Autonomous driving work device

Abstract

The present invention provides an autonomous cleaning device that enables efficient autonomous cleaning in a short amount of time within a work area. [Solution] The autonomous driving cleaning device 1, which performs autonomous driving cleaning in a cleaning area according to a cleaning plan, comprises a plan selection unit that selects a cleaning plan for autonomous driving cleaning of the cleaning area, a classification element acquisition unit that acquires classification elements based on the cleaning area, an area classification unit that classifies the cleaning area into multiple classification areas corresponding to each of the multiple cleaning sessions when the autonomous driving cleaning of the cleaning area is divided into multiple cleaning sessions based on the classification elements, and a priority determination unit that determines the priority of each classification area.

Description

Technical Field

[0001] The present invention relates to an autonomous driving work device that performs autonomous driving work according to a work plan in a work area to be worked on.

Background Art

[0002] Conventionally, an autonomous driving work device is configured to be capable of executing autonomous driving work (autonomous driving cleaning) in which it travels and works (cleans) according to a work plan (cleaning plan) set for a work area (cleaning area) to be worked on, such as cleaning. For example, an autonomous driving cleaning device performs autonomous driving cleaning so as to reproduce a previously stored cleaning plan, using an indoor arena such as a gymnasium or a commercial facility such as a retail store as a work area. In the work area, the autonomous driving cleaning device may take a long time for autonomous driving cleaning and may exceed the scheduled end time due to the presence of obstacles not intended in the cleaning plan, workers / pedestrians, etc.

[0003] For example, in Patent Document 1, an autonomous driving robot includes traveling means, working means for performing a predetermined work while traveling by the traveling means, traveling route storage means for storing at any time the traveling route traveled by the traveling means, obstacle detection means for detecting an obstacle, turning travel control means for controlling the traveling means to travel around the obstacle when the obstacle detection means detects an obstacle, traveling end determination means for determining whether or not the turning travel by the turning travel control means has ended, work area division means for dividing the work area determined from the traveling route when it is determined by the traveling end determination means that the turning travel has ended, traveling plan formulation means for formulating a traveling plan based on the work area divided by the work area division means, and work area traveling control means for controlling the traveling means according to the plan formulated by the traveling plan formulation means.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] Conventional autonomous driving work devices, such as those described in Patent Document 1, can perform driving work within a work area without creating unworked areas by dividing the shape, even if the work area has a complex shape due to the presence of obstacles. However, when the work area is an indoor arena such as a gymnasium or a commercial facility such as a retail store, there are many unintended obstacles, workers / pedestrians, etc., during the operating hours of the work area. As a result, the autonomous driving work device frequently performs obstacle avoidance and temporary stops during autonomous driving, making it difficult to faithfully reproduce the work plan.

[0006] Furthermore, in conventional autonomous mobile work devices such as those described in Patent Document 1, even if the work area is divided into multiple areas according to its external shape, it simply results in an increase in the number of rectangular areas. Moreover, since the work area is divided into multiple areas regardless of the location of the dirt, there is a risk that the location of the dirt to be cleaned will be dispersed across multiple areas. As a result, it becomes necessary to perform autonomous mobile work in all of the divided areas, which may prevent efficient autonomous mobile work from being achieved in a short amount of time.

[0007] The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to provide an autonomous driving work device that enables efficient autonomous driving work in a short time in a work area. [Means for solving the problem]

[0008] To solve the above problems, the first autonomous driving work device of the present invention is an autonomous driving work device that performs autonomous driving work in a work area according to a work plan, and is characterized by comprising: a plan selection unit that selects the work plan for the autonomous driving work in the work area; a classification element acquisition unit that acquires classification elements based on the work area; an area classification unit that, when the autonomous driving work in the work area is divided into multiple work sessions and performed based on the classification elements, classifies the work area into multiple classification areas corresponding to each of the multiple work sessions; and a priority determination unit that determines the priority of each of the classification areas.

[0009] According to the first autonomous driving work device of the present invention, the work area is classified into multiple classification areas according to classification elements based on the work area, and each classification area is autonomously driven and worked on according to priority, so that the work area can be autonomously driven and worked on in a short time.

[0010] Furthermore, in order to solve the above problems, the second autonomous driving work device of the present invention is an autonomous driving work device that performs autonomous driving work in a work area according to a work plan, and is characterized by comprising: a plan selection unit that selects the work plan for the autonomous driving work in the work area; a classification element acquisition unit that acquires the detection result of a person in the work area as a classification element; an area classification unit that, when the autonomous driving work in the work area is divided into multiple work sessions and performed based on the classification element, classifies the work area into multiple classification areas corresponding to each of the multiple work sessions; and a priority determination unit that determines the priority of each classification area based on the presence of a person in the multiple classification areas.

[0011] According to the second autonomous driving work device of the present invention, the work area is classified into multiple classification areas according to classification elements that take into account the presence of people, and each classification area is autonomously driven and worked on according to priority that takes into account the presence of people, so that the work area can be autonomously driven and worked on in a short time.

[0012] Furthermore, in order to solve the above problems, the third autonomous driving work device of the present invention acquires imaging data of the work area according to the imaging timing based on the usage time of the work area, the classification element acquisition unit detects the presence of the person in the work area based on the imaging data, determines the appearance of the person present in the work area, acquires the classification element based on the determination result of the appearance of the person, and the priority determination unit determines the number of people present in each classification area based on the imaging data, and determines the priority of each classification area based on the determination result of the number of people.

[0013] According to the third autonomous driving work device of the present invention, autonomous driving work can be performed efficiently in a short time while taking into account the presence of people in the work area and each classification area.

[0014] Furthermore, in order to solve the above problems, in the fourth autonomous driving work device of the present invention, the area classification unit resets the work plan for each of the plurality of classification areas and executes the autonomous driving work in each of the classification areas according to the reset work plan in accordance with the priority order.

[0015] According to the fourth autonomous driving work device of the present invention, the work area is classified into multiple classification areas according to classification elements based on the work area, and autonomous driving work is performed preferentially in the classification area where work is required, so that the work area can be autonomously driven efficiently in a short amount of time.

[0016] Furthermore, in order to solve the above problems, the fifth autonomous driving work device of the present invention performs the autonomous driving work in each of the classification areas once, or performs the autonomous driving work in the classification area with the highest priority two or more times.

[0017] According to the fifth autonomous driving work device of the present invention, since the autonomous driving work is performed at a high frequency on high-priority classification areas, the work area can be autonomously driven efficiently in a short amount of time.

[0018] Also, in order to solve the above problems, in the sixth autonomous driving work device of the present invention, the classification element includes the working width of the working part provided in the autonomous driving work device.

[0019] According to the sixth autonomous driving work device of the present invention, in consideration of the working width of the working part, it is possible to classify into a plurality of classification areas that can shorten the time required for the autonomous driving work according to the situation of the working area.

[0020] Also, in order to solve the above problems, in the seventh autonomous driving work device of the present invention, the classification element includes the court size of the competition held in the competition field which is the working area.

[0021] According to the seventh autonomous driving work device of the present invention, in consideration of the court size of the competition held in the working area, it is possible to classify into a plurality of classification areas that can shorten the time required for the autonomous driving work while maintaining the aesthetics according to the situation of the working area.

[0022] Also, in order to solve the above problems, in the eighth autonomous driving work device of the present invention, the classification element includes the traveling direction of the traveling route of the work plan in the working area.

[0023] According to the eighth autonomous driving work device of the present invention, in consideration of the traveling direction of the traveling route 102 of the work plan in the original working area, it is possible to classify into a plurality of classification areas that can shorten the time required for the autonomous driving work while maintaining the aesthetics according to the situation of the working area.

[0024] Also, in order to solve the above problems, in the ninth autonomous driving work device of the present invention, the classification element includes a specific layout in the commercial facility which is the working area.

[0025] According to the ninth autonomous driving work device of the present invention, in consideration of the specific layout in the commercial facility which is the working area, it is possible to classify into a plurality of classification areas that can shorten the time required for the autonomous driving work while maintaining the aesthetics according to the situation of the working area.

[0026] Also, in order to solve the above problems, in the tenth autonomous driving work device of the present invention, the classification element includes the flow line of human movement in the work area.

[0027] According to the tenth autonomous driving work device of the present invention, in consideration of the flow line of human movement in the work area, it is possible to classify into a plurality of classification areas that can shorten the time required for autonomous driving work while maintaining the aesthetic appearance according to the situation of the work area.

Effect of the Invention

[0028] According to the present invention, it is possible to provide an autonomous driving work device that can realize efficient autonomous driving work in a short time in a work area.

Brief Description of the Drawings

[0029] [Figure 1] It is a schematic diagram showing the configuration of an autonomous driving work device according to an embodiment of the present invention. [Figure 2] It is a block diagram showing the electrical configuration of an autonomous driving work device according to an embodiment of the present invention. [Figure 3] It is a schematic diagram showing an example of a work area in an autonomous driving work device according to an embodiment of the present invention. [Figure 4] It is a schematic diagram showing an example of a work area and a travel route in an autonomous driving work device according to an embodiment of the present invention. [Figure 5] It is a schematic diagram showing an example of a work area and a classification area in an autonomous driving work device according to an embodiment of the present invention. [Figure 6] It is a schematic diagram showing an example of a work area and a classification area in an autonomous driving work device according to an embodiment of the present invention. [Figure 7] It is a front view showing an example of a mode selection screen in an autonomous driving work device according to an embodiment of the present invention. [Figure 8] It is a front view showing an example of a plan selection screen in an autonomous driving work device according to an embodiment of the present invention. [Figure 9]This is a front view showing an example of a screen for inputting the end time specification in an autonomous driving work device according to an embodiment of the present invention. [Figure 10] This is a front view showing another example of a mode selection screen in an autonomous driving work device according to an embodiment of the present invention. [Figure 11] This is a front view showing another example of a plan selection screen in an autonomous driving work device according to an embodiment of the present invention. [Figure 12] This is a front view showing another example of a plan selection screen in an autonomous driving work device according to an embodiment of the present invention. [Figure 13] This flowchart shows an example of operation of an autonomous driving work device according to an embodiment of the present invention. [Figure 14] This flowchart shows an example of operation of an autonomous driving work device according to an embodiment of the present invention. [Figure 15] This flowchart shows an example of operation of an autonomous driving work device according to an embodiment of the present invention. [Figure 16] This is a schematic diagram showing an example of a work area in an autonomous driving work device according to the first modified example of the present invention. [Figure 17] This is a schematic diagram showing an example of a work area in an autonomous driving work device according to the first modified example of the present invention. [Figure 18] This is a schematic diagram showing an example of a work area in an autonomous driving work device according to the first modified example of the present invention. [Figure 19] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to the first modification of the present invention. [Figure 20] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to the first modification of the present invention. [Figure 21] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to the first modification of the present invention. [Figure 22] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to the first modification of the present invention. [Figure 23]This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to the first modification of the present invention. [Figure 24] This is a schematic diagram showing an example of a work area in an autonomous driving work device according to a second modification of the present invention. [Figure 25] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a second modification of the present invention. [Figure 26] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a second modification of the present invention. [Figure 27] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a third modification of the present invention. [Figure 28] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a third modification of the present invention. [Figure 29] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a fourth modification of the present invention. [Figure 30] This is a schematic diagram showing examples of work areas and classification areas in an autonomous driving work device according to a fourth modification of the present invention. [Modes for carrying out the invention]

[0030] Embodiments of the present invention will be described below with reference to the drawings. The following embodiments are preferred examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these embodiments.

[0031] [Autonomous Driving Operation Device] An autonomous cleaning device 1 according to an embodiment of the autonomous driving work device of the present invention will be described. Figure 1 is a schematic diagram showing the configuration of the autonomous cleaning device 1, and Figure 2 is a block diagram showing the electrical configuration of the autonomous cleaning device 1.

[0032] The autonomous driving cleaning device 1 is a vehicle capable of manual driving based on manual operation and autonomous driving (automatic driving) based on automatic control, and operates in one of the following operating modes: learning operation mode, manual operation mode, or automatic operation mode. In automatic operation mode, the autonomous driving cleaning device 1 autonomously drives and cleans (works) the cleaning area (work area) to be cleaned (work) based on a cleaning plan (work plan) consisting of pre-set data and programs. Figures 3 and 4 show examples of cleaning areas 100 of facilities to which the autonomous driving cleaning device 1 performs autonomous driving cleaning.

[0033] The autonomous cleaning device 1 will clean the floor surface of a target facility designated as a cleaning area 100, such as an indoor arena like a gymnasium, a commercial facility like a retail store (supermarket) or shopping mall, an office, a hotel, a hospital, a school, or a factory. The autonomous cleaning device 1 will perform autonomous cleaning in automatic operation mode when the cleaning area 100 is unmanned and outside of operating hours.

[0034] The autonomous cleaning device 1 may clean one cleaning area 100 in one autonomous cleaning run, or it may divide the cleaning into multiple autonomous cleaning runs (work runs). When the autonomous cleaning device 1 divides the cleaning of one cleaning area 100 into multiple autonomous cleaning runs, it classifies the cleaning area 100 into multiple classification areas 101 corresponding to each of the multiple cleaning runs, as shown in Figures 5 and 6. When a designated cleaning time per day is set, the autonomous cleaning device 1 can perform autonomous cleaning of the entire area of ​​the cleaning area 100 over multiple days by performing autonomous cleaning of different classification areas 101 each day. Here, the multiple classification areas 101 may be obtained by dividing the cleaning area 100 into multiple cleaning runs, and two or more of the divided classification areas 101 may partially overlap.

[0035] As shown in Figure 1, the autonomous cleaning device 1 comprises a main body 10 for housing various parts and a traveling unit 11 for moving the main body 10. The autonomous cleaning device 1 can be realized as a floor cleaning machine by including a working unit that performs predetermined tasks, for example, a cleaning unit 12 that performs cleaning work on the floor surface below the main body 10.

[0036] The autonomous cleaning device 1 includes a measuring unit 13 that measures the distance and angle (for example, the angle with respect to the forward direction of the device body 10) between the device body 10 and obstacles (objects) such as walls and ornaments surrounding the device body 10, and an imaging unit 14 that captures images of the area around the device body 10. The autonomous cleaning device 1 also includes a driving operation unit (not shown) and an operation display unit 15 for operating and displaying various functions.

[0037] The autonomous cleaning device 1 includes a power supply unit 16 for controlling the charging of a battery (not shown) and supplying power to various parts. The autonomous cleaning device 1 also includes a control unit 17 that comprehensively controls each part and various functions of the autonomous cleaning device 1 (driving by the driving unit 11, cleaning work by the cleaning unit 12, measurement by the measurement unit 13, creation and editing of cleaning plans, etc.), and a storage unit 18 that stores programs and data for controlling each part and various functions of the autonomous cleaning device 1.

[0038] The running unit 11 is integrally provided at the lower part of the device body 10 and includes a front wheel 20 which is a swivel auxiliary wheel, left and right rear wheels 21 which are fixed drive wheels that can rotate independently to the left and right, and left and right drive motors (not shown) that drive the left and right rear wheels 21 respectively. The front wheel 20 is provided in the center in the left-right direction on the front lower surface of the device body 10, and the rear wheels 21 are provided on both sides in the left-right direction on the rear lower surface of the device body 10. Each drive motor is provided inside the device body 10 and is connected to the rotation axis (not shown) of each rear wheel 21 via a drive gear (not shown). In the running unit 11, the device body 10 can be moved forward or backward by having each drive motor rotate the two rear wheels 21 simultaneously, while the device body 10 can be turned left or right by stopping the left rear wheel 21 or the right rear wheel 21 and simultaneously rotating the right rear wheel 21 or the left rear wheel 21.

[0039] The cleaning unit 12 is located at the bottom of the main body 10 of the device and is configured to clean the floor surface below the main body 10 of the device. The cleaning unit 12 cleans the floor surface according to the initially set cleaning data, the cleaning data set via the operation display unit 15, or the cleaning data set by automatic control.

[0040] The cleaning unit 12 is configured as a wet cleaning mechanism that cleans the floor surface using a cleaning solution as a detergent, and includes a cleaning member 22 (working member) that contacts the floor surface to clean it. The cleaning unit 12 includes a cleaning solution supply unit (not shown) that supplies the cleaning solution to the floor surface, and a suction unit (not shown) that sucks up the used cleaning solution, i.e., the wastewater, after cleaning the floor surface. The cleaning unit 12 includes a motor for the cleaning member (not shown) that rotates the cleaning member 22 on the floor surface, and a actuator for the cleaning member (not shown) that moves the cleaning member 22 vertically relative to the floor surface. The cleaning unit 12 includes a wastewater collection unit (not shown) that collects the wastewater sucked up by the suction unit. Note that if the floor surface is carpeted, the cleaning unit 12 may be configured to perform dry cleaning without using a cleaning solution.

[0041] The cleaning component 22 consists of, for example, a pair of cleaning pads or a pair of cleaning brushes mounted side by side in the width direction (left-right direction) of the device approximately in the center of the direction of travel. The left cleaning pad or cleaning brush rotates clockwise when viewed from above, and the right cleaning pad or cleaning brush rotates counterclockwise when viewed from above, rotating from front to back on the center side in the width direction. This collects the dirty water and dust in front of the pair of cleaning pads or the pair of cleaning brushes towards the center side in the width direction and discharges them to the rear.

[0042] The cleaning solution supply unit is configured to supply and spray cleaning solution onto the floor surface from a cleaning solution tank (not shown) using a supply pump (not shown).

[0043] The suction unit consists of a suction blower and the like, and collects the sucked-up wastewater into a wastewater collection unit (not shown). The wastewater collection unit uses a squeegee 25, which is located behind the cleaning member 22 and in contact with the floor surface, to receive and collect the wastewater discharged from the cleaning member 22 to the rear. The collected wastewater is then sucked up using the suction force of the suction unit by a wastewater duct (not shown) connected to the suction unit, and the sucked-up wastewater is collected into a wastewater tank connected to the wastewater duct.

[0044] The autonomous cleaning device 1 performs floor cleaning using the cleaning unit 12 while the device body 10 is moving. The floor cleaning operation by the cleaning unit 12 is performed by driving a supply pump to supply cleaning fluid from the cleaning fluid tank to the cleaning member 22, while rotating the cleaning member 22 on the floor surface. The wastewater after cleaning is collected by a squeegee 25 towed to the rear of the device body 10, and is sucked from the squeegee 25 into the wastewater tank by driving a suction blower.

[0045] The cleaning data in the cleaning unit 12 as described above includes the operation / stopping of the rotation of the cleaning member 22, the operation / stopping of the supply pump for supplying cleaning fluid, the operation / stopping of the suction blower for suction, the strength of the contact pressure of the cleaning member 22 with the floor surface and its rotation speed, the amount of cleaning fluid supplied by the supply pump, and the suction strength of the suction blower.

[0046] The measurement unit 13 includes an obstacle sensor 13a that measures the distance and angle to obstacles (objects) and walls around the device body 10. The obstacle sensor 13a is, for example, located on the front of the device body 10 and consists of a laser range finder (LRF), and detects obstacles that are within a predetermined measurable height (e.g., 30 cm) from the floor and within a predetermined measurable range (e.g., a radius of 20 m) from the obstacle sensor 13a. Note that multiple LRFs (two or more) constituting the obstacle sensor 13a may be provided in the vertical (height) direction. The measurement unit 13 is connected to the control unit 17 and transmits the measurement results to the control unit 17.

[0047] Furthermore, the measurement unit 13 may include an ultrasonic sensor (not shown) for detecting obstacles close to the main body 10, a TOF camera (not shown) capable of imaging the foreground of the main body 10 including the floor, and an infrared sensor (not shown) for detecting steps in the floor surface on which the traveling unit 11 travels. The ultrasonic sensor and TOF camera can detect unknown obstacles close to the main body 10 in three dimensions.

[0048] The imaging unit 14 includes a front camera (not shown) capable of imaging the foreground of the device body 10, including the floor, and a rear camera (not shown) capable of imaging the area behind the device body 10. The front camera can detect unknown obstacles approaching the device body 10.

[0049] The driving control unit is located at the rear of the main body 10 of the device and includes a handle (not shown) and a throttle (not shown) for operating manual driving. The handle is a component that is grasped and operated by an operator performing floor cleaning work with the self-propelled autonomous driving cleaning device 1 or by an operator performing teaching driving with the autonomous driving autonomous driving cleaning device 1. The driving control unit converts the amount of steering input from the handle and the amount of throttle input from the operator into electrical signals, and outputs these electrical signals to the driving unit 11 to drive the drive motor, thereby enabling manual driving and teaching driving.

[0050] The operation display unit 15 is located on the rear side of the main body 10 and includes, for example, a main switch, a forced stop button, a microphone, a speaker, and a display (not shown). Each part of the operation display unit 15 is connected to the control unit 17. The operation display unit 15 may be integrally configured with the main body 10, or it may be configured as a tablet terminal or the like that can be attached to or detached from the main body 10.

[0051] The main switch controls the starting and stopping of the autonomous cleaning device 1. The forced stop button controls the forced stopping of the autonomous cleaning device 1, and outputs a forced stop signal to the control unit 17 in response to the operation. The speaker generates alarm sounds and the like in response to the control unit 17. The display unit consists of a touch panel and the like, and displays various screens in response to control signals from the control unit 17, and transmits operation signals to the control unit 17 based on touch operations on each screen.

[0052] The display unit shows a mode selection screen 50 for selecting one of the following operating modes for the autonomous cleaning device 1: manual operation mode, automatic operation mode, or modification operation mode, as shown in Figure 7. Although not shown, the mode selection screen 50 may also allow selection of a learning operation mode.

[0053] The power supply unit 16 is equipped with a battery (power source) mounted inside the main body 10 of the device and is configured to be rechargeable by connecting to an external power source, supplying power to each part of the autonomous cleaning device 1.

[0054] The control unit 17 consists of a CPU (Central Processing Unit) and the like. As shown in Figure 2, the control unit 17 is connected to the storage unit 18 via a bus 27, and the bus 27 is further connected to an interface 28. The control unit 17 is also connected to the above-mentioned travel unit 11, cleaning unit 12, measurement unit 13, imaging unit 14, operation display unit 15, power supply unit 16, and storage unit 18 via the bus 27 and interface 28, and is further connected to a communication unit 19. The communication unit 19 communicates wirelessly with external devices such as a management server (not shown) using wireless communication methods such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0055] The memory unit 18 consists of ROM (Read Only Memory), RAM (Random Access Memory), hard disk, flash memory, etc. The control unit 17 reads programs and data stored in the memory unit 18 and controls each part and various functions by executing these programs.

[0056] For example, the memory unit 18 stores environmental maps for each of the cleaning areas 100 and the classification areas 101 classified from the cleaning area 100, and stores a cleaning plan for autonomous cleaning that associates a travel route 102, as shown in Figures 5 and 6, with travel data for operating the travel unit 11 and cleaning data for operating the cleaning unit 12. Each cleaning plan is assigned a different plan identification number. The travel route 102 records the coordinates in the cleaning area 100 (environmental map) and classification areas 101 in the order of work. The travel data includes setting values ​​such as the travel speed of the travel unit 11, and the cleaning data includes drive setting values ​​for each motor and actuator of the cleaning unit 12 (cleaning members 22, supply pump, suction blower, etc.).

[0057] Furthermore, the autonomous cleaning device 1 is equipped with an internal clock and can perform time calculation and timer functions. The autonomous cleaning device 1 can calculate the time required for cleaning by dividing the travel route 102 of the cleaning plan by the set travel speed.

[0058] The control unit 17 performs calculations based on programs and data stored in the memory unit 18, thereby comprehensively controlling each unit and various functions. For example, a computer like the control unit 17 operates as a mode switching unit 40, a map creation unit 41, a plan creation unit 42, a route creation unit 43, a plan selection unit 44, a classification element acquisition unit 45, an area classification unit 46, a priority determination unit 47, and an automatic driving control unit 48 by executing a program stored in the memory unit 18.

[0059] Next, we will describe each part executed by the control unit 17.

[0060] The mode switching unit 40 switches the operation mode of the autonomous cleaning device 1 to one of the following: learning operation mode, manual operation mode, automatic operation mode, or modification operation mode, in response to operations such as the mode selection screen 50 on the operation display unit 15. While the operation mode is set to learning operation mode or manual operation mode by the mode switching unit 40, manual operation input to the driving operation unit becomes possible, and while it is set to automatic operation mode, manual operation input to the driving operation unit becomes impossible.

[0061] In manual operation mode, the autonomous mobile cleaning device 1 performs manual mobile cleaning (manual mobile operation) by manually operating it while moving it manually.

[0062] In learning operation mode, the autonomous driving cleaning device 1 acquires driving data related to autonomous driving and cleaning data (work data) related to automatic cleaning (automatic work) while performing manual driving cleaning. Based on the acquired driving data and cleaning data, it creates an environmental map, a driving route 102, and a cleaning plan (which associates the driving data and cleaning data for each step number) and stores them in the storage unit 18.

[0063] In automatic operation mode, the autonomous cleaning device 1 operates the driving unit 11 and the cleaning unit 12 to reproduce the cleaning plan selected by the operator, thereby performing autonomous cleaning.

[0064] The map creation unit 41 uses technologies such as SLAM (Simultaneous Localization and Mapping) to estimate its own position and create an environmental map in real time. The map creation unit 41 creates a local map of the area around the device body 10 at a predetermined location by transforming the coordinates of the distance and angle from obstacles (objects) measured by the measurement unit 13. It also estimates the self-position of the device body 10 on the local map based on the created local map and the amount of movement of the device body 10 measured by the measurement unit 13. The obstacle sensor 13a of the measurement unit 13 acquires two-dimensional data of the distance and angle from obstacles, and the map creation unit 41 creates the local map by stitching together the two-dimensional data acquired by the obstacle sensor 13a.

[0065] The map creation unit 41 creates an environmental map by connecting (combining) the local maps created by the map creation unit 41 at each location in the cleaning area 100 from the time the autonomous cleaning device 1 starts and finishes learning driving (teaching driving) in learning operation mode in response to manual operation. Alternatively, the map creation unit 41 may create an environmental map based on drawing data such as on-site drawing data of various facilities in Japan, which are generally supplied as BIM (Building Information Modeling) data of the cleaning area 100 that has been input from an external source in advance. Alternatively, the map creation unit 41 may create an environmental map by connecting the local maps created by the map creation unit 41 while the autonomous cleaning device 1 is manually driven around the cleaning area 100. The map creation unit 41 may also create a three-dimensional environmental map using an obstacle sensor 13a, which is a three-dimensional LRF.

[0066] The plan creation unit 42 creates a cleaning plan for the cleaning area 100 where autonomous cleaning will be performed when the learning run (teaching run) is completed and stores it in the storage unit 18. The plan creation unit 42 acquires driving data from the driving unit 11 and cleaning data from the cleaning unit 12 at each position in the cleaning area 100 from the start to the end of the learning run (teaching run) in response to manual operation by the autonomous cleaning device 1 in learning operation mode, and creates a cleaning plan. Alternatively, if the driving route 102 is automatically created by the route creation unit 43 described later, the cleaning plan may be created in association with the cleaning data of the cleaning unit 12 that has been previously stored in the storage unit 18. If the shape of the cleaning area 100 changes, the plan creation unit 42 may edit the driving route 102, etc., based on the original cleaning plan to change the cleaning plan.

[0067] The route creation unit 43 creates a travel route 102 for autonomous cleaning in the cleaning area 100. The route creation unit 43 creates the travel route 102 based on pre-entered start and end positions, safe distance from obstacles such as walls, main body dimensions of the device body 10, travel data such as the travel speed of the travel unit 11 during cleaning and non-cleaning, the working width of the cleaning unit 12, and the overlap amount. The plan creation unit 42 creates a cleaning plan based on the created travel route 102 and various setting values ​​such as cleaning data (ground pressure strength and rotation speed of the cleaning member 22, cleaning fluid supply amount of the supply pump, suction strength of the suction blower, etc.). For each step (position at predetermined intervals) of the travel route 102, the plan creation unit 42 creates a cleaning plan by associating position data (coordinates and angles), travel data of the travel unit 11, and cleaning data of the cleaning unit 12.

[0068] For example, the route creation unit 43 creates a travel route 102 by combining the self-position data at each position in the cleaning area 100 from the time the autonomous cleaning device 1 starts and finishes learning travel (teaching travel) in response to manual operation in learning operation mode.

[0069] Alternatively, as shown in Figure 4, the route creation unit 43 creates a travel route 102 so as to fill in the traversable area in the cleaning area 100 (to ensure no areas are missed during cleaning), and creates a travel route 102 that, for example, travels back and forth in a zigzag pattern on multiple straight paths that are spaced apart and parallel to each other based on the cleaning width. In the travel route 102 that travels back and forth, adjacent straight paths may overlap by a predetermined overlapping width.

[0070] The route creation unit 43 automatically creates a travel route 102 in response to instructions from the operator. For example, the route creation unit 43 receives an instruction to autonomously travel in a straight line along the shortest distance to the end position and then stop. The route creation unit 43 may have already created the travel route 102 for the cleaning area 100 in advance of autonomous driving cleaning, or it may automatically create the travel route 102 when autonomous driving cleaning is performed.

[0071] When the mode switching unit 40 sets the system to automatic operation mode, the plan selection unit 44 accepts the selection of each cleaning plan for each cleaning area 100 stored in the memory unit 18. For example, as shown in Figure 8, the plan selection unit 44 displays a plan selection screen 51 on the operation display unit 15, which accepts the selection of a cleaning plan. The plan selection screen 51 displays a list of selectable cleaning plans, and the selection of the cleaning plan selected in the list is confirmed by pressing the confirmation button (Yes button).

[0072] The plan selection unit 44 determines whether autonomous cleaning of the cleaning area 100 according to the cleaning plan satisfies predetermined cleaning conditions. For example, the plan selection unit 44 sets the predetermined cleaning condition as the estimated cleaning time required for autonomous cleaning being within a predetermined cleaning time. For example, as shown in Figure 9, the plan selection unit 44 displays an end time input screen 52 on the operation display unit 15, which accepts input of the end time as the cleaning time.

[0073] Specifically, the plan selection unit 44 calculates the estimated cleaning time required for autonomous cleaning based on the selected cleaning plan, and also calculates the specified cleaning time based on the input specified end time and the current time. If the estimated cleaning time is within the specified cleaning time, the plan selection unit 44 determines that the predetermined cleaning conditions are met, and the autonomous cleaning device 1 becomes capable of performing autonomous cleaning based on the selected cleaning plan, and the autonomous cleaning is then performed by the automatic driving control unit 48, which will be described later.

[0074] On the other hand, if the predicted cleaning time exceeds the designated cleaning time, the plan selection unit 44 determines that the predetermined cleaning conditions are not met, and the autonomous driving cleaning device 1 becomes unable to perform autonomous driving cleaning based on the selected cleaning plan. At this time, as shown in Figure 10, the autonomous driving cleaning device 1 displays the designated end time and the excess time on the mode selection screen 50 of the operation display unit 15, and accepts the operator's selection operation regarding whether or not to allow autonomous driving cleaning to be performed with a cleaning plan that exceeds the designated cleaning time. If the operator allows autonomous driving cleaning to be performed with this cleaning plan, the autonomous driving cleaning device 1 becomes capable of performing autonomous driving cleaning based on the selected cleaning plan, and autonomous driving cleaning is performed by the automatic driving control unit 48 described later. If the operator does not allow autonomous driving cleaning to be performed with this cleaning plan, the autonomous driving cleaning device 1 performs classification of the cleaning area 100 (classification of cleaning plans) by the classification element acquisition unit 45 and the area classification unit 46 described later.

[0075] The classification element acquisition unit 45 acquires classification elements for classifying the cleaning area 100 when classifying the cleaning area 100 as described above. The classification element acquisition unit 45 acquires, for example, the number of cleaning sessions, the designated cleaning time (i.e., the time available for cleaning), and the cleaning intensity as classification elements based on the cleaning area 100. The classification element acquisition unit 45 may acquire a preset number of cleaning sessions, or it may acquire a number of cleaning sessions entered in response to an arbitrary operation by the operator. Alternatively, the classification element acquisition unit 45 may calculate and acquire the minimum number of autonomous cleaning sessions required to perform autonomous cleaning over the predicted cleaning time in multiple cleaning sessions within the range of the designated cleaning time, based on the predicted cleaning time and the designated cleaning time.

[0076] In this embodiment, the cleaning intensity of the classification element indicates the percentage of the cleaning area 100 in which autonomous driving cleaning has been completed. For example, 100% of the cleaning intensity is defined as the state in which autonomous driving cleaning has been completed along the driving route 102, which is set to cover the entire cleaning area 100 without overlap. Alternatively, 50% of the cleaning intensity is defined as the state in which autonomous driving cleaning has been completed along the driving route 102, which is set to cover 50% of the cleaning area 100 without overlap.

[0077] The cleaning intensity may be set for autonomous cleaning of cleaning area 100, or for autonomous cleaning of classification area 101. For example, if the cleaning intensity for cleaning area 100 is set to 120% and the number of cleaning cycles is set to 2, the cleaning intensity for each classification area 101 will be 60%.

[0078] When classifying the cleaning area 100 as described above, the area classification unit 46 classifies the cleaning area 100 into multiple classification areas 101 corresponding to each of the multiple cleaning sessions, based on the classification elements acquired by the classification element acquisition unit 45, if the autonomous driving operation of the cleaning area 100 is divided into multiple cleaning sessions.

[0079] For example, when the cleaning area 100 shown in Figure 3 is divided into three autonomous driving operations, the area classification unit 46 classifies the cleaning area 100 into classification area 101A, classification area 101B, and classification area 101C, as shown in Figures 5 and 6. Here, the area classification unit 46 assigns multiple parallel linear areas to the cleaning area 100, spaced apart based on the cleaning width, and classifies each linear area alternately into classification area 101A, classification area 101B, and classification area 101C. Note that adjacent linear areas may overlap by a predetermined overlap width.

[0080] In multiple classification areas 101, the overlap width of adjacent linear areas may be predetermined, set according to the operator's arbitrary operation, or set according to the cleaning intensity. For example, when classifying cleaning area 100 into classification area 101A, classification area 101B, and classification area 101C, if the cleaning intensity of cleaning area 100 is set to 100%, the cleaning intensity of each classification area 101 will be approximately 33%. However, if the cleaning intensity of cleaning area 100 is set to 120%, the cleaning intensity of each classification area 101 will be 40%. In this case, the overlap width is calculated so that there is an overlap of approximately 7% of the difference between each classification area 101.

[0081] The area classification unit 46 recreates a cleaning plan for each of the multiple classified areas 101 classified as described above, based on the cleaning plan for the cleaning area 100. For example, the area classification unit 46 recreates a cleaning plan for classified area 101A, classified area 101B, and classified area 101C, which were classified from the cleaning area 100. At this time, the area classification unit 46 may recreate the driving route 102 for autonomous cleaning of each classified area 101 based on the shape of each classified area 101, and recreates the cleaning plan by resetting the driving data and cleaning data of the original cleaning plan for the cleaning area 100 as the driving data and cleaning data for autonomous cleaning of each classified area 101.

[0082] For example, the area classification unit 46 recreates the travel route 102 for classification area 101A so as to connect the linear areas classified as classification area 101A, recreates the travel route 102 for classification area 101B so as to connect the linear areas classified as classification area 101B, and recreates the travel route 102 for classification area 101C so as to connect the linear areas classified as classification area 101C. The area classification unit 46 may set the starting position of the travel route 102 for each classification area 101 to a position close to the starting position of the travel route 102 for the original cleaning area 100. When the area classification unit 46 recreates the travel route 102 for each of the different classification areas 101, it recreates each travel route 102 so as to minimize overlapping routes.

[0083] The priority determination unit 47 determines the priority order for performing autonomous cleaning on multiple classified areas 101 classified by the area classification unit 46, and assigns a priority to the cleaning plan for each classified area 101. For example, the priority determination unit 47 may set the priority higher (higher) for each classified area 101 in order of the starting position of the travel path 102 being closest to the starting position of the travel path 102 of the original cleaning area 100. When autonomous cleaning of one of the multiple classified areas 101 is completed, the priority determination unit 47 sets the priority of that classified area 101 to the lowest level and resets the priorities of the other classified areas 101 by one level.

[0084] Furthermore, if the area classification unit 46 classifies the cleaning area 100 into multiple classification areas 101, the plan selection unit 44 displays a plan selection screen 51 on the operation display unit 15, which accepts the selection of cleaning plans for each of the multiple classification areas 101, instead of the selection plan for the cleaning area 100, as shown in Figures 11 and 12. At this time, the plan selection unit 44 highlights the cleaning plan for the classification area 101 with the highest priority on the plan selection screen 51, but any cleaning plan for any of the classification areas 101 can be selected.

[0085] For example, if you want to perform autonomous cleaning once a day, you can select a cleaning plan for a highlighted classification area 101 on the plan selection screen 51 to alternately perform autonomous cleaning on multiple classification areas 101 each day. In addition, you can repeat autonomous cleaning of the same classification area 101 on consecutive days by selecting the same cleaning plan for the same classification area 101 on the plan selection screen 51, regardless of the highlighting.

[0086] Furthermore, the plan selection unit 44 can also return to the previous screen in response to the operation of the back button on the plan selection screen 51. For example, if the plan selection unit 44 is displaying a plan selection screen 51 that lists cleaning plans for multiple classification areas 101 that classify the single cleaning area 100, instead of a cleaning plan for the single cleaning area 100, the plan selection unit 44 may, in response to the operation of the back button, display a plan selection screen 51 that lists cleaning plans for the single cleaning area 100, instead of the cleaning plans for the multiple classification areas 101.

[0087] In automatic operation mode, the automatic driving control unit 48 reads the cleaning plan selected by the operator from the storage unit 18 and controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the autonomous driving cleaning device 1. The automatic driving control unit 48 may start autonomous driving cleaning after the autonomous driving cleaning device 1 has been positioned at the starting position predetermined in the cleaning plan.

[0088] Specifically, the automatic driving control unit 48 automatically controls the driving unit 11 based on the cleaning plan read from the storage unit 18, and controls the driving unit 11 so that the device body 10 automatically drives according to the driving path 102 and the driving data for each step of the cleaning plan. Furthermore, in automatic operation mode, while the driving unit 11 is making the device body 10 automatically drive according to the driving path 102 and the driving data of the cleaning plan, the automatic driving control unit 48 reads cleaning data corresponding to the position of the device body 10 on the driving path 102 from the cleaning plan, and controls the cleaning unit 12 to perform cleaning work by automatic control according to this cleaning data.

[0089] When autonomous cleaning begins, the automatic driving control unit 48 matches the local map created by the map creation unit 41 with the environmental map of the cleaning plan to determine the position of the device body 10 on the environmental map, and controls the autonomous cleaning so that its position follows the driving path 102 of the cleaning plan.

[0090] The automatic driving control unit 48 controls the driving unit 11 so that the autonomous driving cleaning device 1 automatically returns to the end position predetermined in the cleaning plan once it has completed autonomous driving cleaning based on the cleaning plan.

[0091] If the priority determination unit 47 sets priorities in the order of classification area 101A, classification area 101B, and classification area 101C, which are classified from the cleaning area 100, the automatic driving control unit 48 can perform autonomous driving cleaning in classification area 101A, classification area 101B, and classification area 101C according to the priority. For example, if the autonomous driving cleaning device 1 performs autonomous driving cleaning in a different classification area 101 each day, the automatic driving control unit 48 can perform autonomous driving cleaning in classification area 101A on the first day, in classification area 101B on the second day, and in classification area 101C on the third day, according to the priority.

[0092] Here, on the first day, the plan selection unit 44 highlights the cleaning plan for classification area 101A, which has the highest priority, on the plan selection screen 51. Once autonomous cleaning of classification area 101A is completed, the priority determination unit 47 raises the priority of classification areas 101B and 101C, making classification area 101B the highest priority. Then, on the second day, the plan selection unit 44 highlights the cleaning plan for classification area 101B, which has the highest priority, on the plan selection screen 51.

[0093] Even if the cleaning plan for classification area 101A, which has the highest priority, is highlighted on the plan selection screen 51 on the first day, a cleaning plan for classification area 101B or classification area 101C may be selected. In this case, even if autonomous cleaning of classification area 101B or classification area 101C is completed, classification area 101A will remain the highest priority, so the plan selection unit 44 will highlight the cleaning plan for classification area 101A, which has the highest priority, on the plan selection screen 51 on the second day.

[0094] [Example of operation of an autonomous cleaning device] Figures 13, 14, and 15 are flowcharts illustrating examples of autonomous cleaning operations performed by the autonomous cleaning device 1 in a rectangular cleaning area 100. Next, an example of the operation of the autonomous cleaning device 1 will be explained with reference to the flowchart in Figure 14.

[0095] First, when the autonomous cleaning device 1 is started, the mode switching unit 40 displays a mode selection screen 50 on the operation display unit 15 for selecting the operation mode. At this point, the operator selects the manual operation mode on the mode selection screen 50 for autonomous cleaning of the cleaning area 100, and manually moves the autonomous cleaning device 1 to the starting position of the cleaning area 100. Alternatively, the autonomous cleaning device 1 may move to the starting position of the cleaning area 100 by automatic driving.

[0096] Then, when the operator selects the automatic operation mode on the mode selection screen 50, the plan selection unit 44 displays a plan selection screen 51 on the operation display unit 15 for selecting a cleaning plan for the cleaning area 100 to be autonomously driven and cleaned. When the operator selects a desired cleaning plan for a desired cleaning area 100 on the plan selection screen 51 (step S1), the plan selection unit 44 displays an end time input screen 52 on the operation display unit 15 for inputting the end time for autonomously driven and cleaned. The plan selection unit 44 determines whether the estimated cleaning time required for autonomously driven and cleaned according to the cleaning plan is within the specified cleaning time based on the end time input screen 52 (step S2).

[0097] If the estimated cleaning time is within the specified cleaning time (Step S2: Yes), the plan selection unit 44 determines that the cleaning conditions are met, and the automatic driving control unit 48 proceeds to autonomous driving cleaning according to the cleaning plan for the selected cleaning area 100 (Step S4). Also, even if no end time is entered on the end time input screen 52, the plan selection unit 44 determines that the cleaning conditions are met, and the automatic driving control unit 48 proceeds to autonomous driving cleaning according to the cleaning plan for the selected cleaning area 100.

[0098] On the other hand, if the estimated cleaning time exceeds the specified cleaning time (Step S2: No), the plan selection unit 44 determines that the cleaning conditions are not met, and the mode switching unit 40 displays a mode selection screen 50 on the operation display unit 15, which shows the specified end time and the excess time, in addition to selecting the operation mode.

[0099] Here, if the operator can tolerate the excess time, they can select the automatic operation mode on the mode selection screen 50, at which point the automatic driving control unit 48 will switch to autonomous driving cleaning according to the cleaning plan for the selected cleaning area 100.

[0100] On the other hand, if the worker cannot tolerate the excess time, they can select the correction operation mode on the mode selection screen 50 to proceed to the classification of the cleaning area 100 (classification of the cleaning plan) by the classification element acquisition unit 45 and the area classification unit 46 (step S3).

[0101] In classifying the cleaning area 100, as shown in Figure 14, first, the classification element acquisition unit 45 acquires classification elements for classifying the cleaning area 100 (step S11). The area classification unit 46 classifies the cleaning area 100 into multiple classification areas 101 based on these classification elements (step S12). The area classification unit 46 also recreates the travel route 102 for each of the multiple classification areas 101 (step S13). Furthermore, the area classification unit 46 recreates the cleaning plan for each classification area 101 with reset travel data and cleaning data based on the travel data and cleaning data of the cleaning plan for the cleaning area 100 (step S14). The priority determination unit 47 determines the priority for executing autonomous driving cleaning for the multiple classification areas 101 (step S15).

[0102] Next, the automatic driving control unit 48 performs autonomous driving cleaning based on the cleaning plan for the cleaning area 100 or the classification area 101, as shown in Figure 15 (step S4).

[0103] For example, if the cleaning plan for the selected cleaning area 100 satisfies the cleaning conditions and the cleaning plan is to be implemented (step S21: Yes), the automatic driving control unit 48 controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the cleaning area 100 according to the cleaning plan (step S22).

[0104] Furthermore, if the cleaning plan for the selected cleaning area 100 does not meet the cleaning conditions, the plan selection unit 44 displays a plan selection screen 51 on the operation display unit 15, which allows the user to select a cleaning plan for one of several classified areas 101 that have been classified from the cleaning area 100. If the cleaning plan for the classified area 101 with the highest priority is selected (step S23: Yes), the automatic driving control unit 48 controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the classified area 101 according to the cleaning plan (step S22).

[0105] Alternatively, if a cleaning plan for another classification area 101 that does not have the highest priority is selected (step S24: Yes), the automatic driving control unit 48 controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the classification area 101 according to the cleaning plan (step S22).

[0106] Alternatively, if no cleaning plan is selected for any of the classification areas 101 (Step S24: No), and the back button is pressed, the plan selection unit 44 returns to the original cleaning area selection operation (Step S25), and instead of a plan selection screen 51 that allows selection of cleaning plans for multiple classification areas 101, a plan selection screen 51 that allows selection of a cleaning plan for the cleaning area 100 before classification is displayed on the operation display unit 15.

[0107] If a cleaning plan for the cleaning area 100 before classification is selected (step S26: Yes), the automatic driving control unit 48 controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the cleaning area 100 according to the cleaning plan (step S22).

[0108] Alternatively, if a cleaning plan for another cleaning area 100 is selected (step S27), the automatic driving control unit 48 controls the driving unit 11 and the cleaning unit 12 to perform autonomous driving cleaning of the other cleaning area 100 according to the cleaning plan (step S22).

[0109] The automatic driving control unit 48 continues autonomous driving cleaning until it reaches the end position of the driving path 102 of the cleaning plan, and when it reaches the end position (step S5), it terminates autonomous driving cleaning.

[0110] [Configuration and effects of autonomous cleaning device] As described above, according to this embodiment, the autonomous driving cleaning device 1 (autonomous driving work device) that performs autonomous driving cleaning (autonomous driving work) in a cleaning area 100 (work area) according to a cleaning plan (work plan) comprises a plan selection unit 44 that selects a cleaning plan for autonomous driving cleaning of the cleaning area 100, a classification element acquisition unit 45 that acquires classification elements based on the cleaning area 100, an area classification unit 46 that classifies a plurality of classification areas 101 corresponding to each of the plurality of cleaning sessions when the autonomous driving cleaning of the cleaning area 100 is divided into a plurality of cleaning sessions (work sessions) based on the classification elements, and a priority determination unit 47 that determines the priority of each classification area 101.

[0111] With this configuration, the autonomous cleaning device 1 according to this embodiment classifies the cleaning area 100 into a plurality of classification areas 101 according to classification elements based on the cleaning area 100, and autonomously cleans each classification area 101 according to priority, so that the cleaning area 100 can be cleaned autonomously in a short time and efficiently.

[0112] Furthermore, in the autonomous cleaning device 1 according to this embodiment, the area classification unit 46 resets the cleaning plan for each of the multiple classification areas 101 and performs autonomous cleaning in each classification area 101 according to the reset cleaning plan in accordance with the priority order.

[0113] With this configuration, the autonomous cleaning device 1 classifies the cleaning area 100 into multiple classification areas 101 according to classification elements based on the cleaning area 100, and autonomously cleans the classification areas 101 that require cleaning as a priority, thereby enabling efficient autonomous cleaning of the cleaning area 100 in a short amount of time.

[0114] Furthermore, in the autonomous cleaning device 1 according to this embodiment, the classification element includes the cleaning width (working width) of the cleaning unit 12 (working unit) provided by the autonomous cleaning device 1.

[0115] With this configuration, the autonomous cleaning device 1 can classify the cleaning area 100 into multiple classification areas 101, taking into account the cleaning width of the cleaning unit 12, and according to the conditions of the cleaning area 100, thereby shortening the time required for autonomous cleaning.

[0116] [First variation of autonomous cleaning device] In the above-described embodiment, the classification element acquisition unit 45 acquires classification elements based on the cleaning area 100, such as the number of cleanings, the specified cleaning time, and the cleaning intensity, and the area classification unit 46 classifies the cleaning area 100 into a plurality of classification areas 101 based on these classification elements. However, the present invention is not limited to this example.

[0117] In a first modified example of the autonomous cleaning device 1, as shown in Figures 16, 17, and 18, if the cleaning area 100 is an indoor sports arena such as a gymnasium, the classification element acquisition unit 45 may acquire the shape and size of the cleaning area 100 and the court size for each sport (e.g., handball, volleyball, basketball, table tennis, etc.) played in the cleaning area 100 as classification elements based on the cleaning area 100. The court size for each sport includes the shape and size of the court, as well as its arrangement in the cleaning area 100.

[0118] The classification element acquisition unit 45 may acquire the coat size previously stored in the storage unit 18, or it may receive and acquire the coat size from the management server. Alternatively, the classification element acquisition unit 45 may acquire the coat size entered in response to any operation by the operator.

[0119] Alternatively, the classification element acquisition unit 45 may access the website or reservation site of the indoor stadium, which is the cleaning area 100, to receive usage information and reservation information such as the type of competition, date and time, and number of matches held at the indoor stadium, and acquire them as classification elements. Or, the classification element acquisition unit 45 may acquire usage information of the cleaning area 100 that has been entered in response to an operation of the worker.

[0120] Furthermore, in the indoor sports arena, cleaning area 100, the usage of cleaning area 100 and the courts differs depending on the sport, meaning that the location of dirt generated by the movements of athletes and related personnel varies. Therefore, the area classification unit 46 classifies cleaning area 100 into multiple classification areas 101 based on classification elements such as the court size, usage information, and reservation information of cleaning area 100.

[0121] Specifically, as shown in Figure 19, when a handball court is set up in the cleaning area 100, dirt is more likely to accumulate inside the court than outside. Therefore, the area classification unit 46 classifies the cleaning area 100 into classification area 101A inside the court and classification area 101B outside the court based on classification elements. At this time, the priority determination unit 47 sets the priority of classification area 101A, which is more prone to dirt, to the highest level.

[0122] Furthermore, as shown in Figure 20, when a volleyball court and / or basketball court are installed in the cleaning area 100, dirt is more likely to accumulate inside the court than outside. Therefore, the area classification unit 46 classifies the cleaning area 100 into classification area 101A inside the court and classification area 101B outside the court based on classification elements. At this time, the priority determination unit 47 sets the priority of classification area 101A, which is more prone to dirt, to the highest level.

[0123] Furthermore, as shown in Figures 21 and 22, when a table tennis court is installed in the cleaning area 100, dirt is likely to accumulate around the court (for example, an area 1.5 times the size of the court). Therefore, the area classification unit 46 classifies the cleaning area 100 into classification area 101A, which includes the inside and outside of the court, and classification area 101B, based on the classification elements. At this time, the priority determination unit 47 sets the priority of classification area 101A, which is prone to dirt accumulation, to the highest level.

[0124] In addition, depending on the sport, multiple courts may be set up in the cleaning area 100, but the area classification unit 46 may connect the classification areas 101A of two or more courts depending on the layout, such as when the courts are close together. For example, as shown in Figure 18, when multiple table tennis courts are set up in the cleaning area 100, the area classification unit 46 may connect the classification areas 101A of two table tennis courts, as shown in Figures 21 and 22, or it may connect the classification areas 101A of all table tennis courts, as shown in Figure 23.

[0125] Furthermore, the area classification unit 46 recreates the travel route 102 for each of the multiple classification areas 101 classified based on court size, and recreates the cleaning plan by resetting the travel data and cleaning data.

[0126] As described above, according to the first modification, in the autonomous cleaning device 1, the classification element includes the court size of the sport played in the stadium, which is the cleaning area 100.

[0127] With this configuration, the autonomous cleaning device 1 according to the first modified example can classify the area 100 into multiple classification areas 101, taking into account the court size of the sport played in the cleaning area 100, and adjusting to the conditions of the cleaning area 100 to maintain aesthetics while shortening the time required for autonomous cleaning.

[0128] [Second variation of the autonomous cleaning device] In a second modified example of the autonomous cleaning device 1, as shown in Figure 24, if the cleaning area 100 is a commercial facility such as a retail store (supermarket) or a shopping mall, the classification element acquisition unit 45 may acquire the shape and size of the cleaning area 100 and the direction of travel of the travel path 102 of the cleaning plan for the cleaning area 100 as classification elements based on the cleaning area 100.

[0129] The autonomous cleaning device 1 can create an environmental map of the cleaning area 100 using the map creation unit 41. If the cleaning area 100 is a commercial facility, it is preferable to acquire layout information of the cleaning area 100, such as the arrangement of fixtures and aisles, in advance, and then reflect this layout information in the environmental map and store it in the storage unit 18. The autonomous cleaning device 1 may acquire layout information such as BIM data or CAD drawings of the cleaning area 100 from the manager or server of the commercial facility, or it may receive and acquire it from a website.

[0130] In the commercial facility of cleaning area 100, multiple fixtures such as product shelves are arranged, and aisles run between the fixtures. Furthermore, in cleaning area 100, when viewed from above, the fixtures are arranged vertically and horizontally, so that aisles are spread out both vertically and horizontally. In addition, in cleaning area 100, depending on the shape of cleaning area 100 and the shape and arrangement of each fixture, the aisles may be arranged not only vertically and horizontally, but also diagonally or in an arc shape.

[0131] For example, as shown in Figure 24, the cleaning area 100, which is a commercial facility, has multiple pieces of furniture arranged there, and when the route creation unit 43 creates a travel route 102 in the passages running between the furniture, it is necessary to connect multiple straight routes in the vertical direction, multiple straight routes in the horizontal direction, and multiple straight routes in the diagonal direction in a complex manner. However, in other words, the travel route 102 of such a cleaning area 100 can be classified into straight routes in the vertical direction, straight routes in the horizontal direction, and straight routes in the diagonal direction, that is, the cleaning area 100 can be classified into a vertical area, a horizontal area, and a diagonal area.

[0132] Therefore, the classification element acquisition unit 45 acquires the direction of travel of the routes that require the most cleaning in the cleaning area 100, from among the straight and curved routes that constitute the travel path 102 of the cleaning area 100, as a classification element. The classification element acquisition unit 45 may determine that cleaning in a particular direction is the most important cleaning if the proportion of straight and curved routes in that direction to the entire travel path 102 is greater than or equal to a predetermined threshold. For example, in the cleaning area 100 shown in Figure 24, the classification element acquisition unit 45 can analyze that the most important cleaning is performed on the vertical and horizontal straight routes in the travel path 102, and acquires the vertical and horizontal travel directions as classification elements.

[0133] The area classification unit 46 classifies multiple classification areas 101 from the cleaning area 100 for each direction of travel, based on the classification element of the direction of travel. For example, from the cleaning area 100 shown in Figure 24, the area classification unit 46 detects an area extending in the vertical direction, as shown in Figure 25, based on the vertical direction of travel as a classification element, and classifies it as a vertical classification area 101A.

[0134] At this time, the area classification unit 46 may add not only the vertically extending areas in the cleaning area 100, but also other areas that connect the starting and ending positions of the cleaning area 100 to the vertically extending areas, and other areas that connect the vertically extending areas to each other, to the vertical classification area 101A. The area classification unit 46 recreates the travel route 102 to connect the vertical classification area 101A, resets the travel data and cleaning data based on the cleaning plan for the cleaning area 100, and recreates the cleaning plan for the vertical classification area 101A.

[0135] Furthermore, the area classification unit 46 detects areas extending laterally from the cleaning area 100 shown in Figure 24, based on the lateral travel direction as a classification element, as shown in Figure 26, and classifies them as lateral classification areas 101B.

[0136] At this time, the area classification unit 46 may add not only the areas extending horizontally in the cleaning area 100, but also other areas connecting the starting and ending positions of the cleaning area 100 with the areas extending horizontally, and other areas connecting the horizontally extending areas to each other, to the horizontal classification area 101B. The area classification unit 46 recreates the travel route 102 to connect the horizontal classification areas 101B, resets the travel data and cleaning data based on the cleaning plan for the cleaning area 100, and recreates the cleaning plan for the horizontal classification area 101B.

[0137] Furthermore, when the area classification unit 46 recreates the travel routes 102 for each of the different classification areas 101, it recreates each travel route 102 in such a way that there are fewer overlapping routes.

[0138] The priority determination unit 47 sets priorities for the multiple classification areas 101 classified by the area classification unit 46 based on the classification element of the direction of travel, according to the area area. For example, the priority determination unit 47 may set a higher priority (higher rank) for a classification area 101 if its area area is small. Alternatively, the priority determination unit 47 may set a higher priority (higher rank) for a classification area 101 if its area area is large. The operator may choose to assign a higher priority to either the size of the area or the size of the area.

[0139] As described above, according to the second modification, in the autonomous cleaning device 1, the classification element includes the direction of travel of the travel path 102 of the cleaning plan for the cleaning area 100.

[0140] With this configuration, the autonomous cleaning device 1 according to the second modification can classify the cleaning area 100 into multiple classification areas 101, taking into account the direction of travel of the travel path 102 of the original cleaning plan, in accordance with the condition of the cleaning area 100, while maintaining aesthetics and shortening the time required for autonomous cleaning.

[0141] [Third variation of the autonomous cleaning device] In a third modified example of the autonomous cleaning device 1, if the cleaning area 100 is a commercial facility, the classification element acquisition unit 45 may acquire the shape and size of the cleaning area 100, the layout information of the cleaning area 100, and the specific layout of the cleaning area 100 as classification elements based on the cleaning area 100.

[0142] In the commercial facility in cleaning area 100, customers tend to move around the shelves of sale items on sale days, making the aisles in front of these shelves prone to dirt accumulation. Furthermore, in commercial facilities, spaces where events such as food sampling are held are also prone to dirt accumulation. Therefore, the classification element acquisition unit 45 acquires locations in cleaning area 100 where dirt accumulation is expected as specific layout elements. The autonomous cleaning device 1 may acquire sale information and event information for the commercial facility from the facility's administrator or server, or it may receive and acquire this information from the commercial facility's website.

[0143] The area classification unit 46 classifies the cleaning area 100 into multiple classification areas 101 based on the classification elements of a specific layout, separating areas prone to dirt buildup from other areas.

[0144] For example, in the cleaning area 100 shown in Figure 24, if the first day is a special sale day for fresh food, the area classification unit 46 classifies the area including the aisle in front of the fresh food shelves (specific area) as classification area 101A, as shown in Figure 27.

[0145] At this time, the area classification unit 46 may add not only the specific area in the cleaning area 100, but also other areas that connect the start and end positions of the cleaning area 100 to the specific area, and other areas that connect the specific areas to each other, to the classification area 101A. The area classification unit 46 recreates the travel route 102 to connect each area of ​​the classification area 101A, and recreates the cleaning plan for the classification area 101A by resetting the travel data and cleaning data based on the cleaning plan for the cleaning area 100.

[0146] Furthermore, as shown in Figure 28, the classification element acquisition unit 45 classifies the area including the aisle in front of product shelves other than fresh food (non-specific areas other than specific areas) into classification area 101B.

[0147] At this time, the area classification unit 46 may add to the classification area 101B not only the non-specific areas in the cleaning area 100, but also other areas that connect the start and end positions of the cleaning area 100 to the non-specific areas, and other areas that connect the non-specific areas to each other. The area classification unit 46 recreates the travel route 102 to connect each area of ​​the classification area 101B, and recreates the cleaning plan for the classification area 101B by resetting the travel data and cleaning data based on the cleaning plan for the cleaning area 100.

[0148] If the cleaning area 100 includes a specific area based on special sale information or event information, the priority determination unit 47 may set the priority of the classification area 101A, which includes the specific area, higher than the classification area 101B, which includes a non-specific area.

[0149] Incidentally, in the commercial facilities of cleaning area 100, special sales and events may be held over multiple days, so autonomous cleaning of classification area 101A, which includes specific areas, is required to be performed over multiple days. Therefore, the priority determination unit 47 may set the number of repetitions for classification area 101A, which includes specific areas, in response to arbitrary operations by the worker, or based on special sale information and event information.

[0150] For example, if the number of repetitions is set to 1, the priority determination unit 47, similar to the embodiment described above, sets the priority of classification area 101A, which includes a specific area, to the lowest level when autonomous cleaning of that classification area 101A is completed on the first day, and then raises the priority of classification area 101B, which includes non-specific areas, by one level at a time.

[0151] Furthermore, if the number of repetitions is set to 2, the priority determination unit 47, upon completion of autonomous cleaning of classification area 101A on the first day, will not reset the priorities of classification area 101A and classification area 101B. On the second day, upon completion of autonomous cleaning of classification area 101A, it will set the priority of classification area 101A to the lowest level and reset the priorities of classification area 101B by one level.

[0152] Furthermore, if the number of repetitions is set to 3, the priority determination unit 47 will, when autonomous cleaning of classification area 101A is completed on the first day, or when autonomous cleaning of classification area 101A is completed on the second day, set the priority of classification area 101A to the lowest level when autonomous cleaning of classification area 101A is completed on the third day, and raise the priority of classification area 101B one by one.

[0153] The priority determination unit 47 may set the classification area 101 that will have the highest priority among the classification area 101A which includes a specific area and the classification area 101B which includes a non-specific area, for each day of the week (for example, each day of the week), or it may set it for each day of the month.

[0154] As described above, according to the third modification, in the autonomous cleaning device 1, the classification element includes a specific layout in the commercial facility which is the cleaning area 100.

[0155] With this configuration, the autonomous cleaning device 1 according to the third modified example can classify the cleaning area 100 into multiple classification areas 101, taking into account the specific layout of the commercial facility which is the cleaning area 100, in accordance with the conditions of the cleaning area 100, while maintaining aesthetics and shortening the time required for autonomous cleaning.

[0156] Furthermore, according to the third modification, the autonomous cleaning device 1 performs autonomous cleaning work in each of the classification areas 101 once, or performs autonomous cleaning of the classification areas 101 with higher priority two or more times.

[0157] With this configuration, the autonomous cleaning device 1 according to the third modified example autonomously cleans the high-priority classification area 101 at a high frequency, so that the cleaning area 100 can be cleaned autonomously efficiently in a short amount of time.

[0158] [Fourth variation of the autonomous cleaning device] In a fourth modified example of the autonomous cleaning device 1, if the cleaning area 100 is a commercial facility, the classification element acquisition unit 45 may acquire the shape and size of the cleaning area 100, the layout information of the cleaning area 100, and the distribution of people (customers) movement within the cleaning area 100 as classification elements based on the cleaning area 100.

[0159] In the commercial facility of cleaning area 100, as shown in Figure 29, multiple aisles are arranged between multiple fixtures such as product shelves, and people (customers) move through these aisles in various ways. Here, aisles where more people move are more likely to become dirty. By referring to the distribution of each person's movement, it is possible to determine which aisles are used by the most people. Therefore, the classification element acquisition unit 45 acquires the distribution data of people's movement in cleaning area 100 as classification elements.

[0160] For example, in a commercial facility with a cleaning area of ​​100, AI cameras are installed to capture images of people present in the cleaning area 100. By analyzing this image data, the movement of people is managed, and movement distribution data is created. The autonomous cleaning device 1 obtains the movement distribution data for the cleaning area 100 from the commercial facility's manager or a server.

[0161] The area classification unit 46 determines from the cleaning area 100 areas that have a high volume of human traffic (i.e., areas where dirt is likely to occur) and other areas based on the classification elements of the traffic flow distribution data, and classifies multiple classification areas 101 based on the determination results.

[0162] For example, in the cleaning area 100 shown in Figure 29, the area classification unit 46 classifies areas including passages with high foot traffic (specific areas) as classification area 101A, as shown in Figure 30. At this time, the area classification unit 46 may add not only the specific areas but also other areas connecting the start and end points of the cleaning area 100 to the specific areas, and other areas connecting the specific areas to each other, to classification area 101A. The area classification unit 46 recreates the travel route 102 to connect each area of ​​classification area 101A, and recreates the cleaning plan for classification area 101A by resetting the travel data and cleaning data based on the cleaning plan for the cleaning area 100.

[0163] Furthermore, the area classification unit 46 classifies areas including passages with little pedestrian traffic (non-specific areas other than specific areas) into classification area 101B. At this time, the area classification unit 46 may add not only non-specific areas but also other areas connecting the start and end points of cleaning area 100 to the non-specific areas, and other areas connecting non-specific areas to each other, to classification area 101B in addition to the non-specific areas in cleaning area 100. The area classification unit 46 recreates the travel route 102 to connect each area of ​​classification area 101B, and recreates the cleaning plan for classification area 101B by resetting the travel data and cleaning data based on the cleaning plan for cleaning area 100.

[0164] Furthermore, the distribution of people's movement within the commercial facility in cleaning area 100 is expected to change daily. Therefore, the classification element acquisition unit 45 acquires data on the distribution of people's movement within cleaning area 100 as classification elements at predetermined intervals (for example, daily, every few days, weekly, monthly, etc.), and the area classification unit 46 classifies the cleaning area 100 into classification areas 101 that include specific areas and classification areas 101 that include non-specific areas, based on the classification elements of the movement distribution data at predetermined intervals.

[0165] If the cleaning area 100 includes a specific area based on the traffic flow distribution, as described above, the priority determination unit 47 may set the priority of the classification area 101A, which includes the specific area, higher (higher) than the classification area 101B, which includes the non-specific area.

[0166] In addition, in commercial facilities with a cleaning area of ​​100, instead of generating movement distribution data based on image data of people (customers) captured by AI cameras, it is also possible to create movement distribution data by managing the movement of employees.

[0167] For example, in a commercial facility with a cleaning area of ​​100, employees could be given tags or beacons to carry, and multiple receivers capable of communicating with the tags or beacons could be installed in the cleaning area of ​​100. By detecting the location of the tags or beacons with these receivers, employee movement patterns could be tracked and movement distribution data could be created.

[0168] Alternatively, in a commercial facility within cleaning area 100, employees may be provided with wireless communication devices such as smartphones, Wi-Fi access points may be installed in cleaning area 100, and the distance between the access points and the wireless communication devices may be detected. Based on this distance, the location of the wireless communication devices may be determined to understand the movement patterns of employees and create movement pattern distribution data.

[0169] As described above, according to the fourth modification, in the autonomous cleaning device 1, the classification element includes the movement paths of people in the cleaning area 100.

[0170] With this configuration, the autonomous cleaning device 1 according to the fourth modified example can classify the cleaning area 100 into multiple classification areas 101, taking into account the movement patterns of people in the cleaning area 100, in accordance with the conditions of the cleaning area 100, while maintaining aesthetics and shortening the time required for autonomous cleaning.

[0171] [Fifth variation of the autonomous cleaning device] In a fifth modified example of the autonomous cleaning device 1, if the cleaning area 100 is a commercial facility, the classification element acquisition unit 45 may acquire the shape and size of the cleaning area 100, the layout information of the cleaning area 100, and the results of detecting people in the cleaning area 100 as classification elements based on the cleaning area 100.

[0172] In indoor stadiums and commercial facilities within the cleaning area 100, one or more cameras are installed in positions that provide a panoramic view of the entire cleaning area 100, or near entrances and exits, to capture images of people present in the cleaning area 100 and create image data. The autonomous cleaning device 1 acquires the image data of the cleaning area 100 from the manager or server of the indoor stadium or commercial facility. Alternatively, the autonomous cleaning device 1 may acquire image data captured by the imaging unit 14 when it is deployed in the cleaning area 100.

[0173] For example, the autonomous cleaning device 1 acquires imaging data of the cleaning area 100 at imaging timings such as before and after the start of the cleaning area 100's operating hours (1-2 hours), during the lunch break of the cleaning area 100's operating hours (e.g., 12:00-13:00), and before and after the end of the cleaning area 100's operating hours (1-2 hours).

[0174] The classification element acquisition unit 45 determines the appearance of people present in the cleaning area 100, such as their clothing and belongings, by performing image analysis based on the imaging data of the cleaning area 100. Based on the determination result of the appearance of people present in the cleaning area 100, the classification element acquisition unit 45 determines the type of person and also determines the type of activity that person of that type is performing in the cleaning area 100.

[0175] For example, if the cleaning area 100 is an indoor sports arena, the classification element acquisition unit 45 determines whether a person present in the cleaning area 100 is an athlete based on their appearance, clothing, and belongings. If the person is an athlete, the unit determines the type of sportswear they wear and the sports equipment they possess, such as a ball. Based on this determination, the unit determines the type of sport the person will play in the cleaning area 100. Based on the determined type of sport, the classification element acquisition unit 45 then acquires the court size (court shape and size, and their placement in the cleaning area 100) as a classification element.

[0176] Alternatively, if the cleaning area 100 is an indoor sports arena, the classification element acquisition unit 45 determines whether a person present in the cleaning area 100 is a worker based on their appearance, clothing, and belongings; determines the work clothes worn by the worker and the court setup tools and cleaning tools they possess; and determines the court setup status in the cleaning area 100 by the worker. Based on the determination results, the unit determines the type of sport the court will be set up in the cleaning area 100 by the worker.

[0177] In this case, similar to the embodiment described above, the area classification unit 46 classifies a plurality of classification areas 101 from the cleaning area 100 based on the classification element of the court size of the sport played in the cleaning area 100. The priority determination unit 47 determines the number of people present in each classification area 101 based on the imaging data of the cleaning area 100, and sets the priority of the classification areas 101 based on the determination result of the number of people, and in particular sets a higher priority for classification areas 101 with fewer people.

[0178] Furthermore, the classification element acquisition unit 45 may change the means for determining classification elements based on imaging data depending on the imaging timing at which the imaging data of the cleaning area 100 was acquired.

[0179] For example, if imaging data is captured at the start of the operating hours, the classification element acquisition unit 45 determines the type of sport to be played on the court, according to the court setup in the cleaning area 100.

[0180] Furthermore, the priority determination unit 47 may set the priority of the classification area 101 according to the timing at which the imaging data of the cleaning area 100 was acquired.

[0181] For example, if imaging data is captured at the start of the operating hours, the priority determination unit 47 performs image analysis based on the imaging data to detect the types and number of people present in the classification area 101 inside the court and the classification area 101 outside the court. In this case, if the priority determination unit 47 determines that the people present in the classification area 101 inside the court are workers and that there are few people such as athletes in the classification area 101 outside the court, it sets a higher priority for the classification area 101 outside the court and a lower priority for the classification area 101 inside the court.

[0182] Furthermore, in situations where multiple courts are installed in the cleaning area 100, if imaging data is captured at the start of the operating hours, the priority determination unit 47 performs image analysis based on the imaging data to detect the type and number of people present in the classification area 101 of each court. In this case, if the priority determination unit 47 detects the presence of people such as workers or athletes in the classification area 101 of one court, but does not detect the presence of people such as workers or athletes in the classification area 101 of the other court, it sets the priority of the classification area 101 of the other court higher and the priority of the classification area 101 of the other court lower.

[0183] When imaging data is captured at the end of the operating hours, the priority determination unit 47 performs image analysis based on the imaging data to detect the types and number of people present in the classification area 101 inside the court and the classification area 101 outside the court. At this time, if the priority determination unit 47 detects the presence of people such as athletes or workers cleaning the court in the classification area 101 inside the court, it sets the priority of the classification area 101 outside the court higher and the priority of the classification area 101 inside the court lower.

[0184] Furthermore, if the priority determination unit 47 detects that a person, such as a player or worker, who was cleaning the court in the classification area 101 within the court has left the court, it may reset the priority of the classification area 101 within the court to a higher level.

[0185] If the cleaning area 100 is a commercial facility, the classification element acquisition unit 45 determines whether a person present in the cleaning area 100 is a worker based on their appearance, clothing, and belongings. If a person is a worker, the unit determines the work clothes they wear and the goods they carry. Based on this determination, the unit determines which goods the person will replenish or stock in the cleaning area 100. The classification element acquisition unit 45 may also make determinations regarding goods held in a person's hands or goods on a cart being pushed by a person. Furthermore, the classification element acquisition unit 45 may identify the goods in the image data by image recognition of the goods themselves, or by character recognition of the text written on the goods.

[0186] The classification element acquisition unit 45 then acquires the shelves where products are replenished or restocked in the cleaning area 100 as classification elements, based on the determined products. For example, if the classification element acquisition unit 45 captures the image data at the start or end of the operating hours, or at a specific time in the afternoon (for example, 14:00), it will acquire the shelves where products are replenished or restocked as classification elements.

[0187] At this time, the area classification unit 46 classifies specific areas, including the aisle in front of the product shelves where products are replenished or stocked in the cleaning area 100, into classification area 101A, and other non-specific areas into classification area 101B, based on the classification elements of the product shelves. In the cleaning area 100, the area classification unit 46 adds not only the specific areas but also other areas connecting the specific areas to classification area 101A, and also adds not only the non-specific areas but also other areas connecting the non-specific areas to classification area 101B. The area classification unit 46 recreates the travel routes 102 connecting each area of ​​classification area 101A to recreate the cleaning plan for classification area 101A, and also recreates the travel routes 102 connecting each area of ​​classification area 101B to recreate the cleaning plan for classification area 101B.

[0188] In commercial facilities, in specific areas where products are replenished or stocked, the presence of workers and products is likely to hinder autonomous cleaning. Therefore, the priority determination unit 47 sets a lower priority for classification area 101A, which includes the specific areas where products are replenished or stocked, and a higher priority for classification area 101B, which includes non-specific areas.

[0189] As described above, according to the fifth modified example, in the autonomous cleaning device 1, the classification element acquisition unit 45 acquires the detection results of people in the cleaning area 100 as classification elements, and the priority determination unit 47 determines the priority of each classification area 101 based on the presence of people in the multiple classification areas 101.

[0190] With this configuration, the autonomous cleaning device 1 according to the fifth modified example classifies the cleaning area 100 into multiple classification areas 101 according to classification elements that take into account the presence of people, and autonomously cleans each classification area 101 according to priority that takes into account the presence of people, so that the cleaning area 100 can be autonomously cleaned efficiently in a short amount of time.

[0191] Furthermore, according to the fifth modification, the autonomous cleaning device 1 acquires imaging data of the cleaning area 100 according to the imaging timing based on the usage time of the cleaning area 100, the classification element acquisition unit 45 detects the presence of people in the cleaning area 100 based on the imaging data, determines the appearance of the people present in the cleaning area 100, acquires classification elements based on the determination result of the appearance of the people, and the priority determination unit 47 determines the number of people present in each classification area 101 based on the imaging data, and determines the priority of each classification area 101 based on the determination result of the number of people.

[0192] With this configuration, the autonomous cleaning device 1 according to the fifth modified example can efficiently autonomously clean the cleaning area 100 in a short time while taking into account the presence of people in the cleaning area 100 and each classification area 101.

[0193] Furthermore, according to the embodiments and modifications described above, the classification element acquisition unit 45 can acquire various classification elements, and the area classification unit 46 and the priority determination unit 47 operate according to the acquired classification elements. The autonomous cleaning device 1 may also be able to select the classification elements to acquire according to the operator's arbitrary operation. Alternatively, the autonomous cleaning device 1 may automatically rotate the classification elements acquired in each cleaning cycle, and the rotation of classification elements may be set according to the operator's arbitrary operation. Alternatively, when the autonomous cleaning device 1 can acquire multiple types of classification elements, it may estimate the classification elements that will allow autonomous cleaning to be performed in the shortest time and automatically select them.

[0194] In the embodiments and modifications described above, an example was explained in which the control unit 17 of the autonomous cleaning device 1 functions as a map creation unit 41, a plan creation unit 42, a route creation unit 43, a plan selection unit 44, a classification element acquisition unit 45, an area classification unit 46, and a priority determination unit 47. However, the present invention is not limited to this example. In other examples, the autonomous cleaning device 1 communicates with a management server via a network such as the Internet, and a computer on the management server may function as the map creation unit 41, a plan creation unit 42, a route creation unit 43, a plan selection unit 44, a classification element acquisition unit 45, an area classification unit 46, and a priority determination unit 47. In this case, the autonomous cleaning device 1 receives information such as an environmental map and a cleaning plan from the management server as needed.

[0195] The present invention may be modified as appropriate, without contradicting the gist or idea of ​​the invention as can be read from the claims and the specification as a whole, and autonomous driving work devices with such modifications are also included in the technical concept of the present invention. [Industrial applicability]

[0196] This invention can be suitably used in autonomous cleaning devices that perform autonomous floor cleaning in indoor sports venues such as gymnasiums and commercial facilities such as retail stores. [Explanation of Symbols]

[0197] 1. Autonomous driving work device 10 Main unit of the device 11. Running section 12 Cleaning Department 13 Measurement Unit 13a Obstacle sensor 14 Imaging Unit 15 Operation display section 16 Power supply section 17 Control Unit 18 Memory section 19 Communications Department 20 Front Wheel 21 Rear wheel 22 Cleaning parts 25 squeegee 27 Bus 28 Interfaces 40 Mode switching section 41 Mapmaking Department 42. Planning Department 43 Route Creation Unit 44 Plan Selection Section 45 Classification element acquisition part 46 Area Classification Section 47 Priority determination section 48 Automatic Driving Control Unit 50 Mode Selection Screen 51 Plan Selection Screen 52 Screen for entering the end time 100 cleaning areas Classification Areas 101, 101A, 101B, 101C 102: Route

Claims

1. An autonomous driving work device that performs autonomous driving work in a work area according to a work plan, A plan selection unit for selecting the work plan for the autonomous driving work in the aforementioned work area, A classification element acquisition unit that acquires classification elements based on the aforementioned work area, When the autonomous driving operation in the work area is divided into multiple work sessions based on the classification elements, an area classification unit classifies the work area into multiple classification areas corresponding to each of the multiple work sessions, A priority determination unit that determines the priority of each of the aforementioned classification areas, An autonomous driving work device characterized by being equipped with the following features.

2. An autonomous driving work device that performs autonomous driving work in a work area according to a work plan, A plan selection unit for selecting the work plan for the autonomous driving work in the aforementioned work area, A classification element acquisition unit that acquires the results of detecting people in the aforementioned work area as classification elements, When the autonomous driving operation in the work area is divided into multiple work sessions based on the classification elements, an area classification unit classifies the work area into multiple classification areas corresponding to each of the multiple work sessions, A priority determination unit that determines the priority of each of the aforementioned classification areas based on the presence of the person in each of the aforementioned classification areas, An autonomous driving work device characterized by being equipped with the following features.

3. Image data of the work area is acquired according to the imaging timing based on the usage time of the work area. The classification element acquisition unit detects the presence of the person in the work area based on the imaging data, determines the appearance of the person present in the work area, and acquires the classification element based on the determination result of the person's appearance. The autonomous driving work device according to claim 2, characterized in that the priority determination unit determines the number of people present in each classification area based on the imaging data, and determines the priority of each classification area based on the determination result of the number of people.

4. The area classification unit resets the work plan for each of the multiple classification areas, The autonomous driving work device according to claim 1 or 2, characterized in that it performs the autonomous driving work in each of the classification areas according to the reset work plan in accordance with the aforementioned priority order.

5. The autonomous driving operation device according to claim 1 or 2, characterized in that it performs the autonomous driving operation in each of the classification areas once, or performs the autonomous driving operation in the classification area with the highest priority two or more times.

6. The autonomous driving work device according to claim 1 or 2, characterized in that the classification element includes the working width of the work section provided by the autonomous driving work device.

7. The autonomous driving work device according to claim 1 or 2, characterized in that the classification element includes the court size of a sport played in the stadium which is the work area.

8. The autonomous driving work device according to claim 1 or 2, characterized in that the classification element includes the direction of travel of the travel path of the work plan in the work area.

9. The autonomous driving work device according to claim 1 or 2, characterized in that the classification element includes a specific layout in the commercial facility which is the work area.

10. The autonomous mobile work device according to claim 1 or 2, characterized in that the classification element includes the movement paths of people in the work area.

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