JP7336682B2 - Vacuum cleaner system and display device - Google Patents

Description

The present invention relates to a cleaner system that provides a cleaning map for cleaning to an autonomously traveling cleaner, and a display device.

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

According to this document, while cleaning, using information from various sensors such as odometry information, cameras, and distance sensors provided in the vacuum cleaner, based on the movement of the vacuum cleaner and the positional relationship with the surroundings, the relative position of the self is calculated. An autonomously traveling vacuum cleaner has been proposed that estimates the position in a room and, based on that information, creates a map that allows the user to freely select the cleaning area to be cleaned next.

Japanese Patent Application Laid-Open No. 2002-085305

A map created by an autonomous cleaner using SLAM (Simultaneous Localization and Mapping) or the like may include unrecognized walls, falsely detected walls, and the like. Therefore, artificial modification of the map is performed. However, a map created by an autonomous vacuum cleaner running on a large floor such as a hotel or large commercial facility will be a wide map, so for example, it is necessary to indicate the boundary of the cleaning area from one wall to the opposite wall. If you try to draw a line artificially, you have to make full use of enlargement and scrolling, and it is difficult to correct the map accurately.

The present invention solves the above problems, and provides cleaning information that can easily modify a map created by an autonomously traveling cleaner and easily provide a cleaning map used by the autonomously traveling cleaner. The purpose is to provide equipment.

A vacuum cleaner system according to one aspect of the present invention is a vacuum cleaner system that provides a plurality of autonomously traveling cleaners cleaning a facility having a plurality of floors with information for cleaning the floors, a duplicating unit that duplicates cleaning maps corresponding to the number of autonomously traveling cleaners; a display device that displays a list of the plurality of autonomously traveling cleaners whose cleaning maps have been duplicated by the duplicating unit; an interface for receiving data, wherein an operator operates the interface to select an autonomously traveling cleaner from a list of autonomously traveling cleaners displayed on the display device, and to the selected autonomously traveling cleaner. It is possible to modify the corresponding cleaning map.

A display device, which is another aspect of the present invention, is a display used in a cleaner system that provides information for cleaning a plurality of floors to a plurality of autonomously traveling cleaners cleaning a facility having a plurality of floors. A device comprising an interface for accepting input from an operator, and a plurality of autonomously traveling cleaners in which the cleaning maps are duplicated by a duplicating unit that duplicates cleaning maps corresponding in number to the plurality of autonomously traveling cleaners. is displayed, and an autonomously traveling cleaner is selected from the displayed list of autonomously traveling cleaners, the cleaning map corresponding to the selected autonomously traveling cleaner can be corrected.

It should be noted that executing a program for causing a computer to execute each process included in the cleaning information providing apparatus also corresponds to the implementation of the present invention. Of course, carrying out the recording medium on which the program is recorded also corresponds to carrying out the present invention.

Even if the map created by the cleaner is wide, it can be easily modified, and the generated map can be provided to the autonomously traveling cleaner.

1 is a diagram showing a cleaner system according to Embodiment 1 together with a building to be cleaned; FIG. 1 is a plan view showing the appearance of an autonomously traveling cleaner according to Embodiment 1. FIG. Fig. 2 is a bottom view showing the appearance of the autonomously traveling cleaner according to Embodiment 1; 3 is a block diagram showing each functional part of the control unit of the autonomously traveling cleaner according to Embodiment 1. FIG. 4 is a diagram showing an initial map generated by an initial map generation unit according to Embodiment 1; FIG. 2 is a block diagram showing each functional unit of the cleaning information providing device according to Embodiment 1. FIG. FIG. 4 is a diagram showing a floor map generated by a floor map generator according to Embodiment 1 based on a predetermined algorithm; FIG. 4 is a diagram showing a floor map modified via the interface in Embodiment 1; FIG. 3 is a block diagram showing in detail functional units included in a floor map generation unit according to Embodiment 1; FIG. FIG. 4 is a diagram showing a state in which a regulation line reception unit according to Embodiment 1 receives a regulation line; FIG. 3 is a diagram showing an enlarged map displayed by an enlargement display unit according to Embodiment 1; FIG. FIG. 5 is a diagram showing a state in which a regulation line reception unit according to Embodiment 1 has received correction of a first end; 4 is a diagram showing an enlarged map of arrival positions specified by an arrival position specifying unit according to Embodiment 1. FIG. FIG. 8 is a diagram showing an enlarged map near the second end displayed by the enlargement display unit according to Embodiment 1; 4 is a flow chart showing the operation of a floor map generation unit according to Embodiment 1; 4A and 4B are diagrams showing two types of cleaning maps generated by a cleaning map generation unit according to Embodiment 1; FIG. 4 is a flow chart showing the flow of operations of the cleaning information providing device according to Embodiment 1. FIG. FIG. 4 is a diagram showing a display state of a floor map generated by a floor map generation unit according to Embodiment 1; FIG. FIG. 4 is a diagram showing a display state of a cleaning map generated by a cleaning map generation unit according to Embodiment 1; FIG. FIG. 5 is a diagram showing a screen displaying a state after duplication of the cleaning map in Embodiment 1;

Next, an embodiment of an autonomously traveling cleaner according to the present invention will be described with reference to the drawings. It should be noted that the following embodiment merely shows an example of an autonomously traveling cleaner according to the present invention. Accordingly, the scope of the present invention is defined by the language of the claims with reference to the following embodiments, and is not limited only to the following embodiments. Therefore, among the constituent elements in the following embodiments, the constituent elements not described in the independent claims representing the top concept of the present invention are not necessarily required to achieve the object of the present invention, but are more It is described as constituting a preferred form.

In addition, the drawings are schematic diagrams in which emphasis, omissions, and ratios are appropriately adjusted in order to illustrate the present invention, and may differ from actual shapes, positional relationships, and ratios.

(Embodiment 1)
FIG. 1 is a diagram showing a cleaner system including a cleaning information providing device according to an embodiment together with a building to be cleaned.

As shown in the figure, a vacuum cleaner system 100 includes a plurality of autonomously traveling cleaners 110 each cleaning a plurality of floors 201 having the same or similar configuration in a facility 200 such as a hotel or a tenant building. and a cleaning information providing device 120 that provides information for cleaning. Also, these can communicate with each other via a router by wireless communication based on the Wi-Fi standard.

FIG. 2 is a plan view showing the appearance of the autonomously traveling cleaner according to the embodiment. FIG. 3 is a bottom view showing the appearance of the autonomously traveling cleaner according to the embodiment.

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

According to this embodiment, the autonomous traveling cleaner 110 includes a body 220 on which various components are mounted, a drive unit 230 that moves the body 220, a cleaning unit 240 that collects dust existing in the cleaning area 202, and a cleaning unit 240 that collects dust. A suction unit 250 for sucking into the body 220, a drive unit 230, a cleaning unit 240, a control unit 270 for controlling 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 has a configuration in which the upper portion can be removed from the lower portion. A bumper that can be displaced with respect to the body 220 is attached to the 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 dust into the interior of the body 220 .

Drive unit 230 causes autonomously traveling cleaner 110 to travel based on instructions from control unit 270 . In the present embodiment, one drive unit 230 is arranged on each of the left side and the right side of the widthwise center of body 220 in 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 over the surface to be cleaned, a traction motor that provides torque to the wheel, and a housing that houses the traction motor. Each wheel is housed in a recess formed in the lower surface of body 220 and attached to body 220 so as to be rotatable.

The drive system of the autonomously traveling cleaner 110 of the present embodiment is a two-wheel opposed wheel type having casters 279 as auxiliary wheels. The autonomously traveling cleaner 110 can be freely traveled, such as right rotation.

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

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

Examples of various sensors included in the autonomously traveling cleaner 110 include the following sensors.

Obstacle sensor 273 is a sensor that detects an obstacle present in front of body 220 . In the case of this embodiment, an ultrasonic sensor is used as the obstacle sensor 273 . The obstacle sensor 273 has a transmitter 271 arranged in the front center of the body 220 and receivers 272 arranged on both sides of the transmitter 271. The distance and position of the obstacle can be detected by the receiving unit 272 receiving each of the ultrasonic waves that have returned.

Ranging sensor 274 detects the distance between body 220 and an object such as an obstacle existing around body 220 . In the case of this embodiment, the distance measuring sensor 274 is an infrared sensor having a light-emitting portion and a light-receiving portion, and measures the distance based on the time it takes for the infrared rays reflected by the obstacle to return.

The distance measuring sensors 274 are arranged at the top of the right front and the top of the left front, respectively. Distance sensor 274 outputs light diagonally forward left of body 220 . With this configuration, when autonomous cleaner 110 turns, range sensor 274 detects the contour of body 220 and the distance between body 220 and the closest surrounding object.

A collision sensor (not shown) is a switch contact displacement sensor that is turned on when a bumper attached to the periphery of body 220 contacts an obstacle and is pushed against body 220 .

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 existing in the image. The 2.5-dimensional information measured by the two-dimensional distance measuring device 275 is processed by the information processing section, and the current position of the autonomous traveling cleaner 110 can be grasped from the positions and distances of feature points in the information. It is possible. Although the type of the two-dimensional distance measuring device 275 is not particularly limited, examples thereof include LiDAR (Light Detection and Ranging), ToF (Time of Flight), compound eye cameras, and the like.

Floor surface sensors 276 are arranged at a plurality of locations on the bottom surface of body 220 and detect whether or not there is a floor surface as cleaning area 202 . In the case of this embodiment, the floor sensor 276 is an infrared sensor having a light-emitting portion and a light-receiving portion. If there is no floor surface, it is detected.

The encoder is provided in the drive unit 230 and detects the rotation angle of each of the pair of wheels rotated by the driving motor. Information from the encoder can be used to calculate the traveling distance, turning angle, speed, acceleration, angular velocity, etc. of the autonomous traveling cleaner 110 .

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

The dust amount sensor 277 is composed of, 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 received light and the amount of dust are matched. Specifically, it is determined that the amount of dust increases as the amount of light decreases, and dust amount information indicating this is generated.

The above obstacle sensor 273, distance measuring sensor 274, collision sensor, two-dimensional distance measuring device 275, floor sensor 276, encoder, and dust amount sensor 277 are examples, and autonomous traveling cleaner 110 uses all sensors. It doesn't matter if you don't prepare. Moreover, the autonomous traveling cleaner 110 may be provided with sensors different from those described above.

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

The self-location information generation unit 285 is a processing unit that generates self-location information at multiple locations obtained by self-location estimation technology based on information obtained from various sensors while the autonomous cleaner 110 is running or cleaning. .

The initial map generator 281 generates an initial map 260 as shown in FIG. is. Here, the initial map 260 is a collection of self-location information at multiple locations, and indicates areas in the cleaning area 202 in which the autonomously traveling cleaner 110 can travel. Therefore, it can be considered that the shape of the floor surface of the cleaning area 202 is similar to that of the floor surface of the cleaning area 202. However, for example, a certain area cannot be traveled due to the presence of a falling object, or the door between the common area and the exclusive area is accidentally opened. When the cleaning area 202 is removed, the shape may deviate from the actual shape of the cleaning area 202 . In addition, since the information acquired from the various sensors included in the autonomously traveling cleaner 110 contains errors, there may be unrecognized walls, falsely detected walls, and the like. Specifically, for example, the initial map 260 is an environmental map obtained by SLAM.

When the initial map 260 is generated by the initial map generating unit 281 based on the travel performance and stored in the storage device 299, the notification unit 286 notifies the cleaning information providing device 120 of the initial map 260 by wireless communication based on the Wi-Fi standard. This is a processing unit that reports information indicating that the map 260 is to be generated. Further, the notification unit 286 transmits the initial map 260 to the cleaning information providing device 120 by wireless communication or the like according to a request from the cleaning information providing device 120 or forcibly.

FIG. 6 is a block diagram showing functional units of the cleaning information providing device according to the embodiment. The cleaning information providing device 120 is a device that creates cleaning information to be provided to the plurality of autonomously traveling cleaners 110 based on the initial map 260 generated by at least one of the plurality of autonomously traveling cleaners 110, and is shown in FIG. 1, an initial map acquisition unit 121, a floor map generation unit 122, a cleaning map generation unit 123, a duplication unit 124, and a 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 that includes a storage device that stores computer programs, a processor that processes commands included in the computer programs, and various types of information that are transmitted by wire or wirelessly. It comprises a communication device for transmission and reception, a display device 129 (see FIG. 1) for displaying images of processing results and the like to the operator, and an interface 128 for receiving input from the operator. The cleaning information providing device 120 implements each functional unit by executing a computer program stored in a storage device with a processor and controlling various devices.

In addition, the cleaning information providing device 120 has cleaner identification information for identifying each of the plurality of autonomously traveling cleaners 110 . The cleaning information providing device 120 can provide separate information to each of the plurality of autonomously traveling cleaners 110 based on the cleaner identification information. Further, the cleaning information providing device 120 can hold information unique to each of the identified autonomously traveling cleaners 110, such as information about which floor 201 they are in charge of.

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 or the like.

The floor map generation unit 122 is a processing unit that generates a shaped floor map 261 based on the acquired initial map 260 . In the case of this embodiment, the initial map 260 acquired by the initial map acquisition unit 121 is an environment map obtained by SLAM and has a relatively large amount of information. A floor map 261 with a relatively small amount of information is generated from data indicating the outer shape of 202, that is, the boundary between the area to be cleaned and the other area as a control line 141 (see FIG. 7). Specifically, for example, the floor map generator 122 automatically generates a floor map 261 including the regulation line 141 based on the initial map 260 using a predetermined algorithm.

In addition, the floor map generation unit 122 has a function of receiving correction of the regulation line 141 of the generated floor map 261 via the interface 128 and the like and generating a new floor map 261 . Specifically, for example, the floor map generation unit 122 displays the automatically generated floor map 261 (see FIG. 7) including the regulation lines 141 on the display device 129 via the display unit 126 . An initial floor map 261 displayed on the display device 129 reflects errors, unrecognized walls, falsely detected walls, etc. included in the initial map 260 as they are. The operator who sees the displayed initial floor map 261 uses the interface 128 to add, delete, or correct the defective parts, and the floor map generator 122 generates a new floor map 261 (see FIG. 8). .

FIG. 9 is a block diagram showing in detail functional units included in the floor map generator. 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 enlarged display unit 133 , a scroll unit 134 and an arrival position identification unit 135 . In the case of this embodiment, the floor map generator 122 further includes a reference restriction line receiver 136 .

The floor map display unit 131 is a processing unit that causes the display device 129 to display the floor map 261 including the regulation lines 141 via the display unit 126, as described above. Here, the regulation line 141 is information for regulating passage of the autonomously traveling cleaner 110 , and the autonomous traveling cleaner 110 moves autonomously across a virtual line corresponding to the regulation line 141 shown on the floor map 261 on the actual floor 201 . The traveling cleaner 110 cannot travel.

The restriction line reception unit 132 is a processing unit that receives a first end and a second end, which are 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 . 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 a position within the screen corresponding to the screen displayed on the display device 129. For example, as shown in FIG. 10, when the operator touches the screen of the display device 129 with his/her finger, the regulating line reception unit 132 causes the first end 151 and the second end 152 to move. may be accepted. Alternatively, a swipe operation may be performed on the interface 128 , and the first end 151 may be the first touched position, and the second end 152 may be the position where the finger is removed from the interface 128 .

The enlarged display unit 133 causes the display device 129 to display an enlarged map 265 obtained by enlarging the floor map near the first end 151 or the second end 152 received by the restriction line receiving unit 132 via the display unit 126. Department. In the case of the present embodiment, enlarged display unit 133 automatically enlarges the floor map near first end 151 when restriction line receiving unit 132 receives first end 151 and second end 152 . Further, as shown in FIG. 11, the enlarged display unit 133 displays the enlarged map at a magnification such that one of the received first end 151 and second end 152 and the regulation line 141 closest to that end are displayed. 265 is displayed.

Here, based on the enlarged map 265 displayed by the enlarged display unit 133 , the restriction line reception unit 132 receives the position change of the first end 151 or the second end 152 of the restriction line 141 previously received. Specifically, for example, the restriction line reception unit 132 performs an operation such as dragging the first end 151 displayed on the enlarged map 265 or tapping a new position, so that the first end 151 is displayed as shown in FIG. change of the position on the floor map 261 of .

As described above, when an input of a new restriction line 141 is received by the restriction line receiving unit 132, the enlarged display unit 133 displays the vicinity of either end of the restriction line 141 without waiting for another input from the operator. An enlarged enlarged map 265 is displayed. As described above, the operator can easily recognize the displacement of the end of the input restriction line 141 on the floor map 261. It is possible to easily demonstrate the displacement of the relative positional relationship with the regulation line 141. Further, in the enlarged map 265, fine correction of the position of the end portion can be easily performed. Therefore, even if the floor map 261 is wide, the position of the end of the regulation line 141 can be accurately grasped and efficiently input.

In the above description, the enlarged map 265 near the first end 151 is displayed and the position of the first end 151 is slightly corrected. The enlarged display unit 133 may display an enlarged map 265 of the vicinity, and the restriction line receiving unit 132 may receive fine correction of the position of the second end 152 as well as the first end 151 .

The scroll unit 134 is a processing unit that receives scrolling of the enlarged map 265 . In this embodiment, scrolling of the enlarged map 265 is accepted by the operator swiping on the screen on which the enlarged map 265 is displayed or by touching the triangular scroll icon 266 displayed on the screen. Scrolling of the enlarged map 265 is executed by an operator's instruction when, for example, as shown in FIG. be done.

The reaching position specifying unit 135 virtually moves one of the ends displayed on the enlarged map 265 based on the scroll direction axis received by the scrolling unit 134 to determine the reaching position where the end reaches the existing regulation line 141 . It is a processing unit to specify. In the case of this embodiment, when the operator swipes on the screen on which the enlarged map 265 is displayed, the arrival position specifying unit 135 acquires the direction axis of the swipe from the interface 128, sets it as the scroll direction axis, and displays it on the enlarged map 265. The displayed end (the second end 152 in FIG. 14) is moved along the scroll direction axis in the swipe direction (or in the opposite direction), and the first intersection with the regulation line 141 is set as the arrival position. . In addition, when the operator touches the scroll icon 266, the direction indicated by the scroll icon 266 (in the case of the present embodiment, leftward, rightward, upward, or downward in the screen) is set as the scroll direction, and the end portion is set as the scroll direction. Move virtually.

When the arrival position is specified by the arrival position specifying part 135, the enlarged display unit 133 displays the enlarged map 265 together with the new restriction line 141 including the end reached near the arrival position and the existing restriction line 141 reached. do. The enlarged display unit 133 not only displays an enlarged map 265 in the vicinity of the arrival position, but also displays the virtual movement of the end to the arrival position on the floor map 261 with the end displayed in the enlarged map 265 . The position of the enlarged map 265 may be displayed by animation in which the position is sequentially moved.

Further, when the operator designates one of the regulation lines 141 existing on the floor map 261 displayed on the screen of the display device 129 before the scrolling unit 134 accepts the scroll operation, the regulation line 141 is designated as the reference regulation line. , the reference restriction line receiving unit 136 receives. In this case, the arrival position specifying unit 135 selects a predetermined directional axis from a directional axis along the reference restriction line, a directional axis perpendicular to the reference restriction line, or a directional axis at a predetermined angle with respect to the reference restriction line. , the end may be moved virtually along the scroll direction axis and in the direction of the swipe or the direction indicated by the scroll icon 266 .

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

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

After confirming the enlarged map 265, if the candidate position is in the vicinity of the target position, the operator finely corrects the position of the end via the interface 128, and the restriction line reception unit 132 corrects the position of the end. do.

Also, if the candidate position is not near the target position, the operator restarts scrolling. When the virtual movement of the end portion is restarted, the reaching position specifying unit 135 may specify the position where the restriction line 141 targeted for the candidate ends as the next candidate position. Also in this case, the enlarged display unit 133 displays an enlarged map 265 near the next candidate position.

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

Next, a series of operations of the floor map generator 122 will be described with reference to the flowchart shown in FIG.

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

Next, the enlarged display unit 133 displays an enlarged map 265 showing the first end 151 and its vicinity (S202). When the operator who has confirmed the enlarged map 265 determines that the position of the first end 151 needs to be corrected (S203: Yes), the operator corrects the position of the first end 151 via the interface 128 (S204).

Next, an enlarged map 265 showing the second end 152 and its vicinity is displayed by the operator's operation or the like (S205). If 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 and the movement direction for moving the end (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 whether or not there is a candidate position (S208). If candidate positions exist (S208: Yes), an enlarged map 265 including the candidate positions is displayed (S209).

When the operator who checked the enlarged map 265 determines that the position is not the target position, the operator performs an operation to move to the next candidate (S210: Yes).

The arrival position specifying unit 135 sequentially displays candidate positions until there are no more candidate positions, and when there are no more candidate positions (S208: No), determines whether there is an arrival position (S211). If there is an arrival position (S211: Yes), the enlargement display unit 133 displays an enlargement including the arrival position (S212). On the other hand, if the reached position does not exist (S211: No), the position of the second end 152 may be returned and the direction axis may be changed to search (S213).

Based on the last displayed enlarged map 265, the operator determines whether correction is necessary (S214), and if necessary, makes corrections (S215), and the input of the new restriction line 141 is completed.

Although the second end 152 has been described above, the position of the first end 151 can be corrected by performing the same operation for the first end 151 as well.

Returning to the overall description of the cleaning information providing device 120 in FIG. is a processing unit that generates The cleaning information includes, for example, the cleaning start point S (see FIG. 16), the cleaning end point G, the cleaning route, the charging point C, the material of the floor surface, the area to be cleaned and the area not to be cleaned, etc. of the autonomous cleaner 110. be.

As an example of generating the cleaning map 262 , an operator who operates the cleaning information providing device 120 via the interface 128 or the like inputs cleaning information on the floor map 261 to generate the cleaning map 262 . As a specific input content, as shown in FIG. 16, a cleaning area 301 to be cleaned using a postscript restriction line 142 or the like, which is an arbitrary restriction line added in advance by the floor map generation unit 122, and a cleaning area 301 to be cleaned. The non-cleaning area 302 , the cleaning start point S, the cleaning end point G, the charging point C, etc. are input onto the floor map 261 using the interface 128 to generate the cleaning map 262 .

In the case of this embodiment, the cleaning map generation unit 123 creates a plurality of cleaning maps such as a first cleaning map 263 and a second cleaning map 264 which are cleaning maps 262, as shown in FIG. H.262 can be generated. By generating a plurality of cleaning maps 262 for one floor map 261 in this way, for example, the autonomous traveling cleaner 110 is caused to clean based on the first cleaning map 263 on weekdays, and the second cleaning is performed on holidays. It is possible to have the autonomously traveling cleaner 110 perform different types of cleaning depending on the time, day of the week, month, season, weather, etc., such as having the autonomously traveling cleaner 110 perform cleaning based on the map 264 .

Further, the cleaning map generation unit 123 can receive correction of the already generated cleaning map 262 via the interface 128 or the like and generate a new cleaning map 262 .

The replication unit 124 is a processing unit that replicates 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 . In the case of the present embodiment, cleaning information providing device 120 has cleaner identification information that identifies each of a plurality of autonomously traveling cleaners 110, and copying unit 124 reproduces at least one of floor map 261 and cleaning map. is duplicated by the number corresponding to the number of identified autonomous cleaners 110 . Further, the duplication unit 124 associates at least one of the duplicated floor map 261 and the cleaning map with the cleaner identification information.

Also, when the floor map generator 122 generates a new floor map 261 , the duplicator 124 can update the already duplicated floor map 261 to the new floor map 261 . Further, the duplicating unit 124 may update only a specific floor map 261 among the plurality of already duplicated floor maps 261 to a new floor map 261 .

Further, when the cleaning map generating unit 123 generates a plurality of cleaning maps 262 for one floor map 261, the duplicating unit 124 may duplicate all of the plurality of cleaning maps 262, and may also duplicate a predetermined condition. A filled cleaning map 262 may be selectively duplicated.

The map information providing unit 125 is a processing unit that provides the duplicated cleaning map 262 to the corresponding plurality of autonomous traveling cleaners 110 by wireless communication or wired communication. In the case of this embodiment, the map information providing unit 125 transmits the cleaning map 262 associated with the corresponding cleaner identification information to each of the plurality of autonomously traveling cleaners 110 via a router or the like based on the Wi-Fi standard. and provide.

When providing the cleaning map 262 to the autonomously traveling cleaner 110, the map information providing unit 125 may determine which cleaning map 262 to provide when there are a plurality of types of cleaning maps 262. be. For example, based on the schedule information separately acquired by the cleaning information providing device 120, the first condition is weekdays, or the second condition is the date and time when the autonomous cleaner 110 enters the preparatory stage before cleaning. It is determined whether it is a holiday, and if the first condition is satisfied, the corresponding autonomous traveling cleaner 110 is provided with the first cleaning map 263 corresponding to the first condition, and if the second condition is satisfied, the second cleaning map 263 is provided. Second cleaning map 2 corresponding to the conditions
64 to the corresponding autonomous cleaner 110 .

Note that the map information providing unit 125 provides information about the environment of the place where the autonomous cleaner 110 performs cleaning, for example, based on information about the current weather. A map 262 may be provided and a cleaning map 262 corresponding to a dry floor surface if it is not raining.

Further, the map information providing unit 125 acquires state information of the autonomous traveling cleaner 110, for example, information as to whether or not it is fully charged. The cleaning map 264 is provided to the corresponding autonomous cleaner 110, and when the cleaning based on the second cleaning map 264 is completed and the battery is fully charged, the first cleaning map 263 or the third cleaning map (not shown) is displayed. It may be provided to the corresponding autonomously traveling vacuum cleaner 110 . According to this, a large floor is divided into a plurality of sections, and one autonomously traveling cleaner 110 cleans each section. After cleaning one section, it is charged, and when it is fully charged, the next cleaning is performed. Compartments can be cleaned. In addition to these conditions, the map information providing unit 125 can select the cleaning map 262 to be provided based on various first and second conditions.

Next, an example of the operation of the cleaning information providing device 120 in the cleaner system 100 will be described based on the flowchart shown in FIG.

After causing at least one of the autonomously traveling cleaners 110 provided in the cleaner system 100 to travel on any floor 201 to create an initial map 260, the initial map acquisition unit 121 of the cleaning information providing device 120 performs an initial A map 260 is acquired (S101).

Next, based on the initial map 260 acquired by the floor map generator 122, a floor map 261 made up of vector data or the like is generated by a predetermined logic (S102). The generated floor map 261 is displayed on the display device 129 by the display section 126 as shown in FIG. 18 (S103).

The operator who checks and operates the display device 129 determines whether or not the floor map 261 needs to be corrected (S104), and if necessary, corrects the floor map 261 via the interface 128 as described above, A new floor map 261 is generated.

Next, as shown in FIG. 19, information about cleaning is input via the interface 128 onto the floor map 261 displayed on the display device 129, and the cleaning map generator 123 generates a cleaning map 262 (S106). .

Next, the duplication unit 124 duplicates the generated cleaning map 262 by the number corresponding to the plurality of autonomously traveling cleaners 110 (S107). The display unit 126 displays the duplication result on the display device 129 as shown in FIG. 20 (S108). In this embodiment, two types of cleaning maps 262 are created: a first cleaning map 263 for the north area (weekdays) and a second cleaning map 264 for the south area (holidays). 124 replicates all these cleaning maps 262 .

Here, if it is desired to individually modify the duplicated cleaning map 262 (S109), by touching the corresponding pencil mark shown on the screen, etc., a transition is made to the cleaning map modification screen as shown in FIG. , the operator can also modify the cleaning map 262 individually (S110).

Next, the map information providing unit 125 provides each autonomously traveling cleaner 110 with an appropriate cleaning map 262 based on the date and time (S112). Note that 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, when a plurality of autonomously traveling cleaners 110 clean a plurality of vast floors having the same or similar configuration, the initial map 260 created by at least one autonomously traveling cleaner 110 is used. A floor map 261 can be generated simply and efficiently, and a cleaning map 262 generated based on this floor map 261 can be duplicated and provided to the autonomous traveling cleaner 110 in charge of each floor. Therefore, it is possible to start up the cleaner system 100 in a short time and with high efficiency.

In addition, even when the layout of each floor is uniformly changed, such as arranging ornaments for decoration in the same place on each floor, the master floor map 261 can be easily and efficiently corrected in the same way as when starting up. By generating and duplicating the cleaning map 262 based on the newly generated floor map 261, the cleaning map can be provided to each autonomously traveling cleaner 110 simply and efficiently.

(Embodiment 2)
Next, another embodiment of the floor map generation unit 122 of the cleaning information providing device 120, particularly the arrival position identification unit 135 will be described. Parts (parts) having the same action, function, shape, mechanism, and structure as those of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted. Differences from the first embodiment will be described below, and descriptions of the same contents will be omitted.

The arrival position specifying unit 135 virtually moves the second end 152 in the direction from the first end 151 to the second end 152 based on the first end 151 and the second end 152 received by the restriction line receiving unit 132. to specify the reach position where the second end 152 has reached the existing regulation line 141 . As a result, when the operator designates the first end 151 and the second end 152 using the interface 128, the operator can perform operations up to the display of the enlarged map 265 including the reaching position of the second end 152 or the rear position. run automatically without 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 directional axis connecting the first end 151 and the second end 152 and extends at a predetermined angle with respect to a predetermined reference regulation line. It may be along the directional axis.

It should be noted that the present invention is not limited to the above embodiments. For example, another embodiment realized by arbitrarily combining the constituent elements described in this specification or omitting some of the constituent elements may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications to the above-described embodiment within the scope of the gist of the present invention, that is, the meaning of the words described in the claims, which a person skilled in the art can think of. be

For example, the cleaning information providing device 120 has been described as a device capable of mutually exchanging information with a plurality of autonomously traveling cleaners 110 as part of the cleaner system 100, but the cleaning information providing device 120 may exchange information with one autonomously traveling cleaner 110 . Alternatively, it may be incorporated in the autonomously traveling cleaner 110 .

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

In addition, when the end of the regulation line 141 received by the regulation line reception unit 132 and the already existing regulation line 141 meet a predetermined condition, for example, when they are within a predetermined distance range, the end is forcibly A so-called suction operation for adhering the regulation line 141 may be adopted.

Also, the cleaning map 262 may be provided not only through communication via a router based on the Wi-Fi standard, but also through one-to-one communication with each autonomously traveling cleaner 110 .

Also, the case of cleaning each floor of a building has been described, but the vacuum cleaner system 100 may be applied to a factory or a large-scale commercial facility having multiple floors with the same or similar form on a large site. .

Moreover, although the case where the cleaning map 262 is duplicated by the duplicating unit 124 has been shown, the floor map may also be duplicated corresponding to each autonomously traveling cleaner 110 . Also, it may be possible to individually correct the duplicated floor map 261 . Also in this case, a new restriction line 141 can be added according to the above embodiment.

Also, part or all of the processing units included in the cleaner system 100 may exist on the cloud system. For example, the editing function of the floor map 261 and the cleaning map 262 may be provided by the cleaning information providing device 120, and the map information providing section 125 may be provided by a server connected to the network. Specifically, the cleaning map 262 edited by a terminal such as a tablet or a PC is stored in a storage device of a server connected to the network, and the server and the autonomous traveling cleaner 110 are connected via the network, whereby the server may provide an appropriate cleaning map 262 according to the situation.

INDUSTRIAL APPLICABILITY The present invention can be used to provide information to an autonomously traveling vacuum cleaner that automatically cleans wide floor surfaces such as hotels, tenant buildings, and large commercial facilities.

100 Vacuum cleaner system 110 Autonomous cleaner 120 Cleaning information providing device 121 Initial map acquiring unit 122 Floor map generating unit 123 Cleaning map generating unit 124 Duplicating unit 125 Map information providing unit 126 Display unit 128 Interface 129 Display device 131 Floor map display unit 132 Restriction line receiving unit 133 Enlarged display unit 134 Scrolling unit 135 Arrival position specifying unit 136 Reference restriction line receiving unit 141 Restriction line 142 Additional restriction line 151 First end 152 Second end 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 measurement sensor 275 two-dimensional distance measurement device 276 floor 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 (4)

A vacuum cleaner system for providing a plurality of autonomously traveling vacuum cleaners cleaning a facility having a plurality of floors with information for cleaning the floors,
a cleaning map generator that generates a cleaning map obtained by adding information about cleaning to the floor map;
a replicating unit that replicates a number of cleaning maps corresponding to the plurality of autonomously traveling cleaners from the cleaning map generated by the cleaning map generating unit;
a display device for displaying a list of a plurality of autonomously traveling cleaners whose cleaning maps are duplicated by the duplication unit;
an interface that accepts input from an operator,
An operator operates the interface to select an autonomously traveling cleaner from a list of autonomously traveling cleaners displayed on the display device, and correct the cleaning map corresponding to the selected autonomously traveling cleaner. A vacuum cleaner system that is capable of 2. The cleaner system according to claim 1, wherein said interface is a touch panel capable of designating a position within a screen corresponding to the screen displayed on said display device. A display device for use in a vacuum cleaner system that provides information for cleaning a floor to a plurality of autonomously traveling vacuum cleaners cleaning a facility having a plurality of floors,
an interface that accepts input from an operator ;
a cleaning map generation unit that generates a cleaning map obtained by adding information on cleaning to the floor map,
A list of a plurality of autonomously traveling cleaners whose cleaning maps are duplicated by a duplicating unit that duplicates the number of cleaning maps corresponding to the plurality of autonomously traveling cleaners from the cleaning map generated by the cleaning map generating unit. to display
A display device capable of, when an autonomously traveling cleaner is selected from a displayed list of autonomously traveling cleaners, correcting a cleaning map corresponding to the selected autonomously traveling cleaner. 4. The display device according to claim 3, wherein said interface is a touch panel capable of designating a position within a screen corresponding to a screen displayed on said display device.

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