WO2023119637A1 - Cleaning outcome determination system and cleaning outcome determination method - Google Patents

Abstract

Each first information processing device (40) manages cleaning work of a cleaning robot (10). A second information processing device (60) determines whether the cleaning work managed by each first information processing device (40) was performed normally. A third information processing device (50) is communicatively connected to the plurality of first information processing devices (40) and the second information processing device (60), and controls the plurality of first information processing devices (40). Each first information processing device (40) implements the cleaning work of the corresponding cleaning robot (10) in accordance with cleaning instructions from the third information processing device (50), and transmits cleaning results data indicating the results of the cleaning work of the cleaning robot (10) to the second information processing device (60). For each first information processing device (40), the second information processing device (60) determines whether the cleaning work was performed normally by comparing the cleaning results data to a determination standard that is shared among the plurality of first information processing devices (40).

Description

Cleaning result determination system and cleaning result determination method

The present disclosure relates to a cleaning result determination system and a cleaning result determination method.

Japanese Patent Laying-Open No. 2020-130217 (Patent Document 1) discloses a controller that manages cleaning work by an autonomously traveling vacuum cleaner (cleaning robot). The controller can communicate with a weight sensor provided on the cleaning robot. The cleaning robot transmits the weight information of the garbage weighed by the weight sensor to the controller. The controller calculates the amount of residual dust that can exist in the building based on the weight information, and determines that cleaning is necessary when the calculated amount of residual dust is equal to or greater than a predetermined value.

Japanese Patent Application Laid-Open No. 2020-130217

For example, when a building management company entrusts cleaning work for multiple buildings to multiple cleaning companies, the cleaning management device owned by each cleaning company may manage the cleaning work by the cleaning robot. In such a case, if each cleaning management device sets its own judgment criteria and uses the judgment criteria to judge whether or not the cleaning work has been carried out normally as planned, even if the cleaning state is the same, The determination result may differ depending on the cleaning management device. As a result, there is concern that quality of cleaning work may vary among the plurality of cleaning management devices.

The present disclosure has been made to solve such a problem, and an object of the present disclosure is to provide a method in which, in a situation where a plurality of cleaning management devices are caused to perform cleaning work, cleaning work by each cleaning management device can be performed normally as scheduled. It is an object of the present invention to provide a cleaning result determination system and a cleaning result determination method that can justly determine whether or not cleaning has been performed.

A cleaning result determination system according to the present disclosure includes a plurality of first information processing devices, a second information processing device, and a third information processing device. Each of the plurality of first information processing devices manages cleaning work by an autonomous mobile cleaning robot. The second information processing device determines whether or not the cleaning work by each of the plurality of first information processing devices has been performed normally. The third information processing device is communicatively connected to the plurality of first information processing devices and the second information processing device, and supervises the plurality of first information processing devices. Each of the plurality of first information processing devices performs cleaning work by the corresponding cleaning robot according to the cleaning instruction from the third information processing device, and sends cleaning performance data indicating the performance of the cleaning work by the cleaning robot to the second information processing device. to the information processing device. The second information processing device compares the cleaning performance data of each of the plurality of first information processing devices with a criterion common to the plurality of first information processing devices to determine whether the cleaning work is normal. It is determined whether or not the

A cleaning result determination method according to the present disclosure comprises the steps of: managing cleaning work by an autonomous mobile cleaning robot in each of a plurality of cleaning systems by a first information processing device; and determining, by the second information processing device, whether or not the method has been implemented. The step of managing includes a step of performing cleaning work by the cleaning robot by the first information processing device according to a cleaning instruction from a third information processing device that supervises the plurality of first information processing devices; and sending, by the processing device, cleaning performance data indicating performance of cleaning work by the cleaning robot to the second information processing device. In the step of determining, for each of the plurality of cleaning systems, the cleaning performance data is compared with a criterion common among the plurality of cleaning systems to obtain second information as to whether or not the cleaning work has been performed normally. determining by the processing device.

According to the present disclosure, in a situation where a plurality of cleaning management devices are caused to perform cleaning work, it is possible to justly determine whether or not the cleaning work by each cleaning management device has been performed normally as planned.

It is a figure showing the whole cleaning result judging system composition according to an embodiment. It is a figure which shows the structural example of a cleaning system. It is a figure which shows the structural example of a cleaning robot. It is a figure which shows the hardware constitutions of a server. It is a figure for demonstrating the procedure of the determination process of the cleaning work in a cleaning result determination system. It is a figure which shows an example of the information relevant to process ST4 among the information managed in a server. It is a figure which shows an example of a contract information table. It is a figure which shows an example of a cleaning schedule table. It is a figure which shows an example of a cleaning track record table. It is a figure which shows an example of a cleaning contract range and a cleaning performance range. It is a figure which shows an example of a cleaning range table. It is a figure which shows an example of a dust concentration table. It is a figure which shows an example of the information relevant to process ST4 among the information managed in a server. It is a figure which shows an example of a determination result table. It is a figure which shows an example of the information relevant to process ST5 among the information managed in a server. It is a figure which shows an example of an aggregation result table. FIG. 6 is a flowchart showing an example of a procedure of processing ST3 in FIG. 5; FIG. FIG. 6 is a flowchart showing an example of a procedure of processing ST4 in FIG. 5; FIG. FIG. 6 is a flowchart showing an example of a procedure of processing ST4 in FIG. 5; FIG. FIG. 6 is a flowchart showing an example of a procedure of processing ST5 in FIG. 5; FIG.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and the description thereof will not be repeated.

<Configuration of cleaning result determination system>
FIG. 1 is a diagram showing the overall configuration of a cleaning result determination system according to an embodiment of the present disclosure. Referring to FIG. 1 , cleaning result determination system 100 includes a plurality of cleaning systems 45A and 45B, management device 55 and cleaning result determination device 65 .

Each of the plurality of cleaning systems 45A, 45B is configured to clean the floor 20 to be cleaned using the cleaning robot 10, which is an autonomous mobile cleaner. Although two cleaning systems 45A, 45B are shown in the example of FIG. 1, the number of cleaning systems may be two or more. Hereinafter, cleaning systems 45A and 45B may be collectively referred to as "cleaning system 45".

FIG. 2 is a diagram showing a configuration example of the cleaning system 45. As shown in FIG. Referring to FIG. 2, the cleaning system 45 includes a cleaning robot 10, a plurality of wireless communication devices 30-1, 30-2, 30-3, and a server 40. Hereinafter, the radio communication devices 30-1, 30-2, and 30-3 may be collectively referred to as "the radio communication devices 30".

The cleaning robot 10 is an autonomous mobile vacuum cleaner. The cleaning robot 10 is equipped with a battery, and can run on the floor 20 to be cleaned using electric power stored in the battery. A cleaning member for sucking dust is provided on the bottom or lower side of the cleaning robot 10, and the cleaning robot 10 can clean the floor 20 using the cleaning member while moving autonomously.

A wireless communication device 11 is provided in the cleaning robot 10 . The wireless communication device 11 transmits a signal for detecting the position of the cleaning robot 10 using, for example, a communication method conforming to the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method conforming to the UWB (Ultra Wide Band) communication standard or the like may be used. In addition, the wireless communication device 11 uses a communication method conforming to a wireless communication standard such as LTE (Long Term Evolution), for example, and uses an ID for identifying the cleaning robot 10 and a signal indicating the start/end of cleaning of the cleaning robot 10. etc. to the server 40 .

The wireless communication devices 30-1, 30-2, and 30-3 are installed, for example, on the ceiling 35 at appropriate distances, and use the same communication method as the wireless communication device 11 of the cleaning robot 10 to communicate with the cleaning robot. 10, and detects the strength of the received signal. The number of wireless communication devices 30 is not limited. The position of the cleaning robot 10 on the floor 20 can be measured from the reception strength of each wireless communication device 30 . The wireless communication device 30 outputs the reception strength of the signal received from the cleaning robot 10 to the server 40 . Wireless communication device 30 may be installed on a wall.

The server 40 manages the cleaning work by the cleaning robot 10. The server 40 receives the reception strength of the signal received by the wireless communication device 30 from each wireless communication device 30 and measures the position of the cleaning robot 10 on the floor 20 based on the reception strength of each wireless communication device 30 . Then, the server 40 uses the signal from the wireless communication device 30 to generate cleaning performance data indicating the performance of the cleaning work by the cleaning robot 10 . The server 40 corresponds to an example of "first information processing apparatus". Server 40 will be described later in detail.

FIG. 3 is a diagram showing a configuration example of the cleaning robot 10. As shown in FIG. Referring to FIG. 3 , cleaning robot 10 includes wireless communication device 11 , camera 12 , control unit 13 , driving unit 14 , battery 15 , cleaning member 16 and dust concentration meter 17 .

　The wireless communication device 11 transmits a signal for detecting the position of the cleaning robot 10, for example, using a communication method conforming to the BLE communication standard, as described in FIG. The wireless communication device 11 uses a communication method conforming to a wireless communication standard such as LTE, for example, to indicate an ID for identifying the cleaning robot 10, a cleaning start signal indicating the start of cleaning by the cleaning robot 10, and an end of cleaning. Various information such as a cleaning end signal, the dust concentration measured by the dust concentration meter 17 before starting cleaning, and the dust concentration measured by the dust concentration meter 17 after cleaning is sent to the server 40 .

The camera 12 captures an image of the surroundings of the cleaning robot 10 and outputs the captured image to the control unit 13 . Instead of the camera 12, a laser rangefinder or the like that measures the distance between the cleaning robot 10 and an object existing around the cleaning robot 10 may be provided.

The control unit 13 controls the start and end of cleaning by the cleaning robot 10 . Based on the captured image from camera 12, control unit 13 controls driving unit 14 and cleaning member 16 so that cleaning robot 10 performs cleaning while moving autonomously. Further, the control unit 13 acquires the dust concentration measured by the dust concentration meter 17 before and after the cleaning is started and outputs it to the wireless communication device 11 .

The driving unit 14 generates driving force for the cleaning robot 10 to run. The driving unit 14 includes, for example, wheels for moving the cleaning robot 10 and motors for driving the wheels. The drive unit 14 (motor) can operate by receiving power supply from the battery 15 . The battery 15 supplies power for operating the drive unit 14 (motor) and other devices of the cleaning robot 10 .

The cleaning member 16 is provided on the bottom surface of the cleaning robot 10 and is a member for sucking dust from the floor surface. The cleaning member 16 includes, for example, a suction port, an air blower for sucking dust from the suction port, a rotating brush provided at the suction port, and a motor for driving the rotating brush.

The dust concentration meter 17 is provided inside the tank in which the dust collected by the cleaning member 16 is stored, and measures the concentration of the dust inside the tank. The dust concentration is measured before and after the cleaning work by the cleaning robot 10 is started, and whether the cleaning member 16 is operating normally is determined by whether the dust concentration changes (increases) before and after the cleaning work. That is, it can be determined whether the cleaning function of the cleaning robot 10 is normal.

Returning to FIG. 1, the management device 55 supervises a plurality of cleaning systems 45A and 45B. For example, management device 55 may be owned by a customer who uses cleaning result determination system 100 according to the present embodiment. The plurality of cleaning systems 45A, 45B may each be owned by a plurality of contractors who receive cleaning work from the customer.

The management device 55 includes the server 50. The server 50 is connected for communication with the server 40 of each cleaning system 45 via a communication network NW (typically, the Internet), and supervises the servers 40 of a plurality of cleaning systems 45 . Specifically, the server 50 transmits to each server 40 a cleaning instruction prompting the cleaning robot 10 to perform cleaning work. This cleaning instruction includes cleaning contract information indicating cleaning conditions (cleaning area, frequency, date and time, etc.) determined based on the contract between the customer and the contractor. The server 50 corresponds to an embodiment of the "third information processing apparatus".

The cleaning result determination device 65 is configured to determine whether or not the cleaning work in the plurality of cleaning systems 45A, 45B has been performed normally according to the contract concluded in advance. For example, cleaning result determination device 65 may be owned by an administrator of cleaning result determination system 100 . Cleaning result determination device 65 includes server 60 . The server 60 is connected for communication with the server 40 of each cleaning system 45 and the server 50 of the management device 55 via the communication network NW.

The server 60 receives cleaning performance data from each server 40 . Based on the cleaning performance data from each server 40, the server 60 determines for each cleaning system 45 whether or not the cleaning work has been performed normally according to a pre-existing contract. In this determination, the server 60 is configured to use common criteria among multiple cleaning systems 45 .

The server 60 transmits the determination result for each cleaning system 45 to the corresponding server 40 . The server 60 also generates aggregated information in which a plurality of determination results for the plurality of cleaning systems 45 are aggregated, and transmits the aggregated information to the server 50 . The server 60 corresponds to an example of "second information processing apparatus". Server 60 will be described later in detail.

FIG. 4 is a diagram showing the hardware configuration of servers 40, 50 and 60. FIG. 4, each server includes a CPU (Central Processing Unit) 71, a RAM (Random Access Memory) 72, a ROM (Read Only Memory) 73, an I/F (Interface) device 74, a storage device 75. The CPU 71 , RAM 72 , ROM 73 , I/F device 74 and storage device 75 exchange various data through a communication bus 76 .

The CPU 71 expands the program stored in the ROM 73 to the RAM 72 and executes it. Programs stored in the ROM 73 describe processes to be executed by each server.

The I/F device 74 is an input/output device for exchanging signals or data between the servers 40 , 50 and 60 . Note that the I/F device 74 included in the server 40 is configured to exchange signals or data with the wireless communication device 30 and the cleaning robot 10 in addition to the servers 50 and 60 . Specifically, the I/F device 74 in the server 40 receives from each wireless communication device 30 the reception strength of the signal received by the wireless communication device 30 . In addition, the I/F device 74 in the server 40 uses a communication method conforming to a wireless communication standard such as LTE to provide an ID for identifying the cleaning robot 10, a signal indicating the start/end of cleaning by the cleaning robot 10, and the like. is received from the cleaning robot 10 .

The storage device 75 is a storage that stores various information. The storage device 75 is, for example, a hard disk drive (HDD: Hard Disk Drive), a solid state drive (SSD: Solid State Drive), or the like.

The storage device 75 of the server 40 contains information on the cleaning robot 10, information on the floor 20, cleaning contract information defining cleaning conditions (cleaning area, frequency, date and time, etc.), position information and movement history (trajectory) of the cleaning robot 10, etc. memorize The storage device 75 of the server 40 also stores cleaning performance data indicating the performance of the cleaning work performed by the cleaning robot 10 and the determination results received from the server 50 .

The storage device 75 of the server 50 stores information on the cleaning systems 45A and 45B, cleaning contract information for each cleaning system 45, and the like. Also, the storage device 75 of the server 50 stores the consolidated information received from the server 60 .

The storage device 75 of the server 60 stores various updatable databases (DB) for determining whether the cleaning work in the cleaning systems 45A and 45B has been performed normally. Various DBs stored in the storage device 75 of the server 60 will be described later in detail.

<Operation of cleaning result determination system>
Next, operation of cleaning result determination system 100 according to the present embodiment will be described.

FIG. 5 is a diagram for explaining the procedure of cleaning work determination processing in the cleaning result determination system 100. As shown in FIG. The cleaning job determination process is mainly configured by the following processes.

Processing ST1: Transmission of cleaning contract information to the cleaning result determination device 65 Processing ST2: Instruction for cleaning to the cleaning system 45 Processing ST3: Transmission of cleaning performance data to the cleaning result determination device 65 Processing ST4: Determination of cleaning work and cleaning system Transmission of determination result to 45 Processing ST5: Transmission of consolidated information to management device 55 The procedure of the above-described processing ST1 to ST5 will be described below. Arrows ST1 to ST5 displayed in FIG. 5 represent the exchange of data or signals based on the processes ST1 to ST5, respectively.

(Processing ST1)
First, in the management device 55, the server 50 generates cleaning contract information based on the cleaning contract exchanged between the customer and the contractor, and transmits the generated cleaning contract information to the server 60 of the cleaning result determination device 65. do. The cleaning contract information includes cleaning conditions (cleaning area, frequency, date and time, etc.) determined based on the contract. The cleaning contract information further includes information on the contractor, information on the cleaning system 45 owned by the contractor, information on objects to be cleaned by the cleaning system 45, and the like. As shown in FIG. 5 , when a customer entrusts cleaning work to a plurality of contractors, cleaning contract information is generated for each cleaning system 45 and transmitted to the server 60 . The server 60 stores the cleaning contract information received from each server 50 in the storage device 75 .

The server 50 can also transmit to the server 60 data regarding the criteria used in the determinations performed on the server 60 .

(Processing ST2)
Next, in the management device 55 , the server 50 transmits a cleaning instruction to the server 40 of each cleaning system 45 . The cleaning instruction includes cleaning conditions (cleaning area, frequency, date and time, etc.).

(Processing ST3)
In each cleaning system 45 , the server 40 outputs cleaning instructions received from the server 50 to the cleaning robot 10 . The cleaning robot 10 performs cleaning work according to the cleaning instruction.

The server 40 manages the cleaning work by the cleaning robot 10. The server 40 measures the position of the cleaning robot 10 on the floor 20 from the reception strength of the signal received by the wireless communication device 30 . The server 40 receives from the wireless communication device 11 mounted on the cleaning robot 10 an ID for identifying the cleaning robot 10, a cleaning start signal, a cleaning end signal, the dust concentration measured by the dust concentration meter 17 before the start of cleaning, Various information such as dust concentration measured by the dust concentration meter 17 is received after the cleaning is finished.

The server 40 uses various information received from the wireless communication device 11 to generate cleaning performance data indicating the performance of cleaning work by the cleaning robot 10 . The cleaning performance data includes data on the performance of the cleaning time (cleaning time performance data), data on the performance of the cleaning range (cleaning performance range data), and data on the concentration of dust collected by the cleaning robot 10 (dust concentration performance data). The cleaning performance data will be explained later in detail. The server 40 transmits the generated cleaning performance data to the server 60 of the cleaning result determination device 65 .

(Processing ST4)
In the cleaning result determination device 65, the server 60 performs cleaning for each cleaning system 45 based on the cleaning performance data received from the server 40 of each cleaning system 45 and the cleaning contract information received from the server 50 of the management device 55. It is determined whether or not the cleaning work by the robot 10 has been performed normally according to the contract. The server 60 then transmits the cleaning determination result to the corresponding server 40 of the cleaning system 45 .

FIG. 6 is a diagram showing an example of information related to the process ST4 among the information managed by the server 60. As shown in FIG. FIG. 6 shows information managed for determining cleaning work in the cleaning system 45A.

Referring to FIG. 6, in cleaning system 45A, storage device 75 of server 40 stores cleaning performance data including cleaning time performance data 80, cleaning performance range data 82, and dust concentration performance data 84. . The server 40 reads the cleaning performance data from the storage device 75 and transmits it to the server 60 of the cleaning result determination device 65 when a predetermined condition is satisfied or at every predetermined cycle.

The cleaning time record data 80 is data related to the actual cleaning time, and includes the cleaning start time and cleaning end time. The cleaning start time and the cleaning end time are the times when the server 40 receives the cleaning start signal and the cleaning end signal from the cleaning robot 10, respectively.

The cleaning performance range data 82 is data related to the cleaning performance of the cleaning robot 10 . The cleaning performance range indicates the cleaning performance area of the cleaning robot 10 based on the movement locus of the cleaning robot 10 . The cleaning performance range is created based on the movement locus of the cleaning robot 10 and is data for confirming the movement function of the cleaning robot 10 .

The dust concentration performance data 84 is data regarding the concentration of dust collected by the cleaning robot 10 . The dust concentration performance data 84 includes, for each cleaning area, data on the dust concentration and its measurement time at the start of cleaning, and data on the dust concentration and its measurement time at the end of cleaning.

In the management device 55, the storage device 75 of the server 50 stores cleaning contract information 90 and determination criteria data 92. The cleaning contract information 90 is information related to the cleaning contract exchanged between the customer and the contractor. Information on the cleaning system 45 owned by the trader, information on objects to be cleaned by the cleaning system 45, and the like are included. The determination criterion data 92 is data relating to determination criteria used in determinations executed by the server 60, and includes thresholds and the like used to determine the cleaning function of the cleaning robot 10 based on the dust concentration, which will be described later.

The server 60 of the cleaning result determination device 65 includes a time DB 110, a drawing DB 120, and a dust concentration DB 130. These DBs are stored in the server 60 storage device 75 .

The time DB 110 stores information about cleaning areas and cleaning dates and times. Specifically, the time DB 110 includes a contract information table 112 , a cleaning schedule table 114 and a cleaning performance table 116 . The contract information table 112 contains data regarding contract terms defined in contracts between customers and contractors. Contract information table 112 is created based on cleaning contract information 90 received from server 50 of management device 55 .

The cleaning schedule table 114 includes data extracted from the contract information table 112 for the cleaning schedule for the day of cleaning. The cleaning record table 116 includes data relating to the actual cleaning times for the cleaning schedules in the cleaning schedule table 114 . The cleaning record table 116 includes data obtained by extracting the actual cleaning time for the day of cleaning from the cleaning time record data 80 received from the server 40 of the cleaning system 45A.

7 to 9 are diagrams showing examples of the contract information table 112, the cleaning schedule table 114, and the cleaning performance table 116 of the time DB 110, respectively.

Referring to FIG. 7, contract information table 112 includes floors to be cleaned, cleaning areas on each floor, cleaning frequency, cleaning date, cleaning start time, and cleaning end time for each area specified in the cleaning contract. including data such as For example, representatively explaining the first row of the contract information table 112, a contract is exchanged to perform cleaning work by a cleaning robot between 2:15 and 3:45 on the first Saturday of every month for a predetermined area 1 on the 2nd floor. It is

Referring to FIG. 8, the cleaning schedule table 114 is created from the contract information table 112 by extracting the cleaning schedule data for the day of cleaning from the contract information table 112 . For example, the cleaning schedule table 114 includes cleaning schedule data from 00:00 on the day of cleaning to 00:00 on the following day. FIG. 8 shows an example in which cleaning schedule table 114 is created by extracting cleaning schedule data for the first Saturday from contract information table 112 in FIG. The cleaning schedule table 114 is created once a day at a predetermined time (for example, at a shopping mall closing time).

Referring to FIG. 9, the cleaning performance table 116 is created corresponding to the cleaning schedule table 114 and includes data regarding the performance of cleaning times for the cleaning schedule of the cleaning schedule table 114 . For example, the first row of the cleaning record table 116 will be representatively explained. On Saturday, June 5th, the cleaning work of area 1 on the 2nd floor was started by the cleaning robot 10 with the robot number A at 2:23, and at 3:35. indicates that the cleaning work has been completed. The cleaning start time and the cleaning end time are the times when the server 40 receives the cleaning start signal and the cleaning end signal from the cleaning robot 10 with the robot number A, respectively.

The time determination result in the cleaning performance table 116 indicates whether or not the cleaning robot 10 performed the cleaning work within the scheduled cleaning time indicated in the cleaning schedule table 114 . Specifically, for each cleaning area, the result of determining whether or not a cleaning start signal and a cleaning end signal have been received from the cleaning robot 10 within the scheduled cleaning time (from the cleaning start time in the cleaning schedule table 114 to the cleaning end time). is shown in the time determination result.

For example, for Area 1 on the 2nd floor, the scheduled cleaning times (2:15 to 3:45) shown in the cleaning schedule table 114 are cleaned from the cleaning robot 10 with robot number A at 2:23 and 3:35, respectively. A start signal and an end-of-cleaning signal are received. Therefore, the server 40 determines that the cleaning work has been performed by the cleaning robot 10 within the scheduled cleaning time, and stores "normal" in the time determination result.

Regarding area 3 on the 2nd floor, no cleaning start signal or cleaning end signal has been received from the cleaning robot 10 during the scheduled cleaning time (from 22:05 to 22:55) shown in the cleaning schedule table 114 start time and cleaning end time blank). Therefore, the server 40 determines that the cleaning work has not been performed within the scheduled cleaning time, and stores "abnormal" in the time determination result.

For area 4 on the 3rd floor, the cleaning start signal is sent from the cleaning robot 10 with robot number E at 2:00 and 2:55, respectively, with respect to the scheduled cleaning times (1:55 to 2:45) shown in the cleaning schedule table 114. and the cleaning end signal is received. Since the cleaning end time (2:55) at which the cleaning end signal was received is later than the scheduled cleaning end time (2:45), the server 40 did not complete the cleaning work by the cleaning robot 10 within the scheduled cleaning time. Also in this case, "abnormal" is stored in the time determination result.

Returning to FIG. 6 , the drawing DB 120 stores information about the cleaning range by the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 114 . The drawing DB 120 includes a cleaning range table 126. FIG. The cleaning range table 126 includes data regarding the results of the cleaning range with respect to the scheduled cleaning range based on the cleaning contract for each cleaning area for the day of cleaning scheduled in the cleaning schedule table 114 .

FIG. 10 is a diagram showing an example of a cleaning contract range and a cleaning performance range. Referring to FIG. 10, cleaning contract range 122 indicates the area to be cleaned in the contract. In this example, ranges 162, 166, and 168 corresponding to areas 1, 3, and 4 of areas 1 to 4 on the 2nd floor are designated cleaning areas for the day specified in the contract.

The cleaning performance range 124 indicates the cleaning performance area of the cleaning robot 10 based on the movement trajectory of the cleaning robot 10 . The cleaning performance range 124 is created corresponding to the cleaning contract range 122 and indicates the area to which the cleaning robot 10 has moved. In this example, it is shown that the cleaning robot 10 has moved within ranges 172 and 178 respectively corresponding to areas 1 and 4 on the 2nd floor.

Note that the cleaning performance range 124 is created based on the movement locus of the cleaning robot 10 and is data for confirming the movement function of the cleaning robot 10 . The cleaning performance range 124 does not take into consideration the operating state of the cleaning member 16 of the cleaning robot 10 (the cleaning function of the cleaning robot 10). The operating state of the cleaning member 16 is managed in the dust concentration DB 130 .

FIG. 11 is a diagram showing an example of the cleaning range table 126 of the drawing DB 120 shown in FIG. Referring to FIG. 11, cleaning range table 126 is created corresponding to cleaning schedule table 114 (FIG. 8) of time DB 110, and cleaning is performed for each cleaning area for the day scheduled in cleaning schedule table 114. It includes data such as the drawing number indicating the contract range, the drawing number indicating the cleaning performance range, the cleaning date and time, and the determination result of the cleaning performance range for the cleaning contract range.

For example, in the first row of the cleaning range table 126, for a predetermined area 1 on the 2nd floor, the drawing data number indicating the cleaning contract range of the area is C-2F-1, and the cleaning robot 10 cleans the area. It is indicated that the drawing data number indicating the actual range is A-2F-1. The drawing data of the drawing number A-2F-1 indicating the cleaning performance range is created based on the movement trajectory obtained from the position information of the cleaning robot 10 of the robot number A that cleans the area.

Then, the server 40 compares the cleaning performance range of drawing number A-2F-1 with the cleaning contract range of drawing number C-2F-1. "Normal" is stored in the range determination result.

Also, regarding the second row of the cleaning range table 126, since the cleaning robot 10 did not clean Area 3 on the 2nd floor, there is no drawing showing the cleaning performance range of that area. Therefore, the server 40 stores "abnormal" in the cleaning range determination result.

Referring to FIG. 6 again, the dust concentration DB 130 stores information on the cleaning state (dust collection state) by the cleaning member 16 of the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 114. FIG. The dust concentration DB 130 includes a dust concentration table 132. FIG. The dust concentration table 132 includes data on the concentration of dust collected by the cleaning robot 10 for each cleaning area for the day of cleaning scheduled in the cleaning schedule table 114 .

FIG. 12 is a diagram showing an example of the dust concentration table 132 of the dust concentration DB 130 shown in FIG. Referring to FIG. 12, dust concentration table 132 is created corresponding to cleaning schedule table 114 (FIG. 8) of time DB 110, and cleaning is performed for each cleaning area for the day scheduled in cleaning schedule table 114. It includes data such as the dust concentration at the start of cleaning and its measurement time, the dust concentration at the end of cleaning and its measurement time, and the judgment result of the cleaning function based on the dust concentration.

For example, regarding the first row of the dust concentration table 132, for a predetermined area 1 on the 2nd floor, when the cleaning robot 10 with the robot number A starts cleaning, the dust concentration in the dust tank is measured by the dust concentration meter 17 (10 CPM). and its measurement time (2:23) are stored in the starting dust concentration and the starting measurement time, respectively. At the end of cleaning, the dust concentration value (15 CPM) measured by the dust concentration meter 17 and the measurement time (3:35) are stored in the end dust concentration and end measurement time, respectively.

The dust concentration determination result in the dust concentration table 132 indicates whether the cleaning function of the cleaning robot 10 was operating normally during the cleaning work, based on the change (increase) in the dust concentration before and after the cleaning work. . Specifically, the server 40 calculates the change (increase) in dust concentration from the start of cleaning to the end of cleaning for each cleaning area. Then, when the change (increase) in the dust concentration exceeds the threshold value, the server 40 determines that the cleaning function of the cleaning robot 10 was normal, and stores "normal" in the dust concentration determination result. do.

In the example of the first row of the dust concentration table 132, it is determined that the change in dust concentration from the start of cleaning to the end of cleaning (increase of 5 CPM) exceeds the threshold, and "normal" is stored in the dust concentration determination result. It is In the example of the second line, since no cleaning work was performed, there is no dust concentration measurement value, and the dust concentration determination result is "abnormal".

FIG. 13 is a diagram showing an example of information related to the process ST4 among the information managed by the server 60. As shown in FIG. Referring to FIG. 13 , server 60 further includes cleaning result determination DB 140 . The cleaning result determination DB 140 is stored in the storage device 75 of the server 60 together with the time DB 110, the drawing DB 120 and the dust density DB 130 described above.

The cleaning result determination DB 140 stores information related to cleaning work determination results. Specifically, the cleaning result determination DB 140 stores information regarding the determination result of the cleaning work by the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 114 . Cleaning result determination DB 140 includes determination result table 142 . The determination result table 142 includes data of determination results as to whether or not the cleaning work by the cleaning robot 10 was normally performed according to the contract for each cleaning area for the day scheduled in the cleaning schedule table 114 .

FIG. 14 is a diagram showing an example of the determination result table 142 of the cleaning result determination DB 140 shown in FIG. Referring to FIG. 14, determination result table 142 is created corresponding to cleaning schedule table 114 (FIG. 8) of time DB 110. For each cleaning area scheduled in cleaning schedule table 114 on the day of cleaning, time Includes determination results, cleaning range determination results, and dust concentration determination results.

The time determination result is obtained from the cleaning performance table 116 of the time DB 110, and indicates whether or not the cleaning work was performed by the cleaning robot 10 within the scheduled cleaning time. The cleaning range determination result is acquired from the cleaning range table 126 of the drawing DB 120, and indicates whether the cleaning robot 10 has moved within the cleaning contract range, that is, whether the movement function of the cleaning robot 10 has been normal. The dust concentration determination result is acquired from the dust concentration table 132 of the dust concentration DB 130, and determines whether the cleaning member 16 of the cleaning robot 10 was operating during cleaning work, that is, whether the cleaning function of the cleaning robot 10 was normal. shows the results of

The determination result table 142 shows the final determination result as to whether or not the cleaning work by the cleaning robot 10 was normally performed according to the contract for each cleaning area for the day scheduled in the cleaning schedule table 114. It further includes cleaning determination result data. The cleaning determination result is determined based on the time determination result, the cleaning range determination result, and the dust concentration determination result. Specifically, the server 40 stores "normal" in the cleaning determination result when all of the time determination result, cleaning range determination result, and dust concentration determination result are "normal" for each cleaning area. On the other hand, if at least one of the time determination result, cleaning range determination result, and dust concentration determination result is "abnormal", the server 40 stores "abnormal" in the cleaning determination result.

As described above, in the cleaning result determination device 65, the server 60 determines whether the cleaning range determination result indicating whether the movement function of the cleaning robot 10 is normal and whether the cleaning function of the cleaning robot 10 is normal. Based on the dust concentration determination result shown, it is determined whether or not the cleaning work by the cleaning robot 10 has been performed normally.

After creating the determination result table 142 for the cleaning system 45A, the server 60 creates the determination result table 142 for the cleaning system 45B according to the same procedure. Therefore, the cleaning result determination DB 140 stores a plurality of determination result tables 142 corresponding to the plurality of cleaning systems 45A and 45B, respectively.

The server 60 reads the determination result table 142A corresponding to the cleaning system 45A from the cleaning result determination DB 140 and transmits it to the server 40 of the cleaning system 45A. The server 60 also reads out the determination result table 142B stored in the cleaning result determination DB 140 and transmits it to the server 40 of the cleaning system 45B. According to this, in each cleaning system 45, by referring to the determination result table 142 received from the server 60, it is possible to confirm whether the cleaning robot 10 has performed the cleaning work according to the contract. Also, it is possible to check whether each of the moving function and the cleaning function of the cleaning robot 10 is normal.

(Processing ST5)
Returning to FIG. 5 , in the cleaning result determination device 65 , the server 60 generates aggregated information in which the determination results of the cleaning work in the plurality of cleaning systems 45 are aggregated, and transmits the generated aggregated information to the server 50 of the management device 55 . Send to

FIG. 15 is a diagram showing an example of information related to the process ST5 among the information managed by the server 60. FIG. Referring to FIG. 15, server 60 further includes consolidated information DB 150 .

The consolidated information DB 150 is stored in the storage device 75 of the server 60 together with the time DB 110, the drawing DB 120, the dust concentration DB 130, and the cleaning result determination DB 140 described above.

The cleaning result determination DB 140 stores information about the cleaning work determination results in the cleaning systems 45A and 45B. The cleaning result determination DB 140 includes a determination result table 142A and a determination result table 142B. The determination result table 142A is the determination result table 142 created for the cleaning system 45A, and the determination result table 142B is the determination result table 142 created for the cleaning system 45B. As explained in process ST4, the server 60 reads the determination result table 142A stored in the cleaning result determination DB 140 and transmits it to the server 40 of the cleaning system 45A. The server 60 also reads out the determination result table 142B stored in the cleaning result determination DB 140 and transmits it to the server 40 of the cleaning system 45B.

The aggregated information DB 150 stores aggregated information in which cleaning work determination results in a plurality of cleaning systems 45 are aggregated. Aggregation information DB 150 includes aggregation result table 152 . The consolidated result table 152 includes determination result data as to whether or not the cleaning work by the cleaning robot 10 was normally performed according to the contract for each cleaning system 45 .

FIG. 16 is a diagram showing an example of the aggregation result table 152 of the aggregation information DB 150 shown in FIG. Referring to FIG. 16, aggregation result table 152 includes determination result table 142A and determination result table 142B. Information on the corresponding cleaning system 45 is added to each determination result table 142 .

As shown in FIG. 16, the determination result table 142A and the determination result table 142B have a common configuration. That is, both the determination result tables 142A and 142B use the cleaning time by the cleaning robot 10, the cleaning range by the cleaning robot 10, and the density of the dust collected by the cleaning robot 10 as determination criteria. Then, based on the time determination result, the cleaning range determination result, and the dust concentration determination result based on these determination criteria, the cleaning determination result indicating the final determination result is determined.

In this way, by using a determination standard common among a plurality of cleaning systems 45, it is determined whether or not the cleaning work by the cleaning robot 10 in each cleaning system 45 has been performed normally. Uniformity can be given to the cleaning determination result of the system 45 .

Here, it is assumed that in each of the cleaning systems 45A and 45B, the server 40 determines whether or not the cleaning work has been performed normally based on the criteria set independently. In this case, even if both the cleaning determination results are "normal", the state of the floor 20 after cleaning may differ between the cleaning systems 45A and 45B.

In the present embodiment, as described above, the cleaning work by each cleaning system 45 is determined using the common determination criteria. Therefore, in each cleaning system 45, the cleaning work by the cleaning robot 10 is performed normally as planned. It is possible to justly determine whether or not the This makes it possible to make the quality of cleaning work uniform among the plurality of cleaning systems 45 .

<Flowchart>
FIG. 17 is a flow chart showing an example of the procedure of process ST3 (transmission of cleaning performance data to cleaning result determination device 65) in FIG. A series of processes shown in this flowchart are executed by the server 40 when the cleaning robot 10 performs cleaning work. Specifically, a series of processes are executed for each cleaning robot 10 and for each cleaning area as the cleaning robot 10 performs the cleaning work. Each data acquired from the cleaning robot 10 includes the ID of the cleaning robot 10 that is the transmission source, and the server 40 identifies the cleaning robot 10 that is the transmission source by the ID included in each data that is acquired. do.

Referring to FIG. 17, server 40 acquires from cleaning robot 10 the measured value of the dust concentration in the dust tank measured by dust concentration meter 17 in cleaning robot 10 before the start of cleaning by cleaning robot 10 (step S10). The server 40 stores the acquired time and measured value of the dust concentration in the storage device 75 of the server 40 as the start measurement time and start dust concentration corresponding to the cleaning robot 10 that is the transmission source.

Next, the server 40 acquires from the cleaning robot 10 a cleaning start signal indicating the start of cleaning by the cleaning robot 10 (step S20). Then, the server 40 specifies the time when the cleaning start signal is acquired as the cleaning start time by the cleaning robot 10 (step S30). The specified cleaning start time is stored in the storage device 75 of the server 40 .

Then, the server 40 acquires the position information of the cleaning robot 10 (step S40). Specifically, the server 40 acquires from each wireless communication device 30 the reception strength of the signal received by each wireless communication device 30 from the cleaning robot 10, and from the reception strength of each wireless communication device 30, the cleaning robot 10 is detected by a known method. Get the position of

Then, the server 40 uses the position information of the cleaning robot 10 to generate the movement trajectory of the cleaning robot 10 (step S50). Generation of the movement locus of the cleaning robot 10 is repeatedly executed until the cleaning by the cleaning robot 10 is completed.

Next, the server 40 determines whether or not a cleaning end signal indicating the end of cleaning by the cleaning robot 10 has been obtained from the cleaning robot 10 (step S60). If server 40 has not acquired a cleaning end signal (NO in step S60), the process returns to step S40.

On the other hand, when it is determined that the cleaning end signal has been acquired in step S60 (YES in step S60), server 40 specifies the time when the cleaning end signal was acquired as the cleaning end time by cleaning robot 10 (step S70). ). The identified cleaning end time is stored in the storage device 75 of the server 40 .

Subsequently, the server 40 acquires from the cleaning robot 10 the measured value of the dust concentration in the dust tank measured by the dust concentration meter 17 in the cleaning robot 10 after the cleaning robot 10 finishes cleaning (step S80). The server 40 stores the time when the dust concentration measurement value is obtained and the measurement value in the storage device 75 of the server 40 as the end measurement time and the end dust concentration corresponding to the cleaning robot 10 that is the transmission source.

Subsequently, the server 40 identifies the cleaning performance range (FIG. 10) indicating the range of cleaning performed by the cleaning robot 10 of the transmission source from the movement trajectory generated in step S50 (step S90). This cleaning performance range is stored in the storage device 75 of the server 40 as drawing data.

Finally, the server 40 uses the data acquired in steps S10 to S80 and stored in the storage device 75 to generate cleaning performance data. The cleaning performance data includes cleaning time performance data 80 including cleaning start time and cleaning end time, cleaning performance range data 82 including cleaning performance range, start measurement time and start dust concentration, end measurement time and end dust concentration. and dust concentration performance data 84 including. The server 40 transmits the generated cleaning performance data to the server 60 of the cleaning result determination device 65 (step S100).

18 and 19 are flowcharts showing an example of the procedure of the process ST4 (determination of the cleaning work and transmission of the determination result to the cleaning system 45) in FIG. A series of processes shown in this flowchart are executed by the server 60 for each cleaning system 45 when a predetermined condition is established. Any one cleaning system 45 of the plurality of cleaning systems 45 will be described below.

18, first, a contract information table 112 (FIG. 7) is created in the time DB 110 from the cleaning contract information 90 given from the server 50 of the management device 55 (step S110). For example, the contract information table 112 is created by the server 60 extracting predetermined items from the cleaning contract information 90 .

Next, the server 60 creates a cleaning schedule table 114 (FIG. 8) for the day of cleaning from the contract information table 112 (step S120). For example, once a day, at a predetermined time, the server 60 extracts cleaning schedule data from midnight on the day of cleaning to midnight on the following day from the contract information table 112, and creates the cleaning schedule table 114. create.

After the cleaning schedule table 114 is created, a series of subsequent processes from step S130 to step S260 in FIG. 19 are executed for each cleaning area of the cleaning schedule table 114. An arbitrary cleaning area included in the cleaning schedule table 114 will be described below.

The server 60 determines whether it has received cleaning performance data from the server 40 of the cleaning system 45 (step S130). Note that the server 60 can specify the cleaning system 45 to be determined based on the information of the server 40 that has transmitted the signal.

When it is determined in step S130 that cleaning performance data has been received (YES in step S130), server 60 stores cleaning time performance data 80 in time DB 110, stores cleaning performance range data 82 in drawing DB 120, Concentration performance data 84 is stored in dust concentration DB 130 .

Specifically, the server 60 stores the time at which the cleaning start signal is received as the cleaning start time in the cleaning performance table 116 (FIG. 9) (step S140). Further, the server 60 stores the measured value of the dust concentration before the start of cleaning in the starting dust concentration corresponding to the cleaning robot 10 in the dust concentration table 132 (FIG. 12) of the dust concentration DB 130 (step S150). The server 60 also stores the time at which the measured value of the dust concentration is received as the measurement start time corresponding to the cleaning robot 10 in the dust concentration table 132 .

Next, the server 60 stores the cleaning performance range indicating the cleaning range performed by the cleaning robot 10 in the cleaning range table 126 (FIG. 11) of the drawing DB 120 (step S160). More specifically, the server 60 stores the drawing data of the cleaning performance range in the storage device 75 of the server 60 and stores the drawing number of the drawing data in the cleaning range table 126 of the drawing DB 120 . Note that the cleaning performance range is specified in step S90 of FIG.

Furthermore, the server 60 stores the time when the cleaning end signal is received in the cleaning end time of the cleaning record table 116 (step S170). Furthermore, the server 60 stores the measured value of the dust concentration after cleaning in the end dust concentration corresponding to the cleaning robot 10 in the dust concentration table 132 (step S180). The server 60 also stores the time when the measured value of the dust concentration is received in the end measurement time corresponding to the cleaning robot 10 in the dust concentration table 132 .

Referring to FIG. 19, server 60 converts the drawing data of the cleaning performance range indicated by the cleaning performance range drawing number in cleaning range table 126 of drawing DB 120 to the drawing data of the cleaning contract range indicated by the cleaning contract range drawing number. (step S190). Then, the server 60 stores the cleaning range determination result based on the comparison result in the cleaning range determination result (FIG. 11) of the cleaning range table 126 (step S200). For example, if the cleaning performance range is equal to or greater than a predetermined ratio of the cleaning contract range, the server 60 stores "normal" in the cleaning range determination result. On the other hand, if the cleaning performance range is smaller than the predetermined ratio, the server 40 stores "abnormal" in the cleaning range determination result.

In addition, the server 60 compares the cleaning performance time (cleaning start time/cleaning end time) of the cleaning performance table 116 of the time DB 110 with the cleaning contract time (cleaning start time/cleaning end time) of the cleaning schedule table 114 (step S210). Then, the server 60 stores the determination result of the cleaning time based on the comparison result in the time determination result (FIG. 9) of the cleaning record table 116 (step S220). For example, when the actual cleaning time (from the cleaning start time to the cleaning end time in the cleaning record table 116) is included in the cleaning contract time (from the cleaning start time to the cleaning end time in the cleaning schedule table 114), the server 60 , "Normal" is stored in the time determination result. On the other hand, if the cleaning end time in the cleaning record is later than the cleaning end time in the cleaning contract, the server 60 stores "abnormal" in the time determination result.

Furthermore, the server 60 calculates the change (increase) in the dust concentration before and after the cleaning work by the cleaning robot 10 (step S230). Specifically, the server 60 calculates the change in dust concentration before and after cleaning by subtracting the starting dust concentration from the ending dust concentration in the dust concentration table 132 . Then, the server 60 stores the determination result of the dust concentration based on the change in the dust concentration before and after cleaning in the dust concentration determination result (FIG. 12) of the dust concentration table 132 (step S240). For example, when the amount of increase in dust concentration before and after cleaning exceeds the threshold value, the server 60 stores "normal" in the dust concentration determination result. On the other hand, if the amount of increase in dust concentration before and after cleaning is equal to or less than the threshold value, the server 60 stores "abnormal" in the dust concentration determination result.

Next, the server 60 stores the cleaning range determination result of the cleaning range table 126, the time determination result of the cleaning performance table 116, and the dust concentration determination result of the dust concentration table 132 in the determination result table 142 (FIG. 14) of the cleaning result determination DB 140. (step S250).

Based on the cleaning range determination result, the time determination result, and the dust concentration determination result of the determination result table 142, the server 60 makes a final cleaning determination as to whether or not the cleaning work by the cleaning robot 10 was normally performed according to the contract. A result is determined (step S260). Specifically, when all of the cleaning range determination result, the time determination result, and the dust concentration determination result are "normal", the server 60 determines the cleaning result of the cleaning robot 10 as "normal". On the other hand, when at least one of the cleaning range determination result, the time determination result, and the dust concentration determination result is "abnormal", the server 60 determines the cleaning result as "abnormal". This final determination result is stored in the cleaning determination result of the determination result table 142 . The determination of the cleaning result in step S260 is performed, for example, at the final cleaning end time or after a predetermined time has elapsed from that time.

Next, the server 60 reads the determination result table 142 stored in the cleaning result determination DB 140 and transmits it to the server 40 of the cleaning system 45 (step S270). Transmission of the determination result in step S270 is performed, for example, in response to a request from the server 40. FIG.

FIG. 20 is a flowchart showing an example of the procedure of process ST5 (transmission of consolidated information to the management device 55) in FIG. A series of processes shown in this flowchart are executed by the server 60 when a predetermined condition is satisfied.

Referring to FIG. 20, first, the server 60 generates an aggregation result table 152 (FIG. 16) by aggregating the determination results of cleaning work in the plurality of cleaning systems 45 supervised by the management device 55. FIG. The server 60 stores the generated aggregation result table 152 in the aggregation information DB 150 (step S300).

Next, the server 60 reads out the aggregation result table 152 stored in the aggregation information DB 150 and transmits it to the server 50 of the management device 55 (step S310). The transmission of aggregated information in step S310 is performed, for example, in response to a request from the server 50. FIG.

As described above, in this embodiment, in each of the plurality of cleaning systems 45 supervised by the management device 55, the server 60 of the cleaning result determination device 65 determines whether or not the cleaning work has been performed by the cleaning robot 10. In doing so, common criteria are used. Accordingly, it is possible to properly determine whether or not the cleaning work by the cleaning robot 10 has been performed normally for each cleaning system 45 . Thereby, the quality of cleaning work can be made uniform among the plurality of cleaning systems 45 .

Also, in this embodiment, aggregated information in which a plurality of determination results for a plurality of cleaning systems 45 are aggregated is transmitted to the management device 55 . Thereby, the management device 55 can collectively acquire a plurality of determination results. Also, determination results can be compared among a plurality of cleaning systems 45 .

Further, with respect to the determination criteria described above, the server 60 considers not only the determination result of the movement function of the cleaning robot 10 but also the determination result of the cleaning function of the cleaning robot 10 to determine whether or not the cleaning work by the cleaning robot 10 has been performed. determine whether Thereby, the server 60 can reliably determine whether or not the cleaning work by the cleaning robot 10 has been performed normally.

Further, in this embodiment, it is determined whether or not the cleaning work execution time is normal based on the scheduled time of the cleaning work by the cleaning robot 10 and the actual time when the cleaning work was performed. Whether or not the cleaning work was performed normally is determined from the determination result of the cleaning function and the determination result of the execution time. Accordingly, the server 60 can more reliably determine whether the cleaning work by the cleaning robot 10 has been performed normally.

Further, in this embodiment, whether or not the cleaning member 16 of the cleaning robot 10 is operating, that is, whether or not the cleaning function of the cleaning robot 10 is normal, is determined based on the dust concentration measured by the dust concentration meter 17. is determined. More specifically, whether or not the cleaning function of the cleaning robot 10 is normal is determined based on the change (increase) in the dust concentration before and after cleaning measured using the dust concentration meter 17 . Even if the amount of dust collected by cleaning is very small, the dust concentration meter 17 can measure the change in the amount of dust before and after cleaning. , the operation of the cleaning function can be determined more reliably.

In the above embodiment, the dust concentration measured by the dust concentration meter 17 is used to confirm that the cleaning member 16 of the cleaning robot 10 is operating, and that the cleaning function of the cleaning robot 10 is normal. Although it has been determined that there is, other parameters may be used to confirm that the cleaning member 16 is operating.

For example, the cleaning robot 10 is equipped with a dust weighing scale for measuring the weight of the dust collected by the cleaning member 16 and stored in the tank of the cleaning robot 10, and the weight of the dust measured by the dust weighing scale is used. , may verify that the cleaning member 16 is operating. The weight of the dust is measured before and after the cleaning work by the cleaning robot 10 is started, and whether or not the cleaning member 16 is operating normally is determined by whether the weight of the dust increases before and after the cleaning work. It can be determined whether the cleaning function of the cleaning robot 10 is normal.

In addition, for example, the operation of the motor that sucks dust, the operation of the rotating brush of the cleaning member 16 provided at the suction port, the operation of the motor that drives the rotating brush, and the measured value of the differential pressure gauge that detects the differential pressure before and after the filter. For example, it may be determined whether the cleaning member 16 is operating normally, that is, whether the cleaning function of the cleaning robot 10 is normal.

The embodiments disclosed this time should be considered illustrative in all respects and not restrictive. The technical scope indicated by the present disclosure is indicated by the scope of claims rather than the description of the above-described embodiments, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims. .

10 Cleaning robot, 11, 30 wireless communication device, 12 camera, 13 control unit, 14 drive unit, 15 battery, 16 cleaning member, 17 dust concentration meter, 20 floor, 35 ceiling, 40, 50, 60 server, 45, 45A , 45B cleaning system, 55 management device, 65 cleaning result determination device, 71 CPU, 72 RAM, 73 ROM, 74 I/F device, 75 storage device, 76 communication bus, 80 cleaning time result data, 82 cleaning result range data, 84 Dust concentration performance data, 90 Cleaning contract information, 92 Criteria data, 100 Cleaning result determination system, 110 Time DB, 112 Contract information table, 114 Cleaning schedule table, 116 Cleaning performance table, 120 Drawing DB, 122 Cleaning contract scope, 124 Cleaning performance range, 126 Cleaning range table, 130 Dust concentration DB, 132 Dust concentration table, 140 Cleaning result judgment DB, 142, 142A, 142B Judgment result table, 150 Aggregation information DB, 152 Aggregation result table, NW Communication network.

Claims (16)

1. a plurality of first information processing devices each managing cleaning work by an autonomous mobile cleaning robot;
   a second information processing device that determines whether or not the cleaning work by each of the plurality of first information processing devices has been performed normally;
   a third information processing device that is communicatively connected to the plurality of first information processing devices and the second information processing device and supervises the plurality of first information processing devices;
   Each of the plurality of first information processing devices,
   performing the cleaning work by the corresponding cleaning robot according to the cleaning instruction from the third information processing device;
   transmitting cleaning performance data indicating the performance of the cleaning work by the cleaning robot to the second information processing device;
   The second information processing device is
   For each of the plurality of first information processing devices, the cleaning performance data is compared with criteria common among the plurality of first information processing devices to determine whether the cleaning work has been performed normally. A cleaning result judgment system that judges whether or not.
2. 2. The second information processing device generates aggregated information in which a plurality of determination results respectively corresponding to the plurality of first information processing devices are aggregated, and transmits the aggregated information to the third information processing device. The cleaning result determination system described in .
3. The cleaning result determination system according to claim 1 or 2, wherein the second information processing device further transmits each determination result to the corresponding first information processing device.
4. 2. The criterion of claim 1, wherein the criterion includes at least one of a criterion for the movement function of the cleaning robot, a criterion for the cleaning function of the cleaning robot, and a criterion for the execution time of the cleaning work. 4. The cleaning result determination system according to any one of 3.
5. The cleaning performance data includes at least a cleaning performance range based on the movement trajectory of the cleaning robot, a parameter indicating that the cleaning member of the cleaning robot is operating, and a performance time at which the cleaning work was performed. 5. The cleaning result determination system of claim 4, comprising one.
6. The criteria include a contract scope defined by a contract as criteria for the mobile function,
   6. The cleaning result determination system according to claim 5, wherein said second information processing device determines whether said movement function is normal by comparing said cleaning performance range with said contract range.
7. The criterion includes a contract time defined by the contract as a criterion for the implementation time,
   7. The cleaning result determination according to claim 5 or 6, wherein said second information processing device determines whether or not the execution time of said cleaning work is normal by comparing said actual time with said contracted time. system.
8. the parameter includes a metric of dust collected by the cleaning member;
   The second information processing device determines whether the cleaning function is normal by comparing the measured value of the dust at the end of the cleaning work with the measured value of the dust at the start of the cleaning work. The cleaning result determination system according to any one of claims 5 to 7, which determines whether or not.
9. A cleaning result determination method for determining whether or not cleaning work in a plurality of cleaning systems has been performed normally, comprising:
   In each of the plurality of cleaning systems, a step of managing cleaning work by an autonomous mobile cleaning robot by a first information processing device;
   a step of determining, by a second information processing device, whether or not the cleaning work has been performed normally in each of the plurality of cleaning systems;
   The managing step includes:
   a step of performing the cleaning work by the cleaning robot by the first information processing device according to a cleaning instruction from a third information processing device that supervises a plurality of the first information processing devices;
   transmitting cleaning performance data indicating performance of the cleaning work by the cleaning robot from the first information processing device to the second information processing device;
   The determining step includes:
   For each of the plurality of cleaning systems, the second information indicates whether or not the cleaning work has been performed normally by comparing the cleaning performance data with a criterion common among the plurality of cleaning systems. A cleaning result determination method, comprising the step of determining by a processing device.
10. 10. The step of generating aggregated information in which a plurality of determination results respectively corresponding to the plurality of cleaning systems are aggregated by the second information processing device and transmitting the aggregated information to the third information processing device. The cleaning result determination method described in .
11. The cleaning result determination method according to claim 9 or 10, further comprising a step of transmitting each determination result to the corresponding first information processing device by the second information processing device.
12. 10. from claim 9, wherein the criterion includes at least one of a criterion for the moving function of the cleaning robot, a criterion for the cleaning function of the cleaning robot, and a criterion for the execution time of the cleaning work. 12. The cleaning result determination method according to any one of 11.
13. The cleaning performance data includes at least a cleaning performance range based on the movement trajectory of the cleaning robot, a parameter indicating that the cleaning member of the cleaning robot is operating, and a performance time at which the cleaning work was performed. 13. The cleaning result determination method of claim 12, comprising one.
14. The criteria include a contract scope defined by a contract as criteria for the mobile function,
    14. The determining step according to claim 13, wherein the step of determining includes determining by the second information processing device whether the moving function is normal by comparing the cleaning performance range with the contracted range. cleaning result judgment method.
15. The criterion includes a contract time defined by the contract as a criterion for the implementation time,
    13. The step of determining includes a step of determining, by the second information processing device, whether or not the execution time of the cleaning work is normal by comparing the actual time with the contracted time. Or the cleaning result determination method according to 14.
16. the parameter includes a metric of dust collected by the cleaning member;
    The determining step determines whether the cleaning function is normal by comparing the measured value of the dust at the end of the cleaning work with the measured value of the dust at the start of the cleaning work. 16. The cleaning result determination method according to any one of claims 13 to 15, comprising a step of determining by said second information processing device.

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