. Information on the operating status of the elevator 401 existing around the door is acquired (step S16). The information acquisition unit 20 uses, for example, the communication unit 50 to acquire information on the operation status of the elevator 401 from the management server 110 that functions as an elevator operation system. The information regarding the operation status of the elevator 401 includes, for example, information indicating whether or not the elevator 401 is in operation, the floor where the elevator 401 is scheduled to stop, and the like.

The control unit 40 determines whether or not the door 301 attached to the elevator 401 opens as a determination of whether or not the main body 10 can travel around the door 301 based on the acquired information regarding the operation status of the elevator 401. (Step S17). When it is determined that the door 301 opens, the main body 10 determines that the vehicle cannot travel around the door 301, and when it is determined that the door 301 does not open, the main unit 10 determines that the vehicle can travel around the door 301. Is. For example, when the acquired information regarding the operation status of the elevator 401 indicates that the elevator 401 is scheduled to stop on the floor where the cleaning area 201 is located, the control unit 40 determines that the door 301 is opened. On the other hand, when the acquired information regarding the operation status of the elevator 401 indicates that the elevator 401 does not plan to stop on the floor where the cleaning area 201 is located, the control unit 40 determines that the door 301 does not open. Although the details will be described later, in step S17, the control unit 40 may determine whether or not the door 301 is open.

When the control unit 40 determines that the door 301 does not open (NO in step S17), the control unit 40 controls the travel of the main body unit 10 based on the current cleaning plan, so that the main unit 10 travels around the door 301. Let them clean (step S18). As a result, as shown in FIG. 8B, the self-propelled vacuum cleaner 100 cleans the area including the door peripheral area 501 around the door 301.

With reference to FIG. 7 again, when the control unit 40 determines that the door 301 opens (YES in step S17), the control unit 40 determines the range of the door peripheral area 501 around the door 301 attached to the elevator 401 (step S19). ). For example, the control unit 40 refers to the door information database 61 stored in the storage unit 60, and obtains information indicating the door peripheral area 501 associated with the ID of the door 301 to form the door 301. Determine the range of the corresponding door perimeter area 501. The control unit 40 may determine the range of the door peripheral area 501 with a predetermined size based on the information indicating the position of the door 301 without using the information indicating the door peripheral area 501.

Next, the control unit 40 travels the main body 10 so as to avoid the door peripheral area 501 and clean it based on the detected self-position and the determined range of the door peripheral area 501. Control (step S20). That is, the control unit 40 controls the traveling of the main body unit 10 based on the detected self-position, the result determined in step S17, and the acquired information indicating the door peripheral area 501. Specifically, the control unit 40 changes the cleaning plan so that the main body 10 does not enter the door peripheral area 501, and runs and cleans the main body 10 based on the changed cleaning plan. For example, the control unit 40 is a target for cleaning the area excluding the door peripheral area 501 from the cleaning area 201 based on the detected self-position, the information indicating the acquired door peripheral area 501, and the acquired map information. Assuming that it is an area, the travel route of the changed cleaning plan is calculated. As a result, as shown in FIG. 8A, the self-propelled vacuum cleaner 100 avoids the door peripheral area 501 around the door 301 for cleaning. In this way, when the door 301 is opened and there is a possibility that a person enters and exits, the self-propelled vacuum cleaner 100 travels and cleans so as not to enter the door peripheral area 501 around the door 301. Therefore, it is suppressed that a person entering and exiting the door 301 collides with the self-propelled vacuum cleaner 100 and passes by avoiding the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress people from feeling annoyed. Further, since the self-propelled vacuum cleaner 100 avoids the periphery of the door 301 for cleaning, it is possible to prevent the self-propelled vacuum cleaner 100 from entering the elevator 401 through the door 301 when the door 301 is opened.

With reference to FIG. 7 again, after the processing of step S15, step S18 or step S20, the control unit 40 determines whether or not the cleaning of the cleaning area 201 is completed (step S21). For example, the control unit 40 determines whether or not the main body unit 10 has completed the cleaning of the cleaning area 201 based on the acquired history of the self-position. To judge.

When the control unit 40 determines that the cleaning of the cleaning area 201 has not been completed (NO in step S21), the process returns to step S13, and the cleaning of the cleaning area 201 by the main body unit 10 is continued.

On the other hand, when the control unit 40 determines that the cleaning of the cleaning area 201 is completed (YES in step S21), the control unit 40 ends the cleaning of the cleaning area 201 by the main body unit 10. The control unit 40, for example, moves the main body unit 10 to a predetermined position of a charger or the like (not shown) to finish cleaning.

The timing in which the information acquisition unit 20 acquires the door opening / closing information in steps S16 to S17 and the control unit 40 determines whether or not the door 301 attached to the elevator 401 opens is not particularly limited. For example, the information acquisition unit 20 may acquire door opening / closing information for the door 301 adjacent to the cleaning area 201 immediately after the plan generation unit 30 generates the cleaning plan in step S12. Then, the control unit 40 may determine whether or not the door 301 opens based on the acquired door opening / closing information, and may control the traveling of the main body unit 10 based on the determined result. Further, the processing of steps S16 to S17 may be performed before the generation of the cleaning plan in step S12.

Further, the self-propelled vacuum cleaner 100 omits the process of step S14, and the information acquisition unit 20 acquires the door opening / closing information of the door 301 at regular time intervals while cleaning the cleaning area 201, whereby step S16. The process of step S17 may be performed at regular time intervals during cleaning of the cleaning area 201.

Further, when there are a plurality of doors adjacent to the cleaning area 201, the processes in steps S16 to S17 are performed each time the self-propelled vacuum cleaner 100 approaches the periphery of each of the plurality of doors. Alternatively, immediately after the plan generation unit 30 generates the cleaning plan in step S11, the processes in steps S16 to S17 may be performed for all of the plurality of doors.

Further, in step S18, when the control unit 40 causes the main body unit 10 to travel around the door 301, the processing described below may be performed. FIG. 9 is a flowchart showing a processing procedure in an example of an operation when the self-propelled vacuum cleaner 100 cleans the inside of the door peripheral area 501.

First, the main body 10 cleans the inside of the door peripheral area 501 based on the control of the control unit 40 (that is, the cleaning plan) (step S31). For example, the control unit 40 acquires information indicating the range of the door surrounding area 501 with reference to the door information database 61, and the main body unit 10 determines the door based on the self-position and the information indicating the range of the door surrounding area 501. Detects that the surrounding area 501 is being cleaned.

Next, the information acquisition unit 20 again acquires information on the operating status of the elevator 401 existing around the self-propelled vacuum cleaner 100 as door opening / closing information (step S32). The control unit 40 determines whether or not the door 301 attached to the elevator 401 opens based on the information regarding the operation status of the elevator 401 acquired in step S32 (step S33). In steps S32 to S33, the same processing as in steps S16 to S17 described above is performed.

When the control unit 40 determines that the door 301 opens (YES in step S33), the control unit 40 runs the main body unit 10 so as to exit from the door peripheral area 501 (step S34). For example, the control unit 40 changes the cleaning plan so that the main body 10 runs out of the door peripheral area 501, and runs and cleans the main body 10 based on the changed cleaning plan. As a result, the self-propelled vacuum cleaner 100 once determines that the door 301 cannot be opened, and even if the situation changes so that the door 301 opens while cleaning the area around the door 501, the door is also opened. Drive out of the surrounding area 501. Therefore, the self-propelled vacuum cleaner 100 can be cleaned while avoiding the area around the door 501 in response to changes in the opening / closing situation of the door 301, so that people who enter and exit the door 301 do not feel annoyed. can.

On the other hand, when the control unit 40 determines that the door 301 does not open (NO in step S33), the control unit 40 causes the main body unit 10 to continue cleaning based on the current cleaning plan (step S35). For example, the self-propelled vacuum cleaner 100 periodically repeats the process from step S32 until the main body portion 10 goes out of the door peripheral area 501. When the main body 10 goes out of the door peripheral area 501, for example, the self-propelled vacuum cleaner 100 performs the process of step S22.

In step S32, the information acquisition unit 20 may acquire information on the opening / closing status of the door 301 instead of the information on the operating status of the elevator 401 as the door opening / closing information. Specifically, the information acquisition unit 20 acquires an image of the door 301 from the camera 80, for example, as information regarding the opening / closing status of the door 301. Then, in step S33, the control unit 40 may determine whether or not the door 301 is open based on the information regarding the open / closed status of the door 301, instead of determining whether or not the door 301 is open. Then, when the door 301 is open, the process of step S34 is performed, and when the door 301 is not open, the process of step S35 is performed. In such processing, whether or not the door 301 is open based on information that can be easily output in real time, such as information output from a sensor such as a camera 80 provided in the self-propelled vacuum cleaner 100. Is determined, and the running of the main body 10 is controlled. As described above, in step S33, the control unit 40 may make a determination using the door opening / closing information output from the output destination different from that of step S17.

[Effects, etc.]
As described above, the self-propelled vacuum cleaner 100 according to the present embodiment has a main body 10 that travels and cleans in a predetermined cleaning area 201, and at least one door 301 adjacent to the predetermined cleaning area 201. Based on the information acquisition unit 20 that acquires door opening / closing information regarding opening / closing, the plan generation unit 30 that generates a cleaning plan regarding the cleaning travel route in the predetermined cleaning area 201 by the main body unit 10, and the acquired door opening / closing information. It is provided with a control unit 40 that determines whether or not the main body 10 can travel around at least one door 301, and controls the travel of the main body 10 based on the determined result and the generated cleaning plan.

As a result, the self-propelled vacuum cleaner 100 can control the traveling route around the door 301 when traveling, based on the door opening / closing information regarding the opening / closing of the door 301. Therefore, even when the door 301 is opened and a person enters and exits, the self-propelled vacuum cleaner 100 has a door with the self-propelled vacuum cleaner 100 by appropriately controlling the traveling of the main body portion 10 by the control unit 40. It is possible to prevent a person entering and exiting the 301 from colliding with a person and a person entering and exiting the door 301 avoiding the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress the person who enters and exits the door 301 from feeling annoyed. In addition, the self-propelled vacuum cleaner 100 reduces the frequency of cleaning while avoiding people, and can efficiently clean the cleaning area 201.

Further, for example, when the control unit 40 determines that at least one door 301 is open or opens based on the acquired door opening / closing information, the control unit 40 surrounds the at least one door 301 in the predetermined cleaning area 201. The cleaning plan is changed so that the main body 10 does not enter the area around the door 501, which is an area, and the running of the main body 10 is controlled based on the changed cleaning plan.

As a result, the self-propelled vacuum cleaner 100 can travel while avoiding the door peripheral area 501 when the door 301 is open or opened. Therefore, even when the door 301 is open or opened and a person enters and exits, the self-propelled vacuum cleaner 100 collides with the self-propelled vacuum cleaner 100 and the person entering and exiting the door 301, and It is possible to prevent a person entering and exiting the door 301 from passing by avoiding the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress people from feeling annoyed. In addition, the self-propelled vacuum cleaner 100 reduces the frequency of cleaning while avoiding people, and can efficiently clean the cleaning area 201.

Further, for example, when the main body unit 10 is traveling in the door peripheral area 501 based on the control of the control unit 40, the information acquisition unit 20 acquires the door opening / closing information again, and the control unit 40 acquires it again. When it is determined that at least one door 301 is open or opened based on the door opening / closing information, the main body portion 10 is driven so as to exit from the door surrounding area 501.

As a result, the self-propelled vacuum cleaner 100 travels so as to exit the door peripheral area 501 even if the situation changes so that the door 301 is open or opened while the door peripheral area 501 is being cleaned. , It is possible to suppress the annoyance of people entering and exiting the door 301.

Further, for example, the control unit 40 determines the range of the door peripheral area 501 according to the form of at least one door 301.

As a result, the door peripheral area 501 is determined to have an appropriate size according to the form of the door 301. Therefore, since the area around the door 501 is small, the self-propelled vacuum cleaner 100 is likely to hit a person entering and exiting the door 301, and because the area around the door 501 is large, the self-propelled vacuum cleaner 100 is larger than necessary. Cleaning while avoiding the range can be suppressed, and the efficiency of cleaning by the self-propelled vacuum cleaner 100 is improved.

Further, for example, the self-propelled vacuum cleaner 100 further includes a communication unit 50 that communicates with an external device (for example, a management server 110) that outputs door opening / closing information, and the information acquisition unit 20 uses the communication unit 50 to externally operate. Acquires door opening / closing information output from the device.

As a result, the self-propelled vacuum cleaner 100 can control the traveling route around the door 301 when traveling by using the door opening / closing information from an external device such as the management server 110. Further, regardless of the positional relationship between the self-propelled vacuum cleaner 100 and the door 301, the self-propelled vacuum cleaner 100 can acquire door opening / closing information as long as the communication unit 50 can communicate with an external device. can.

Further, for example, at least one door 301 includes a door 301 attached to the elevator 401 adjacent to the predetermined cleaning area 201, and the information acquisition unit 20 uses the elevator 401 as door opening / closing information of the door 301 attached to the elevator 401. Get information about the operation status of.

Thereby, the self-propelled vacuum cleaner 100 can control the traveling route based on the operation status of the elevator 401, for example, whether or not the elevator 401 stops on the floor of the cleaning area 201. When the elevator 401 stops on the floor of the cleaning area 201, there is a high possibility that the door 301 will open and the user of the elevator 401 will enter and exit the door 301. Therefore, in the self-propelled vacuum cleaner 100, the control unit 40 appropriately controls the traveling of the main body unit 10, so that the self-propelled vacuum cleaner 100 and the user of the elevator 401 collide with each other, and the elevator 401 It is possible to prevent the user from passing by avoiding the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress the user of the elevator 401 from feeling annoyed.

Further, the control method of the self-propelled vacuum cleaner 100 according to the present embodiment includes an acquisition step of acquiring door opening / closing information regarding opening / closing of at least one door 301 adjacent to a predetermined cleaning area 201, and a predetermined cleaning area 201. The generation step of acquiring the map information indicating the above and generating a cleaning plan regarding the traveling route of cleaning in the predetermined cleaning area 201 by the self-propelled vacuum cleaner 100 based on the acquired map information, and the acquired door opening / closing. Based on the information, the self-propelled vacuum cleaner is based on the determination step of determining whether or not the self-propelled vacuum cleaner 100 can travel around at least one door 301, the determined result, and the generated cleaning plan. It includes a control step for controlling 100 runs.

As a result, the self-propelled vacuum cleaner 100 can control the traveling route around the door 301 when traveling, based on the door opening / closing information regarding the opening / closing of the door 301. Therefore, even when the door 301 is opened and a person enters and exits, the self-propelled vacuum cleaner 100 appropriately controls the running of the self-propelled vacuum cleaner 100, so that the self-propelled vacuum cleaner 100 and the door 301 It is possible to prevent the person entering and exiting the door 301 from colliding with the person and the person entering and exiting the door 301 avoiding the self-propelled vacuum cleaner 100. Therefore, depending on the control method of the self-propelled vacuum cleaner 100, the self-propelled vacuum cleaner 100 can suppress the person from feeling annoyed. Further, depending on the control method of the self-propelled vacuum cleaner 100, the self-propelled vacuum cleaner 100 can reduce the frequency of cleaning while avoiding people, and can efficiently clean the cleaning area 201.

[Operation example 2]
Next, operation example 2 of the self-propelled vacuum cleaner 100 according to the embodiment will be described.

FIG. 10 is a flowchart showing a processing procedure in operation example 2 of the self-propelled vacuum cleaner 100 according to the embodiment. FIG. 11 is a diagram showing the movement of the self-propelled vacuum cleaner 100 in the operation example 2 of the self-propelled vacuum cleaner 100 according to the embodiment.

In the operation example 2 of the self-propelled vacuum cleaner 100, as shown in FIG. 11, the self-propelled vacuum cleaner 100 is adjacent to the door 312 attached to the room 412 instead of the cleaning area 201 in the operation example 1. Clean the cleaning area 202 provided in the room. In the following, the differences from the operation example 1 will be mainly described, and the common points will be omitted or simplified.

As shown in FIG. 10, first, the plan generation unit 30 acquires the map information (step S41). Next, the plan generation unit 30 generates a cleaning plan regarding the travel route for cleaning in the cleaning area 202 by the main body unit 10 based on the acquired map information (step S42). Next, the control unit 40 detects the self-position based on the sensor data acquired from the distance sensor 70 by the information acquisition unit 20 and the acquired map information (step S43). The processing from step S41 to step S43 is the same as the processing from step S11 to step S13 described above.

Next, the control unit 40 determines whether or not the door 312 attached to the room 412 exists around the self-propelled vacuum cleaner 100 based on the detected self-position and the acquired map information. (Step S44). For example, the control unit 40 refers to the door information database 61 of the storage unit 60, and uses the information indicating the position of the door to determine whether or not there is a door whose distance from the self-position is equal to or less than a predetermined size. This determines whether or not the door 312 exists around the self-propelled vacuum cleaner 100.

When the control unit 40 determines that the door 312 attached to the room 412 does not exist around the self-propelled vacuum cleaner 100 (NO in step S44), the cleaning area 202 in the main body 10 is based on the current cleaning plan. Continue cleaning (step S45).

When the control unit 40 determines that the door 312 attached to the room 412 exists around the self-propelled vacuum cleaner 100 (YES in step S44), the information acquisition unit 20 uses the self-propelled vacuum cleaner 100 as door opening / closing information. Information on the occupancy status of the room 412 existing around the room 412 is acquired (step S46). The information regarding the occupancy status of the room 412 is, for example, information regarding whether or not a person is present in the room 412. Specifically, the information acquisition unit 20 acquires information on the occupancy status of the room 412 from the management server 110 that functions as a management system, an air conditioning system, a lighting system, or the like of the room 412 by using, for example, the communication unit 50. do. In this case, the information regarding the occupancy status of the room 412 is, for example, information indicating the reservation status of the room 412 held by the management system, information indicating the operating status of the air conditioning equipment installed in the room 412 held by the air conditioning system, and the like. Alternatively, it is information indicating the lighting status of the lighting equipment installed in the room 412 held by the lighting system.

Further, the information acquisition unit 20 may acquire information on the occupancy status of the room 412 from the indoor camera 120 installed in the room 412 by using the communication unit 50. In this case, the information regarding the occupancy status of the room 412 is an image or the like captured by the indoor camera 120.

The control unit 40 determines whether or not the door 312 attached to the room 412 opens as a determination of whether or not the main body 10 can travel around the door 312 based on the acquired information regarding the occupancy status of the room 412. (Step S47). For example, when the acquired information regarding the occupancy status of the room 412 indicates that a person exists inside the room 412, the control unit 40 determines that the door 312 opens. On the other hand, when the acquired information regarding the occupancy status of the room 412 indicates that no person exists inside the room 412, the control unit 40 determines that the door 312 does not open. For example, the control unit 40 determines that the door 312 opens when the room 412 has a reservation for use while the cleaning area 202 is being cleaned by the self-propelled vacuum cleaner 100 in the reservation status of the room 412. Further, for example, the control unit 40 determines that the door 312 opens when the air conditioning equipment is operating in the operating status of the air conditioning equipment. Further, for example, the control unit 40 determines that the door 312 opens when the lighting device is lit in the lighting state of the lighting device. Further, for example, the control unit 40 analyzes an image from the indoor camera 120 and determines whether or not the door 312 opens based on whether or not a person is present inside the room 412.

When the control unit 40 determines that the door 312 does not open (NO in step S47), the control unit 40 controls the travel of the main body 10 based on the current cleaning plan, so that the main body 10 travels around the door 312. Let them clean (step S48). As a result, as shown in FIG. 11B, the self-propelled vacuum cleaner 100 cleans the area including the door peripheral area 512 around the door 312.

With reference to FIG. 10 again, when the control unit 40 determines that the door 312 opens (YES in step S47), the control unit 40 determines the range of the door peripheral area 512 around the door 312 attached to the room 412 (step S49). ). Next, the control unit 40 travels the main body 10 so as to avoid the door peripheral area 512 and clean it based on the detected self-position and the determined range of the door peripheral area 512. Control (step S50). The processing from step S49 to step S50 is the same as the processing from step S19 to step S20 described above. As a result, as shown in FIG. 11A, the self-propelled vacuum cleaner 100 avoids the door peripheral area 512 around the door 312 for cleaning. In this way, when the door 312 is opened and there is a possibility that a person enters and exits, the self-propelled vacuum cleaner 100 travels and cleans so as not to enter the door peripheral area 512 around the door 312. Therefore, it is suppressed that a person entering and exiting the door 312 hits the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress people from feeling annoyed. Further, since the self-propelled vacuum cleaner 100 avoids the periphery of the door 312 for cleaning, it is possible to prevent the self-propelled vacuum cleaner 100 from entering the room 412 through the door 312 when the door 312 is opened.

With reference to FIG. 10 again, after the processing of step S45, step S48 or step S50, the control unit 40 determines whether or not the cleaning of the cleaning area 202 is completed (step S51). When the control unit 40 determines that the cleaning of the cleaning area 202 has not been completed (NO in step S51), the process returns to step S43, and the cleaning of the cleaning area 202 by the main body unit 10 is continued. On the other hand, when the control unit 40 determines that the cleaning of the cleaning area 202 is completed (YES in step S51), the control unit 40 ends the cleaning of the cleaning area 202 by the main body unit 10. The process in step S51 is the same as that in step S21 described above.

The timing in which the information acquisition unit 20 acquires the door opening / closing information from step S46 to step S47 and the control unit 40 determines whether or not the door 312 attached to the room 412 opens is the same as the above operation example 1. Similarly, there is no particular limitation.

Further, in step S48, when the control unit 40 causes the main body unit 10 to travel around the door 312, the same processing as that described with reference to FIG. 9 may be performed. In this case, in step S33 described above, the control unit 40 performs the same processing as in step S47, for example.

As described above, in this operation example, at least one door 312 includes the door 312 attached to the room 412 adjacent to the predetermined cleaning area 202, and the information acquisition unit 20 presents the room 412 as door opening / closing information. Get information about room conditions.

Thereby, the self-propelled vacuum cleaner 100 can control the traveling route based on the occupancy status of the room 412, for example, whether or not the user is occupying the room 412. When a user is present in the room 412, the door 312 is likely to open and the user of the room 412 is likely to enter and exit the door 312. Therefore, in the self-propelled vacuum cleaner 100, the control unit 40 appropriately controls the traveling of the main body unit 10, so that the self-propelled vacuum cleaner 100 collides with the user of the room 412, and the room 412 It is possible to prevent the user from passing by avoiding the self-propelled vacuum cleaner 100. Therefore, the self-propelled vacuum cleaner 100 can suppress the user of the room 412 from feeling annoyed.

[Operation example 3]
Next, operation example 3 of the self-propelled vacuum cleaner 100 according to the embodiment will be described.

FIG. 12 is a flowchart showing a processing procedure in the operation example 3 of the self-propelled vacuum cleaner 100 according to the embodiment. FIG. 13 is a diagram showing the movement of the self-propelled vacuum cleaner 100 in the operation example 3 of the self-propelled vacuum cleaner 100 according to the embodiment.

In the operation example 3 of the self-propelled vacuum cleaner 100, as shown in FIG. 13, the self-propelled vacuum cleaner 100 is provided with the door 312 attached to the room 412 adjacent to the operation example 2, as in the operation example 2. Clean the cleaning area 202. The operation example 3 is mainly different from the operation example 2 in that the control unit 40 determines whether or not the door 312 is open instead of determining whether or not the door 312 is open. In the following, the differences from the operation example 1 and the operation example 2 will be mainly described, and the description of the common points will be omitted or simplified.

As shown in FIG. 12, first, the plan generation unit 30 acquires the map information (step S61). Next, the plan generation unit 30 generates a cleaning plan regarding the travel route for cleaning in the cleaning area 202 by the main body unit 10 based on the acquired map information (step S62). Next, the control unit 40 detects the self-position based on the sensor data acquired from the distance sensor 70 by the information acquisition unit 20 and the acquired map information (step S63). The processing from step S61 to step S63 is the same as the processing from step S11 to step S13 described above.

Next, the control unit 40 determines whether or not the door 312 attached to the room 412 exists around the self-propelled vacuum cleaner 100 based on the detected self-position and the acquired map information. (Step S64). The process in step S64 is the same as that in step S44 described above.

When the control unit 40 determines that the door 312 attached to the room 412 does not exist around the self-propelled vacuum cleaner 100 (NO in step S64), the cleaning area 202 in the main body 10 is based on the current cleaning plan. Continue cleaning (step S65).

When the control unit 40 determines that the door 312 attached to the room 412 exists around the self-propelled vacuum cleaner 100 (YES in step S64), the information acquisition unit 20 uses the self-propelled vacuum cleaner 100 as door opening / closing information. Information on the open / closed status of the door 312 existing around the door 312 is acquired (step S66). The information regarding the open / closed state of the door 312 is, for example, information regarding whether or not the door 312 is open. Specifically, the information acquisition unit 20 acquires an image of the door 312 from the camera 80, for example, as information regarding the opening / closing status of the door 312.

Further, for example, the information acquisition unit 20 acquires the result of detecting the opening / closing of the door 312 from the door sensor 130 installed in the door 312 as information on the opening / closing status of the door 312 by using the communication unit 50. Further, for example, the information acquisition unit 20 acquires an image of the door 312 from the door camera 140 installed around the door 312 as information regarding the opening / closing status of the door 312 by using the communication unit 50.

The control unit 40 determines whether or not the door 312 is open as a determination of whether or not the main body 10 can travel around the door 312 based on the acquired information regarding the opening / closing status of the door 312 (step S67). .. When it is determined that the door 312 is open, the main body 10 determines that the vehicle cannot travel around the door 312, and when it is determined that the door 312 is not open, the main unit 10 determines that the vehicle cannot travel around the door 312. It is a judgment of acceptance. For example, the control unit 40 analyzes the acquired image of the door 312 and determines whether or not the door 312 is open. Further, for example, the control unit 40 determines whether or not the door 312 is open based on the detection result of the opening / closing of the door 312 from the door sensor 130.

When the control unit 40 determines that the door 312 is not open (NO in step S67), the control unit 40 controls the running of the main body unit 10 based on the current cleaning plan so that the main body unit 10 can move around the door 312. Let it run and clean (step S68). As a result, as shown in FIG. 13B, the self-propelled vacuum cleaner 100 cleans the area including the door peripheral area 512 around the door 312, as in the operation example 2.

With reference to FIG. 12 again, when the control unit 40 determines that the door 312 is open (YES in step S67), the control unit 40 determines the range of the door peripheral area 512 around the door 312 (step S69). Next, the control unit 40 travels the main body 10 so as to avoid the door peripheral area 512 and clean it based on the detected self-position and the determined range of the door peripheral area 512. Control (step S70). The processing from step S69 to step S70 is the same as the processing from step S19 to step S20 described above. As a result, as shown in FIG. 13A, the self-propelled vacuum cleaner 100 avoids the door peripheral area 512 around the door 312 for cleaning.

With reference to FIG. 12 again, after the processing of step S65, step S68 or step S70, the control unit 40 determines whether or not the cleaning of the cleaning area 202 is completed (step S71). When the control unit 40 determines that the cleaning of the cleaning area 202 has not been completed (NO in step S71), the process returns to step S63, and the cleaning of the cleaning area 202 by the main body unit 10 is continued. On the other hand, when the control unit 40 determines that the cleaning of the cleaning area 202 is completed (YES in step S71), the control unit 40 ends the cleaning of the cleaning area 202 by the main body unit 10. The process in step S71 is the same as that in step S21 described above.

The timing in which the information acquisition unit 20 acquires the door opening / closing information from step S66 to step S67 and the control unit 40 determines whether or not the door 312 is open is particularly the same as in the above operation example 1. Not limited.

Further, in step S68, when the control unit 40 causes the main body unit 10 to travel around the door 312, the same processing as that described with reference to FIG. 9 may be performed. In this case, in step S33 described above, the control unit 40 determines whether or not the door is open, as in step S67, instead of determining whether or not the door is open. That is, when the control unit 40 determines that the door 312 is open, the control unit 40 runs the main body unit 10 so as to exit from the door peripheral area 512. Further, in step S33 described above, the control unit 40 may perform the same processing as in step S47 described above.

In the operation example 3, the door 312 whose existence is determined in step S64 is attached to the room 412, but the object to which the door 312 whose existence is determined in step S64 is attached is a door adjacent to the cleaning area. , There are no particular restrictions. For example, the process from step S64 may be performed on a door attached to an elevator, a passage, an emergency exit, or the like.

As described above, in this operation example, the information acquisition unit 20 acquires information indicating the opening / closing status of at least one door 312 as the door opening / closing information.

The self-propelled vacuum cleaner 100 can control the traveling route based on the open / closed state of the door 312, for example, whether or not the door 312 is open. If the door 312 is open, it is likely that a person will enter or exit the door 312. Therefore, in the self-propelled vacuum cleaner 100, the control unit 40 appropriately controls the traveling of the main body unit 10, so that the self-propelled vacuum cleaner 100 and a person entering and exiting the door 312 collide with each other and the door 312. It is possible to prevent a person entering and exiting the door 312 from passing by avoiding the self-propelled vacuum cleaner 100, and it is possible to prevent a person entering and exiting the door 312 from feeling annoyed.

Further, the self-propelled vacuum cleaner 100 includes a camera 80 that outputs information (an image of the door 312) indicating the opening / closing status of the door 312, and the information acquisition unit 20 outputs the opening / closing status of the door 312 output from the camera 80. Get the information shown.

As a result, the self-propelled vacuum cleaner 100 can acquire information indicating the opening / closing status of the door 312 from the camera 80 provided by the self-propelled vacuum cleaner 100, and for example, the camera 80 continuously outputs information indicating the opening / closing status of the door 312. In that case, the open / closed status of the door 312 can be determined in real time.

[others]
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 the embodiment of the present invention. The present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Will be.

For example, in the above embodiment, the storage unit 60 for storing the door information database 61 is provided in the self-propelled vacuum cleaner 100, but the storage unit 60 is not limited to this. For example, the door information database 61 may be stored in a data server or the like capable of communicating with the self-propelled vacuum cleaner 100. In this case, the self-propelled vacuum cleaner 100 acquires the information contained in the door information database 61 by communicating with the data server using, for example, the communication unit 50.

Further, the processing of each of the operation example 1, the operation example 2 and the operation example 3 in the self-propelled vacuum cleaner 100 according to the above embodiment has been described. For example, the self-propelled vacuum cleaner 100 has the operation example 1 and the operation example. 2 or two or more of the operation examples 3 may be combined. That is, when the elevator and the room are adjacent to each other in the cleaning area, the self-propelled vacuum cleaner 100 performs a process in which two or more of the operations of the operation example 1, the operation example 2, and the operation example 3 are combined. You may. Further, the self-propelled vacuum cleaner 100 may be a self-propelled vacuum cleaner capable of performing any of the operations of the operation example 1, the operation example 2, and the operation example 3.

Further, for example, in the above embodiment, the control unit 40 has changed the cleaning plan so that the main body unit does not enter the area around the door when the door is determined to be open or open, but the present invention is not limited to this. .. For example, the control unit 40 may change the cleaning plan so that the time spent in the area around the door when the main body unit 10 enters the area around the door and cleans it is shortened.

Further, in the above embodiment, another processing unit may execute the processing executed by the specific processing unit. Further, the order of the plurality of processes may be changed, or the plurality of processes may be executed in parallel.

Further, in the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

In addition, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole, or may be separate circuits from each other. Further, each of these circuits may be a general-purpose circuit or a dedicated circuit.

In addition, general or specific embodiments of the present invention may be realized in a recording medium such as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM. Further, it may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program and a recording medium.

Further, for example, the present invention may be realized as a control method executed by a computer, or may be realized as a program for causing a computer to execute such a control method. The present invention may be realized as a computer-readable non-temporary recording medium in which such a program is recorded.

The present invention is applicable to a self-propelled vacuum cleaner capable of autonomous traveling.

10 Main body 11 Drive 12 Wheel motor 13 Wheel 14 Suction unit 15 Suction motor 16 Suction port 17 Cleaning unit 18 Brush motor 19a Main brush 19b Side brush 20 Information acquisition unit 30 Planning generation unit 40 Control unit 50 Communication unit 60 Storage unit 61 Door information database 70 Distance sensor 80 Camera 100 Self-propelled vacuum cleaner 110 Management server 120 Indoor camera 130 Door sensor 140 Door camera 200, 201, 202 Cleaning area 300, 301, 310, 310a, 310b, 312 Door 400, 401 Elevator 410 412 Room 501, 510a, 510b, 512 Door area

Claims (11)

The main body that runs and cleans in the specified cleaning area,
An information acquisition unit that acquires door opening / closing information regarding opening / closing of at least one door adjacent to the predetermined cleaning area.
A plan generation unit that generates a cleaning plan for a travel route for cleaning in the predetermined cleaning area by the main body unit, and a plan generation unit.
Based on the acquired door opening / closing information, it is determined whether or not the main body can run around the at least one door, and based on the determination result and the generated cleaning plan, the main body It is equipped with a control unit that controls driving.
Self-propelled vacuum cleaner. The control unit is an area around the at least one door in the predetermined cleaning area when it is determined that the at least one door is open or open based on the acquired door opening / closing information. The cleaning plan is changed so that the main body does not enter the area around the door, and the running of the main body is controlled based on the changed cleaning plan.
The self-propelled vacuum cleaner according to claim 1. The information acquisition unit acquires the door opening / closing information again when the main body unit is traveling in the area around the door based on the control of the control unit.
When the control unit determines that at least one door is open or opens based on the acquired door opening / closing information, the control unit travels the main body unit so as to exit the area around the door.
The self-propelled vacuum cleaner according to claim 2. The control unit determines the range of the area around the door according to the form of the at least one door.
The self-propelled vacuum cleaner according to claim 2 or 3. Further equipped with a communication unit that communicates with an external device that outputs the door opening / closing information.
The information acquisition unit acquires the door opening / closing information output from the external device by using the communication unit.
The self-propelled vacuum cleaner according to any one of claims 1 to 4. The at least one door includes a door attached to an elevator adjacent to the predetermined cleaning area.
The information acquisition unit acquires information on the operation status of the elevator as the door opening / closing information of the door attached to the elevator.
The self-propelled vacuum cleaner according to claim 5. The at least one door includes a door attached to a room adjacent to the predetermined cleaning area.
The information acquisition unit acquires information on the occupancy status of the room as the door opening / closing information.
The self-propelled vacuum cleaner according to claim 5 or 6. The information acquisition unit acquires information indicating an opening / closing status of at least one door as the door opening / closing information.
The self-propelled vacuum cleaner according to any one of claims 1 to 7. Further equipped with a sensor that outputs information indicating the opening / closing status,
The information acquisition unit acquires information indicating the opening / closing status output from the sensor.
The self-propelled vacuum cleaner according to claim 8. It is a control method of a self-propelled vacuum cleaner that autonomously travels and cleans a predetermined cleaning area.
An acquisition step of acquiring door opening / closing information regarding opening / closing of at least one door adjacent to the predetermined cleaning area, and
With a generation step of acquiring map information indicating the predetermined cleaning area and generating a cleaning plan regarding a travel route for cleaning in the predetermined cleaning area by the self-propelled vacuum cleaner based on the acquired map information. ,
A determination step for determining whether or not the self-propelled vacuum cleaner can travel around the at least one door based on the acquired door opening / closing information.
A control step for controlling the running of the self-propelled vacuum cleaner based on the determined result and the generated cleaning plan.
How to control a self-propelled vacuum cleaner. A program for causing a computer to execute the control method of the self-propelled vacuum cleaner according to claim 10.

Images