Cleaning device

Abstract

To clean a slope area having an inclination equal to or more than a threshold.SOLUTION: In a cleaning plan, a movement from a point P0 to a point P1 is performed with cleaning. In the cleaning plan, cleaning is not performed but only traveling is performed in a movement from the point P1 to a point P2 and a movement from the point P2 to a point P3. When a cleaning device 1 reaches the point P3, the device is rotated at an angle of 180 degrees so as to perform cleaning while moving in a +y direction being a hill-climbing direction from the point P3 to the point P2 in the cleaning plan. In the updated cleaning plan, a movement with cleaning in the +y direction, a short-distance movement without cleaning in +x direction, and a movement without cleaning in a -y direction are repeated in this order.SELECTED DRAWING: Figure 14

Description

Technical Field

[0001] The present invention relates to a slope cleaning technology for a self-driving cleaning device.

Background Art

[0002] A self-propelled cleaning device may descend due to its own weight when the floor surface has a gradient. Therefore, a control method for a cleaning device that self-drives on a sloped floor surface has been studied.

[0003] Patent Document 1 includes a housing equipped with an electric driving mechanism for traveling on the floor surface, an electric cleaning mechanism for cleaning while traveling on the floor surface, a battery, and a control unit that controls and supplies power from the battery to the electric driving mechanism and the electric cleaning mechanism. When the control unit stops the travel of the housing on an inclined surface inclined with respect to the horizontal plane, after moving the housing in the direction in which the housing tends to travel on the inclined surface due to its own weight to a direction in which the housing does not descend due to its own weight, it stops the power supply to the electric driving mechanism. A self-propelled cleaner is disclosed.

[0004] Patent Document 2 has a work robot that performs work on an inclined surface, a follow-up vehicle, and a cable that connects the work robot and the follow-up vehicle. The work robot and the follow-up vehicle have a positioning system for obtaining each other's positions. The follow-up vehicle can automatically move following the work robot while identifying the position of the work robot. The power source is provided in the follow-up vehicle and continuously provides power for the work by the work robot via the cable. An apparatus for working on an inclined surface is disclosed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

[0006] Incidentally, some self-propelled cleaning devices spray cleaning water onto the floor surface, while others apply wax. These wet cleaning devices have a squeegee to collect the cleaning water, etc., as they move. However, if the floor surface is sloped, the cleaning device may not be able to collect the cleaning water, etc., depending on the position of the squeegee. Therefore, conventional wet cleaning devices have excluded sloped floor surfaces from their cleaning targets.

[0007] One of the objectives of this invention is to clean sloped areas with a gradient above a threshold. [Means for solving the problem]

[0008] This invention identifies slope areas with a gradient above a threshold based on a map of the area to be cleaned, and the slope area Regarding this, is it possible to clean by changing the direction of movement of the device? of If it is determined that cleaning is possible, then the direction in which cleaning is possible in that determination is In a specific direction The direction of movement of the device is changed to the sloped area Clean Controlling the movement of the device in this manner A cleaning device is provided as a first embodiment.

[0009] According to the cleaning device of the first embodiment, slope areas with a gradient above a threshold are identified and cleaned based on a map.

[0010] In the cleaning device of the first embodiment, a configuration may be adopted as a second embodiment in which the specific direction is a direction in which the cleaning water sprayed by the device can be recovered by the device.

[0011] According to the cleaning device of the second embodiment, the cleaning water sprayed by the device in a sloped area is recovered.

[0012] The 2 In a cleaning device of the form, the specific direction is Based on the relationship between the flow rate of the washing water and the movement speed of the device, it is determined that the washing water can be recovered by the device. A configuration in which it is a direction may be adopted as a third aspect.

[0013] According to the cleaning device of the third embodiment, a slope region with a gradient above a threshold is Based on the relationship between the flow rate of the washing water and the movement speed of the device itself, it is determined that the washing water can be recovered by the device. It is cleaned while moving in a certain direction.

[0014] In the cleaning device according to the first or second aspect, a map of the self-device specified during traveling is generated, and a cleaning plan for cleaning the slope area while moving in the specific direction is created based on the map, and cleaning is performed along the created cleaning plan. Such a configuration may be adopted as the fourth aspect.

[0015] According to the cleaning device of the fourth aspect, the attitude of the self-device specified during traveling is reflected in the map.

[0016] In the cleaning device of the fourth aspect, the attitude of the self-device is specified during cleaning along the cleaning plan, and when the specified attitude and the gradient specified by the map do not satisfy a predetermined condition, the cleaning is stopped. Such a configuration may be adopted as the fifth aspect.

[0017] According to the cleaning device of the fifth aspect, in the slope area, when the gradient specified by the map and the attitude of the self-device do not satisfy a predetermined condition, the cleaning is stopped.

[0018] In the cleaning device of the fifth aspect, when the cleaning is stopped, the map is updated based on the attitude specified during the cleaning, the cleaning plan is corrected based on the updated map, and cleaning is performed along the corrected cleaning plan. Such a configuration may be adopted as the sixth aspect.

[0019] According to the cleaning device of the sixth aspect, in the slope area, when the cleaning is stopped, the map is updated based on the attitude of the self-device, and the cleaning is performed after the cleaning plan is corrected.

[0020] The present invention Qing generates a map of the area to be cleaned acquisition and Acquired identifies a slope area having a gradient equal to or greater than a threshold value based on the map, and creates a cleaning plan for cleaning the slope area Regarding this, the process involves determining whether cleaning is possible by changing the direction of movement of the device, and if it is determined that cleaning is possible, the direction in which cleaning was determined to be possible in the determination. in a specific direction The direction of movement of the device is changed to the sloped area or control the movement of the device itself ​Provide a cleaning method having a process as a seventh aspect.

[0021] According to the cleaning method of the seventh aspect, a slope area having a gradient equal to or greater than a threshold value is specified based on a map and cleaned.

[0022] The present invention provides a program for causing a computer that controls a cleaning device to Qing create a map of an area to be cleaned acquisition and a process of Acquired specifying a slope area having a gradient equal to or greater than a threshold value based on the map, and creating a cleaning plan for cleaning the slope area Regarding this, the process involves determining whether cleaning is possible by changing the direction of movement of the device, and if it is determined that cleaning is possible, the direction in which cleaning was determined to be possible in the determination. in a specific direction The direction of movement of the device is changed to the sloped area as an eighth aspect. or control the movement of the device itself According to the program of the eighth aspect, a slope area having a gradient equal to or greater than a threshold value is specified based on a map and cleaned.

[0023]

Brief Description of the Drawings

[0024] [Figure 1] A diagram showing an example of the configuration of the cleaning device 1 according to an embodiment of the present application. [Figure 2] A schematic diagram showing an example of the appearance of the cleaning device 1. [Figure 3] A diagram showing an example of the map DB121. [Figure 4] A diagram showing an example of the cleaning plan DB122. [Figure 5] A diagram showing an example of the sensor unit 16. [Figure 6] A diagram showing an example of the cleaning unit 18. [Figure 7] A diagram showing an example of the cleaning device 1 that cleans while moving in the uphill direction. [Figure 8] A diagram showing an example of the cleaning device 1 that cleans while moving in a predetermined direction. [Figure 9] A diagram showing an example of the cleaning device 1 that moves perpendicular to the downhill direction. [Figure 10] A diagram showing an example of the cleaning device 1 that moves along the downhill direction. [Figure 11]A flowchart illustrating an example of the workflow in which cleaning device 1 creates a cleaning plan. [Figure 12] A diagram showing an example of a standard cleaning plan. [Figure 13] A diagram illustrating an example of a cleaning plan that changes according to the slope of the floor surface G. [Figure 14] A diagram illustrating an example of a cleaning plan that includes a path moving in a specific direction. [Figure 15] An example of a cleaning-related movement in an updated cleaning plan. [Figure 16] A flowchart illustrating an example of the operation flow when cleaning device 1 updates the cleaning plan during cleaning. [Figure 17] This figure shows an example of a floor surface G that includes a portion of a sloped area R with a gradient above a threshold. [Figure 18] A cross-sectional view of the floor surface G when it is cut by a vertical plane containing a straight line extending in the direction of descent. [Figure 19] This diagram shows an example where the standard cleaning plan overlaps with the slope area R. [Figure 20] A diagram showing an example of a cleaning route created to correspond to a slope region R. [Modes for carrying out the invention]

[0025] <Embodiment> In the diagram below, the space in which each component is arranged is represented as an xyz right-handed coordinate system. Furthermore, among the coordinate symbols shown in the diagram, a circle with a point inside represents an arrow pointing from the back of the paper to the front, while a circle with two intersecting lines inside represents an arrow pointing from the front of the paper to the back. In space, the direction along the x-axis is called the x-axis direction. Within the x-axis direction, the direction in which the x component increases is called the +x direction, and the direction in which the x component decreases is called the -x direction. Similarly, the y-axis direction, +y direction, -y direction, z-axis direction, +z direction, and -z direction are defined for the y and z components according to the above definitions. Here, the -z direction is the direction in which gravity acts.

[0026] <Configuration of the cleaning device> Figure 1 is a diagram showing an example of the configuration of the cleaning device 1 according to an embodiment of the present application. Figure 2 is a schematic diagram showing an example of the external appearance of the cleaning device 1.

[0027] The cleaning device 1 shown in Figure 1 includes a processor 11, memory 12, operation unit 14, display unit 15, sensor unit 16, mobile unit 17, and cleaning unit 18. These components are connected to each other in a communicative manner, for example, by a bus. The cleaning device 1 may also have a communication unit for communicating with other devices via wired or wireless means.

[0028] Furthermore, as shown in Figure 2, the cleaning device 1 has a housing 10 that includes a bottom surface and cylindrical sides, and has an open top surface. A lid is attached to the open top surface of this housing 10 so as to be able to be opened and closed by a hinge or the like.

[0029] The processor 11 shown in Figure 1 controls each part of the cleaning device 1 by reading and executing computer programs (hereinafter simply referred to as "programs") stored in memory 12. The processor 11 is, for example, a CPU (Central Processing Unit).

[0030] The operation unit 14 is equipped with various control elements such as operation buttons and a touch panel for issuing various instructions, and receives operations and sends signals corresponding to the operation content to the processor 11. These operations include, for example, pressing operation buttons or making gestures on the touch panel. In the example shown in Figure 2, this operation unit 14 is built into the lid of the housing 10 described above, together with the processor 11, memory 12, and display unit 15.

[0031] The display unit 15 has a display screen such as a liquid crystal display and displays images under the control of the processor 11. A transparent touch panel of the operation unit 14 may be placed on top of the display screen. The cleaning device 1 does not have to have either the operation unit 14 or the display unit 15, or both. The cleaning device 1 may be operated from an external device via a communication unit (not shown), or it may display information to an external device.

[0032] The mobile unit 17 is configured to move the cleaning device 1. For example, the mobile unit 17 shown in Figure 2 has multiple tires that make contact with the floor surface G. This mobile unit 17 moves on the floor surface G, for example, in the +y direction, by rotating these tires with a motor (not shown). The motor that drives the tires of the mobile unit 17 is controlled by, for example, the processor 11 shown in Figure 1. At least one of the tires of the mobile unit 17 has a steering function that changes the direction of movement under the control of the processor 11.

[0033] The memory 12 shown in Figure 1 is a storage means for storing the operating system, various programs, data, etc., which are loaded into the processor 11. The memory 12 has RAM (Random Access Memory) and ROM (Read Only Memory). The memory 12 may also have a solid-state drive, a hard disk drive, etc. Furthermore, this memory 12 stores the map DB 121 and the cleaning plan DB 122.

[0034] Figure 3 shows an example of the map DB121. The map DB121 is a database representing the floor surface G that is the target of cleaning by the cleaning device 1. The map DB121 shown in Figure 3 includes a room ID list 1211 and a point cloud table 1212.

[0035] The Room ID List 1211 is a list of Room IDs that identify rooms that have a floor surface G, which is the object to be cleaned. Each Room ID listed in the Room ID List 1211 has a corresponding point cloud table 1212 stored in its memory.

[0036] The point cloud table 1212 of map DB121 is a table that stores point cloud data contained in the floor surface G of the room indicated by the corresponding room ID. The point cloud table 1212 shown in Figure 3 has columns for planar coordinates, height, and gradient, respectively.

[0037] In point cloud table 1212, the planar coordinates indicate the planar coordinates of points included in the floor surface G, and are shown, for example, as a pair of x and y coordinates. The height indicates the height of the aforementioned point, and is shown, for example, as the z coordinate. The gradient is data indicating the gradient of the floor surface G at the aforementioned point, and is shown, for example, as the unit normal vector of the floor surface G at that point.

[0038] Furthermore, in this point cloud table 1212, the planar coordinates, height, and gradient may be verified to ensure consistency. Also, for example, among the planar coordinates, height, and gradient, the gradient or height may be determined from other numerical values.

[0039] Figure 4 shows an example of a cleaning plan DB 122. The cleaning plan DB 122 is a database that stores the cleaning plan (i.e., cleaning plan) for the cleaning device 1 to clean the floor surface G. The cleaning plan DB 122 shown in Figure 4 has a room ID list 1221 and a plan table 1222.

[0040] Room ID list 1221 is a list of the aforementioned room IDs and contains the same information as room ID list 1211 in map DB 121. Each room ID listed in room ID list 1221 has a corresponding plan sheet 1222 stored in its memory.

[0041] The cleaning plan DB122's plan table 1222 is a table that stores the cleaning plan for the room indicated by the corresponding room ID. This plan table 1222 has columns for starting point ID, plane coordinates, direction, distance, and cleaning.

[0042] The cleaning plan is a directed graph representing the path that the cleaning device 1 takes when cleaning the floor surface G in the room indicated by the corresponding room ID. The cleaning plan is represented by multiple nodes and edges connecting those nodes. Each row of data in the plan table 1222 represents an edge that makes up the cleaning plan.

[0043] The starting point ID in this plan sheet 1222 is the identification information of the node that will be the starting point of the edge. The planar coordinates are the planar coordinates of the node identified by the starting point ID, and are shown, for example, as x and y coordinates. The direction is the direction in which the cleaning device 1 moves from the node identified by the starting point ID, and is shown, for example, as a pair of x and y components. The distance is the distance that the cleaning device 1 moves from the node identified by the starting point ID. Note that in this plan sheet 1222, if the cleaning device 1 moves from the node identified by the starting point ID associated with a row in the corresponding direction and distance, it will reach the node identified by the starting point ID of the next row.

[0044] The "Cleaning" column in this plan 1222 indicates a flag that shows whether or not the cleaning device 1 will perform cleaning at the edge indicated in that row. If "y" is written in this "Cleaning" column, the cleaning device 1 will perform cleaning. If "y" is not written in this "Cleaning" column, for example, if "n" is written, the cleaning device 1 will only move along the edge and will not perform cleaning.

[0045] Memory 12 may store a standard cleaning plan. This standard cleaning plan is the movement path of the cleaning device 1 on a floor surface without a slope. For example, the standard cleaning plan is described to first clean the floor surface G while moving in a direction along one side of a rectangular floor surface G (hereinafter referred to as the main scanning direction). Then, when this cleaning plan hits a wall in the room, it is described to move a predetermined distance in a direction along the other side of the floor surface G (hereinafter referred to as the sub-scanning direction), and then clean the floor surface G while moving in the opposite direction to the main scanning direction described above.

[0046] A floor surface without a slope prevents cleaning liquids, such as cleaning water, from flowing in any direction. Therefore, in a standard cleaning plan, all the cleaning columns mentioned above may be "y". On the other hand, areas where a slope above a threshold is found based on the map DB121 are identified as sloped areas by the processor 11. If an edge included in this sloped area moves in a direction from which cleaning water cannot be collected, the cleaning column is rewritten to, for example, "n".

[0047] The processor 11, for example, reads a standard cleaning plan from memory 12 and writes it to the cleaning plan DB 122. At this time, the processor 11 refers to map DB 121 and determines whether an edge in the cleaning plan DB 122 is an edge that moves in a direction in which cleaning water can be recovered. If it is determined that this edge is not an edge that moves in a direction in which cleaning water can be recovered, the processor 11 changes the cleaning column associated with this edge to "n". Then, the processor 11 adds a path to the cleaning plan DB 122 that cleans the slope region where the cleaning column has been changed to "n" while moving in a direction in which cleaning water can be recovered.

[0048] The sensor unit 16 is composed of various sensors that sense the surrounding environment. The sensor unit 16 shown in Figure 1 includes a distance image sensor 161, a drive recorder 162, a gradient sensor 163, an ultrasonic sensor 164, and a bumper switch 165.

[0049] Figure 5 shows an example of the sensor unit 16. In Figure 5, the cleaning device 1 moves along arrow D. This arrow D is in the +y direction in Figure 5. The distance image sensor 161, drive recorder 162, gradient sensor 163, ultrasonic sensor 164, and bumper switch 165 that make up the sensor unit 16 are located on the +y side of the cleaning device 1 as it moves along arrow D. In other words, each component of the sensor unit 16 is located on the front side of the cleaning device 1 and monitors the area in front. Each component of the sensor unit 16 notifies the processor 11 of the monitored surrounding information.

[0050] The distance image sensor 161 is, for example, a LiDAR (Light Detection and Ranging) sensor. This distance image sensor 161 measures the distance to an object by using the time it takes for the emitted laser to travel to and from the object. Then, by scanning with the laser, the distance image sensor 161 generates distance image data that includes information about the distance to the object indicated by each pixel.

[0051] The drive recorder 162 is, for example, a digital video camera having an optical system and an image sensor. The optical system includes, for example, lenses and mirrors that collect light from the object being cleaned. The image sensor is, for example, a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge Coupled Device) image sensor. The image sensor generates image data that shows an image corresponding to the light collected by the optical system. The generated image data is stored in the memory 12.

[0052] The gradient sensor 163 is a sensor that senses the orientation of the device (i.e., the cleaning device 1). This gradient sensor 163 is installed inside the cleaning device 1. The gradient sensor 163 includes, for example, an acceleration sensor that detects acceleration in three axes, or a vibration gyro sensor that measures the orientation of the device by determining the angular velocity from the Coriolis force applied to an element such as a piezoelectric vibrator. The gradient sensor 163 may also be, for example, an inertial measurement unit (IMU). Based on the orientation of the device it senses, the gradient sensor 163 measures the gradient of the floor surface G on which the device travels.

[0053] The ultrasonic sensor 164 is a sensor that uses ultrasound to sense the arrangement of objects in the surroundings. This ultrasonic sensor 164 is installed, for example, in two locations on the left and right sides of the front of the cleaning device 1, and each transmits ultrasound and detects the echoes reflected back from obstacles. In this way, the ultrasonic sensor 164 senses obstacles in front.

[0054] The bumper switch 165 is a contact-type switch built into the bumper, which is mounted on the lower front of the cleaning device 1. When the cleaning device 1 moves forward and the bumper collides with an obstacle, the bumper switch 165 closes to detect the collision.

[0055] The cleaning unit 18 is configured to clean the object to be cleaned. The cleaning unit 18 shown in Figure 1 has a brush 181, a squeegee 182, a tank 183, and a pump 184. Figure 6 is a diagram showing an example of the cleaning unit 18. Figure 6 shows the schematic arrangement of the brush 181, squeegee 182, tank 183, and pump 184. In Figure 6, the tank 183 and pump 184 are housed inside the housing 10.

[0056] As shown in Figure 6, the cleaning device 1 cleans the floor surface G while moving along arrow D. At this time, the cleaning device 1 discharges cleaning water from tank 183 and sprays this cleaning water onto the floor surface G. For example, this tank 183 has a pipe with a solenoid valve attached to it that faces the brush 181 below. The processor 11 adjusts the amount of cleaning water discharged to the brush 181 by adjusting the opening and closing of the solenoid valve provided on the pipe.

[0057] The brush 181 rotates under the control of the processor 11, driven by a motor or other power source (not shown). The brush 181 cleans the floor surface G by scrubbing it with cleaning water that has been sprayed onto the floor surface G. If the floor surface G has no slope, the cleaning water used by the brush 181 remains in place, containing the dirt.

[0058] As the cleaning device 1 moves in the +y direction, the contaminated cleaning water is blocked by the squeegee 182 located behind the cleaning device 1 (i.e., in the -y direction). The pump 184 has a pipe connected to its suction port directed towards the floor surface G. Through this pipe, the pump 184 sucks up the contaminated cleaning water accumulated between the brush 181 and the squeegee 182 under the control of the processor 11. The pump 184 then discharges the sucked-up cleaning water into the recovery container of the tank 183.

[0059] As shown in Figure 6, the tank 183 may be divided by a partition wall into an area for containing uncontaminated wash water and an area for containing contaminated wash water. Furthermore, the recovered wash water may be filtered by a filtration device before being stored in the tank 183.

[0060] <Directions of movement that allow for the recovery of washing water> When the floor surface G has a slope, the cleaning device 1 may not be able to collect the cleaning water depending on the direction of movement.

[0061] Figure 7 shows an example of a cleaning device 1 that cleans while moving in an uphill direction. Here, the uphill direction is the direction in which the height is highest when traveling a certain distance along the surface to be cleaned. Conversely, the downhill direction is the direction in which the height is lowest when traveling a certain distance along the surface to be cleaned. Therefore, the downhill direction is the exact opposite direction of the uphill direction.

[0062] In Figure 7, the floor surface G is a plane with an uphill direction in the +y direction. The cleaning device 1 shown in Figure 7 cleans while moving in the movement direction Dt. Therefore, the cleaning device 1 shown in Figure 7 cleans the floor surface G while moving in the uphill direction. In this case, the cleaning water sprayed on the floor surface G flows down in the downhill direction Df due to its gradient. The cleaning device 1 shown in Figure 7 has a squeegee 182 positioned in a location where the cleaning water sprayed on the floor surface G via the brush 181 can be recovered. Therefore, in this case, the cleaning device 1 can recover the cleaning water. In other words, the uphill direction is an example of a specific direction in which the cleaning water sprayed by the device can be recovered by the device itself.

[0063] Figure 8 shows an example of a cleaning device 1 that cleans while moving in a predetermined direction. The predetermined direction shown in Figure 8 is the direction rotated clockwise by θ from the uphill direction when the cleaning device 1 is viewed from above. Even in this case, the cleaning water sprayed onto the floor surface G via the brush 181 flows downhill in the downhill direction Df due to its gradient. The squeegee 182 then passes through the area where the cleaning water has accumulated, as shown by the diagonal lines in Figure 8, and is therefore able to recover the cleaning water. This is because the squeegee 182 has a wider shape in the width direction than the brush 181. In other words, this predetermined direction is an example of a specific direction in which the cleaning water sprayed by the device can be recovered by the device itself.

[0064] Figure 9 shows an example of a cleaning device 1 moving perpendicular to the downhill direction. As shown in Figure 9, the cleaning device 1 moves along a direction of movement Dt that is perpendicular to the downhill direction Df. Since the squeegee 182 is located behind the cleaning device 1, it cannot block the cleaning water flowing down from the brush 181 along the downhill direction Df. Therefore, this direction perpendicular to the downhill direction is a direction of movement from which cleaning water cannot be recovered.

[0065] Figure 10 shows an example of a cleaning device 1 moving along a downhill direction. The cleaning device 1 shown in Figure 10 moves along a direction of movement Dt parallel to the downhill direction Df. In this case as well, since the squeegee 182 is located behind the cleaning device 1, it cannot block the cleaning water flowing down from the brush 181 along the downhill direction Df. Therefore, this direction along the downhill direction is a direction of movement in which cleaning water cannot be recovered.

[0066] Furthermore, whether or not the cleaning water sprayed by the cleaning device 1 can be recovered by the squeegee 182 may be determined solely by the downward direction and the position of the squeegee 182 relative to the direction of movement of the cleaning device 1, as described above. However, whether or not the cleaning water can be recovered may also be determined by considering the flow velocity of the cleaning water and the movement speed of the cleaning device 1. This determination may also be made by considering the surface tension of the cleaning water, the material of the floor surface G, etc.

[0067] <Operation of the cleaning device> <Action to create a cleaning plan> Figure 11 is a flowchart showing an example of the operation flow of the cleaning device 1 in creating a cleaning plan. The cleaning device 1 creates a cleaning plan for the room by performing the operations shown in Figure 11 while traveling on the floor surface G of the designated room.

[0068] The processor 11 of the cleaning device 1 acquires ambient information indicating the surrounding conditions from, for example, the distance image sensor 161, ultrasonic sensor 164, and bumper switch 165 that constitute the sensor unit 16 (step S101). Ambient information includes, for example, the position of the walls of a designated room, the shape of the floor surface G, and the set of planar coordinates and heights for each point included in the floor surface G.

[0069] Furthermore, the processor 11 of the cleaning device 1 acquires gradient information of the floor surface G corresponding to the orientation of the device, which is sensed by the gradient sensor 163 (step S102). The processor 11 then combines the surrounding information and the gradient information to create the aforementioned room map and stores the data representing this map in the map DB 121 (step S103). The process shown in step S103 is an example of a process for generating a map of the area to be cleaned based on the orientation of the cleaning device identified during travel.

[0070] Next, the processor 11 creates a cleaning plan based on the map stored in the map DB 121 (step S104). In step S104, the processor 11 reads, for example, a standard cleaning plan from memory 12 and uses this as the cleaning plan.

[0071] Figure 12 shows an example of a standard cleaning plan. In Figure 12, the floor surface G is a rectangle enclosed by a wall parallel to the x-axis and a wall parallel to the y-axis. The standard cleaning plan shown in Figure 12 first places the cleaning device 1 at the initial position, point P0, and cleans up to point P1 while moving it in the main scanning direction, the +y direction. Next, in this cleaning plan, the cleaning device 1 is rotated 90 degrees clockwise as shown in Figure 12 at point P1, and cleans up to point P2 while moving it in the sub-scanning direction, the +x direction. Next, in this cleaning plan, the cleaning device 1 is rotated 90 degrees clockwise as shown in Figure 12, and cleans up to point P3 while moving it in the opposite direction to the main scanning direction, the -y direction.

[0072] In this way, the standard cleaning plan is configured to ensure that the cleaning device 1 cleans the floor surface G without any gaps. However, the standard cleaning plan alone is sufficient to ensure that the cleaning device 1 cleans the floor surface G without any gaps only if the floor surface G does not have a gradient greater than a threshold.

[0073] Returning to the flowchart in Figure 11, the processor 11 refers to the map in map DB 121 and determines whether or not there are any areas in the map with a gradient greater than or equal to a threshold (step S105). If it is determined that there are no areas with a gradient greater than or equal to a threshold (step S105; NO), the processor 11 completes the creation of the cleaning plan (step S106) and terminates the process.

[0074] On the other hand, if the processor 11 determines that there is a region with a gradient greater than or equal to a threshold (step S105; YES), it identifies that region as a slope region. The process in step S105 is an example of a process for identifying a slope region with a gradient greater than or equal to a threshold based on a map.

[0075] The processor 11 then determines whether the sloped area can be cleaned by changing the direction of movement of the cleaning device 1 to a specific direction (step S107). If it determines that the sloped area can be cleaned by changing the direction of movement of the cleaning device 1 to a specific direction (step S107; YES), the processor 11 changes the direction of movement of the cleaning path to the specific direction (step S108) and terminates the process.

[0076] Step S108 is an example of a process for creating a cleaning plan that cleans a sloped area while moving in a specific direction.

[0077] On the other hand, if it is determined that the sloped area cannot be cleaned by changing the direction of movement of the cleaning device 1 to a specific direction (step S107; NO), the processor 11 stores this sloped area as an area that cannot be cleaned in the cleaning plan (step S109) and terminates the process.

[0078] Figure 13 shows an example of a cleaning plan that changes according to the gradient of the floor surface G. Here, the floor surface G shown in Figure 13 has a gradient of a threshold or greater across its entire surface, with the uphill direction aligned with the +y direction. This floor surface G is identified as a sloped region where the entire surface has a gradient of a threshold or greater. In this sloped region of the floor surface G, the cleaning device 1 can recover cleaning water when cleaning along the +y direction, but cannot recover cleaning water when cleaning along the +x direction or the -y direction.

[0079] The cleaning path from point P0 to point P1 shown in Figure 13 is a path that moves in the +y direction, so cleaning is not stopped as per the standard cleaning plan. However, the cleaning paths from point P1 to point P2, and from point P2 to point P3 are paths that move in the +x direction and -y direction, respectively. Considering the slope of the floor surface G, these are directions of movement in which cleaning water cannot be recovered. Therefore, as shown by the dashed lines in Figure 13, cleaning is stopped for these cleaning paths.

[0080] Here, the cleaning path from point P2 to point P3 can be cleaned by changing the direction of movement of the cleaning device 1. That is, when cleaning while moving in the +y direction from point P3 towards point P2, this is an uphill movement, so the cleaning device 1 can clean while recovering the cleaning water with the squeegee 182. Therefore, the cleaning device 1 adds a cleaning path from point P3 to point P2 in place of the cleaning path from point P2 to point P3 in the cleaning plan.

[0081] Figure 14 shows an example of a cleaning plan in which a path moving in a specific direction has been added. In the cleaning plan shown in Figure 14, the movement from point P0 to point P1 is accompanied by cleaning. On the other hand, in this cleaning plan, the movement from point P1 to point P2, and the movement from point P2 to point P3 are both just travel without cleaning. Upon reaching point P3, this updated cleaning plan causes the cleaning device 1 to rotate 180 degrees and clean while moving from point P3 to point P2 in the uphill direction (+y). As shown in Figure 14, this updated cleaning plan repeats the following sequence: movement in the +y direction with cleaning, short-distance movement in the +x direction without cleaning, and movement in the -y direction without cleaning.

[0082] Figure 15 shows an example of movement involving cleaning in the updated cleaning plan. Figure 15 shows only the cleaning routes that involve movement involving cleaning, extracted from the cleaning routes shown in Figure 14. Cleaning device 1 cleans according to this updated cleaning plan, and therefore cleans the routes indicated by the solid arrows in Figure 15. These arrows are spaced shorter than the width cleaned by cleaning device 1. Therefore, when cleaning device 1 cleans while moving uphill along these arrows, the floor surface G is cleaned without gaps. The width cleaned by cleaning device 1 is, for example, the width of the brush 181, the width of the squeegee 182, etc.

[0083] In other words, by following the updated cleaning plan, the cleaning device 1 can clean the floor surface G without any gaps. This cleaning device 1 is an example of a cleaning device that identifies sloped areas with a gradient above a threshold based on a map of the area to be cleaned, and cleans these sloped areas while moving in a specific direction. Furthermore, in the example described above, this cleaning device 1 is an example of a cleaning device that generates a map based on the orientation of the device itself determined during travel, creates a cleaning plan based on this map to clean the sloped areas while moving in a specific direction, and cleans according to the created cleaning plan.

[0084] <The action of updating the cleaning plan during cleaning> Figure 16 is a flowchart showing an example of the operation flow in which the cleaning device 1 updates the cleaning plan during cleaning. When predetermined conditions are met, the processor 11 of the cleaning device 1 instructs the device to clean the floor surface G of the designated room according to the cleaning plan stored in association with that floor surface G. This initiates the process shown in Figure 16. The predetermined conditions here include, for example, when the operation unit 14 receives an operation from the operator, or when a time predetermined in the schedule arrives.

[0085] The processor 11 of the cleaning device 1 currently measures the gradient at the point on the floor surface G where the device is installed, based on the orientation of the device measured by the gradient sensor 163. Then, the processor 11 refers to the map DB 121 and determines whether the measured gradient differs from that of the map (step S201).

[0086] If it is determined that the measured gradient differs from that of the map (step S201; YES), the processor 11 updates the map DB 121 based on the measured gradient (step S202). Then, the processor 11 determines whether the measured gradient is below a threshold (step S203). If it is determined that the measured gradient is below a threshold (step S203; YES), the processor 11 returns to step S201.

[0087] On the other hand, if it is determined that the measured gradient is not below a threshold (step S203; NO), the processor 11 stops cleaning the cleaning device 1 (step S204). Therefore, this cleaning device 1 is an example of a cleaning device that identifies its own orientation during cleaning according to a cleaning plan, and stops cleaning when the identified orientation of the device and the gradient identified by the map do not satisfy predetermined conditions.

[0088] Then, the processor 11 stores the area it moved to while cleaning was stopped in memory 12 as an "uncleaned area" where cleaning has not yet been performed (step S205), and returns the process to step S201.

[0089] If, in step S201, it is determined that the measured gradient is not different from that of the map (step S201; NO), the processor 11 performs cleaning according to the cleaning plan (step S206). This step S206 is an example of a process in which the cleaning device cleans the area to be cleaned according to the cleaning plan.

[0090] The processor 11 then determines whether the cleaning device 1 has completed the route indicated in the cleaning plan (step S207). If it determines that the route has not been completed (step S207; NO), the processor 11 returns to step S201.

[0091] On the other hand, if it is determined that the path has been completed (step S207; YES), the processor 11 determines whether or not there are any remaining "uncleaned areas" that have not yet been cleaned (step S208). If it is determined that there are uncleaned areas remaining (step S208; YES), the processor 11 determines whether or not to leave the remaining uncleaned areas as they are (step S209). Whether or not this action should be left unattended is determined, for example, by whether or not the conditions previously stored in memory 12 are met.

[0092] If it is determined in step S208 that no uncleaned areas remain (step S208; NO), or if it is determined in step S209 to leave the uncleaned areas as they are (step S209; YES), the processor 11 terminates the process.

[0093] On the other hand, if it is determined in step S209 not to leave the uncleaned area as is (step S209; NO), the processor 11 creates a cleaning path corresponding to the uncleaned area, updates the cleaning plan to include this cleaning path (step S210), and returns the process to step S201.

[0094] In other words, this cleaning device 1 is an example of a cleaning device that, when cleaning is stopped, updates a map based on the posture identified during cleaning, modifies the cleaning plan based on this updated map, and cleans according to this modified cleaning plan.

[0095] Figure 17 shows an example of a floor surface G that includes a portion of a slope region R with a gradient above a threshold. In Figure 17, contour lines H1, H2, H3, and H4 are lines connecting points on the floor surface G at the same height with equal z coordinates. In Figure 17, arrow ξ indicates the downhill direction.

[0096] Figure 18 is a cross-sectional view of the floor surface G when it is cut by a vertical plane containing a straight line extending in the downhill direction. As shown in Figure 18, the floor surface G from contour line H1 to contour line H4 has a gradient greater than the threshold, and is therefore identified as a slope region R.

[0097] Figure 19 shows an example where the standard cleaning plan overlaps with the sloped area R. For example, if the map DB121 does not include the sloped area R in the map representing the floor surface G of the room shown in Figure 17, the cleaning device 1 determines that there is no gradient exceeding a threshold on the floor surface G of this room. Then, the cleaning device 1 applies the standard cleaning plan as the cleaning plan for the floor surface G of this room.

[0098] A standard cleaning plan, for example, scans the floor surface G along the direction of the room walls. In the example shown in Figure 19, the standard cleaning plan follows a cleaning path that first moves from point P0 to point P1 in the +y direction, then from point P1 to point P2 in the +x direction, and finally from point P2 to point P3 in the -y direction.

[0099] However, the slope region R has a gradient greater than the threshold. Therefore, when the cleaning device 1 starts cleaning according to this standard cleaning plan, it detects a gradient greater than the threshold when it reaches the slope region R.

[0100] The direction of the downhill slope region R is the direction of arrow ξ shown in Figure 19. When the downhill direction is arrow ξ, none of the +y, +x, or -y directions of this slope region R are directions in which the wash water can be recovered.

[0101] Therefore, when the cleaning device 1 attempts to clean the floor surface G according to the standard cleaning plan, it measures a different gradient from the map when it reaches the sloped area R, updates the map, and stops cleaning. As a result, the sloped area R is stored in the cleaning device 1 as an uncleaned area.

[0102] The cleaning device 1 then modifies the cleaning plan by creating an alternative cleaning path for the remaining uncleaned slope area R.

[0103] Figure 20 shows an example of a cleaning path created corresponding to the slope region R. After cleaning up to point Pe shown in Figure 19 according to the standard cleaning plan, the cleaning device 1 returns to the slope region R along the dashed line. Then, the cleaning device 1 cleans the slope region R along the newly created cleaning path.

[0104] For example, cleaning device 1 cleans while moving in the opposite direction to arrow ξ, which is the downhill direction of the sloped area R. Since this direction is the uphill direction, the cleaning water sprayed in the sloped area R is collected. When cleaning device 1 reaches the wall of the room, it stops cleaning and moves, as shown by the dashed line in Figure 20, and then starts cleaning again in the uphill direction. By repeating this process, cleaning device 1 cleans the entire surface of the sloped area R without leaving any gaps.

[0105] By performing the operations described above, the cleaning device 1 can clean sloped areas with a gradient greater than or equal to a threshold.

[0106] The configurations, shapes, sizes, and arrangements described in the above embodiments are merely schematic representations to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments and can be modified in various forms as long as it does not deviate from the scope of the technical idea set forth in the claims.

[0107] <Variation> The above describes the embodiment, but the contents of this embodiment can be modified as follows. Furthermore, the following modifications may be combined.

[0108] <1> In the embodiments described above, the processor 11 was a CPU, but it may have other configurations. For example, the processor 11 may be an FPGA (Field Programmable Gate Array) or may include an FPGA. Furthermore, the processor 11 may have an ASIC (Application Specific Integrated Circuit) or other programmable logic device, and control may be performed by these. Also, the processor 11 may include a GPU (Graphics Processing Unit).

[0109] <2> The program executed by the processor 11 described above may be provided stored on a computer-readable recording medium such as magnetic tape and magnetic disks, optical disks, magneto-optical recording media, or semiconductor memory. Alternatively, this program may be downloaded via a communication line such as the Internet.

[0110] This program is an example of a program that causes a computer controlling a cleaning device to perform the following steps: generate a map of the area to be cleaned based on the posture of the cleaning device determined during travel; identify slope areas with a gradient above a threshold based on the map; create a cleaning plan to clean the slope areas while moving in a specific direction; and have the cleaning device clean the area to be cleaned according to the cleaning plan.

[0111] <3> The cleaning method for a floor surface G using the cleaning device 1 according to the present invention is an example of a cleaning method comprising the steps of: generating a map of the area to be cleaned based on the posture of the cleaning device determined during travel; identifying a slope area with a gradient above a threshold based on the map; creating a cleaning plan to clean the slope area while moving in a specific direction; and having the cleaning device clean the area to be cleaned according to the cleaning plan. [Explanation of Symbols]

[0112] 1...Cleaning device, 10...Housing, 11...Processor, 12...Memory, 121...Map DB, 1211...Room ID list, 1212...Point cloud table, 122...Cleaning plan DB, 1221...Room ID list, 1222...Plan table, 14...Operation unit, 15...Display unit, 16...Sensor unit, 161...Distance image sensor, 162...Drive recorder, 163...Slope sensor, 164...Ultrasonic sensor, 165...Bumper switch, 17...Movement unit, 18...Cleaning unit, 181...Brush, 182...Squeegee, 183...Tank, 184...Pump, G...Floor surface, H1~H4...Contour lines, P0~P3...Points, Pe...Point, R...Slope area.

Claims

1. A cleaning device that identifies sloped areas with a gradient above a threshold based on a map of the area to be cleaned, determines whether cleaning is possible by changing the direction of movement of the device, and, if it is determined that cleaning is possible, controls the movement of the device to clean the sloped area by changing its direction of movement to a specific direction that was determined to be cleanable in the determination.

2. The aforementioned specific direction is the direction in which the cleaning water sprayed by the device can be recovered by the device itself. The cleaning device according to claim 1.

3. The aforementioned specific direction is the direction in which the cleaning water can be recovered by the device, based on the relationship between the flow velocity of the cleaning water and the movement speed of the device itself. The cleaning device according to claim 2.

4. The system generates a map based on the orientation of the device determined during operation, creates a cleaning plan based on the map to clean the sloped area while moving in the specified direction, and performs cleaning according to the created cleaning plan. The cleaning device according to claim 1 or 2.

5. During cleaning in accordance with the cleaning plan, the orientation of the device is determined, and cleaning is stopped when the determined orientation and the gradient determined by the map do not meet predetermined conditions. The cleaning device according to claim 4.

6. If the cleaning is stopped, the map is updated based on the posture identified during the cleaning, the cleaning plan is modified based on the updated map, and the cleaning is performed in accordance with the modified cleaning plan. The cleaning device according to claim 5.

7. A step of obtaining a map of the area to be cleaned, A step of identifying a slope region with a gradient exceeding a threshold based on the acquired map, The process of determining whether or not cleaning is possible in the aforementioned sloped area by changing the direction of movement of the device, If it is determined that cleaning is possible, the process involves creating a cleaning plan to clean the sloped area by changing the direction of movement of the device to a specific direction which is the direction in which cleaning is possible in the determination, or controlling the movement of the device. A cleaning method having the following characteristics.

8. The computer that controls the cleaning equipment, The process of obtaining a map of the area to be cleaned, A step of identifying a slope region with a gradient exceeding a threshold based on the acquired map, The process of determining whether or not cleaning is possible in the aforementioned sloped area by changing the direction of movement of the device, If it is determined that cleaning is possible, the process involves creating a cleaning plan to clean the sloped area by changing the direction of movement of the device to a specific direction which is the direction in which cleaning is possible in the determination, or controlling the movement of the device. A program to execute.

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