Driving system, driving method, and driving program

Abstract

To provide a traveling system, a traveling method, and a traveling program that are able to cause a traveling device to appropriately travel along a target route according to a congestion state of a predetermined area.SOLUTION: A traveling device 10 includes: an acquisition processing unit 413 that acquires congestion information 53 indicating a congestion degree of a predetermined area; a setting processing unit 414 that sets a traveling schedule of the traveling device 10, based on the congestion information 53 acquired by the acquisition processing unit 413; and a travel processing unit 411 that causes the traveling device 10 to travel according to a target route, based on the traveling schedule set by the setting processing unit 414.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a traveling system, a traveling method, and a traveling program for causing a traveling device to travel.

Background Art

[0002] There is known a traveling device (mobile robot) that autonomously travels according to a target route set in a predetermined area. For example, the traveling device autonomously travels in the predetermined area according to a preset traveling schedule. Conventionally, there has been proposed a technique for specifying a congestion situation in a predetermined area and causing the traveling device to travel while avoiding a congested area (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, the route along which the traveling device travels changes according to the congestion situation in the predetermined area. For this reason, for example, in the case where the traveling device is a cleaning robot that cleans the predetermined area, the traveling route of the traveling device deviates from a preset cleaning route (target route), and a situation may occur where the predetermined area cannot be appropriately cleaned. As described above, in the conventional technology, it is difficult to appropriately cause the traveling device to travel along the target route when the predetermined area is congested.

[0005] An object of the present invention is to provide a traveling system, a traveling method, and a traveling program capable of appropriately causing a traveling device to travel along a target route according to a congestion situation in a predetermined area.

Means for Solving the Problems

[0006] A driving system according to one aspect of the present invention is a system that drives a driving device according to a target route set in a predetermined area. The driving system comprises an acquisition processing unit, a setting processing unit, and a driving processing unit. The acquisition processing unit acquires congestion information indicating the congestion state of the predetermined area. The setting processing unit sets a driving schedule for the driving device based on the congestion information acquired by the acquisition processing unit. The driving processing unit drives the driving device according to the target route based on the driving schedule set by the setting processing unit.

[0007] Another aspect of the present invention relates to a driving method for driving a driving device according to a target route set in a predetermined area, wherein one or more processors perform an acquisition step of acquiring congestion information indicating the congestion state of the predetermined area; a setting step of setting a driving schedule for the driving device based on the congestion information acquired in the acquisition step; and a driving step of driving the driving device according to the target route based on the driving schedule set in the setting step.

[0008] Another aspect of the present invention is a driving program that causes a driving device to drive according to a target route set in a predetermined area, and the program causes one or more processors to execute: an acquisition step of acquiring congestion information indicating the congestion state of the predetermined area; a setting step of setting a driving schedule for the driving device based on the congestion information acquired in the acquisition step; and a driving step of driving the driving device according to the target route based on the driving schedule set in the setting step. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a driving system, a driving method, and a driving program that can appropriately drive a driving device according to a target route in accordance with the congestion status of a predetermined area. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a perspective view showing the front view of a cleaning device according to an embodiment of the present invention. [Figure 2] Figure 2 is a functional block diagram showing the configuration of a traveling device according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of map information stored in the memory unit of a driving device according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of map information stored in the memory unit of a driving device according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of map information stored in the memory unit of a driving device according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of route information stored in the memory unit of a traveling device according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a target path set in a predetermined area according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a target path set in a predetermined area according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of a target path set in a predetermined area according to an embodiment of the present invention. [Figure 10] Figure 10 shows an example of congestion information stored in the memory unit of a running device according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of schedule information stored in the memory unit of a traveling device according to an embodiment of the present invention. [Figure 12] Figure 12 shows an example of congestion history information and a cleaning schedule according to an embodiment of the present invention. [Figure 13] Figure 13 shows an example of congestion history information and a cleaning schedule according to an embodiment of the present invention. [Figure 14] Figure 14 shows an example of congestion history information and a cleaning schedule according to an embodiment of the present invention. [Figure 15]FIG. 15 is a diagram showing an example of congestion history information and cleaning schedule according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of congestion history information and cleaning schedule according to an embodiment of the present invention. [Figure 17] FIG. 17 is a flowchart showing an example of a traveling process executed by a traveling device according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] [Traveling Device 10] FIG. 1 is a perspective view showing the appearance of an autonomous traveling type traveling device 10 according to an embodiment of the present invention, and FIG. 2 is a functional block diagram showing the configuration of the traveling device 10. In the following description, the vertical direction D1, the front-rear direction D2, and the left-right direction D3 shown in FIG. 1 are used. The traveling device 10 is an example of the traveling device of the present invention. Note that the traveling device 10 is not limited to the configuration shown in FIG. 1.

[0013] The traveling device 10 is a device that can move by autonomously traveling inside various facilities such as shopping malls, commercial buildings, airports, and stations, and is also referred to as a mobile robot. While moving by autonomous traveling, the traveling device 10 can perform cleaning inside the facility, present various information (advertisements, guidance information, etc.) to users inside the facility, carry luggage inside the facility, and perform security inside the facility. Further, the traveling device 10 autonomously travels in a predetermined area inside the facility according to a preset target route. Hereinafter, the case where the traveling device 10 is a cleaning robot having a cleaning function will be described as an example. For example, the traveling device 10 has a cleaning function of cleaning the floor surface while autonomously traveling according to a target route.

[0014] As shown in Figures 1 and 2, the traveling device 10 comprises a main body 11 and various functional units provided on the main body 11. Specifically, the main body 11 includes a traveling unit 12, a motor (not shown), a battery (not shown), a cleaning unit (not shown), an operating unit 20, a display panel 21, a camera 30, and a control unit 40 (control device).

[0015] The cleaning unit may include functions such as vacuuming up dirt and debris from the floor surface and polishing the floor surface with a brush. For example, the cleaning unit performs cleaning operations according to instructions from the control unit 40 based on a target path (cleaning path).

[0016] As shown in Figure 1, the main body of the device 11 has an exterior cover 11A that constitutes its exterior, and a chassis 11B below it. The chassis 11B is provided approximately parallel to the floor surface. In addition, support frames for supporting the above-mentioned functional parts are appropriately provided inside the main body of the device 11. The cleaning unit is provided on the rear side of the main body of the device 11.

[0017] The running unit 12 transmits the transport force in the direction of travel to the floor surface while maintaining the running posture of the main body of the device 11, and is attached to the chassis 11B. The running unit 12 has a pair of wheels 121 for movement and four casters 122.

[0018] The wheels 121 are rotatably supported at the center of the chassis 11B in the longitudinal direction D2 and at both ends in the lateral direction D3 (width direction). The four casters 122 are for maintaining the running posture of the device body 11 and are rotatably supported at both ends of the front end of the chassis 11B and at both ends of the rear end of the chassis 11B. When the running device 10 is placed on the floor, the outer surfaces of the wheels 121 and casters 122 are supported by the floor. This maintains the device body 11 in the running posture shown in Figure 1.

[0019] The output shaft of a motor is connected to the rotation axis of the wheel 121 via a transmission mechanism such as a reduction gear. Therefore, when the motor is driven and its rotational driving force is output from the output shaft, the rotational driving force of the motor is transmitted to the wheel 121. In this embodiment, a motor is provided individually for each of the pair of wheels 121. Therefore, the rotational speed of each wheel 121 is controlled by individually driving and controlling each motor. For example, if the rotational speed of each wheel 121 is controlled to be the same, the running device 10 will move in a straight line, and if the rotational speeds of each wheel 121 are controlled to be different, the running device 10 will turn towards the wheel 121 with the slower rotational speed.

[0020] The battery is located in the center of the main body 11 of the device. The battery supplies power to drive the motor.

[0021] As shown in Figure 1, a front laser sensor 41, a sonar sensor 42, and a camera 30 are provided on the front of the traveling device 10.

[0022] The front laser sensor 41 is located in a groove 175 extending in the width direction, formed in the lower part of the front of the main body 11 of the device. The front laser sensor 41 is positioned in the center of the groove 175. The front laser sensor 41 includes a laser emitting element, a laser driver that drives the laser emitting element, a light receiving element, and a light receiving processing circuit that converts the output of the light receiving element into a digital signal. The front laser sensor 41 is connected to and controlled by the control unit 40. The front laser sensor 41 scans the laser beam forward in the width direction (horizontal direction) within a predetermined scanning angle (e.g., 120 degrees). When the front laser sensor 41 receives the laser beam that has been reflected back from an irradiated object (such as an obstacle), the control unit 40 measures the time it takes for the laser beam to return and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to determine the distance and position to an object on the front side (direction of travel side) of the traveling device 10, as well as the shape and size of that object in the width direction.

[0023] The sonar sensor 42 is located on the underside of the display panel 21. The sonar sensor 42 is located at both ends in the width direction on the front of the main body of the device 11. The sonar sensor 42 is connected to the control unit 40 and controlled by the control unit 40. The sonar sensor 42 detects objects (such as obstacles) using sound waves and measures the distance to the object based on the time it takes for the sound waves to reflect off the object and return.

[0024] Camera 30 is a digital camera that captures images of a subject and outputs them as digital image data. Camera 30 is located on the front of the main body 11 and above the display panel 21, and captures images in the front direction or in all directions (360 degrees) of the traveling device 10. The image data of the images captured by camera 30 is transmitted to the control unit 40.

[0025] Side laser sensors 45 are provided on each of the two sides of the main body 11 of the device. The side laser sensors 45 are configured in much the same way as the front laser sensor 41, and include a laser emitting element, a laser driver that drives the laser emitting element, a light receiving element, and a light receiving processing circuit that converts the output of the light receiving element into a digital signal. The side laser sensors 45 are connected to and controlled by the control unit 40. The side laser sensors 45 scan the laser beam within a predetermined scanning angle (e.g., 180 degrees) from the front downwards and backwards. When the side laser sensors 45 receive the laser beam that has been reflected back from the irradiated object, the control unit 40 measures the time it takes for the laser beam to return and calculates the distance to the object at each scanning position based on the measured value. This allows the control unit 40 to determine the distance and position to obstacles on the front side (direction of travel side) of the traveling device 10, as well as steps and obstacles on the floor surface, and their shape and size in the scanning direction.

[0026] The control unit 20 (see Figure 2) is located on the upper rear of the main body 11 of the device. The control unit 20 is attached to the outer cover 11A. The control unit 20 is a device operated by the user of the travel device 10, and is, for example, a device with a touch panel that allows touch operation. The control unit 20 displays an operation screen for the user to perform various operations (teaching operations, registration operations, setting operations, travel instruction operations, etc.). Operation information for the control unit 20 is transmitted to the control unit 40 and used for travel control by the control unit 40. The control unit 20 may also be located on the top surface (top plate) of the main body 11 of the device.

[0027] The display panel 21 is located on the front of the main unit 11 of the device. The display panel 21 is, for example, a liquid crystal panel. Various types of guidance information are displayed on the display panel 21 by the control unit 40. This guidance information includes, for example, advertising information for products within the facility, information about stores within the facility, and warning information for users within the facility.

[0028] The operating handle 22 is located at the top of the rear of the main body 11 of the device. The operating handle 22 is attached to the outer cover 11A. The operating handle 22 is an operating member that the user grasps when performing a teaching operation (teaching operation) to teach the traveling device 10 a target path. The operating handle 22 is equipped with various operation buttons (travel button, reverse button, left turn button, right turn button, etc.) that accept driving operations from the user. Operation information for the operation buttons is transmitted to the control unit 40 and used for driving control by the control unit 40.

[0029] The communication unit 25 (see Figure 2) is a communication interface for connecting the traveling device 10 to a network by wire or wireless means, and for performing data communication with external devices such as a server (not shown) via the network in accordance with a predetermined communication protocol.

[0030] The storage unit 50 (see Figure 2) is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. Specifically, the storage unit 50 stores data such as map information 51, route information 52, congestion information 53, and schedule information 54. Figures 3 to 5 show examples of map information 51. Figure 6 shows an example of route information 52. Figure 10 shows an example of congestion information 53. Figure 11 shows an example of schedule information 54.

[0031] As shown in Figures 3 to 5, the map information 51 registers information about an environmental map corresponding to the driving area (corresponding to a predetermined area in the present invention) on which the traveling device 10 travels. One or more environmental maps are registered in the map information 51. For example, if an environmental map is generated for each floor of the facility, multiple environmental maps corresponding to each floor of the facility are registered in the map information 51. Specifically, the map information 51 registers environmental map M1 for the 1st floor (1st floor) of the facility (see Figure 3), environmental map M2 for the 2nd floor (2nd floor) (see Figure 4), and environmental map M3 for the 3rd floor (3rd floor) (see Figure 5). The environmental maps may be generated in advance by an external device, or they may be generated based on the distance and position to obstacles detected by each sensor (such as the front laser sensor 41 and the sonar sensor 42) while the traveling device 10 is traveling. That is, the control unit 40 may generate an environmental map of the driving area by driving the traveling device 10.

[0032] As shown in Figure 6, the route information 52 registers information about the target route (e.g., cleaning route) generated based on the teaching operation by the user. Specifically, for each target route, the route information 52 registers information such as "route ID," "route name," "area name," and "location information." The control unit 40 generates a target route based on the teaching operation by the user and registers the information of the generated target route in the route information 52. "Route ID" is identification information for the target route, and "route name" is the name of the target route. "Area name" is the name of the travel area. "Location information" is information indicating the location (coordinates) of the target route. For example, coordinate information from the start position to the end position of a single target route is registered in the location information of that target route.

[0033] Figures 7 to 9 show examples of target routes. Target route R1 shown in Figure 7 is a route (cleaning route) set on the 1st floor of the facility, from the starting position S1 to the ending position G1. Target route R1 corresponds to route ID "0001" in route information 52 (see Figure 6). Target route R2 shown in Figure 8 is a route (cleaning route) set on the 2nd floor of the facility, from the starting position S2 to the ending position G2. Target route R2 corresponds to route ID "0002" in route information 52 (see Figure 6). Target route R3 shown in Figure 9 is a route (cleaning route) set on the 3rd floor of the facility, from the starting position S3 to the ending position G3. Target route R3 corresponds to route ID "0003" in route information 52 (see Figure 6).

[0034] As shown in Figure 10, the congestion information 53 registers congestion history information showing past congestion levels and current congestion information showing the current congestion level for each of the aforementioned operating areas. Specifically, the congestion history information includes information on the degree of congestion for each time period (e.g., every hour) on a daily basis in the past. The current congestion information includes information on the current degree of congestion (congestion status). The degree of congestion may be expressed in five stages from 0 to 5 (the higher the stage, the greater the degree of congestion), or as a percentage from 0 to 100% (the higher the percentage, the greater the degree of congestion), or as the number of people or population density within the operating area. For example, the graph in Figure 12 shows an example of the change in the degree of congestion (congestion history information) on floor 1F, the graph in Figure 13 shows an example of the change in the degree of congestion (congestion history information) on floor 2F, and the graph in Figure 14 shows an example of the change in the degree of congestion (congestion history information) on floor 3F. Each of the congestion levels shown in Figures 12 to 14 represents, for example, the average value of the degree of congestion over a predetermined period in the past. The congestion history information is updated every time the day changes.

[0035] As shown in Figure 11, the schedule information 54 registers information regarding the travel schedule for each travel area, which involves the travel device 10 traveling along a target route. For example, if the travel device 10 performs cleaning twice a day on each of the 1st, 2nd, and 3rd floors, the schedule information 54 registers a cleaning schedule for each floor, including the first cleaning time slot (start and end times) and the second cleaning time slot (start and end times). Note that this example shows one travel device 10 moving between the 1st, 2nd, and 3rd floors and cleaning each floor twice a day. For example, according to the schedule information 54 shown in Figure 11, the mobile device 10 performs the first cleaning of floor 1F from 7:00 to 7:30, the first cleaning of floor 2F from 8:00 to 8:30, the first cleaning of floor 3F from 9:00 to 9:30, the second cleaning of floor 1F from 13:00 to 13:30, the second cleaning of floor 3F from 17:00 to 17:30, and the second cleaning of floor 2F from 18:30 to 19:00. In this case, the mobile device 10 moves in the order of floor 1F → floor 2F → floor 3F → floor 1F → floor 3F → floor 2F to perform the cleaning work. The schedule information 54 is set by the control unit 40 and stored in the storage unit 50.

[0036] In another embodiment, some or all of the information such as map information 51, route information 52, congestion information 53, and schedule information 54 may be stored on a server accessible from the driving device 10 via a network.

[0037] Furthermore, the storage unit 50 stores control programs, such as a driving program, which causes the control unit 40 to execute the driving process described later (see Figure 17). For example, the driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown), such as a CD drive or DVD drive, provided by the driving device 10, and stored in the storage unit 50.

[0038] The control unit 40 is located on the upper part of the main body 11 of the device. The control unit 40 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit in which control programs such as a BIOS and OS are pre-stored to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 40 controls the traveling device 10 by executing various control programs pre-stored in the ROM or the memory unit 50 using the CPU.

[0039] Specifically, as shown in Figure 2, the control unit 40 includes various processing units such as a driving processing unit 411, a reception processing unit 412, an acquisition processing unit 413, and a setting processing unit 414. The control unit 40 functions as these various processing units by executing various processes according to the driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The driving program may be a program that causes multiple processors to function as processing units.

[0040] The driving processing unit 411 causes the driving device 10 to drive autonomously based on the target path generated by the control unit 40. Specifically, the driving processing unit 411 drives the driving unit 12 by outputting a drive signal corresponding to the target path to the motor, thereby causing the driving device 10 to drive autonomously according to the target path. For example, if the user selects a desired target path on the driving instruction screen (not shown), the driving processing unit 411 causes the driving device 10 to drive autonomously according to that target path. Also, if the user has set a driving schedule (see Figure 11) in advance, the driving processing unit 411 causes the driving device 10 to drive autonomously based on that driving schedule.

[0041] Furthermore, the driving processing unit 411 performs a cleaning process during autonomous driving, causing the cleaning unit to clean the floor surface and other surfaces. Specifically, the driving processing unit 411 outputs a drive signal corresponding to the target path to the motor, thereby driving the cleaning unit and causing the driving device 10 to clean according to the target path.

[0042] The reception processing unit 412 accepts user operations. For example, the reception processing unit 412 accepts teaching operations, registration operations, setting operations, and driving instruction operations from the user. For example, when the user wants the driving device 10 to perform a cleaning process, the user operates the operation unit 20 to input cleaning conditions. Specifically, the user inputs the location to be cleaned (cleaning area), the cleaning route (target route), the number of cleaning cycles, etc. For example, the user selects floors 1F (see Figure 3), 2F (see Figure 4), and 3F (see Figure 5) as the cleaning area, selects target route R1 (see Figure 7) as the cleaning route for floor 1F, selects target route R2 (see Figure 8) as the cleaning route for floor 2F, and selects target route R3 (see Figure 9) as the cleaning route for floor 3F. The user also sets the number of cleaning cycles for each floor (1F, 2F, and 3F) to "2 times".

[0043] The acquisition processing unit 413 acquires congestion information indicating the congestion status of the predetermined area. Specifically, the acquisition processing unit 413 acquires congestion information corresponding to the cleaning area selected by the user. For example, if the user selects floors 1F, 2F, and 3F as the cleaning area, the acquisition processing unit 413 refers to the congestion information 53 (see Figure 10) and acquires the congestion history information and current congestion information for each of floors 1F, 2F, and 3F.

[0044] The control unit 40 calculates the congestion level by, for example, analyzing the images captured by the camera 30. Alternatively, the control unit 40 may obtain the congestion level from an external device. Such external devices may include, for example, sensors that count the number of people entering and leaving the facility, or surveillance cameras.

[0045] The setting processing unit 414 sets the travel schedule for the travel device 10. Specifically, the setting processing unit 414 sets the travel schedule for the travel device 10 based on the congestion information acquired by the acquisition processing unit 413. The setting processing unit 414 also sets the travel schedule for the travel device 10 based on congestion history information indicating the past congestion status of the cleaning area. Furthermore, the setting processing unit 414 sets the travel schedule for the travel device 10 based on the cleaning conditions received by the reception processing unit 412.

[0046] For example, the setting processing unit 414 sets the cleaning schedule for the mobile device 10 based on the cleaning conditions and the congestion history information of the cleaning area to be cleaned. For example, if the user sets the number of times to clean floor 1F to "2 times", the setting processing unit 414 sets the time for the first cleaning to "7:00~7:30", which is before the start time of use of floor 1F (for example, the opening time of 9:00), and sets the time for the second cleaning to "13:00~13:30", which is when the past congestion level of floor 1F is below a threshold (see Figure 12).

[0047] For example, if a user sets the number of cleaning sessions for floor 2F to "2 times," the setting processing unit 414 sets the first cleaning time slot to "8:00-8:30," which is earlier than the start time of use for floor 2F (for example, 9:00), and sets the second cleaning time slot to "18:30-19:00," which is when the past congestion level of floor 2F falls below a threshold (see Figure 13).

[0048] For example, if a user sets the number of cleaning sessions for floor 3F to "2 times," the setting processing unit 414 sets the first cleaning time slot to "9:00-9:30," which is earlier than the start time of use for floor 3F (for example, 10:00), and sets the second cleaning time slot to "17:00-17:30," which is when the past congestion level of floor 3F falls below a threshold (see Figure 14).

[0049] In this way, the setting processing unit 414 predicts the level of congestion in each time period of the cleaning area based on the congestion history information, and sets the cleaning time period to the time period when the level of congestion is expected to be low.

[0050] In another embodiment, the setting processing unit 414 may set the running schedule based on current congestion information indicating the current level of congestion in the predetermined area. Specifically, the setting processing unit 414 checks the current congestion status of the floor 1F to be cleaned and sets the current time as the cleaning time slot if the level of congestion is below a threshold.

[0051] In another embodiment, if a cleaning schedule is set based on a date and time previously entered by the user, the setting processing unit 414 may change the cleaning schedule based on the current congestion status. For example, as shown in Figure 15, if the user has set "13:00~13:30" as the second cleaning time slot for floor 1F, and the congestion level is above a threshold at 13:00, the setting processing unit 414 will change the cleaning time slot. For example, based on congestion history information, the setting processing unit 414 will set the cleaning time slot to "15:00~15:30", where the congestion level is below the threshold. Alternatively, the setting processing unit 414 may change the cleaning time slot to a time slot where the current congestion level is below the threshold. For example, if the congestion level is above a threshold at 13:00 and falls below the threshold at 15:00, the setting processing unit 414 will change the cleaning time slot from "13:00~13:30" to "15:00~15:30".

[0052] In another embodiment, the setting processing unit 414 may set a travel schedule to run the travel device 10 immediately after a time period in which the congestion level exceeds a threshold. For example, if the first floor is crowded with users during a specific time period, the first floor is likely to be dirty immediately after that time period. Therefore, the setting processing unit 414 extracts time periods in which the congestion level exceeds a threshold based on the congestion history information and sets a cleaning time period immediately after that time period. In addition, the setting processing unit 414 calculates the current congestion level based on the current congestion information and sets the time period immediately following the congestion level as a cleaning time period if the congestion level exceeds a threshold.

[0053] In another embodiment, the setting processing unit 414 may extract candidate time slots based on congestion history information indicating the past congestion level of the predetermined area and set a travel schedule based on the priority order. Specifically, the setting processing unit 414 sets a priority order for each of the multiple candidate time slots in which the congestion level is below a threshold, based on the congestion history information of the predetermined area, and sets the travel schedule based on the priority order.

[0054] For example, as shown in Figure 16, the configuration processing unit 414 extracts several candidate time slots A1 to A7 in which the congestion level is below a threshold, based on the congestion history information of floor 2F. The configuration processing unit 414 sets one of candidate time slots A1 or A2 that is before the start time of use of floor 2F (for example, 9:00) as the first cleaning time slot, and sets one of candidate time slots A3 to A7 that is after the start time of use as the second cleaning time slot. For example, the configuration processing unit 414 sets a priority order for candidate time slots A3 to A7 in order of increasing congestion level, and sets the candidate time slot with the lowest congestion level (priority 1) as the second cleaning time slot.

[0055] Alternatively, for example, the setting processing unit 414 may set priorities for each of the candidate time slots A3 to A7 in order of the highest congestion level immediately prior to cleaning, and set the candidate time slot with the highest priority (1st priority) due to the highest congestion level immediately prior to cleaning as the second cleaning time slot. In the example shown in Figure 16, candidate time slot A5 has the highest congestion level immediately prior to cleaning among candidate time slots A3 to A7, so candidate time slot A5 becomes the 1st priority. In this case, the setting processing unit 414 sets candidate time slot A5 as the second cleaning time slot. In this way, the setting processing unit 414 may set priorities according to the congestion level and set the cleaning schedule, as the dirtier the cleaning area becomes as the congestion level increases.

[0056] For example, the setting processing unit 414 may determine which time slots among the candidate time slots are subject to cleaning based on the current congestion information. For example, if the current congestion level of the candidate time slot with the highest priority is above a threshold and there is a high possibility that cleaning work will be difficult, the setting processing unit 414 will set the candidate time slot with the second highest priority as the cleaning time slot. In this way, the setting processing unit 414 may change the cleaning time slots set based on the priority according to past history to candidate time slots with a lower priority according to the current congestion level.

[0057] For example, if the time elapsed since the previous cleaning is too short, a second cleaning will be performed even though cleaning is not necessary. On the other hand, if the time elapsed since the previous cleaning is too long, the cleaning area will become heavily soiled, reducing cleaning efficiency. Therefore, the setting processing unit 414 may set the time for the second cleaning to occur, for example, between a first setting time (e.g., 5 hours) after the end of the first cleaning and a second setting time (e.g., 8 hours) after the end of the first cleaning.

[0058] In another embodiment, the acquisition processing unit 413 may acquire congestion information corresponding to an event held within the predetermined area or within a predetermined range from the predetermined area. The event is, for example, a gathering or event that attracts people, such as a concert. For example, if an event is held within or near the cleaning area, it is expected that the flow of people in the cleaning area will increase. Therefore, the setting processing unit 414 excludes the time period during which the event is held (event time period) from the cleaning time period. For example, as shown in Figure 16, if the event is held from 9:00 to 12:00, the setting processing unit 414 excludes candidate time periods A3 and A4, which are included in the event time period, from the candidates for the cleaning time period.

[0059] Furthermore, since cleaning is likely to be necessary immediately after the aforementioned event, the setting processing unit 414 may set candidate time period A5 immediately following the event time period as the cleaning time period.

[0060] In another embodiment, if multiple cleaning areas are set, the setting processing unit 414 may set a cleaning schedule for each cleaning area based on the movement information (movement time, distance, etc.) when the traveling device 10 moves between multiple cleaning areas. For example, in the first cleaning of floors 1F, 2F, and 3F, the setting processing unit 414 sets the cleaning time slot to the time period in which the movement time (cleaning time required) for each floor is shortest, and generates a cleaning schedule.

[0061] As described above, the setting processing unit 414 sets the travel schedule for the travel device 10 and stores the schedule information 54 (see Figure 11) corresponding to the travel schedule in the storage unit 50. Then, the travel processing unit 411 makes the travel device 10 travel along the target route based on the travel schedule set by the setting processing unit 414.

[0062] In this way, the setting processing unit 414 can automatically set a driving schedule based on congestion information by allowing the user to input cleaning conditions (cleaning area, cleaning route, number of cleanings, etc.). Therefore, the user does not need to set a driving schedule. Furthermore, if the user does set a driving schedule, the setting processing unit 414 can also change it to the optimal driving schedule based on congestion information.

[0063] [Travel process] The following describes the travel process performed by the travel device 10, with reference to Figure 17. Specifically, in this embodiment, the travel process is performed by the control unit 40 of the travel device 10.

[0064] Furthermore, the present invention can be understood as an invention of a driving method that performs one or more steps included in the driving process. Also, the one or more steps included in the driving process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the driving process may differ to the extent that similar effects are produced. In addition, although the case in which each step in the driving process is executed by the control unit 40 is described here as an example, a driving method in which each step in the driving process is executed in a distributed manner by multiple processors can also be considered as another embodiment.

[0065] First, in step S11, the control unit 40 determines whether or not it has received a setting operation for the cleaning conditions from the user of the traveling device 10. Specifically, the control unit 40 determines whether or not it has received a setting operation from the user at the operation unit 20 to set the location to be cleaned (cleaning area), the cleaning route (target route), and the number of cleaning cycles. If the control unit 40 determines that it has received the setting operation for the cleaning conditions (S11: Yes), it proceeds to step S12. The control unit 40 waits until it receives the setting operation for the cleaning conditions (S11: No).

[0066] Here, for example, the user selects floors 1F (see Figure 3), 2F (see Figure 4), and 3F (see Figure 5) as cleaning areas, selects target route R1 (see Figure 7) as the cleaning route for floor 1F, selects target route R2 (see Figure 8) as the cleaning route for floor 2F, and selects target route R3 (see Figure 9) as the cleaning route for floor 3F. The user also sets the number of times to clean each floor (1F, 2F, and 3F) to "2 times".

[0067] In step S12, the control unit 40 acquires congestion history information. For example, the control unit 40 refers to congestion information 53 (see Figure 10) and acquires congestion history information for each of the 1st, 2nd, and 3rd floors.

[0068] Next, in step S13, the control unit 40 extracts time slots (candidate time slots) in which cleaning work can be performed based on the congestion history information. For example, for floor 1F, the control unit 40 refers to the congestion history information (see Figures 10 and 12) and extracts two candidate time slots (e.g., "7:00~7:30" and "13:00~13:30") in which the congestion level is below the threshold. The control unit 40 also refers to the congestion history information (see Figures 10 and 13) for floor 2F and extracts two candidate time slots (e.g., "8:00~8:30" and "18:30~19:00") in which the congestion level is below the threshold. The control unit 40 also refers to the congestion history information (see Figures 10 and 14) for floor 3F and extracts two candidate time slots (e.g., "9:00~9:30" and "17:00~17:30") in which the congestion level is below the threshold.

[0069] Next, in step S14, the control unit 40 sets the cleaning schedule. For example, the control unit 40 sets the first cleaning time slot for floor 1F to "7:00~7:30" and the second cleaning time slot to "13:00~13:30" (see Figure 12). For example, the control unit 40 sets the first cleaning time slot for floor 2F to "8:00~8:30" and the second cleaning time slot to "18:30~19:00" (see Figure 13). For example, the control unit 40 sets the first cleaning time slot for floor 3F to "9:00~9:30" and the second cleaning time slot to "17:00~17:30" (see Figure 14). Once the control unit 40 has set the cleaning schedule, it stores the schedule information 54 (see Figure 11) corresponding to the cleaning schedule in the storage unit 50.

[0070] Next, in step S15, the control unit 40 determines whether or not it is time to start cleaning. The control unit 40 waits until it is time to start cleaning (S15: No), and when it is time to start cleaning (S15: Yes), it proceeds to step S16.

[0071] In step S16, the control unit 40 determines whether the current congestion level is below a threshold. If the control unit 40 determines that the current congestion level is below a threshold (S16: Yes), it proceeds to step S17. On the other hand, if the control unit 40 determines that the current congestion level is above a threshold (S16: No), it proceeds to step S161.

[0072] In step S17, the control unit 40 starts the travel and cleaning processes of the travel device 10. For example, on floor 1F (see Figure 7), the control unit 40 starts autonomous travel from the travel start position S1 at the first cleaning start time ("7:00") and starts the cleaning work. Alternatively, on floor 1F, the control unit 40 starts autonomous travel from the travel start position S1 at the second cleaning start time ("13:00") and starts the cleaning work.

[0073] Meanwhile, in step S161, the control unit 40 changes the cleaning schedule. For example, as shown in Figure 15, if the congestion level on floor 1F is above a threshold at the start time of the second cleaning, "13:00", the control unit 40 changes the cleaning time slot. For example, based on congestion history information, the control unit 40 sets the cleaning time slot to the time when the congestion level will next be below the threshold (in this case, "15:00~15:30"). The control unit 40 stores the changed cleaning schedule in the storage unit 50. After step S161, the control unit 40 moves the process to step S15.

[0074] In this manner, the control unit 40 repeatedly performs the process of changing the cleaning schedule until the current level of congestion falls below a threshold.

[0075] In step S18, the control unit 40 determines whether the cleaning process has been completed. That is, the control unit 40 determines whether the traveling device 10 has completed all the cleaning processes set in the cleaning schedule. If the control unit 40 determines that the cleaning process has been completed (S18: Yes), it terminates the traveling process. In the example above, the control unit 40 terminates the traveling process when the traveling device 10 has performed the cleaning process twice in each cleaning area of ​​floors 1F, 2F, and 3F. Once the cleaning process is complete, the control unit 40 returns the traveling device 10 to a predetermined position. On the other hand, if the control unit 40 determines that the cleaning process has not been completed (S18: No), it proceeds to step S15 and repeats the process described above.

[0076] The method for setting the cleaning schedule is not limited to this, and any setting method according to the embodiments described above may be used. Furthermore, the control unit 40 may set the cleaning schedule using any one of the setting methods according to the embodiments described above, or it may set the cleaning schedule by combining multiple setting methods.

[0077] As described above, the vehicle 10 according to this embodiment autonomously travels according to a target route set in a predetermined area. The vehicle 10 also acquires congestion information 53 (see Figure 10) indicating the congestion status of the predetermined area and sets a travel schedule for the vehicle 10 based on the congestion information 53. Then, the vehicle 10 autonomously travels according to the target route based on the set travel schedule.

[0078] According to the above configuration, the mobile device 10 travels along the target route based on a travel schedule that corresponds to the congestion level. For example, the mobile device 10 can travel along the target route while avoiding congested times, or travel along the target route during the least congested times. Therefore, the mobile device 10 can avoid changing its travel route or stopping autonomous travel depending on the congestion level. Furthermore, for example, if the mobile device 10 is a cleaning robot, it is possible to prevent a situation where the mobile device 10's travel route deviates from a preset cleaning route, preventing it from properly cleaning the predetermined area.

[0079] In this way, by reflecting congestion information for a predetermined area in the travel schedule of the travel device 10, it becomes possible to appropriately operate the travel device 10 according to the target route in accordance with the congestion status of the predetermined area.

[0080] The mobile device 10 according to the above embodiment is configured to perform travel and cleaning processes according to a cleaning route (target route) based on a set cleaning schedule, but the mobile device of the present invention is not limited to this. In another embodiment, the mobile device 10 may be a security robot that guards a predetermined area. In this case, the control unit 40 may set a travel schedule (security schedule) to operate the mobile device 10 during time periods when the congestion level exceeds a threshold. The control unit 40 may also set a priority order for each of a plurality of time periods in which the past congestion level of the predetermined area exceeds a threshold, and set a security schedule based on the priority order. The control unit 40 may also set the time period when an event is held (event time period) as the security time. This makes it possible to efficiently guard the inside of the facility.

[0081] In another embodiment, the mobile device 10 may be an advertising robot that displays advertisements in a predetermined area. For example, the mobile device 10 displays advertisements (information) for a facility (store) on the display panel 21. In this case, the control unit 40 may set a travel schedule (advertising schedule) to operate the mobile device 10 during time periods when the congestion level exceeds a threshold. The control unit 40 may also set a priority order for each of several time periods in which the past congestion level of the predetermined area exceeds a threshold, and set the advertising schedule based on the priority order. The control unit 40 may also set the time period when an event is held (event time period) as the advertising time. Furthermore, the control unit 40 may change the display content according to the congestion level. This can enhance the advertising effect within the facility.

[0082] Thus, the travel device 10 of the present invention may be configured to operate during periods of high congestion, or it may be configured to operate during periods of low congestion. Furthermore, the travel device 10 may switch these methods of setting travel schedules depending on the application (cleaning, security, advertising, etc.).

[0083] In the embodiments described above, the traveling device 10 alone corresponds to the traveling system according to the present invention, but the traveling system according to the present invention may include one or more components from the traveling device 10 and the server (information processing device). For example, if multiple components from the traveling device 10 and the server cooperate to share and execute the traveling process (see Figure 17), the system including the multiple components that execute the process can be considered as the traveling system according to the present invention. For example, the server alone may constitute the traveling system according to the present invention. Specifically, the server may be equipped with each processing unit of the control unit 40 shown in Figure 2 (travel processing unit 411, reception processing unit 412, acquisition processing unit 413, setting processing unit 414) and control the traveling device 10.

[0084] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0085] <Note 1> A driving system that drives a vehicle according to a target route set in a predetermined area, An acquisition processing unit that acquires congestion information indicating the congestion status of the predetermined area, A setting processing unit sets the running schedule of the running device based on the congestion information acquired by the acquisition processing unit, A driving processing unit that causes the driving device to drive according to the target route based on the driving schedule set by the setting processing unit, A driving system equipped with the following features.

[0086] <Note 2> The setting processing unit sets the travel schedule based on congestion history information indicating the past congestion status of the predetermined area. The driving system described in Appendix 1.

[0087] <Note 3> The setting processing unit sets the travel schedule based on the current congestion information indicating the current congestion status of the predetermined area. The driving system described in Appendix 1 or 2.

[0088] <Note 4> The setting processing unit sets the running schedule for running the running device during the time period when the congestion level, which represents the congestion state, is below a threshold. The driving system described in any of the appendices 1 to 3.

[0089] <Note 5> The setting processing unit sets the running schedule to run the running device immediately after the time period in which the congestion level, which represents the congestion state, exceeds a threshold. A driving system as described in any of the appendices 1 to 4.

[0090] <Note 6> The setting processing unit sets a priority for each of the multiple time periods in which the congestion level, representing the past congestion state of the predetermined area, is below a threshold, and sets the travel schedule based on the priority. A driving system as described in any of the appendices 1 to 5.

[0091] <Note 7> The acquisition processing unit acquires the congestion information corresponding to an event held within the predetermined area or within a predetermined range from the predetermined area. A driving system as described in any of the appendices 1 to 6.

[0092] <Note 8> The aforementioned setting processing unit modifies the travel schedule, which was set based on the date and time entered by the user, based on the congestion information. A driving system as described in any of the appendices 1 to 7. [Explanation of symbols]

[0093] 10: Running gear 30: Camera 40: Control Unit 50: Storage section 51: Map Information 52: Route Information 53: Congestion Information 54: Schedule Information 411: Driving section 412: Reception Processing Section 413: Acquisition Processing Unit 414: Configuration Processing Unit

Claims

1. A driving system that drives a vehicle according to a target route set in a predetermined area, An acquisition processing unit that acquires congestion information indicating the congestion status of the predetermined area, A setting processing unit sets the running schedule of the running device based on the congestion information acquired by the acquisition processing unit, A driving processing unit that causes the driving device to drive according to the target route based on the driving schedule set by the setting processing unit, Equipped with, The setting processing unit sets a priority for each of several time periods in which the congestion level, representing the past congestion state of the predetermined area, is below a threshold, and sets the driving schedule based on the priority.

2. The acquisition processing unit acquires the congestion information corresponding to an event held within the predetermined area or within a predetermined range from the predetermined area. The driving system according to claim 1.

3. The aforementioned setting processing unit modifies the travel schedule, which was set based on the date and time entered by the user, based on the congestion information. The driving system according to claim 1.

4. A method for driving a vehicle according to a target route set in a predetermined area, One or more processors An acquisition step to acquire congestion information indicating the congestion status of the predetermined area, A setting step in which the travel schedule of the travel device is set based on the congestion information acquired in the acquisition step, A driving step in which the driving device is driven according to the target route based on the driving schedule set in the setting step, Execute, A driving method comprising the setting step, setting a priority for each of several time periods in which the congestion level, representing the past congestion state of the predetermined area, is below a threshold, and setting the driving schedule based on the priority.

5. A driving program that causes a vehicle to travel along a target route set in a predetermined area, An acquisition step to acquire congestion information indicating the congestion status of the predetermined area, A setting step in which the travel schedule of the travel device is set based on the congestion information acquired in the acquisition step, A driving step in which the driving device is driven according to the target route based on the driving schedule set in the setting step, To have one or more processors execute this, A driving program that, in the setting step, sets a priority for each of several time periods in which the congestion level, representing the past congestion state of the predetermined area, is below a threshold, and sets the driving schedule based on the priority.

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