Driving operation information processing system

Abstract

To execute remote operation without centralizing loads in the case that a plurality of users perform the remote operation to one autonomous travel work device.SOLUTION: A travel work information processing system 1 includes an autonomous travel work device 2, a plurality of operation terminals 4 with which a plurality of users operate the autonomous travel work device 2, and a management server 3 for managing the autonomous travel work device 2. Each operation terminal 4 transmits a selection request of the autonomous travel work device 2 to the management server 3 in logging in the management server 3. The management server 3 preliminarily stores a plurality of pieces of authority information which respectively show authority with which the plurality of users remotely operate the autonomous travel work device 2. When the selection request of the autonomous travel work device 2 is received from each logged-in operation terminal 4 to associate the operation terminal 4 with the autonomous travel work device 2, a remote operation screen 70 for performing remote operation of the autonomous travel work device 2 is created on the basis of the authority information of the user corresponding to the operation terminal 4, and is presented to the operation terminal 4 in a browsable manner.SELECTED DRAWING: Figure 16

Description

[Technical Field]

[0001] The present invention relates to a traveling work information processing system equipped with an autonomous traveling work device that can perform automatic traveling work by traveling autonomously and working automatically according to a program input in advance. [Background technology]

[0002] Conventionally, autonomous mobile work devices have the ability to create or set and store an environmental map, a travel route, travel settings, and work settings (cleaning settings) according to a pre-entered program, and then perform autonomous mobile work (autonomous mobile cleaning) by traveling autonomously and performing work (cleaning) automatically based on the stored results. For example, autonomous mobile work devices are used as industrial (commercial) autonomous mobile work devices (autonomous mobile cleaning devices) that clean floors in work areas such as commercial facilities, offices, hotels, and hospitals.

[0003] As an operational method utilizing the functions of the autonomous mobile work device, teaching driving (learning driving and cleaning) is performed in advance in the work area to record data such as an environmental map, driving route, driving settings, and cleaning settings, and then tracing driving (automatic driving and cleaning) according to the recorded data allows cleaning work to be performed under automatic control.In addition, if a problem occurs during automatic driving and cleaning, the cleaning management company or cleaning contractor can solve the problem by remotely operating the autonomous mobile work device from outside.

[0004] Autonomous mobile work devices used as commercial cleaning robots are sometimes operated outside of facility business hours, and some are equipped with cameras that record the surrounding area, allowing them to function as dashcams. Therefore, autonomous mobile work devices are expected to be used for various purposes, including security, in addition to cleaning. In this case, multiple users with different purposes remotely operate a single autonomous mobile work device simultaneously, which can cause various problems and require solutions to these problems.

[0005] According to Patent Document 1, the robot control system includes a remote-controlled robot having multiple functions, a permission means for permitting remote operation of a specific function only to a user who has the authority to operate the specific function among a plurality of users remotely operating the remote-controlled robot, a receiving means for receiving a permission request to remotely operate the specific function from a user who remotely operates the remote-controlled robot but does not have the authority to operate the specific function, and an authorization means for granting the user who made the permission request the authority to operate the specific function when the permission request is received if the predetermined conditions are met. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2019-8585 Summary of the Invention [Problem to be solved by the invention]

[0007] The conventional technology described in Patent Document 1 can also be applied to autonomous mobile work devices such as cleaning robots. Cleaning work involves a variety of users, including facility owners, managers, mobile operators, cleaning operators, and security personnel, each with their own unique goals. However, according to the technology described in Patent Document 1, in a configuration consisting of an autonomous mobile work device and an operation terminal, login control is performed on the autonomous mobile work device itself, resulting in the concentration of login control for multiple users on the autonomous mobile work device. Furthermore, when multiple users with different goals remotely operate a single autonomous mobile work device simultaneously, high-load processing is concentrated on the autonomous mobile work device. Thus, conventional technology poses the problem of concentrated load when multiple users remotely operate a single autonomous mobile work device.

[0008] The present invention has been made in consideration of the problems described above, and the object of the present invention is to provide a mobile work information processing system that can distribute the load when multiple users remotely operate a single autonomous mobile work device, without concentrating the load on the autonomous mobile work device or the operating terminal. [Means for solving the problem]

[0009] In order to solve the above problems, a first mobile work information processing system of the present invention is a mobile work information processing system comprising an autonomous mobile work device that is capable of performing autonomous mobile work, that is, traveling autonomously and working automatically, a plurality of operation terminals for a plurality of users to respectively operate the autonomous mobile work device, and a management server for managing the autonomous mobile work device, wherein when each of the operation terminals logs in to the management server, it sends a selection request to the management server to select the autonomous mobile work device to remotely operate, and the management server pre-stores a plurality of pieces of authority information indicating the authority each of the plurality of users has to remotely operate the autonomous mobile work device, and when it receives the selection request for the autonomous mobile work device from each of the logged-in operation terminals and associates the operation terminal with the autonomous mobile work device, it creates a remote operation screen for remotely operating the autonomous mobile work device based on the authority information of the user corresponding to that operation terminal, and presents it to the operation terminal so that it can be viewed. the autonomous mobile work device is equipped with a photographing unit and transmits photographed data photographed by the photographing unit to the management server, the management server determines whether the user corresponding to each of the logged-in operation terminals is an outsider based on the authority information of the user, and also determines whether a private object to the outsider is included in the photographed data, and if the user is an outsider and the private object is included in the photographed data, processes the photographed data so that the private object cannot be recognized and displays it on the remote operation screen specific to the operation terminal corresponding to the user. It is characterized by:

[0010] According to the first mobile work information processing system of the present invention, when remotely operating an autonomous mobile work device, a remote operation screen with operation content restricted according to each user's authority information is displayed on each user's operation terminal, making it possible to appropriately manage remote operation of the autonomous mobile work device and improve convenience, even when users with different interests simultaneously remotely operate a single autonomous mobile work device.In this way, according to the present invention, it is possible for multiple users to appropriately remotely operate a single autonomous mobile work device. Furthermore, according to the first mobile work information processing system of the present invention, if an item in a cleaning area is a confidential object that is restricted from disclosure to outsiders, the photographed data can be processed to make the confidential object confidential according to the user's authority information, thereby making it possible to properly manage confidential information in the cleaning area and improving convenience.

[0013] In order to solve the above problems, the present invention 2 In the mobile work information processing system, the management server determines whether the user corresponding to each logged-in operation terminal is a facility manager, and also determines whether a no-entry area is photographed in the photography data. If the user corresponding to one operation terminal that remotely operates the autonomous mobile work apparatus is a person corresponding to the authority information that is prohibited from entering the no-entry area, and the no-entry area is photographed in the photography data, the management server determines whether the other operation terminal corresponding to the facility manager is logged in. If the other operation terminal corresponding to the facility manager is not logged in, the management server generates a mobile stop error for the autonomous mobile work apparatus and sends a forced stop command to the autonomous mobile work apparatus, and also makes the remote operation screen specific to one of the operation terminals impossible to remotely operate. The autonomous mobile work apparatus forcibly stops mobile work in response to the forced stop command and becomes unable to accept remote operation.

[0014] The present invention 2 According to this mobile work information processing system, when a remotely operated autonomous mobile work device is predicted to enter a restricted area where entry by unauthorized persons is prohibited, the system checks whether the operation terminal of the facility manager who has the authority to grant permission to enter the restricted area is logged in, and if not, the system forcibly stops the autonomous mobile work device. This makes it possible to suppress unnecessary and unforeseen entry into restricted areas, prevent confidential information from leaking from restricted areas, improve security, and increase convenience.

[0015] In order to solve the above problems, the present invention 3In the mobile work information processing system, when the management server detects login of another operating terminal corresponding to the facility manager after the autonomous mobile work device has generated a mobile stop error, the management server cancels the mobile stop error and sends a stop release command to the autonomous mobile work device, and also makes the remote operation screen specific to one of the operating terminals remotely operable, and the autonomous mobile work device becomes capable of accepting remote operation in response to the stop release command.

[0016] The present invention 3 According to this mobile work information processing system, even if the autonomous mobile work device is forcibly stopped because it is prohibited from entering a restricted area because the facility manager's operation terminal is not logged in to the management server, the forced stop of the autonomous mobile work device can be canceled when the facility manager's operation terminal logs in to the management server. At this time, the autonomous mobile work device can be changed to a state where it can be remotely controlled, and it can also be remotely controlled to enter the restricted area. This allows the autonomous mobile work device to continue cleaning while maintaining appropriate security, improving convenience.

[0017] In order to solve the above problems, the present invention 4 In the traveling work information processing system, the management server enables the traveling operations of the autonomous traveling work device to be accepted on the remote operation screen, and when the traveling operations of the autonomous traveling work device are performed on the remote operation screen by one of the operation terminals, the management server sets an operation authority flag indicating the traveling operation authority for the traveling operations of the autonomous traveling work device for one of the users corresponding to one of the operation terminals, and makes it impossible to accept the traveling operations of the autonomous traveling work device on the remote operation screens specific to the other operation terminals.

[0018] The present invention 4According to this mobile work information processing system, even if the operation terminals of users with the same authority information are logged in to the management server at the same time and select the same autonomous mobile work device, only one operation terminal can be given the right to operate the device. Therefore, the autonomous mobile work device only accepts remote control from one operation terminal and not from the other, preventing overlapping or crosstalk between remote operations from two or more operation terminals. This prevents the autonomous mobile work device from becoming inoperable inappropriately and from performing cleaning tasks that are different from those remotely controlled, thereby preventing problems such as the autonomous mobile work device colliding with obstacles.

[0019] In order to solve the above problems, the present invention 5 In the mobile work information processing system, when the mobile operation of the autonomous mobile work device by one of the operating terminals that has set the operation authority flag is completed, the management server cancels the setting of the operation authority flag and inquires of the other operating terminals as to whether or not to acquire the mobile operation authority, and if the acquisition of the mobile operation authority is agreed to by the other operating terminal, the remote operation screen specific to the other operating terminal is made capable of accepting the mobile operation of the autonomous mobile work device.

[0020] The present invention 5 According to the mobile work information processing system, even if the mobile operation authority is given to one operating terminal once, the mobile operation authority can be efficiently and appropriately transferred to the other operating terminal thereafter without stopping the operation of the autonomous mobile work device. [Effects of the Invention]

[0021] According to the present invention, when multiple users remotely operate a single autonomous mobile work device, the mobile work information processing system can distribute the load without concentrating it on the autonomous mobile work device or the operating terminal. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a block diagram showing the configuration of a traveling work information processing system according to a first embodiment of the present invention. [Figure 2] 1 is a schematic diagram showing the configuration of an autonomous traveling and work device in a traveling and work information processing system according to a first embodiment of the present invention. FIG. [Figure 3] 1 is a block diagram showing the configuration of an autonomous traveling and work device in a traveling and work information processing system according to a first embodiment of the present invention. [Figure 4] 1 is a block diagram showing the configuration of a management server in a traveling work information processing system according to a first embodiment of the present invention. [Figure 5] 1 is a block diagram showing the configuration of an operation terminal in a traveling work information processing system according to a first embodiment of the present invention. [Figure 6] 1 is a plan view showing an example of first image data obtained by capturing images of the traveling situation of an autonomous traveling work device in a traveling work information processing system according to a first embodiment of the present invention. FIG. [Figure 7] FIG. 2 is a plan view showing an example of second image data obtained by capturing an image of a cleaning operation situation of an autonomous mobile work device in the mobile work information processing system according to the first embodiment of the present invention. [Figure 8] 3 is a table showing an example of personal registration information of each user in the traveling work information processing system according to the first embodiment of the present invention. [Figure 9] 3 is a table showing an example of device registration information for each autonomous traveling and work device in the traveling and work information processing system according to the first embodiment of the present invention. [Figure 10] 3 is a table showing an example of manager information for each facility manager in a cleaning area in the mobile work information processing system according to the first embodiment of the present invention. [Figure 11] 3 is a table showing an example of authority information related to remote operation of an autonomous navigation and work device by each user in the navigation and work information processing system according to the first embodiment of the present invention. [Figure 12] 3 is a table showing an example of object registration information for identifying non-disclosure objects in the traveling work information processing system according to the first embodiment of the present invention. [Figure 13] 3 is a table showing an example of area registration information that identifies no-entry areas in the traveling work information processing system according to the first embodiment of the present invention. [Figure 14] 1 is a plan view showing an example of a login screen of an operation terminal in a traveling work information processing system according to a first embodiment of the present invention. FIG. [Figure 15] 1 is a plan view showing an example of a remote operation screen for remotely operating an autonomous mobile work device in a mobile work information processing system according to a first embodiment of the present invention. FIG. [Figure 16] 5 is a flowchart showing an example of operation for displaying a remote operation screen on an operation terminal in the traveling work information processing system according to the first embodiment of the present invention. [Figure 17] 5 is a flowchart showing an example of the operation of the autonomous traveling and working device in the traveling and working information processing system according to the first embodiment of the present invention. [Figure 18] 5 is a flowchart showing an example of the operation of a management server in the traveling work information processing system according to the first embodiment of the present invention. [Figure 19] 5 is a flowchart showing an example of the operation of an operation terminal in the traveling work information processing system according to the first embodiment of the present invention. [Figure 20] 10 is a flowchart showing an example of the operation of the management server when processing photographed data for a non-disclosure target in the traveling work information processing system according to the first embodiment of the present invention. [Figure 21] 10 is a flowchart showing an example of the operation of the autonomous mobile work device when it forcibly stops mobile cleaning when it detects a no-entry area in the mobile work information processing system according to the first embodiment of the present invention. [Figure 22] 10 is a flowchart showing an example of the operation of the management server when forcibly stopping traveling cleaning when a no-entry area is detected in the traveling work information processing system according to the first embodiment of the present invention. [Figure 23] 10 is a flowchart showing an example of the operation of the management server when a forced stop of traveling cleaning is released in the traveling work information processing system according to the first embodiment of the present invention. [Figure 24] 10 is a flowchart showing an example of operation for setting an operation right flag for remote operation of an autonomous traveling and working device on one operation terminal in a traveling and working information processing system according to a second embodiment of the present invention. [Figure 25] 10 is a flowchart showing an example of an operation in which an operation right flag set in one operation terminal is released and set in the other operation terminal in a traveling work information processing system according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferred specific examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these aspects.

[0024] A mobile work information processing system 1 according to a first embodiment of the present invention will now be described. As shown in Fig. 1, the mobile work information processing system 1 comprises an autonomous mobile work device 2, a management server 3, and multiple operation terminals 4. The autonomous mobile work device 2 is configured to be able to perform automated mobile work, whereby it travels autonomously and works automatically, the management server 3 is configured to manage the autonomous mobile work device 2, and each operation terminal 4 is configured to operate the autonomous mobile work device 2. The autonomous mobile work device 2 is connected to the management server 3 via a predetermined network 5 so as to be able to communicate with it, and each operation terminal 4 is connected to the management server 3 via the predetermined network 5 so as to be able to communicate with it.

[0025] The mobile work information processing system 1 may be provided with multiple autonomous mobile work devices 2 with similar functions for one management server 3, but this embodiment will explain an example in which one autonomous mobile work device 2 is provided. The mobile work information processing system 1 may be provided with multiple operation terminals 4 with similar functions for one management server 3, but this embodiment will explain an example in which two operation terminals 4 are provided. The multiple operation terminals 4 are used by multiple users, including not only operators such as cleaning companies, but also security guards and managers.

[0026] First, we will explain the autonomous traveling work device 2. As shown in Figure 2, the autonomous traveling work device 2 comprises a device main body 10 for housing each component, and a traveling unit 11 that propels the device main body 10. The autonomous traveling work device 2 is equipped with a cleaning unit 12 that performs cleaning work on the floor surface FL below the device main body 10 as a working unit that performs a predetermined task, for example, and functions as an autonomous traveling cleaning device. The autonomous traveling work device 2 uses all or part of an area of ​​a commercial facility such as a shopping mall, an office, a hotel, a hospital, a school, a factory, etc. as a cleaning area (work area), and the floor surface FL of the cleaning area as a cleaning target (work target).

[0027] The autonomous mobile work device 2 also includes a measurement unit 13 that measures the positional relationship between the device main body 10 and non-work objects such as surrounding walls and obstacles (for example, ornaments), and an obstacle detection unit 14 that detects walls and obstacles within a predetermined distance. The autonomous mobile work device 2 also includes a first imaging unit 15 that captures images in front of the device main body 10, and a second imaging unit 16 that captures images behind the device main body 10. The autonomous mobile work device 2 also includes an operation display unit 17 that is made up of a touch panel or the like for operating and displaying various functions of the autonomous mobile work device 2, and a power supply unit 18 that supplies power to each unit of the autonomous mobile work device 2 and controls the remaining charge and charging of the battery (not shown).

[0028] Furthermore, the autonomous mobile work device 2 is equipped with an apparatus-side control unit 20 that controls each part and each function of the autonomous mobile work device 2 (traveling by the traveling unit 11, cleaning by the cleaning unit 12, measurement by the measuring unit 13, photography by the first photographing unit 15 and the second photographing unit 16, etc.), an apparatus-side memory unit 21 that stores a cleaning plan (work plan) consisting of traveling data of the traveling unit 11 and cleaning data (work data) of the cleaning unit 12, and an apparatus-side communication unit 22 for communicating with external devices such as the management server 3 and each operation terminal 4.

[0029] Next, an overview of the operation of the autonomous mobile work device 2 will be described.

[0030] The autonomously traveling work device 2 is a vehicle capable of traveling autonomously through manual operation and automatic operation, and operates by switching between any of the following operating modes: learning mode, reproduction (automatic) mode, manual mode, and remote operation mode. The autonomously traveling work device 2 can switch between operating modes in response to operations on the operation terminal 4 and the operation display unit 17.

[0031] In learning mode and manual mode, autonomous mobile work device 2 performs learning traveling and cleaning (learning traveling work) and manual traveling and cleaning (manual work), respectively, in which it performs manual traveling and manual cleaning (manual work) in response to manual operation of operation display unit 17 by an operator or manager. In learning traveling and cleaning, an environmental map of the cleaning area is created and stored as the traveling travel is performed, and traveling data indicating the traveling route and traveling status during the learning traveling and cleaning data indicating the cleaning status during the learning cleaning are acquired, and a cleaning plan including the traveling data and cleaning data is stored. In remote operation mode, autonomous mobile work device 2 performs remotely controlled traveling and cleaning (remotely controlled traveling work), in which it travels and cleans in response to remote operation of operation terminal 4 by an operator or manager.

[0032] In the reproduction mode, the autonomous traveling work device 2 performs automatic traveling and cleaning (automatic traveling work) and performs automatic traveling and automatic cleaning (automatic work) in accordance with automatic operation by the device-side control unit 20 based on the selected cleaning plan and the corresponding environmental map so as to reproduce the cleaning plan selected by the operator from the cleaning plans stored in the learning traveling and cleaning.

[0033] The cleaning plan is made up of multiple steps along the travel route, and each step is associated with travel data and cleaning data. The step intervals may be set to a predetermined time interval (e.g., 25 ms) when performing learning travel and cleaning, or may be set to a predetermined travel distance (e.g., 0.5 m) of the autonomous mobile work device 2. In addition to the above, the cleaning plan may also store the time elapsed since the start of learning travel and cleaning in association with each step.

[0034] The travel data includes, for example, self-position data on the travel route of the travel unit 11 (X and Y coordinates indicating the self-position on the environmental map, and the angle relative to the direction of the starting position), a steering flag (straight ahead, left turn, right turn), travel speed [m / s] in the travel direction, and turning speed [deg / s], and the travel route can be illustrated based on the travel data. Alternatively, the travel speed may be switched to one of a plurality of speed levels, and the travel data may be stored by converting the stepwise speed of the travel speed into a number (for example, 8 levels from 0 to 7).

[0035] The cleaning data includes, for example, the pad pressure of the cleaning member 24, the amount of water supplied by the cleaning liquid supply unit 25, and the suction amount of the suction unit 26. The pad pressure is the force pressing the cleaning member 24 against the floor surface FL, the amount of water supplied is the amount of cleaning liquid (working liquid) supplied to the floor surface FL by the cleaning liquid supply unit 25, and the suction amount is the operating strength of the suction blower (not shown) when the suction unit 26 sucks the dirty water from the floor surface FL after cleaning. The pad pressure, amount of water supplied, and amount of suction may be switched to one of multiple levels of strength, and the cleaning data may be stored by converting the level of strength of the pad pressure, amount of water supplied, and amount of suction into numbers (for example, three levels from 0 to 2, or five levels from 0 to 4, etc.). The cleaning data may also include the operation / stop and rotation speed of the cleaning member 24.

[0036] Next, each part of the autonomous mobile work device 2 will be described.

[0037] The travel unit 11 is provided at the bottom of the device body 10 and includes one front wheel 11a as a drive wheel and a pair of rear wheels 11b as auxiliary wheels, with tires attached to the front wheel 11a and the pair of rear wheels 11b. The front wheel 11a is provided at the front in the direction of travel, in the center of the device widthwise direction, and includes a travel drive motor (not shown) and a front wheel rotation encoder (not shown). The travel unit 11 drives the travel drive motor to rotate the front wheel 11a to move the device body 10 forward, and stops the device body 10 by stopping the rotation of the front wheel 11a. The travel speed (acceleration / deceleration) of the autonomous mobile work device 2 (travel unit 11) is adjusted by controlling the drive of the travel drive motor. Note that the travel unit 11 may move the device body 10 backward by having the travel drive motor rotate the front wheel 11a in the reverse direction.

[0038] The front wheels 11a are equipped with a steering shaft (not shown), a steering motor (not shown), and a steering rotation encoder (not shown). The traveling unit 11 drives the steering motor to rotate the steering shaft, thereby changing the direction of the front wheels 11a and steering the device main body 10, and causes the autonomous mobile work device 2 (traveling unit 11) to turn left (left turn) or right (right turn) by moving the device main body 10 forward while changing the direction of the front wheels 11a. The steering angle of the autonomous mobile work device 2 (traveling unit 11) is adjusted by controlling the drive of the steering motor. For example, the device main body 10 can be turned forward or backward while controlling the steering motor to rotate the steering shaft and tilt the steering angle 90 degrees to the left or right with respect to the direction of travel, thereby causing the device main body 10 to make a pivot turn to the left or right.

[0039] The pair of rear wheels 11b are spaced apart in the device width direction (left-right direction) at the rear side in the direction of travel, and each is equipped with an encoder (not shown) for determining the travel distance from the amount of rotation. The pair of rear wheels 11b rotate in response to the movement of the device main body 10 driven by the front wheels 11a. The adjustment of the travel speed (acceleration / deceleration) and steering of the autonomous mobile work device 2 (travel unit 11) may be performed by controlling the travel drive motor and the steering motor while feeding back the amount of rotation of each of the rear wheels 11b using the encoders provided on the rear wheels 11b. Note that in this embodiment, an example has been described in which the front drive wheels 11a and the rear auxiliary wheels 11b are provided, but the present invention is not limited to this example. For example, in other embodiments, the autonomous mobile work device may be equipped with the front auxiliary wheels 11a and the pair of rear drive wheels 11b.

[0040] When the operation mode is set to learning mode or manual mode, the traveling unit 11 operates in response to manual operation by an operator or administrator on the operation terminal 4 or operation display unit 17. When the operation mode is set to reproduction mode, the traveling unit 11 operates in response to control by the device-side control unit 20 (reproduction control unit 34) based on the travel data and environmental map of the cleaning plan selected by the operator.

[0041] The cleaning unit 12 is provided below the device main body 10 and is configured to clean the floor surface FL below the device main body 10. When the operation mode is set to learning mode or manual mode, the cleaning unit 12 operates in response to manual operation of the operation terminal 4 or operation display unit 17 by an operator or manager. When the operation mode is set to reproduction mode, the cleaning unit 12 operates in response to control (automatic operation) of the device-side control unit 20 (reproduction control unit 34) based on the cleaning data of the cleaning plan selected by the operator.

[0042] The cleaning unit 12 is configured as a wet cleaning mechanism that cleans the floor surface FL using, for example, a cleaning liquid as a detergent, and includes cleaning members 24 (working members) that come into contact with the floor surface FL to clean it, a cleaning liquid supply unit 25 that supplies cleaning liquid to the floor surface FL, and a suction unit 26 that sucks up the cleaning liquid used to clean the floor surface FL, i.e., dirty water. The cleaning unit 12 includes a cleaning member motor (not shown) that rotates the cleaning members 24 on the floor surface FL, and a cleaning member actuator (not shown) that moves the cleaning members 24 up and down relative to the floor surface FL. The cleaning unit 12 also includes a dirty water collection unit (not shown) that collects the dirty water sucked by the suction unit 26. Note that if the floor surface FL is carpeted, the cleaning unit 12 may be configured to perform dry cleaning without using cleaning liquid.

[0043] The cleaning member 24 is composed of a pair of cleaning pads or a pair of cleaning brushes attached side by side in the width direction (left and right direction) of the device at approximately the center in 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 rear at the center in the width direction. This allows dirty water and dust in front of the pair of cleaning pads or pair of cleaning brushes to be collected at the center in the width direction and discharged to the rear.

[0044] The cleaning liquid supply unit 25 is configured to supply and spray cleaning liquid from a cleaning liquid tank (not shown) onto the floor surface FL using a supply pump (not shown).

[0045] Suction unit 26 is composed of a suction blower or the like, and collects the sucked wastewater into a wastewater collection unit (not shown). The wastewater collection unit receives and collects the wastewater discharged rearward from cleaning member 24 using a squeegee 27 installed in contact with floor surface FL behind cleaning member 24, sucks the collected wastewater into a wastewater duct (not shown) connected to suction unit 26 using the suction force of suction unit 26, and collects the sucked wastewater into a wastewater tank connected to the wastewater duct.

[0046] The measurement unit 13 includes a laser range finder (LRF) 13a that measures position information (e.g., angle and distance with respect to the traveling direction of the device body 10) between the device body 10 and non-work objects such as surrounding walls and obstacles. The measurement unit 13 measures the position information of the non-work objects, for example, at predetermined intervals (e.g., every 25 ms) while the device body 10 is traveling. The LRF 13a is configured to have a detection range that extends to the front and both the left and right sides of the device body 10.

[0047] The obstacle detection unit 14 includes a plurality of proximity sensors 14a (detection units) such as ultrasonic sensors that detect the presence or absence of walls or obstacles within a predetermined distance from the device main body 10, a step sensor such as an infrared sensor that detects steps on the floor surface FL near the device main body 10, and a bumper sensor that is attached to a bumper (not shown) on the front lower side of the device main body 10 and detects contact with a wall or obstacle. The obstacle detection unit 14 may operate continuously while the device main body 10 is traveling.

[0048] First photographing unit 15 photographs the traveling status of autonomous mobile work apparatus 2, and includes first imaging device 15a such as a CCD (Charge Coupled Device) camera. First imaging device 15a is attached, for example, to the upper front side of apparatus main body 10, and photographs the traveling status of autonomous mobile work apparatus 2 by photographing the area in front of apparatus main body 10, and acquires first photographed data 60 as shown in FIG.

[0049] Second photographing section 16 photographs the cleaning work status (work status) of autonomous mobile work device 2, and includes second imaging device 16a such as a CCD camera. Second imaging device 16a such as a CCD camera photographs the area behind apparatus main body 10, and second imaging device 16a is attached to the lower rear side of apparatus main body 10, for example, and photographs the area behind and below apparatus main body 10, thereby photographing the cleaning work status of autonomous mobile work device 2 and acquiring second photographed data 61, as shown in FIG. 7.

[0050] Operation display unit 17 is provided on the upper rear side of device main body 10 and is configured to have a touch panel and the like, and each unit of operation display unit 17 is connected to device-side control unit 20. Operation display unit 17 has, for example, a key switch (not shown) for operating / stopping autonomous mobile work device 2, and an emergency stop button (not shown) for operating autonomous mobile work device 2 in an emergency.

[0051] The touch panel of the operation display unit 17 displays various screens in response to control signals from the apparatus-side controller 20, and transmits operation signals based on touch operations on each screen to the apparatus-side controller 20. For example, the touch panel of the operation display unit 17 displays a mode selection screen (not shown) on which an operation mode can be selected, and a setting screen (not shown) on which, in the learning mode and the manual mode, the travel speed of the traveling unit 11, the cleaning start / stop and pad pressure of the cleaning member 24, the start / stop of the cleaning liquid supply and the amount of water supplied by the cleaning liquid supply unit 25, the start / stop of suction and the amount of suction by the suction unit 26, etc. The mode selection screen allows the operation mode to be selected from the learning mode, the reproduction (automatic) mode, and the manual mode, and the remote operation mode is switched in response to remote operation of the operation terminal 4.

[0052] Power supply unit 18 includes a battery (power source) and a charging circuit mounted inside device main body 10, and charges the battery by connecting to an external power source, and also supplies power to each component of autonomous mobile work device 2. Power supply unit 18 may output a signal indicating the remaining battery charge to device-side control unit 20.

[0053] The device-side control unit 20 is composed of a computer such as a CPU (Central Processing Unit), and as shown in Figures 2 and 3, is connected to a device-side memory unit 21, which includes a ROM (Read Only Memory), RAM (Random Access Memory), a hard disk, a flash memory, etc., and a device-side communication unit 22. The device-side control unit 20 is also connected to each unit of the autonomous mobile work device 2, such as the traveling unit 11, cleaning unit 12, measuring unit 13, obstacle detection unit 14, first photographing unit 15, second photographing unit 16, operation display unit 17, and power supply unit 18.

[0054] Furthermore, the apparatus-side control unit 20 is connected to be able to communicate with external devices via the apparatus-side communication unit 22. The apparatus-side communication unit 22 communicates wirelessly with external devices such as the management server 3 and multiple operation terminals 4 using communication standards such as Wi-Fi and wireless LAN. For example, while the autonomous mobile work device 2 is performing automatic cleaning, the apparatus-side communication unit 22 transmits to the management server 3 first photographed data 60 obtained by the first photographing unit 15 of the traveling status of the autonomous mobile work device 2, second photographed data 61 obtained by the second photographing unit 16 of the cleaning work status of the autonomous mobile work device 2, and measurement results that are the measurement results of the measurement unit 13.

[0055] The device-side memory unit 21 stores programs and data for controlling the various parts and functions of the autonomous mobile work apparatus 2, and the device-side control unit 20 performs arithmetic processing based on the programs and data stored in the device-side memory unit 21, thereby providing overall control of the various parts and functions. For example, by executing a program stored in the device-side memory unit 21, the device-side control unit 20 operates as a mode switching unit 30, a learning control unit 31, a map creation unit 32, a cleaning plan creation unit 33, a reproduction control unit 34, and a remote operation control unit 35, as shown in FIG. 3 . This allows the autonomous mobile work apparatus 2 to travel autonomously and work automatically according to a pre-stored program. The device-side memory unit 21 also stores one or more cleaning plans and an environmental map corresponding to each cleaning plan.

[0056] The mode switching unit 30 switches the operation mode to one of the learning mode, reproduction mode, manual mode, and remote operation mode in response to the operation of each operation terminal 4 or the operation display unit 17. The learning mode, reproduction mode, and manual mode are switched by a selection operation using each operation terminal 4 or the operation display unit 17, and the remote operation mode is switched in response to the remote operation of the operation terminal 4.

[0057] For example, when the operation mode is the reproduction mode, the mode switching unit 30 switches the operation mode to the remote operation mode when it detects an error that makes the vehicle unable to travel, or when the device-side communication unit 22 receives a remote operation command from an external device such as the management server 3 or each operation terminal 4. Alternatively, the mode switching unit 30 switches the operation mode to the remote operation mode in response to operation of a remote operation start button (not shown) provided on the operation display unit 17 or each operation terminal 4, or switches the operation mode from the remote operation mode to the original mode in response to operation of a remote operation end button (not shown) provided on the operation display unit 17 or each operation terminal 4.

[0058] In the learning mode, while learning traveling and cleaning is being performed, the learning control unit 31 acquires traveling data of the traveling unit 11 and cleaning data of the cleaning unit 12 at predetermined step intervals and stores the data in the device-side memory unit 21.

[0059] The learning control unit 31 acquires, for example, self-position data (X and Y coordinates, angle) based on the position information measured by the measurement unit 13 as the traveling data. The front wheel rotation encoder of the front wheels 11a of the traveling unit 11 detects the traveling rotation speed of the front wheels 11a, and acquires the traveling speed of the traveling unit 11 based on the detection result. The steering rotation encoder of the front wheels 11a of the traveling unit 11 detects the steering rotation speed of the front wheels 11a, and acquires the turning speed of the traveling unit 11 based on the detection result. The learning control unit 31 acquires, for example, cleaning data such as cleaning on / off and pad pressure set for the cleaning member 24, cleaning liquid supply on / off and supply water volume set for the cleaning liquid supply unit 25, and suction on / off and suction volume set for the suction unit 26.

[0060] While the learning traveling and cleaning is being performed in the learning mode, the map creation unit 32 estimates its own position and creates an environmental map in real time using a technique such as SLAM (Simultaneous Localization and Mapping).

[0061] Specifically, during learning travel cleaning of a predetermined cleaning area, map creation unit 32 acquires position information of device main body 10 and non-work objects around device main body 10 as measurement results from measurement unit 13, and creates a local map of the surroundings of device main body 10 at predetermined time intervals or predetermined distance intervals based on the measurement results of measurement unit 13. Map creation unit 32 also estimates the self-position (coordinates) of autonomous mobile work device 2 in the local map based on the local map and the detection results (amount of movement of traveling unit 11) by each encoder of traveling unit 11.

[0062] When completing the learning travel cleaning, the map creation unit 32 creates an environmental map of the cleaning area by stitching (combining) each local map. The map creation unit 32 also creates a travel route by stitching (combining) the self-position (each piece of position information measured by the measurement unit 13) in the local map. By using this environmental map, it is possible to determine the travelable range along the travel route based on the self-position in the local map and the position information of non-work targets measured by the measurement unit 13, and to calculate the road width at each position (each step) of the travel route based on this travelable range.

[0063] The cleaning plan creation unit 33 creates a cleaning plan (work plan) by associating the driving data and cleaning data that the learning control unit 31 stored in the device-side memory unit 21 while the learning driving cleaning was being performed with each step when the learning driving cleaning is completed.

[0064] The cleaning plan creation unit 33 accepts input of a plan name for the created cleaning plan on a predetermined input screen (not shown) on the touch panel of the operation display unit 17, and adds the plan name entered by the operator to the created cleaning plan. The cleaning plan creation unit 33 associates the created cleaning plan with the environmental map created by the map creation unit 32 in the same learning traveling cleaning, and stores it in the device-side memory unit 21. Note that, without performing learning traveling cleaning, if the environmental map, traveling data, and cleaning data have been created in advance by using the autonomous mobile work device 2 as a computer, by an external device such as the management server 3 or each operation terminal 4, or by automatically creating a traveling route according to a program input in advance, the cleaning plan creation unit 33 may create a cleaning plan for this environmental map, traveling data, and cleaning data.

[0065] When the operation mode is reproduction mode, the reproduction control unit 34 accepts the selection of a cleaning plan on a predetermined cleaning plan selection screen (not shown) on the touch panel of the operation display unit 17, reads the selected cleaning plan from the device-side memory unit 21, and controls the traveling unit 11 and cleaning unit 12 to perform automatic traveling and cleaning based on the traveling data and cleaning data of this cleaning plan and the environmental map corresponding to the cleaning plan. Note that the reproduction control unit 34 may transmit the cleaning plan and environmental map for performing automatic traveling and cleaning to the management server 3 via the device-side communication unit 22, thereby making the management server 3 aware of them.

[0066] At this time, the reproduction control unit 34 performs autonomous traveling and cleaning while estimating the self-position of the autonomous traveling work device 2 on an environmental map corresponding to the cleaning plan. For example, the reproduction control unit 34 uses the map creation unit 32 to create a local map using technology such as SLAM, estimates the self-position of the autonomous traveling work device 2 in the local map, and matches the local map with the environmental map to estimate its self-position on the environmental map.

[0067] The reproduction control unit 34 then controls the traveling unit 11 by matching the self-position data for each step of the traveling data of the cleaning plan with the self-position estimated on the environmental map, and controls the cleaning work for each step based on the cleaning data of the cleaning unit 12.

[0068] In addition, during automatic traveling cleaning, the reproduction control unit 34 detects non-work objects such as obstacles using the laser range finder 13a of the measurement unit 13 and the proximity sensor 14a of the obstacle detection unit 14, and controls the traveling unit 11 to decelerate when the distance to the non-work object approaches a predetermined safe distance, and controls the traveling unit 11 to stop when the distance to the non-work object falls below the predetermined safe distance.

[0069] While the autonomous traveling and cleaning is being performed, the reproduction control unit 34 automatically transmits, at predetermined time intervals, first photographing data 60 obtained by the first photographing unit 15 of the traveling status of the autonomous traveling work device 2, second photographing data 61 obtained by the second photographing unit 16 of the cleaning work status of the autonomous traveling work device 2, and the measurement results obtained by the measuring unit 13 to the management server 3 via the device side communication unit 22.

[0070] When the autonomous mobile work device 2 detects an error during autonomous traveling and cleaning, the reproduction control unit 34 transmits an error notification to the management server 3 via the device-side communication unit 22. The reproduction control unit 34 may transmit an error notification indicating the inability to travel or the inability to perform cleaning operations detected as an error by the autonomous mobile work device 2. For example, when the reproduction control unit 34 detects an unknown obstacle that does not exist on the environmental map in the traveling direction based on the measurement results of the measurement unit 13, it transmits an error notification indicating the inability to travel due to the obstacle. Note that when the autonomous mobile work device 2 approaches the unknown obstacle until the distance to the obstacle is a predetermined stopping distance, the reproduction control unit 34 stops autonomous traveling and cleaning and enters a state of waiting for manual operation or remote operation.

[0071] When the operation mode is switched from the reproduction mode to the remote control mode, the reproduction control unit 34 suspends the automatic traveling and cleaning. Thereafter, the reproduction control unit 34 resumes the automatic traveling and cleaning in response to a resume operation (for example, operation of the resume button) using the operation display unit 17 or each operation terminal 4, or when the operation mode is switched from the remote control mode to the reproduction mode and the remote control traveling and cleaning has ended. At this time, the reproduction control unit 34 may resume the automatic traveling and cleaning from a position on the traveling route closest to the position of the autonomous mobile work device 2.

[0072] When the operating mode is remote operation mode, the remote operation control unit 35 performs remote operation traveling and cleaning (remote operation traveling work) when the device-side communication unit 22 receives a remote operation command from an external device such as the management server 3 or each operating terminal 4. The remote operation control unit 35 ends the remote operation traveling and cleaning when the operating mode is switched from the remote operation mode to another mode. In remote operation traveling and cleaning, the remote operation control unit 35 controls the traveling unit 11 and the cleaning unit 12 so that the autonomous mobile work device 2 travels and cleans in accordance with the remote operation corresponding to the remote operation command.

[0073] For example, when remote control commands forward movement, stopping, turning right, or turning left, the remote operation control unit 35 controls the traveling unit 11 so that the autonomous mobile work device 2 moves forward, stops, turns right, or turns left, and may also receive a setting for the traveling speed of the traveling unit 11 via remote control. The remote operation control unit 35 may also receive a setting for running / stopping the cleaning operation by the cleaning unit 12 via remote control, and may also receive individual settings such as the cleaning start / stop and pad pressure of the cleaning member 24, the cleaning liquid supply start / stop and water supply amount of the cleaning liquid supply unit 25, and the suction start / stop and suction amount of the suction unit 26. Note that the remote operation control unit 35 may also control the cleaning unit 12 to always stop cleaning operation when remotely operated traveling is performed in response to remote control.

[0074] While remote-controlled traveling and cleaning is being performed, the remote operation control unit 35 automatically transmits, at predetermined time intervals, first photographed data 60 obtained by the first photographing unit 15 of the traveling status of the autonomous mobile work device 2, second photographed data 61 obtained by the second photographing unit 16 of the cleaning status of the autonomous mobile work device 2, and the measurement results obtained by the measuring unit 13 to the management server 3 via the device-side communication unit 22. Note that the remote operation control unit 35 may also transmit the first photographed data 60, the second photographed data 61, and the measurement results of the measuring unit 13 in response to any operation using the operation terminal 4.

[0075] Furthermore, when remote control instructs the first photographing unit 15 or the second photographing unit 16 to perform photographing, the remote control unit 35 controls the photographing by the first photographing unit 15 or the second photographing unit 16, and the transmission of the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data 61 photographed by the second photographing unit 16. The remote control unit 35 may also control the photographing direction and zoom for photographing by the first photographing unit 15 or the second photographing unit 16. The remote control unit 35 is not limited to the remote control described above, and may accept various remote controls for each unit of the autonomous mobile work apparatus 2 to enable control of each unit.

[0076] Furthermore, when the remote operation control unit 35 receives a forced stop command as a remote operation command from the management server 3, it controls the traveling unit 11 and the cleaning unit 12 to forcibly stop the remote-operated traveling and cleaning. When the management server 3 detects a no-entry area, such as an access point for personnel other than authorized personnel (unauthorized personnel), it generates a traveling stop error and sends a forced stop command to the autonomous traveling work device 2. Note that the autonomous traveling work device 2 may send the first photographed data 60 and the second photographed data 61 to the management server 3 even during a forced stop. The remote operation control unit 35 does not accept remote operation commands from the management server 3 based on remote operation from the operation terminal 4 until the traveling stop error is cleared. On the other hand, when the remote operation control unit 35 receives a stop release command to clear the traveling stop error as a remote operation command from the management server 3 after the traveling stop error has occurred, it accepts remote operation commands from the management server 3 based on remote operation from the operation terminal 4.

[0077] When a travel stop error occurs, the remote operation control unit 35 may cancel the travel stop error in response to an error cancellation operation using the operation display unit 17. At this time, the remote operation control unit 35 notifies the management server 3 of the cancellation of the travel stop error.

[0078] In this embodiment, an example has been described in which the autonomous mobile work device 2 forcibly stops remote-controlled traveling and cleaning when it receives a forced stop command while performing remote-controlled traveling and cleaning, but the present invention is not limited to this example. For example, in another example, the autonomous mobile work device 2 may forcibly stop automatic traveling and cleaning, learning traveling and cleaning, or manual traveling and cleaning when it receives a forced stop command while performing automatic traveling and cleaning, learning traveling and cleaning, or manual traveling and cleaning.

[0079] Furthermore, when remote operation control unit 35 receives a predetermined work operation as a remote operation command from management server 3, it determines whether the work action corresponding to that work operation is appropriate, and if the work action is inappropriate, it generates a cleaning stop error (work stop error) that prohibits traveling and cleaning (traveling work) of autonomous traveling work device 2. At this time, remote operation control unit 35 notifies management server 3 of the cleaning stop error.

[0080] Some floor surfaces FL are suitable for wet cleaning by the autonomous mobile work device 2 while others are not. If the floor surface FL is a resin-based floor such as ceramic, the autonomous mobile work device 2 can perform wet cleaning by spraying a detergent such as a cleaning liquid onto the floor surface FL using the cleaning liquid supply unit 25. However, if the floor surface FL is a fibrous floor such as carpet, the autonomous mobile work device 2 cannot perform wet cleaning by spraying a detergent onto the floor surface FL. Therefore, when the remote operation control unit 35 receives a remote operation command from the management server 3 to spray a cleaning liquid (detergent), it determines whether the cleaning liquid spraying operation by the cleaning liquid supply unit 25 is appropriate based on the type and material of the floor surface FL, and if the cleaning liquid spraying operation is inappropriate, it generates a cleaning stop error.

[0081] When the remote control unit 35 detects vibrations from the floor surface FL while the autonomous mobile working device 2 is traveling using a vibration sensor, the remote control unit 35 detects changes in the level of the floor surface FL or the material of the floor surface FL based on the change in the vibration magnitude, and identifies the type of level difference, the level difference, or the type of floor surface based on the detection results. For example, the vibration sensor detects level differences on the floor surface FL by detecting vibrations when descending from the floor surface FL onto a level difference such as a groove or recess, vibrations when ascending from the floor surface FL onto a level difference such as a protrusion, and vibrations when traveling in a sinking motion. The remote control unit 35 also detects the material of the floor surface FL by detecting vibrations due to an increase in the traveling load when moving onto a fiber-based floor such as carpet, and vibrations due to a decrease in the traveling load when moving onto a resin-based floor such as ceramic. In addition to detecting vibrations from the floor surface FL, the remote control unit 35 may also detect the material of the floor surface FL based on the detection results of infrared light reflected from the floor surface FL using an infrared sensor included in the autonomous mobile working device 2.

[0082] When a cleaning stop error occurs, the remote operation control unit 35 controls the traveling unit 11 and the cleaning unit 12 to forcibly stop the remote-controlled traveling cleaning. The remote operation control unit 35 notifies the management server 3 of the cleaning stop error and does not accept remote operation commands from the management server 3 based on remote operation from the operation terminal 4 until the cleaning stop error is cleared. On the other hand, when the cleaning stop error occurs and then the cleaning stop error is cleared, the remote operation control unit 35 accepts remote operation commands from the management server 3 based on remote operation from the operation terminal 4.

[0083] When a cleaning stop error occurs, the remote operation control unit 35 may cancel the cleaning stop error in response to an error cancellation operation using the operation display unit 17 or an error cancellation command received from the operation terminal 4. At this time, the remote operation control unit 35 notifies the management server 3 that the cleaning stop error has been canceled.

[0084] In this embodiment, an example has been described in which a cleaning stop error is generated if the autonomous mobile work device 2 is performing an invalid work operation while performing remotely controlled cleaning while traveling, but the present invention is not limited to this example. For example, in another example, the autonomous mobile work device 2 may generate a cleaning stop error if the work operation is invalid while performing automatic cleaning, learning cleaning, or manual cleaning while traveling.

[0085] Next, we will explain the management server 3. The management server 3 manages the autonomous mobile work device 2, as well as users such as operators and administrators who use each operation terminal 4. As shown in Fig. 4, the management server 3 includes a server-side control unit 40, a server-side storage unit 41, and a server-side communication unit 42.

[0086] The server-side control unit 40 is responsible for overall control of each part and function of the management server 3, and is composed of a computer such as a CPU, and is connected to a server-side memory unit 41 and a server-side communication unit 42, which include ROM, RAM, a hard disk, flash memory, etc.

[0087] The server-side control unit 40 is also connected to external devices via the server-side communication unit 42 so as to be able to communicate with them. The server-side communication unit 42 communicates wirelessly with external devices, such as the autonomous mobile work apparatus 2 and each operation terminal 4 owned by a user, such as an operator or administrator, using a communication standard such as Wi-Fi or wireless LAN. The server-side communication unit 42 receives, from the autonomous mobile work apparatus 2, for example, first photographed data 60 captured by the first photographing unit 15 of the autonomous mobile work apparatus 2 of the traveling status of the autonomous mobile work apparatus 2, second photographed data 61 captured by the second photographing unit 16 of the cleaning operation status of the autonomous mobile work apparatus 2, and measurement results from the measurement unit 13 of the autonomous mobile work apparatus 2, and causes each operation terminal 4 to view and display a remote operation screen 70 (see FIG. 15 ) displaying the first photographed data 60 and the second photographed data 61. The server-side communication unit 42 receives remote operations from each operation terminal 4 and transmits remote operation commands corresponding to the remote operations to the autonomous mobile work apparatus 2.

[0088] The server-side storage unit 41 stores programs and data for controlling the various units and functions of the management server 3, and the server-side control unit 40 performs overall control of the units and functions by executing arithmetic processing based on the programs and data stored in the server-side storage unit 41. For example, the server-side control unit 40 executes the programs stored in the server-side storage unit 41 to operate as a device-to-terminal linking unit 45, a screen control unit 46, a remote operation command unit 47, and an error control unit 48.

[0089] The management server 3 manages users such as operators and administrators of each operation terminal 4, and the server-side memory 41 stores personal registration information for each user, such as personal identification information (personal code), name, affiliation, user type, and password, as shown in FIG. 8. The personal registration information may also include an operation level indicating the level at which each user can operate the autonomous mobile work apparatus 2. The management server 3 manages the autonomous mobile work apparatus 2, and the server-side memory 41 stores device registration information for each autonomous mobile work apparatus 2, such as device identification information (robot identification code) and name, as shown in FIG. 9. The management server 3 also receives, via the server-side communication unit 42, the cleaning plan and environmental map created by the autonomous mobile work apparatus 2 during learning cleaning, as well as the operation details of the operation terminal 4 by the worker, and stores the history of these in the server-side memory 41.

[0090] The management server 3 can set one or more users as facility managers for each cleaning area, and as shown in FIG. 10, area identification information that identifies each cleaning area is associated with the personal identification information of each user and registered in the server-side storage unit 41 as manager information. Note that each user can not only be set as the facility manager for one cleaning area, but can also be set as the facility manager for two or more cleaning areas. The management server 3 also sets authority information for each user when remotely operating each autonomous mobile work device 2, and as shown in FIG. 11, the server-side storage unit 41 stores, in association with each other, the personal code of each user, the device identification information of each autonomous mobile work device 2, and the type of remote operation authority as authority information.

[0091] Furthermore, private objects that are restricted from being disclosed to outsiders may be placed in the cleaning area. In this case, the management server 3 associates object identification information unique to each private object with private object data for allowing the autonomous mobile work device 2 and the management server 3 to recognize the private object and registers this information in the server-side storage unit 41 as object registration information for identifying the private object, as shown in FIG. 12 . The private object data may be, for example, an image of the private object, a sign (e.g., a two-dimensional code, a character, a symbol, etc.) that indicates to those around it that the private object is a private object, or location information of the private object (e.g., area identification information that identifies the cleaning area in which the private object is placed, or location information of the private object in the cleaning area). The sign for the private object data may be attached to the private object itself, or to the surrounding walls or floor.

[0092] The target registration information may include the affiliation, user type, and operation level set in the user's personal registration information as an outsider who is restricted from disclosing non-public targets, or may include individual personal identification information. The target registration information may be registered in advance when a cleaning area or non-public target is registered, or may be registered or changed in response to an arbitrary operation using the operation terminal 4 by an authorized administrator or the like. Alternatively, the management server 3 may set a disclosure flag indicating whether each user is an outsider who is restricted from disclosing each non-public target, and associate each user's personal identification information with the target registration information of each non-public target and the disclosure flag, and register them individually for each user in the server-side storage unit 41.

[0093] Furthermore, a cleaning area may have a no-entry area, such as an entrance / exit for personnel who are prohibited from entering, that prohibits non-authorized personnel (unauthorized personnel). In this case, the management server 3 registers, in the server-side storage unit 41, area registration information for identifying the no-entry area, as shown in FIG. 13 , area identification information specific to each no-entry area and no-entry area data for making the autonomous mobile work device 2 and the management server 3 recognize the no-entry area, in association with each other. The no-entry area data may include, for example, a sign (e.g., a two-dimensional code, a character, a symbol, etc.) that indicates to the surrounding area that the area is a no-entry area, and location information of the no-entry area (e.g., area identification information that identifies the cleaning area in which the no-entry area is located, and location information of the no-entry area within the cleaning area). The no-entry area data sign may be attached to the door that separates the no-entry area, or to the surrounding walls and floors.

[0094] The area registration information may include the affiliation, user type, and operation level set in the personal registration information of the user as a person (unauthorized person) who is prohibited from entering the restricted area, or may include individual personal identification information. The area identification information may be registered in advance when the cleaning area or restricted area is registered, or may be registered or changed in response to an arbitrary operation using the operation terminal 4 by an authorized administrator or the like. Alternatively, the management server 3 may set an entry permission flag indicating whether each user is an unauthorized person who is prohibited from entering the restricted area, and associate each user's personal identification information with the area registration information of each restricted area and the entry permission flag, and register them individually for each user in the server-side storage unit 41.

[0095] The management server 3 receives and authenticates the user's personal identification information (personal code) and password from the operation terminal 4, thereby permitting the operation terminal 4 to log in to the management server 3. For example, the management server 3 presents a login screen 65, as shown in FIG. 14, to the operation terminal 4 that has accessed the management server 3, and accepts the personal identification information and password.

[0096] The device-to-terminal linking unit 45 links the autonomous mobile work device 2 with the operation terminal 4 so that the autonomous mobile work device 2 can be remotely operated by the operation terminal 4. For example, the device-to-terminal linking unit 45 receives a selection request from an operation terminal 4 that has logged in to the management server 3 to select the autonomous mobile work device 2 that the user wishes to remotely operate, and links that autonomous mobile work device 2 with that operation terminal 4. Note that the device-to-terminal linking unit 45 can not only link one operation terminal 4 to one autonomous mobile work device 2, but can also link two or more operation terminals 4 to one autonomous mobile work device 2 if there are selection requests from two or more operation terminals 4 for one autonomous mobile work device 2.

[0097] While the operating terminal 4 is logged in to the management server 3, the device-to-terminal linking unit 45 stores linking information associating the operating terminal 4 with the autonomous mobile work apparatus 2 linked to the operating terminal 4 in the server-side storage unit 41. When the device-to-terminal linking unit 45 links the operating terminal 4 with the autonomous mobile work apparatus 2, it sends a success notification of the selection request to the operating terminal 4. Furthermore, when the operating terminal 4 logs out from the management server 3, or when it cancels the selection request for the autonomous mobile work apparatus 2, or when it makes a selection request to another autonomous mobile work apparatus 2, the device-to-terminal linking unit 45 deletes the linking information between the operating terminal 4 and the autonomous mobile work apparatus 2 from the server-side storage unit 41.

[0098] The screen control unit 46 creates a remote operation screen 70 (see FIG. 15 ) that displays the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data 61 photographed by the second photographing unit 16 in the autonomous mobile work apparatus 2, and presents the remote operation screen 70 for viewing and display on the operation terminal 4. The remote operation screen 70 may be a screen on which the user remotely checks the first photographed data 60 and the second photographed data 61 when the operating mode of the autonomous mobile work apparatus 2 is the learning mode, reproduction mode, or manual mode, or may be a screen on which the user remotely operates the autonomous mobile work apparatus 2 while checking the first photographed data 60 and the second photographed data 61 when the operating mode is the remote operation mode.

[0099] The screen control unit 46 basically displays moving images of the first photographed data 60 and the second photographed data 61 on the remote operation screen 70, but may also display still images extracted from the first photographed data 60 and the second photographed data 61 in response to any operation performed by the user using the operation terminal 4. The screen control unit 46 may create the remote operation screen 70 as a screen on a website managed by the management server 3, and make the remote operation screen 70 corresponding to each operation terminal 4 accessible only to that operation terminal 4.

[0100] The following describes an example of creating a remote operation screen 70 for remotely operating the autonomous running and working device 2 when the screen control unit 46 is in the remote operation mode.

[0101] Specifically, in order to create a remote operation screen 70 for each of the one or more operation terminals 4 linked to each autonomous mobile work device 2, the screen control unit 46 reads from the server-side storage unit 41 the personal registration information of the user when each of the one or more operation terminals 4 logged in to the management server 3. The screen control unit 46 reads from the server-side storage unit 41 the authority information corresponding to the personal identification information of each of the read personal registration information, creates a remote operation screen 70 unique to each user based on the personal registration information and authority information of each user, and causes the remote operation screen 70 to be viewed and displayed on the operation terminal 4 corresponding to that user.

[0102] 15 , on a remote operation screen 70 displayed on the operation terminal 4, the screen control unit 46 displays a login name 71 indicating the user who has logged in at the operation terminal 4 and an apparatus name 72 indicating the autonomous mobile work apparatus 2 linked to the operation terminal 4. Furthermore, on the remote operation screen 70, the screen control unit 46 displays an image display field 73 that displays captured data based on the authority information of each user, and also displays a camera operation field 74, a driving operation field 75, and a cleaning operation field 76 as operation fields corresponding to the type of remote operation authority indicated in the authority information of each user.

[0103] The camera operation field 74 accepts shooting operations for the first shooting unit 15 and the second shooting unit 16, which capture the shooting data displayed in the image display field 73, and operably displays a zoom button 77 for controlling the zoom of the first shooting unit 15 and the second shooting unit 16 and a shooting direction button 78 for controlling the shooting direction of the first shooting unit 15 and the second shooting unit 16. The travel operation field 75 accepts driving operations for the driving unit 11, and enables remote control of the driving speed of the driving unit 11, as well as forward movement, stopping, right turn, and left turn of the driving unit 11. The cleaning operation field 76 accepts cleaning operation operations for the cleaning unit 12, and enables remote control of the operation / stop and pad pressure of the cleaning member 24 of the cleaning unit 12, the operation / stop and supply water amount of the cleaning liquid supply unit 25 of the cleaning unit 12, and the operation / stop and suction amount of the suction unit 26 of the cleaning unit 12.

[0104] Furthermore, if the first photographed data 60 or the second photographed data 61 displayed in the image display field 73 contains a private object that is restricted from being disclosed to outsiders, the screen control unit 46 processes the first photographed data 60 or the second photographed data 61 so that the private object cannot be recognized.

[0105] First, the screen control unit 46 reads out the target registration information of each non-disclosed target set for the cleaning area where the autonomous mobile work device 2 will perform mobile cleaning from the server-side memory unit 41, and determines whether or not the non-disclosed target has been photographed in the first photographed data 60 or the second photographed data 61 based on each target registration information.

[0106] For example, the screen control unit 46 determines whether or not a private object is photographed in the first photographed data 60 or the second photographed data 61 by comparing (matching) feature points of the image of the private object in the read object registration information with feature points of the first photographed data 60 or the second photographed data 61. If the sign of the private object is a two-dimensional code, the screen control unit 46, upon detecting the two-dimensional code from the first photographed data 60 or the second photographed data 61, reads the two-dimensional code to determine whether or not a private object is photographed in the first photographed data 60 or the second photographed data 61 at a position indicated by the two-dimensional code. Alternatively, if the sign of the private object is a character or symbol, the screen control unit 46, upon extracting the character or symbol from the first photographed data 60 or the second photographed data 61, performs character recognition processing on the character or symbol to determine whether or not a private object is photographed in the first photographed data 60 or the second photographed data 61 at a position indicated by the character or symbol.

[0107] Alternatively, the screen control unit 46 acquires the position information of the autonomous mobile work apparatus 2 based on the environmental map acquired from the autonomous mobile work apparatus 2 and the measurement results of the measurement unit 13, and also acquires the shooting direction of the first photographing unit 15 and the second photographing unit 16. The screen control unit 46 acquires position information of the shooting ranges of the first photographing unit 15 and the second photographing unit 16 based on the position information of the autonomous mobile work apparatus 2 and the shooting directions of the first photographing unit 15 and the second photographing unit 16. The screen control unit 46 then determines whether the position information of the private target in the read target registration information is included in the shooting ranges of the first photographing unit 15 and the second photographing unit 16, thereby determining whether the private target is photographed in the first photographed data 60 or the second photographed data 61.

[0108] Furthermore, when it is determined that a non-disclosure target is captured in the first photographed data 60 or the second photographed data 61, and the autonomous mobile work device 2 that captured the first photographed data 60 or the second photographed data 61 is linked to the operation terminal 4 of a single user, the screen control unit 46 determines whether the non-disclosure target is one for which disclosure is restricted to the single user as an outsider, based on the single user's personal registration information (affiliation, user type, operation level) and the target registration information of the non-disclosure target. Then, when the screen control unit 46 determines that disclosure of the non-disclosure target is restricted to the single user as an outsider, it processes the first photographed data 60 or the second photographed data 61 so that the non-disclosure target cannot be recognized.

[0109] For example, the screen control unit 46 acquires the coordinate system of the first photographed data 60 and the second photographed data 61 using visual SLAM or the like. The screen control unit 46 acquires feature points of the environmental map and feature points of the first photographed data 60 or the second photographed data 61, and matches and associates them to associate each coordinate of the environmental map with that of the first photographed data 60 or the second photographed data 61. Based on this association, the screen control unit 46 determines the position information of the non-disclosed object in the first photographed data 60 or the second photographed data 61. Then, the screen control unit 46 restricts the disclosure of the non-disclosed object by performing processing such as blurring or mosaic processing on the position of the non-disclosed object in the first photographed data 60 or the second photographed data 61.

[0110] When the remote operation command unit 47 receives a remote operation from the operation terminal 4 via the server-side communication unit 42, it generates a remote operation command corresponding to the remote operation and transmits it to the autonomous mobile work apparatus 2 via the server-side communication unit 42. For example, when an error notification is received from the autonomous mobile work apparatus 2, the remote operation command unit 47 transmits a remote operation request to the operation terminal 4 via the server-side communication unit 42 and receives the remote operation transmitted from the operation terminal 4 in response to the remote operation request. Alternatively, the remote operation command unit 47 receives the remote operation transmitted from the operation terminal 4 when the operation mode of the autonomous mobile work apparatus 2 has switched to remote operation mode in response to operation of a remote operation start button (not shown) provided on the operation terminal 4.

[0111] For example, when the remote operation command unit 47 receives an error notification from the autonomous mobile work apparatus 2 that has detected an unknown obstacle, indicating that the autonomous mobile work apparatus 2 is unable to travel due to the obstacle, the remote operation command unit 47 sends a remote operation request to the operation terminal 4 via the server-side communication unit 42. Furthermore, when the remote operation command unit 47 receives a remote operation from the operation terminal 4 via the server-side communication unit 42, it generates a remote operation command corresponding to the remote operation. Specifically, when an obstacle is detected in the traveling direction of the autonomous mobile work apparatus 2 based on the first photographed data 60 photographed by the first photographing unit 15 and the measurement data measured by the measurement unit 13 in the autonomous mobile work apparatus 2, and the remote operation is an instruction to avoid the obstacle, the remote operation command unit 47 generates a remote operation command to instruct the autonomous mobile work apparatus 2 to travel while avoiding the obstacle.

[0112] Furthermore, when the remote operation is a travel instruction such as forward movement, stop, right turn or left turn, the remote operation instruction unit 47 generates a remote operation command for the travel instruction, and when the remote operation is a travel setting instruction such as the travel speed of the travel unit 11, the remote operation instruction unit 47 generates a remote operation command for the travel setting instruction. When the remote operation is a work instruction such as start / stop of cleaning work by the cleaning unit 12, the remote operation instruction unit 47 generates a remote operation command for the work instruction, and when the remote operation is an individual setting instruction such as start / stop of cleaning and pad pressure by the cleaning member 24, start / stop of cleaning liquid supply and supply water amount by the cleaning liquid supply unit 25, start / stop of suction by the suction unit 26 and suction amount, the remote operation instruction unit 47 generates a remote operation command for the individual setting instruction.

[0113] When the remote operation is a photographing operation instruction for the first photographing unit 15 or the second photographing unit 16, the remote operation command unit 47 generates a remote operation command for the photographing operation instruction. For example, the remote operation command unit 47 generates a remote operation command by accepting a photographing operation instruction indicating an operation of a photographing direction or an operation of zooming in or out for the first photographing unit 15 or the second photographing unit 16. Note that the remote operation command unit 47 may accept a photographing operation instruction and generate a remote operation command only when only the first photographed data 60 or only the second photographed data 61 is displayed singly in the image display field 73 of the remote operation screen 70 based on the image viewing settings of each user.

[0114] Furthermore, the remote operation command unit 47 is not limited to the remote operations described above, and may receive various remote operations for each part of the autonomous running and working device 2 and generate remote operation commands for controlling each part.

[0115] In addition, when the autonomously running work device 2 ends its remotely controlled driving, the remote control command unit 47 receives a notification of the end of remotely controlled driving from the autonomously running work device 2 via the server-side communication unit 42, and then transmits the notification of the end of remotely controlled driving to the operation terminal 4 via the server-side communication unit 42.

[0116] The error control unit 48 controls errors that occur during traveling and cleaning by the autonomous traveling work device 2 on the management server 3 side.

[0117] For example, if the first photographed data 60 or the second photographed data 61 displayed in the image display field 73 of the remote operation screen 70 includes an image of a no-entry area such as an access point for personnel other than authorized personnel (unauthorized personnel), the error control unit 48 generates a travel stop error for the autonomous mobile work device 2. When a travel stop error is generated, the error control unit 48 sends a forced stop command to the autonomous mobile work device 2, and also causes the screen control unit 46 to make the remote operation screen 70 impossible to remotely operate.

[0118] First, the error control unit 48 reads from the server-side storage unit 41 area registration information of no-entry areas set for the cleaning area where the autonomous mobile work device 2 performs cleaning while traveling, and determines, based on each area registration information, whether or not the no-entry area has been photographed in the first photographed data 60 or the second photographed data 61. For example, the error control unit 48 determines whether or not the no-entry area has been photographed in the first photographed data 60 or the second photographed data 61 by comparing (matching) feature points of the image or sign of the no-entry area in the read area registration information with feature points of the first photographed data 60 or the second photographed data 61.

[0119] If the no-entry area sign is a two-dimensional code, and the error control unit 48 detects the two-dimensional code from the first photographed data 60 or the second photographed data 61, the error control unit 48 reads the two-dimensional code and determines whether or not a no-entry area has been photographed in the first photographed data 60 or the second photographed data 61 at the position indicated by the two-dimensional code. Alternatively, if the no-entry area sign is a character or symbol, and the error control unit 48 extracts the character or symbol from the first photographed data 60 or the second photographed data 61, the error control unit 48 performs character recognition processing on the character or symbol and determines whether or not a no-entry area has been photographed in the first photographed data 60 or the second photographed data 61 at the position indicated by the character or symbol.

[0120] Alternatively, the error control unit 48 acquires the position information of the autonomous mobile work apparatus 2 based on the environmental map acquired from the autonomous mobile work apparatus 2 and the measurement results of the measurement unit 13, and also acquires the shooting direction of the first photographing unit 15 and the second photographing unit 16. The error control unit 48 acquires position information of the shooting ranges of the first photographing unit 15 and the second photographing unit 16 based on the position information of the autonomous mobile work apparatus 2 and the shooting direction of the first photographing unit 15 and the second photographing unit 16. The error control unit 48 then determines whether the position information of the no-entry area in the read area registration information is included in the shooting range of the first photographing unit 15 and the second photographing unit 16, thereby determining whether the no-entry area is included in the first photographed data 60 or the second photographed data 61.

[0121] Furthermore, when the error control unit 48 determines that a no-entry area is included in the first photographed data 60 or the second photographed data 61, and if the autonomous mobile work device 2 that captured the first photographed data 60 or the second photographed data 61 is linked to the operation terminal 4 of a user, the error control unit 48 determines whether the user is an unauthorized person who is prohibited from entering the no-entry area based on the user's personal registration information (affiliation, user type, operation level) and the area registration information of the no-entry area. If the error control unit 48 determines that the user is an unauthorized person, it reads from the server-side storage unit 41 information on the person in charge of the cleaning area where the autonomous mobile work device 2 is performing cleaning while traveling, and determines based on the person in charge information whether the operation terminal 4 of the facility manager of the cleaning area is logged in to the management server 3.

[0122] Here, if it is determined that a no-entry area is captured in the first photographed data 60 or the second photographed data 61 and that the operation terminal 4 of the facility manager of the cleaning area is not logged in to the management server 3, the error control unit 48 generates a travel stop error for the autonomous mobile work device 2. Note that the error control unit 48 may generate a travel stop error for the autonomous mobile work device 2 not only when it is determined that a no-entry area is captured in the first photographed data 60 or the second photographed data 61, but also when it is determined that the autonomous mobile work device 2 has approached within a predetermined distance of the no-entry area using the various determination methods described above. Furthermore, the error control unit 48 may generate a travel stop error for the autonomous mobile work device 2 not only when the operation terminal 4 of the facility manager of the cleaning area is not logged in to the management server 3, but also when the operation terminal 4 of the facility manager is not linked to an autonomous mobile work device 2.

[0123] On the other hand, if it is determined that the facility manager of the cleaning area is logged in to the management server 3, the error control unit 48 may not issue an error to stop the autonomous mobile work apparatus 2 from traveling. At this time, the error control unit 48 may notify the operation terminal 4 of the facility manager that an autonomous mobile work apparatus 2 linked to the operation terminal 4 of a user is approaching a prohibited area. The error control unit 48 may also inquire of the operation terminal 4 of the facility manager as to whether or not to permit the autonomous mobile work apparatus 2 linked to the operation terminal 4 of the user to enter the prohibited area. For example, the error control unit 46 may cause the inquiry screen (not shown) to be operable and displayed on the operation terminal 4 of the facility manager. Here, if the operation terminal 4 of the facility manager permits entry into the prohibited area, the error control unit 48 may not issue an error to stop the autonomous mobile work apparatus 2 from traveling. However, if the operation terminal 4 of the facility manager does not permit entry into the prohibited area, the error control unit 48 may issue an error to stop the autonomous mobile work apparatus 2 from traveling.

[0124] When a travel stop error occurs in the autonomous mobile work apparatus 2, the error control unit 48 sends a forced stop command to the autonomous mobile work apparatus 2 to forcibly stop the autonomous mobile work apparatus 2. The error control unit 48 may also notify the autonomous mobile work apparatus 2 of the occurrence of a travel stop error. The error control unit 48 also causes the screen control unit 46 to disable remote operation of the remote operation screen 70 of each operation terminal 4 used to remotely operate the autonomous mobile work apparatus 2, and notifies the operation terminal 4 of the occurrence of a travel stop error. At this time, the screen control unit 46 hides the travel operation column 75 and the cleaning operation column 76 on the remote operation screen 70, or displays them as inoperable. The screen control unit 46 may also enable operation of the camera operation column 74 on the remote operation screen 70.

[0125] Furthermore, if the error control unit 48 determines that the facility manager of the cleaning area is logged in to the management server 3 after a travel stop error occurs for the autonomous mobile work device 2, it cancels the travel stop error for the autonomous mobile work device 2. At this time, the error control unit 48 sends a stop cancellation command to the autonomous mobile work device 2 to cancel the forced stop of the autonomous mobile work device 2. The error control unit 48 may also notify the autonomous mobile work device 2 that the travel stop error has been canceled. The error control unit 48 also causes the screen control unit 46 to enable remote operation of the remote operation screen 70 of the operation terminal 4 that has been disabled for remote operation, and notifies the operation terminal 4 that the travel stop error has been canceled. At this time, the screen control unit 46 displays the travel operation field 75 and the cleaning operation field 76 on the remote operation screen 70 so that they can be operated. As a result, when the facility manager is logged in, the autonomous mobile work device 2 can be remotely operated to travel and enter even a no-entry area. The no-entry area may be separated by a swing door or curtain that can be pushed open by the autonomous mobile work device 2 traveling. On the other hand, when the facility manager is logged in, the driving stop function based on the detection results of the obstacle detection unit 14 such as a bumper sensor is turned off when entering and leaving the restricted area, or while driving in the restricted area, thereby allowing driving in the restricted area.

[0126] Furthermore, when the autonomous mobile work device 2 generates a cleaning stop error (work stop error) that prohibits cleaning while traveling (work while traveling), the error control unit 48 receives a cleaning stop error notification from the autonomous mobile work device 2. In response to the cleaning stop error notification, the error control unit 48 causes the screen control unit 46 to disable remote operation of the remote operation screen 70 of each operation terminal 4 used to remotely operate the autonomous mobile work device 2, and notifies the operation terminal 4 of the occurrence of a cleaning stop error. At this time, the screen control unit 46 hides the travel operation column 75 and cleaning operation column 76 on the remote operation screen 70, or displays them as inoperable. Note that the screen control unit 46 may also enable operation of the camera operation column 74 on the remote operation screen 70.

[0127] Furthermore, when notifying operation terminal 4 of the occurrence of a cleaning stop error, error control unit 48 may cause screen control unit 46 to pop up a cancellation operation screen (not shown) on operation terminal 4. The cancellation operation screen has a message indicating the occurrence of a cleaning stop error and an operation button for accepting an operation to cancel the cleaning stop error. When an operation to cancel the cleaning stop error is performed on the cancellation operation screen, error control unit 48 sends an error cancellation command to autonomous mobile work device 2, causing autonomous mobile work device 2 to cancel the cleaning stop error.

[0128] Next, we will explain the operation terminal 4. The operation terminal 4 is composed of a personal computer, tablet terminal, or the like owned by a user such as an operator, manager, or security guard who uses the autonomous mobile work device 2. As shown in Fig. 5, the operation terminal 4 includes a terminal control unit 50, a terminal storage unit 51, a terminal communication unit 52, and a display unit 53 composed of a touch panel or the like.

[0129] The terminal-side control unit 50 is responsible for overall control of each part and function of the operation terminal 4, and is composed of a computer such as a CPU, and is connected to a terminal-side memory unit 51 including ROM, RAM, a hard disk, flash memory, etc., a terminal-side communication unit 52, and a display unit 53.

[0130] The terminal-side control unit 50 is also connected to external devices via the terminal-side communication unit 52 so that it can communicate with them. The terminal-side communication unit 52 communicates wirelessly with external devices such as the autonomous mobile work apparatus 2 and the management server 3 using communication standards such as Wi-Fi and wireless LAN. For example, the terminal-side communication unit 52 sends an instruction to the management server 3 to select the autonomous mobile work apparatus 2 that the user wishes to remotely control, in order to link the autonomous mobile work apparatus 2 to the management server 3. The terminal-side communication unit 52 accesses a website managed by the management server 3 to obtain a remote operation screen 70 for operating the autonomous mobile work apparatus 2 linked to the operating terminal 4, and also sends remote operation instructions using the remote operation screen 70 to the management server 3.

[0131] The terminal-side storage unit 51 stores programs and data for controlling the various units and functions of the operation terminal 4, and the terminal-side control unit 50 performs overall control of the units and functions by executing arithmetic processing based on the programs and data stored in the terminal-side storage unit 51. For example, the terminal-side control unit 50 executes the programs stored in the terminal-side storage unit 51 to operate as a login processing unit 55, a device selection unit 56, a display control unit 57, and an operation input unit 58.

[0132] The login processing unit 55 accepts login processing to the management server 3 by an operator or an administrator using the operation terminal 4. As shown in FIG. 14 , the login processing unit 55 displays a login screen 65 for performing the login processing on the display unit 53, and accepts input of personal identification information (personal code) and passwords of each user, such as an operator or an administrator, on the login screen 65. The login screen 65 may be configured as a screen on a website managed by the management server 3. The personal identification information and passwords are managed by the management server 3. The login processing unit 55 transmits a login request including the input personal identification information and password to the management server 3 via the terminal-side communication unit 52.

[0133] When management server 3 authenticates the personal identification information and password based on the login request and sends a login success notification to operation terminal 4, device selection unit 56, in response to the successful login, displays a device selection screen (not shown) on display unit 53 for selecting the autonomous mobile work apparatus 2 that the user wishes to remotely operate, and accepts the selection of the autonomous mobile work apparatus 2 on the device selection screen. The device selection screen may be configured as a screen on a website managed by management server 3. Device selection unit 56 sends a selection instruction for the selected autonomous mobile work apparatus 2 to management server 3 via terminal-side communication unit 52. As a result, the autonomous mobile work apparatus 2 and the operation terminal 4 are linked by the management server 3.

[0134] When the operation terminal 4 logs in to the management server 3 and selects an autonomous mobile work apparatus 2, or when the autonomous mobile work apparatus 2 linked to the operation terminal 4 performs automatic traveling and cleaning, the display control unit 57 acquires a remote operation screen 70 for remotely operating the autonomous mobile work apparatus 2 by the terminal-side communication unit 52 and displays it on the display unit 53, as shown in Fig. 15. As described above, the remote operation screen 70 displays the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data 61 photographed by the second photographing unit 16 of the autonomous mobile work apparatus 2 selected by the operation terminal 4.

[0135] Furthermore, when the autonomous mobile work apparatus 2 detects an unknown obstacle and a remote operation request is received from the management server 3 via the terminal-side communication unit 52, the display control unit 57 displays a recommendation notification for remote operation of the autonomous mobile work apparatus 2 on the remote operation screen 70. Furthermore, when the autonomous mobile work apparatus 2 has finished remotely controlled traveling and a remotely controlled traveling end notification is received from the management server 3 via the terminal-side communication unit 52, the display control unit 57 displays a remotely controlled traveling end notification on the remote operation screen 70.

[0136] The operation input unit 58 accepts input operations on various screens such as the remote operation screen 70, and transmits the remote operations input using the remote operation screen 70 to the management server 3 via the terminal-side communication unit 52. For example, when the autonomous mobile work device 2 performing automatic cleaning detects an error that makes it unable to travel or work and transmits an error notification, and the management server 3 transmits a remote operation request to the operation terminal 4, the operation input unit 58 enables the remote operation screen 70 to accept remote operations to avoid the error.

[0137] The remote operations accepted by the operation input unit 58 on the remote operation screen 70 may be operations of the traveling unit 11 and the cleaning unit 12 in the traveling operation field 75 and the cleaning operation field 76 on the remote operation screen 70, thereby allowing the operation input unit 58 to accept remote operations such as operations to avoid unknown obstacles and operations to restart cleaning. Also, the remote operations may be operations of the first photographing unit 15 and the second photographing unit 16 in the camera operation field 74 on the remote operation screen 70, thereby allowing the operation input unit 58 to accept remote operations to control zoom, photographing direction, etc.

[0138] Next, an example of the operation of displaying the remote operation screen 70 of the autonomous traveling and working device 2 on the operating terminal 4 in the traveling and working information processing system 1 of the first embodiment will be described with reference to the flowchart of FIG.

[0139] First, in the traveling work information processing system 1, the autonomous traveling work device 2 is placed at a cleaning start position (start position) in the cleaning area in order to perform autonomous traveling and cleaning of the cleaning area (step S1).

[0140] The operation terminal 4 is operated by the operator who operates the autonomous mobile work device 2, and accesses the management server 3 to display the login screen 65 (step S2). When the operator enters personal identification information and a password on the login screen 65 on the operation terminal 4 to perform the login process (step S3), the entered login information is sent to the management server 3, and the management server 3 authenticates the personal identification information and password and accepts the login of the operation terminal 4 (step S4).

[0141] When the operation terminal 4 successfully logs in to the management server 3, it accesses the management server 3 and displays an equipment selection screen (not shown). At this time, in response to successful login, the management server 3 switches from the login screen 65 to an equipment selection screen and presents it to the operation terminal 4 (displays it for viewing). Furthermore, when the operation terminal 4 selects the autonomous mobile work device 2 on the equipment selection screen (step S5), a selection request for the autonomous mobile work device 2 is sent to the management server 3, and the management server 3 associates and manages the operation terminal 4 and the autonomous mobile work device 2 (step S6).

[0142] When the operation terminal 4 receives a success notification in response to the selection request from the management server 3, it sends a screen request for the remote operation screen 70 to the management server 3 in order to remotely operate the autonomous mobile work apparatus 2 (step S7). In response to this screen request, the management server 3 sends a data request for various data, such as photographed data, required to create the remote operation screen 70 to the autonomous mobile work apparatus 2 linked to the operation terminal 4 (step S8).

[0143] In response to such a data request, the autonomously mobile work device 2 acquires various data such as the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data 61 photographed by the second photographing unit 16, and transmits it to the management server 3 (step S9). The management server 3 creates a remote operation screen 70 based on the various data such as the first photographed data 60 and the second photographed data 61 received from the autonomously mobile work device 2 (step S10), and makes it accessible from the operation terminal 4 corresponding to the user.

[0144] At this time, in response to the screen request, the management server 3 switches from the device selection screen to the remote operation screen 70 and presents it (displays it for viewing) on ​​the operation terminal 4 (step S11). Note that while the operation terminal 4 is selecting an autonomous mobile work apparatus 2, the management server 3 may present the remote operation screen 70 of that autonomous mobile work apparatus 2 to the operation terminal 4.

[0145] Next, an example of the operation of the autonomous traveling and cleaning of the autonomous traveling and working device 2 in the traveling work information processing system 1 will be described with reference to the flowcharts in Figures 17 to 19. Figure 17 shows the operation of the autonomous traveling and working device 2, Figure 18 shows the operation of the management server 3, and Figure 19 shows the operation of the operation terminal 4.

[0146] First, when the autonomous mobile work device 2 starts automatic traveling and cleaning (step S21 in FIG. 17), while the autonomous traveling and cleaning is being performed, it acquires various data such as the first photographed data 60 photographed by the first photographing unit 15 and the second photographed data 61 photographed by the second photographing unit 16, and transmits them to the management server 3 (step S22 in FIG. 17).

[0147] At this time, in the operation example, the process proceeds to step A in Fig. 18(a), and when the management server 3 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 (step S31 in Fig. 18(a)), it creates a remote control screen 70 corresponding to each operating terminal 4 based on the first photographed data 60 and the second photographed data 61 (step S32 in Fig. 18(a)). The management server 3 makes the created remote control screen 70 accessible to the corresponding operating terminal 4 so that it can be viewed and displayed (step S33 in Fig. 18(a)).

[0148] At this time, in the operation example, the process proceeds to step B in Fig. 19, and the operation terminal 4 accesses the management server 3 and displays the remote operation screen 70 (step S41 in Fig. 19). As a result, while the autonomous mobile work device 2 is performing automatic traveling and cleaning, the operation terminal 4 can check, on the remote operation screen 70, first photographed data 60 that captures the traveling status of the autonomous mobile work device 2 and second photographed data 61 that captures the cleaning status of the autonomous mobile work device 2.

[0149] Meanwhile, if the autonomous mobile work device 2 does not detect an error that makes it unable to travel or work while performing autonomous mobile cleaning (for example, an unknown obstacle that does not exist in the environmental map) (step S23 in FIG. 17: No), it continues the autonomous mobile cleaning, and when it ends the autonomous mobile cleaning (step S24 in FIG. 17: Yes), it terminates the operation of the mobile work information processing system 1. On the other hand, if the autonomous mobile work device 2 detects an error that makes it unable to travel or work while performing autonomous mobile cleaning (step S23 in FIG. 17: Yes), it sends an error notification to the management server 3 (step S25 in FIG. 17), stops the autonomous mobile cleaning, and waits (step S26 in FIG. 17).

[0150] At this time, in the operation example, the process proceeds to step C in Figure 18(b), and when the management server 3 receives an error notification from the autonomous mobile work device 2 (step S34 in Figure 18(b)), it sends a remote control request to the operation terminal 4 (step S35 in Figure 18(b)).

[0151] In addition, in the operation example, the process proceeds to step D in Figure 19, and when the operation terminal 4 receives a remote operation request from the management server 3 (step S42 in Figure 19), it displays a recommendation notification for remote operation of the autonomous mobile work device 2 (step S43 in Figure 19).

[0152] On the operating terminal 4, an approval response is made to the remote operation recommendation notification on the remote operation screen 70 (step S44 in Figure 19), and when remote operation is performed to avoid an error in the autonomously running work device 2, for example, the remote operation is sent to the management server 3 (step S45 in Figure 19).

[0153] At this time, in the operation example, the process proceeds to step E in Figure 18(c), and when the management server 3 receives a remote operation from the operation terminal 4 (step S36 in Figure 18(c)), it transmits a remote operation command corresponding to the remote operation to the autonomously traveling work device 2 (step S37 in Figure 18(c)).

[0154] In addition, in the operation example, the process proceeds to step F in Figure 17, where the autonomous mobile work device 2 stops automatic traveling and cleaning and waits, and when it receives a remote control command from the management server 3 (step S27 in Figure 17: Yes), it operates to avoid errors in accordance with the remote control, for example, by traveling while avoiding obstacles (step S28 in Figure 17).

[0155] When remote operation by the operation terminal 4 is ended, the autonomous mobile work device 2 ends remotely operated traveling. Thereafter, when a resume operation to resume autonomous mobile cleaning is performed, the operation terminal 4 sends a resume command to the management server 3, and the management server 3 further sends such a resume command to the autonomous mobile work device 2. The autonomous mobile work device 2 resumes autonomous mobile cleaning in response to the resume command, and in the example operation, proceeds to step S22 in FIG. 17.

[0156] Next, an example of the operation of processing photographed data for a non-disclosed subject in the management server 3 of the traveling work information processing system 1 will be described with reference to the flowchart in Fig. 20. In this example of operation, after the autonomous traveling work device 2 transmits various data such as the first photographed data 60 and the second photographed data 61 to the management server 3 (step S22 in Fig. 17), the process moves to the flow in Fig. 20 instead of the flow in Fig. 18(a).

[0157] At this time, in the operation example, the process proceeds to step A in Fig. 20, and the management server 3 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 (step S51 in Fig. 20). The management server 3 determines whether or not a non-disclosed object has been photographed in the first photographed data 60 or the second photographed data 61, based on the object registration information of each non-disclosed object set for the cleaning area where the autonomous mobile work device 2 will perform cleaning by traveling (step S52 in Fig. 20).

[0158] If the image of the non-disclosure target has not been captured (step S52: No in FIG. 20), the management server 3 creates the remote operation screen 70 corresponding to the operation terminal 4 without processing the first photographed data 60 or the second photographed data 61 (step S55 in FIG. 20). On the other hand, if the image of the non-disclosure target has been captured (step S52: YES in FIG. 20), the management server 3 determines whether or not the non-disclosure target is restricted from being disclosed to the user, based on the personal registration information of the user of the operation terminal 4 and the object registration information of the non-disclosure target (step S53 in FIG. 20).

[0159] If the non-disclosure target is not restricted from disclosure to the user (step S53: No in FIG. 20), the management server 3 creates a remote operation screen 70 corresponding to the operation terminal 4 without processing the first photographed data 60 or the second photographed data 61 (step S55 in FIG. 20). On the other hand, if the non-disclosure target is restricted from disclosure to the user (step S53: Yes in FIG. 20), the management server 3 processes the first photographed data 60 or the second photographed data 61 so as to restrict disclosure of the non-disclosure target (step S54 in FIG. 20), and creates a remote operation screen 70 corresponding to the operation terminal 4 based on the processed first photographed data 60 or the second photographed data 61 (step S55 in FIG. 20).

[0160] Then, the management server 3 makes the created remote operation screen 70 accessible to the operation terminal 4 so that it can be viewed and displayed (step S56 in FIG. 20). After that, in the operation example, the process proceeds to step B in FIG. 19, and the same operation as above is performed.

[0161] Next, an example of operation for forcibly stopping traveling cleaning when a no-entry area is detected in the traveling work information processing system 1 will be described with reference to the flowcharts in Figures 21 and 22. Figure 21 shows the operation of the autonomous traveling work device 2, and Figure 22 shows the operation of the management server 3. With regard to the autonomous traveling work device 2, the operation of steps S61 to S62 in Figure 21 is the same as steps S21 to S22 in Figure 17, so a description thereof will be omitted. After the autonomous traveling work device 2 transmits various data such as the first photographed data 60 and the second photographed data 61 to the management server 3 (step S62 in Figure 21), the process moves to the flow in Figure 22 instead of the flow in Figure 18(a).

[0162] At this time, in the operation example, the process proceeds to step A in Fig. 22, and the management server 3 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 (step S81 in Fig. 22). The management server 3 determines whether or not a no-entry area has been photographed in the first photographed data 60 or the second photographed data 61, based on the area registration information of the no-entry area set for the cleaning area where the autonomous mobile work device 2 performs cleaning while traveling (step S82 in Fig. 22).

[0163] If the no-entry area has not been photographed (step S82: No in FIG. 22), the mobile cleaning can continue without being forced to stop, and the management server 3 creates a remote operation screen 70 corresponding to the operation terminal 4 based on the first photographed data 60 and the second photographed data 61 (step S83 in FIG. 22). On the other hand, if the no-entry area has been photographed (step S82: Yes in FIG. 22), the management server 3 determines whether the user of the operation terminal 4 is an unauthorized person who is prohibited from entering the no-entry area, based on the personal registration information of the user and the area registration information of the no-entry area (step S84 in FIG. 22).

[0164] If the user is not an unauthorized person (step S84: No in FIG. 22), the mobile cleaning can continue without being forced to stop, and the management server 3 creates a remote operation screen 70 corresponding to the operation terminal 4 based on the first photographed data 60 and the second photographed data 61 (step S83 in FIG. 22). On the other hand, if the user is an unauthorized person (step S84: Yes in FIG. 22), the management server 3 determines whether the operation terminal 4 of the facility manager of the cleaning area where the autonomous mobile work device 2 is performing mobile cleaning is logged in to the management server 3, based on the manager information of the cleaning area (step S85 in FIG. 22).

[0165] If the facility manager's operation terminal 4 is logged in to the management server 3 (step S85: Yes in FIG. 22), the facility manager can monitor the autonomous mobile work device 2's traveling cleaning and can continue the traveling cleaning without being forced to stop, so the management server 3 creates a remote operation screen 70 corresponding to the operation terminal 4 based on the first photographed data 60 and the second photographed data 61 (step S83 in FIG. 22). On the other hand, if the facility manager's operation terminal 4 is not logged in to the management server 3 (step S85: No in FIG. 22), the facility manager cannot monitor the autonomous mobile work device 2's traveling cleaning, so the management server 3 generates a traveling stop error for the autonomous mobile work device 2 (step S86 in FIG. 22), sends a forced stop command to the autonomous mobile work device 2 (step S87 in FIG. 22), and also creates a remote operation screen 70 corresponding to the operation terminal 4 that disables remote operation (step S88 in FIG. 22).

[0166] Then, the management server 3 makes the created remote operation screen 70 accessible to the operation terminal 4 so that it can be viewed and displayed (step S89 in FIG. 22). After that, in the operation example, the process proceeds to step B in FIG. 19, and the same operation as above is performed.

[0167] In addition, in this operational example, the management server 3 sends a forced stop command to the autonomous mobile work device 2 (step S87 in FIG. 22), and the process moves to step S68 in FIG.

[0168] When the autonomous mobile work device 2 detects an error that makes it unable to travel or work while performing autonomous mobile cleaning, the operations of steps S63: Yes and S64 to S62 in Figure 21 are the same as steps S23: Yes and S25 to S28 in Figure 17, so the explanation will be omitted.

[0169] Furthermore, if the autonomous mobile work device 2 does not detect an error (step S63 in Figure 21: No) and does not receive a forced stop command from the management server 3 (step S68 in Figure 21: No), it continues the automatic mobile cleaning, and when the automatic mobile cleaning is completed (step S69 in Figure 21: Yes), it terminates the operation of the mobile work information processing system 1.

[0170] On the other hand, if the autonomous mobile work device 2 does not detect an error (step S63 in FIG. 21: No) and receives a forced stop command from the management server 3 (step S68 in FIG. 21: Yes), it controls the traveling unit 11 and the cleaning unit 12 to forcibly stop traveling cleaning (step S70 in FIG. 21), and also prevents the autonomous mobile work device 2 from accepting remote operation commands from the management server 3 based on remote operation from the operation terminal 4 (step S71 in FIG. 21). Thereafter, when the forced stop is released (step S72 in FIG. 21: Yes), the autonomous mobile work device 2 resumes traveling cleaning, and when the autonomous mobile work device 2 ends the operation of the traveling work information processing system 1 (step S69 in FIG. 21: Yes).

[0171] 23, an example of operation in which the management server 3 cancels the forced stop of traveling cleaning when the autonomous traveling work device 2 has forcibly stopped traveling cleaning in the traveling work information processing system 1 will be described. In this example of operation, it is assumed that the autonomous traveling work device 2 continues to send various data, such as the first photographed data 60 and the second photographed data 61, to the management server 3 even while traveling cleaning is forcibly stopped.

[0172] First, the management server 3 receives the first photographed data 60 and the second photographed data 61 from the autonomous mobile work device 2 in step B (step S91 in FIG. 23). Based on the information about the person in charge of the cleaning area where the autonomous mobile work device 2 is performing cleaning by traveling, the management server 3 determines whether the operation terminal 4 of the facility manager of the cleaning area is logged in to the management server 3 (step S92 in FIG. 23).

[0173] If the facility manager's operation terminal 4 is not logged in to the management server 3 (step S92: No in FIG. 23), the facility manager cannot monitor the autonomous mobile work device 2's traveling and cleaning, so the management server 3 maintains the traveling stop error for the autonomous mobile work device 2 and creates a remote operation screen 70 for the operation terminal 4 that does not allow remote operation, based on the first photographed data 60 and the second photographed data 61 (step S93 in FIG. 23). On the other hand, if the facility manager's operation terminal 4 is logged in to the management server 3 (step S92: Yes in FIG. 23), the facility manager can monitor the autonomous mobile work device 2's traveling and cleaning, so the management server 3 cancels the traveling stop error for the autonomous mobile work device 2 (step S94 in FIG. 23), sends a stop cancellation command to the autonomous mobile work device 2 (step S95 in FIG. 23), and also creates a remote operation screen 70 for the operation terminal 4 that allows remote operation (step S96 in FIG. 23). In response to the stop release command, the autonomous running work device 2 will determine in step S72 of FIG. 21 that the forced stop has been released.

[0174] Then, the management server 3 makes the created remote operation screen 70 accessible to the operation terminal 4 so that it can be viewed and displayed (step S97 in FIG. 23). The management server 3 repeats the above steps S91 to S97 while the driving stop error is maintained.

[0175] As described above, according to the first embodiment, the mobile work information processing system 1 includes an autonomous mobile work device 2 capable of performing autonomous mobile cleaning (autonomous mobile work), which autonomously travels and automatically performs cleaning work; multiple operation terminals 4 for multiple users to operate the autonomous mobile work device 2; and a management server 3 for managing the autonomous mobile work devices 2. When each operation terminal 4 logs in to the management server 3, it sends a selection request to the management server 3 to select the autonomous mobile work device 2 to remotely operate. The management server 3 pre-stores multiple pieces of authority information indicating the authority of each of the multiple users to remotely operate the autonomous mobile work device 2. When a selection request for an autonomous mobile work device 2 is received from each logged-in operation terminal 4 and the operation terminal 4 is associated with the autonomous mobile work device 2, a remote operation screen 70 for remotely operating the autonomous mobile work device 2 is created based on the authority information of the user corresponding to the operation terminal 4, and the remote operation screen 70 is presented to the operation terminal 4 so that it can be viewed.

[0176] With this configuration, when remotely operating the autonomous mobile work apparatus 2, the mobile work information processing system 1 displays a remote operation screen 70 on each user's operation terminal 4, with operation content restricted according to each user's authority information, so that even when users with different interests simultaneously remotely operate a single autonomous mobile work apparatus 2, remote operation of the autonomous mobile work apparatus 2 can be appropriately managed, improving convenience. In this way, the present invention makes it possible for multiple users to appropriately remotely operate a single autonomous mobile work apparatus 2.

[0177] Furthermore, in the first embodiment, in the traveling work information processing system 1, the autonomous traveling work device 2 is equipped with a photographing unit such as a first photographing unit 15 or a second photographing unit 16, and transmits photographed data such as first photographed data 60 and second photographed data 61 photographed by the photographing unit to the management server 3. The management server 3 determines whether the user corresponding to each logged-in operation terminal 4 is an outsider based on the user's authority information, and also determines whether a private object not to be disclosed to outsiders is included in the photographed data. Furthermore, if the user is an outsider and a private object is included in the photographed data, the management server 3 processes the photographed data so that the private object cannot be recognized, and displays the processed photographed data on a remote operation screen 70 specific to the operation terminal 4 corresponding to the user.

[0178] With this configuration, in the mobile work information processing system 1, if something in the cleaning area is a private object that is restricted from disclosure to outsiders, the photographed data can be processed to make the private object private according to the user's authority information and personal registration information, thereby allowing for appropriate management of confidential information in the cleaning area and improving convenience.

[0179] Furthermore, in the first embodiment, in the traveling work information processing system 1, the autonomous mobile work apparatus 2 is equipped with a photographing unit such as a first photographing unit 15 or a second photographing unit 16, and transmits photographed data such as first photographed data 60 and second photographed data 61 captured by the photographing unit to the management server 3. The management server 3 determines whether the user corresponding to each logged-in operation terminal 4 is the facility manager and whether a no-entry area is captured in the photographed data. If the user corresponding to one operation terminal 4 remotely operating the autonomous mobile work apparatus 2 is a person (unauthorized person) corresponding to the authority information that prohibits entry into the no-entry area, and if the no-entry area is captured in the photographed data, the management server 3 determines whether another operation terminal 4 corresponding to the facility manager is logged in. If the other operation terminal 4 corresponding to the facility manager is not logged in, the management server 3 generates a traveling stop error for the autonomous mobile work apparatus 2, sends a forced stop command to the autonomous mobile work apparatus 2, and disables remote operation of the remote operation screen 70 specific to the one operation terminal 4. In response to the forced stop command, the autonomous mobile work device 2 forcibly stops its mobile work and becomes unable to accept remote control.

[0180] With this configuration, in the mobile work information processing system 1, when it is predicted that the remotely operated autonomous mobile work device 2 will enter a restricted area where entry by anyone other than authorized personnel is prohibited, it checks whether the operation terminal 4 of the facility manager who has the authority to grant permission to enter the restricted area is logged in, and if not logged in, it forcibly stops the autonomous mobile work device 2. This makes it possible to suppress unnecessary and unexpected entry into restricted areas, prevent confidential information from leaking from restricted areas, improve security, and increase convenience.

[0181] Furthermore, in the first embodiment, in the traveling work information processing system 1, if the management server 3 detects login of another operation terminal 4 corresponding to the facility manager after a traveling stop error occurs in the autonomous traveling work apparatus 2, it cancels the traveling stop error and sends a stop cancellation command to the autonomous traveling work apparatus 2, and also makes the remote operation screen 70 specific to one operation terminal 4 remotely operable. The autonomous traveling work apparatus 2 becomes able to accept remote operation in response to the stop cancellation command.

[0182] With this configuration, in the mobile work information processing system 1, even if the autonomous mobile work device 2 is forcibly stopped because it is prohibited from entering a restricted area because the facility manager's operation terminal 4 is not logged in to the management server 3, the forced stop of the autonomous mobile work device 2 can be canceled when the facility manager's operation terminal 4 logs in to the management server 3. At this time, the autonomous mobile work device 2 can be changed to a state where it can be remotely controlled, and it is also possible to remotely control the autonomous mobile work device 2 to enter the restricted area. This allows the autonomous mobile work device 2 to continue cleaning while maintaining appropriate security, improving convenience.

[0183] Furthermore, in the first embodiment, in the traveling work information processing system 1, the autonomous traveling work device 2 includes a cleaning unit 12 that sprays detergent onto the floor surface to clean it. The management server 3 enables a detergent spraying operation to be accepted on a remote operation screen 70. When a detergent spraying operation is performed on the remote operation screen 70 by one operation terminal 4, the autonomous traveling work device 2 determines whether the detergent spraying operation is appropriate, and if the detergent spraying operation is inappropriate, generates a work stop error for the autonomous traveling work device 2, forcibly stops the traveling operation, and disables remote operation acceptance, and also notifies the management server 3 of the work stop error. In response to the notification of the work stop error, the management server 3 disables remote operation of the remote operation screen 70 specific to one operation terminal 4.

[0184] With this configuration, the traveling work information processing system 1 determines the validity of the work content of the autonomous traveling work device 2 in response to remote operation before the work is carried out, and if there is a problem with the work content, the work is not carried out and the autonomous traveling work device 2 is forcibly stopped. This makes it possible to prevent problematic work from occurring and ensure appropriate operation.

[0185] Next, a description will be given of a traveling work information processing system 1 according to a second embodiment. In the following description of the second embodiment, the same components as those in the traveling work information processing system 1 according to the first embodiment will be given the same reference numerals, and detailed description thereof will be omitted.

[0186] In particular, in the second embodiment, when one operation terminal 4 remotely operates the autonomous traveling and work apparatus 2, the traveling and work information processing system 1 disables remote operation of the autonomous traveling and work apparatus 2 by other operation terminals 4.

[0187] In the second embodiment, in the management server 3, when two or more operation terminals 4 are linked to one autonomous mobile work apparatus 2, and the operation of the autonomous mobile work apparatus 2 is performed on the remote operation screen 70 of one operation terminal 4, the device-terminal linking unit 45 sets an operation right flag indicating the driving operation right for the driving operation of the autonomous mobile work apparatus 2 for one user corresponding to one operation terminal 4. For example, the device-terminal linking unit 45 stores operation right flag information that associates one autonomous mobile work apparatus 2, one operation terminal 4, and one user in the server-side storage unit 41.

[0188] In this case, the device-terminal linking unit 45 uses the screen control unit 46 to accept driving operations for the autonomous mobile work apparatus 2 only on the remote operation screen 70 of one operation terminal 4, while disabling acceptance of driving operations for the autonomous mobile work apparatus 2 on the remote operation screen 70 of the other operation terminals 4, for example by hiding the driving operation field 75 or displaying it as inoperable. Note that for other operation terminals 4 that are subsequently linked to the one autonomous mobile work apparatus 2, the screen control unit 46 also disables acceptance of driving operations for that autonomous mobile work apparatus 2 on the remote operation screen 70. Furthermore, the screen control unit 46 may also disable camera operation and cleaning operation on the remote operation screen 70 of the other operation terminals 4, but may also set them to be operable depending on the affiliation, user type, and operation level of the user of the other operation terminals 4.

[0189] The device-to-terminal linking unit 45 notifies one operating terminal 4 that it has the right to operate the autonomous mobile work apparatus 2, and notifies other operating terminals 4 that one operating terminal 4 (i.e., one user) has the right to operate the autonomous mobile work apparatus 2, or that the other operating terminals 4 do not have the right to operate the autonomous mobile work apparatus 2. For example, the device-to-terminal linking unit 45 may cause the screen control unit 46 to display on the remote operation screen 70 of the other operating terminal 4 that one operating terminal 4 (i.e., one user) has the right to operate the autonomous mobile work apparatus 2.

[0190] Furthermore, when the operation of traveling of the autonomous mobile work apparatus 2 by one operating terminal 4 that set the operation right flag has ended, the device-to-terminal linking unit 45 cancels the setting of the operation right flag and deletes the operation right flag information stored in the server-side storage unit 41. For example, the device-to-terminal linking unit 45 may determine that the operation of traveling of the autonomous mobile work apparatus 2 has ended when one operating terminal 4 that set the operation right flag logs out from the management server 3, when it deselects the autonomous mobile work apparatus 2 and releases the link, or when it operates an automatic traveling and cleaning resume button (not shown) or a remote operation end button (not shown).

[0191] Furthermore, when the setting of the operation right flag for one operation terminal 4 (i.e., one user) is cancelled, the device-terminal linking unit 45 inquires of the other operation terminals 4 as to whether or not to acquire the driving operation right for the autonomously mobile work apparatus 2, and, for example, the screen control unit 46 displays the inquiry screen (not shown) in an operable manner on the other operation terminals 4. When the other operation terminals 4 that have received the inquiry respond with an acceptance of the acquisition of driving operation right, the device-terminal linking unit 45 sets an operation right flag for the other user corresponding to the other operation terminal 4, indicating the driving operation right for driving operation of the autonomously mobile work apparatus 2.

[0192] In this case, the device-terminal linking unit 45, through the screen control unit 46, accepts driving operations of the autonomously running work device 2 only on the remote control screen 70 of the other operating terminal 4 that has the operation right flag set, while making it impossible to accept driving operations of the autonomously running work device 2 on the remote control screen 70 of the one operating terminal 4 or the other operating terminals 4.

[0193] When two or more operation terminals 4 are linked to the autonomous mobile work device 2 in addition to one operation terminal 4, the device-terminal linking unit 45 inquires of the other operation terminals 4 in a predetermined inquiry order as to whether or not to obtain the driving operation right. For example, the screen control unit 46 may set the inquiry order in the order in which the other operation terminals 4 are linked, or may set the inquiry order based on the affiliation, user type, or operation level of the users of the other operation terminals 4.

[0194] In another embodiment, when two or more operation terminals 4 are linked to the autonomous mobile work device 2, even if an operation authority flag is set for one operation terminal 4, an interrupt input of remote operation may be accepted on the remote operation screen 70 for another operation terminal 4 that has a higher priority for remote operation than the first operation terminal 4. For example, the device-terminal linking unit 45 may set the priority of remote operation based on the affiliation, user type, and operation level of each user. Then, when an interrupt input of remote operation is made on the remote operation screen 70 of another operation terminal 4 that has a higher priority, the device-terminal linking unit 45 cancels the setting of the operation authority flag for the first operation terminal 4 and sets an operation authority flag for the other operation terminal 4. At this time, the device-terminal linking unit 45 notifies the first operation terminal 4 that an operation authority flag is set for the other operation terminal 4 and that the setting of the operation authority flag for the first operation terminal 4 is canceled.

[0195] Next, an example of the operation of setting an operation authority flag for remote operation of the autonomous traveling work device 2 for the first operating terminal 4a, out of the first operating terminal 4a and the second operating terminal 4b, in the traveling work information processing system 1 of the second embodiment will be described with reference to the flowchart of Figure 24.

[0196] First, in the traveling work information processing system 1, the autonomous traveling work device 2 is placed at a cleaning start position (start position) in the cleaning area to perform autonomous traveling and cleaning of the cleaning area (step S101). The first operation terminal 4a is operated by the operator operating the autonomous traveling work device 2, in the same manner as steps S2, S3, and S5 shown in FIG. 16 of the first embodiment, to log in to the management server 3 and select the autonomous traveling work device 2 (step S102). The management server 3 authenticates the login of the first operation terminal 4a and associates the autonomous traveling work device 2 with the first operation terminal 4a, in the same manner as steps S4 and S6 shown in FIG. 16 of the first embodiment (step S103).

[0197] The autonomous mobile work device 2 also acquires various data such as first photographed data 60 photographed by the first photographing unit 15 and second photographed data 61 photographed by the second photographing unit 16, and transmits this to the management server 3 (step S104). The management server 3 creates a remote operation screen 70 that enables remote operation of the autonomous mobile work device 2, based on the various data such as the first photographed data 60 and second photographed data 61 received from the autonomous mobile work device 2 (step S105), and presents this on the first operation terminal 4a.

[0198] At this time, the first operation terminal 4a displays the remote operation screen 70 presented by the management server 3, which allows the autonomous mobile work apparatus 2 to be remotely operated (step S106). Furthermore, when the operator operating the autonomous mobile work apparatus 2 operates the remote operation screen 70 to remotely operate the autonomous mobile work apparatus 2, the first operation terminal 4a transmits the remote operation to the management server 3 (step S107).

[0199] The management server 3 transmits a remote operation command to the autonomous mobile work device 2 based on the remote operation received from the first operation terminal 4a (step S108). Upon receiving the remote operation from the first operation terminal 4a, the management server 3 sets an operation authority flag for the autonomous mobile work device 2 in the first operation terminal 4a to give the first operation terminal 4a the right to operate the autonomous mobile work device 2 (step S109). The autonomous mobile work device 2 also performs remote traveling cleaning based on the remote operation command received from the management server 3 (step S110).

[0200] Furthermore, the second operation terminal 4b is operated by the operator who operates the autonomously running work apparatus 2 in the same way as the first operation terminal 4a, and performs a login process to the management server 3 and selects the autonomously running work apparatus 2 (step S111). The management server 3 authenticates the login of the second operation terminal 4b in the same way as the first operation terminal 4a, and links the autonomously running work apparatus 2 with the second operation terminal 4b (step S112).

[0201] The autonomous mobile work device 2 also acquires various data such as first photographed data 60 photographed by the first photographing unit 15 and second photographed data 61 photographed by the second photographing unit 16, and transmits this to the management server 3 (step S113). When the management server 3 confirms that an operation right flag has already been set in the first operation terminal 4a (step S114), it creates a remote operation screen 70 that does not allow remote operation of the autonomous mobile work device 2 (step S115) and presents this to the second operation terminal 4b.

[0202] At this time, the first operation terminal 4a displays the remote operation screen 70, which is presented by the management server 3 and allows remote control of the autonomous running and working device 2 (step S116).

[0203] Next, an example of the operation of the traveling work information processing system 1 of the second embodiment, in which the operation right flag set in the first operation terminal 4a is released and set in the second operation terminal 4b, will be described with reference to the flowchart of Figure 25.

[0204] First, in the traveling work information processing system 1, the first operation terminal 4a is operated by the operator operating the autonomous traveling work device 2 to perform a logout process to the management server 3 (step S121). The management server 3 authenticates the logout of the first operation terminal 4a, releases the association between the autonomous traveling work device 2 and the first operation terminal 4a (step S122), and releases the operation authority flag that was set on the logged-out first operation terminal 4a (step S123).

[0205] The management server 3 also queries the second operation terminal 4b as to whether or not to acquire the driving operation authority for the autonomously navigating work apparatus 2 (step S124). When the second operation terminal 4b replies in response to the inquiry from the management server 3 that it agrees to acquire the driving operation authority (step S125), the management server 3 sets an operation authority flag for the autonomously navigating work apparatus 2 for the second operation terminal 4b (step S126).

[0206] The autonomous mobile work device 2 also acquires various data such as first photographed data 60 photographed by the first photographing unit 15 and second photographed data 61 photographed by the second photographing unit 16, and transmits this to the management server 3 (step S127). The management server 3 creates a remote operation screen 70 that enables remote operation of the autonomous mobile work device 2, based on the various data such as the first photographed data 60 and second photographed data 61 received from the autonomous mobile work device 2 (step S128), and presents this on the second operation terminal 4b.

[0207] At this time, the second operation terminal 4b displays the remote operation screen 70, which is presented by the management server 3 and enables remote operation of the autonomous running and working device 2 (step S129).

[0208] As described above, according to the second embodiment, in the traveling work information processing system 1, the management server 3 makes it possible to accept the traveling operations of the autonomous traveling work device 2 on the remote operation screen 70, and when the traveling operations of the autonomous traveling work device 2 are performed on the remote operation screen 70 by one operation terminal 4, the management server 3 sets an operation authority flag indicating the traveling operation authority for the traveling operations of the autonomous traveling work device 2 for one user corresponding to one operation terminal 4, and makes it impossible to accept the traveling operations of the autonomous traveling work device 2 on the remote operation screen 70 specific to other operation terminals 4.

[0209] With this configuration, in the mobile work information processing system 1, even if the operation terminals 4 of users with equivalent authority information are logged in to the management server 3 at the same time and select the same autonomous mobile work apparatus 2, it is possible to grant the right to operate the mobile work apparatus to only one of the operation terminals 4. As a result, the autonomous mobile work apparatus 2 only accepts remote operation from one operation terminal 4 and does not accept remote operation from the other operation terminal 4, so there is no overlap or crosstalk between remote operations from two or more operation terminals 4. This prevents the autonomous mobile work apparatus 2 from becoming inoperable inappropriately and also prevents the autonomous mobile work apparatus 2 from performing mobile cleaning that is different from the remote control, thereby preventing problems such as the autonomous mobile work apparatus 2 colliding with obstacles.

[0210] Furthermore, in this embodiment, in the traveling work information processing system 1, when the traveling operation of the autonomous traveling work device 2 by one operating terminal 4 that has set the operation authority flag is completed, the management server 3 cancels the setting of the operation authority flag and inquires of the other operating terminals 4 as to whether or not to acquire the traveling operation authority, and if the acquisition of the traveling operation authority is agreed to by the other operating terminals 4, the traveling operation of the autonomous traveling work device 2 can be accepted on the remote operation screen 70 unique to the other operating terminals 4.

[0211] With this configuration, in the traveling work information processing system 1, even if traveling operation authority is once given to one operating terminal 4, the traveling operation authority can then be efficiently and appropriately transferred to the other operating terminal 4 without stopping the operation of the autonomous traveling work device 2.

[0212] In the above embodiment, an example has been described in which the screen control unit 46 of the management server 3 creates the remote operation screen 70, presents it as a screen on a website, and causes the operation terminal 4 logged in to the management server 3 to view and display the remote operation screen 70, but the present invention is not limited to this example. In other embodiments, the screen control unit 46 may be configured to transmit photographic data such as the first photographic data 60 and the second photographic data 61, and the viewing settings of each user, to the operation terminal 4, and the operation terminal 4 may create and display the remote operation screen 70 based on these.

[0213] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and a traveling work information processing system that involves such modifications is also included in the technical idea of ​​the present invention. [Industrial Applicability]

[0214] The present invention can be suitably used in a mobile work information processing system equipped with an industrial (business) work robot, such as an automatic floor washing and cleaning device that cleans floors in commercial facilities such as shopping malls, or an automatic work area in a factory or railway terminal, using an autonomous mobile work device that can perform automatic mobile work by traveling and working autonomously, or a security device that monitors with a camera. Furthermore, the present invention is not limited to a mobile work information processing system equipped with an autonomous mobile work device such as a cleaning robot that travels and cleans a cleaning area, but can also be applied to a mobile work information processing system equipped with a security robot that travels in a work area in response to remote control and monitors and guards the surroundings. [Explanation of symbols]

[0215] 1. Driving operation information processing system 2. Autonomous mobile work device 3 Management Server 4 Operation terminal 11 Running part 12 Cleaning Department (Working Department) 13 Measurement section 15 First Filming Section 16 Second Filming Department 20 Device side control section 34 Reproduction control section 35 Remote control unit 40 Server-side control unit 45 Device terminal linking section 46 Screen control section 47 Remote control command unit 48 Error control section 50 Terminal side control unit 53 Display section 57 Display control unit 58 Operation input section 60 First shooting data 61 Second shooting data 70 Remote control screen

Claims

1. A traveling work information processing system including an autonomous traveling work device that can perform autonomous traveling work by traveling autonomously and working automatically, a plurality of operation terminals for a plurality of users to respectively operate the autonomous traveling work device, and a management server for managing the autonomous traveling work device, when logging in to the management server, each of the operation terminals transmits to the management server a selection request for selecting the autonomous mobile work device to be remotely operated; the management server pre-stores a plurality of pieces of authority information indicating the authorities of the plurality of users to remotely operate the autonomous mobile work device, When the selection request for the autonomous mobile work device is received from each of the logged-in operation terminals and the operation terminal is associated with the autonomous mobile work device, a remote operation screen for remotely operating the autonomous mobile work device is created based on the authority information of the user corresponding to the operation terminal, and the screen is presented to the operation terminal so that it can be viewed; the autonomous mobile work device includes a photographing unit, and transmits photographed data photographed by the photographing unit to the management server; The management server determines whether the user corresponding to each of the logged-in operation terminals is an outsider based on the authority information of the user, and determines whether an object that is not to be disclosed to the outsider is included in the photographed data; If the user is an outsider and the private object is photographed in the photographed data, the photographed data is processed so that the private object cannot be recognized, and the processed data is displayed on the remote operation screen specific to the operation terminal corresponding to the user. A traveling operation information processing system characterized by:

2. A traveling work information processing system comprising an autonomous traveling work device capable of performing automated traveling work by traveling autonomously and working automatically, a plurality of operation terminals for a plurality of users to respectively operate the autonomous traveling work device, and a management server for managing the autonomous traveling work device, when logging in to the management server, each of the operation terminals transmits to the management server a selection request for selecting the autonomous mobile work device to be remotely operated; the management server pre-stores a plurality of pieces of authority information indicating the authorities of the plurality of users to remotely operate the autonomous mobile work device, When the selection request for the autonomous mobile work device is received from each of the logged-in operation terminals and the operation terminal is associated with the autonomous mobile work device, a remote operation screen for remotely operating the autonomous mobile work device is created based on the authority information of the user corresponding to the operation terminal, and the screen is presented to the operation terminal so that it can be viewed; the autonomous mobile work device is equipped with a photographing unit, and transmits photographed data photographed by the photographing unit to the management server; the management server determines whether the user corresponding to each of the operation terminals who has logged in is a facility manager, and also determines whether a no-entry area is included in the photographed data; if the user corresponding to one of the operation terminals that remotely operates the autonomous mobile work device is a person corresponding to the authority information that prohibits entry into the no-entry area, and the no-entry area is photographed in the photographic data, determine whether or not another of the operation terminals corresponding to the facility manager is logged in; If the other operation terminal corresponding to the facility manager is not logged in, a travel stop error is generated for the autonomous mobile work device, a forced stop command is sent to the autonomous mobile work device, and the remote operation screen specific to one of the operation terminals is made unavailable for remote operation; The autonomous mobile work device forcibly stops traveling in response to the forced stop command and becomes unable to accept remote control. A traveling operation information processing system characterized by:

3. when the management server detects login of another operation terminal corresponding to the facility manager after the travel stop error of the autonomous mobile work device occurs, the management server cancels the travel stop error and sends a stop cancellation command to the autonomous mobile work device, and also makes the remote operation screen specific to one of the operation terminals remotely operable; The autonomous mobile work device is capable of accepting remote operation in response to the stop release command.

3. The traveling operation information processing system according to claim 2.

4. the management server enables the remote operation screen to accept driving operations of the autonomous mobile work device; When one of the operation terminals operates the autonomous mobile work device on the remote operation screen, the management server sets an operation right flag indicating the driving operation right for the driving operation of the autonomous mobile work device for one of the users corresponding to the one of the operation terminals, and makes it impossible to accept driving operations of the autonomous mobile work device on the remote operation screen specific to the other operation terminals.

3. A traveling operation information processing system according to claim 1 or 2.

5. When the driving operation of the autonomous mobile work device by one of the operating terminals for which the operation right flag has been set is completed, the management server cancels the setting of the operation right flag and inquires of the other operating terminals as to whether or not they wish to acquire the driving operation right; When the acquisition of the driving operation right is accepted by the other operating terminal, the driving operation of the autonomous mobile work device can be accepted on the remote operation screen specific to the other operating terminal.

5. The traveling operation information processing system according to claim 4.

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