Self-propelled sweeper, control method, and program

Abstract

A self-propelled cleaning machine (100) includes: a main body (B); a moving unit (1) that moves the main body (B); a cleaning unit (3) that cleans a predetermined area (A); a storage unit (51) that stores a plurality of cleaning data (D) generated for each part of the predetermined area (A); a control unit (53) that controls the moving unit (1) and the cleaning unit (3) using the cleaning data (D); and an instruction unit (7) that instructs the control unit to sequentially use a predetermined number of cleaning data (D). The control unit (53) determines whether a second cleaning data (D) exists before or after a first cleaning data (D) among the predetermined number of cleaning data (D), and in the case where the second cleaning data (D) exists, sets a cleaning condition in a joint area (CON) between a first movement path indicated by the first cleaning data (D) and a second movement path indicated by the second cleaning data (D) based on at least one of a cleaning condition indicated by the first cleaning data and a cleaning condition indicated by the second cleaning data.

Description

Technical Field

[0001] This invention relates to a self-propelled sweeper that moves autonomously and performs sweeping within a designated area, a control method for controlling the self-propelled sweeper, and a program for executing the control method on a computer. Background Technology

[0002] A self-propelled sweeper is known that autonomously moves within a designated area and autonomously cleans that area (see, for example, Patent Document 1). In this sweeper, cleaning data is pre-stored, containing information about the movement path within a designated area and information about the cleaning conditions along that path. The sweeper is controlled according to the cleaning data, thereby autonomously reproducing the movement path and cleaning conditions shown in the cleaning data. Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent No. 6711405 Summary of the Invention The problem that the invention aims to solve

[0004] In the aforementioned self-propelled sweeper, each cleaning data point is generated on a per-unit basis, focusing on the cleaning of a specific area within a defined region. By using multiple such cleaning data points, the self-propelled sweeper can continuously clean multiple different areas within the defined region, and / or repeatedly clean the same area within the defined region. However, simply combining the cleaning data sometimes fails to enable the self-propelled sweeper to perform proper cleaning.

[0005] The purpose of this invention is to combine multiple cleaning data generated in units of cleaning specific parts within a defined area to enable an autonomous cleaning machine to perform proper cleaning. Solution for solving the problem

[0006] The following describes several methods as solutions to the problem. These methods can be combined arbitrarily as needed. One aspect of the present invention is a self-propelled sweeper that autonomously moves and sweeps within a designated area. The self-propelled sweeper includes a main body, a moving unit, a sweeping unit, a storage unit, a control unit, and an instruction unit. The moving unit moves the main body. The sweeping unit, located on the main body, sweeps the designated area. The storage unit stores multiple cleaning data sets. Each cleaning data set includes movement path information and cleaning condition information; the movement path information indicates the movement path of the main body at a specific location within the designated area, and the cleaning condition information indicates the cleaning conditions based on the sweeping unit when moving along that path. The control unit controls the moving unit and the sweeping unit according to the cleaning data. The instruction unit selects a predetermined number of cleaning data sets from the multiple cleaning data sets stored in the storage unit and instructs the control unit to sequentially use the selected predetermined number of cleaning data sets to control the moving unit and the sweeping unit.

[0007] When controlling the moving and cleaning units using multiple cleaning data points generated in units of cleaning each specific part within a defined area, improper cleaning may sometimes occur, particularly in the area corresponding to the junction of two cleaning data points, i.e., the area corresponding to the boundary of the two specific parts. Therefore, in the aforementioned self-propelled sweeper, it is determined whether a second cleaning data point used before or after the first cleaning data point exists among the selected predetermined number of cleaning data points. If the second cleaning data point exists, the cleaning conditions of the cleaning unit in the junction area of ​​the first moving path shown in the moving path information of the first cleaning data point and the second moving path shown in the moving path information of the second cleaning data point are set according to at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data point and the cleaning conditions set in the cleaning operation based on the second cleaning data point.

[0008] When cleaning is performed on multiple specific areas using cleaning data generated in units of cleaning each specific part within a defined area, improper cleaning conditions can easily occur in the joint areas, as these conditions are set based on the cleaning conditions set before and after them. Therefore, even when multiple cleaning data are used sequentially to clean a defined area, a self-propelled sweeper can continuously perform proper cleaning on multiple specific areas.

[0009] In the aforementioned self-propelled sweeper, the sweeping unit may include a washing unit and a suction unit. The washing unit uses liquid to clean a designated area. The suction unit removes the liquid remaining after washing. Thus, proper sweeping can be performed using both the washing unit and the suction unit.

[0010] In the aforementioned self-propelled sweeper, the engagement area can also be determined based on the distance between the cleaning section and the suction section. This allows for the appropriate setting of the start-up timing for the cleaning and suction sections.

[0011] In the aforementioned self-propelled sweeper, the control unit may determine that a second cleaning data is used after the first cleaning data, and that cleaning based on the cleaning unit is performed in the end area of ​​the cleaning operation based on the first cleaning data, and then set cleaning conditions to allow the cleaning unit to continue cleaning in the engagement area. Thus, cleaning will not be interrupted in the engagement area.

[0012] In the aforementioned self-propelled sweeper, if there is no second sweeping data to be used after the first sweeping data, and the sweeping condition information of the first sweeping data indicates that the cleaning unit should operate in the end area of ​​the sweeping operation based on the first sweeping data, the control unit may change the sweeping condition information indicating the sweeping conditions in that end area to a sweeping condition that does not operate the cleaning unit but operates the suction unit. This prevents the improper situation of ending the sweeping operation with residual liquid after use.

[0013] Another aspect of the control method of the present invention is a control method for a self-propelled sweeper. The self-propelled sweeper includes a main body, a moving part, a cleaning part, and a storage part. The moving part moves the main body. The cleaning part is located on the main body and cleans a designated area. The storage part stores multiple cleaning data. Each cleaning data includes movement path information and cleaning condition information. The movement path information indicates the movement path of the main body at a specific location within the designated area, and the cleaning condition information indicates the cleaning conditions based on the cleaning part when moving along the movement path. The control method includes the following steps. (a) The step of selecting a specified number of cleaning data from multiple cleaning data stored in the storage unit. (b) Instructing the movement and cleaning units to be controlled sequentially using a selected number of cleaning data. (c) The step of determining whether a second cleaning data is used before or after the first cleaning data in the selected number of cleaning data. (d) When second cleaning data exists, the step of setting the cleaning conditions of the cleaning part in the junction area of ​​the first moving path shown in the moving path information of the first cleaning data and the second moving path shown in the moving path information of the second cleaning data, based on at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data and the cleaning conditions set in the cleaning operation based on the second cleaning data.

[0014] When cleaning is performed on multiple specific areas using cleaning data generated in units of cleaning each specific part within a defined area, improper cleaning conditions can easily occur in the joint areas, as these conditions are set based on the cleaning conditions set before and after them. Therefore, even when multiple cleaning data are used sequentially to clean a defined area, a self-propelled sweeper can continuously perform proper cleaning on multiple specific areas.

[0015] In the control method described above, the cleaning unit may also include a washing unit and a suction unit. The washing unit uses liquid to clean a designated area. The suction unit suctions away the liquid remaining after washing. Thus, proper cleaning can be performed using both the washing unit and the suction unit.

[0016] In the control method described above, the engagement area can also be determined based on the distance between the cleaning section and the suction section. This allows for the appropriate setting of the start timing for the actions of the cleaning section and the suction section.

[0017] In the control method described above, the step of setting the cleaning conditions for the joint area may include the following steps: if it is determined that there is a second cleaning data used after the first cleaning data, and cleaning based on the cleaning unit is performed in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning conditions are set such that the cleaning unit continues cleaning in the joint area. Therefore, cleaning will not be interrupted in the joint area.

[0018] In the control method described above, the step of setting the cleaning conditions for the engagement area may include the following steps: if there is no second cleaning data used after the first cleaning data, and the cleaning condition information of the first cleaning data indicates that the cleaning unit is operated in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning condition information indicating the cleaning conditions in that end area is changed to cleaning conditions that do not operate the cleaning unit but operate the suction unit on the other hand. This prevents the improper situation of ending cleaning with residual liquid after cleaning.

[0019] Another aspect of the present invention relates to a program that causes a computer to execute the above-described control method. Invention Effects

[0020] When a self-propelled sweeper performs cleaning using multiple cleaning data points generated in units of cleaning specific areas within a defined region, the cleaning conditions in the junction area between a particular cleaning data point and subsequent cleaning data points are set based on the cleaning conditions set before and after the junction area. Therefore, even when multiple cleaning data points are used sequentially to clean a defined area, proper cleaning can be performed continuously. Attached Figure Description

[0021] Figure 1 This is a diagram showing the overall structure of a self-propelled sweeper. Figure 2 This is a diagram showing the control structure of a self-propelled sweeper. Figure 3 This is a diagram illustrating an example of a data structure for cleaning data. Figure 4 This is a diagram illustrating an example of a defined area and a set movement path. Figure 5A This is a diagram showing an example of setting cleaning conditions to clean the entire path of the movement path. Figure 5B This is a diagram showing other examples of cleaning conditions that are set to clean the entire path of the movement path. Figure 6A This is a diagram illustrating an example of setting cleaning conditions where cleaning is performed only on a portion of the movement path. Figure 6B This is a diagram showing other examples of cleaning conditions where cleaning is performed only on a portion of the movement path. Figure 6C This is a diagram representing another example of a cleaning condition where cleaning is performed only on a portion of the movement path. Figure 7 This is a diagram illustrating an example of setting cleaning conditions without performing cleaning. Figure 8 This is an example of a screen showing the cleaning conditions settings. Figure 9 This is an example of a screen showing the selection of cleaning data. Figure 10 This is a flowchart illustrating the basic operations of a self-propelled sweeper. Figure 11 This is a flowchart illustrating the actions of a self-propelled sweeper in autonomous mode. Figure 12 This is a flowchart representing the cleaning operations in the starting area. Figure 13 This is a diagram illustrating an example of setting cleaning conditions when cleaning is interrupted in the joint area. Figure 14 This is a diagram illustrating a setting example of cleaning conditions where cleaning is not interrupted in the joint area. Figure 15 This is a diagram illustrating an example of setting cleaning conditions when cleaning is performed up to the end point of the immediate preceding cleaning operation. Figure 16 This is a flowchart representing the cleaning operations in the middle area. Figure 17This is a flowchart representing the cleaning actions in the finished area. Figure 18 This diagram illustrates an example of the state of the cleaning component, the suction unit, and the cleaning fluid nozzle in the second embodiment, where cleaning conditions are set such that only the suction unit operates in the start and / or end areas of the cleaning operation. Figure 19 This diagram illustrates an example of setting cleaning conditions in the second embodiment where cleaning is not interrupted in the joint area. Figure 20 This diagram illustrates an example of setting cleaning conditions in the second embodiment, where cleaning data D, which sets cleaning conditions that cause only the suction unit to operate in the end region, is followed by cleaning data D that sets cleaning conditions that do not perform cleaning in the start region. Detailed Implementation

[0022] 1. First Implementation Method (1) Summary The following describes the self-propelled sweeper 100. The self-propelled sweeper 100 autonomously moves and sweeps within a designated area A. The designated area A is, for example, the lobby of a shop, airport, train station, amusement park, exhibition facilities, etc. The self-propelled sweeper 100 stores the sweeping operations within the designated area A as sweeping data D, and reproduces the sweeping operations according to the stored sweeping data D, thereby autonomously moving and sweeping within the designated area A.

[0023] In the self-propelled sweeper 100, cleaning data D is generated for each specific part that is part of a designated area A. By performing cleaning operations according to multiple selected cleaning data D, the self-propelled sweeper 100 can continuously clean multiple parts.

[0024] (2) Overall structure of self-propelled sweeper use Figure 1 To illustrate the overall structure of the self-propelled sweeper 100. Figure 1 This diagram shows the overall structure of the self-propelled sweeper 100. The self-propelled sweeper 100 of this embodiment autonomously travels along a designated path (autonomous travel path) within a specified area (e.g., indoors in a high-rise building), and autonomously reproduces the cleaning conditions set at each point along the autonomous travel path. Specifically, the self-propelled sweeper 100 mainly includes a main body B, a moving part 1, a cleaning part 3, an information processing device 5, and a command part 7.

[0025] The main body B constitutes the main body of the self-propelled sweeper 100. A front detector 21a is provided in front of the main body B in the direction of travel, and a rear detector 21b is provided behind it in the direction of travel. The front detector 21a and the rear detector 21b are devices for acquiring information about obstacles (walls, etc.) existing around the self-propelled sweeper 100 (main body B). The front detector 21a and the rear detector 21b are, for example, laser range finders (LRFs) with a detection range of 180° or more. When a laser range finder is used as the front detector 21a and the rear detector 21b, the distance between the moving part 1 and the obstacle and the direction in which the obstacle exists are acquired as information related to the obstacle.

[0026] The information acquired by the front detector 21a and the rear detector 21b can be two-dimensional information representing the location of an obstacle on a defined plane, or it can be three-dimensional information by further including information representing the location of the obstacle in the height direction. Furthermore, the detection range (detection angle and / or detection distance) of the front detector 21a can be set to be larger than the detection range of the rear detector 21b. This allows for the acquisition of information related to obstacles existing over a larger area in the direction in front of the self-propelled sweeper 100. Additionally, the front detector 21a and the rear detector 21b can also be TOF (Time Of Flight) cameras, etc.

[0027] The moving part 1 is located on the main body B and is a device for moving the self-propelled sweeper 100. The moving part 1 has a moving motor 11 and a main wheel 13 at the left and right ends of the bottom of the main body B, respectively. The main wheel 13 is mounted on the output rotation shaft of the moving motor 11 and rotates with the rotation of the moving motor 11. An encoder 17 is provided on the output rotation shaft of the moving motor 11 to measure the rotation amount of the moving motor 11. Figure 2 ).

[0028] The moving part 1 may also have auxiliary wheels 15 to make the self-propelled sweeper 100 travel more stably. The auxiliary wheels 15 may be rotatably mounted on the left and right ends of the bottom of the main body B at a position rearward of the main wheels 13, or they may be mounted at a position forward of the main wheels 13, taking into account the center of gravity of the self-propelled sweeper 100.

[0029] The cleaning unit 3 is located at the bottom of the main body B and is a device for cleaning the floor F of a designated area A according to specified cleaning conditions. The cleaning unit 3 uses cleaning fluid to wipe the floor F. The cleaning unit 3 has a cleaning unit 31 and a suction unit 33.

[0030] The cleaning unit 31 cleans the floor F in a designated area A using cleaning fluid supplied to the floor F. Specifically, the cleaning unit 31 has a cleaning fluid nozzle 31a and a cleaning component 31b. The cleaning fluid nozzle 31a sprays cleaning fluid (e.g., water) supplied from the cleaning fluid supply tank 31c by the cleaning fluid supply pump 31d onto the floor F in front of the main body B. The cleaning component 31b is located in front of the bottom surface of the main body B and rotates on the floor F containing the cleaning fluid by the rotation of the cleaning component rotation motor 31e, thereby cleaning the floor F. The cleaning component 31b is, for example, a brush.

[0031] The suction unit 33 draws in the cleaning fluid after use. Specifically, the suction unit 33 has a squeegee 33a and a suction port 33b. The squeegee 33a is located behind the bottom surface of the main body B and collects the cleaning fluid remaining on the ground F. The squeegee 33a is movable vertically relative to the main body B. The suction port 33b is located on the squeegee 33a and connected to the recovery unit 33c. The recovery unit 33c is equipped with a suction motor 33d that creates a negative pressure state in the recovery unit 33c. In this suction unit 33, if the suction motor 33d creates a negative pressure state inside the recovery unit 33c, the cleaning fluid and dust collected by the squeegee 33a are drawn from the suction port 33b and recovered to the recovery unit 33c.

[0032] The information processing device 5 is a computer system equipped with a CPU, storage devices (RAM, ROM, hard disk drive, SSD, etc.), and various interfaces. The information processing device 5 performs various controls related to the self-propelled sweeper 100.

[0033] The command unit 7 is located in the main body B, which performs various settings related to the self-propelled sweeper 100 and outputs the set information to the information processing device 5. As described later, the self-propelled sweeper 100 uses the cleaning data stored in the storage unit 51 of the information processing device 5 to autonomously perform cleaning operations. Therefore, the command unit 7 has the function of allowing the user to select which cleaning data D to use to perform the cleaning operation. The command unit 7 allows the user to select multiple cleaning data D. Thus, the self-propelled sweeper 100 can perform cleaning within a range of multiple locations by using multiple cleaning data D generated for each location within a specified area A.

[0034] The command unit 7 can instruct the cleaning unit 3 on the cleaning conditions of the floor F. Specifically, the command unit 7 can instruct the up-and-down movement of the squeegee 33a of the cleaning unit 3 (i.e., whether to draw in cleaning fluid) and whether to rotate the cleaning component 31b, according to the user's operation. In addition, the command unit 7 can set the amount of cleaning fluid sprayed from the cleaning fluid nozzle 31a, the rotation speed of the cleaning component 31b, and the suction force of the suction port 33b on the cleaning fluid.

[0035] Furthermore, the command unit 7 may not be installed on the main body B. In this case, the command unit 7 may be a control console capable of wireless communication, such as a portable terminal.

[0036] The self-propelled sweeper 100 includes a path teaching unit 9. The path teaching unit 9 receives user input for movement of the moving part 1. The path teaching unit 9 is mounted on the upper rear side of the main body B via a mounting member 8. The path teaching unit 9 is, for example, an operating device with a pair of rotatable handles. Using the steering handle or lever of the path teaching unit 9, the turning amount of each of the pair of main wheels 13 is adjusted, thereby enabling the self-propelled sweeper 100 to be turned in the direction of travel.

[0037] The movement path teaching unit 9 is located near the command unit 7 within the main body B. This allows the user to operate the movement path teaching unit 9 while simultaneously operating the command unit 7. In other words, the user can move the self-propelled sweeper 100 while simultaneously cleaning the ground F with the self-propelled sweeper 100.

[0038] The path teaching unit 9 can also be a remote controller, such as a joystick for remote operation of the self-propelled sweeper 100 by a user. Furthermore, the self-propelled sweeper 100 can be operated via both the path teaching unit 9 mounted on the main body B and the remote controller. Additionally, the command unit 7 and the path teaching unit 9 can be integrated.

[0039] (3) Control structure The following uses Figure 2 To explain the control structure used to control the self-propelled sweeper 100. Figure 2 This diagram illustrates the control structure of a self-propelled sweeper 100. The control structure of the self-propelled sweeper 100 consists of an information processing unit 5 and a command unit 7.

[0040] The information processing device 5 includes a storage unit 51, a control unit 53, and a temporary storage unit 55. The storage unit 51 is part or all of the storage area of ​​the storage device constituting the computer system of the information processing device 5, and stores various settings, information, etc. related to the self-propelled sweeper 100. The storage unit 51 stores cleaning data D and environmental map M.

[0041] Cleaning data D records the cleaning operations for specific areas within a designated area A. For example, ... Figure 3 As shown, the cleaning data D contains movement path information IN1 and cleaning condition information IN2. Figure 3 This is a diagram representing an example of the data structure for cleaning data D.

[0042] Movement path information IN1 represents the movement path of the self-propelled sweeper 100 (main body B) when performing sweeping operations at a specific location within designated area A. Movement path information IN1 includes various times (elapsed times) (T0, T1, ... T) representing time information IN3. n The coordinates of the points through which the self-propelled sweeper 100 passes ((x0, y0), (x1, y1), ... (x...) are given. n y n ), and angular information (θ0, θ1, ... θ) representing the posture of the self-propelled sweeper 100 at each location. n In other words, the movement path information IN1 constitutes a point cloud of the points traversed by the movement path during the cleaning operation.

[0043] Cleaning condition information IN2 is information based on the cleaning conditions of the cleaning unit 3 when the self-propelled sweeper 100 moves along the movement path according to the movement path information IN1. Cleaning condition information IN2 includes information (SU0, SU1, ... SU) on the amount of cleaning fluid supplied from the cleaning fluid nozzle 31a at each point of passage shown in the movement path information IN1 (at each time of the time information IN3). n Information indicating the rotational speed (cleaning force on the ground F) of the cleaning component 31b at each point of passage (W0, W1, ... W) n ), and information indicating the attractive force of the suction section 33 at each point of passage on the cleaning fluid (PO0, PO1, ... PO). n ).

[0044] In the self-propelled sweeper 100, by arbitrarily setting the aforementioned sweeping data D, it is possible to perform sweeping operations on various parts within a designated area A using arbitrary movement paths and sweeping conditions. For example, as Figure 4 As shown, it is possible to divide a specified area A into three parts P1 to P3, and set arbitrary movement paths for each part P1 to P3. Figure 4 This is a diagram representing an example of a defined area A and a set movement path.

[0045] For example, it is possible to set the range of part P1 from the start point ST1 to the end point G1. Figure 4 The movement path T1 is shown. It is possible to set the position P2 from the starting point ST2 to the ending point G2. Figure 4 The movement path T2 is shown. Movement paths T1 and T2 are paths taught by the user, etc. On the other hand, it is possible to set the position P3 from the start point ST3 to the end point G3. Figure 4The movement path T3 is shown. Movement path T3 is a path used to move without omission at location P3. Such a path can also be called a "full coverage path". A full coverage path can be set, for example, by teaching the location to be moved on the full coverage path (in... Figure 4 In the example, the outer periphery of part P3 is divided into multiple small regions. Path planning is performed by moving through all the small regions, thereby setting a full-coverage path.

[0046] exist Figure 4 In the example shown, the end point G1 of movement path T1 is approximately the same as the start point ST3 of movement path T3, and the end point G3 of movement path T3 is approximately the same as the start point ST2 of movement path T2. In this case, the self-propelled sweeper 100 can autonomously clean multiple areas (i.e., the entire designated area A) by performing cleaning operations in the order of cleaning operations for part P1, part P3, and part P2. Alternatively, the self-propelled sweeper 100 can also perform cleaning operations for part P1, part P3, and part P2 individually.

[0047] On the other hand, as a condition for cleaning, for example, the ability to implement Figure 5A , Figure 5B The setting shown indicates that the cleaning is performed along the entire path of the movement. Figure 5A and Figure 5B This is a diagram illustrating an example of setting cleaning conditions for cleaning along the entire path of the movement path. Figure 5A Under the cleaning conditions shown, cleaning based on the cleaning unit 31 is not performed near the starting point ST (referred to as the starting area) and the ending point G (referred to as the ending area) of the movement path; only the suction unit 33 operates. Therefore, the cleaning fluid used in the cleaning operation can be properly recovered in the starting and ending areas.

[0048] exist Figure 5B Under the cleaning conditions shown, at the starting point ST, the cleaning unit 31 and the suction unit 33 operate simultaneously, and at the ending point G, both the cleaning unit 31 and the suction unit 33 stop operating simultaneously. If the cleaning operation begins or ends under such cleaning conditions, there is a possibility that the cleaning fluid used in the cleaning operation may not be recovered and may remain on the ground F in the starting area and / or ending area. Figure 5B The cleaning conditions shown might be set by inexperienced users who are not proficient in cleaning.

[0049] Additionally, it is possible to set cleaning conditions that only clean a portion of the movement path. For example, it is possible to set... Figure 6AThe cleaning conditions shown only involve cleaning the first half of the movement path. Figure 6B The cleaning conditions shown refer to cleaning only in the latter half of the movement path. Figure 6C The cleaning conditions shown are such that cleaning is only performed in the middle part of the movement path. Figures 6A-6C This diagram illustrates an example of setting cleaning conditions where cleaning is performed only on a portion of the movement path. Furthermore, it also allows for... Figure 7 The setting shown is such that it only moves without cleaning. Figure 7 This is a diagram illustrating an example of setting cleaning conditions without performing cleaning.

[0050] The environmental map M is map information representing a designated area A. The environmental map M is used to infer the position (referred to as self-position) of the self-propelled sweeper 100 within the designated area A. The environmental map M can be created, for example, by moving the self-propelled sweeper 100 within the designated area A and configuring map information (referred to as a local map) representing the configuration state of objects surrounding the main body B as obtained from various points during this movement. The local map can be acquired using the front detector 21a and / or the rear detector 21b. Alternatively, the environmental map M can also be created using CAD or similar methods.

[0051] The control unit 53 consists of a CPU of the computer system constituting the information processing device 5, a portion of the storage device, and various interfaces, and performs controls related to the movement and cleaning of the self-propelled sweeper 100. The control actions performed by the control unit 53 are realized through programs stored in the storage device of the information processing device 5.

[0052] The control unit 53 controls the movement of the self-propelled sweeper 100 by controlling the moving unit 1. As described above, the moving unit 1 has a moving motor 11 and a main wheel 13 respectively located at the left and right ends of the bottom of the main body B. In this case, the control unit 53 independently controls the rotation speed and direction of rotation of the two moving motors 11, thereby determining the direction of travel of the self-propelled sweeper 100. By setting the rotation speed and direction of rotation of the moving motors 11 to be the same, the self-propelled sweeper 100 can move in a straight line. On the other hand, by setting the rotation direction of the moving motors 11 to be the same, but setting the rotation speed to be different, the posture of the self-propelled sweeper 100 can be changed while moving.

[0053] The control unit 53 controls the movement motor 11 based on operations performed by the user or others via the movement path teaching unit 9, or controls the movement motor 11 according to the movement path information IN1 of the cleaning data D, thereby controlling the movement of the self-propelled sweeper 100 (main body B). The mode in which the movement motor 11 is controlled based on operations performed via the movement path teaching unit 9 is called "manual operation mode," and the mode in which the movement motor 11 is controlled according to the cleaning data D is called "autonomous mode." These modes can be switched based on commands from external sources (e.g., the command unit 7 or the movement path teaching unit 9).

[0054] In manual operation mode, the control unit 53 calculates the target rotational speed of the motion motor 11 based on the amount of operation of the steering handle or lever in the movement path teaching unit 9. The control unit 53 controls the motion motor 11 to rotate at the target rotational speed by outputting drive power obtained based on the difference between the actual rotational speed and the target rotational speed of the motion motor 11. Furthermore, the actual rotational speed of the motion motor 11 can be measured by the encoder 17.

[0055] Furthermore, when executing manual operation mode, the control unit 53 infers the self-position of the self-propelled sweeper 100. In inferring the self-position, the control unit 53 infers the current self-position of the self-propelled sweeper 100 based on the self-position inference result obtained based on the rotation amount of the moving motor 11 when moving from the previous position to the current position, and the self-position inference result obtained based on the map matching between the local map acquired at the current position and the environment map M stored in the storage unit 51.

[0056] On the other hand, in autonomous mode, the control unit 53 infers the current self-position of the self-propelled sweeper 100 and calculates the control quantity for the movement motor 11 to move from the current self-position to the target pass point (the pass point closest to the current self-position among the pass points contained in the movement path information IN1 of the sweeping data D). Based on the control quantity, the control unit 53 controls the movement motor 11, thereby enabling the self-propelled sweeper 100 to move autonomously according to the movement path information IN1 of the sweeping data D.

[0057] Furthermore, the control unit 53 controls the cleaning section 31 and the suction section 33 of the cleaning section 3 to enable the self-propelled sweeper 100 to perform cleaning operations under prescribed cleaning conditions. In the manual operation mode described above, the control unit 53, based on the operation performed by the user using the command unit 7, controls the amount of cleaning fluid sprayed from the cleaning fluid nozzle 31a by controlling the cleaning fluid supply pump 31d of the cleaning section 31, and controls the rotation speed of the cleaning component 31b by controlling the cleaning component rotation motor 31e. In addition, based on the operation performed by the user using the command unit 7, the control unit 53 controls the up-and-down movement (i.e., whether or not the cleaning fluid is being attracted) and the suction force of the cleaning fluid by controlling the squeegee 33a and the suction motor 33d.

[0058] On the other hand, in the aforementioned autonomous mode, the control unit 53 establishes cleaning conditions associated with its current self-position based on the cleaning condition information IN2 of the cleaning data D, and controls the cleaning unit 31 and the suction unit 33, thereby performing cleaning operations at the current position according to the aforementioned cleaning conditions. Specifically, based on the cleaning conditions associated with its current self-position, the control unit 53 controls the amount of cleaning fluid sprayed from the cleaning fluid nozzle 31a by controlling the cleaning fluid supply pump 31d of the cleaning unit 31, and controls the rotational speed of the cleaning component 31b by controlling the cleaning component rotation motor 31e, thereby performing cleaning operations according to the cleaning condition information IN2 of the cleaning data D. In addition, based on the cleaning conditions associated with its current self-position, the control unit 53 controls the up-and-down movement (i.e., whether or not there is suction of cleaning fluid) and the suction force of the cleaning fluid by controlling the squeegee 33a and the suction motor 33d, thereby performing cleaning operations according to the cleaning condition information IN2 of the cleaning data D.

[0059] Temporary storage unit 55 is a temporary storage area (e.g., a memory such as RAM that temporarily stores data, and / or a cache area such as SDD or HDD) that constitutes the computer system of information processing device 5, temporarily storing programs, various information, etc. It stores various settings and information related to the self-propelled sweeper 100.

[0060] In autonomous mode, the control unit 53 stores the currently used cleaning data D in the temporary storage unit 55, and controls the moving unit 1 and the cleaning unit 3 according to the cleaning data D stored in the temporary storage unit 55. If it is necessary to correct the cleaning data D, the control unit 53 corrects the cleaning data D stored in the temporary storage unit 55. That is, the cleaning data D stored in the storage unit 51 is not changed.

[0061] The command unit 7 includes an input unit 71 and a command control unit 73. The input unit 71 is a device for inputting commands for the self-propelled sweeper 100. The input unit 71 is a touch panel with a display. In manual operation mode, the user can use the input unit 71 to set cleaning conditions based on user operation. When cleaning conditions based on user operation can be set, the input unit 71... Figure 8 The cleaning condition setting screen GUI1 shown is displayed on the monitor. Users can use the cleaning condition setting screen GUI1 to set cleaning conditions. Figure 8 This is an example of a screenshot of the cleaning condition setting screen GUI1.

[0062] The cleaning condition setting screen GUI1 has a speed setting button B1, a suction force setting button B2, a cleaning fluid volume setting button B3, a squeegee operation button B4, a cleaning fluid spray button B5, a mode switch button B6, a manual operation mode start button B7, and an autonomous mode start button B8. The speed setting button B1 is used to set the speed (cleaning force) of the cleaning component 31b. The suction force setting button B2 is used to set the suction force on the cleaning fluid generated by the suction motor 33d. The cleaning fluid volume setting button B3 is used to set the amount of cleaning fluid supplied by the cleaning fluid supply pump 31d. The squeegee operation button B4 is used to move the squeegee 33a upwards or downwards. The cleaning fluid spray button B5 is used to switch between supplying and stopping the cleaning fluid based on the cleaning fluid supply pump 31d.

[0063] The mode switching button B6 is used to switch between the operation modes (manual cleaning mode and automatic cleaning mode) related to the cleaning of the self-propelled sweeper 100. The manual cleaning mode allows manual setting of cleaning conditions after the self-propelled sweeper 100 starts moving. The automatic cleaning mode automatically sets the rotational speed (cleaning force) of the cleaning component 31b, the suction force of the cleaning fluid generated by the suction motor 33d, and the amount of cleaning fluid supplied by the cleaning fluid supply pump 31d, and automatically operates the squeegee 33a and the cleaning component 31b after the self-propelled sweeper 100 starts moving.

[0064] The manual operation mode start button B7 enables the self-propelled sweeper 100 to operate in manual mode. The autonomous mode start button B8 initiates autonomous operation of the self-propelled sweeper 100.

[0065] In autonomous mode, the user can use the input unit 71 to select (set) which cleaning data D to use for the self-propelled sweeper 100 to perform cleaning. When cleaning data D can be selected, the input unit 71 enables... Figure 9The cleaning data selection screen GUI2, as shown, is displayed on the monitor. Users can use the cleaning data selection screen GUI2 to select cleaning data D. Figure 9 This is an example of a screenshot showing the cleaning data selection screen GUI2.

[0066] The cleaning data selection screen GUI2 includes a cleaning data list display unit D1, a start position display unit D2, a toggle button B9, and an OK button B10. The cleaning data list display unit D1 displays a list of cleaning data names stored in the storage unit 51. The start position display unit D2 displays map information near the starting point of the movement path shown in the movement path information IN1 for the selected cleaning data D. The toggle button B9 toggles between displaying only the selected cleaning data D in the cleaning data list display unit D1 or displaying all cleaning data D in the selection order. The OK button B10 confirms the selection of cleaning data D.

[0067] In the cleaning data list display section D1 of the cleaning data selection screen GUI2, for example, the cleaning data D to be selected is aligned with the path selection display section SE1, which provides a display area for selecting cleaning data D, and the path selection display section SE1 is pressed, including the selected data name. Thus, the desired cleaning data D can be selected.

[0068] The cleaning data selection screen GUI2 may further include a cleaning mode selection button B11. The cleaning mode selection button B11 is used to select the cleaning mode when executing autonomous mode. As cleaning modes, there are a reproduction mode that performs cleaning according to the cleaning condition information IN2 of the cleaning data D, a current setting cleaning mode that performs cleaning with the currently set cleaning conditions, and a separate cleaning mode that performs cleaning with separately set cleaning conditions. In the current setting cleaning mode and the separate cleaning mode, cleaning conditions (rotation speed of the cleaning component 31b, suction force on the cleaning fluid, spray volume of cleaning water, spray volume of detergent) can be set. Furthermore, when the movement path shown in the movement path information IN1 of the cleaning data D is a full-coverage path, only the current setting cleaning mode and the separate cleaning mode can be selected.

[0069] The instruction control unit 73 is hardware (system) that accepts input based on the input unit 71 and sends the instructions input to the input unit 71 to the information processing device 5. The instruction control unit 73 may also be a System On Chip (SOC) that implements the above functions.

[0070] In autonomous mode, when multiple cleaning data Ds are selected using the input unit 71, the command control unit 73 instructs the control unit 53 of the information processing device 5 to sequentially use the selected multiple cleaning data Ds to control the moving unit 1 and the cleaning unit 3. That is, the command control unit 73 does not notify the control unit 53 of all the selected multiple cleaning data Ds at once, but rather notifies the control unit 53 of the cleaning data D used to control the moving unit 1 and the cleaning unit 3 one by one according to the request from the control unit 53.

[0071] In autonomous mode, the command control unit 73 notifies the control unit 53 whether a cleaning operation using multiple selected cleaning data D is being performed, and whether the cleaning data D used is the first or last data used. Conversely, the control unit 53 notifies the command control unit 73 whether the cleaning operation performed using the cleaning data D used has been completed. Upon receiving this notification, the command control unit 73 instructs the control unit 53, as needed, to perform the cleaning operation using the next cleaning data D to be used.

[0072] (4) Operation of self-propelled sweeper (4-1) Basic movements The operation of the self-propelled sweeper 100 will be explained below. First, using... Figure 10 To illustrate the basic operation of the self-propelled sweeper 100. Figure 10 This is a flowchart illustrating the basic operations of the self-propelled sweeper 100. First, the control unit 53 of the information processing device 5 determines whether the self-propelled sweeper 100 should operate in manual mode or autonomous mode (step S1).

[0073] When the manual operation mode start button B7 is pressed (manual operation mode in step S1), the control unit 53 determines that the self-propelled sweeper 100 is to operate in manual operation mode. Thus, the self-propelled sweeper 100 becomes operable by the user (step S2). That is, the control unit 53 controls the movement of the self-propelled sweeper 100 based on the user's operations based on the movement path teaching unit 9, and controls the sweeping of the self-propelled sweeper 100 based on the user's operations using the cleaning condition setting screen GUI1 of the command unit 7.

[0074] In manual operation mode, when instructed to record the operations of the user, the control unit 53 infers the self-position of the self-propelled sweeper 100 as it moves along the movement path set based on the user's operations, and records the inferred self-position as movement path information IN1 into the cleaning data D. It also records the cleaning conditions of the self-propelled sweeper 100 set based on the user's operations (the cleaning conditions set in the cleaning operation based on the cleaning data D in this invention) as cleaning condition information IN2 into the cleaning data D.

[0075] Furthermore, when a full-coverage path is set as the movement path for cleaning data D, in manual operation mode, the self-propelled sweeper 100 is moved around the periphery of the area to be cleaned (a portion of the designated area A) by the user or other operator. Then, the control unit 53 generates a full-coverage path in the inner region of the periphery of the area taught as described above, and sets the cleaning conditions at each point along the generated full-coverage path (the cleaning conditions set in the cleaning operation based on cleaning data D according to the present invention), thereby generating cleaning data D.

[0076] On the other hand, when the autonomous mode start button B8 is pressed (autonomous mode in step S1), the control unit 53 determines that the self-propelled sweeper 100 should operate in autonomous mode. Thus, the self-propelled sweeper 100 becomes capable of performing cleaning operations according to the cleaning data D stored in the storage unit 51 (step S3). That is, the control unit 53 executes autonomous mode.

[0077] Furthermore, the cleaning mode to be performed by the self-propelled sweeper 100 can be selected before step S3 described above. Specifically, the cleaning mode to be performed can be switched to manual cleaning mode or automatic cleaning mode by pressing the mode switching button B6.

[0078] (4-2) Operation of the self-propelled sweeper in autonomous mode The following uses Figure 11 To illustrate the operation of the self-propelled sweeper 100 in autonomous mode. Figure 11 This is a flowchart illustrating the operation of the self-propelled sweeper 100 in autonomous mode. First, cleaning data D is selected for carrying out the cleaning operation in autonomous mode (step S31). Specifically, the command control unit 73 displays the data on the display of the input unit 71. Figure 9 The cleaning data selection screen GUI2 is shown in the image. Users can use the cleaning data selection screen GUI2 to select the cleaning data D to perform the cleaning operation.

[0079] The user can select multiple cleaning data points (D) for the purpose of performing cleaning operations. In this case, the same cleaning data point (D) can also be selected multiple times. When multiple cleaning data points (D) are selected, they can be used in the order they were selected during autonomous mode to perform the cleaning operation. Alternatively, after selecting multiple cleaning data points (D), the order of the selected cleaning data points can be changed during autonomous mode to perform the cleaning operation.

[0080] When multiple cleaning data Ds are selected as the cleaning data to be used, if the user selects a cleaning data D that cannot be used continuously, a notification can be sent indicating that an incorrect cleaning data D has been selected. This notification can be sent, for example, by displaying the notification on the cleaning data selection screen GUI2 and / or by issuing an audio signal from the command unit 7.

[0081] In addition, when a specific cleaning data D is selected, the cleaning data list display section D1 of the cleaning data selection screen GUI2 can display only the name of the selectable cleaning data D, or set the name of the unselectable cleaning data D to invalid display (a display that visually indicates that it cannot be selected).

[0082] After selecting the cleaning data D to be used, the self-propelled sweeper 100 autonomously performs cleaning operations according to the selected cleaning data D. When only one cleaning data D is selected, the self-propelled sweeper 100 autonomously moves along the movement path information IN1 of the cleaning data D while autonomously performing the cleaning operation indicated by the cleaning condition information IN2 of the cleaning data D (the cleaning conditions set in the cleaning operation based on the cleaning data D in this invention) (when the cleaning mode is the reproduction mode), or autonomously performs the cleaning operation based on the set mode (when the cleaning mode is the currently set cleaning mode or the individual cleaning mode).

[0083] On the other hand, if two or more specified numbers of cleaning data D are selected in step S31, the following actions are performed. First, the instruction control unit 73 of the instruction unit 7 notifies the control unit 53 of the information processing device 5 of information related to one of the selected specified numbers of cleaning data D used for performing the cleaning operation (e.g., the identification information of the cleaning data D) (step S32).

[0084] Upon receiving the aforementioned notification, the control unit 53 copies the cleaning data D to be used from the storage unit 51 to the temporary storage unit 55. Therefore, the control unit 53 can modify the content of the cleaning data D stored in the temporary storage unit 55 as needed. That is, the control unit 53 does not modify the content of the cleaning data D stored in the storage unit 51.

[0085] Then, the control unit 53 uses the cleaning data D stored in the temporary storage unit 55 to control the moving unit 1 and the cleaning unit 3 to perform the current cleaning operation. When the cleaning operation using the cleaning data D is started, that is, when the self-propelled sweeper 100 is in the starting area (or near it) of the moving path shown in the moving path information IN1 of the cleaning data D, the control unit 53 performs the cleaning operation in the starting area of ​​the moving path (step S33).

[0086] The starting area is, for example, the area from the starting point ST of this cleaning operation to a point a distance d away. This distance d can be determined, for example, based on the distance between the cleaning section 31 and the suction section 33 of the cleaning unit 3. That is, the starting area can be determined based on the distance between the cleaning section 31 and the suction section 33. Specifically, the aforementioned distance d can be, for example, set as the total distance from the center of the cleaning component 31b of the cleaning unit 31 to the squeegee 33a of the suction section 33, the radius of the cleaning component 31b, and the distance required to move to determine whether the cleaning fluid has been recovered.

[0087] The starting region is included in the joining region CON. The joining region CON is the region corresponding to the connection portion (joining portion) between the movement path shown in the movement path information IN1 of a certain cleaning data D and the movement path shown in the movement path information IN1 of the cleaning data D used next to that cleaning data D. The joining region CON includes the ending region (described later) of the movement path of the aforementioned cleaning data D, the ending point G of that movement path, the starting point ST of the movement path of the next cleaning data D used, and the starting region of that movement path. That is, the joining region CON can be determined based on the distance d between the cleaning unit 31 and the suction unit 33.

[0088] Control Unit 53 according to Figure 12 The flowchart shown illustrates the process of performing a cleaning operation in the starting area. Figure 12 This is a flowchart representing the cleaning operation in the starting area. First, the control unit 53 determines whether the cleaning data D stored in the temporary storage unit 55 in step S32, i.e., the cleaning data D of the user, is the first cleaning data D (step S3301). For example, the control unit 53 determines whether the starting position of the autonomous mode (e.g., the configuration position of the self-propelled sweeper 100 in the designated area A at the start of the autonomous mode) is consistent with the starting location ST of the cleaning data D of the user. If they are consistent, the cleaning data D of the user can be determined as the first cleaning data D.

[0089] If the cleaning data D of the object being used is the first cleaning data D ("Yes" in step S3301), the control unit 53 determines whether the cleaning conditions in the cleaning data D of the object being used are set to perform cleaning of the starting area (step S3302). This determination can be achieved, for example, by referring to the beginning part of the cleaning condition information IN2 of the cleaning data D of the object being used (the cleaning conditions associated with the first coordinate value part of the starting area corresponding to the movement path information IN1) and determining whether at least one of the cleaning unit 31 and the suction unit 33 is set to work in that part. If at least one of the cleaning unit 31 and the suction unit 33 is working in that part, it can be determined that cleaning is performed in the starting area.

[0090] If it is determined that the cleaning of the starting area will not be performed ("No" in step S3302), the control unit 53 sets the condition that the cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's suction unit 33's cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's suction unit 33's cleaning unit 33's cleaning unit 33's cleaning unit 33's cleaning condition in the starting area of ​​the cleaning data D of the object being used (step S3303).

[0091] Furthermore, not operating the cleaning unit 31 (cleaning unit 31: OFF) means that the cleaning fluid supply pump 31d of the cleaning unit 31 is not operated so that cleaning fluid is not sprayed from the cleaning fluid spray outlet 31a, and the cleaning component rotation motor 31e is not operated so that the cleaning component 31b rotates. Additionally, not operating the suction unit 33 (suction unit 33: OFF) means that the suction squeegee 33a of the cleaning unit 31 moves upward and separates from the ground F, and the suction motor 33d is not operated so that no suction force is generated at the suction port 33b.

[0092] On the other hand, when it is determined that cleaning of the starting area should be performed ("Yes" in step S3302), the control unit 53 sets the cleaning conditions for starting the cleaning operation. Specifically, the control unit 53 sets the condition that the cleaning unit 31 is activated after the suction unit 33 is activated (suction unit 33: ON) (cleaning unit 31: ON) as the cleaning condition in the starting area of ​​the cleaning data D of the object being used (step S3304).

[0093] Furthermore, activating the cleaning unit 31 (cleaning unit 31: ON) means activating the cleaning fluid supply pump 31d of the cleaning unit 31 to spray cleaning fluid from the cleaning fluid spray outlet 31a, and activating the cleaning component rotation motor 31e to rotate the cleaning component 31b. Additionally, activating the suction unit 33 (suction unit 33: ON) means moving the suction squeegee 33a of the cleaning unit 31 downwards to contact the ground F, and activating the suction motor 33d to generate suction at the suction port 33b.

[0094] Furthermore, in the cleaning operation instructions, "starting B after starting A" means starting A at a position closer to the beginning of B's ​​work. In other words, the timing of the actions in the cleaning operation instructions refers to the position relative to the starting point during the movement along the path.

[0095] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example, Figure 5B When cleaning conditions are set such that the cleaning unit 31 operates in the starting area, the control unit 53 changes the cleaning conditions of the cleaning data D of the user object, i.e., the cleaning data D stored in the temporary storage unit 55, so that the cleaning unit 31 operates after the suction unit 33 operates. Furthermore, in the cleaning condition information IN2 of the starting area of ​​the cleaning data D of the user object, such as... Figure 5A , Figure 6A The cleaning conditions shown are set such that the suction unit 33 is activated in the starting area, and then the cleaning unit 31 is activated, without changing the cleaning condition information IN2. In the following explanation, changing the cleaning conditions of the cleaning data D of the user refers to changing the cleaning conditions of the cleaning data D stored in the temporary storage unit 55.

[0096] On the other hand, if the cleaning data D of the object used in step S3301 is not the first cleaning data D ("No" in step S3301), that is, if there is a cleaning data D immediately preceding it, the control unit 53 determines whether the cleaning conditions are set in the manner of cleaning the starting area in the cleaning operation performed using the cleaning data D of the object (step S3305).

[0097] If it is determined that cleaning of the starting area is to be performed ("Yes" in step S3305), the control unit 53 determines whether cleaning has been performed in the ending area of ​​the cleaning operation (the preceding cleaning operation) performed based on the cleaning data D used immediately before the cleaning data D of the user (step S3306). This determination can be achieved, for example, based on whether at least one of the cleaning unit 31 and the suction unit 33 is working at the starting point ST of the current cleaning operation. This is because, as described later, if there is cleaning data D used after the cleaning data D of the user and cleaning conditions are set to perform cleaning in the ending area of ​​the cleaning operation (the current cleaning operation) based on the cleaning data D of the user, the cleaning conditions are set to continue cleaning at the ending point G of the cleaning operation based on the cleaning data D of the user (i.e., the starting point ST of the next cleaning data D). Therefore, at the starting point ST of the cleaning operation based on the next cleaning data D, at least one of the cleaning unit 31 and the suction unit 33 is working.

[0098] If cleaning is performed in the starting area of ​​the current cleaning operation ("Yes" in step S3305) and cleaning is also performed in the ending area of ​​the preceding cleaning operation ("Yes" in step S3306), the control unit 53 sets the cleaning conditions so that cleaning performed in the ending area of ​​the preceding cleaning operation continues in the starting area of ​​the current cleaning operation. That is, the control unit 53 sets the condition that the cleaning unit 31 and the suction unit 33 are both activated (cleaning unit 31: ON, suction unit 33: ON) as the cleaning condition in the starting area of ​​the cleaning operation based on the cleaning data D of the user (step S3307).

[0099] In this case, the cleaning condition information IN2 of the cleaning data D of the object being used is set, for example, as follows: Figure 5A , Figure 6A Under cleaning conditions as shown (cleaning conditions where the cleaning unit 31 is not operated in the initial area, but the suction unit 33 is operated on the other hand), the control unit 53 changes the cleaning condition information IN2 of the cleaning data D of the user object, so that the cleaning unit 31 is operated in the initial area. Furthermore, in the cleaning condition information IN2 of the cleaning data D of the user object, such as... Figure 5B The cleaning condition information IN2 is not changed when the cleaning unit 31 and the suction unit 33 are set to work in the starting area.

[0100] For example, after setting Figure 5A When the two cleaning data D of the cleaning conditions shown (cleaning conditions where the cleaning unit 31 is not operated in the starting area, and the suction unit 33 is operated on the other hand) are connected without changing the cleaning conditions, such as... Figure 13 As shown, cleaning conditions are set such that the cleaning unit 31 does not work in the joint area CON, and the suction unit 33 does not work at the start point ST (end point G of the preceding cleaning operation) of this cleaning operation. That is, cleaning conditions are set such that cleaning is interrupted in the joint area CON. Figure 13 This diagram illustrates an example of setting cleaning conditions when cleaning is interrupted in the joint area CON.

[0101] On the other hand, after setting Figure 5A When two cleaning data Ds are connected under cleaning conditions as shown (cleaning conditions where the cleaning unit 31 is not operated in the start / end area, but the suction unit 33 is operated on the other hand), as described above, the preceding cleaning data D is changed to perform cleaning in the end area of ​​the preceding cleaning operation, and the cleaning data D of the object being cleaned is changed to perform cleaning in the start area of ​​the current cleaning operation. Thus, as... Figure 14As shown, both the cleaning unit 31 and the suction unit 33 operate in the joint area CON, ensuring that cleaning is not interrupted in the joint area CON. Furthermore, in Figure 14 The revised cleaning conditions will be indicated by shading. Figure 14 This is a diagram illustrating a setting example of cleaning conditions when cleaning is not interrupted in the joint area CON.

[0102] return Figure 12 The explanation is as follows: If cleaning is performed in the starting area of ​​the current cleaning operation ("Yes" in step S3305), but not in the ending area of ​​the preceding cleaning operation ("No" in step S3306), the control unit 53 sets the cleaning conditions to start cleaning in the current cleaning operation. Specifically, the control unit 53 sets the condition that the suction unit 33 is activated (suction unit 33: ON) and then the cleaning unit 31 is activated (cleaning unit 31: ON) during the movement of the starting area as the cleaning condition in the starting area of ​​the cleaning operation based on the cleaning data D of the user (step S3308).

[0103] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example, Figure 5B When cleaning conditions are set such that the cleaning unit 31 operates in the starting area, the control unit 53 changes the cleaning conditions of the cleaning data D of the user object, so that the cleaning unit 31 operates after the suction unit 33 operates. Furthermore, in the cleaning condition information IN2 of the starting area of ​​the cleaning data D of the user object, as shown... Figure 5A , Figure 6A The cleaning condition information IN2 is not changed when the cleaning unit 31 is not operated in the starting area and the suction unit 33 is operated on the other hand.

[0104] If the cleaning data D of the object being cleaned is not the first cleaning data D (i.e., there is a previously used cleaning data D) and cleaning is not performed in the starting area of ​​the current cleaning operation ("No" in step S3305), the control unit 53 determines whether cleaning was performed in the ending area of ​​the previous cleaning operation (step S3309).

[0105] If cleaning is not performed in the starting area of ​​the current cleaning operation, but cleaning is performed in the ending area of ​​the immediate preceding cleaning operation ("Yes" in step S3309), the control unit 53 sets the condition that the cleaning unit 31 is not working (cleaning unit 31: OFF) and the suction unit 33 is working (suction unit 33: ON) as the cleaning condition in the starting area of ​​the cleaning operation performed based on the cleaning data D of the user (step S3310).

[0106] For example, in the following... Figure 5A After setting the cleaning data D as shown, such that the cleaning unit 31 is not activated in the end area while the suction unit 33 is activated, the connection is made as follows: Figure 6B , Figure 6C , Figure 7 In the case where cleaning data D is set such that cleaning is not performed in the starting area, as shown, the cleaning conditions are set in the preceding cleaning operation such that cleaning continues in its ending area (the cleaning unit 31 and the suction unit 33 operate). In this case, as described above, the suction unit 33 is activated in advance in the starting area of ​​this cleaning operation, thereby... Figure 15 As shown, it is possible to reliably recover the cleaning fluid used in the cleaning of the ending area while performing cleaning up to the end point G of the immediate cleaning operation. Figure 15 This is a diagram illustrating an example of setting cleaning conditions when cleaning is performed up to the end point G of the immediate preceding cleaning operation.

[0107] On the other hand, if cleaning is not performed in the starting area of ​​the current cleaning operation and not in the ending area of ​​the immediate preceding cleaning operation ("No" in step S3309), the control unit 53 sets the cleaning conditions so that cleaning is not performed in the starting area of ​​the current cleaning operation as well. Specifically, the condition that the cleaning unit 31 is not activated (cleaning unit 31: OFF) and the suction unit 33 is not activated (suction unit 33: OFF) is set as the cleaning condition in the starting area of ​​the cleaning operation performed based on the cleaning data D of the user (step S3311).

[0108] After setting the cleaning conditions in the starting area of ​​this cleaning operation by performing the above steps S3301 to S3311, that is, after adjusting the cleaning condition information IN2 of the cleaning data D of the user (the cleaning data D stored in the temporary storage unit 55), the control unit 53 performs the cleaning operation in the starting area according to the cleaning data D of the user (the adjusted cleaning data D stored in the temporary storage unit 55) (step S3312).

[0109] Return to use Figure 11 The self-propelled sweeper 100 performs the following operation in autonomous mode: If the cleaning operation in the starting area is completed by executing steps S3301 to S3312, the self-propelled sweeper 100 then performs the cleaning operation in the intermediate area of ​​the current cleaning operation (step S34). The intermediate area is the area other than the starting and ending areas (described later) of the cleaning operation. The control unit 53 then... Figure 16 The flowchart shown illustrates the cleaning operation performed in the middle area. Figure 16 This is a flowchart representing the cleaning operations in the middle area.

[0110] First, the control unit 53 determines whether cleaning has started in the middle area and whether the self-propelled sweeper 100 has reached a position close to the starting position of the cleaning operation in the cleaning data D of the user (the current cleaning operation), i.e., the cleaning data D stored in the temporary storage unit 55 (step S3401). The position close to the starting position of the cleaning operation is, for example, a position located close to the starting point of the cleaning operation based on the cleaning unit 31 at a distance d as described above.

[0111] When the self-propelled sweeper 100 is in a position near the starting position of sweeping ("Yes" in step S3401), the control unit 53 starts sweeping from that position. That is, the control unit 53 sets the sweeping conditions in such a way that the suction unit 33 is activated (suction unit 33: ON) between the aforementioned near position and the starting position, and then the cleaning unit 31 is activated (cleaning unit 31: ON) at the starting position (step S3402).

[0112] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example with... Figure 6B , Figure 6C When cleaning conditions are set differently than those where the cleaning unit 31 and the suction unit 33 operate simultaneously at the starting position of cleaning, the control unit 53 changes the cleaning condition information IN2 of the cleaning data D of the user object, causing the suction unit 33 to start operating between the near position and the starting position. Furthermore, in the cleaning condition information IN2 of the cleaning data D of the user object, such as... Figure 6B , Figure 6C The cleaning condition information IN2 is not changed when the cleaning unit 31 is activated after the suction unit 33 is activated.

[0113] On the other hand, if the self-propelled sweeper 100 is not in a position close to the start position of the sweeping ("No" in step S3401), the control unit 53 determines whether the sweeping data D (the current sweeping operation) of the user has ended in the middle area and whether the self-propelled sweeper 100 has reached a position close to the end position of the sweeping (step S3403). The position close to the end position of the sweeping is, for example, a position located close to the end point of the sweeping based on the cleaning unit 31 at the aforementioned distance d.

[0114] When the self-propelled sweeper 100 is in a position near the end of the sweeping process ("Yes" in step S3403), the control unit 53 ends the sweeping process from that position. That is, the control unit 53 sets the sweeping conditions by stopping the cleaning unit 31 (cleaning unit 31: OFF) at the aforementioned near position and then stopping the suction unit 33 (suction unit 33: OFF) between the aforementioned near position and the end position (step S3404). This allows for reliable recovery of the cleaning fluid used during sweeping in the intermediate area.

[0115] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example with... Figure 6A , Figure 6C When the cleaning conditions are not set in a way that the cleaning unit 31 and the suction unit 33 stop simultaneously at the end of the cleaning process, the control unit 53 changes the cleaning condition information IN2 of the cleaning data D of the user object, causing the cleaning unit 31 to stop at the near position. Furthermore, in the cleaning condition information IN2 of the cleaning data D of the user object, such as... Figure 6A , Figure 6C The cleaning condition information IN2 is not changed when the cleaning unit 31 is stopped near the end position of the cleaning and the suction unit 33 is stopped at the end position.

[0116] When the self-propelled sweeper 100 is in a position that is neither the beginning nor the end of the sweeping (No in step S3401 and No in step S3403), the control unit 53 performs the sweeping operation of the intermediate area according to the sweeping data D stored in the temporary storage unit 55 (step S3405).

[0117] During the cleaning operation in the intermediate area, the control unit 53 determines whether the self-propelled sweeper 100 has reached the end area of ​​the current cleaning operation (step S3406). The end area is, for example, the area from the end point G of the current cleaning operation to a point nearby at the aforementioned distance d. As described above, the distance d can be determined, for example, based on the distance between the cleaning section 31 and the suction section 33 of the sweeping unit 3. That is, the end area can be determined based on the distance between the cleaning section 31 and the suction section 33. In addition, the junction area CON, which includes the start area and the end area, can be determined based on the distance between the cleaning section 31 and the suction section 33.

[0118] If the end area of ​​the current cleaning operation has not been reached (No in step S3406), the cleaning operation returns to step S3401, that is, the control unit 53 executes the above steps S3401 to S3405 and continues the cleaning operation of the intermediate area.

[0119] If the cleaning operation has reached its end area (Yes in step S3406), the control unit 53 ends the cleaning operation in the intermediate area. After ending the cleaning operation in the intermediate area, as follows: Figure 11 As shown, the control unit 53 performs the cleaning operation in the finished area of ​​this cleaning operation (step S35). The control unit 53 follows... Figure 17 The flowchart shown illustrates the cleaning operation performed in the final area. Figure 17 This is a flowchart representing the cleaning actions in the finished area.

[0120] First, the control unit 53 determines whether there is cleaning data D for controlling the movement unit 1 and the cleaning unit 3 to perform the next cleaning operation after the cleaning data D of the object being used (step S3501). The control unit 53 can determine whether there is a next cleaning data D based on whether the instruction control unit 73 of the instruction unit 7 has issued a notification stating that the cleaning data D of the object being used is the last used data. If the instruction control unit 73 has issued the above notification, it can be determined that the cleaning data D of the object being used is the last used cleaning data D, and there is no next cleaning data D.

[0121] If a next cleaning data D exists ("Yes" in step S3501), the control unit 53 determines whether cleaning conditions are set in the cleaning data D of the user object to perform cleaning of the end area (step S3502). This determination can be achieved, for example, by referring to the last part of the cleaning condition information IN2 of the user object's cleaning data D (the cleaning condition associated with the last coordinate value of the end area corresponding to the movement path information IN1) and determining whether at least one of the cleaning unit 31 and the suction unit 33 is set to operate in that part. If at least one of the cleaning unit 31 and the suction unit 33 is operating in that part, it can be determined that cleaning is performed in the start area.

[0122] If it is determined that cleaning of the end area will not be performed ("No" in step S3502), the control unit 53 sets the condition that the cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's cleaning unit 3's suction ...

[0123] On the other hand, if it is determined that there is a next cleaning data D ("Yes" in step S3501) and the cleaning of the end area is performed ("Yes" in step S3502), the control unit 53 sets the condition of making the cleaning unit 31 work (cleaning unit 31: ON) and the suction unit 33 work (suction unit 33: ON) as the cleaning condition in the end area of ​​the cleaning data D of the object to be used (step S3504).

[0124] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example, Figure 5A , Figure 6B When the cleaning conditions are set such that the cleaning unit 31 does not operate in the end area, the control unit 53 changes the cleaning conditions of the cleaning data D of the user object so that the cleaning unit 31 operates in the end area. That is, the cleaning condition information IN2 of the cleaning data D of the user object is changed so that both the cleaning unit 31 and the suction unit 33 operate in the end area. Furthermore, in the cleaning condition information IN2 of the end area of ​​the cleaning data D of the user object, such as Figure 5B The cleaning condition information IN2 is not changed when the cleaning condition is set so that the cleaning unit 31 and the suction unit 33 operate in the end area.

[0125] In this way, when there is a next cleaning data D and cleaning is performed in the end area of ​​the cleaning operation based on the current cleaning data D (the current cleaning operation), the cleaning conditions are set such that both the cleaning unit 31 and the suction unit 33 operate in the end area of ​​the current cleaning operation. As described above, when cleaning is performed in the end area of ​​the current cleaning operation and also in the start area of ​​the next cleaning operation, the cleaning conditions are set such that both the cleaning unit 31 and the suction unit 33 operate in the start area of ​​the next cleaning operation. That is, when it is determined that there is a next cleaning data D and cleaning based on the cleaning unit 3 is performed in the end area of ​​the cleaning operation based on the current cleaning data D (the current cleaning operation), the cleaning conditions are set such that the cleaning unit 3 continues to clean in the engagement area CON (i.e., both the cleaning unit 31 and the suction unit 33 operate).

[0126] Therefore, if used Figure 14 As explained, even if, for example, the current cleaning data D and the next cleaning data D are selected and set... Figure 5A With cleaning data D under the cleaning conditions shown, cleaning will not be interrupted in the joint area CON, and multiple parts can be cleaned continuously.

[0127] Furthermore, even if cleaning is not performed in the starting area of ​​the next cleaning operation, the cleaning conditions are set such that both the cleaning unit 31 and the suction unit 33 operate in the ending area of ​​the current cleaning operation, as if using... Figure 15As explained, cleaning can be reliably performed up to the end point G during this cleaning operation. Furthermore, as described above, when cleaning is performed in the end area of ​​this cleaning operation but not in the start area of ​​the next cleaning operation, the cleaning fluid used in the end area of ​​this cleaning operation can be reliably recovered by only operating the suction unit 33 in the start area of ​​the next cleaning operation.

[0128] On the other hand, if it is determined in step S3501 that there is no next cleaning data D ("No" in step S3501), the control unit 53 determines that the cleaning data D of the user is the last cleaning data D, and this cleaning operation is the last cleaning operation. In this case, the control unit 53 sets the cleaning end conditions in the end area of ​​this cleaning operation. Specifically, the control unit 53 sets the condition that the suction unit 33 stops after the cleaning unit 31 stops (cleaning unit 31: OFF) (suction unit 33: OFF) as the cleaning condition in the end area of ​​the cleaning data D of the user (step S3505). This prevents the improper situation of ending the cleaning operation with residual cleaning fluid. That is, the cleaning fluid used in this cleaning operation is reliably recovered from the ground F and will not remain on the ground F.

[0129] In this case, in the cleaning condition information IN2 of the cleaning data D of the object being used, for example, Figure 5B When the cleaning conditions are set to operate the cleaning unit 31 in the end area, the control unit 53 changes the cleaning conditions of the cleaning data D of the object to be used so that the cleaning unit 31 stops in the end area.

[0130] That is, if there is no cleaning data D to be used next and the cleaning condition information IN2 of the cleaning data D of the object being used indicates that the cleaning unit 31 is operated in the end area of ​​the cleaning operation based on the cleaning data D of the object being used, the control unit 53 changes the cleaning condition information IN2 that indicates the cleaning conditions in the end area to a cleaning condition that does not operate the cleaning unit 31, but operates the suction unit 33 on the other hand.

[0131] Furthermore, in the cleaning condition information IN2 of the end area of ​​the cleaning data D of the object being used, such as Figure 5A , Figure 6B The cleaning condition information IN2 is not changed when the cleaning condition is set such that the suction unit 33 stops after the cleaning unit 31 is stopped in the end area.

[0132] After setting the cleaning conditions in the end area of ​​the current cleaning operation by performing the above steps S3501 to S3505, that is, after adjusting the cleaning condition information IN2 of the cleaning data D stored in the temporary storage unit 55, the control unit 53 performs the cleaning operation in the end area according to the cleaning data D stored in the temporary storage unit 55 (step S3506).

[0133] return Figure 11 Explanation. After performing the cleaning operation according to a cleaning data D stored in the temporary storage unit 55 by executing the above steps S33 to S35, the control unit 53 notifies the instruction control unit 73 of the instruction unit 7 that the cleaning operation using the cleaning data D has been completed.

[0134] Upon receiving the aforementioned notification, the instruction control unit 73 determines whether cleaning data D is available for use in the next cleaning operation (step S36). If cleaning data D is available for use in the next cleaning operation ("Yes" in step S36), the instruction control unit 73 notifies the control unit 53 of the information processing device 5 of information related to the cleaning data D to be used next (e.g., identification information of the cleaning data D) (step S32).

[0135] Furthermore, if the cleaning data D notified to the control unit 53 is the last cleaning data D selected in step S31, the instruction control unit 73 notifies the control unit 53 that the cleaning data D notified this time is the last cleaning data D.

[0136] Upon receiving the aforementioned notification, the control unit 53 copies the next cleaning data D, which is instructed to be used, from the storage unit 51 to the temporary storage unit 55. Then, the control unit 53 executes the steps S33 to S35 described above on the next cleaning data D, causing the self-propelled sweeper 100 to perform a cleaning operation according to the next cleaning data D.

[0137] On the other hand, if there is no cleaning data D to be used in the next cleaning operation ("No" in step S36), the self-propelled sweeper 100 ends the cleaning operation based on autonomous mode.

[0138] As described above, in the self-propelled sweeper 100, when multiple cleaning data Ds are connected to perform a cleaning operation, the cleaning conditions for the cleaning section 3 in the junction area CON, which is the junction of the movement paths of the cleaning operation based on two cleaning data Ds, are set according to at least one of the cleaning conditions set in the cleaning operation based on one cleaning data D and the cleaning conditions set in the cleaning operation based on the other cleaning data D. That is, the cleaning conditions in the junction area CON, which is prone to improper cleaning, are set based on the cleaning conditions set before and after it. As a result, even when multiple cleaning data Ds are used sequentially to clean a specified area A, the self-propelled sweeper 100 can continuously perform proper cleaning within multiple parts of the specified area A.

[0139] For example, if cleaning is set to be performed in the end area of ​​a previous cleaning operation and in the start area of ​​a subsequent cleaning operation, the cleaning conditions are set so that cleaning continues in the junction area CON as well. As a result, cleaning will not be interrupted in the junction area CON, and cleaning can be performed continuously without interruption in multiple areas.

[0140] In addition, for example, if cleaning is set to be performed in the end area of ​​the previous cleaning operation and not in the start area of ​​the subsequent cleaning operation, the cleaning conditions are set such that cleaning continues in the first half of the joint area CON (the end area of ​​the previous cleaning operation) and only the suction unit 33 continues to work in the second half (the start area of ​​the subsequent cleaning operation). In this way, cleaning can be performed until the end point G of the previous cleaning operation, and the cleaning fluid used in the cleaning of the end area of ​​the previous cleaning operation can be reliably recovered.

[0141] Furthermore, in the self-propelled sweeper 100, when it is time to end sweeping, the cleaning unit 31 is stopped first, and then the suction unit 33 is stopped. This reliably recovers the cleaning fluid used during sweeping. Therefore, the cleaning fluid used during sweeping will not remain on the ground F.

[0142] 2. Second Implementation Method In the first embodiment, the cleaning unit 31 and the suction unit 33 of the self-propelled sweeper 100 are separately provided in the main body B and can be controlled independently. However, this is not a limitation. In the self-propelled sweeper 100, the cleaning unit 31 and the suction unit 33 can also be integrated. For example, the cleaning component 31b of the cleaning unit 31 can be connected to the squeegee 33a of the suction unit 33, and the cleaning component 31b moves up and down as the squeegee 33a moves up and down. In this case, if the squeegee 33a comes into contact with the ground F due to the operation of the suction unit 33, the cleaning component 31b of the cleaning unit 31 also comes into contact with the ground F. If the squeegee 33a separates from the ground F due to the stopping of the suction unit 33, the cleaning component 31b also separates from the ground F.

[0143] In the main body B, the cleaning unit 31 (cleaning component 31b) is positioned forward of the suction unit 33. Therefore, even if the cleaning conditions are set such that only the suction unit 33 operates in the beginning and / or end areas of the cleaning operation, such as Figure 18 As shown, the cleaning component 31b will also come into contact with the ground F in the starting area (a part of) and / or the ending area. Figure 18 This diagram illustrates an example of the state of the cleaning component 31b, the suction unit 33, and the cleaning fluid spray outlet 31a in the second embodiment, where the cleaning conditions are set such that only the suction unit 33 operates in the start and / or end areas of the cleaning operation.

[0144] Therefore, in the second embodiment, such as Figure 18 As shown, when only the suction unit 33 is operating in the starting area, cleaning fluid begins to be sprayed from the cleaning fluid spray outlet 31a after the suction unit 33 starts operating when cleaning begins. Furthermore, when only the suction unit 33 is operating in the ending area, the suction unit 33 stops operating after the cleaning fluid spraying from the cleaning fluid spray outlet 31a stops when cleaning ends.

[0145] That is, in the second embodiment, "not operating the cleaning unit 31 (cleaning unit 31: OFF)" and "stopping the cleaning unit 31" mean "not operating the cleaning fluid supply pump 31d (not spraying cleaning fluid from the cleaning fluid nozzle 31a)". Conversely, "operating the cleaning unit 31 (cleaning unit 31: ON)" means "operating the cleaning fluid supply pump 31d (spraying cleaning fluid from the cleaning fluid nozzle 31a)". In the second embodiment, the operations described in the first embodiment are replaced as described above, and the cleaning operation is performed. Furthermore, the cleaning component 31b of the cleaning unit 31 can either stop rotating depending on whether cleaning fluid is sprayed or not, or it can rotate continuously.

[0146] Therefore, for example, when two cleaning data Ds are connected, where cleaning conditions are set such that only the suction unit 33 operates in the start and end regions, such as Figure 19 As shown, while cleaning fluid is sprayed into the joint area CON (the cleaning fluid supply pump 31d is activated and the cleaning fluid is sprayed from the cleaning fluid outlet 31a), the suction unit 33 is also activated. Thus, similar to the first embodiment, the cleaning process can be prevented from being interrupted in the joint area CON. Figure 19 This diagram illustrates an example of the cleaning conditions set in the second embodiment, where cleaning is not interrupted in the joint area CON.

[0147] Additionally, for example, if cleaning data D is followed by cleaning data D that sets a cleaning condition that only causes the suction unit 33 to operate in the end region, and then a cleaning data D that sets a cleaning condition that does not perform cleaning in the start region is connected, then... Figure 20 As shown, the suction unit 33 is operated while the cleaning fluid is sprayed in the end area of ​​the previous cleaning data D, and the spraying of the cleaning fluid is stopped in the beginning area of ​​the subsequent cleaning data D, and only the suction unit 33 is operated. Thus, similar to the first embodiment, the cleaning fluid used in the cleaning in the end area can be reliably recovered while cleaning is performed up to the end point G of the previous cleaning operation. Figure 20 This diagram illustrates an example of setting cleaning conditions in the second embodiment, where cleaning data D is set to ensure that only the suction unit 33 operates in the end region, followed by cleaning data D to ensure that cleaning is not performed in the start region.

[0148] 3. Other implementation methods The present invention has been described above as one embodiment, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention. In particular, the various embodiments and modifications described in this specification can be arbitrarily combined as needed. (A) The processing content and / or processing order of each step in the flowchart described above can be arbitrarily changed without departing from the spirit of the present invention.

[0149] (B) The instruction unit 7 and the information processing device 5 can also be configured as a computer system. That is, the functions of the information processing device 5 and the instruction unit 7 can be implemented in one computer system.

[0150] (C) The moving part 1 and / or the cleaning part 3 are not limited to the structures described above. The moving part 1 only needs to have a structure that enables the main body B to move, and the cleaning part 3 only needs to have a structure that enables the cleaning of the specified area A.

[0151] 4. Postscript (1) A self-propelled sweeper (e.g., self-propelled sweeper 100) is a self-propelled sweeper that moves autonomously and performs sweeping within a designated area (e.g., designated area A). The self-propelled sweeper includes a main body (e.g., main body B), a moving part (e.g., moving part 1), a sweeping part (e.g., sweeping part 3), a storage part (e.g., storage part 51), a control part (e.g., control part 53), and an instruction part (e.g., instruction part 7). The moving part moves the main body. The sweeping part is located on the main body and sweeps the designated area. The storage part stores multiple sweeping data (e.g., sweeping data D). Each sweeping data includes movement path information and sweeping condition information. The movement path information indicates the movement path of the main body at a specific location within the designated area, and the sweeping condition information indicates the sweeping conditions based on the sweeping part when moving along the movement path. The control part controls the moving part and the sweeping part according to the sweeping data. The command unit selects a predetermined number of cleaning data from multiple cleaning data stored in the storage unit and instructs the control unit to use the selected predetermined number of cleaning data in sequence to control the moving unit and the cleaning unit.

[0152] When controlling the moving and cleaning units using multiple cleaning data generated in units of cleaning each specific part within a defined area, improper cleaning may sometimes occur, especially in the area corresponding to the junction of two cleaning data points, i.e., the area corresponding to the boundary of the two specific parts. Therefore, in the aforementioned self-propelled sweeper, it is determined whether there is a second cleaning data used before or after the first cleaning data among the selected predetermined number of cleaning data. If there is a second cleaning data, the cleaning conditions of the cleaning unit in the junction area (e.g., junction area CON) of the first moving path shown by the moving path information of the first cleaning data and the second moving path shown by the moving path information of the second cleaning data are set according to at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data and the cleaning conditions set in the cleaning operation based on the second cleaning data.

[0153] When cleaning is performed on multiple specific areas using cleaning data generated in units of cleaning each specific part within a defined area, the cleaning conditions in the joint areas prone to improper cleaning are set based on the cleaning conditions set before and after them. Therefore, even when cleaning a defined area using multiple cleaning data sequentially, the self-propelled sweeper can continuously perform proper cleaning on multiple specific areas.

[0154] (2) In the self-propelled sweeper described in (1) above, the sweeping unit may also include a cleaning unit (e.g., cleaning unit 31) and a suction unit (e.g., suction unit 33). The cleaning unit uses liquid to clean a designated area. The suction unit suctions the liquid used in the cleaning process. Thus, proper sweeping can be performed using the cleaning unit and the suction unit.

[0155] (3) In the self-propelled sweeper described in (1) or (2) above, the engagement area may also be determined based on the distance between the cleaning section and the suction section (e.g., distance d). This allows for the appropriate setting of the start timing of the operation of the cleaning section and the suction section.

[0156] (4) In any of the self-propelled sweepers described in (1) to (3) above, the control unit may set cleaning conditions such that the sweeping unit continues cleaning in the joint area if it determines that there is a second cleaning data used after the first cleaning data and cleaning based on the sweeping unit is performed in the end area of ​​the cleaning operation based on the first cleaning data. As a result, cleaning will not be interrupted in the joint area.

[0157] (5) In any of the self-propelled sweepers described in (2) to (4) above, if there is no second sweeping data used after the first sweeping data, and the sweeping condition information of the first sweeping data indicates that the cleaning unit operates in the end area of ​​the sweeping operation based on the first sweeping data, the control unit may change the sweeping condition information indicating the sweeping conditions in that end area to a sweeping condition that does not operate the cleaning unit but operates the suction unit on the other hand. This prevents the improper situation of ending the sweeping operation with residual liquid after use.

[0158] (6) The control method is a control method for a self-propelled sweeper. The self-propelled sweeper comprises a main body, a moving part, a cleaning part, and a storage part. The moving part moves the main body. The cleaning part is located on the main body and cleans a designated area. The storage part stores multiple cleaning data. Each cleaning data includes movement path information and cleaning condition information. The movement path information indicates the movement path of the main body at a specific location within the designated area, and the cleaning condition information indicates the cleaning conditions based on the cleaning part when moving along the movement path. The control method comprises the following steps. The processing order of steps (a) to (d) below is not limited. (a) The step of selecting a specified number of cleaning data from multiple cleaning data stored in the storage unit. (b) Instructions to use the selected number of cleaning data in sequence to control the moving part and the cleaning part. (c) The step of determining whether a second cleaning data is used before or after the first cleaning data in the selected number of cleaning data. (d) When second cleaning data exists, the step of setting the cleaning conditions of the cleaning part in the junction area of ​​the first moving path shown in the moving path information of the first cleaning data and the second moving path shown in the moving path information of the second cleaning data, based on at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data and the cleaning conditions set in the cleaning operation based on the second cleaning data.

[0159] When cleaning is performed on multiple specific areas using cleaning data generated in units of cleaning each specific part within a defined area, the cleaning conditions in the joint areas prone to improper cleaning are set based on the cleaning conditions set before and after them. Therefore, even when cleaning a defined area using multiple cleaning data sequentially, the self-propelled sweeper can continuously perform proper cleaning on multiple specific areas.

[0160] In the control method described above, the cleaning unit may also include a washing unit and a suction unit. The washing unit uses liquid supplied to a designated area to wash the designated area. The suction unit suctions away the liquid used during washing. Thus, proper cleaning can be performed using the washing unit and the suction unit.

[0161] In the control method described above, the engagement area can also be determined based on the distance between the cleaning section and the suction section. This allows for the appropriate setting of the start times for the actions of the cleaning section and the suction section.

[0162] In the control method described above, the step of setting the cleaning conditions for the joint area may include the following steps: if it is determined that there is a second cleaning data used after the first cleaning data, and cleaning based on the cleaning unit is performed in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning conditions are set such that the cleaning unit continues cleaning in the joint area. Therefore, cleaning will not be interrupted in the joint area.

[0163] In the control method described above, the step of setting the cleaning conditions for the engagement area may include the following steps: if there is no second cleaning data used after the first cleaning data, and the cleaning condition information of the first cleaning data indicates that the cleaning unit is operated in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning condition information indicating the cleaning conditions in that end area is changed to cleaning conditions that do not operate the cleaning unit but operate the suction unit on the other hand. This prevents the improper situation of ending cleaning with residual liquid after cleaning. Industrial applicability

[0164] This invention is widely applicable to self-propelled sweepers that can move autonomously and perform sweeping within a designated area. Explanation of reference numerals in the attached figures

[0165] 100: Self-propelled sweeper B: Main body 1: Mobile Department 11: Moving Motor 13: Main wheel 15: Auxiliary wheel 17: Encoder 21a: Front detector 21b: Rear detector 3: Cleaning Department 31: Cleaning Department 31a: Cleaning fluid spray outlet 31b: Cleaning components 31c: Cleaning fluid supply tank 31d: Cleaning fluid supply pump 31e: Rotary motor for cleaning components 33: Attraction Section 33a: Water absorbent squeegee 33b: Suction port 33c: Recycled parts 33d: Suction motor 5: Information processing device 51: Storage Department D: Cleaning data IN1: Movement path information IN2: Cleaning Condition Information IN3: Time Information M: Environment Map 53: Control Department 55: Temporary Storage Department 7: Command Section 71: Input Section 73: Command and Control Unit GUI1: Cleaning Condition Setting Screen B1: Mode Switch Button B2: Speed ​​setting button B3: Attraction Setting Button B4: Squeegee operation button B5: Cleaning fluid spray button B6: Cleaning fluid volume setting button GUI2: Cleaning Data Selection Screen B7: Toggle button B8: OK button B9: Cleaning mode selection button D1: Cleaning data list display section D2: Start position display unit SE1: Path Selection Display 8: Installation components 9: Teaching Section for Moving Paths A: Specified area F: Ground G: End Location P1~P3: Location ST, ST1~ST3: Starting location T1~T3: Movement Path CON: Joining area.

Claims

1. A self-propelled sweeper that autonomously moves and sweeps within a designated area, wherein, have: main body; A movable part that causes the main body to move; A cleaning unit, located in the main body, is used to clean the area. The storage unit stores multiple cleaning data, which includes movement path information and cleaning condition information. The movement path information indicates the movement path of the main body at a specific location within the area, and the cleaning condition information indicates the cleaning conditions based on the cleaning unit when moving along the movement path. A control unit that controls the moving part and the cleaning part according to the cleaning data; and The instruction unit selects a predetermined number of cleaning data from a plurality of cleaning data stored in the storage unit, and instructs the control unit to use the selected predetermined number of cleaning data in sequence to control the moving unit and the cleaning unit. The control unit determines whether there is a second cleaning data used before or after the first cleaning data among the selected predetermined number of cleaning data. When the second cleaning data is available, the control unit sets the cleaning conditions of the cleaning unit in the junction area of ​​the first moving path shown by the moving path information of the first cleaning data and the second moving path shown by the moving path information of the second cleaning data, based on at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data and the cleaning conditions set in the cleaning operation based on the second cleaning data.

2. The self-propelled sweeper according to claim 1, wherein, The cleaning unit includes a cleaning section for cleaning the area using liquid and an aspiration section for aspirating the liquid after it has been used in the cleaning process.

3. The self-propelled sweeper according to claim 2, wherein, The engagement area is determined based on the distance between the cleaning section and the suction section.

4. The self-propelled sweeper according to claim 1, wherein, If the control unit determines that there is second cleaning data used after the first cleaning data, and cleaning based on the cleaning unit is performed in the end area of ​​the cleaning operation based on the first cleaning data, the control unit sets cleaning conditions in such a way that the cleaning unit continues cleaning in the joint area.

5. The self-propelled sweeper according to claim 2, wherein, If there is no second cleaning data to be used after the first cleaning data, and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to be operated in the end area of ​​the cleaning operation based on the first cleaning data, the control unit changes the cleaning condition information indicating the cleaning conditions in the end area to a cleaning condition that does not operate the cleaning unit but operates the suction unit on the other hand.

6. A control method for a self-propelled sweeper, the self-propelled sweeper comprising: main body; A movable part that moves the main body within a specified area; A cleaning unit, located in the main body, is used to clean the area. and The storage unit stores multiple cleaning data, which includes movement path information and cleaning condition information. The movement path information indicates the movement path of the main body at a specific location within the area, and the cleaning condition information indicates the cleaning conditions based on the cleaning unit when moving along the movement path. The control method comprises: The step of selecting a predetermined number of cleaning data from multiple cleaning data stored in the storage unit; The step of giving instructions to control the moving part and the cleaning part by sequentially using a selected predetermined number of cleaning data; The step of determining whether there is a second cleaning data used before or after the first cleaning data in the selected specified number of cleaning data; and In the presence of the second cleaning data, the step of setting the cleaning conditions of the cleaning unit in the junction area of ​​the first moving path shown by the moving path information of the first cleaning data and the second moving path shown by the moving path information of the second cleaning data, based on at least one of the cleaning conditions set in the cleaning operation based on the first cleaning data and the cleaning conditions set in the cleaning operation based on the second cleaning data.

7. The control method according to claim 6, wherein, The cleaning unit includes a cleaning section for cleaning the area using liquid and an aspiration section for aspirating the liquid after it has been used in the cleaning process.

8. The control method according to claim 7, wherein, The engagement area is determined based on the distance between the cleaning section and the suction section.

9. The control method according to claim 6, wherein, The step of setting the cleaning conditions for the joint area includes the following steps: if it is determined that there is a second cleaning data used after the first cleaning data, and cleaning based on the cleaning unit is performed in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning conditions are set in such a way that the cleaning unit continues to clean in the joint area.

10. The control method according to claim 7, wherein, The step of setting the cleaning conditions of the joint area includes the following steps: if there is no second cleaning data used after the first cleaning data, and the cleaning condition information of the first cleaning data indicates that the cleaning unit is operated in the end area of ​​the cleaning operation based on the first cleaning data, the cleaning condition information indicating the cleaning conditions in the end area is changed to a cleaning condition that does not operate the cleaning unit but operates the suction unit on the other hand.

11. A program for causing a computer to execute the control method according to any one of claims 6 to 10.

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