Cleaning system and cleaning method

Abstract

To provide a cleaning system and the like that streamline processing in a cleaning moving body and an autonomous moving body.SOLUTION: A cleaning system 100 comprises: a cleaning moving body 10 that moves and performs cleaning in a room R1 that is partitioned by a wall L1 and has at least an entrance E1, a door D1 or windows W1a, W1b, W1c, W1d; and an autonomous moving body 20 that moves in the room R1. The cleaning moving body 10 preferentially cleans an inner periphery portion, which is a portion along the wall L1 of the room R1, over other portions in the room R1. The autonomous moving body 20 moves to the inner periphery portion after completion of the cleaning of the inner periphery portion by the cleaning moving body 10. Alternatively, the autonomous moving body 20 moves in a cleaned portion in the inner periphery portion during cleaning of the inner periphery portion by the cleaning moving body 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to cleaning systems and the like. [Background technology]

[0002] For example, the technologies described in Patent Documents 1 and 2 are known for controlling multiple types of robots moving within a room. Patent Document 1 describes that an autonomous mobile robot moves based on "map data showing at least one virtual cut-off area," and that "when controlling the robot, the virtual cut-off area is taken into consideration in the same way as an actually detected obstacle." Patent document 2 also describes a robot management system that includes "a common map generation unit that generates a common map for commonly managing the movements of multiple types of robots from acquired map data" and "a specific map generation unit that generates multiple types of specific maps from the common map." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 158248 [Patent Document 2] International Publication No. 2019 / 171916 Summary of the Invention [Problem to be solved by the invention]

[0004] However, neither Patent Document 1 nor Patent Document 2 describes, for example, devising a way to control a robot vacuum cleaner (cleaning mobile body) so that processing of another autonomous mobile body can be carried out efficiently while the robot vacuum cleaner (cleaning mobile body) is cleaning a room.

[0005] Therefore, an object of the present invention is to provide a cleaning system or the like that improves the efficiency of processing of cleaning vehicles and autonomous vehicles. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the cleaning system of the present invention comprises a cleaning mobile body that moves and cleans a room that is separated by walls and has at least an entrance / exit or a window, and an autonomous mobile body that moves within the room, wherein the cleaning mobile body prioritizes cleaning the inner periphery, which is the part along the wall of the room, over cleaning other parts of the room, and after the cleaning mobile body has finished cleaning the inner periphery, the autonomous mobile body moves to the inner periphery, or while the cleaning mobile body is cleaning the inner periphery, the autonomous mobile body moves to the part of the inner periphery that has already been cleaned. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a cleaning system and the like that improves the efficiency of processing of cleaning mobile bodies and autonomous mobile bodies. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram of a cleaning system according to a first embodiment. [Figure 2] 1 is a functional block diagram of a cleaning system according to a first embodiment. FIG. [Figure 3] 1 is an explanatory diagram showing a state in which a cleaning moving object and an autonomous moving object are used in a room in the cleaning system according to the first embodiment. FIG. [Figure 4] FIG. 2 is an explanatory diagram showing an example of map information in the cleaning system according to the first embodiment. [Figure 5A] 4 is a flowchart showing the processing of a server, a cleaning vehicle, and an autonomous vehicle in the cleaning system according to the first embodiment. [Figure 5B] 4 is a flowchart showing the processing of a server, a cleaning vehicle, and an autonomous vehicle in the cleaning system according to the first embodiment. [Figure 6] 3 is an explanatory diagram showing a state in which the cleaning movable body is cleaning an area A in the cleaning system according to the first embodiment. FIG. [Figure 7] 10 is an explanatory diagram showing a state in which the cleaning movable body is cleaning an area B in the cleaning system according to the first embodiment. FIG. [Figure 8] 10 is an explanatory diagram showing the cleaning system according to the first embodiment, in which the cleaning movable body moves sequentially through areas C and D while performing cleaning. FIG. [Figure 9] 10 is a flowchart showing the processing of a server, a cleaning vehicle, and an autonomous vehicle in a cleaning system according to a second embodiment. [Figure 10] FIG. 10 is an explanatory diagram of a case where a visitor arrives while the cleaning body is cleaning in the cleaning system according to the second embodiment. [Figure 11] FIG. 10 is an explanatory diagram of a modification of the second embodiment in which the cleaning body is charged during cleaning. [Figure 12] FIG. 11 is an explanatory diagram showing an example of map information of a room in the cleaning system according to the third embodiment. [Figure 13] FIG. 11 is an explanatory diagram showing the relationship between a user's daily schedule and the cleaning system operation schedule in a cleaning system according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] First Embodiment <Cleaning system configuration> FIG. 1 is an explanatory diagram of a cleaning system 100 according to a first embodiment. The cleaning system 100 shown in FIG. 1 is a system in which a cleaning vehicle 10 cleans a room R1 and an autonomous vehicle 20 monitors the room R1. Note that a building B1 containing the room R1 may be, for example, a residence, an office, a hotel, or a nursing home. The room R1 is separated from an outdoor space and another room (not shown) by a wall L1. As shown in FIG. 1, the cleaning system 100 includes the cleaning vehicle 10, the autonomous vehicle 20, a server 30, and an information terminal 40.

[0010] The cleaning vehicle 10 is a robot that moves around and cleans the room R1, and communicates in a predetermined manner with the server 30. As shown in FIG. 1 , the cleaning vehicle 10 includes a distance sensor 11, a dust collecting unit 12, a brush 13, drive wheels 14, a control board 15, and a main body 16.

[0011] The distance sensor 11 is a sensor that measures the distance to an obstacle 41. Note that the wall L1 and pillars (not shown) of the room R1 are also recognized as obstacles. The distance sensor 11 measures the distance to the obstacle 41 based on the time between emitting radio waves such as microwaves, millimeter waves, or lasers and receiving the reflected waves. Note that the type of the distance sensor 11 is not limited to this, and an optical time-of-flight (TOF) sensor or an ultrasonic sensor may also be used. In the example of FIG. 1, the distance sensor 11 is installed on the front surface of the main body 16, but it may also be installed in other locations such as the side or top surface of the main body 16.

[0012] The dust collection unit 12 includes a dust collection chamber (not shown) and a fan 12a (see FIG. 2) that is driven to draw air into the dust collection chamber. The brush 13 collects dust on the floor of the room R1 and is installed on the main body 16. A brush motor (not shown) is provided to move the brush 13 in a predetermined direction. The dust collected by the brush 13 is guided to the dust collection chamber (not shown) through a suction port (not shown). The drive wheels 14 are wheels used to move the cleaning vehicle 10 and are connected to the rotation shaft of the motor 14a (see FIG. 2).

[0013] Although not shown, the control board 15 is configured to include electronic circuits such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and various interfaces. The CPU reads out programs stored in the ROM and loads them into the RAM, causing the CPU to execute various processes. The control board 15 controls the fan 12a (not shown) of the dust collection unit 12 and the motor 14a of the drive wheel 14 (see FIG. 2) based on the detection value of the distance sensor 11 and data received from the server 30.

[0014] The main body 16 is a housing in which the distance sensor 11, dust collection unit 12, brush 13, drive wheels 14, control board 15, etc. are installed. The cleaning vehicle 10 having such a configuration estimates the shape of the room R1 based on the measurement results of the distance sensor 11, and moves while estimating its own position within the room R1. The cleaning vehicle 10 cleans the room R1 while moving while avoiding obstacles 41 detected by the distance sensor 11.

[0015] The autonomous moving body 20 is a robot that moves within the room R1 in a predetermined manner, watches over the room R1 and a person M1 (user), and communicates with the server 30. Examples of such an autonomous moving body 20 include a household robot, a pet robot, a care robot, and a service robot. Furthermore, the function of the autonomous moving body 20 is not limited to watching over the room R1 and the person M1.

[0016] 1, the autonomous moving body 20 includes an image sensor 21, a distance sensor 22, drive wheels 23, a control board 24, and a main body 25. The image sensor 21 is a camera that generates predetermined imaging data (visible light image). For example, the image sensor 21 may be configured to generate imaging data by photoelectrically converting light incident on an imaging element (not shown). A CCD sensor (Charge Coupled Device), a CMOS sensor (Complementary Metal Oxide Semiconductor), or the like is used as the imaging element.

[0017] 1, the image sensor 21 is installed on the top surface of the main body 25. By using an omnidirectional camera with a relatively wide angle of view as such an image sensor 21, it is possible to acquire an overall image of the surroundings of the autonomous moving body 20. Note that the type, installation position, and number of the image sensors 21 can be changed as appropriate. The distance sensor 22 is a sensor that measures the distance to the obstacle 51, and in the example of Fig. 1, is installed on the front surface of the main body 25. As such a distance sensor 22, a laser sensor, an optical TOF (Time of Flight) sensor, an ultrasonic sensor, or the like may be used.

[0018] The drive wheels 23 are wheels used to move the autonomous mobile body 20, and are connected to the rotation shaft of a motor 23a (see FIG. 2). The control board 24 includes electronic circuits such as a CPU, ROM, RAM, and various interfaces, not shown. Based on the detection results of the image sensor 21 and the distance sensor 22, the autonomous mobile body 20 moves in a predetermined manner within the room R1 while avoiding obstacles 51.

[0019] The autonomous mobile body 20 has a function of recognizing people based on the imaging results of the image sensor 21. For example, the autonomous mobile body 20 recognizes people based on the head shape, skin color, eye size, distance between the eyes, lip width, body type, etc. of the person in room R1. Furthermore, in cases where facial information of a user or the like is stored in advance in the server 30, the autonomous mobile body 20 can also determine whether or not the person in room R1 is the user. Note that the server 30 may perform a process of recognizing people based on imaging data received from the autonomous mobile body 20, and transmit the results of this process to the autonomous mobile body 20.

[0020] Although not shown, the server 30 is configured to include electronic circuits such as a CPU, ROM, RAM, and various interfaces. The server 30 communicates with the cleaning vehicle 10 and also with the autonomous vehicle 20. Predetermined information stored in the server 30 is transmitted to the user's information terminal 40 and displayed on the screen of the information terminal 40. Examples of such information terminals 40 include mobile phones, smartphones, tablets, wearable devices, personal computers, and televisions. The information terminal 40 displays setting information for monitoring by the autonomous vehicle 20 and information indicating the status of the room R1.

[0021] <Cleaning system control configuration> FIG. 2 is a functional block diagram of the cleaning system 100. 2, the control board 15 of the cleaning mobile object 10 has, as its functional components, a memory unit 15a, a control unit 15b, and a communication unit 15c. The memory unit 15a stores predetermined programs in advance, as well as map information of the room R1 (see FIG. 1), measurement values ​​of the distance sensor 11, and the like.

[0022] The control unit 15b estimates the shape of the room R1 based on the map information of the room R1 and the measurement values ​​of the distance sensor 11, and also estimates the self-position of the cleaning mobile object 10, and drives the fan 12a of the dust collecting unit 12 (see FIG. 1) and the motor 14a of the drive wheel 14 (see FIG. 1). The map information of the room R1 may be generated based on the measurement values ​​of the distance sensor 11, or may be stored in advance in the server 30. The communication unit 15c shown in FIG. 2 performs predetermined communication with the server 30.

[0023] The control board 24 of the autonomous moving body 20 includes a storage unit 24a, a control unit 24b, and a communication unit 24c. The storage unit 24a stores predetermined programs and data acquired by the image sensor 21 and distance sensor 22. The control unit 24b estimates the shape of the room R1 and the position of the cleaning body 10 based on the predetermined programs, map information, and data acquired by the image sensor 21 and distance sensor 22, and controls the motor 23a of the drive wheel 23 (see FIG. 1). The communication unit 24c shown in FIG. 2 communicates with the server 30 in a predetermined manner.

[0024] The server 30 includes a storage unit 30a, a control unit 30b, and a communication unit 30c. The storage unit 30a stores predetermined programs and also stores data received from the cleaning vehicle 10 and the autonomous vehicle 20. The storage unit 30a also stores map information of the room R1. The map information of the room R1 is shared between the cleaning vehicle 10 and the autonomous vehicle 20.

[0025] The control unit 30b has a function of analyzing data received from the cleaning vehicle 10 and the autonomous vehicle 20. The communication unit 30c communicates with the cleaning vehicle 10 and the autonomous vehicle 20, as well as with the information terminal 40 of the user. In the following, as an example, a case will be described in which the autonomous moving body 20 is used to monitor a room R1 or a person, but the function of the autonomous moving body 20 is not limited to monitoring.

[0026] <Cleaning system processing> FIG. 3 is an explanatory diagram showing a state in which the cleaning vehicle 10 and the autonomous vehicle 20 are used in a room R1. 3 shows a state in which the cleaning vehicle 10 has completed charging and has started to move from the charging stand C1. When a person M1 (e.g., a resident of a building B1) goes out, the autonomous moving body 20 sees the person M1 off near the entrance E1 (entrance / exit).

[0027] As shown in FIG. 3, room R1 is provided with a front door E1 (entrance / exit) and a door D1 (entrance / exit), as well as multiple windows W1a, W1b, W1c, and W1d. Door D1 may be a swing door using hinges or the like (not shown), or a sliding door or accordion door using a rail (not shown). Windows W1a, W1b, W1c, and W1d may also be provided at the boundary with a balcony, garden, or the like, so as to serve as entrances and exits. Although not shown in FIG. 3, room R1 may be adjacent to another room (not shown) via door D1.

[0028] 3 is used to charge the cleaning vehicle 10 and is provided in a corner of the room R1. Another charging vehicle C2 is used to charge the autonomous vehicle 20 and is provided in a corner of the room R1.

[0029] FIG. 4 is an explanatory diagram showing an example of map information in the cleaning system. In the example of FIG. 4, map information is set so as to divide room R1 into four areas A, B, C, and D. The process of dividing room R1 into a plurality of areas is performed by the server 30 (see FIG. 2) or the cleaning vehicle 10. Area A is set in the inner periphery of room R1. For ease of understanding, area A is shown in FIG. 4 at a predetermined distance inward from the wall of room R1, but in reality, the part of area A along the wall of room R1 is set as the "inner periphery."

[0030] The remaining three areas B, C, and D are set to divide the inside of area A into three. Such map information is read from the storage unit 30a (see FIG. 2) of the server 30 (see FIG. 2) and transmitted to the cleaning mobile body 10 and the autonomous mobile body 20 via the communication unit 30c (see FIG. 2). The cleaning mobile body 10 then sequentially cleans areas A, B, C, and D. Furthermore, based on the cleaning status (uncleaned, cleaning in progress, cleaned) of each of areas A, B, C, and D, "no-entry areas" and "allowed entry areas" for the autonomous mobile body 20 are appropriately set. Note that the map information in FIG. 4 is an example, and the method of dividing room R1 into multiple areas is not limited to this.

[0031] 5A and 5B are flowcharts showing the processing of the server, the cleaning vehicle, and the autonomous vehicle, respectively (see also FIG. 1 as appropriate). In step S101 of Fig. 5, the server 30 sets and starts the monitoring mode. For example, when a user (a resident of building B1) goes out, the user uses the information terminal 40 (see Fig. 2) to set and start the "monitoring mode," and based on this operation, the server 30 performs the process of step S101.

[0032] Next, in step S102, the server 30 selects a map of the target room. That is, the server 30 reads map information of the room R1 (see FIG. 1) selected by the user operating the information terminal 40 (see FIG. 2) from the storage unit 30a (see FIG. 2).

[0033] In step S103, the server 30 transmits the monitoring mode data to the cleaning mobile body 10 and also to the autonomous mobile body 20. The monitoring mode data includes information indicating the sender and destination of the data, as well as a command signal for causing the autonomous mobile body 20 to execute processes (monitoring mode) such as monitoring for intruders and checking visitors, and map information of the room R1 (see FIG. 4). In addition, the monitoring mode data may include a command signal for causing the cleaning mobile body 10 to clean the room R1 while the user is out.

[0034] In step S104, the cleaning mobile object 10 receives the monitoring mode data from the server 30. When the cleaning mobile object 10 cleans the room R1, the map information (see FIG. 4) included in the monitoring mode data is used. As described above, the map information of the room R1 includes data indicating four areas A, B, C, and D of the room R1 (see FIG. 4).

[0035] In step S105, the autonomous mobile body 20 receives monitoring mode data from the server 30. In step S106, the autonomous mobile body 20 waits. That is, the autonomous mobile body 20 waits until it receives a signal from the server 30 indicating that cleaning of area A is complete. Note that when the cleaning mobile body 10 starts cleaning area A or while cleaning area A, all four areas A, B, C, and D are set as "no-entry areas." Here, the "no-entry areas" are areas where the autonomous mobile body 20 is prohibited from entering.

[0036] Therefore, in step S106, the autonomous moving body 20 may wait near the entrance E1, which is outside the aforementioned "no-entry area" and where it is easy to confirm (for example, take an image of) the visitor, or may wait in another location. This prevents the autonomous moving body 20 from interfering with cleaning.

[0037] In step S107, the cleaning vehicle 10 cleans the area A in the room R1. That is, the cleaning vehicle 10 starts cleaning the area A (inner periphery) set along the door D1 and windows W1a, W1b, W1c, and W1d in the room R1 (see FIG. 1).

[0038] FIG. 6 is an explanatory diagram showing the cleaning object 10 cleaning the area A. As shown in FIG. 6, the cleaning mobile body 10 gives priority to cleaning area A, which is the inner periphery of room R1, over cleaning other areas B, C, and D (other parts) of room R1. That is, the cleaning mobile body 10 gives priority to cleaning the inner periphery near the wall where door D1, entrance E1, and windows W1a, W1b, W1c, and W1d that allow movement between the inside and outside of room R1 are provided.

[0039] In step S108 of Fig. 5A, the cleaning mobile body 10 determines whether cleaning of area A has been completed. For example, if the cleaning mobile body 10 has made approximately one full revolution around area A, which is the inner periphery of room R1, along the wall of room R1, it may be determined that cleaning of area A has been completed. Also, if cleaning of area A has not been completed in step S108 (S108: No), the processing of the cleaning mobile body 10 returns to step S107.

[0040] If cleaning of area A is completed in step S108 (S108: Yes), the cleaning vehicle 10 transmits a signal indicating that cleaning of area A is completed to the server 30, as indicated by the dashed arrow in FIG. 5A. When this signal is received, the server 30 transmits a signal indicating that cleaning of area A is completed to the autonomous mobile body 20. Note that the server 30 may change the attribute of the cleaned area A from "entry prohibited area" to "entry permitted area" in the map information, and transmit the changed map information to the autonomous mobile body 20. Here, the "entry permitted area" is an area in which entry of the autonomous mobile body 20 is permitted.

[0041] In this way, in the first embodiment, an "entry prohibited area" into which the autonomous moving body 20 is prohibited from entering is set, and an "entry permitted area" into which the autonomous moving body 20 is permitted to enter is set, based on information indicating the cleaning status of the areas A, B, C, and D of the room R1 by the cleaning moving body 10. For example, the area A (inner periphery) after cleaning is set as an "entry permitted area," so the autonomous moving body 20 can patrol the area A after cleaning.

[0042] As shown by the dashed arrow in FIG. 5A, when a signal indicating that cleaning of area A has been completed is received from the server 30, the autonomous mobile body 20 moves to monitor area A in step S109. That is, after cleaning of area A (inner periphery) by the cleaning mobile body 10 is completed, the autonomous mobile body 20 moves to area A (inner periphery). By having the autonomous mobile body 20 patrol area A in this way, it becomes easier to monitor for the presence or absence of intruders or visitors. Furthermore, after cleaning of area A is completed (S108: Yes), the cleaning mobile body 10 cleans area B set inside area A in step S110.

[0043] FIG. 7 is an explanatory diagram showing the cleaning object 10 cleaning the area B. As shown in FIG. As described above, cleaning of area A is given priority over cleaning of areas B, C, and D. Then, area A that has been cleaned is set in the map information as an "entry-permitted area" into which the autonomous moving body 20 may enter. This enables the autonomous moving body 20 to patrol area A (perform monitoring movement in S109).

[0044] Area A is an inner periphery near the wall where door D1 and windows W1a, W1b, W1c, and W1d are installed. By having the autonomous moving body 20 patrol such area A, it becomes easier to detect intruders from outside and to confirm visitors. Furthermore, because dust tends to accumulate along the walls of room R1, by having the cleaning moving body 10 prioritize cleaning area A, which is an inner periphery, cleaning of room R1 can be efficiently carried out.

[0045] Note that the map information is set so that the area B that the cleaning body 10 is currently cleaning and the areas C and D that have not yet been cleaned are "no-entry areas" for the autonomous moving body 20. If the autonomous moving body 20 were to enter any of the areas B, C, or D, the cleaning body 10, having detected the approach of the autonomous moving body 20, may change its travel route. If the travel route of the cleaning body 10 is changed in this way, cleaning will not proceed as originally planned, and cleaning will take more time, as well as the amount of power consumed by the cleaning body 10 will increase. Therefore, in the first embodiment, the server 30 (see FIG. 2) sets the areas that the cleaning body 10 is currently cleaning and the areas that have not yet been cleaned as "no-entry areas" for the autonomous moving body 20.

[0046] 5A and 5B, for example, suppose an intruder enters room R1 and the autonomous mobile body 20 receives a signal to release an autolock provided at the entrance E1, window W1a, or the like. In such a case, the autonomous mobile body 20 may photograph the intruder with the image sensor 21 and transmit the image data to the server 30. Alternatively, the autonomous mobile body 20 may notify the user's information terminal 40 (see FIG. 2) via the server 30, or may alert a security company with which the user has a contract.

[0047] In step S111 of Fig. 5A, the cleaning vehicle 10 determines whether cleaning of area B has been completed. If cleaning of area B has not been completed (S111: No), the processing of the cleaning vehicle 10 returns to step S110. If cleaning of area B has been completed in step S111 (S111: Yes), the cleaning vehicle 10 transmits a signal indicating that cleaning of area B has been completed to the server 30, as indicated by the dashed arrow in Fig. 5A. Upon receiving this signal, the server 30 transmits a signal indicating that cleaning of area B has been completed (or the updated map information) to the autonomous vehicle 20.

[0048] When a signal indicating that cleaning of area B has been completed is received from the server 30, the autonomous moving body 20 performs monitoring movement of areas A and B in step S112 of FIG. 5B. Here, since areas A and B have both been cleaned, the "permitted entry area" of the autonomous moving body 20 is expanded to areas A and B. During monitoring movement, the autonomous moving body 20 may move through area A so as to follow the wall of room R1, or may enter area B as appropriate. On the other hand, area C, which is currently being cleaned by the cleaning moving body 10, and area D, which has not yet been cleaned, are set as "prohibited entry areas" for the autonomous moving body 20.

[0049] In step S113 of FIG. 5B, the cleaning object 10 cleans the area C. Next, in step S114, the cleaning vehicle 10 determines whether cleaning of area C has been completed. If cleaning of area C has not been completed (S114: No), the processing of the cleaning vehicle 10 returns to step S113. If cleaning of area C has been completed in step S114 (S114: Yes), the cleaning vehicle 10 transmits a signal indicating that cleaning of area C has been completed to the server 30, as indicated by the dashed arrow in FIG. 5B. Upon receiving this signal, the server 30 transmits a signal indicating that cleaning of area C has been completed (or the updated map information) to the autonomous vehicle 20.

[0050] When a signal indicating that cleaning of area C has been completed is received from the server 30, the autonomous moving body 20 moves to monitor area C in step S115. Here, areas A, B, and C have all been cleaned, so the "permitted entry area" of the autonomous moving body 20 is expanded to areas A, B, and C. On the other hand, area D, which is currently being cleaned by the cleaning body 10, is set as an "intrusion prohibited area" for the autonomous moving body 20.

[0051] FIG. 8 is an explanatory diagram showing the cleaning object 10 moving through areas C and D in sequence while cleaning. FIG. 8 shows an example in which the autonomous moving body 20 moves through area A while the cleaning body 10 sequentially cleans areas C and D, but it is also possible for the autonomous moving body 20 to enter area B, which has already been cleaned.

[0052] In step S116 of FIG. 5B, the cleaning object 10 cleans the area D. Next, in step S117, the cleaning vehicle 10 determines whether cleaning of area D has been completed. If cleaning of area D has not been completed (S117: No), the processing of the cleaning vehicle 10 returns to step S116. If cleaning of area D has been completed in step S117 (S117: Yes), the cleaning vehicle 10 transmits a signal indicating that cleaning of area D has been completed to the server 30, as indicated by the dashed arrow in FIG. 5B. Upon receiving this signal, the server 30 transmits a signal indicating that cleaning of area D has been completed (or the updated map information) to the autonomous vehicle 20.

[0053] Then, in step S118, the cleaning body 10 returns to the charging stand C1, and the series of processes ends (END). Furthermore, when a signal indicating that cleaning of area D has been completed is received from the server 30, in step S119 the autonomous moving body 20 performs monitoring movement of area D. In this case, all of areas A, B, C, and D that have been cleaned are set as "permitted entry areas" for the autonomous moving body 20. Next, in step S120, the autonomous moving body 20 determines whether the user has returned home. If the user has not yet returned home (S120: No), the processing of the autonomous moving body 20 returns to step S119. On the other hand, if the user has returned home in step S120 (S120: Yes), the autonomous moving body 20 ends the series of processes (END). When the cleaning object 10 cleans the room R1 again, the areas A, B, C, and D in the map information of the room R1 return to being uncleaned areas ("no entry areas" for the autonomous moving object 20).

[0054] <Effects> According to the first embodiment, an uncleaned area that has not yet been cleaned by the cleaning body 10 is set as a "no-entry area" for the autonomous moving body 20. This allows cleaning to proceed as originally planned even when multiple types of moving bodies (cleaning body 10 and autonomous moving body 20) exist in the room R1. Therefore, the room R1 can be cleaned efficiently, and the battery (not shown) of the cleaning body 10 can be prevented from running out during cleaning.

[0055] Furthermore, the map information shared by the cleaning vehicle 10 and the autonomous vehicle 20 stores the locations of the entrance E1, door D1, and windows W1a, W1b, W1c, and W1d, and the cleaning vehicle 10 prioritizes cleaning the inner periphery (area A) of the room R1. This allows the autonomous vehicle 20 to start patrolling the inner periphery (area A) of the room R1 early, thereby enabling the monitoring mode to be executed efficiently. For example, if an intruder enters the room R1, the autonomous vehicle 20 can easily capture an image of the intruder with the image sensor 21. As such, according to the first embodiment, a cleaning system 100 can be provided that improves the efficiency of processing by the cleaning vehicle 10 and the autonomous vehicle 20.

[0056] Second Embodiment The second embodiment differs from the first embodiment in that the autonomous moving body 20 can enter an area in a predetermined case even if the cleaning moving body 10 (see FIG. 10) is currently cleaning or an uncleaned area. The configuration of the cleaning system 100 (see FIGS. 1 and 2) is the same as that of the first embodiment. The map information (see FIG. 4) related to cleaning of the room R1 is also the same as that of the first embodiment. Therefore, only the parts that are different from the first embodiment will be described, and the description of the overlapping parts will be omitted.

[0057] FIG. 9 is a flowchart showing the processing of the server, the cleaning vehicle, and the autonomous vehicle in the cleaning system according to the second embodiment (see also FIG. 2 as appropriate). Note that steps S101 to S111 are the same as those in the first embodiment (see FIG. 5A), and therefore will not be described here. For example, when the cleaning object 10 is cleaning area C (S113), the autonomous moving object 20 performs monitoring movement in areas A and B (S112), and then proceeds to the processing of step S214.

[0058] In step S214, the autonomous mobile body 20 determines whether a visitor has arrived. For example, if the entrance chime (not shown) is rung or if a person enters through the entrance E1 (see FIG. 10), the autonomous mobile body 20 determines that a visitor has arrived. If a visitor has not arrived in step S214 (S214: No), the processing of the autonomous mobile body 20 returns to step S112.

[0059] Furthermore, if a visitor has arrived in step S214 (S214: Yes), the autonomous moving body 20 transmits a signal indicating that a visitor has arrived to the server 30, as indicated by the dashed arrow in FIG. 9. When this signal is received, the server 30 transmits a signal indicating that a visitor has arrived to the cleaning body 10. When this signal is received from the server 30, the cleaning body 10 temporarily waits on the spot in step S215. This prevents the cleaning body 10 from interfering with the movement of the autonomous moving body 20.

[0060] Next, in step S208, the autonomous moving body 20 changes the area that was previously set as an "entry prohibited area" (an area being cleaned or an area that has not yet been cleaned) to an entry permitted area. Note that the server 30 may change the map information so as to change the "entry prohibited area" to an "entry permitted area" and transmit the changed map information to the autonomous moving body 20.

[0061] FIG. 10 is an explanatory diagram of a case where a visitor M2 arrives while the cleaning vehicle 10 is cleaning. 10 shows a case where a visitor M2 arrives while the cleaning mobile body 10 is cleaning area C and the autonomous mobile body 20 is monitoring areas A and B. Until the visitor M2 arrives, areas C and D were "no-entry areas" for the autonomous mobile body 20, but when the visitor M2 arrives, the autonomous mobile body 20 can enter areas C and D in addition to areas A and B. In other words, while the visitor M2 is in the room R1, areas C and D are temporarily changed to "allowed entry areas."

[0062] As a result, the autonomous mobile body 20 moves in a straight line across areas C and D toward the visitor M2 at the entrance E1, allowing the visitor M2 to be quickly confirmed. For example, when confirming the visitor M2, the cleaning mobile body 10 may capture an image of the visitor M2 with the image sensor 21 (see FIG. 2) and transmit the image capture result to the user's information terminal 40 (see FIG. 2) via the server 30 (see FIG. 2). In this way, when the autonomous mobile body 20 detects the visitor M2 in the room R1, the autonomous mobile body 20 moves toward the entrance E1 (entrance / exit), and the cleaning mobile body 10 temporarily stops moving. This prevents the cleaning mobile body 10 from becoming an obstacle when the autonomous mobile body 20 moves to the entrance E1.

[0063] Returning to FIG. 9 again, the explanation will be continued. In step S217 of FIG. 9, the autonomous moving body 20 confirms the visitor M2. Next, in step S218, the autonomous moving body 20 determines whether or not the visitor M2 has left. That is, the autonomous moving body 20 determines whether or not the visitor M2 shown in Fig. 10 has left through the entrance E1. If the visitor M2 has not yet left in step S218 (S218: No), the processing of the autonomous moving body 20 returns to step S217.

[0064] Furthermore, if the visitor M2 has left in step S218 (S218: Yes), the autonomous mobile body 20 transmits a signal indicating that the visitor M2 has left to the server 30. When this signal is received from the autonomous mobile body 20, the server 30 transmits a signal indicating that the visitor M2 has left to the cleaning mobile body 10. When this signal is received from the server 30, the cleaning mobile body 10 resumes cleaning from the place where it had temporarily waited in area C in step S219. On the other hand, after the visitor M2 has left (S218: Yes), the autonomous mobile body 20 resumes monitoring movement in the area that has already been cleaned (areas A and B in the example of FIG. 10 ) in step S220.

[0065] 9, the processing when the cleaning mobile body 10 is cleaning the area C has been described, but the same processing is performed while cleaning the other areas A, B, and D. Also, in FIG. 9, the processing when the visitor M2 arrives has been described, but the same processing is performed when the user returns home. That is, when the autonomous mobile body 20 detects that the user has returned home, the autonomous mobile body 20 moves toward the entrance E1 (entrance / exit), and the cleaning mobile body 10 may temporarily stop moving.

[0066] <Effects> According to the second embodiment, when a visitor M2 arrives in a room R1 while the user is absent, the autonomous moving body 20 moves across areas C and D, which had previously been set as "no-entry areas." This allows the autonomous moving body 20 to quickly confirm the visitor M2. Furthermore, when the visitor M2 is visiting, the cleaning moving body 10 waits temporarily, thereby preventing the cleaning moving body 10 from interfering with the movement of the autonomous moving body 20.

[0067] <Modification of the Second Embodiment> In the second embodiment, the process when a visitor M2 arrives while the room R1 (see FIG. 10) is being cleaned has been described, but the same process may also be performed when the remaining battery charge of the autonomous moving body 20 falls below a predetermined value. That is, when the remaining battery charge (charging rate) of the battery (not shown) of the autonomous moving body 20 falls below a predetermined value, a signal indicating this is transmitted to the cleaning body 10 via the server 30. When this signal is received, the cleaning body 10 stops cleaning and temporarily waits on the spot.

[0068] The autonomous moving body 20 then moves linearly toward the charging base C2 (see FIG. 10) and charges. When the autonomous moving body 20 moves to the charging base C2, the area being cleaned or the area not yet cleaned is temporarily changed to an "entry-permitted area," so that the autonomous moving body 20 can move linearly across these areas. In this way, when the remaining battery charge of the autonomous moving body 20 falls below a predetermined value, the cleaning body 10 temporarily stops moving until the autonomous moving body 20 arrives at the charging base C2. This prevents the cleaning body 10 from interfering with the movement of the autonomous moving body 20. The same can be said for charging the cleaning body 10, as shown in FIG. 11.

[0069] FIG. 11 is an explanatory diagram of a case where the cleaning object 10 is charged during cleaning. As shown in Fig. 11, suppose that the remaining battery charge of the cleaning body 10 falls below a predetermined value while the cleaning body 10 is performing cleaning. In such a case, a signal indicating that the remaining battery charge of the cleaning body 10 falls below the predetermined value is transmitted to the autonomous moving body 20 via the server 30. When this signal is received, the autonomous moving body 20 temporarily waits. Furthermore, the cleaning body 10 moves linearly toward the charging stand C1, regardless of the predetermined partitioned areas A, B, C, and D.

[0070] In this way, when the remaining battery power of the cleaning body 10 falls below a predetermined value, the autonomous moving body 20 temporarily stops moving until the cleaning body 10 arrives at the charging stand C1. This allows the cleaning body 10 to be charged before the remaining battery power reaches zero. In addition, the autonomous moving body 20 can be prevented from interfering with the movement of the cleaning body 10.

[0071] The same process is performed when the cleaning body 10 moves to another room (not shown) through the door D1 after cleaning the room R1 (see FIG. 11). That is, after the cleaning body 10 finishes cleaning the room R1, when the cleaning body 10 moves from the room R1 to another room (not shown), the autonomous moving body 20 temporarily stops moving. This prevents the autonomous moving body 20 from interfering with the movement of the cleaning body 10.

[0072] Third Embodiment The third embodiment differs from the first embodiment in that the cleaning mobile body 10 is prohibited from cleaning the kitchen / dining area (area B: see FIG. 12) during a specified time period. The configuration of the cleaning system 100 (see FIGS. 1 and 2) is the same as that of the first embodiment. Therefore, only the parts that are different from the first embodiment will be described, and the description of the overlapping parts will be omitted.

[0073] FIG. 12 is an explanatory diagram showing an example of map information for room R1 in the cleaning system according to the third embodiment. In the example shown in Fig. 12, area B (hatched area) of room R1 is set as a kitchen / dining area in the map information. As will be described below, the cleaning object 10 is prevented from entering area B during the time period when the user eats meals in area B (kitchen / dining area) based on the user's daily schedule. The attribute of area B (kitchen / dining area) is set based on, for example, the user's operation of the information terminal 40 (see Fig. 2).

[0074] FIG. 13 is an explanatory diagram showing the relationship between a user's daily schedule and the cleaning system's operation schedule. The horizontal axis in Fig. 13 represents time. Also, from the top of the page in Fig. 13, the user's schedule, the operating time period of the cleaning body 10, the time periods and areas where the cleaning body 10 is prohibited from entering, and the operating time period of the autonomous moving body 20 are shown.

[0075] In the example of FIG. 13, the operating time periods of the cleaning body 10 and the autonomous moving body 20 are set from midnight to midnight. In addition, time periods and areas into which the cleaning body 10 is prohibited from entering are set in association with the schedule of a user (for example, a resident of building B1). Specifically, in area B (see FIG. 12), whose attribute is set as a kitchen / dining room, the cleaning body 10 is prohibited from entering during the user's breakfast, lunch, and dinner hours. That is, of the multiple areas A, B, C, and D included in room R1, a predetermined area into which the cleaning body 10 is prohibited from entering (area B in the example of FIG. 13) is set in association with a predetermined time period.

[0076] The time periods and areas where the cleaning body 10 is prohibited from entering are set, for example, based on the user's operation of the information terminal 40 (see FIG. 2). That is, when the user inputs the time periods for breakfast, lunch, and dinner by operating the information terminal 40 (see FIG. 2), the server 30 (see FIG. 2) may set the time periods so that the cleaning body 10 is prohibited from entering area B (kitchen and dining area) during these time periods.

[0077] For example, when the cleaning mobile body 10 finishes cleaning area A (see FIG. 12) and moves to the next area B, if this overlaps with the user's breakfast, lunch, or dinner time slot, it will skip cleaning area B and will first clean areas C and D. As for the uncleaned area B, the cleaning mobile body 10 will clean area B after completing cleaning of areas C and D and if this does not overlap with the user's breakfast, lunch, or dinner time slot.

[0078] Furthermore, if it is breakfast, lunch, or dinner time while cleaning area B, the cleaning body 10 may temporarily suspend cleaning of area B (see FIG. 12) and wait there, or may move to and clean areas C and D. Meanwhile, the autonomous moving body 20 monitors the area that has already been cleaned among areas A, B, C, and D.

[0079] Instead of the cleaning mobile object 10 (or together with the cleaning mobile object 10), the time periods and areas where the autonomous mobile object 20 is prohibited from entering may be set by the user operating the information terminal 40. Also, the attribute associated with the area of ​​the room R1 is not limited to kitchen / dining room, but may be other attributes such as living room or bedroom. Also, in a building with multiple rooms, a predetermined attribute may be assigned to each room.

[0080] <Effects> According to the third embodiment, the time periods and areas where the cleaning body 10 is prohibited from entering are set in accordance with the user's daily schedule. That is, the user can set the time periods and areas where the cleaning body 10 is prohibited from entering by operating the information terminal 40 (see FIG. 2). Therefore, even while the user is in the room R1, the cleaning body 10 and the autonomous moving body 20 can be prevented from interfering with the user's meal, etc., and the cleaning body 10 and the autonomous moving body 20 can be operated efficiently.

[0081] <<Variations>> Although the cleaning system 100 and the like according to the present invention have been described in the above in relation to the various embodiments, they are not limited to these descriptions and can be modified in various ways. For example, in each embodiment, the case where the room R1 (see FIG. 4) is divided into four areas A, B, C, and D in the map information has been described, but this is not limitative. That is, the way in which the areas of the room R1 are divided can be changed as appropriate. In addition, in each embodiment, a case where an entrance E1, a door D1, and windows W1a, W1b, W1c, and W1b are provided in room R1 has been described, but this is not limited to this. That is, each embodiment can also be applied to a room R1 that has either an entrance or a window. Furthermore, even if an opening (large enough for a person to pass through) in a wall L1 of room R1 does not have a door, this opening functions as an "entrance."

[0082] Furthermore, in each embodiment, the cleaning body 10 (see FIG. 1) has been described as being equipped with the distance sensor 11, but other predetermined sensors may also be provided. For example, the cleaning body 10 may be configured to include a dust sensor (not shown) inside the main body 16. The cleaning body 10 may then adjust the rotation speed of the fan 12a (see FIG. 2) of the dust collection unit 12 (see FIG. 1) based on the detection value of the dust sensor. Alternatively, for example, the cleaning body 10 may move appropriately to the vicinity of a dust sensor (not shown) provided in building B1 to perform cleaning based on the detection value of the dust sensor. Furthermore, the autonomous moving body 20 may also be equipped with an audio sensor (not shown) in addition to the image sensor 21 and the distance sensor 22. When a predetermined sound is detected by the audio sensor (not shown), the autonomous moving body 20 may move in the direction in which the sound is coming from.

[0083] Furthermore, in each embodiment, the case where the server 30 is installed outside the building B1 has been described, but the installation location of the server 30 can be changed as appropriate as long as it is capable of communicating with each of the cleaning mobile body 10 and the autonomous mobile body 20. For example, the server 30 may be installed inside the building B1, or the server 30 may be installed in a service operating company or a cloud service company.

[0084] Furthermore, in the first embodiment, a case has been described in which the autonomous moving body 20 can enter area A (see FIG. 4 ), which is the inner periphery of room R1, after cleaning of area A has been completed, but this is not limiting. For example, while the cleaning body 10 is cleaning area A (inner periphery), the autonomous moving body 20 may move through the already cleaned portion of area A (inner periphery). To give a specific example, when the cleaning body 10 is cleaning area A (inner periphery), the autonomous moving body 20 may follow behind the cleaning body 10. This prevents the autonomous moving body 20 from interfering with cleaning, and allows the autonomous moving body 20 to begin patrolling area A, which is the inner periphery, at an early stage. In addition, when the autonomous moving body 20 moves through an already cleaned part of area A and the direction of movement is the same as the direction of movement of the cleaning moving body 10 when cleaning, this is considered to be included in the matter of the autonomous moving body 20 "following behind" the cleaning moving body 20.

[0085] Furthermore, in the second embodiment (see FIG. 10 ), the process of the cleaning vehicle 10 temporarily stopping movement when the remaining battery charge of the autonomous moving body 20 falls below a predetermined value until the autonomous moving body 20 arrives at the charging stand C2 has been described, but this is not limiting. For example, if the autonomous moving body 20 detects an abnormality in a person in the room R1, the autonomous moving body 20 may move toward the person (the person for whom the abnormality was detected) and temporarily stop moving, even while the cleaning vehicle 10 is cleaning the room R1. In this way, if an abnormality is detected because a person in the room R1 has collapsed or crouched down, the autonomous moving body 20 can respond immediately. Furthermore, when the autonomous mobile body 20 detects an intruder in room R1, even while the cleaning mobile body 20 is cleaning room R1, the autonomous mobile body 20 may move toward the intruder and temporarily stop moving. This allows the autonomous mobile body 20 to immediately confirm the intruder in room R1. For example, the autonomous mobile body 20 may capture an image of a person or intruder for whom an abnormality has been detected, and notify the user's information terminal 40 of the image capture result via the server 30.

[0086] Furthermore, the respective embodiments can be combined as appropriate. For example, the second embodiment (see FIG. 10) and the third embodiment (see FIG. 12) can be combined. In addition, the program for causing a computer to execute the cleaning method described in each embodiment can be provided via a communication line, or can be written to a recording medium such as a CD-ROM and distributed.

[0087] Furthermore, the embodiments have been described in detail to clearly explain the present disclosure, and are not necessarily limited to those including all of the configurations described. Furthermore, some of the configurations of the embodiments may be added to, deleted from, or replaced with other configurations. Furthermore, the mechanisms and configurations described above are those that are considered necessary for the explanation, and do not necessarily represent all mechanisms and configurations of the product. [Explanation of symbols]

[0088] 10 Cleaning vehicle 20 Autonomous Mobile Vehicles 30 servers 40 Information terminal 100 Cleaning System A area (inner periphery) Areas B, C, and D (other parts) C1 Charging stand (charging stand for cleaning vehicles) C2 Charging stand (charging stand for autonomous mobile devices) D1 Door (Entrance / Exit) E1 Entrance (Entrance / Exit) L1 Wall M1 people M2 visitors R1 Room W1a, W1b, W1c, W1d windows

Claims

1. A cleaning mobile body that moves within a room that is partitioned by walls and has at least an entrance / exit or a window to clean the room, and an autonomous mobile body that moves within the room, the cleaning movable body performs cleaning of the inner peripheral portion along the wall of the room with priority over cleaning of other portions of the room; After the cleaning of the inner periphery by the cleaning moving body is completed, the autonomous moving body moves to the inner periphery. Or, A cleaning system in which, while the cleaning vehicle is cleaning the inner periphery, the autonomous moving body moves over an already cleaned portion of the inner periphery.

2. When the autonomous moving body detects that a visitor to the room or a user has returned home, the autonomous moving body moves toward the entrance / exit, and the cleaning moving body temporarily stops moving. The cleaning system of claim 1 .

3. When the remaining battery charge of the autonomous moving body falls below a predetermined value, the cleaning moving body temporarily stops moving until the autonomous moving body arrives at a charging stand. The cleaning system of claim 1 .

4. When the remaining battery charge of the cleaning vehicle falls below a predetermined value, the autonomous vehicle temporarily stops moving until the cleaning vehicle arrives at a charging stand. The cleaning system of claim 1 .

5. After the cleaning of the room by the cleaning mobile body is completed, when the cleaning mobile body moves from the room to another room, the autonomous mobile body temporarily stops moving. The cleaning system of claim 1 .

6. Among the plurality of areas included in the room, a predetermined area into which the cleaning mobile body is prohibited from entering is set in association with a predetermined time period. The cleaning system of claim 1 .

7. When the autonomous moving body detects an abnormality in a person in the room, the autonomous moving body moves toward the person even while the cleaning body is cleaning the room, and the cleaning body temporarily stops moving. The cleaning system of claim 1 .

8. When the autonomous moving body detects an intruder in the room, the autonomous moving body moves toward the intruder even while the cleaning body is cleaning the room, and the cleaning body temporarily stops moving. The cleaning system of claim 1 .

9. When the cleaning vehicle is cleaning the inner periphery, the autonomous vehicle follows behind the cleaning vehicle. The cleaning system of claim 1 .

10. A cleaning method using a cleaning mobile body that moves and cleans a room that is partitioned by walls and has at least an entrance / exit or a window, the cleaning movable body performs cleaning of the inner peripheral portion along the wall of the room with priority over cleaning of other portions of the room; After the cleaning moving body has finished cleaning the inner periphery, the autonomous moving body that moves within the room moves to the inner periphery. Or, A cleaning method in which, while the cleaning mobile body is cleaning the inner circumferential portion, the autonomous mobile body moves over a portion of the inner circumferential portion that has already been cleaned.

Images