WO2021245796A1 - Cleaning system and program - Google Patents

Cleaning system and program Download PDF

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Publication number
WO2021245796A1
WO2021245796A1 PCT/JP2020/021801 JP2020021801W WO2021245796A1 WO 2021245796 A1 WO2021245796 A1 WO 2021245796A1 JP 2020021801 W JP2020021801 W JP 2020021801W WO 2021245796 A1 WO2021245796 A1 WO 2021245796A1
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WIPO (PCT)
Prior art keywords
cleaning
range
area
robot
cleaned
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PCT/JP2020/021801
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French (fr)
Japanese (ja)
Inventor
明 谷口
Original Assignee
三菱電機ビルテクノサービス株式会社
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Publication date
Application filed by 三菱電機ビルテクノサービス株式会社 filed Critical 三菱電機ビルテクノサービス株式会社
Priority to PCT/JP2020/021801 priority Critical patent/WO2021245796A1/en
Priority to JP2022529182A priority patent/JPWO2021245796A1/ja
Priority to CN202080101517.3A priority patent/CN115701277A/en
Publication of WO2021245796A1 publication Critical patent/WO2021245796A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a cleaning system and a program, particularly a cleaning operation using an autonomous traveling robot.
  • Autonomous driving type cleaning robots have been introduced to improve the efficiency of cleaning work in facilities with a relatively large floor area such as shopping malls and buildings.
  • the management company that provides the maintenance service of the facility concludes a cleaning business contract with the facility side and undertakes the cleaning business of the facility as part of the business.
  • the cleaning robot When cleaning a facility using a cleaning robot, the management company often does it at night when there are no facility users.
  • the cleaning robot is programmed to clean a predetermined cleaning area in the facility.
  • the cleaning robot performs cleaning work at a predetermined start time according to the program.
  • the contract fee for cleaning work may be set according to the cleaning area in the facility.
  • the management company programs the cleaning robot so that the entire cleaning range can be cleaned. Then, the cost is charged according to the area of the cleaning range.
  • Japanese Unexamined Patent Publication No. 2004-326692 Japanese Unexamined Patent Publication No. 2018-0433358 Japanese Unexamined Patent Publication No. 2016-087106 Japanese Unexamined Patent Publication No. 2009-165823
  • the cleaning robot does not always clean according to the programmed plan. For example, when the tires that are the feet of the cleaning robot are driven by a motor to run, an error may occur in the mileage if the facility includes a sloped place. Further, if the floor surface is wet, the tire slips, which may cause an error in the mileage. In addition, if furniture or the like is temporarily placed on the programmed travel route due to an event or the like, this may become an obstacle. The cleaning robot may be equipped with a function to avoid obstacles and return to the original travel path. However, an error may occur in the position of returning to the traveling path. That is, even if the cleaning robot is programmed to clean a predetermined cleaning range, it may not always be able to travel according to the program, and thus may not be able to clean the entire planned cleaning range.
  • the management company charges the contractor for the cost related to the cleaning work according to the cleaning area, but if the actual cleaning range, that is, the actual cleaning area cannot be derived correctly, the management company makes an excessive charge. It can also end up. Even if the cleaning is done according to the contract, it is desirable to be able to prove it in the contract.
  • the cleaning system includes a photographing means for photographing the entire cleaning area and the photographing while the autonomous traveling robot is cleaning the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area.
  • the specific means for specifying the area actually cleaned by the autonomous traveling robot in the cleaning area and the image showing the cleaning area are pointed at predetermined intervals.
  • the autonomous traveling type is based on the number of points obtained by subtracting the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information created by sprinkling. It is characterized by having a calculation means for calculating the area of a cleaning range by a robot.
  • the photographing means photographs the entire cleaning area while the autonomous traveling robot cleans the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area.
  • a specific means for specifying the area actually cleaned by the autonomous traveling robot in the cleaning area created by interspersing dots at predetermined intervals in an image showing the cleaning area.
  • the cleaning range by the autonomous traveling robot is based on the number of points obtained by subtracting the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information. It functions as a calculation means for calculating the area of.
  • FIG. 1 It is an overall block diagram which shows one Embodiment of the cleaning system which concerns on this invention, and is the figure which shows the block composition of the cleaning monitoring apparatus included in the cleaning system. It is a figure which shows an example of the layout information which is stored in the layout information storage part in this embodiment. It is a figure which shows an example of the dot sheet stored in the dot sheet storage part in this embodiment. In this embodiment, it is a figure which shows the traveling route for a cleaning robot to perform a cleaning work according to the created program. It is a flowchart which shows the cleaning record information generation processing in this embodiment. In this embodiment, it is a figure which shows the cleaning range in the case where the cleaning robot normally carries out the cleaning work according to the created program. In this embodiment, it is a figure which shows the cleaning range obtained when the cleaning robot actually performed a cleaning operation.
  • FIG. 1 is an overall configuration diagram showing an embodiment of a cleaning system according to the present invention and a diagram showing a block configuration of a cleaning monitoring device 10 included in the cleaning system. Further, FIG. 1 also shows a schematic view of a cleaning area 3 that the autonomous traveling robot (hereinafter referred to as “cleaning robot”) 1 targets for cleaning work.
  • the cleaning area 3 is, for example, a facility having a relatively large floor area such as a shopping mall or a building, or a part thereof.
  • the layout and area of the cleaning area 3 are known information.
  • pillars of the building, articles placed on the floor, and the like are obstacles 4a, 4b, and 4c when cleaning is performed.
  • the cleaning area 3 is, for example, an obstacle 4a, 4b, 4c when a furniture or the like is used in the case of a shopping mall, and a desk, a cupboard or the like is used in the case of a tenant's room in the building.
  • the locations where these obstacles 4a, 4b, and 4c are located are within the range that the cleaning robot 1 cannot clean.
  • obstacle 4 when it is not necessary to distinguish the obstacles 4a, 4b, and 4c, they are collectively referred to as "obstacle 4".
  • the surveillance camera 5 is a photographing means installed so that the entire cleaning area 3 can be photographed by one or a plurality of units.
  • the surveillance system 6 is a system for monitoring a facility using a surveillance camera 5.
  • the surveillance system 6 manages the imaging data such as accumulating the imaging data generated by the imaging by the surveillance camera 5.
  • the cleaning robot 1 performs cleaning work while autonomously traveling according to the program.
  • the cleaning robot 1 includes an instrument for cleaning, a traveling means for traveling, a controller for controlling cleaning and traveling according to a program, and the like.
  • the controller has a storage means such as a processor, a ROM, a RAM, and a storage for storing a program, and a communication means with the cleaning monitoring device 10.
  • a marker 1a is attached to the cleaning robot 1 so that the current position in the cleaning area 3 can be easily searched from the image data captured by the surveillance camera 5.
  • the marker 1a is preferably mounted on the center line of the cleaning robot 1.
  • the cleaning monitoring device 10 can be realized by a conventional general-purpose hardware configuration such as a personal computer (PC). That is, the cleaning monitoring device 10 performs data communication with a storage means such as a processor, ROM, RAM, hard disk drive (HDD), a user interface such as a mouse, a keyboard, and a display, a cleaning robot 1, and a monitoring system 6. Has a network interface for.
  • a storage means such as a processor, ROM, RAM, hard disk drive (HDD), a user interface such as a mouse, a keyboard, and a display, a cleaning robot 1, and a monitoring system 6.
  • a user interface such as a mouse, a keyboard, and a display
  • a cleaning robot 1 has a network interface for.
  • the cleaning monitoring device 10 in the present embodiment is configured to use the monitoring camera 5 included in the monitoring system 6 to obtain image pickup data with the entire cleaning area 3 as the shooting range. May be configured to be connected to the cleaning monitoring device 10. In this case, the cleaning monitoring device 10 needs to be provided with an interface for connecting the monitoring camera 5.
  • the cleaning monitoring device 10 includes a program creation unit 11, a robot control unit 12, an image acquisition unit 13, a cleaning record information generation unit 14, a layout information storage unit 15, a dot sheet storage unit 16, and a cleaning record information storage unit. It has a part 17.
  • the components not used in the description in this embodiment are omitted from the drawings.
  • the program creation unit 11 refers to the layout information of the cleaning area 3 and creates a program for the cleaning robot 1 to perform cleaning work by autonomous driving.
  • the robot control unit 12 controls the operation of the cleaning robot 1.
  • the program created by the program creation unit 11 is wirelessly downloaded to the cleaning robot 1 to give instructions regarding cleaning work.
  • the image acquisition unit 13 acquires image pickup data having the cleaning area 3 as the imaging range from the monitoring system 6.
  • the image pickup data including the cleaning work time zone of the cleaning robot 1 is acquired.
  • the cleaning record information generation unit 14 analyzes the image pickup data acquired by the image acquisition unit 13 to generate cleaning record information indicating the actual cleaning results of the cleaning robot 1.
  • the cleaning record information includes range specific information indicating the range actually cleaned by the cleaning robot 1 and the range not cleaned in the cleaning area 3 and the area of the range actually cleaned by the cleaning robot 1. included.
  • FIG. 2 is a diagram showing an example of layout information stored in the layout information storage unit 15. Specifically, it is a plan view which shows the layout of the cleaning area 3 shown in FIG.
  • FIG. 3 is a diagram showing an example of a dot sheet stored in the dot sheet storage unit 16.
  • the dot sheet 7 is an image showing the cleaning area 3, specifically, an image created by interspersing dots (also referred to as “dots”) at predetermined intervals on a plan view showing the cleaning area 3 as in FIG. be.
  • the dot sheet 7 is also referred to as "point information".
  • point information As will be clarified from the explanation described later, in order to calculate the cleaning area by the cleaning robot 1, it is preferable to strike a large number of dots in the cleaning area 3 at predetermined intervals. For example, dots are struck at intervals of 10 cm in the cleaning area 3. The larger the number of dots, the more accurate the cleaning area can be calculated.
  • the number of dots contained in the dot sheet 7 is known.
  • the cleaning record information storage unit 17 stores the cleaning record information generated by the cleaning record information generation unit 14.
  • Each component 11 to 14 in the cleaning monitoring device 10 is realized by a cooperative operation between the computer forming the cleaning monitoring device 10 and the program operated by the CPU mounted on the computer. Further, each of the storage units 15 to 17 is realized by the HDD mounted on the cleaning monitoring device 10. Alternatively, RAM or an external storage means may be used via the network.
  • the program used in the present embodiment can be provided not only by communication means but also by storing it in a computer-readable recording medium such as a CD-ROM or a USB memory.
  • Programs provided from communication means and recording media are installed in a computer, and various processes are realized by sequentially executing the programs by the CPU of the computer.
  • the program creation unit 11 in order to cause the cleaning robot 1 to clean the cleaning area 3, refers to the layout information of the cleaning area 3 stored in the layout information storage unit 15, and the cleaning robot 1 uses the cleaning robot 1. Create a program for cleaning work.
  • FIG. 4 is a diagram showing a traveling route for the cleaning robot 1 to clean the cleaning area 3 according to the program created by the program creation unit 11.
  • the cleaning robot 1 starts cleaning from a position at the starting point 8, and its operation is controlled by a program so that the starting point 8 is the ending point.
  • FIG. 4 shows a traveling path 9 of the cleaning robot 1. If cleaning is performed according to the traveling route 9, it is possible to evenly clean the entire cleaning area 3 which is the contracted range.
  • the robot control unit 12 downloads the program created by the program creation unit 11 as described above to the cleaning robot 1. As a result, the cleaning robot 1 can autonomously perform cleaning in the cleaning area 3 according to the downloaded program.
  • the program creation process in the program creation unit 11 and the setting of the program in the cleaning robot 1 described above may be carried out by using the same technology as before.
  • the cleaning robot 1 in the standby state at the starting point 8 starts the cleaning work at a predetermined time according to the program.
  • the surveillance camera 5 photographs the entire cleaning area 3 from the start to the end of the cleaning by the cleaning robot 1.
  • the image pickup data generated by the shooting by the surveillance camera 5 in this way is stored in the surveillance system 6.
  • the image acquisition unit 13 takes an image of the cleaning area 3 taken by the cleaning robot 1 during the cleaning work time zone from the monitoring system 6. Acquire data (step 110).
  • the image acquisition unit 13 does not collectively acquire the imaging data after the cleaning work is completed, but operates to sequentially acquire the imaging data from the start to the end of the cleaning operation. May be good.
  • the cleaning record information generation unit 14 When the imaging data is acquired, the cleaning record information generation unit 14 generates the cleaning record information as follows.
  • the cleaning record information generation unit 14 detects the traveling route of the cleaning robot 1 by analyzing the imaging data (step 120). Specifically, the cleaning result information generation unit 14 can specify the current position in the cleaning robot 1 by detecting the marker 1a attached to the cleaning robot 1 from the image pickup data, so that the current position in the image pickup data can be specified. The transition of is the travel path of the cleaning robot 1.
  • the cleaning record information generation unit 14 specifies the actual cleaning range in the cleaning robot 1 from the detected travel path (step 130).
  • the marker 1a is provided on the center line of the cleaning robot 1.
  • the cleaning result information generation unit 14 determines the position of the marker 1a detected from the imaging data and the cleaning robot. From the cleaning range in the width direction in 1, the cleaning range in the width direction when the cleaning robot 1 is at each point can be specified. Then, by connecting the cleaning ranges at each point in chronological order, the actual cleaning range in the entire cleaning area 3 can be specified.
  • the cleaning range in the cleaning robot 1 is specified based on the marker 1a attached to the cleaning robot 1, but it is not always necessary to follow the method for specifying the cleaning range. For example, instead of searching for the marker 1a from the image pickup data, the width of the large cleaning robot 1 may be regarded as the cleaning range in the width direction, and only the image of the main body of the cleaning robot 1 may be extracted.
  • the cleaning result information generation unit 14 overlaps the specified cleaning range with the dot sheet 7 shown in FIG. 3, and is located within the cleaning range specified in the dot sheet 7. Delete the dot.
  • FIG. 6 is a diagram showing a cleaning range when the cleaning work is normally performed according to the program created by the cleaning robot 1 in the present embodiment. That is, FIG. 6 is a diagram showing a cleaning range when the cleaning robot 1 can travel along the travel path 9 based on the program as shown in FIG.
  • a white area without dots is shown as a cleaned area (hereinafter referred to as “cleaned area”) 31.
  • the uncleaned areas 32a, 32b, 32c, and 32d in which the areas where the dots remain are not cleaned are shown.
  • the uncleaned range 32 is the range excluding the cleaning range by the cleaning robot 1 and the cleaned range 31 obtained from the dot sheet 7 from the cleaning area 3.
  • the cleaning robot 1 cleans the entire cleaning area 3 according to the program, but due to the specifications, as shown in FIG. 6, the edge of the cleaning area 3, for example, when the cleaning area 3 is a room, the area near the wall of the room is the uncleaned range 32a. Become. Further, the boundary portion with the obstacle 4 is the uncleaned range 32b, 32c, 32d, respectively.
  • the cleaned range 31 shown in FIG. 6 is the cleaning range when the cleaning robot 1 normally performs the cleaning work according to the program.
  • FIG. 7 is a diagram showing a cleaning range obtained when the cleaning robot 1 actually performs the cleaning work in the present embodiment. That is, it is a figure which shows the actual cleaning range by the cleaning robot 1 obtained from the image pickup data by a surveillance camera 5.
  • FIG. 7 is a diagram corresponding to FIG. 6, in which the white area indicates the cleaned area 31 and the area where the dots remain indicates the uncleaned area 32.
  • FIG. 7 shows a case where the cleaning robot 1 has cleaned the cleaned range 31 shown in FIG. 6 according to a program, but the uncleaned range 32 that cannot be cleaned due to an obstacle (not shown) is more than planned. There is.
  • the uncleaned range 32e due to the obstacle placed on the floor near the wall of the cleaning area 3 and the uncleaned range 32f due to the obstacle placed on the floor between the obstacles 4b and 4c become the obstacle 4a.
  • An example is shown in which an uncleaned range of 32 g is formed by an obstacle placed on the floor in the vicinity of the obstacle 4b between the obstacle 4b and the obstacle 4b.
  • the cleaning record information generation unit 14 acquires the number of dots in the uncleaned range 32 by analyzing the range specifying information shown in FIG. 7. Then, by subtracting the number of dots in the uncleaned range 32 from the number of dots included in the dot sheet 7, the number of dots included in the cleaned range 31, or more accurately, the dots included in the cleaned range 31. Calculate the number of dots erased from the sheet 7. Since the area of the cleaning area 3 is known, the cleaning record information generation unit 14 calculates the area of the cleaned range 31 from the ratio of the number of dots included in the dot sheet 7 to the number of erased dots (step 140). ).
  • the cleaning record information generation unit 14 includes the area of the cleaned range 31 calculated as described above, the cleaned range information indicating the actual cleaned range 31, and the uncleaned range information indicating the uncleaned range 32. Information (FIG. 7) and cleaning record information including are output.
  • the management company charges the contractor for the cost of the cleaning work based on the cleaning record information generated by the cleaning record information generation unit 14. As described above, the cost charged to the contractor is based on the range actually cleaned by the cleaning robot 1, so when the cost is set according to the cleaning area in the facility, it is justified for the contractor. You can charge the cost.
  • the cleaning range information shown in FIG. 7 indicates a range that should be cleaned by the cleaning robot 1, such as an uncleaned range 32e, but cannot be actually cleaned. Therefore, the management company may pass the cleaning range information to the cleaning staff so that the cleaning staff can complementarily clean the range that the cleaning robot 1 could not clean. As a result, the entire cleaning area 3 under the contract can be cleaned.
  • the dots located in the actually cleaned range are erased from the dot sheet 7 in which a known number of dots are studded in the entire cleaning area 3 at predetermined intervals, and the dots remain on the dot sheet 7.
  • the area of the range actually cleaned in the cleaning area 3 is calculated based on the number of dots, in other words, the number of dots erased from the dot sheet 7.
  • the calculation accuracy can be improved by increasing the number of dots struck on the dot sheet 7.
  • the number of dots is increased until it cannot be obtained from the imaging data, for example, if the entire cleaning area 3 is increased to a level close to black painting, the number of dots can be counted by simple image processing. Therefore, it is preferable to appropriately set the interval between the dots by referring to the resolution of the image pickup data and the like.

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Abstract

The present invention makes it possible to correctly calculate the area cleaned by an autonomous cleaning robot even when the autonomous cleaning robot is incapable of cleaning according to plan. A cleaning monitoring device (10) comprises a cleaning history information generation unit (14) that calculates the area of the range actually cleaned in accordance with a program for making a cleaning robot (1) autonomously clean. The cleaning history information generation unit (14) lays the range actually cleaned by the cleaning robot (1), acquired by analyzing photograph data obtained by a monitoring camera (5) during a cleaning time window of the cleaning robot (1), over a dot sheet in which dots are laid over at prescribed intervals over an overall image of a cleaning area (3), and removes the dots within the actually cleaned range. The area of the actually cleaned range is then calculated from the ratio of the number of dots in the dot sheet and the number of removed dots.

Description

清掃システム及びプログラムCleaning system and program
　本発明は、清掃システム及びプログラム、特に自律走行型ロボットを使用した清掃作業に関する。 The present invention relates to a cleaning system and a program, particularly a cleaning operation using an autonomous traveling robot.
　ショッピングモールやビルなど比較的広大な床面積を持つ施設における清掃作業の効率化のために自律走行型の清掃ロボットが導入されてきている。施設の保守サービスを提供する管理会社は、施設側と清掃業務契約を締結し、業務の一環として施設の清掃業務を請け負う。 Autonomous driving type cleaning robots have been introduced to improve the efficiency of cleaning work in facilities with a relatively large floor area such as shopping malls and buildings. The management company that provides the maintenance service of the facility concludes a cleaning business contract with the facility side and undertakes the cleaning business of the facility as part of the business.
　管理会社は、清掃ロボットを利用して施設の清掃を行う場合、施設利用者のいない夜間に行う場合が少なくない。この場合、施設における所定の清掃範囲を清掃するよう清掃ロボットにプログラムする。清掃ロボットは、プログラムに従って所定の開始時刻になると清掃作業を実施する。 When cleaning a facility using a cleaning robot, the management company often does it at night when there are no facility users. In this case, the cleaning robot is programmed to clean a predetermined cleaning area in the facility. The cleaning robot performs cleaning work at a predetermined start time according to the program.
　ところで、清掃業務に関わる契約金は、施設内の清掃面積に応じて設定される場合がある。この場合、契約上の清掃範囲は既知なので、管理会社は、その清掃範囲全体を清掃できるように清掃ロボットにプログラムする。そして、その清掃範囲の面積に従って費用を請求する。 By the way, the contract fee for cleaning work may be set according to the cleaning area in the facility. In this case, since the contractual cleaning range is known, the management company programs the cleaning robot so that the entire cleaning range can be cleaned. Then, the cost is charged according to the area of the cleaning range.
特開２００４－３２６６９２号公報Japanese Unexamined Patent Publication No. 2004-326692 特開２０１８－０４３３５８号公報Japanese Unexamined Patent Publication No. 2018-0433358 特開２０１６－０８７１０６号公報Japanese Unexamined Patent Publication No. 2016-087106 特開２００９－１６５８２３号公報Japanese Unexamined Patent Publication No. 2009-165823
　しかしながら、清掃ロボットは、プログラムされた計画通りに掃除するとは限らない。例えば、清掃ロボットの足となるタイヤをモータで駆動して走行させる場合、施設内に傾斜のある場所が含まれていると走行距離に誤差が生じうる。また、床面が濡れていると、タイヤがスリップすることによって走行距離に誤差が生じうる。また、プログラムされた走行経路上に催事等によって什器等が一時的に置かれると、これが障害物となる場合がある。清掃ロボットには、障害物を回避するとともに元の走行経路上に戻る機能は搭載されている場合がある。しかしながら、走行経路上に戻る位置に誤差が生じうる。つまり、清掃ロボットは、所定の清掃範囲を清掃するようプログラムされても、プログラム通りに走行できるとは限らず、これにより計画された清掃範囲全体を清掃できるとは限らない。 However, the cleaning robot does not always clean according to the programmed plan. For example, when the tires that are the feet of the cleaning robot are driven by a motor to run, an error may occur in the mileage if the facility includes a sloped place. Further, if the floor surface is wet, the tire slips, which may cause an error in the mileage. In addition, if furniture or the like is temporarily placed on the programmed travel route due to an event or the like, this may become an obstacle. The cleaning robot may be equipped with a function to avoid obstacles and return to the original travel path. However, an error may occur in the position of returning to the traveling path. That is, even if the cleaning robot is programmed to clean a predetermined cleaning range, it may not always be able to travel according to the program, and thus may not be able to clean the entire planned cleaning range.
　前述したように、管理会社は、清掃面積に応じて清掃業務に関わる費用を契約者に請求するが、実際に清掃した範囲、すなわち実際の清掃面積を正しく導出できないと、過剰な請求をしてしまうことにもなりかねない。仮に契約通りに清掃できていたとしても、それを契約書に証明できるようにするのが望ましい。 As mentioned above, the management company charges the contractor for the cost related to the cleaning work according to the cleaning area, but if the actual cleaning range, that is, the actual cleaning area cannot be derived correctly, the management company makes an excessive charge. It can also end up. Even if the cleaning is done according to the contract, it is desirable to be able to prove it in the contract.
　本発明は、自律走行型清掃ロボットが計画通りに清掃できない場合であっても自律走行型清掃ロボットによる清掃面積を正しく計算できるようにすることを目的とする。 It is an object of the present invention to enable the autonomous traveling cleaning robot to correctly calculate the cleaning area even when the autonomous traveling cleaning robot cannot clean as planned.
　本発明に係る清掃システムは、自律走行型ロボットが清掃エリアのレイアウト情報に基づき作成された清掃指示情報に従って前記清掃エリアを清掃している間、前記清掃エリア全体を撮影する撮影手段と、前記撮影手段による撮影により生成された撮像データを解析することで、前記清掃エリア内において前記自律走行型ロボットが実際に清掃した範囲を特定する特定手段と、前記清掃エリアを示す画像に所定の間隔で点を散りばめて作成された点情報に含まれている点の数から前記自律走行型ロボットが実際に清掃していない範囲に含まれる点の数を減算した点の数に基づいて、前記自律走行型ロボットによる清掃範囲の面積を算出する算出手段と、を有することを特徴とする。 The cleaning system according to the present invention includes a photographing means for photographing the entire cleaning area and the photographing while the autonomous traveling robot is cleaning the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area. By analyzing the imaging data generated by the imaging by the means, the specific means for specifying the area actually cleaned by the autonomous traveling robot in the cleaning area and the image showing the cleaning area are pointed at predetermined intervals. The autonomous traveling type is based on the number of points obtained by subtracting the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information created by sprinkling. It is characterized by having a calculation means for calculating the area of a cleaning range by a robot.
　また、前記清掃エリア内において、前記自律走行型ロボットが実際に清掃していない範囲を示す未清掃範囲情報を生成する生成手段を有することを特徴とする。 Further, it is characterized by having a generation means for generating uncleaned range information indicating a range not actually cleaned by the autonomous traveling robot in the cleaning area.
　本発明に係るプログラムは、コンピュータを、自律走行型ロボットが清掃エリアのレイアウト情報に基づき作成された清掃指示情報に従って前記清掃エリアを清掃している間、撮影手段が前記清掃エリア全体を撮影することで生成された撮像データを解析することで、前記清掃エリア内において前記自律走行型ロボットが実際に清掃した範囲を特定する特定手段、前記清掃エリアを示す画像に所定の間隔で点を散りばめて作成された点情報に含まれている点の数から前記自律走行型ロボットが実際に清掃していない範囲に含まれる点の数を減算した点の数に基づいて、前記自律走行型ロボットによる清掃範囲の面積を算出する算出手段、として機能させる。 In the program according to the present invention, the photographing means photographs the entire cleaning area while the autonomous traveling robot cleans the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area. By analyzing the imaging data generated in the above, a specific means for specifying the area actually cleaned by the autonomous traveling robot in the cleaning area, created by interspersing dots at predetermined intervals in an image showing the cleaning area. The cleaning range by the autonomous traveling robot is based on the number of points obtained by subtracting the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information. It functions as a calculation means for calculating the area of.
　本発明によれば、自律走行型清掃ロボットが計画通りに清掃できない場合であっても自律走行型清掃ロボットによる清掃面積を正しく計算できるようにすることができる。 According to the present invention, even when the autonomous traveling type cleaning robot cannot clean as planned, it is possible to correctly calculate the cleaning area by the autonomous traveling type cleaning robot.
本発明に係る清掃システムの一実施の形態を示す全体構成図及び清掃システムに含まれる清掃監視装置のブロック構成を示す図である。It is an overall block diagram which shows one Embodiment of the cleaning system which concerns on this invention, and is the figure which shows the block composition of the cleaning monitoring apparatus included in the cleaning system. 本実施の形態におけるレイアウト情報記憶部に記憶されるレイアウト情報の一例を示す図である。It is a figure which shows an example of the layout information which is stored in the layout information storage part in this embodiment. 本実施の形態におけるドットシート記憶部に記憶されるドットシートの一例を示す図である。It is a figure which shows an example of the dot sheet stored in the dot sheet storage part in this embodiment. 本実施の形態において、作成されたプログラムに従って清掃ロボットが清掃作業を行うための走行経路を示す図である。In this embodiment, it is a figure which shows the traveling route for a cleaning robot to perform a cleaning work according to the created program. 本実施の形態における清掃実績情報生成処理を示すフローチャートである。It is a flowchart which shows the cleaning record information generation processing in this embodiment. 本実施の形態において、作成されたプログラムに従って清掃ロボットが清掃作業を正常に実施された場合における清掃範囲を示す図である。In this embodiment, it is a figure which shows the cleaning range in the case where the cleaning robot normally carries out the cleaning work according to the created program. 本実施の形態において、清掃ロボットが清掃作業を実際に実施したときに得られた清掃範囲を示す図である。In this embodiment, it is a figure which shows the cleaning range obtained when the cleaning robot actually performed a cleaning operation.
　以下、図面に基づいて、本発明の好適な実施の形態について説明する。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
　図１は、本発明に係る清掃システムの一実施の形態を示す全体構成図及び清掃システムに含まれる清掃監視装置１０のブロック構成を示す図である。また、図１には、自律走行型ロボット（以下、「清掃ロボット」という）１が清掃作業の対象とする清掃エリア３の概略図も示している。清掃エリア３は、例えば、ショッピングモールやビルなど比較的広大な床面積を持つ施設又はその一部である。清掃エリア３のレイアウトや面積は、既知の情報である。清掃エリア３には、建物の柱や、床置きされている物品等が清掃を行う場合の障害物４ａ，４ｂ，４ｃとなる。清掃エリア３が、例えばショッピングモールの場合は什器等が、ビル内のテナントの一室の場合は机、戸棚等が清掃を行う場合の障害物４ａ，４ｂ，４ｃとなる。これらの障害物４ａ，４ｂ，４ｃのある場所は、清掃ロボット１の清掃できない範囲となる。なお、以降の説明において、障害物４ａ，４ｂ，４ｃを区別して説明する必要がない場合は、「障害物４」と総称する。 FIG. 1 is an overall configuration diagram showing an embodiment of a cleaning system according to the present invention and a diagram showing a block configuration of a cleaning monitoring device 10 included in the cleaning system. Further, FIG. 1 also shows a schematic view of a cleaning area 3 that the autonomous traveling robot (hereinafter referred to as “cleaning robot”) 1 targets for cleaning work. The cleaning area 3 is, for example, a facility having a relatively large floor area such as a shopping mall or a building, or a part thereof. The layout and area of the cleaning area 3 are known information. In the cleaning area 3, pillars of the building, articles placed on the floor, and the like are obstacles 4a, 4b, and 4c when cleaning is performed. The cleaning area 3 is, for example, an obstacle 4a, 4b, 4c when a furniture or the like is used in the case of a shopping mall, and a desk, a cupboard or the like is used in the case of a tenant's room in the building. The locations where these obstacles 4a, 4b, and 4c are located are within the range that the cleaning robot 1 cannot clean. In the following description, when it is not necessary to distinguish the obstacles 4a, 4b, and 4c, they are collectively referred to as "obstacle 4".
　監視カメラ５は、１又は複数の台数によって清掃エリア３全体を撮影できるように設置される撮影手段である。監視システム６は、監視カメラ５を用いて施設を監視するシステムである。監視システム６は、監視カメラ５による撮影により生成される撮像データを蓄積するなど撮像データを管理する。 The surveillance camera 5 is a photographing means installed so that the entire cleaning area 3 can be photographed by one or a plurality of units. The surveillance system 6 is a system for monitoring a facility using a surveillance camera 5. The surveillance system 6 manages the imaging data such as accumulating the imaging data generated by the imaging by the surveillance camera 5.
　清掃ロボット１は、プログラムに従って自律走行しながら清掃作業を行う。清掃ロボット１は、清掃を行うための器具、走行するための走行手段、プログラムに従って清掃及び走行を制御するためのコントローラ等を備えている。コントローラは、プロセッサ、ＲＯＭ、ＲＡＭ及びプログラムを記憶するストレージ等の記憶手段、清掃監視装置１０との間の通信手段を有している。また、清掃ロボット１には、監視カメラ５による撮像データから清掃エリア３内における現在位置を探索されやすいようにマーカ１ａが取り付けられている。マーカ１ａは、清掃ロボット１の中心線上に取り付けられるのが好ましい。 The cleaning robot 1 performs cleaning work while autonomously traveling according to the program. The cleaning robot 1 includes an instrument for cleaning, a traveling means for traveling, a controller for controlling cleaning and traveling according to a program, and the like. The controller has a storage means such as a processor, a ROM, a RAM, and a storage for storing a program, and a communication means with the cleaning monitoring device 10. Further, a marker 1a is attached to the cleaning robot 1 so that the current position in the cleaning area 3 can be easily searched from the image data captured by the surveillance camera 5. The marker 1a is preferably mounted on the center line of the cleaning robot 1.
　清掃監視装置１０は、パーソナルコンピュータ（ＰＣ）等の従前から存在する汎用的なハードウェア構成で実現できる。すなわち、清掃監視装置１０は、プロセッサ、ＲＯＭ、ＲＡＭ、ハードディスクドライブ（ＨＤＤ）等の記憶手段、マウスやキーボード及び表示ディスプレイ等のユーザインタフェース、清掃ロボット１及び監視システム６との間でデータ通信を行うためのネットワークインタフェースを有している。 The cleaning monitoring device 10 can be realized by a conventional general-purpose hardware configuration such as a personal computer (PC). That is, the cleaning monitoring device 10 performs data communication with a storage means such as a processor, ROM, RAM, hard disk drive (HDD), a user interface such as a mouse, a keyboard, and a display, a cleaning robot 1, and a monitoring system 6. Has a network interface for.
　なお、本実施の形態における清掃監視装置１０は、監視システム６に含まれる監視カメラ５を利用して清掃エリア３全体を撮影範囲とした撮像データを得るように構成しているが、監視カメラ５を清掃監視装置１０に接続するよう構成してもよい。この場合、清掃監視装置１０は、監視カメラ５を接続するためのインタフェースを備える必要がある。 The cleaning monitoring device 10 in the present embodiment is configured to use the monitoring camera 5 included in the monitoring system 6 to obtain image pickup data with the entire cleaning area 3 as the shooting range. May be configured to be connected to the cleaning monitoring device 10. In this case, the cleaning monitoring device 10 needs to be provided with an interface for connecting the monitoring camera 5.
　清掃監視装置１０は、図１に示すようにプログラム作成部１１、ロボット制御部１２、画像取得部１３、清掃実績情報生成部１４、レイアウト情報記憶部１５、ドットシート記憶部１６及び清掃実績情報記憶部１７を有している。なお、本実施の形態において説明に用いない構成要素については図から省略している。 As shown in FIG. 1, the cleaning monitoring device 10 includes a program creation unit 11, a robot control unit 12, an image acquisition unit 13, a cleaning record information generation unit 14, a layout information storage unit 15, a dot sheet storage unit 16, and a cleaning record information storage unit. It has a part 17. The components not used in the description in this embodiment are omitted from the drawings.
　プログラム作成部１１は、清掃エリア３のレイアウト情報を参照して、清掃ロボット１が自律走行により清掃作業を行うためのプログラムを作成する。ロボット制御部１２は、清掃ロボット１の動作を制御する。例えば、プログラム作成部１１が作成したプログラムを清掃ロボット１に無線によりダウンロードすることで清掃作業に関する指示を行う。画像取得部１３は、清掃エリア３を撮影範囲とする撮像データを監視システム６から取得する。特に、本実施の形態では、清掃ロボット１の清掃作業時間帯を含む撮像データを取得する。清掃実績情報生成部１４は、画像取得部１３が取得した撮像データを解析することで、清掃ロボット１が実際に清掃した実績を示す清掃実績情報を生成する。詳細は後述するように、清掃実績情報には、清掃エリア３において清掃ロボット１が実際に清掃した範囲及び清掃していない範囲を示す範囲特定情報や清掃ロボット１が実際に清掃した範囲の面積が含まれる。 The program creation unit 11 refers to the layout information of the cleaning area 3 and creates a program for the cleaning robot 1 to perform cleaning work by autonomous driving. The robot control unit 12 controls the operation of the cleaning robot 1. For example, the program created by the program creation unit 11 is wirelessly downloaded to the cleaning robot 1 to give instructions regarding cleaning work. The image acquisition unit 13 acquires image pickup data having the cleaning area 3 as the imaging range from the monitoring system 6. In particular, in the present embodiment, the image pickup data including the cleaning work time zone of the cleaning robot 1 is acquired. The cleaning record information generation unit 14 analyzes the image pickup data acquired by the image acquisition unit 13 to generate cleaning record information indicating the actual cleaning results of the cleaning robot 1. As will be described in detail later, the cleaning record information includes range specific information indicating the range actually cleaned by the cleaning robot 1 and the range not cleaned in the cleaning area 3 and the area of the range actually cleaned by the cleaning robot 1. included.
　図２は、レイアウト情報記憶部１５に記憶されるレイアウト情報の一例を示す図である。具体的には、図１に示す清掃エリア３のレイアウトを示す平面図である。 FIG. 2 is a diagram showing an example of layout information stored in the layout information storage unit 15. Specifically, it is a plan view which shows the layout of the cleaning area 3 shown in FIG.
　図３は、ドットシート記憶部１６に記憶されるドットシートの一例を示す図である。ドットシート７は、清掃エリア３を示す画像、具体的には図２と同様に清掃エリア３を示す平面図に、所定の間隔でドット（「点」ともいう）を散りばめて作成された画像である。本実施の形態では、ドットシート７を「点情報」とも称する。後述する説明から明らかになるが、清掃ロボット１による清掃面積を算出するためには、清掃エリア３内に所定の間隔にて多数のドットを打つのが好ましい。例えば、清掃エリア３において１０ｃｍ間隔でドットを打つ。ドットの数が多いほど清掃面積を高精度に算出できる。ドットシート７に含まれるドットの数は、既知である。 FIG. 3 is a diagram showing an example of a dot sheet stored in the dot sheet storage unit 16. The dot sheet 7 is an image showing the cleaning area 3, specifically, an image created by interspersing dots (also referred to as “dots”) at predetermined intervals on a plan view showing the cleaning area 3 as in FIG. be. In the present embodiment, the dot sheet 7 is also referred to as "point information". As will be clarified from the explanation described later, in order to calculate the cleaning area by the cleaning robot 1, it is preferable to strike a large number of dots in the cleaning area 3 at predetermined intervals. For example, dots are struck at intervals of 10 cm in the cleaning area 3. The larger the number of dots, the more accurate the cleaning area can be calculated. The number of dots contained in the dot sheet 7 is known.
　清掃実績情報記憶部１７には、清掃実績情報生成部１４が生成した清掃実績情報が記憶される。 The cleaning record information storage unit 17 stores the cleaning record information generated by the cleaning record information generation unit 14.
　清掃監視装置１０における各構成要素１１～１４は、清掃監視装置１０を形成するコンピュータと、コンピュータに搭載されたＣＰＵで動作するプログラムとの協調動作により実現される。また、各記憶部１５～１７は、清掃監視装置１０に搭載されたＨＤＤにて実現される。あるいは、ＲＡＭ又は外部にある記憶手段をネットワーク経由で利用してもよい。 Each component 11 to 14 in the cleaning monitoring device 10 is realized by a cooperative operation between the computer forming the cleaning monitoring device 10 and the program operated by the CPU mounted on the computer. Further, each of the storage units 15 to 17 is realized by the HDD mounted on the cleaning monitoring device 10. Alternatively, RAM or an external storage means may be used via the network.
　また、本実施の形態で用いるプログラムは、通信手段により提供することはもちろん、ＣＤ－ＲＯＭやＵＳＢメモリ等のコンピュータ読み取り可能な記録媒体に格納して提供することも可能である。通信手段や記録媒体から提供されたプログラムはコンピュータにインストールされ、コンピュータのＣＰＵがプログラムを順次実行することで各種処理が実現される。 Further, the program used in the present embodiment can be provided not only by communication means but also by storing it in a computer-readable recording medium such as a CD-ROM or a USB memory. Programs provided from communication means and recording media are installed in a computer, and various processes are realized by sequentially executing the programs by the CPU of the computer.
　次に、本実施の形態における動作について説明する。 Next, the operation in this embodiment will be described.
　本実施の形態では、清掃ロボット１に清掃エリア３を清掃させるために、プログラム作成部１１は、レイアウト情報記憶部１５に記憶されている清掃エリア３のレイアウト情報を参照して、清掃ロボット１が清掃作業を行うためのプログラムを作成する。 In the present embodiment, in order to cause the cleaning robot 1 to clean the cleaning area 3, the program creation unit 11 refers to the layout information of the cleaning area 3 stored in the layout information storage unit 15, and the cleaning robot 1 uses the cleaning robot 1. Create a program for cleaning work.
　図４は、プログラム作成部１１が作成するプログラムに従って清掃ロボット１が清掃エリア３を清掃するための走行経路を示す図である。清掃ロボット１は、一般に、起点８となる位置から清掃を開始し、起点８を終点とするようプログラムにより動作制御される。図４には、清掃ロボット１の走行経路９が示されている。この走行経路９に従って清掃を行うと、契約範囲である清掃エリア３全体をまんべんなく清掃することが可能となる。 FIG. 4 is a diagram showing a traveling route for the cleaning robot 1 to clean the cleaning area 3 according to the program created by the program creation unit 11. Generally, the cleaning robot 1 starts cleaning from a position at the starting point 8, and its operation is controlled by a program so that the starting point 8 is the ending point. FIG. 4 shows a traveling path 9 of the cleaning robot 1. If cleaning is performed according to the traveling route 9, it is possible to evenly clean the entire cleaning area 3 which is the contracted range.
　ロボット制御部１２は、以上のようにしてプログラム作成部１１が作成したプログラムを清掃ロボット１にダウンロードする。これにより、清掃ロボット１は、ダウンロードされたプログラムに従って清掃エリア３における清掃を自律的に行うことが可能になる。 The robot control unit 12 downloads the program created by the program creation unit 11 as described above to the cleaning robot 1. As a result, the cleaning robot 1 can autonomously perform cleaning in the cleaning area 3 according to the downloaded program.
　なお、以上説明した、プログラム作成部１１におけるプログラムの作成処理及び清掃ロボット１へのプログラムの設定は、従前と同様の技術を利用して実施してもよい。 The program creation process in the program creation unit 11 and the setting of the program in the cleaning robot 1 described above may be carried out by using the same technology as before.
　続いて、起点８にてスタンバイ状態の清掃ロボット１は、プログラムに従って所定の時刻になると清掃作業を開始する。監視カメラ５は、清掃ロボット１が清掃を開始してから終了するまでの間、清掃エリア３全体を撮影する。このようにして監視カメラ５による撮影により生成された撮像データは、監視システム６に蓄積される。 Subsequently, the cleaning robot 1 in the standby state at the starting point 8 starts the cleaning work at a predetermined time according to the program. The surveillance camera 5 photographs the entire cleaning area 3 from the start to the end of the cleaning by the cleaning robot 1. The image pickup data generated by the shooting by the surveillance camera 5 in this way is stored in the surveillance system 6.
　続いて、清掃監視装置１０が撮像データを解析して清掃実績情報を生成する処理について、図５に示すフローチャートを用いて説明する。 Subsequently, the process in which the cleaning monitoring device 10 analyzes the imaging data and generates the cleaning record information will be described with reference to the flowchart shown in FIG.
　予定されていた清掃ロボット１の清掃作業の終了時刻又は終了時刻から所定時間経過すると、画像取得部１３は、監視システム６から、清掃ロボット１による清掃作業時間帯に撮影された清掃エリア３の撮像データを取得する（ステップ１１０）。なお、画像取得部１３は、清掃作業が終了してから撮像データをまとめて取得するのではなく、清掃作業が開始されてから終了するまでの間、撮像データを逐次取得するように動作してもよい。 When a predetermined time has elapsed from the scheduled end time or the end time of the cleaning work of the cleaning robot 1, the image acquisition unit 13 takes an image of the cleaning area 3 taken by the cleaning robot 1 during the cleaning work time zone from the monitoring system 6. Acquire data (step 110). The image acquisition unit 13 does not collectively acquire the imaging data after the cleaning work is completed, but operates to sequentially acquire the imaging data from the start to the end of the cleaning operation. May be good.
　撮像データが取得されると、清掃実績情報生成部１４は、次のようにして清掃実績情報を生成する。 When the imaging data is acquired, the cleaning record information generation unit 14 generates the cleaning record information as follows.
　まず、清掃実績情報生成部１４は、撮像データを解析することで清掃ロボット１の走行経路を検出する（ステップ１２０）。具体的には、清掃実績情報生成部１４は、清掃ロボット１に取り付けられているマーカ１ａを撮像データから検出することによって清掃ロボット１における現在位置を特定することができるので、撮像データにおける現在位置の遷移が清掃ロボット１の走行経路となる。 First, the cleaning record information generation unit 14 detects the traveling route of the cleaning robot 1 by analyzing the imaging data (step 120). Specifically, the cleaning result information generation unit 14 can specify the current position in the cleaning robot 1 by detecting the marker 1a attached to the cleaning robot 1 from the image pickup data, so that the current position in the image pickup data can be specified. The transition of is the travel path of the cleaning robot 1.
　続いて、清掃実績情報生成部１４は、検出した走行経路から清掃ロボット１における実際の清掃範囲を特定する（ステップ１３０）。前述したように、マーカ１ａは、清掃ロボット１の中心線上に設けられている。また、清掃ロボット１の幅、より詳細には清掃ロボット１の移動方向に対する幅方向の清掃範囲は既知の情報なので、清掃実績情報生成部１４は、撮像データから検出したマーカ１ａの位置と清掃ロボット１における幅方向の清掃範囲から、清掃ロボット１が各地点にいるときの幅方向の清掃範囲は特定できる。そして、各地点における清掃範囲を時系列的につなげることによって、清掃エリア３全体における実際の清掃範囲を特定できる。 Subsequently, the cleaning record information generation unit 14 specifies the actual cleaning range in the cleaning robot 1 from the detected travel path (step 130). As described above, the marker 1a is provided on the center line of the cleaning robot 1. Further, since the width of the cleaning robot 1, more specifically, the cleaning range in the width direction with respect to the moving direction of the cleaning robot 1 is known information, the cleaning result information generation unit 14 determines the position of the marker 1a detected from the imaging data and the cleaning robot. From the cleaning range in the width direction in 1, the cleaning range in the width direction when the cleaning robot 1 is at each point can be specified. Then, by connecting the cleaning ranges at each point in chronological order, the actual cleaning range in the entire cleaning area 3 can be specified.
　なお、本実施の形態では、清掃ロボット１に取り付けたマーカ１ａを基準に清掃ロボット１における清掃範囲を特定するようにしたが、必ずしもこの清掃範囲の特定方法に従う必要はない。例えば、撮像データからマーカ１ａを探し出さずに、大型清掃ロボット１の幅を幅方向の清掃範囲とみなして、清掃ロボット１の本体の画像のみを抽出するように処理してもよい。 In the present embodiment, the cleaning range in the cleaning robot 1 is specified based on the marker 1a attached to the cleaning robot 1, but it is not always necessary to follow the method for specifying the cleaning range. For example, instead of searching for the marker 1a from the image pickup data, the width of the large cleaning robot 1 may be regarded as the cleaning range in the width direction, and only the image of the main body of the cleaning robot 1 may be extracted.
　清掃エリア３全体における実際の清掃範囲を特定すると、清掃実績情報生成部１４は、特定した清掃範囲を図３に示すドットシート７とを重ね、そしてドットシート７において特定した清掃範囲内に位置するドットを削除する。 When the actual cleaning range in the entire cleaning area 3 is specified, the cleaning result information generation unit 14 overlaps the specified cleaning range with the dot sheet 7 shown in FIG. 3, and is located within the cleaning range specified in the dot sheet 7. Delete the dot.
　図６は、本実施の形態において、清掃ロボット１が作成されたプログラムに従って清掃作業を正常に実施した場合における清掃範囲を示す図である。つまり、図６は、清掃ロボット１が図４に示すようにプログラムに基づく走行経路９に沿って走行できた場合の清掃範囲を示す図である。図６において、ドットのない白色の領域が清掃された範囲（以下、「清掃済み範囲」という）３１を示す。一方、ドットが残っている領域が清掃されていない未清掃範囲３２ａ，３２ｂ，３２ｃ，３２ｄを示す。なお、以降の説明において未清掃範囲に該当する範囲を区別して説明する必要がない場合には、「未清掃範囲３２」と総称する。本実施の形態において、清掃エリア３から、清掃ロボット１による清掃範囲とドットシート７から得られる清掃済み範囲３１を除いた範囲が未清掃範囲３２となる。 FIG. 6 is a diagram showing a cleaning range when the cleaning work is normally performed according to the program created by the cleaning robot 1 in the present embodiment. That is, FIG. 6 is a diagram showing a cleaning range when the cleaning robot 1 can travel along the travel path 9 based on the program as shown in FIG. In FIG. 6, a white area without dots is shown as a cleaned area (hereinafter referred to as “cleaned area”) 31. On the other hand, the uncleaned areas 32a, 32b, 32c, and 32d in which the areas where the dots remain are not cleaned are shown. When it is not necessary to distinguish and explain the range corresponding to the uncleaned range in the following description, it is collectively referred to as "uncleaned range 32". In the present embodiment, the uncleaned range 32 is the range excluding the cleaning range by the cleaning robot 1 and the cleaned range 31 obtained from the dot sheet 7 from the cleaning area 3.
　清掃ロボット１は、プログラムに従って清掃エリア３全体を清掃するが、仕様上、図６に示すように清掃エリア３の縁、例えば清掃エリア３が部屋の場合は部屋の壁近傍が未清掃範囲３２ａとなる。また、障害物４との境目部分がそれぞれ未清掃範囲３２ｂ，３２ｃ，３２ｄとなる。そして、図６に示す清掃済み範囲３１が、清掃ロボット１がプログラムに従って清掃作業を正常に実施した場合における清掃範囲となる。 The cleaning robot 1 cleans the entire cleaning area 3 according to the program, but due to the specifications, as shown in FIG. 6, the edge of the cleaning area 3, for example, when the cleaning area 3 is a room, the area near the wall of the room is the uncleaned range 32a. Become. Further, the boundary portion with the obstacle 4 is the uncleaned range 32b, 32c, 32d, respectively. The cleaned range 31 shown in FIG. 6 is the cleaning range when the cleaning robot 1 normally performs the cleaning work according to the program.
　図７は、本実施の形態において、清掃ロボット１が清掃作業を実際に実施したときに得られた清掃範囲を示す図である。つまり、監視カメラ５による撮像データから得られた清掃ロボット１による実際の清掃範囲を示す図である。図７は、図６に対応する図であり、白色の領域が清掃済み範囲３１を示し、ドットが残っている領域が未清掃範囲３２を示している。図７には、清掃ロボット１が図６に示す清掃済み範囲３１が清掃できるようにプログラムに従って清掃したものの、図示しない障害物によって清掃できない未清掃範囲３２が予定以上にあった場合が示されている。具体的には、清掃エリア３の壁近傍に床置きされた障害物によって未清掃範囲３２ｅが、障害物４ｂ，４ｃの間に床置きされた障害物によって未清掃範囲３２ｆが、障害物４ａと障害物４ｂとの間であって障害物４ｂ付近に床置きされた障害物によって未清掃範囲３２ｇが、それぞれ形成されてしまった場合の例が示されている。 FIG. 7 is a diagram showing a cleaning range obtained when the cleaning robot 1 actually performs the cleaning work in the present embodiment. That is, it is a figure which shows the actual cleaning range by the cleaning robot 1 obtained from the image pickup data by a surveillance camera 5. FIG. 7 is a diagram corresponding to FIG. 6, in which the white area indicates the cleaned area 31 and the area where the dots remain indicates the uncleaned area 32. FIG. 7 shows a case where the cleaning robot 1 has cleaned the cleaned range 31 shown in FIG. 6 according to a program, but the uncleaned range 32 that cannot be cleaned due to an obstacle (not shown) is more than planned. There is. Specifically, the uncleaned range 32e due to the obstacle placed on the floor near the wall of the cleaning area 3 and the uncleaned range 32f due to the obstacle placed on the floor between the obstacles 4b and 4c become the obstacle 4a. An example is shown in which an uncleaned range of 32 g is formed by an obstacle placed on the floor in the vicinity of the obstacle 4b between the obstacle 4b and the obstacle 4b.
　ここで、清掃実績情報生成部１４は、図７に示す範囲特定情報を解析することで、未清掃範囲３２におけるドットの数を取得する。そして、ドットシート７に含まれるドットの数から未清掃範囲３２におけるドットの数を減算することで、清掃済み範囲３１に含まれるドットの数、正確には清掃済み範囲３１に含まれることからドットシート７から消去されたドットの数を算出する。清掃エリア３の面積は既知なので、清掃実績情報生成部１４は、ドットシート７に含まれるドットの数と、消去されたドットの数の比から、清掃済み範囲３１の面積が算出する（ステップ１４０）。 Here, the cleaning record information generation unit 14 acquires the number of dots in the uncleaned range 32 by analyzing the range specifying information shown in FIG. 7. Then, by subtracting the number of dots in the uncleaned range 32 from the number of dots included in the dot sheet 7, the number of dots included in the cleaned range 31, or more accurately, the dots included in the cleaned range 31. Calculate the number of dots erased from the sheet 7. Since the area of the cleaning area 3 is known, the cleaning record information generation unit 14 calculates the area of the cleaned range 31 from the ratio of the number of dots included in the dot sheet 7 to the number of erased dots (step 140). ).
　清掃実績情報生成部１４は、以上のようにして算出した清掃済み範囲３１の面積と、実際の清掃済み範囲３１を示す清掃済み範囲情報及び未清掃範囲３２を示す未清掃範囲情報を含む清掃範囲情報（図７）と、を含む清掃実績情報を出力する。 The cleaning record information generation unit 14 includes the area of the cleaned range 31 calculated as described above, the cleaned range information indicating the actual cleaned range 31, and the uncleaned range information indicating the uncleaned range 32. Information (FIG. 7) and cleaning record information including are output.
　管理会社は、清掃実績情報生成部１４が生成した清掃実績情報に基づき清掃作業にかかった費用を契約者に請求する。前述したように、契約者に請求する費用は、清掃ロボット１により実際に清掃した範囲に基づくものであるため、施設内の清掃面積に応じて費用を設定する場合、契約者に対して正当な費用を請求することができる。 The management company charges the contractor for the cost of the cleaning work based on the cleaning record information generated by the cleaning record information generation unit 14. As described above, the cost charged to the contractor is based on the range actually cleaned by the cleaning robot 1, so when the cost is set according to the cleaning area in the facility, it is justified for the contractor. You can charge the cost.
　ところで、図７に示す清掃範囲情報には、未清掃範囲３２ｅなどのように清掃ロボット１によって清掃されるべきところが実際には清掃できなかった範囲が示されている。従って、管理会社は、清掃範囲情報を清掃員に渡すことによって、清掃ロボット１が清掃できなかった範囲を清掃員に補完的に清掃させるようにしてもよい。これにより、契約上の清掃エリア３全体を清掃することができる。 By the way, the cleaning range information shown in FIG. 7 indicates a range that should be cleaned by the cleaning robot 1, such as an uncleaned range 32e, but cannot be actually cleaned. Therefore, the management company may pass the cleaning range information to the cleaning staff so that the cleaning staff can complementarily clean the range that the cleaning robot 1 could not clean. As a result, the entire cleaning area 3 under the contract can be cleaned.
　なお、本実施の形態においては、清掃エリア３全体に既知数のドットを所定の間隔にてちりばめたドットシート７から実際に清掃された範囲に位置するドットを消去して、ドットシート７に残るドットの数、換言するとドットシート７から消去されたドットの数に基づいて清掃エリア３において実際に清掃された範囲の面積を算出するようにした。ドットシート７に打つドットの数を増やすことによって算出精度を向上させることができる。ただ、ドットの数が撮像データから得られなくなるまで増やしてしまうと、例えば、清掃エリア３全体が黒塗りに近いレベルまで増やしてしまうと、簡単な画像処理にてドットの数を数えることができなくなるので、各ドットの間隔は、撮像データの解像度等を参照にして適当に設けておくのが好ましい。 In the present embodiment, the dots located in the actually cleaned range are erased from the dot sheet 7 in which a known number of dots are studded in the entire cleaning area 3 at predetermined intervals, and the dots remain on the dot sheet 7. The area of the range actually cleaned in the cleaning area 3 is calculated based on the number of dots, in other words, the number of dots erased from the dot sheet 7. The calculation accuracy can be improved by increasing the number of dots struck on the dot sheet 7. However, if the number of dots is increased until it cannot be obtained from the imaging data, for example, if the entire cleaning area 3 is increased to a level close to black painting, the number of dots can be counted by simple image processing. Therefore, it is preferable to appropriately set the interval between the dots by referring to the resolution of the image pickup data and the like.
　１　清掃ロボット、１ａ　マーカ、３　清掃エリア、４ａ，４ｂ，４ｃ　障害物、５　監視カメラ、６　監視システム、７　ドットシート、８　起点、９　走行経路、１０　清掃監視装置、１１　プログラム作成部、１２　ロボット制御部、１３　画像取得部、１４　清掃実績情報生成部、１５　レイアウト情報記憶部、１６　ドットシート記憶部、１７　清掃実績情報記憶部、３１　清掃済み範囲、３２ａ，３２ｂ，３２ｃ，３２ｄ，３２ｅ，３２ｆ，３２ｇ　未清掃範囲。
  1 Cleaning robot, 1a marker, 3 Cleaning area, 4a, 4b, 4c Obstacles, 5 Surveillance camera, 6 Surveillance system, 7 Dot sheet, 8 origin, 9 Travel route, 10 Cleaning monitoring device, 11 Program creation unit, 12 Robot Control unit, 13 image acquisition unit, 14 cleaning record information generation unit, 15 layout information storage unit, 16 dot sheet storage unit, 17 cleaning record information storage unit, 31 cleaned range, 32a, 32b, 32c, 32d, 32e, 32f , 32g Uncleaned range.

Claims (3)

  1. 　自律走行型ロボットが清掃エリアのレイアウト情報に基づき作成された清掃指示情報に従って前記清掃エリアを清掃している間、前記清掃エリア全体を撮影する撮影手段と、
    　前記撮影手段による撮影により生成された撮像データを解析することで、前記清掃エリア内において前記自律走行型ロボットが実際に清掃した範囲を特定する特定手段と、
    　前記清掃エリアを示す画像に所定の間隔で点を散りばめて作成された点情報に含まれている点の数から前記自律走行型ロボットが実際に清掃していない範囲に含まれる点の数を減算した点の数に基づいて、前記自律走行型ロボットによる清掃範囲の面積を算出する算出手段と、
    　を有することを特徴とする清掃システム。     While the autonomous traveling robot is cleaning the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area, the photographing means for photographing the entire cleaning area and the photographing means.
    By analyzing the imaging data generated by the imaging by the imaging means, the specific means for specifying the range actually cleaned by the autonomous traveling robot in the cleaning area and the specific means.
    Subtract the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information created by scattering points at predetermined intervals in the image showing the cleaning area. A calculation means for calculating the area of the cleaning range by the autonomous traveling robot based on the number of points, and a calculation means.
    A cleaning system characterized by having.
  2. 　前記清掃エリア内において、前記自律走行型ロボットが実際に清掃していない範囲を示す未清掃範囲情報を生成する生成手段を有することを特徴とする請求項１に記載の清掃システム。 The cleaning system according to claim 1, further comprising a generation means for generating uncleaned range information indicating a range not actually cleaned by the autonomous traveling robot in the cleaning area.
  3. 　コンピュータを、
    　自律走行型ロボットが清掃エリアのレイアウト情報に基づき作成された清掃指示情報に従って前記清掃エリアを清掃している間、撮影手段が前記清掃エリア全体を撮影することで生成された撮像データを解析することで、前記清掃エリア内において前記自律走行型ロボットが実際に清掃した範囲を特定する特定手段、
    　前記清掃エリアを示す画像に所定の間隔で点を散りばめて作成された点情報に含まれている点の数から前記自律走行型ロボットが実際に清掃していない範囲に含まれる点の数を減算した点の数に基づいて、前記自律走行型ロボットによる清掃範囲の面積を算出する算出手段、
    　として機能させるためのプログラム。
          Computer,
    While the autonomous traveling robot is cleaning the cleaning area according to the cleaning instruction information created based on the layout information of the cleaning area, the photographing means analyzes the imaging data generated by photographing the entire cleaning area. A specific means for specifying the area actually cleaned by the autonomous traveling robot in the cleaning area.
    Subtract the number of points included in the range not actually cleaned by the autonomous traveling robot from the number of points included in the point information created by scattering points at predetermined intervals in the image showing the cleaning area. A calculation means for calculating the area of the cleaning range by the autonomous traveling robot based on the number of points.
    A program to function as.
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