Cleaning management device and cleaning management method

Abstract

The server (40) manages the cleaning operation performed by the autonomous mobile cleaning robot (10). The server (40) determines whether the moving function of the cleaning robot (10) is normal based on the predetermined area of ​​the cleaning operation and the moving trajectory of the cleaning robot (10). In addition, the server (40) determines whether the cleaning function of the cleaning robot (10) is normal based on the parameters indicating the operation of the cleaning components of the cleaning robot (10). Furthermore, the server (40) determines whether the cleaning operation is performed normally based on the determination result of the moving function and the determination result of the cleaning function.

Description

Technical Field

[0001] The present disclosure relates to a cleaning management device and a cleaning management method, and in particular to a cleaning management device and a cleaning management method for managing cleaning work performed by an autonomous mobile cleaning robot. Background Art

[0002] An autonomous vacuum cleaner (cleaning robot) is described in Japanese Patent Gazette No. 2021-29487 (Patent Document 1). The vacuum cleaner includes a human appearance area information acquisition unit, a current position information acquisition unit, and a control unit. The human appearance area information acquisition unit acquires information indicating a human appearance area in a cleaning target area. The current position information acquisition unit acquires information indicating the current position of the vacuum cleaner body. The control unit causes the vacuum cleaner to clean in the human appearance area of ​​the cleaning target area based on the information indicating the human appearance area and the information indicating the current position of the body. In this way, cleaning can be performed efficiently in the cleaning target area (see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-29487 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When a cleaning robot is used for unmanned automatic cleaning, it is necessary to be able to confirm whether the cleaning robot has performed the cleaning as planned. The presence of a person to confirm the result of the cleaning robot's operation requires personnel, just as in human cleaning. The autonomous vacuum cleaner described in Patent Document 1 is useful in that it can efficiently clean the cleaning target area, but no special research has been conducted on the above-mentioned problem.

[0008] The present disclosure is made to solve this problem, and an object of the present disclosure is to provide a cleaning management device and a cleaning management method that can confirm at a later time whether the cleaning work performed by an autonomous mobile cleaning robot has been normally performed as planned.

[0009] Means used to solve problems

[0010] The cleaning management device disclosed herein manages the cleaning operation performed by an autonomous mobile cleaning robot, and comprises: a processor; and a memory storing a program executed by the processor. The processor determines whether the moving function of the cleaning robot is normal according to the predetermined area of ​​the cleaning operation and the moving trajectory of the cleaning robot in accordance with the program stored in the memory. In addition, the processor determines whether the cleaning function of the cleaning robot is normal based on the parameters indicating the operation of the cleaning components of the cleaning robot. Moreover, the processor determines whether the cleaning operation is performed normally based on the determination result of the moving function and the determination result of the cleaning function.

[0011] In addition, the cleaning management method disclosed in the present invention manages the cleaning operation performed by an autonomous mobile cleaning robot, and includes the following steps: based on the predetermined area of ​​the cleaning operation and the moving trajectory of the cleaning robot, the computer determines whether the moving function of the cleaning robot is normal; based on the parameters representing the working of the cleaning components of the cleaning robot, the computer determines whether the cleaning function of the cleaning robot is normal; based on the determination result of the moving function and the determination result of the cleaning function, the computer determines whether the cleaning operation is performed normally.

[0012] Effects of the Invention

[0013] In the above-mentioned cleaning management device and cleaning management method, when determining whether the cleaning operation performed by the cleaning robot has been implemented, not only the determination result of the moving function of the cleaning robot but also the determination result of the cleaning function of the cleaning robot are considered. Thus, it is reliably determined whether the cleaning operation performed by the cleaning robot has been implemented normally. Therefore, according to the cleaning management device and cleaning management method, it is not necessary for a person to be present to confirm the cleaning operation when the cleaning robot performs the cleaning operation, and it is possible to confirm later whether the cleaning operation performed by the cleaning robot has been implemented normally as planned. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 1 is a diagram showing the overall structure of a cleaning system to which the cleaning management device according to an embodiment of the present disclosure is applied.

[0015] Figure 2 It is a diagram showing the hardware configuration of the server.

[0016] Figure 3 This is a diagram showing a structural example of a cleaning robot.

[0017] Figure 4 This is a diagram showing an example of information managed in the server.

[0018] Figure 5 It is a diagram showing an example of a contract information table of a time DB.

[0019] Figure 6It is a diagram showing an example of the cleaning schedule table of the time DB.

[0020] Figure 7 This is a diagram showing an example of a cleaning performance table of a time DB.

[0021] Figure 8 This is a diagram showing an example of a cleaning contract range and a cleaning performance range.

[0022] Fig. 9 This is a diagram showing an example of a cleaning range table of the design drawing DB.

[0023] Fig.10 It is a diagram showing an example of a dust concentration table of the dust concentration DB.

[0024] Fig.11 This is a diagram showing an example of a determination result table of the cleaning result determination DB.

[0025] Fig.12 This is a flowchart showing an example of the steps of a data acquisition process executed by a server to acquire data from a cleaning robot when the cleaning robot performs a cleaning operation.

[0026] Fig.13 This is a flowchart showing an example of the procedure of the cleaning result determination process executed by the server.

[0027] Fig.14 This is a flowchart showing an example of the procedure of the cleaning result determination process executed by the server. DETAILED DESCRIPTION

[0028] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, the same reference numerals are given to the same or corresponding parts in the drawings, and their description will not be repeated.

[0029] Figure 1 1 is an overall structural diagram of a cleaning system to which the cleaning management device according to an embodiment of the present disclosure is applied. Figure 1 The cleaning system 1 includes a cleaning robot 10 , a plurality of wireless communicators 30 - 1 , 30 - 2 , 30 - 3 . . . , and a server 40 .

[0030] The cleaning robot 10 is an autonomous mobile vacuum cleaner. The cleaning robot 10 is equipped with a battery and can use the power stored in the battery to travel on the floor 20 of the cleaning object. A cleaning component for sucking up garbage is provided on the bottom surface or the lower part of the side of the cleaning robot 10, and the cleaning robot 10 can move independently and use the cleaning component to clean the floor 20.

[0031] The cleaning robot 10 is provided with a wireless communicator 11. The wireless communicator 11, for example, uses a communication method in accordance with the BLE (Bluetooth Low Energy: "Bluetooth" is a registered trademark) communication standard to send a signal for detecting the position of the cleaning robot 10. Instead of the BLE communication standard, a communication method in accordance with the UWB (UltraWide Band: ultra-wideband) communication standard or the like may be used. In addition, the wireless communicator 11, for example, uses a communication method in accordance with wireless communication standards such as LTE (Long Term Evolution) to send an ID for identifying the cleaning robot 10, a signal indicating the start / end of cleaning of the cleaning robot 10, and the like to the server 40.

[0032] Wireless communicators 30-1, 30-2, 30-3... (hereinafter sometimes collectively referred to as "wireless communicators 30") are set, for example, at appropriate intervals on the ceiling 35, and use a communication method that complies with the same communication standard as the wireless communicator 11 of the cleaning robot 10 to receive the signal sent from the cleaning robot 10 and detect its reception strength (in the case of BLE) or signal propagation time (in the case of UWB). The position of the cleaning robot 10 in the floor 20 can be determined based on the reception strength or signal propagation time of each wireless communicator 30. The wireless communicator 30 sends the reception strength or signal propagation time of the signal received from the cleaning robot 10 to the server 40. The wireless communicator 30 can also be set on the wall.

[0033] The server 40 manages the cleaning operation performed by the cleaning robot 10. The server 40 receives the reception strength or signal propagation time of the signal received in the wireless communicator 30 from each wireless communicator 30, and determines the position of the cleaning robot 10 in the floor 20 based on the reception strength or signal propagation time of each wireless communicator 30. Then, the server 40 determines whether the cleaning operation performed by the cleaning robot 10 is normally performed in accordance with the contract signed in advance. The server 40 will be described in detail later.

[0034] Figure 2 40 is a diagram showing the hardware configuration of the server 40. Figure 2 The server 40 is composed of a CPU (Central Processing Unit) 41, a RAM (Random Access Memory) 42, a ROM (Read Only Memory) 43, an interface device 44, and a storage device 45. The CPU 41, the RAM 42, the ROM 43, the interface device 44, and the storage device 45 exchange various data via a communication bus 46.

[0035] The CPU 41 loads the program stored in the ROM 43 into the RAM 42 and executes the program. The program stored in the ROM 43 describes the processing to be executed by the server 40 .

[0036] The interface device 44 is an input / output device for exchanging signals and data with the wireless communicator 30 and the cleaning robot 10. The interface device 44 receives the reception strength or signal propagation time of the signal received in the wireless communicator 30 from each wireless communicator 30. In addition, the interface device 44 receives an ID for identifying the cleaning robot 10, a signal indicating the start / end of cleaning of the cleaning robot 10, etc. from the cleaning robot 10 using a communication method in accordance with a wireless communication standard such as LTE.

[0037] The storage device 45 is a storage device for storing various information, including information of the cleaning robot 10, information of the floor 20, cleaning contract information that determines cleaning conditions (cleaning area, frequency, date and time, etc.), location information and movement history (trajectory) of the cleaning robot 10, etc. In addition, the storage device 45 stores various updateable databases (DB) for managing the cleaning operations performed by the cleaning robot 10. The various DBs stored in the storage device 45 will be described in detail later. The storage device 45 is, for example, a hard disk drive (HDD), a solid state drive (SSD), etc.

[0038] Figure 3 2 is a diagram showing a configuration example of the cleaning robot 10. Figure 3 The cleaning robot 10 includes a wireless communicator 11 , a camera 12 , a control unit 13 , a driving unit 14 , a battery 15 , a cleaning component 16 , and a dust concentration meter 17 .

[0039] like Figure 1 As described in, the wireless communicator 11 uses, for example, a communication method in accordance with the BLE communication standard to send a signal for detecting the position of the cleaning robot 10. In addition, the wireless communicator 11 uses, for example, a communication method in accordance with a wireless communication standard such as LTE to send to the server 40 various information such as an ID for identifying the cleaning robot 10, a cleaning start signal indicating the start of cleaning by the cleaning robot 10, a cleaning end signal indicating the end of cleaning, the dust concentration measured by the dust concentration meter 17 before the start of cleaning, and the dust concentration measured by the dust concentration meter 17 after the end of cleaning.

[0040] The camera 12 captures images of the surroundings of the cleaning robot 10 and outputs the captured images to the control unit 13. Instead of the camera 12, a laser rangefinder or the like that measures the distance between an object existing around the cleaning robot 10 and the cleaning robot 10 may be provided.

[0041] The control unit 13 controls the start and end of cleaning by the cleaning robot 10. Furthermore, the control unit 13 controls the driving unit 14 and the cleaning component 16 based on the captured image from the camera 12, so that the cleaning robot 10 moves autonomously while cleaning. In addition, the control unit 13 obtains the dust concentration measured by the dust concentration meter 17 before and after the start and end of cleaning, and outputs it to the wireless communicator 11.

[0042] The driving unit 14 generates a driving force for the cleaning robot 10 to travel. The driving unit 14 includes, for example, wheels for moving the cleaning robot 10 and a motor for driving the wheels. The driving unit 14 (motor) operates by receiving power from the battery 15. The battery 15 supplies power for the driving unit 14 (motor) and various devices of the cleaning robot 10 to operate.

[0043] The cleaning unit 16 is provided on the bottom surface of the cleaning robot 10 and is used to suck dust from the floor surface. The cleaning unit 16 includes, for example, a suction port, a fan for sucking dust from the suction port, a rotating brush provided at the suction port, and a motor for driving the rotating brush.

[0044] The dust concentration meter 17 is provided in a tank storing dust collected by the cleaning component 16, and measures the concentration of dust in the tank. The dust concentration is measured before and after the cleaning operation performed by the cleaning robot 10, and it is determined whether the cleaning component 16 is working normally, that is, whether the cleaning function of the cleaning robot 10 is normal, based on whether the dust concentration changes (increases) before and after the cleaning operation.

[0045] When performing unmanned automatic cleaning by an autonomous mobile cleaning robot in a building, shopping mall, etc., it is necessary to be able to confirm whether the cleaning robot has performed cleaning as planned. The presence of a person to confirm the result of the cleaning robot's operation is similar to the case of human cleaning.

[0046] Therefore, in the present embodiment, the cleaning operation performed by the cleaning robot 10 is managed by the server 40, and it is determined whether the cleaning operation performed by the cleaning robot 10 is normally performed. That is, the server 40 is equivalent to the "cleaning management device" in the present disclosure. Regarding the confirmation of the implementation of the cleaning operation performed by the cleaning robot, it is usually carried out by confirming the moving function based on the moving trajectory of the cleaning robot. However, according to the server 40 of the present embodiment, it is determined whether the cleaning operation performed by the cleaning robot 10 is normally performed on the basis of determining whether the moving function of the cleaning robot 10 and the cleaning function of the cleaning robot 10 are normal. Thus, it is possible to reliably determine whether the cleaning operation performed by the cleaning robot 10 is normally performed. Therefore, there is no need for a person to be present to confirm the operation of the cleaning robot 10, and it is possible to confirm later whether the cleaning operation performed by the cleaning robot 10 is normally performed as planned (according to the contract).

[0047] Figure 4 2 is a diagram showing an example of information managed in the server 40 according to the present embodiment. Figure 4 The server 40 includes a time DB 70 storing information related to the cleaning area and the cleaning date and time, a design DB 80 storing information related to the cleaning range of each cleaning area, a dust concentration DB 90 storing information related to the cleaning state (dust collection state) of the cleaning component, and a cleaning result determination DB 100 storing information related to the determination result of the cleaning operation. These DBs are stored in the storage device 45 ( Figure 2 ).

[0048] The time DB 70 includes a contract information table 72, a cleaning schedule table 74, and a cleaning performance table 76. The contract information table 72 includes data related to contract conditions, which are contract conditions stipulated in a cleaning contract with a building manager or a cleaning manager, etc. The cleaning schedule table 74 includes data on cleaning schedules for the cleaning day extracted from the contract information table 72. The cleaning performance table 76 includes data related to the performance of cleaning times for the cleaning schedules in the cleaning schedule table 74.

[0049] Figures 5 to 7 1 and 2 are diagrams showing examples of the contract information table 72 , the cleaning schedule table 74 , and the cleaning performance table 76 of the time DB 70 .

[0050] Reference Figure 5The contract information table 72 includes data such as the cleaning floors, cleaning areas on each floor, and cleaning frequency, cleaning day, cleaning start time, and cleaning end time of each area specified in the contract of the cleaning contract. For example, the first row of the contract information table 72 is used as a representative to illustrate that the following contract is signed: For the specified area 1 on the 2nd floor, the cleaning operation performed by the cleaning robot shall be carried out between 2:15 and 3:45 on the first Saturday of each month.

[0051] Reference Figure 6 The cleaning schedule table 74 is generated based on the contract information table 72, and is generated by extracting the cleaning schedule data for the cleaning day from the contract information table 72. For example, the cleaning schedule table 74 contains the cleaning schedule data from midnight on the cleaning day to midnight on the next day. Figure 6 It shows that from Figure 5 The example of extracting the cleaning schedule data of the first Saturday from the contract information table 72 to generate the cleaning schedule table 74. The cleaning schedule table 74 is generated at a frequency of once a day at a predetermined time (for example, at the end of business in a shopping mall).

[0052] Reference Figure 7 The cleaning performance table 76 is generated corresponding to the cleaning schedule table 74, and includes data related to the performance of the cleaning implementation time for the cleaning schedule of the cleaning schedule table 74. For example, the first row of the cleaning performance table 76 is used as an example for explanation, and the following content is shown: Regarding area 1 of 2F, on Saturday, June 5, the cleaning robot 10 with robot number A started the cleaning operation at 2:23 and ended the cleaning operation at 3:35. In addition, 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 robot number A, respectively.

[0053] The time judgment result in the cleaning performance table 76 shows the result of whether the cleaning operation is performed by the cleaning robot 10 within the cleaning schedule time shown in the cleaning schedule table 74. Specifically, for each cleaning area, the time judgment result shows the judgment result of whether the cleaning start signal and the cleaning end signal are received from the cleaning robot 10 within the cleaning schedule time (from the cleaning start time to the cleaning end time in the cleaning schedule table 74).

[0054] For example, regarding area 1 on 2F, for the scheduled cleaning time (2:15 to 3:45) shown in the cleaning schedule table 74, a cleaning start signal and a cleaning end signal are received from the cleaning robot 10 of robot number A at 2:23 and 3:35, respectively. Therefore, the server 40 determines that the cleaning robot 10 has performed the cleaning operation within the scheduled cleaning time, and stores "normal" in the time determination result.

[0055] Regarding area 3 on 2F, no cleaning start signal and cleaning end signal were received from the cleaning robot 10 at the cleaning scheduled time (22:05 to 22:55) shown in the cleaning schedule table 74 (the cleaning start time and cleaning end time in the cleaning performance table 76 are blank). Therefore, the server 40 determines that the cleaning operation was not performed within the cleaning scheduled time, and stores "abnormal" in the time determination result.

[0056] Regarding area 4 on 3F, for the scheduled cleaning time (1:55 to 2:45) shown in the cleaning schedule table 74, a cleaning start signal and a cleaning end signal are received at 2:00 and 2:55 respectively from the cleaning robot 10 of robot number E. The cleaning end time (2:55) at which the cleaning end signal is received is later than the scheduled cleaning end time (2:45), so the server 40 determines that the cleaning robot 10 has not completed the cleaning operation within the scheduled cleaning time, and in this case, "abnormal" is also stored in the time determination result.

[0057] Refer again Figure 4 In the design drawing DB 80, information related to the cleaning range of the cleaning robot 10 is stored according to each cleaning area shown in the cleaning schedule table 74. The design drawing DB 80 includes a cleaning range table 86. The cleaning range table 86 includes data related to the actual performance of the cleaning range for the cleaning schedule range based on the cleaning contract according to each cleaning area scheduled in the cleaning schedule table 74 on the cleaning day.

[0058] Figure 8 This is a diagram showing an example of the cleaning contract scope and the cleaning performance scope. Figure 8 The cleaning contract range 82 shows the area to be cleaned in the contract. In this example, ranges 112, 116, and 118 corresponding to areas 1, 3, and 4 of areas 1 to 4 on the second floor are cleaning areas for the day specified in the contract.

[0059] The cleaning performance range 84 shows the cleaning performance area of ​​the cleaning robot 10 based on the moving trajectory of the cleaning robot 10. The cleaning performance range 84 is generated corresponding to the cleaning contract range 82, and shows the area where the cleaning robot 10 has moved based on the moving trajectory of the cleaning robot 10. In this example, it is shown that the cleaning robot 10 has moved in the ranges 122 and 128 corresponding to the area 1 and area 4 of 2F, respectively.

[0060] In addition, the cleaning performance range 84 is generated based on the moving trajectory of the cleaning robot 10 and is data for confirming the moving function of the cleaning robot 10. In the cleaning performance range 84, the working state of the cleaning component 16 of the cleaning robot 10 (the cleaning function of the cleaning robot 10) is not considered. The working state of the cleaning component 16 is managed in the dust concentration DB90.

[0061] Fig. 9 It is shown Figure 4 FIG. 8 is a diagram showing an example of a cleaning range table 86 of the design diagram DB 80 shown in FIG. Fig. 9 The cleaning range table 86 is a table of cleaning schedules 74 ( Figure 6 ) is generated correspondingly, according to each cleaning area scheduled for cleaning on the day in the cleaning schedule table 74, and includes data such as the design drawing number representing the cleaning contract scope, the design drawing number representing the cleaning performance scope, the cleaning date and time, and the judgment result of the cleaning performance scope relative to the cleaning contract scope.

[0062] For example, the first row of the cleaning range table 86 is described as follows: With respect to the specified area 1 of 2F, the number of the design drawing data indicating the cleaning contract range of the area is C-2F-1, and the number of the design drawing data indicating the cleaning performance range of the area by the cleaning robot 10 is A-2F-1. The design drawing data of the design drawing number A-2F-1 indicating the cleaning performance range is generated based on the movement trajectory obtained from the position information of the cleaning robot 10 with the robot number A that cleans the area.

[0063] Then, the server 40 compares the cleaning performance range of the design drawing number A-2F-1 with the cleaning contract range of the design drawing number C-2F-1, and stores "normal" in the cleaning range determination result if the cleaning performance range is greater than a specified proportion of the cleaning contract range.

[0064] Furthermore, the second row of the cleaning range table 86 is described. For area 3 of 2F, since no cleaning operation is performed by the cleaning robot 10, there is no design diagram showing the cleaning performance range of the area. Therefore, the server 40 stores "abnormal" in the cleaning range determination result.

[0065] Refer again Figure 4 In the dust concentration DB 90, information related to the cleaning state (dust collection state) of the cleaning parts of the cleaning robot 10 is stored according to each cleaning area shown in the cleaning schedule table 74. The dust concentration DB 90 includes a dust concentration table 92. The dust concentration table 92 includes data related to the concentration of dust collected in the cleaning robot 10 according to each cleaning area scheduled in the cleaning schedule table 74 on the cleaning day.

[0066] Fig.10 It is shown Figure 4 FIG. 9 is a diagram showing an example of a dust concentration table 92 of the dust concentration DB 90 shown in FIG. Fig.10 The dust concentration table 92 is a cleaning schedule table 74 ( Figure 6) is generated correspondingly, according to each cleaning area scheduled for cleaning on the day in the cleaning schedule table 74, including data such as the dust concentration at the beginning 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.

[0067] For example, the first row of the dust concentration table 92 is described. Regarding the specified area 1 of 2F, when the cleaning robot 10 of robot number A starts cleaning, the dust concentration measured by the dust concentration meter 17 (10 CPM) in the dust tank and its measurement time (2:23) are stored in the start dust concentration and the start measurement time, respectively. In addition, when cleaning is finished, the dust concentration measured by the dust concentration meter 17 (15 CPM) and its measurement time (3:35) are stored in the end dust concentration and the end measurement time, respectively.

[0068] The dust concentration determination result in the dust concentration table 92 shows whether the cleaning function of the cleaning robot 10 is working normally during the cleaning operation based on the change (increase) of the dust concentration before and after the cleaning operation. Specifically, the server 40 calculates the change (increase) of the dust concentration from the start of cleaning to the end of cleaning for each cleaning area. Then, when the change (increase) of the dust concentration exceeds the threshold, the server 40 determines that the cleaning function of the cleaning robot 10 is normal, and stores "normal" in the dust concentration determination result.

[0069] In the example of the first row of the dust concentration table 92, it is determined that the change in dust concentration from the start of cleaning to the end of cleaning (5CPM increase) exceeds the threshold value, and "normal" is stored in the dust concentration determination result. In addition, in the example of the second row, since the cleaning operation is not performed, there is no dust concentration measurement value, and the dust concentration determination result becomes "abnormal".

[0070] Refer again Figure 4 In the cleaning result determination DB 100, information related to the determination result of the cleaning operation performed by the cleaning robot 10 is stored for each cleaning area shown in the cleaning schedule table 74. The cleaning result determination DB 100 includes a determination result table 102. The determination result table 102 includes data on the determination result of whether the cleaning operation performed by the cleaning robot 10 was normally performed in accordance with the contract for each cleaning area scheduled for the cleaning day in the cleaning schedule table 74.

[0071] Fig.11 It is shown Figure 4 FIG. 1 is a diagram showing an example of a determination result table 102 of the cleaning result determination DB 100. Fig.11 The determination result table 102 is a table of cleaning schedules 74 ( Figure 6) is generated correspondingly, and includes the judgment results of time judgment result, cleaning range judgment result and dust concentration judgment result for each cleaning area scheduled on the cleaning day in the cleaning schedule table 74.

[0072] The time determination result is obtained from the cleaning performance table 76 of the time DB 70, and shows whether the cleaning operation is performed by the cleaning robot 10 within the scheduled cleaning time. The cleaning range determination result is obtained from the cleaning range table 86 of the design drawing DB 80, and shows whether the cleaning robot 10 has moved within the cleaning contract range, that is, whether the moving function of the cleaning robot 10 is normal. The dust concentration determination result is obtained from the dust concentration table 92 of the dust concentration DB 90, and shows whether the cleaning component 16 of the cleaning robot 10 has worked during the cleaning operation, that is, whether the cleaning function of the cleaning robot 10 is normal.

[0073] Moreover, the judgment result table 102 also includes data of cleaning judgment results according to each cleaning area scheduled for the cleaning day in the cleaning schedule table 74, and the cleaning judgment result indicates the final judgment result of whether the cleaning operation performed by the cleaning robot 10 has been implemented normally in accordance with the contract. The cleaning judgment result is determined based on the above-mentioned time judgment result, cleaning range judgment result, and dust concentration judgment result. Specifically, the server 40 stores "normal" in the cleaning judgment result for each cleaning area when the time judgment result, cleaning range judgment result, and dust concentration judgment result are all "normal". On the other hand, when at least one of the time judgment result, cleaning range judgment result, and dust concentration judgment result is "abnormal", the server 40 stores "abnormal" in the cleaning judgment result.

[0074] Thus, in this embodiment, not only the cleaning range determination result indicating whether the moving function of the cleaning robot 10 is normal is considered, but also the dust concentration determination result indicating whether the cleaning function of the cleaning robot 10 is normal is considered, and on this basis, it is determined whether the cleaning operation performed by the cleaning robot 10 is normally performed. In this way, it is reliably determined whether the cleaning operation performed by the cleaning robot 10 is performed in accordance with the contract.

[0075] Fig.12 This is a flowchart showing an example of the steps of data acquisition processing performed by the server 40 to obtain data from the cleaning robot 10 when the cleaning robot 10 performs a cleaning operation. The series of processing shown in the flowchart is performed according to each cleaning robot 10 and according to each cleaning area, accompanying the cleaning operation performed by the cleaning robot 10. In addition, each data obtained from the cleaning robot 10 contains the ID of the cleaning robot 10 as the transmission source, and the server 40 determines the cleaning robot 10 as the transmission source based on the ID contained in each acquired data.

[0076] Reference Fig.12 Before the cleaning robot 10 starts cleaning, the server 40 obtains the measured value of the dust concentration in the dust tank measured by the dust concentration meter 17 in the cleaning robot 10 from the cleaning robot 10 (step S10). In addition, the server 40 stores the time when the measured value of the dust concentration is obtained and the measured value in the dust concentration table 92 ( Fig.10 ) of the start measurement time and the start dust concentration corresponding to the cleaning robot 10 as the sending source.

[0077] Next, the server 40 obtains a cleaning start signal from the cleaning robot 10 indicating the start of cleaning by the cleaning robot 10 (step S20). Then, the server 40 determines the time when the cleaning start signal is obtained as the cleaning start time of the cleaning robot 10 (step S30). The specified time is in the cleaning performance table 76 ( Figure 7 ) is stored in the cleaning start time corresponding to the cleaning robot 10 which is the sending source.

[0078] Next, the server 40 obtains the location information of the cleaning robot 10 (step S40). Specifically, the server 40 obtains the reception strength (in the case of BLE) or signal propagation time (in the case of UWB) of the signal received by each wireless communicator 30 from the cleaning robot 10, and obtains the location of the cleaning robot 10 according to the reception strength or signal propagation time of each wireless communicator 30 using a known method.

[0079] Then, the server 40 generates a movement trajectory of the cleaning robot 10 using the position information of the cleaning robot 10 (step S50). The generation of the movement trajectory of the cleaning robot 10 is repeatedly performed until the cleaning of the cleaning robot 10 is completed.

[0080] Next, the server 40 determines whether a cleaning completion signal indicating that cleaning by the cleaning robot 10 is completed is obtained from the cleaning robot 10 (step S60). If the cleaning completion signal is not obtained (No in step S60), the server 40 returns the process to step S40.

[0081] On the other hand, when it is determined in step S60 that a cleaning end signal has been obtained (yes in step S60), the server 40 determines the time when the cleaning end signal is obtained as the cleaning end time of the cleaning robot 10 (step S70). The specified time is stored in the cleaning performance table 76 of the time DB 70 as the cleaning end time corresponding to the cleaning robot 10 as the sending source.

[0082] Next, after the cleaning robot 10 finishes cleaning, the server 40 obtains the measured value of the dust concentration in the dust tank measured by the dust concentration meter 17 in the cleaning robot 10 from the cleaning robot 10 (step S80). In addition, the server 40 stores the time and the measured value of the dust concentration obtained in the dust concentration table 92 of the dust concentration DB 90, which corresponds to the cleaning robot 10 as the transmission source, at the end measurement time and the end dust concentration.

[0083] Finally, the server 40 determines the cleaning performance range ( Figure 8 ) (Step S90). The cleaning performance range is stored in the storage device 45 as design drawing data, and the number of the design drawing data is recorded in the cleaning range table 86 ( Fig. 9 ) is stored in the cleaning performance range design drawing number of the corresponding cleaning area.

[0084] Fig.13 and Fig.14 2 is a flowchart showing an example of the procedure of the cleaning result determination process executed by the server 40. Fig.13 First, based on the cleaning contract, a contract information table 72 is generated in the time DB 70 ( Figure 5 ) (Step S110). The contract information table 72 is generated by the user of the cleaning system 1, but the server 40 may automatically generate the contract information table 72 based on the contract by extracting predetermined items from the contract in a predetermined format.

[0085] Next, the server 40 generates a cleaning schedule table 74 for the cleaning day based on the contract information table 72 ( Figure 6 ) (Step S120 ). For example, the server 40 extracts cleaning schedule data from the contract information table 72 at a predetermined time once a day from midnight of the cleaning day to midnight of the next day, and generates the cleaning schedule table 74 .

[0086] After the cleaning schedule table 74 is generated, the following steps S130 to S140 are executed according to each cleaning area of ​​the cleaning schedule table 74. Fig.14 A series of processing of step S270 of FIG. 1 is performed as follows, and an arbitrary one cleaning area included in the cleaning schedule table 74 is described.

[0087] The server 40 determines whether cleaning has been started by the cleaning robot 10 (step S130). Whether cleaning has been started is determined based on whether a cleaning start signal is received from the cleaning robot 10. In addition, the server 40 can determine the area to be cleaned by the cleaning robot 10 based on the position information of the cleaning robot 10 as the signal transmission source.

[0088] When it is determined in step S130 that cleaning has started by the cleaning robot 10 (Yes in step S130), the server 40 stores the time when the cleaning start signal is received in the cleaning performance table 76 ( Figure 7 ) of the cleaning start time (step S140). Then, the server 40 stores the measured value of the dust concentration before the start of cleaning received from the cleaning robot 10 as the cleaning starts in the dust concentration table 92 ( Fig.10 ) corresponding to the starting dust concentration of the cleaning robot 10 (step S150). In addition, the server 40 also stores the time of receiving the measured value of the dust concentration in the starting measurement time corresponding to the cleaning robot 10 in the dust concentration table 92.

[0089] Although not particularly shown in the figure, if the cleaning robot 10 has not started cleaning (No in step S130), and a predetermined time has passed since the cleaning end time in the cleaning schedule table 74, the process is forwarded to the step described later. Fig.14 The step S220 shown is transitioned (no cleaning performance time).

[0090] Next, the server 40 determines whether the cleaning of the cleaning robot 10 has been completed (step S160 ). Whether the cleaning of the cleaning robot 10 has been completed is determined based on whether a cleaning completion signal is received from the cleaning robot 10 .

[0091] When it is determined in step S160 that the cleaning of the cleaning robot 10 has been completed (Yes in step S160), the server 40 stores the cleaning performance range indicating the range of cleaning performed by the cleaning robot 10 in the cleaning range table 86 of the design DB 80 ( Fig. 9 )(Step S170). Specifically, the server 40 stores the design drawing data of the cleaning performance range in the storage device 45, and stores the design drawing number of the design drawing data in the cleaning range table 86 of the design drawing DB 80. Fig.12 The cleaning performance range determined in step S90.

[0092] Furthermore, the server 40 stores the time at which the cleaning end signal is received in the cleaning end time of the cleaning performance table 76 (step S180). In addition, the server 40 stores the measured value of the dust concentration after the cleaning end received from the cleaning robot 10 as the cleaning ends in the end dust concentration corresponding to the cleaning robot 10 in the dust concentration table 92 (step S190). In addition, the server 40 stores the time at which 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 92.

[0093] Reference Fig.14 The server 40 compares the design drawing data of the cleaning performance range indicated by the cleaning performance range design drawing number in the cleaning range table 86 of the design drawing DB 80 with the design drawing data of the cleaning contract range indicated by the cleaning contract range design drawing number (step S200). Then, the server 40 stores the cleaning range determination result based on the comparison result in the cleaning range determination result ( Fig. 9 )(Step S210). For example, if the cleaning performance range is greater than a specified ratio of the cleaning contract range, the server 40 stores "normal" in the cleaning range determination result. On the other hand, if the cleaning performance range is less than the above-mentioned specified ratio, the server 40 stores "abnormal" in the cleaning range determination result.

[0094] In addition, the server 40 compares the cleaning performance time (cleaning start time / cleaning end time) of the cleaning performance table 76 of the time DB 70 with the cleaning contract time (cleaning start time / cleaning end time) of the cleaning schedule table 74 (step S220). Then, the server 40 stores the cleaning time determination result based on the comparison result in the time determination result ( Figure 7 )(Step S230). For example, when the cleaning performance time (cleaning start time to cleaning end time in the cleaning performance table 76) is included in the cleaning contract time (cleaning start time to cleaning end time in the cleaning schedule table 74), the server 40 stores "normal" in the time determination result. On the other hand, when the cleaning end time of the cleaning performance is later than the cleaning end time of the cleaning contract, the server 40 stores "abnormal" in the time determination result.

[0095] Furthermore, the server 40 calculates the change (increase) in dust concentration before and after the cleaning operation performed by the cleaning robot 10 (step S240). Specifically, the server 40 subtracts the start dust concentration from the end dust concentration in the dust concentration table 92 to calculate the change in dust concentration before and after cleaning. Then, the server 40 stores the determination result of the dust concentration based on the change in dust concentration before and after cleaning in the dust concentration determination result ( Fig.10)(Step S250). For example, when the increase in dust concentration before and after cleaning exceeds a threshold value, the server 40 stores "normal" in the dust concentration determination result. On the other hand, when the increase in dust concentration before and after cleaning is below a threshold value, the server 40 stores "abnormal" in the dust concentration determination result.

[0096] Next, the server 40 stores the cleaning range determination result of the cleaning range table 86, the time determination result of the cleaning performance table 76, and the dust concentration determination result of the dust concentration table 92 in the determination result table 102 ( Fig.11 )(Step S260).

[0097] Then, the server 40 determines whether the final cleaning result of the cleaning operation performed by the cleaning robot 10 has been implemented normally in accordance with the contract based on the cleaning range determination result, the time determination result, and the dust concentration determination result of the determination result table 102 (step S270). Specifically, when the cleaning range determination result, the time determination result, and the dust concentration determination result are all "normal", the server 40 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 40 determines the cleaning result as "abnormal". The final determination result is stored in the cleaning determination result of the determination result table 102.

[0098] The determination of the cleaning result in step S270 is performed, for example, when the cleaning end time is the final time or after a predetermined time has passed from the final time.

[0099] As described above, in this embodiment, when the server 40 determines whether the cleaning operation performed by the cleaning robot 10 has been performed, not only the determination result of the moving function of the cleaning robot 10 but also the determination result of the cleaning function of the cleaning robot 10 are considered. Thus, the server 40 can determine whether the cleaning operation performed by the cleaning robot 10 has been performed normally. Therefore, according to this embodiment, when the cleaning robot 10 performs the cleaning operation, it is not necessary for a person to be present to confirm the cleaning operation, and it is possible to confirm later whether the cleaning operation performed by the cleaning robot 10 has been performed normally as planned.

[0100] In addition, in this embodiment, whether the implementation time of the cleaning operation is normal is also determined based on the scheduled time of the cleaning operation performed by the cleaning robot 10 and the actual time of the cleaning operation, and whether the cleaning operation is normally implemented is determined based on the determination result of the movement function, the determination result of the cleaning function and the determination result of the implementation time. As a result, the server 40 can more reliably determine whether the cleaning operation performed by the cleaning robot 10 is normally implemented.

[0101] In addition, in this embodiment, it is determined whether the cleaning component 16 of the cleaning robot 10 is working, that is, whether the cleaning function of the cleaning robot 10 is normal, based on the dust concentration measured by the dust concentration meter 17. Specifically, it is determined whether the cleaning function of the cleaning robot 10 is normal based on the change (increase) of the dust concentration before and after cleaning measured by the dust concentration meter 17. Even if the amount of dust collected by cleaning is a trace amount, the dust concentration meter 17 can measure the change in the amount of dust before and after cleaning. Therefore, according to this embodiment, it is possible to more reliably determine the operation of the cleaning function based on the measurement result of the collected dust.

[0102] In addition, in the above-mentioned embodiment, the dust concentration measured by the dust concentration meter 17 is used to confirm the working condition of the cleaning component 16 of the cleaning robot 10 to determine whether the cleaning function of the cleaning robot 10 is normal. However, other parameters can also be used to confirm the working condition of the cleaning component 16.

[0103] For example, a dust weighing meter may be mounted on the cleaning robot 10 to measure the weight of dust collected by the cleaning component 16 and accumulated in the tank of the cleaning robot 10, and the weight of the dust measured by the dust weighing meter may be used to confirm the operation of the cleaning component 16. The weight of dust may be measured before and after the cleaning operation performed by the cleaning robot 10, and whether the cleaning component 16 is operating normally, that is, whether the cleaning function of the cleaning robot 10 is normal, may be determined based on whether the weight of dust increases before and after the cleaning operation.

[0104] In addition, for example, whether the cleaning component 16 is working normally, that is, whether the cleaning function of the cleaning robot 10 is normal, can be determined based on the operation of the motor that sucks the dust, the operation of the rotating brush of the cleaning component 16 arranged at the suction port, the operation of the motor that drives the rotating brush, the measurement value of the differential pressure gauge that detects the differential pressure before and after the filter, etc.

[0105] The embodiments disclosed herein are illustrative in all aspects and should not be construed as limiting. The scope of the technology disclosed herein is not indicated by the above-mentioned embodiments but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0106] Description of Reference Numerals

[0107] 10 cleaning robot, 11, 30 wireless communicator, 12 camera, 13 control unit, 14 drive unit, 15 battery, 16 cleaning component, 17 dust concentration meter, 20 floor, 35 ceiling, 40 server, 41 CPU, 42 RAM, 43 ROM, 44 interface device, 45 storage device, 70 time DB, 72 contract information table, 74 cleaning schedule table, 76 cleaning performance table, 80 design drawing DB, 82 cleaning contract scope, 84 cleaning performance scope, 86 cleaning scope table, 90 dust concentration DB, 92 dust concentration table, 100 cleaning result judgment DB, 102 judgment result table.

Claims

1. A cleaning management device for managing cleaning operations performed by an autonomous mobile cleaning robot, wherein: The cleaning management device comprises: Processor; and a memory storing a program executed by the processor, The processor performs the following processing according to the program: Before the cleaning operation starts, a measurement value of dust in a dust tank is obtained, in which dust collected by a cleaning component of the cleaning robot is stored. Obtaining the actual results of the start time and end time of the cleaning operation, obtaining a cleaning performance range indicating a range cleaned by the cleaning robot based on a movement trajectory of the cleaning robot during the cleaning operation, After the cleaning operation is completed, the measurement value is obtained. According to the predetermined area of ​​the cleaning operation and the actual cleaning performance range, it is determined whether the moving function of the cleaning robot is normal. determining whether the time of performing the cleaning operation is normal based on the scheduled time of the cleaning operation and the actual results of the start time and the end time, According to the change of the measurement value before and after the cleaning operation, it is determined whether the cleaning function of the cleaning robot is normal, If the determination result of the movement function, the determination result of the execution time, and the determination result of the cleaning function all indicate that they are normal, it is determined that the cleaning operation is normally executed, When at least one of the determination result of the movement function, the determination result of the execution time, and the determination result of the cleaning function indicates abnormality, it is determined that the cleaning work is abnormal.

2. The cleaning management device according to claim 1, wherein: The predetermined time is the contract time stipulated in the contract, The processor compares the actual performance of the start time and the end time with the contract time to determine whether the execution time of the cleaning work is normal.

3. The cleaning management device according to claim 1 or 2, wherein: The predetermined area is a contractual scope stipulated in the contract. The processor compares the cleaning performance range based on the moving trajectory of the cleaning robot with the contract range to determine whether the moving function is normal.

4. The cleaning management device according to claim 1 or 2, wherein: The cleaning robot includes a dust concentration meter for measuring the concentration of dust collected by the cleaning member. The measured value is the dust concentration measured by the dust concentration meter.

5. The cleaning management device according to claim 1 or 2, wherein: The cleaning robot includes a dust weighing meter for measuring the weight of dust collected by the cleaning member. The measured value is the dust weight measured by the dust weight meter.

6. A cleaning management method for managing a cleaning operation performed by an autonomous mobile cleaning robot, comprising the following steps: Before the cleaning operation begins, a measurement value of dust in a dust tank is obtained, in which dust collected by a cleaning component of the cleaning robot is stored; Obtaining the actual results of the start time and end time of the cleaning operation; obtaining a cleaning performance range indicating a range cleaned by the cleaning robot based on a movement trajectory of the cleaning robot during the cleaning operation; Obtaining the measurement value after the cleaning operation is completed; According to the predetermined area of ​​the cleaning operation and the actual cleaning performance range, the computer determines whether the moving function of the cleaning robot is normal; The computer determines whether the time of performing the cleaning operation is normal based on the scheduled time of the cleaning operation and the actual performance of the start time and the end time; According to the change of the measurement value before and after the cleaning operation, the computer determines whether the cleaning function of the cleaning robot is normal; When the determination result of the movement function, the determination result of the execution time, and the determination result of the cleaning function all indicate that they are normal, determining that the cleaning operation is normally executed; as well as When at least one of the determination result of the movement function, the determination result of the execution time, and the determination result of the cleaning function indicates abnormality, it is determined that the cleaning work is abnormal.

7. The cleaning management method according to claim 6, wherein: The predetermined time is the contract time stipulated in the contract, The step of determining whether the implementation time is normal includes comparing the actual performance of the start time and the end time with the contract time to determine whether the implementation time is normal.

8. The cleaning management method according to claim 6 or 7, wherein: The predetermined area is a contractual scope stipulated in the contract. The step of determining whether the moving function is normal includes the following steps: comparing the cleaning performance range based on the moving trajectory of the cleaning robot with the contract range to determine whether the moving function is normal.

9. The cleaning management method according to claim 6 or 7, wherein: The cleaning robot includes a dust concentration meter for measuring the concentration of dust collected by the cleaning member. The measured value is the dust concentration measured by the dust concentration meter.

10. The cleaning management method according to claim 6 or 7, wherein: The cleaning robot includes a dust weighing meter for measuring the weight of dust collected by the cleaning member. The measured value is the dust weight measured by the dust weight meter.

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