WO2023203831A1

WO2023203831A1 - Cleaning system and cleaning method

Info

Publication number: WO2023203831A1
Application number: PCT/JP2023/003435
Authority: WO
Inventors: 昭義大平; 佐知田中; 征義吉田
Original assignee: 日立グローバルライフソリューションズ株式会社
Priority date: 2022-04-22
Filing date: 2023-02-02
Publication date: 2023-10-26
Also published as: JP2023160265A

Abstract

Provided are a cleaning system and the like that streamlines processing in a cleaning moving body and an autonomous moving body. A cleaning system (100) comprises: a cleaning moving body (10) that moves and performs cleaning in a room (R1) that is partitioned by a wall (L1) and having at least an entrance (E1), a door (D1) or a window (W1a, W1b, W1c, W1d); and an autonomous moving body (20) that moves in the room (R1). The cleaning moving body (10) preferentially cleans an inner periphery portion, which is a portion along the wall (L1) of the room (R1), over other portions in the room (R1). The autonomous moving body (20) moves to the inner periphery portion after completion of the cleaning of the inner periphery portion by the cleaning moving body (10), or moves in a cleaned portion in the inner periphery portion during cleaning of the inner periphery portion by the cleaning moving body (10).

Description

Cleaning system and method

The present invention relates to a cleaning system and the like.

Regarding the control of multiple types of robots that move in a room, the techniques described in Patent Documents 1 and 2 are known, for example. Specifically, Patent Document 1 states that an autonomous mobile robot moves based on "map data showing at least one virtual cut-off area," and "the virtual cut-off area is not actually detected when controlling the robot." ``The same consideration shall be given to obstacles caused by obstacles.''
Additionally, Patent Document 2 describes a ``common map generation unit that generates a common map for commonly managing the movement of multiple types of robots from acquired map data,'' and ``a common map generation unit that generates a common map for commonly managing the movement of multiple types of robots'' and ``a common map generation unit that This document describes a robot management system comprising: a specific map generation unit that generates a map from a robot;

International Publication No. 2018/158248 International Publication No. 2019/171916

However, for example, when a robot vacuum cleaner (cleaning mobile object) is cleaning a room, the control of the robot vacuum cleaner (cleaning mobile object) must be devised so that the processing of another autonomous mobile object can be performed efficiently. Neither Patent Documents 1 nor 2 describe that this is the case.

Therefore, an object of the present invention is to provide a cleaning system, etc. that improves the efficiency of cleaning mobile bodies and autonomous mobile bodies.

In order to solve the above-mentioned problems, the cleaning system according to the present invention includes: a cleaning mobile body that moves and cleans a room that is partitioned by a wall and has at least an entrance/exit or a window; a moving autonomous mobile body, wherein the cleaning mobile body prioritizes cleaning of an inner peripheral portion of the room, which is a portion along the wall, over cleaning of other parts of the room. , after the cleaning mobile body finishes cleaning the inner peripheral part, the autonomous mobile body moves to the inner peripheral part, or the autonomous mobile body moves while the cleaning mobile body is cleaning the inner peripheral part. It was decided that the body would move through the cleaned part of the inner circumference.

According to the present invention, it is possible to provide a cleaning system and the like that improve the processing efficiency of cleaning mobile bodies and autonomous mobile bodies.

FIG. 1 is an explanatory diagram of a cleaning system according to a first embodiment. FIG. 1 is a functional block diagram of a cleaning system according to a first embodiment. In the cleaning system according to the first embodiment, it is an explanatory diagram showing how a cleaning mobile body and an autonomous mobile body are used in a room. FIG. 2 is an explanatory diagram showing an example of map information in the cleaning system according to the first embodiment. It is a flow chart which shows each processing of a server, a cleaning mobile object, and an autonomous mobile object in a cleaning system concerning a 1st embodiment. It is a flow chart which shows each processing of a server, a cleaning mobile object, and an autonomous mobile object in a cleaning system concerning a 1st embodiment. FIG. 2 is an explanatory diagram showing how a cleaning movable body is cleaning an area A in the cleaning system according to the first embodiment. In the cleaning system according to the first embodiment, it is an explanatory diagram showing a state in which a cleaning moving body is cleaning an area B. In the cleaning system according to the first embodiment, it is an explanatory diagram showing a state in which a cleaning movable body performs cleaning while sequentially moving areas C and D. It is a flow chart which shows each processing of a server, a cleaning mobile object, and an autonomous mobile object in a cleaning system concerning a 2nd embodiment. In the cleaning system according to the second embodiment, it is an explanatory diagram when a visitor comes while the cleaning mobile body is being cleaned. FIG. 7 is an explanatory diagram of a case where the cleaning movable body charges during cleaning in a modification of the second embodiment. It is an explanatory view showing an example of map information of a room in a cleaning system concerning a 3rd embodiment. In the cleaning system according to the third embodiment, it is an explanatory diagram showing the relationship between the user's daily schedule and the operating schedule of the cleaning system.

≪First embodiment≫
<Cleaning system configuration>
FIG. 1 is an explanatory diagram of a cleaning system 100 according to the first embodiment.
The cleaning system 100 shown in FIG. 1 is a system in which a cleaning mobile body 10 cleans a room R1, and an autonomous mobile body 20 monitors the room R1. Note that the building B1 including the room R1 may be, for example, a residence, an office, a hotel, or a facility for the elderly. Room R1 is partitioned from outdoor space and other rooms (not shown) by wall L1. As shown in FIG. 1, the cleaning system 100 includes a cleaning mobile body 10, an autonomous mobile body 20, a server 30, and an information terminal 40.

The cleaning mobile body 10 is a robot that moves and cleans the room R1, and is configured to communicate with the server 30 in a predetermined manner. As shown in FIG. 1, the cleaning movable body 10 includes a distance sensor 11, a dust collecting section 12, a brush 13, a drive wheel 14, a control board 15, and a main body 16.

The distance sensor 11 is a sensor that measures the distance to the obstacle 41. Note that the wall L1 and pillars (not shown) of the room R1 are also recognized as obstacles. The distance sensor 11 measures the distance to the obstacle 41 based on the time from emitting radio waves such as microwaves, millimeter waves, or laser waves until receiving reflected waves. Note that the type of distance sensor 11 is not limited to this, and an optical TOF (Time-of-Flight) sensor or an ultrasonic sensor may be used. In the example of FIG. 1, the distance sensor 11 is installed on the front surface of the main body 16, but it may be installed at other locations such as the side or top surface of the main body 16.

The dust collection unit 12 includes a dust collection chamber (not shown) and a fan 12a (see FIG. 2) that is driven to draw air into the dust collection chamber. The brush 13 collects dust on the floor of the room R1, and is installed in the main body 16. Note that a brush motor (not shown) for moving the brush 13 in a predetermined position is provided. The dust collected by the brush 13 is led to a dust collection chamber (not shown) through a suction port (not shown). The drive wheel 14 is a wheel used for running the cleaning movable body 10, and is connected to the rotating shaft of a motor 14a (see FIG. 2).

Although not shown, the control board 15 includes electronic circuits such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various interfaces. Then, the program stored in the ROM is read out and expanded to the RAM, and the CPU executes various processes. The control board 15 controls the fan 12a (not shown) of the dust collection unit 12 and the motor 14a (see FIG. 2) of the drive wheel 14 based on the detected value of the distance sensor 11 as well as data received from the server 30. do.

The main body 16 is a housing body in which the distance sensor 11, dust collection section 12, brush 13, drive wheel 14, control board 15, etc. are installed. The cleaning mobile body 10 having such a configuration is configured to move while estimating the shape of the room R1 and estimating its own position within the room R1 based on the measurement results of the distance sensor 11. . The cleaning mobile body 10 cleans the room R1 while moving while avoiding the obstacle 41 detected by the distance sensor 11.

The autonomous mobile body 20 is a robot that moves within the room R1 in a predetermined direction and watches over the room R1 and the person M1 (user), and is configured to communicate with the server 30. As such an autonomous mobile body 20, for example, a household robot, a pet robot, a care robot, or a service robot is used. Furthermore, the functions of the autonomous mobile body 20 are not limited to watching over the room R1 and the person M1.

As shown in FIG. 1, the autonomous mobile body 20 includes an image sensor 21, a distance sensor 22, drive wheels 23, a control board 24, and a main body 25. The image sensor 21 is a camera that generates predetermined imaging data (visible light images). For example, the image sensor 21 may be configured to generate image data by photoelectrically converting light incident on an image sensor (not shown). As the image pickup device described above, a CCD sensor (Charge Coupled Device), a CMOS sensor (Complementary Metal Oxide Semiconductor), or the like is used.

In the example of FIG. 1, an image sensor 21 is installed on the upper surface of the main body 25. By using a spherical camera with a relatively wide angle of view as such an image sensor 21, it is possible to obtain an overall image of the surroundings of the autonomous mobile body 20. Note that the type, installation position, and number of image sensors 21 can be changed as appropriate.
The distance sensor 22 is a sensor that measures the distance to the obstacle 51, and in the example of FIG. 1, is installed on the front surface of the main body 25. As such a distance sensor 22, a laser type sensor, an optical TOF (Time of Flight) sensor, an ultrasonic type sensor, etc. are used.

The drive wheels 23 are wheels used for running the autonomous mobile body 20, and are connected to the rotating shaft of a motor 23a (see FIG. 2). Although not shown, the control board 24 includes electronic circuits such as a CPU, ROM, RAM, and various interfaces. Then, based on the detection results of the image sensor 21 and the distance sensor 22, the autonomous mobile body 20 runs in the room R1 in a predetermined manner while avoiding the obstacles 51.

The autonomous mobile body 20 has a function of recognizing a person based on the imaging result of the image sensor 21. For example, the autonomous mobile body 20 recognizes the person in the room R1 based on the shape of the head, the color of the skin, the size of the eyes, the distance between the eyes, the width of the lips, the body shape, etc. Further, in a case where face information of a user or the like is stored in advance in the server 30, it is also possible for the autonomous mobile body 20 to determine whether or not the person in the room R1 is the user. Note that the server 30 may perform a process of recognizing a person based on the imaging data received from the autonomous mobile body 20, and transmit the result of this process to the autonomous mobile body 20.

Although not shown, the server 30 is configured to include electronic circuits such as a CPU, ROM, RAM, and various interfaces. The server 30 communicates with the cleaning mobile body 10 and also communicates with the autonomous mobile body 20. Further, predetermined information stored in the server 30 is transmitted to the user's information terminal 40 and displayed on the screen of the information terminal 40. As such an information terminal 40, a mobile phone, a smartphone, a tablet, a wearable terminal, a personal computer, a television, etc. are used. The information terminal 40 displays setting information such as monitoring by the autonomous mobile body 20 and information indicating the state of the room R1.

<Cleaning system control configuration>
FIG. 2 is a functional block diagram of the cleaning system 100.
As shown in FIG. 2, the control board 15 of the cleaning movable body 10 includes a storage section 15a, a control section 15b, and a communication section 15c as functional components. The storage unit 15a stores predetermined programs in advance, as well as map information of the room R1 (see FIG. 1), measured values of the distance sensor 11, and the like.

The control unit 15b estimates the shape of the room R1 based on the measurement value of the distance sensor 11 in addition to the map information of the room R1, estimates the self-position of the cleaning mobile body 10, and moves the dust collecting unit 12 (see FIG. 1) and the motor 14a of the drive wheel 14 (see FIG. 1). Note that the map information for the room R1 may be generated based on the measured value of the distance sensor 11, or may be stored in the server 30 in advance. The communication unit 15c shown in FIG. 2 performs predetermined communication with the server 30.

The control board 24 of the autonomous mobile body 20 includes a storage section 24a, a control section 24b, and a communication section 24c. In addition to storing a predetermined program in advance, the storage unit 24a also stores data acquired by the image sensor 21 and the distance sensor 22. The control unit 24b estimates the shape of the room R1 and the self-position of the cleaning mobile body 10 based on data acquired by the image sensor 21 and the distance sensor 22 in addition to predetermined programs and map information. The motor 23a of the drive wheel 23 (see FIG. 1) is controlled. The communication unit 24c shown in FIG. 2 performs predetermined communication with the server 30.

The server 30 includes a storage section 30a, a control section 30b, and a communication section 30c. In addition to storing a predetermined program in advance, the storage unit 30a also stores data received from the cleaning mobile body 10 and the autonomous mobile body 20. Furthermore, the storage unit 30a stores map information of the room R1. The cleaning mobile body 10 and the autonomous mobile body 20 share the map information of the room R1.

The control unit 30b has a function of analyzing data received from the cleaning mobile body 10 and the autonomous mobile body 20. The communication unit 30c not only communicates with the cleaning mobile body 10 and the autonomous mobile body 20, but also communicates with the user's information terminal 40.
In the following, a case where the autonomous mobile body 20 is used to watch over the room R1 or a person will be described as an example, but the function of the autonomous mobile body 20 is not limited to watching over the room R1 or people.

<Cleaning system processing>
FIG. 3 is an explanatory diagram showing how the cleaning mobile body 10 and the autonomous mobile body 20 are used in the room R1.
FIG. 3 shows a state when charging of the cleaning movable body 10 is completed and the cleaning movable body 10 starts to move from the charging stand C1. The autonomous mobile body 20 sees off the person M1 (for example, a resident of the building B1) near the entrance E1 (entrance/exit) when the person M1 (for example, a resident of the building B1) goes out.

As shown in FIG. 3, a plurality of windows W1a, W1b, W1c, and W1d are provided in the room R1 in addition to an entrance E1 (entrance/exit) and a door D1 (entrance/exit). Note that the door D1 may be a hinged door using a hinge or the like (not shown), or may be a sliding door or an accordion door using a rail (not shown). Moreover, windows W1a, W1b, W1c, and W1d may be provided at the border with a balcony, a garden, etc., and may also serve as an entrance/exit. Although not shown in FIG. 3, the room R1 may be provided adjacent to another room (not shown) via the door D1.

The charging stand C1 shown in FIG. 3 is used to charge the cleaning movable body 10, and is provided in a corner of the room R1. Another charging stand C2 is used for charging the autonomous mobile body 20, and is provided in a corner of the room R1.

FIG. 4 is an explanatory diagram showing an example of map information in the cleaning system.
In the example of FIG. 4, the map information is set so that the room R1 is divided into four areas A, B, C, and D. Note that the process of dividing the room R1 into a plurality of regions is performed by the server 30 (see FIG. 2) or the cleaning mobile body 10. Region A is set at the inner circumference of room R1. In addition, in FIG. 4, for the sake of clarity, area A is shown at a predetermined distance inward from the wall of room R1, but area A is actually located along the wall of room R1. It is set to "Inner periphery".

The remaining three areas B, C, and D are set to divide the inside of area A into three. Such map information is read out from the storage unit 30a (see FIG. 2) of the server 30 (see FIG. 2), and transmitted to the cleaning mobile body 10 and the autonomous mobile body 20 via the communication unit 30c (see FIG. 2). are sent to each of them. The cleaning movable body 10 sequentially cleans areas A, B, C, and D. In addition, based on the cleaning status of each of areas A, B, C, and D (uncleaned, currently being cleaned, cleaned), the “intrusion prohibited area” and “intrusion permitted area” of the autonomous mobile object 20 are appropriately set. Ru. Note that the map information in FIG. 4 is an example, and the method of dividing the room R1 into a plurality of regions is not limited to this.

5A and 5B are flowcharts showing the respective processes of the server, the cleaning mobile body, and the autonomous mobile body (see also FIG. 1 as appropriate).
In step S101 of FIG. 5, the server 30 sets and starts the monitoring mode. For example, when a user (a resident of building B1) goes out, he or she uses the information terminal 40 (see FIG. 2) to set and start the "watch mode", and based on this operation, the server 30 takes steps. The process of S101 is performed.

Next, in step S102, the server 30 selects a map of the target room. That is, the server 30 reads the map information of the room R1 (see FIG. 1) selected by the user's operation of the information terminal 40 (see FIG. 2) from the storage unit 30a (see FIG. 2).

In step S103, the server 30 transmits the monitoring mode data to the cleaning mobile body 10 and also to the autonomous mobile body 20. Note that the monitoring mode data includes information indicating the source and destination of the data, as well as command signals and command signals for causing the autonomous mobile body 20 to execute processes such as monitoring for intruders and confirming visitors (watching mode). , map information of room R1 (see FIG. 4) is included. In addition, the monitoring mode data may include a command signal for causing the cleaning mobile body 10 to clean the room R1 while the user is out.

In step S104, the cleaning mobile 10 receives monitoring mode data from the server 30. When the cleaning mobile body 10 cleans the room R1, the map information (see FIG. 4) included in the monitoring mode data is used. As described above, the map information for the room R1 includes data indicating the four areas A, B, C, and D (see FIG. 4) of the room R1.

In step S105, the autonomous mobile body 20 receives monitoring mode data from the server 30. In step S106, the autonomous mobile body 20 waits. That is, the autonomous mobile body 20 waits until it receives a signal from the server 30 indicating that cleaning of the area A is finished. Note that when the cleaning movable body 10 starts cleaning area A or while area A is being cleaned, all four areas A, B, C, and D are set as "no-entry areas." Here, the "intrusion prohibited area" is an area where entry of the autonomous mobile body 20 is prohibited.

Therefore, in step S106, the autonomous mobile body 20 may wait outside the above-mentioned "no-trespassing area" near the entrance E1 where it is easy to identify (for example, take an image of) visitors, or may You may also wait at a location. This can prevent the autonomous mobile body 20 from interfering with cleaning.

In step S107, the cleaning mobile body 10 cleans area A of room R1. That is, the cleaning movable body 10 starts cleaning the area A (inner peripheral part) set along the door D1 and the windows W1a, W1b, W1c, and W1d of the room R1 (see FIG. 1).

FIG. 6 is an explanatory diagram showing how the cleaning movable body 10 is cleaning the area A.
As shown in FIG. 6, the cleaning movable body 10 prioritizes cleaning of area A, which is the inner peripheral part of room R1, over cleaning of other areas B, C, and D (other parts) of room R1. I will do it. That is, the cleaning movable body 10 preferentially cleans the inner periphery near the wall where the door D1, the entrance E1, and the windows W1a, W1b, W1c, and W1d, which allow access to the inside and outside of the room R1, are provided. .

In step S108 of FIG. 5A, the cleaning movable body 10 determines whether cleaning of area A is finished. For example, when the cleaning movable body 10 goes around the area A, which is the inner peripheral part, approximately once along the wall of the room R1, it may be determined that the cleaning of the area A has been completed. Further, if cleaning of area A is not completed in step S108 (S108: No), the process of the cleaning movable body 10 returns to step S107.

If cleaning of area A is completed in step S108 (S108: Yes), cleaning mobile 10 transmits a signal indicating that cleaning of area A is completed to server 30, as shown by the broken line arrow in FIG. 5A. do. When receiving this signal, the server 30 transmits a signal indicating that cleaning of area A has been completed to the autonomous mobile body 20. Note that the server 30 changes the attribute of the area A that has been cleaned from "no-trespass area" to "trespass-permitted area" in the map information, and sends the changed map information to the autonomous mobile body 20. Good too. Here, the "intrusion permitted area" is an area in which the autonomous mobile body 20 is permitted to enter.

As described above, in the first embodiment, based on the information indicating the cleaning status of the areas A, B, C, and D of the room R1 by the cleaning movable body 10, the entry of the autonomous movable body 20 is prohibited. In addition, an "intrusion permitted area" in which the autonomous mobile body 20 is permitted to enter is also set. For example, since the area A (inner periphery) after cleaning is set as the "intrusion permitted area," the autonomous mobile body 20 can patrol the area A after cleaning.

As shown by the dashed arrow in FIG. 5A, when a signal indicating that cleaning of area A has been completed is received from the server 30, the autonomous mobile body 20 performs monitoring movement of area A in step S109. That is, after the cleaning mobile body 10 finishes cleaning the area A (inner periphery), the autonomous mobile 20 moves to area A (inner periphery). By having the autonomous mobile body 20 patrolling the area A in this manner, it becomes easier to monitor the presence or absence of intruders and visitors. Moreover, after the cleaning of area A is completed (S108: Yes), the cleaning mobile body 10 cleans area B set inside area A in step S110.

FIG. 7 is an explanatory diagram showing how the cleaning movable body 10 is cleaning the area B.
As described above, cleaning of area A is performed with priority over cleaning of areas B, C, and D. The area A that has been cleaned is set as an "intrusion permitted area" in the map information into which the autonomous mobile body 20 may enter. This allows the autonomous mobile body 20 to patrol the area A (perform the monitoring movement in S109).

Area A is the inner circumference near the wall where the door D1 and windows W1a, W1b, W1c, and W1d are provided. By having the autonomous mobile body 20 patrolling such area A, it becomes easier to discover intruders from the outside and also to confirm visitors. Further, since dust tends to accumulate near the walls of the room R1, the cleaning mobile body 10 preferentially cleans the area A, which is the inner circumferential portion, so that the cleaning of the room R1 can be carried out efficiently.

Note that the map information is set so that the area B where the cleaning mobile body 10 is cleaning and the areas C and D that have not been cleaned are “areas in which entry is prohibited” for the autonomous mobile body 20. If the autonomous mobile body 20 enters any of the regions B, C, and D, the cleaning mobile body 10 that has detected the approach of the autonomous mobile body 20 may change its travel route. When the traveling route of the cleaning movable body 10 is changed in this way, the cleaning does not proceed as originally planned, and not only does cleaning take time, but also the power consumption of the cleaning movable body 10 increases. Therefore, in the first embodiment, the server 30 (see FIG. 2) sets the area that the cleaning mobile body 10 is cleaning or the area that has not been cleaned as a "prohibited area" for the autonomous mobile body 20. ing.

Incidentally, although not particularly shown in the flowcharts of FIGS. 5A and 5B, for example, if an intruder enters the room R1 and the autonomous mobile body 20 receives a signal to release the automatic lock provided at the entrance E1, window W1a, etc. do. In such a case, the autonomous mobile body 20 may photograph the intruder using the image sensor 21 and transmit the photographed data to the server 30. Further, the autonomous mobile body 20 may notify the user's information terminal 40 (see FIG. 2) via the server 30, or may notify the security company with which the user has a contract.

In step S111 of FIG. 5A, the cleaning movable body 10 determines whether cleaning of area B has been completed. If cleaning of area B has not been completed (S111: No), the process of the cleaning movable body 10 returns to step S110. Further, when the cleaning of area B is finished in step S111 (S111: Yes), the cleaning movable body 10 sends a signal to the server 30 indicating that the cleaning of area B is finished, as shown by the broken line arrow in FIG. 5A. Send to. When receiving this signal, the server 30 transmits a signal (or changed map information) indicating that cleaning of area B has been completed to the autonomous mobile body 20.

If a signal indicating that cleaning of area B has been completed is received from the server 30, the autonomous mobile body 20 performs monitoring movement of areas A and B in step S112 of FIG. 5B. Here, since both areas A and B have been cleaned, the "intrusion permitted area" of the autonomous mobile body 20 is expanded to areas A and B. In the watching movement, the autonomous mobile body 20 may move in the area A along the wall of the room R1, or may enter the area B as appropriate. On the other hand, the area C that is being cleaned by the cleaning movable body 10 and the area D that has not been cleaned are set as "intrusion prohibited areas" for the autonomous movable body 20.

In step S113 of FIG. 5B, the cleaning movable body 10 cleans the area C.
Next, in step S114, the cleaning movable body 10 determines whether cleaning of area C has been completed. If cleaning of area C has not been completed (S114: No), the process of the cleaning movable body 10 returns to step S113. Further, when the cleaning of the area C is finished in step S114 (S114: Yes), the cleaning movable body 10 sends a signal to the server 30 indicating that the cleaning of the area C is finished, as shown by the broken line arrow in FIG. 5B. Send to. When receiving this signal, the server 30 transmits a signal (or changed map information) indicating that cleaning of area C has been completed to the autonomous mobile body 20.

If a signal indicating that cleaning of area C has been completed is received from the server 30, the autonomous mobile body 20 performs monitoring movement of area C in step S115. Here, since areas A, B, and C have all been cleaned, the "intrusion permitted area" of the autonomous mobile body 20 is expanded to areas A, B, and C. On the other hand, the area D where the cleaning movable body 10 is cleaning is set as a "prohibited area" for the autonomous movable body 20.

FIG. 8 is an explanatory diagram showing how the cleaning movable body 10 performs cleaning while sequentially moving in areas C and D.
In FIG. 8, an example is shown in which the autonomous mobile body 20 moves in area A while the cleaning mobile body 10 is cleaning areas C and D sequentially. It is also possible to enter B.

In step S116 of FIG. 5B, the cleaning movable body 10 cleans the area D.
Next, in step S117, the cleaning movable body 10 determines whether cleaning of area D has been completed. If cleaning of area D has not been completed (S117: No), the process of the cleaning movable body 10 returns to step S116. Further, when the cleaning of the area D is completed in step S117 (S117: Yes), the cleaning movable body 10 sends a signal to the server 30 indicating that the cleaning of the area D has been completed, as shown by the broken line arrow in FIG. 5B. Send to. When receiving this signal, the server 30 transmits a signal (or changed map information) indicating that cleaning of area D has been completed to the autonomous mobile body 20.

Then, in step S118, the cleaning movable body 10 returns to the charging stand C1 and ends the series of processes (END).
Further, when receiving a signal from the server 30 indicating that cleaning of area D has been completed, the autonomous mobile body 20 performs monitoring movement of area D in step S119. In this case, all of the cleaned areas A, B, C, and D are set as "intrusion permitted areas" for the autonomous mobile body 20.
Next, in step S120, the autonomous mobile body 20 determines whether the user has returned home. If the user has not returned home yet (S120: No), the process of the autonomous mobile body 20 returns to step S119. On the other hand, if the user returns home in step S120 (S120: Yes), the autonomous mobile body 20 ends the series of processes (END).
Note that when the cleaning mobile body 10 cleans the room R1 again, areas A, B, C, and D in the map information of the room R1 are changed to uncleaned areas (“no-entry areas” for the autonomous mobile body 20). return.

<Effect>
According to the first embodiment, an uncleaned area that has not yet been cleaned by the cleaning movable body 10 is set as an "intrusion prohibited area" of the autonomous movable body 20. Thereby, even if there are multiple types of moving objects (cleaning moving object 10 and autonomous moving object 20) in the room R1, cleaning can proceed as originally planned. Therefore, in addition to being able to efficiently clean the room R1, it is possible to prevent the battery (not shown) of the cleaning mobile body 10 from running out during cleaning.

In addition, the locations of the entrance E1, door D1, windows W1a, W1b, W1c, and W1d are stored in the map information shared by the cleaning mobile body 10 and the autonomous mobile body 20, and the cleaning mobile body 10 is stored inside the room R1. Prioritize cleaning of the surrounding area (area A). As a result, the autonomous mobile body 20 can start patrolling the inner peripheral part (area A) of the room R1 at an early stage, so that the watching mode can be executed efficiently. For example, when an intruder enters the room R1, the autonomous mobile body 20 can easily image the intruder with the image sensor 21. As described above, according to the first embodiment, it is possible to provide the cleaning system 100 that improves the efficiency of processing of the cleaning mobile body 10 and the autonomous mobile body 20.

≪Second embodiment≫
The second embodiment is characterized in that the autonomous mobile body 20 is allowed to enter in a predetermined case even if the cleaning mobile body 10 (see FIG. 10) is cleaning an area or an area that has not yet been cleaned. This is different from one embodiment. Note that the configuration of the cleaning system 100 (see FIGS. 1 and 2) is the same as that in the first embodiment. Moreover, the map information (see FIG. 4) regarding the cleaning of the room R1 is also the same as in the first embodiment. Therefore, the parts that are different from the first embodiment will be explained, and the explanation of the overlapping parts will be omitted.

FIG. 9 is a flowchart showing the respective processes of the server, the cleaning mobile body, and the autonomous mobile body in the cleaning system according to the second embodiment (see also FIG. 2 as appropriate).
Note that steps S101 to S111 are the same as those in the first embodiment (see FIG. 5A), so their explanation will be omitted. For example, when the cleaning mobile body 10 is cleaning area C (S113), the autonomous mobile body 20 monitors areas A and B (S112), and then proceeds to step S214.

In step S214, the autonomous mobile body 20 determines whether a visitor has arrived. For example, when an entrance chime (not shown) is rang or when a person enters from the entrance E1 (see FIG. 10), the autonomous mobile body 20 determines that a visitor has arrived. If the visitor is not present in step S214 (S214: No), the process of the autonomous mobile body 20 returns to step S112.

Furthermore, if a visitor has visited in step S214 (S214: Yes), the autonomous mobile body 20 transmits a signal indicating that a visitor has visited to the server 30, as shown by the broken line arrow in FIG. When receiving this signal, the server 30 transmits a signal to the cleaning mobile body 10 indicating that a visitor has arrived. When this signal is received from the server 30, the cleaning movable body 10 temporarily stands by on the spot in step S215. This can prevent the cleaning movable body 10 from interfering with the movement of the autonomous movable body 20.

Next, in step S208, the autonomous mobile body 20 changes the area (the area being cleaned or the area not yet cleaned) that has been set as the "no-entry area" to the entry-permitted area. Note that the server 30 may change the map information to change the "intrusion prohibited area" to the "intrusion permitted area" and transmit the changed map information to the autonomous mobile body 20.

FIG. 10 is an explanatory diagram of a case where a visitor M2 visits the cleaning mobile body 10 while it is being cleaned.
In addition, in FIG. 10, when the cleaning mobile body 10 is cleaning the area C, and the autonomous mobile body 20 is watching over the areas A and B, the visitor M2 comes to visit. It shows. Until visitor M2 visited, areas C and D were "no-trespass areas" for the autonomous mobile body 20, but when visitor M2 visited, in addition to areas A and B, areas C, The autonomous mobile body 20 can also invade D. That is, while visitor M2 is in room R1, areas C and D are temporarily changed to "intrusion permitted areas."

As a result, the autonomous mobile body 20 moves linearly across areas C and D toward the visitor M2 at the entrance E1, allowing the visitor M2 to be quickly confirmed. For example, when confirming the visitor M2, the cleaning mobile 10 images the visitor M2 with the image sensor 21 (see FIG. 2), and sends the image result to the server 30 (see FIG. 2) to provide the user's information. It may also be transmitted to the terminal 40 (see FIG. 2). In this way, when the autonomous mobile body 20 detects the visitor M2 to the room R1, the autonomous mobile body 20 moves toward the entrance E1 (entrance/exit), and the cleaning mobile body 10 temporarily stops moving. Stop. Thereby, when the autonomous mobile body 20 moves to the entrance E1, it is possible to prevent the cleaning mobile body 10 from becoming an obstacle.

The explanation will be continued by returning to FIG. 9 again.
In step S217 of FIG. 9, the autonomous mobile body 20 confirms the visitor M2.
Next, in step S218, the autonomous mobile body 20 determines whether the visitor M2 has returned. That is, the autonomous mobile body 20 determines whether the visitor M2 shown in FIG. 10 has left the entrance E1. If the visitor M2 has not returned yet in step S218 (S218: No), the process of the autonomous mobile body 20 returns to step S217.

Furthermore, if the visitor M2 has returned in step S218 (S218: Yes), the autonomous mobile body 20 transmits a signal to the server 30 indicating that the visitor M2 has returned. When receiving this signal from the autonomous mobile body 20, the server 30 transmits a signal to the cleaning mobile body 10 indicating that the visitor M2 has returned. When this signal is received from the server 30, the cleaning movable body 10 resumes cleaning from the place where it was temporarily waiting in the area C in step S219. On the other hand, after the visitor M2 returns (S218: Yes), the autonomous mobile body 20 resumes monitoring movement in the cleaned areas (areas A and B in the example of FIG. 10) in step S220.

Although FIG. 9 describes the process when the cleaning movable body 10 is cleaning area C, the same process is performed while cleaning other areas A, B, and D. Further, in FIG. 9, the case where the visitor M2 comes to visit has been described, but the same process is performed when the user returns home. That is, when the autonomous mobile body 20 detects that the user has returned home, the autonomous mobile body 20 moves toward the entrance E1 (entrance/exit), and the cleaning mobile body 10 temporarily stops moving. Good too.

<Effect>
According to the second embodiment, when the visitor M2 comes to the room R1 in the absence of the user, the autonomous mobile body 20 moves. Thereby, the autonomous mobile body 20 can quickly confirm the visitor M2. Further, when the visitor M2 is visiting, the cleaning mobile body 10 is temporarily on standby, so that it can be prevented from interfering with the movement of the autonomous mobile body 20.

<<Modification of the second embodiment>>
In the second embodiment, the process was explained when the visitor M2 came while cleaning the room R1 (see FIG. 10). Similar processing may be performed. That is, when the remaining battery level (charging rate) of the battery (not shown) of the autonomous mobile body 20 falls below a predetermined value, a signal to that effect is transmitted to the cleaning mobile body 10 via the server 30. . When this signal is received, the cleaning movable body 10 stops cleaning and temporarily stands by on the spot.

Then, the autonomous mobile body 20 moves linearly toward the charging stand C2 (see FIG. 10) and performs charging. Note that when the autonomous mobile object 20 moves to the charging stand C2, the area being cleaned or the area that has not been cleaned is temporarily changed to an "intrusion permitted area", so the autonomous mobile object 20 must cross these areas. can move in a straight line. In this way, when the remaining battery level of the autonomous mobile body 20 becomes less than or equal to the predetermined value, the cleaning mobile body 10 temporarily stops moving until the autonomous mobile body 20 arrives at the charging stand C2. This can prevent the cleaning movable body 10 from interfering with the movement of the autonomous movable body 20. Moreover, as shown in FIG. 11, the same can be said about charging of the cleaning movable body 10.

FIG. 11 is an explanatory diagram when the cleaning movable body 10 is charged during cleaning.
As shown in FIG. 11, it is assumed that the remaining battery level of the cleaning mobile body 10 falls below a predetermined value while the cleaning mobile body 10 is cleaning. In such a case, a signal indicating that the remaining battery level of the cleaning mobile body 10 has fallen below a predetermined value is transmitted to the autonomous mobile body 20 via the server 30. When receiving this signal, the autonomous mobile body 20 temporarily stands by. Furthermore, the cleaning movable body 10 moves linearly toward the charging stand C1, regardless of the predetermined areas A, B, C, and D.

In this way, when the remaining battery level of the cleaning mobile body 10 becomes less than or equal to a predetermined value, the autonomous mobile body 20 temporarily stops moving until the cleaning mobile body 10 arrives at the charging stand C1. Thereby, charging can be performed before the remaining battery level of the cleaning movable body 10 reaches zero. Moreover, it is possible to prevent the autonomous mobile body 20 from interfering with the movement of the cleaning mobile body 10.

Note that the same process is performed when the cleaning of the room R1 (see FIG. 11) is completed and the cleaning mobile body 10 moves to another room (not shown) via the door D1. That is, after the cleaning mobile body 10 finishes cleaning the room R1, when the cleaning mobile body 10 moves from the room R1 to another room (not shown), the autonomous mobile body 20 temporarily stops moving. do. This can prevent the autonomous moving body 20 from interfering with the movement of the cleaning moving body 10.

≪Third embodiment≫
The third embodiment differs from the first embodiment in that the cleaning movable body 10 is prohibited from cleaning during a predetermined time period in the kitchen/dining room (area B: see FIG. 12). Note that the configuration of the cleaning system 100 (see FIGS. 1 and 2) is the same as that in the first embodiment. Therefore, the parts that are different from the first embodiment will be explained, and the explanation of the overlapping parts will be omitted.

FIG. 12 is an explanatory diagram showing an example of map information of room R1 in the cleaning system according to the third embodiment.
In the example shown in FIG. 12, area B (hatched area) of room R1 is set as a kitchen/dining room in the map information. Then, as described below, based on the user's daily schedule, the cleaning mobile 10 is prevented from entering area B during the time when the user eats in area B (kitchen/dining area). ing. Note that the attributes of area B (kitchen/dining) are set based on, for example, the user's operation of the information terminal 40 (see FIG. 2).

FIG. 13 is an explanatory diagram showing the relationship between the user's daily schedule and the operating schedule of the cleaning system.
Note that the horizontal axis in FIG. 13 is time. Also, in order from the top of the page in FIG. , is shown.

In the example of FIG. 13, the operating hours of the cleaning mobile body 10 and the autonomous mobile body 20 are set from 0:00 to 24:00. In addition, time periods and areas in which the cleaning mobile body 10 is prohibited from entering are set in association with the schedule of the user (for example, a resident of the building B1). Specifically, in area B (see FIG. 12) whose attributes are set as kitchen/dining, the cleaning mobile 10 is prohibited from entering during the user's breakfast, lunch, and dinner hours. That is, among the plurality of areas A, B, C, and D included in the room R1, a predetermined area (area B in the example of FIG. 13) in which the cleaning mobile body 10 is prohibited from entering corresponds to a predetermined time period. It is set with

The time period/area in which the cleaning movable body 10 is prohibited from entering is set, for example, based on the user's operation of the information terminal 40 (see FIG. 2). That is, when the user inputs each time period for breakfast, lunch, and dinner by operating the information terminal 40 (see FIG. 2), in each of these time periods, the cleaning mobile 10 moves to area B (kitchen/dining area). The server 30 (see FIG. 2) may be configured to prohibit the intrusion of users.

For example, when the cleaning mobile body 10 finishes cleaning area A (see FIG. 12) and moves to the next area B, if it overlaps with the user's breakfast, lunch, or dinner time, the area Area C and area D are cleaned first without cleaning area B. Regarding area B that has not yet been cleaned, the cleaning mobile 10 cleans area B after the cleaning of areas C and D has been completed and does not overlap with the user's breakfast, lunch, or dinner time. Make sure to clean.

In addition, if any of the breakfast, lunch, and dinner time periods occur while cleaning area B, the cleaning mobile body 10 temporarily suspends cleaning of area B (see FIG. 12), and It may be arranged to wait at that spot, or it may be arranged to move to areas C and D and perform cleaning. On the other hand, the autonomous mobile body 20 performs monitoring and the like in areas A, B, C, and D that have been cleaned.

Note that instead of (or together with) the cleaning mobile body 10, the time period/area in which entry of the autonomous mobile body 20 is prohibited may be set by the user operating the information terminal 40. . Further, the attributes associated with the area of the room R1 are not limited to the kitchen/dining room, but may be other attributes such as the living room or the bedroom. Further, in a building having a plurality of rooms, a predetermined attribute may be assigned to each room.

<Effect>
According to the third embodiment, time zones and areas in which the cleaning mobile body 10 is prohibited from entering are set in accordance with the user's daily schedule. In other words, by operating the information terminal 40 (see FIG. 2), the user can set a time period/area in which the cleaning movable body 10 is prohibited from entering. Therefore, even while the user is in the room R1, it is possible to prevent the cleaning mobile body 10 and the like from interfering with the user's meal, etc., and also to efficiently operate the cleaning mobile body 10 and the autonomous mobile body 20. can.

≪Modification example≫
Although the cleaning system 100 and the like according to the present invention have been described above in each embodiment, the present invention is not limited to these descriptions, and various changes can be made.
For example, in each embodiment, a case has been described in which the room R1 (see FIG. 4) is divided into four regions A, B, C, and D in the map information, but the present invention is not limited to this. That is, the way the areas of the room R1 are divided can be changed as appropriate.
Further, in each embodiment, a case has been described in which entrances and exits such as the entrance E1 and the door D1, and windows W1a, W1b, W1c, and W1b are provided in the room R1, but the present invention is not limited to this. That is, each embodiment can also be applied to the room R1 provided with either an entrance/exit or a window. Further, even if a door is not particularly provided in the opening (large enough for a person to pass through) in the wall L1 of the room R1, this opening functions as an "entrance/exit".

Further, in each embodiment, a case has been described in which the cleaning movable body 10 (see FIG. 1) is provided with the distance sensor 11, but it may also be provided with another predetermined sensor. For example, the cleaning movable body 10 may be configured to include a dust sensor (not shown) inside the main body 16. The cleaning movable body 10 may adjust the rotation speed of the fan 12a (see FIG. 2) of the dust collecting section 12 (see FIG. 1) based on the detected value of the dust sensor. In addition, for example, based on the detection value of a dust sensor (not shown) provided in the building B1, the cleaning mobile body 10 may be moved appropriately to the vicinity of the dust sensor to perform cleaning. good.
Further, the autonomous mobile body 20 may include an audio sensor (not shown) in addition to the image sensor 21 and the distance sensor 22. When a predetermined sound is detected by a sound sensor (not shown), the autonomous mobile body 20 may move in the direction in which the sound is generated.

Furthermore, in each of the embodiments, the case where the server 30 is installed outside the building B1 has been described, but the installation location of the server 30 may be appropriately determined as long as it can communicate with each of the cleaning mobile object 10 and the autonomous mobile object 20. Can be changed. For example, the server 30 may be installed within the building B1, or may be installed at a service operating company or a cloud service company.

Furthermore, in the first embodiment, a case has been described in which the autonomous mobile object 20 can enter the area A after cleaning of the area A (see FIG. 4), which is the inner peripheral part of the room R1. Not exclusively. For example, while the cleaning mobile body 10 is cleaning the area A (inner peripheral part), the autonomous mobile body 20 may move the cleaned part in the area A (inner peripheral part). To give a specific example, when the cleaning movable body 10 is cleaning the area A (inner peripheral part), the autonomous movable body 20 may follow behind the cleaning movable body 10. Thereby, it is possible to start patrolling the area A, which is the inner circumferential portion, at an early stage while preventing the autonomous mobile body 20 from interfering with cleaning.
Note that if the autonomous mobile body 20 moves in the cleaned area in area A and the direction of movement is the same as the direction of movement during cleaning by the cleaning mobile body 10, the autonomous mobile body 20 moves in the cleaning area. It is assumed that this is included in "following behind" the moving body 20.

Further, in the second embodiment (see FIG. 10), when the remaining battery level of the autonomous mobile body 20 becomes less than or equal to a predetermined value, the cleaning mobile body 10 moves until the autonomous mobile body 20 arrives at the charging stand C2. Although the process of temporarily stopping the process has been described, the present invention is not limited to this. For example, when the autonomous mobile body 20 detects an abnormality of a person in the room R1, the autonomous mobile body 20 moves toward the person (the person for whom the abnormality is detected) even while the cleaning mobile body 10 is cleaning the room R1. , the cleaning movable body 10 may temporarily stop moving. As a result, if an abnormality is detected such as a person in the room R1 falling down or crouching down, the autonomous mobile body 20 can immediately respond.
Further, when the autonomous mobile body 20 detects an intruder to the room R1, the autonomous mobile body 20 moves toward the intruder even while the cleaning mobile body 20 is cleaning the room R1, and the cleaning mobile body 20 moves toward the intruder. may be temporarily stopped. Thereby, the autonomous mobile body 20 can immediately confirm the intruder into the room R1. For example, the autonomous mobile body 20 may image a person or intruder for whom an abnormality has been detected, and notify the user's information terminal 40 of the image capture result via the server 30.

Moreover, each embodiment can be combined as appropriate. For example, the second embodiment (see FIG. 10) and the third embodiment (see FIG. 12) may be combined.
Further, a program for causing a computer to execute the cleaning method described in each embodiment can be provided via a communication line, or can be written on a recording medium such as a CD-ROM and distributed.

Further, the embodiments are described in detail to explain the present disclosure in an easy-to-understand manner, and the embodiments are not necessarily limited to those having all the configurations described. Furthermore, it is possible to add, delete, or replace some of the configurations of the embodiments with other configurations.
Further, the mechanisms and configurations described above are those considered necessary for explanation, and not all mechanisms and configurations are necessarily shown in the product.

10 Cleaning mobile body 20 Autonomous mobile body 30 Server 40 Information terminal 100 Cleaning system A Area (inner peripheral part)
B, C, D area (other parts)
C1 Charging stand (charging stand for cleaning mobile object)
C2 Charging stand (charging stand for autonomous mobile objects)
D1 Door (entrance/exit)
E1 Entrance (entrance/exit)
L1 Wall M1 Person M2 Visitor R1 Room W1a, W1b, W1c, W1d Window

Claims

A cleaning mobile body that moves and cleans a room that is partitioned by a wall and has at least an entrance/exit or a window, and an autonomous mobile body that moves within the room,
The cleaning movable body performs cleaning of an inner peripheral portion of the room along the wall with priority over cleaning of other parts of the room,
After the cleaning mobile body finishes cleaning the inner peripheral part, the autonomous mobile body moves to the inner peripheral part.
Or
A cleaning system in which, while the cleaning movable body is cleaning the inner circumferential portion, the autonomous movable body moves the cleaned portion of the inner circumferential portion.
When the autonomous mobile body detects that a visitor to the room or a user returns home, the autonomous mobile body moves toward the entrance and exit, and the cleaning mobile body temporarily stops moving. A cleaning system according to claim 1, characterized in that:
Claim 1, wherein when the remaining battery level of the autonomous mobile body becomes less than or equal to a predetermined value, the cleaning mobile body temporarily stops moving until the autonomous mobile body arrives at a charging stand. The cleaning system described in .
A claim characterized in that when the remaining battery level of the cleaning mobile body becomes equal to or less than a predetermined value, the autonomous mobile body temporarily stops moving until the cleaning mobile body arrives at a charging stand. 1. The cleaning system according to 1.
After the cleaning mobile body finishes cleaning the room, when the cleaning mobile body moves from the room to another room, the autonomous mobile body temporarily stops moving. The cleaning system according to item 1.
The cleaning system according to claim 1, wherein, among a plurality of areas included in the room, a predetermined area in which entry of the cleaning movable body is prohibited is set in association with a predetermined time period. .
When the autonomous mobile body detects an abnormality of a person in the room, the autonomous mobile body moves toward the person even while the cleaning mobile body is cleaning the room, and the cleaning mobile body stops moving. The cleaning system according to claim 1, characterized in that the cleaning system temporarily stops.
When the autonomous mobile body detects an intruder into the room, the autonomous mobile body moves toward the intruder even while the cleaning mobile body is cleaning the room, and the cleaning mobile body stops moving. The cleaning system according to claim 1, characterized in that the cleaning system temporarily stops.
The cleaning system according to claim 1, wherein when the cleaning mobile body is cleaning the inner peripheral portion, the autonomous mobile body follows behind the cleaning mobile body.
A cleaning method using a mobile cleaning object that moves and cleans a room that is partitioned by a wall and has at least an entrance/exit or a window,
The cleaning movable body performs cleaning of an inner peripheral portion of the room along the wall with priority over cleaning of other parts of the room,
After the cleaning mobile body finishes cleaning the inner peripheral part, an autonomous mobile body moving in the room moves to the inner peripheral part.
Or
A cleaning method in which, while the cleaning movable body is cleaning the inner circumferential portion, the autonomous movable body moves the cleaned portion of the inner circumferential portion.