Cleaning management device and cleaning management method

Abstract

A server (40) manages cleaning work performed by an autonomous movement-type cleaning robot (10). The server (40) determines whether a movement function of the cleaning robot (10) is normal from the scheduled area of the cleaning work and the movement track of the cleaning robot (10). In addition, the server (40) determines whether a cleaning function of the cleaning robot (10) is normal on the basis of a parameter that indicates that a cleaning member of the cleaning robot (10) is operating. The server (40) also determines whether the cleaning work has been implemented normally on the basis of the determination result of the movement function and the determination result of the cleaning function.

Description

[Technical field]

[0001] The present disclosure relates to a cleaning management device and a cleaning management method, and more particularly to a cleaning management device and a cleaning management method that manage cleaning work performed by an autonomously mobile cleaning robot. [Background technology]

[0002] JP 2021-29487 A (Patent Document 1) describes an autonomous vacuum cleaner (cleaning robot). This vacuum cleaner includes a human appearance area information acquisition unit, a current location information acquisition unit, and a control unit. The human appearance area information acquisition unit acquires information indicating a human appearance area in the area to be cleaned. The current location information acquisition unit acquires information indicating the current location of the vacuum cleaner body. The control unit causes the vacuum cleaner to clean the human appearance area in the area to be cleaned based on the information indicating the human appearance area and the information indicating the current location of the body. This is said to enable the area to be cleaned to be cleaned efficiently (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-29487 Summary of the Invention [Problem to be solved by the invention]

[0004] When performing unmanned automatic cleaning using a cleaning robot, it is necessary to be able to check whether the cleaning robot has performed the cleaning as scheduled. Having a person present to check the work of the cleaning robot will ultimately require personnel, just like manned cleaning. The autonomous vacuum cleaner described in Patent Document 1 is useful in that it can efficiently clean the area to be cleaned, but the above-mentioned problems are not particularly considered.

[0005] The present disclosure has been made to solve such problems, and an object of the present disclosure is to provide a cleaning management device and a cleaning management method that make it possible to confirm at a later date whether cleaning work by an autonomously mobile cleaning robot was performed successfully as planned. [Means for solving the problem]

[0006] The cleaning management device of the present disclosure is a cleaning management device that manages cleaning work by an autonomous mobile cleaning robot, and includes a processor and a memory that stores a program executed by the processor. The processor determines whether or not the movement function of the cleaning robot is normal based on the planned area of ​​the cleaning work and the movement trajectory of the cleaning robot in accordance with the program stored in the memory. The processor also determines whether or not the cleaning function of the cleaning robot is normal based on a parameter indicating that the cleaning member of the cleaning robot is operating. The processor then determines whether or not the cleaning work has been performed normally based on the determination result of the movement function and the determination result of the cleaning function.

[0007] In addition, the cleaning management method disclosed herein is a cleaning management method for managing cleaning work by an autonomously mobile cleaning robot, and includes the steps of: determining by a computer whether or not the movement function of the cleaning robot is normal based on the planned area of ​​the cleaning work and the movement trajectory of the cleaning robot; determining by a computer whether or not the cleaning function of the cleaning robot is normal based on parameters indicating that the cleaning members of the cleaning robot are operating; and determining by a computer whether or not the cleaning work has been performed normally based on the determination result of the movement function and the determination result of the cleaning function. Effect of the Invention

[0008] In the above cleaning management device and cleaning management method, when determining whether or not the cleaning work has been performed by the cleaning robot, not only the determination result of the cleaning robot's movement function but also the determination result of the cleaning function of the cleaning robot are taken into consideration. This makes it possible to reliably determine whether or not the cleaning work by the cleaning robot has been performed normally. Therefore, according to the cleaning management device and cleaning management method, there is no need for a person to be present to check the cleaning work when the cleaning robot is performing the cleaning work, and it is possible to later check whether or not the cleaning work by the cleaning robot has been performed normally as scheduled. [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall configuration diagram of a cleaning system to which a cleaning management device according to an embodiment of the present disclosure is applied; [Diagram 2] FIG. 2 is a diagram illustrating a hardware configuration of a server. [Diagram 3] FIG. 1 is a diagram illustrating an example of the configuration of a cleaning robot. [Figure 4] FIG. 4 is a diagram illustrating an example of information managed in a server. [Diagram 5] FIG. 13 is a diagram illustrating an example of a contract information table in a time DB. [Figure 6] FIG. 13 is a diagram showing an example of a cleaning schedule table in a time DB. [Figure 7] FIG. 13 is a diagram showing an example of a cleaning record table of a time DB. [Figure 8] FIG. 1 is a diagram showing an example of a cleaning contract scope and a cleaning performance scope. [Figure 9] FIG. 13 is a diagram showing an example of a cleaning range table in a drawing DB. [Figure 10] FIG. 13 is a diagram showing an example of a dust concentration table of a dust concentration DB. [Figure 11] FIG. 13 is a diagram showing an example of a determination result table of a cleaning result determination DB. [Figure 12] 10 is a flowchart showing an example of a procedure for a process of acquiring data from a cleaning robot, the procedure being executed by a server when the cleaning robot performs a cleaning operation. [Figure 13]10 is a flowchart illustrating an example of a procedure for a cleaning result determination process executed by the server. [Figure 14] 10 is a flowchart illustrating an example of a procedure for a cleaning result determination process executed by the server. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and their description will not be repeated.

[0011] 1 is an overall configuration diagram of a cleaning system to which a cleaning management device according to an embodiment of the present disclosure is applied. Referring to FIG 1, cleaning system 1 includes cleaning robot 10, a plurality of wireless communication devices 30-1, 30-2, 30-3 . . . , and server 40.

[0012] The cleaning robot 10 is an autonomous mobile vacuum cleaner. The cleaning robot 10 is equipped with a battery and can travel on a floor 20 to be cleaned using power stored in the battery. A cleaning member that sucks up dirt is provided on the bottom surface or lower side of the cleaning robot 10, and the cleaning robot 10 can clean the floor 20 using the cleaning member while moving autonomously.

[0013] The cleaning robot 10 is provided with a wireless communication device 11. The wireless communication device 11 transmits a signal for detecting the position of the cleaning robot 10 using a communication method conforming to, for example, the BLE (Bluetooth Low Energy, "Bluetooth" is a registered trademark) communication standard. Instead of the BLE communication standard, a communication method conforming to the UWB (Ultra Wide Band) communication standard or the like may be used. The wireless communication device 11 also transmits an ID for identifying the cleaning robot 10, a signal indicating the start / end of cleaning by the cleaning robot 10, and the like to the server 40 using a communication method conforming to, for example, a wireless communication standard such as LTE (Long Term Evolution).

[0014] The wireless communication devices 30-1, 30-2, 30-3... (hereinafter sometimes collectively referred to as "wireless communication devices 30") are installed, for example, at an appropriate distance from the ceiling 35, and receive signals transmitted from the cleaning robot 10 using a communication method conforming to the same communication standard as the wireless communication device 11 of the cleaning robot 10, and detect the reception strength (in BLE) or signal propagation time (in UWB). The position of the cleaning robot 10 on the floor 20 can be determined from the reception strength or signal propagation time of each wireless communication device 30. The wireless communication devices 30 output the reception strength or signal propagation time of the signal received from the cleaning robot 10 to the server 40. The wireless communication devices 30 may be installed on a wall.

[0015] The server 40 manages the cleaning work performed by the cleaning robot 10. The server 40 receives the reception strength or signal propagation time of the signal received by each wireless communication device 30 from each wireless communication device 30, and measures the position of the cleaning robot 10 on the floor 20 from the reception strength or signal propagation time of each wireless communication device 30. Then, the server 40 determines whether the cleaning work performed by the cleaning robot 10 has been normally performed in accordance with a previously concluded contract. The server 40 will be described in detail later.

[0016] Fig. 2 is a diagram showing a hardware configuration of the server 40. Referring to Fig. 2, the server 40 includes a CPU (Central Processing Unit) 41, a RAM (Random Access Memory) 42, a ROM (Read Only Memory) 43, an I / F (Interface) device 44, and a storage device 45. The CPU 41, the RAM 42, the ROM 43, the I / F device 44, and the storage device 45 exchange various data through a communication bus 46.

[0017] The CPU 41 loads a program stored in the ROM 43 into the RAM 42 and executes it. In the program stored in the ROM 43, processes to be executed by the server 40 are written.

[0018] The I / F device 44 is an input / output device for exchanging signals and data with the wireless communication devices 30 and the cleaning robot 10. The I / F device 44 receives the reception strength or signal propagation time of a signal received by each wireless communication device 30 from each wireless communication device 30. In addition, the I / F device 44 receives an ID for identifying the cleaning robot 10, a signal indicating the start / end of cleaning by the cleaning robot 10, and the like from the cleaning robot 10 using a communication method conforming to a wireless communication standard such as LTE.

[0019] The storage device 45 is a storage for storing various information, such as information on the cleaning robot 10, information on the floor 20, cleaning contract information defining cleaning conditions (cleaning area, frequency, date and time, etc.), location information and movement history (trajectory) of the cleaning robot 10, etc. The storage device 45 also stores various updatable databases (DB) for managing cleaning work by the cleaning robot 10. The various DBs stored in the storage device 45 will be described in detail later. The storage device 45 is, for example, a hard disk drive (HDD: Hard Disk Drive) or a solid state drive (SSD: Solid State Drive), etc.

[0020] Fig. 3 is a diagram showing a configuration example of the cleaning robot 10. Referring to Fig. 3, the cleaning robot 10 includes a wireless communication device 11, a camera 12, a control unit 13, a driving unit 14, a battery 15, a cleaning member 16, and a dust concentration meter 17.

[0021] 1, the wireless communication device 11 transmits a signal for detecting the position of the cleaning robot 10 using a communication method conforming to, for example, the BLE communication standard. In addition, the wireless communication device 11 transmits various information to the server 40 using a communication method conforming to, for example, a wireless communication standard such as LTE, such as an ID for identifying the cleaning robot 10, a cleaning start signal indicating the start of cleaning by the cleaning robot 10, a cleaning end signal indicating the end of cleaning, the dust concentration measured by the dust concentration meter 17 before the start of cleaning, and the dust concentration measured by the dust concentration meter 17 after the end of cleaning.

[0022] The camera 12 captures an image of the surroundings of the cleaning robot 10 and outputs the captured image to the control unit 13. Instead of the camera 12, a laser range finder or the like may be provided that measures the distance between the cleaning robot 10 and an object present in the vicinity of the cleaning robot 10.

[0023] The control unit 13 controls the start and end of cleaning by the cleaning robot 10. Then, based on the captured image from the camera 12, the control unit 13 controls the drive unit 14 and the cleaning members 16 so that the cleaning robot 10 moves autonomously while cleaning. In addition, the control unit 13 obtains the dust concentration measured by the dust concentration meter 17 before the start and after the end of cleaning, and outputs the dust concentration to the wireless communication device 11.

[0024] The driving unit 14 generates a driving force for the cleaning robot 10 to travel. The driving unit 14 includes, for example, wheels for the cleaning robot 10 to move and a motor for driving the wheels. The driving unit 14 (motor) can be operated by receiving a supply of electric power from the battery 15. The battery 15 supplies electric power for the driving unit 14 (motor) and other devices of the cleaning robot 10 to operate.

[0025] The cleaning member 16 is provided on the bottom surface of the cleaning robot 10 and serves to suck up dust on the floor surface. The cleaning member 16 includes, for example, a suction port, a fan for sucking up dust from the suction port, a rotating brush provided at the suction port, and a motor for driving the rotating brush.

[0026] The dust concentration meter 17 is provided in a tank in which the dust collected by the cleaning members 16 is stored, and measures the concentration of dust in the tank. By measuring the dust concentration before and after the start and end of a cleaning operation by the cleaning robot 10, it is possible to determine whether the cleaning members 16 are operating normally, i.e., whether the cleaning function of the cleaning robot 10 is normal, depending on whether the dust concentration has changed (increased) before and after the cleaning operation.

[0027] When an autonomous mobile cleaning robot as described above is used to perform unmanned automatic cleaning in buildings, shopping malls, and other facilities, it is necessary to be able to check whether the cleaning robot has performed the cleaning as scheduled. Having a human be present to check the work of the cleaning robot ultimately requires personnel, just like manned cleaning.

[0028] Therefore, in this embodiment, the cleaning work by the cleaning robot 10 is managed by the server 40, and it is determined whether or not the cleaning work by the cleaning robot 10 has been performed normally as scheduled. That is, the server 40 corresponds to the "cleaning management device" in the present disclosure. The execution of the cleaning work by the cleaning robot is generally confirmed by checking the movement function based on the movement trajectory of the cleaning robot. However, the server 40 according to this embodiment determines whether or not not only the movement function of the cleaning robot 10 but also the cleaning function of the cleaning robot 10 is normal, and then determines whether or not the cleaning work by the cleaning robot 10 has been performed normally. This ensures that it is determined whether or not the cleaning work by the cleaning robot 10 has been performed normally. Therefore, there is no need for a person to be present to check the work of the cleaning robot 10, and it is possible to check at a later date whether or not the cleaning work by the cleaning robot 10 has been performed normally as scheduled (according to the contract).

[0029] Fig. 4 is a diagram showing an example of information managed in server 40 according to the present embodiment. Referring to Fig. 4, server 40 includes a time DB 70 in which information on cleaning areas and cleaning dates and times is stored, a drawing DB 80 in which information on the cleaning range of each cleaning area is stored, a dust concentration DB 90 in which information on the cleaning state (dust collection state) by the cleaning members is stored, and a cleaning result determination DB 100 in which information on the determination result of the cleaning work is stored. Each of these DBs is stored in storage device 45 (Fig. 2) of server 40.

[0030] The time DB 70 includes a contract information table 72, a cleaning schedule table 74, and a cleaning record table 76. The contract information table 72 includes data related to the contract conditions stipulated in a cleaning contract with a building manager or cleaning manager. The cleaning schedule table 74 includes data extracted from the contract information table 72 for the cleaning schedule for the day of cleaning. The cleaning record table 76 includes data related to the cleaning time records for the cleaning schedule in the cleaning schedule table 74.

[0031] 5 to 7 are diagrams showing examples of the contract information table 72, the cleaning schedule table 74, and the cleaning record table 76 of the time DB 70, respectively.

[0032] 5, the contract information table 72 includes data on the cleaning floors and areas to be cleaned on each floor, as well as the frequency of cleaning for each area, the cleaning date, the start time of cleaning, and the end time of cleaning, etc. For example, to explain the first line of the contract information table 72 as a representative example, a contract is made to have a cleaning robot clean a specific area 1 on the second floor between 2:15 and 3:45 on the first Saturday of every month.

[0033] 6, cleaning schedule table 74 is created from contract information table 72, and is created by extracting cleaning schedule data for the day of cleaning from contract information table 72. For example, cleaning schedule table 74 includes data on cleaning schedule from midnight on the day of cleaning to midnight the following day. FIG. 6 shows an example in which cleaning schedule table 74 is created by extracting cleaning schedule data for the first Saturday from contract information table 72 of FIG. 5. Cleaning schedule table 74 is created once a day at a predetermined time (for example, closing time in the case of a shopping mall).

[0034] 7, the cleaning record table 76 is created in correspondence with the cleaning schedule table 74, and includes data on the results of cleaning implementation times for the cleaning schedules in the cleaning schedule table 74. For example, the first line of the cleaning record table 76 is representatively explained, which shows that cleaning work was started at 2:23 by the cleaning robot 10 with robot number A on Saturday, June 5th in area 1 on the 2nd floor, and ended at 3:35. The cleaning start time and cleaning end time are the times when the server 40 received a cleaning start signal and a cleaning end signal, respectively, from the cleaning robot 10 with robot number A.

[0035] The time determination result in the cleaning record table 76 indicates whether or not the cleaning work was performed by the cleaning robot 10 within the scheduled cleaning time shown in the cleaning schedule table 74. Specifically, for each cleaning area, the time determination result indicates the determination result of whether or not a cleaning start signal and a cleaning end signal were received from the cleaning robot 10 within the scheduled cleaning time (from the cleaning start time to the cleaning end time in the cleaning schedule table 74).

[0036] For example, for area 1 on the second floor, the cleaning start signal and cleaning end signal were received from the cleaning robot 10 with robot number A at 2:23 and 3:35, respectively, for the scheduled cleaning time (2:15 to 3:45) shown in the cleaning schedule table 74. Therefore, the server 40 determines that the cleaning work was performed by the cleaning robot 10 within the scheduled cleaning time, and stores "normal" in the time determination result.

[0037] For area 3 on the second floor, no cleaning start signal or cleaning end signal was received from the cleaning robot 10 during the scheduled cleaning time (22:05 to 22:55) shown in the cleaning schedule table 74 (the cleaning start time and cleaning end time are blank in the cleaning record table 76). Therefore, the server 40 determines that cleaning work was not performed within the scheduled cleaning time, and stores "abnormal" in the time determination result.

[0038] For area 4 on the 3rd floor, a cleaning start signal and a cleaning end signal were received from the cleaning robot 10 with robot number E at 2:00 and 2:55, respectively, for the scheduled cleaning time (1:55 to 2:45) shown in the cleaning schedule table 74. Because the cleaning end time (2:55) when the cleaning end signal was received is later than the scheduled cleaning end time (2:45), the server 40 determines that the cleaning work by the cleaning robot 10 was not completed within the scheduled cleaning time, and in this case too, "abnormal" is stored in the time determination result.

[0039] 4, the drawing DB 80 stores information about the cleaning range to be cleaned by the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 74. The drawing DB 80 includes a cleaning range table 86. The cleaning range table 86 includes data about the actual cleaning range for each cleaning area scheduled for the cleaning day in the cleaning schedule table 74, relative to the scheduled cleaning range based on the cleaning contract.

[0040] Fig. 8 is a diagram showing an example of a cleaning contract scope and a cleaning performance scope. Referring to Fig. 8, a cleaning contract scope 82 indicates the area to be cleaned in the contract. In this example, it is shown that the areas 112, 116, and 118 corresponding to areas 1, 3, and 4, respectively, among areas 1 to 4 on the second floor, are the cleaning areas for that day as specified in the contract.

[0041] The cleaning history range 84 indicates the cleaning history area of ​​the cleaning robot 10 based on the movement trajectory of the cleaning robot 10. The cleaning history range 84 is created corresponding to the cleaning contract range 82, and indicates the area where the cleaning robot 10 has moved based on the movement trajectory of the cleaning robot 10. In this example, it is shown that the cleaning robot 10 has moved in ranges 122 and 128 corresponding to area 1 and area 4 on the 2nd floor, respectively.

[0042] The cleaning history range 84 is created based on the movement trajectory of the cleaning robot 10, and is data for confirming the movement function of the cleaning robot 10. The cleaning history range 84 does not take into account the operating state of the cleaning members 16 of the cleaning robot 10 (cleaning function of the cleaning robot 10). The operating state of the cleaning members 16 is managed in the dust concentration DB 90.

[0043] Fig. 9 is a diagram showing an example of the cleaning range table 86 of the drawing DB 80 shown in Fig. 4. Referring to Fig. 9, the cleaning range table 86 is created corresponding to the cleaning schedule table 74 (Fig. 6) of the time DB 70, and includes data such as a drawing number indicating the cleaning contract range, a drawing number indicating the cleaning performance range, cleaning date and time, and a determination result of the cleaning performance range relative to the cleaning contract range, for each cleaning area scheduled in the cleaning schedule table 74 for the day of cleaning.

[0044] For example, the first line of the cleaning area table 86 indicates that for a specific area 1 on the second floor, the number of the drawing data indicating the cleaning contract area of ​​the area is C-2F-1, and the number of the drawing data indicating the cleaning track record area of ​​the area by the cleaning robot 10 is A-2F-1. The drawing data of drawing number A-2F-1 indicating the cleaning track record area is created based on the movement trajectory obtained from the position information of the cleaning robot 10 with robot number A that cleans the area.

[0045] Then, server 40 compares the cleaning history range of drawing number A-2F-1 with the cleaning contract range of drawing number C-2F-1, and if, for example, the cleaning history range is greater than or equal to a predetermined percentage of the cleaning contract range, stores “normal” in the cleaning range determination result.

[0046] Regarding the second row of the cleaning area table 86, since the cleaning robot 10 has not performed cleaning work on area 3 on the second floor, there is no drawing showing the cleaning record area of ​​the area. Therefore, the server 40 stores "abnormal" in the cleaning area determination result.

[0047] 4 again, the dust concentration DB 90 stores information on the cleaning state (dust collection state) of the cleaning members of the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 74. The dust concentration DB 90 includes a dust concentration table 92. The dust concentration table 92 includes data on the concentration of dust collected by the cleaning robot 10 for each cleaning area scheduled in the cleaning schedule table 74 for the day of cleaning.

[0048] Fig. 10 is a diagram showing an example of a dust concentration table 92 of the dust concentration DB 90 shown in Fig. 4. Referring to Fig. 10, the dust concentration table 92 is created corresponding to the cleaning schedule table 74 (Fig. 6) of the time DB 70, and includes data such as the dust concentration at the start of cleaning and its measurement time, the dust concentration at the end of cleaning and its measurement time, and the cleaning function judgment result based on the dust concentration, for each cleaning area for the day of cleaning scheduled in the cleaning schedule table 74.

[0049] For example, in the first row of the dust concentration table 92, for a specified area 1 on the second floor, when the cleaning robot 10 with robot number A starts cleaning, the measurement value (10 CPM) of the dust concentration in the dust tank taken by the dust concentration meter 17 and the measurement time (2:23) are stored as the start dust concentration and the start measurement time, respectively. In addition, when cleaning ends, the measurement value (15 CPM) of the dust concentration taken by the dust concentration meter 17 and the measurement time (3:35) are stored as the end dust concentration and the end measurement time, respectively.

[0050] The dust concentration determination result in the dust concentration table 92 indicates whether the cleaning function of the cleaning robot 10 was operating normally during the cleaning operation based on the change (increase) in dust concentration before and after the cleaning operation. Specifically, the server 40 calculates the change (increase) in dust concentration from the start of cleaning to the end of cleaning for each cleaning area. Then, if the change (increase) in dust concentration exceeds a threshold value, the server 40 determines that the cleaning function of the cleaning robot 10 was normal, and stores "normal" in the dust concentration determination result.

[0051] In the example of the first line of the dust concentration table 92, it is determined that the change in dust concentration (5 CPM increase) from the start to the end of cleaning exceeds the threshold, and the dust concentration judgment result is stored as "normal." Note that in the example of the second line, since no cleaning work was performed, there is no measured dust concentration value, and the dust concentration judgment result is "abnormal."

[0052] 4, the cleaning result determination DB 100 stores information on the determination results of the cleaning work by the cleaning robot 10 for each cleaning area shown in the cleaning schedule table 74. The cleaning result determination DB 100 includes a determination result table 102. The determination result table 102 includes data on the determination results of whether or not the cleaning work by the cleaning robot 10 was normally performed in accordance with the contract for each cleaning area scheduled in the cleaning schedule table 74 for the cleaning day.

[0053] Fig. 11 is a diagram showing an example of the determination result table 102 of the cleaning result determination DB 100 shown in Fig. 4. Referring to Fig. 11, the determination result table 102 is created corresponding to the cleaning schedule table 74 (Fig. 6) of the time DB 70, and includes each of the determination results of the time determination result, the cleaning range determination result, and the dust concentration determination result for each cleaning area scheduled in the cleaning schedule table 74 for the day of cleaning.

[0054] The time determination result is obtained from the cleaning record table 76 of the time DB 70, and indicates whether or not the cleaning work was performed by the cleaning robot 10 within the scheduled cleaning time. The cleaning range determination result is obtained from the cleaning range table 86 of the drawing DB 80, and indicates whether or not the cleaning robot 10 moved within the cleaning contract range, i.e., whether or not the movement function of the cleaning robot 10 was normal. The dust concentration determination result is obtained from the dust concentration table 92 of the dust concentration DB 90, and indicates whether or not the cleaning member 16 of the cleaning robot 10 was operating during the cleaning work, i.e., whether or not the cleaning function of the cleaning robot 10 was normal.

[0055] The determination result table 102 further includes cleaning determination result data indicating the final determination result of whether or not the cleaning work by the cleaning robot 10 was normally performed in accordance with the contract for each cleaning area for the cleaning day scheduled in the cleaning schedule table 74. The cleaning determination result is determined based on the above-mentioned time determination result, cleaning area determination result, and dust concentration determination result. Specifically, when the time determination result, cleaning area determination result, and dust concentration determination result are all "normal" for each cleaning area, the server 40 stores "normal" in the cleaning determination result. On the other hand, when at least one of the time determination result, cleaning area determination result, and dust concentration determination result is "abnormal", the server 40 stores "abnormal" in the cleaning determination result.

[0056] In this way, in the present embodiment, it is determined whether or not the cleaning work by the cleaning robot 10 has been performed normally, taking into consideration not only the cleaning range determination result indicating whether or not the movement function of the cleaning robot 10 is normal, but also the dust concentration determination result indicating whether or not the cleaning function of the cleaning robot 10 is normal. This makes it possible to reliably determine whether or not the cleaning work by the cleaning robot 10 has been performed according to the contract.

[0057] 12 is a flowchart showing an example of the procedure of a process for acquiring data from the cleaning robot 10, which is executed by the server 40 when the cleaning robot 10 performs cleaning work. A series of processes shown in this flowchart is executed for each cleaning robot 10 and for each cleaning area in association with the cleaning work performed by the cleaning robot 10. Each piece of data acquired from the cleaning robot 10 includes the ID of the cleaning robot 10 that transmitted the data, and the server 40 identifies the cleaning robot 10 that transmitted the data by the ID included in each piece of acquired data.

[0058] 12, the server 40 acquires from the cleaning robot 10 a measurement value of the dust concentration in the dust tank measured by the dust concentration meter 17 in the cleaning robot 10 before the cleaning by the cleaning robot 10 starts (step S10). The server 40 stores the time when the measurement value of the dust concentration was acquired and the measurement value in the start measurement time and start dust concentration corresponding to the sending cleaning robot 10 in the dust concentration table 92 (FIG. 10) of the dust concentration DB 90, respectively.

[0059] Next, the server 40 acquires a cleaning start signal from the cleaning robot 10, which indicates the start of cleaning by the cleaning robot 10 (step S20). Then, the server 40 identifies the time when the cleaning start signal is acquired as the cleaning start time of the cleaning robot 10 (step S30). The identified time is stored in the cleaning record table 76 (FIG. 7) of the time DB 70 as the cleaning start time corresponding to the sending cleaning robot 10.

[0060] Next, the server 40 acquires the position information of the cleaning robot 10 (step S40). In detail, the server 40 acquires the reception strength (in BLE) or the signal propagation time (in UWB) of the signal received by each wireless communication device 30 from the cleaning robot 10 from each wireless communication device 30, and acquires the position of the cleaning robot 10 from the reception strength or the signal propagation time of each wireless communication device 30 by a known method.

[0061] Then, the server 40 generates a movement trajectory of the cleaning robot 10 using the position information of the cleaning robot 10 (step S50). This generation of the movement trajectory of the cleaning robot 10 is repeatedly executed until cleaning by the cleaning robot 10 is completed.

[0062] Next, the server 40 determines whether or not a cleaning end signal indicating the end of cleaning by the cleaning robot 10 has been received from the cleaning robot 10 (step S60). If the server 40 has not received a cleaning end signal (NO in step S60), the server 40 returns the process to step S40.

[0063] On the other hand, when it is determined in step S60 that the cleaning end signal has been acquired (YES in step S60), the server 40 specifies the time when the cleaning end signal was acquired as the cleaning end time by the cleaning robot 10 (step S70). The specified time is stored in the cleaning record table 76 of the time DB 70 as the cleaning end time corresponding to the sending cleaning robot 10.

[0064] Next, the server 40 acquires from the cleaning robot 10 the measurement value of the dust concentration in the dust tank measured by the dust concentration meter 17 in the cleaning robot 10 after the cleaning by the cleaning robot 10 is completed (step S80). The server 40 stores the time when the measurement value of the dust concentration was acquired and the measurement value in the end measurement time and end dust concentration corresponding to the sending cleaning robot 10 in the dust concentration table 92 of the dust concentration DB 90, respectively.

[0065] Finally, the server 40 identifies a cleaning history range (FIG. 8) indicating the range of cleaning performed by the sending cleaning robot 10 from the movement trajectory generated in step S50 (step S90). This cleaning history range is stored in the storage device 45 as drawing data, and the number of the drawing data is stored as the cleaning history range drawing number of the corresponding cleaning area in the cleaning range table 86 (FIG. 9) of the drawing DB 80.

[0066] 13 and 14 are flow charts showing an example of the procedure of the cleaning result determination process executed by the server 40. Referring to Fig. 13, first, the contract information table 72 (Fig. 5) is created in the time DB 70 from the contract of the cleaning contract (step S110). Note that the contract information table 72 is created by the user of the cleaning system 1, but the server 40 may automatically generate the contract information table 72 from the contract by extracting predetermined items from the contract that conforms to a predetermined form.

[0067] Next, the server 40 creates a cleaning schedule table 74 (FIG. 6) for the day of cleaning from the contract information table 72 (step S120). For example, the server 40 extracts cleaning schedule data from midnight on the day of cleaning to midnight the next day from the contract information table 72 once a day at a predetermined time to create the cleaning schedule table 74.

[0068] After the cleaning schedule table 74 is created, a series of processes from step S130 to step S270 in Fig. 14 are executed for each cleaning area in the cleaning schedule table 74. An arbitrary cleaning area included in the cleaning schedule table 74 will be described below.

[0069] The server 40 determines whether cleaning has been started by the cleaning robot 10 (step S130). Whether cleaning has been started is determined based on whether a cleaning start signal has been received from the cleaning robot 10. The server 40 can identify the area that the cleaning robot 10 will clean based on the position information of the cleaning robot 10 that sent the signal.

[0070] When it is determined in step S130 that cleaning has been started by the cleaning robot 10 (YES in step S130), the server 40 stores the time when the cleaning start signal was received as the cleaning start time in the cleaning record table 76 (FIG. 7) (step S140). Furthermore, the server 40 stores the measurement value of the dust concentration before the start of cleaning received from the cleaning robot 10 in association with the start of cleaning as the start dust concentration corresponding to the cleaning robot 10 in the dust concentration table 92 (FIG. 10) of the dust concentration DB 90 (step S150). The server 40 also stores the time when the measurement value of the dust concentration was received as the start measurement time corresponding to the cleaning robot 10 in the dust concentration table 92.

[0071] Although not specifically shown, if cleaning by the cleaning robot 10 has not started (NO in step S130) and a predetermined time has elapsed since the cleaning end time in the cleaning schedule table 74, the process proceeds to step S220 shown in FIG. 14 described below (no cleaning record time).

[0072] Next, the server 40 determines whether or not the cleaning by the cleaning robot 10 has finished (step S160). Whether or not the cleaning by the cleaning robot 10 has finished is determined based on whether or not a cleaning end signal has been received from the cleaning robot 10.

[0073] When it is determined in step S160 that the cleaning by the cleaning robot 10 has ended (YES in step S160), the server 40 stores a cleaning record range indicating the range of cleaning performed by the cleaning robot 10 in the cleaning range table 86 (FIG. 9) of the drawing DB 80 (step S170). More specifically, the server 40 stores the drawing data of the cleaning record range in the storage device 45, and stores the drawing number of the drawing data in the cleaning range table 86 of the drawing DB 80. The cleaning record range is identified in step S90 of FIG. 12.

[0074] Furthermore, the server 40 stores the time when the cleaning end signal was received as the cleaning end time in the cleaning record table 76 (step S180). Furthermore, the server 40 stores the measurement value of the dust concentration after the cleaning is ended, received from the cleaning robot 10 as the cleaning is ended, in the end dust concentration table 92 corresponding to the cleaning robot 10 (step S190). The server 40 also stores the time when the dust concentration measurement value was received as the end measurement time corresponding to the cleaning robot 10 in the dust concentration table 92.

[0075] 14, the server 40 compares the drawing data of the cleaning record range indicated by the cleaning record range drawing number in the cleaning record range table 86 of the drawing DB 80 with the drawing data of the cleaning contract range indicated by the cleaning contract range drawing number (step S200). Then, the server 40 stores the cleaning range determination result based on the comparison result in the cleaning range table 86 (FIG. 9) (step S210). For example, if the cleaning record range is equal to or greater than a predetermined ratio of the cleaning contract range, the server 40 stores "normal" in the cleaning range determination result. On the other hand, if the cleaning record range is smaller than the above-mentioned predetermined ratio, the server 40 stores "abnormal" in the cleaning range determination result.

[0076] The server 40 also compares the cleaning record time (cleaning start time / cleaning end time) in the cleaning record table 76 of the time DB 70 with the cleaning contract time (cleaning start time / cleaning end time) in the cleaning schedule table 74 (step S220). The server 40 then stores the cleaning time determination result based on the comparison result in the time determination result (FIG. 7) in the cleaning record table 76 (step S230). For example, if the cleaning record time (from the cleaning start time to the cleaning end time in the cleaning record table 76) is included in the cleaning contract time (from the cleaning start time to the cleaning end time in the cleaning schedule table 74), the server 40 stores "normal" in the time determination result. On the other hand, if the cleaning end time in the cleaning record is later than the cleaning end time in the cleaning contract, the server 40 stores "abnormal" in the time determination result.

[0077] Furthermore, the server 40 calculates the change (increase) in dust concentration before and after the cleaning operation by the cleaning robot 10 (step S240). Specifically, the server 40 calculates the change in dust concentration before and after cleaning by subtracting the starting dust concentration from the ending dust concentration in the dust concentration table 92. Then, the server 40 stores the dust concentration determination result based on the change in dust concentration before and after cleaning in the dust concentration determination result ( FIG. 10 ) in the dust concentration table 92 (step S250). For example, if the increase in dust concentration before and after cleaning exceeds a threshold value, the server 40 stores "normal" in the dust concentration determination result. On the other hand, if the increase in dust concentration before and after cleaning is equal to or less than the threshold value, the server 40 stores "abnormal" in the dust concentration determination result.

[0078] Next, the server 40 stores the cleaning area determination result in the cleaning area table 86, the time determination result in the cleaning record table 76, and the dust concentration determination result in the dust concentration table 92 in the determination result table 102 (FIG. 11) of the cleaning result determination DB 100 (step S260).

[0079] Then, the server 40 judges the final cleaning result as to whether the cleaning work by the cleaning robot 10 was normally performed in accordance with the contract based on the cleaning area judgment result, the time judgment result, and the dust concentration judgment result in the judgment result table 102 (step S270). Specifically, if the cleaning area judgment result, the time judgment result, and the dust concentration judgment result are all "normal", the server 40 judges the cleaning result of the cleaning robot 10 as "normal". On the other hand, if at least one of the cleaning area judgment result, the time judgment result, and the dust concentration judgment result is "abnormal", the server 40 judges the cleaning result as "abnormal". This final judgment result is stored in the cleaning judgment result in the judgment result table 102.

[0080] The cleaning result is determined in step S270, for example, when the cleaning end time is the final time or after a predetermined time has elapsed since that time.

[0081] As described above, in this embodiment, when the server 40 determines whether the cleaning robot 10 has performed the cleaning work, not only the determination result of the movement function of the cleaning robot 10 but also the determination result of the cleaning function of the cleaning robot 10 are taken into consideration. This allows the server 40 to determine whether the cleaning robot 10 has performed the cleaning work normally. Therefore, according to this embodiment, there is no need for a person to be present during the cleaning work by the cleaning robot 10 to check the cleaning work, and it becomes possible to later check whether the cleaning work by the cleaning robot 10 has been performed normally as planned.

[0082] In this embodiment, it is also determined whether the cleaning operation was performed normally based on the scheduled time of the cleaning operation by the cleaning robot 10 and the actual time of the cleaning operation, and it is determined whether the cleaning operation was performed normally based on the determination results of the movement function, the cleaning function, and the determination results of the execution time. This allows the server 40 to more reliably determine whether the cleaning operation by the cleaning robot 10 was performed normally.

[0083] Furthermore, in this embodiment, it is determined whether the cleaning members 16 of the cleaning robot 10 are operating, i.e., whether the cleaning function of the cleaning robot 10 is normal, based on the dust concentration measured by the dust concentration meter 17. More specifically, it is determined whether the cleaning function of the cleaning robot 10 is normal or not based on the change (increase) in dust concentration before and after cleaning measured using the dust concentration meter 17. Since the dust concentration meter 17 can measure the change in the amount of dust before and after cleaning even if the amount of dust collected by cleaning is very small, according to this embodiment, it is possible to more reliably determine the operation of the cleaning function based on the measurement result of the collected dust.

[0084] In the above embodiment, the dust concentration measured by the dust concentration meter 17 is used to confirm that the cleaning members 16 of the cleaning robot 10 are operating and to determine whether the cleaning function of the cleaning robot 10 is normal. However, other parameters may be used to confirm that the cleaning members 16 are operating.

[0085] For example, a dust weight meter that measures the weight of dust collected by the cleaning members 16 and stored in the tank of the cleaning robot 10 may be mounted on the cleaning robot 10, and the weight of dust measured by the dust weight meter may be used to confirm whether the cleaning members 16 are operating properly. By measuring the weight of dust before and after the start and end of a cleaning operation by the cleaning robot 10, it is possible to determine whether the cleaning members 16 are operating normally, i.e., whether the cleaning function of the cleaning robot 10 is normal, depending on whether the weight of dust has increased before and after the cleaning operation.

[0086] In addition, for example, the operation of the motor that sucks up dust, the operation of the rotating brush of the cleaning member 16 provided at the suction port, the operation of the motor that drives the rotating brush, the measurement value of a differential pressure gauge that detects the differential pressure before and after the filter, etc. may be used to determine whether the cleaning member 16 is operating normally, i.e., whether the cleaning function of the cleaning robot 10 is normal.

[0087] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The technical scope of the present disclosure is defined by the claims, not by the description of the embodiments described above, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0088] 10 cleaning robot, 11, 30 wireless communication device, 12 camera, 13 control unit, 14 drive unit, 15 battery, 16 cleaning parts, 17 dust concentration meter, 20 floor, 35 ceiling, 40 server, 41 CPU, 42 RAM, 43 ROM, 44 I / F device, 45 storage device, 70 time DB, 72 contract information table, 74 cleaning schedule table, 76 cleaning performance table, 80 drawing DB, 82 cleaning contract range, 84 cleaning performance range, 86 cleaning range table, 90 dust concentration DB, 92 dust concentration table, 100 cleaning result judgment DB, 102 judgment result table.

Claims

1. A cleaning management device that manages cleaning work by an autonomous mobile cleaning robot, A processor; a memory for storing a program to be executed by the processor; The processor, according to the program, Before starting the cleaning work, a measurement value of dust in a dust tank in which dust collected by a cleaning member of the cleaning robot is stored is obtained; Acquire the start and end times of the cleaning work, acquiring a cleaning performance range indicating a range of cleaning performed by the cleaning robot from a movement trajectory of the cleaning robot during the cleaning operation; After the cleaning work is completed, the measurement value is acquired. determining whether or not a movement function of the cleaning robot is normal based on the planned area of ​​the cleaning work and the cleaning performance range; determining whether the execution time of the cleaning work is normal or not based on the scheduled time of the cleaning work and the actual results of the start time and the end time; determining whether a cleaning function of the cleaning robot is normal based on a change in the measured value before and after the cleaning operation; When the determination result of the moving function, the determination result of the execution time, and the determination result of the cleaning function all indicate normality, it is determined that the cleaning work has been performed normally; A cleaning management device that determines that the cleaning work was abnormal when at least one of the judgment results of the movement function, the judgment result of the execution time, and the judgment result of the cleaning function indicates an abnormality.

2. The scheduled time is a contract time determined by contract, The cleaning management device according to claim 1 , wherein the processor determines whether the performance time of the cleaning work is normal by comparing the performance of the start time and the end time with the contract time.

3. The planned area is a contract range defined by a contract, The cleaning management device according to claim 1 or 2, wherein the processor determines whether the movement function is normal by comparing a cleaning performance range based on a movement trajectory of the cleaning robot with the contract range.

4. the cleaning robot includes a dust concentration meter that measures a concentration of dust collected by the cleaning member, The cleaning management device according to claim 1 , wherein the measurement value is a dust concentration measured by the dust concentration meter.

5. the cleaning robot includes a dust weight meter that measures a weight of dust collected by the cleaning member, The cleaning management device according to claim 1 , wherein the measurement value is a weight of dust measured by the dust weight meter.

6. A cleaning management method for managing cleaning work by an autonomous mobile cleaning robot, comprising: Before starting the cleaning operation, a measurement value of dust in a dust tank in which dust collected by a cleaning member of the cleaning robot is stored is obtained; acquiring a start time and an end time of the cleaning work; acquiring a cleaning performance range indicating a range of cleaning performed by the cleaning robot from a movement trajectory of the cleaning robot during the cleaning operation; acquiring the measurement value after the cleaning operation is completed; A step of determining by a computer whether a movement function of the cleaning robot is normal or not based on the planned area of ​​the cleaning work and the cleaning record range; A step of determining by the computer whether or not the execution time of the cleaning work is normal based on the scheduled time of the cleaning work and the actual results of the start time and the end time; determining by the computer whether or not a cleaning function of the cleaning robot is normal based on a change in the measured value before and after the cleaning operation; determining that the cleaning task has been normally performed when the determination result of the moving function, the determination result of the execution time, and the determination result of the cleaning function all indicate normal; A cleaning management method comprising: a step of determining that the cleaning work was abnormal when at least one of the judgment result of the movement function, the judgment result of the execution time, and the judgment result of the cleaning function indicates an abnormality.

7. The scheduled time is a contract time determined by contract, The cleaning management method according to claim 6, wherein the step of determining whether the implementation time is normal includes a step of determining whether the implementation time is normal by comparing the actual results of the start time and the end time with the contract time.

8. The planned area is a contract range defined by a contract, The cleaning management method according to claim 6 or claim 7, wherein the step of determining whether the mobility function is normal includes a step of determining whether the mobility function is normal by comparing a cleaning history range based on a movement trajectory of the cleaning robot with the contract range.

9. the cleaning robot includes a dust concentration meter that measures a concentration of dust collected by the cleaning member, The cleaning management method according to claim 6 , wherein the measurement value is a dust concentration measured by the dust concentration meter.

10. the cleaning robot includes a dust weight meter that measures a weight of dust collected by the cleaning member, The cleaning management method according to claim 6 , wherein the measurement value is a weight of dust measured by the dust weight meter.

Images