Cleaning systems and cleaning programs

Abstract

To enable cleaning by changing an operation of a plurality of cleaning parts according to a soiled state.SOLUTION: A cleaning system includes: a plurality of cleaning sections 100 which can autonomously travel; a soiled state determination section 211 capable of determining a state of discovered dirt T; and a control section 200 for controlling an operation of the cleaning sections. The control section allows the cleaning sections to perform cleaning by changing the operation of the cleaning sections according to the soiled state determined by the soiled state determination section.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005]

[0001] The present disclosure relates to a cleaning system and a cleaning program.

Background Art

[0002] In recent years, cleaning robots that clean the floor while autonomously traveling have been utilized. These cleaning robots are used for cleaning various cleaning areas such as homes, offices, and public facilities (for example, inside stations). For example, International Publication No. 2022 / 009391 (Patent Document 1) discloses a first autonomous traveling robot suitable for cleaning a relatively large area, a photographing means for photographing the entire cleaning area while the first autonomous traveling robot is cleaning the cleaning area according to cleaning instruction information created based on the layout information of the cleaning area, and a generation means for generating uncleaned range information for specifying a range within the cleaning area that the first autonomous traveling robot has not actually cleaned by analyzing the imaging data generated by the photographing by the photographing means, and an instruction means for instructing cleaning of the range that the first autonomous traveling robot has not actually cleaned specified from the uncleaned range information. A cleaning system is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0006] The cleaning system (10) of this disclosure comprises a plurality of autonomously mobile cleaning units (100), a dirt state determination unit (211) capable of determining the state of discovered dirt (T), and a control unit (200) that controls the operation of the plurality of cleaning units, wherein the control unit modifies the operation of the plurality of cleaning units to clean according to the state of the dirt determined by the dirt state determination unit.

[0007] The program disclosed herein is a program that controls a control unit that cleans using a plurality of autonomously moving cleaning units, and causes at least one processor (201) to determine the state of the dirt it has found, and to execute a process to change the operation of the plurality of cleaning units and clean based on the determined state of the dirt. [Effects of the Invention]

[0008] According to this disclosure, the operation of multiple cleaning units can be changed depending on the state of the dirt, which has the effect of enabling cleaning. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram showing the configuration of the cleaning system. [Figure 2] This is a diagram showing the hardware configuration of a vacuum cleaner. [Figure 3] This diagram shows the hardware configuration of the control device. [Figure 4] This figure shows an example of the functional configuration of a control device. [Figure 5] This is a flowchart of the cleaning process for a vacuum cleaner cleaning system. [Figure 6] This is a flowchart of the cleaning process of a cleaning system controlled by a control device. [Figure 7] This figure shows an example of a cleaning plan for an emergency task. [Figure 8] This figure shows another example of a cleaning plan for an emergency task. [Figure 9] This figure shows another example of a cleaning plan for an emergency task. [Figure 10] This figure shows another example of a cleaning plan for an emergency task. [Figure 11] This figure shows another example of a cleaning plan for an emergency task. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In each drawing, identical or equivalent components and parts are given the same reference numerals. Also, the dimensional ratios in the drawings are exaggerated for illustrative purposes and may differ from the actual ratios.

[0011] As shown in Figure 1, the cleaning system 10 of this embodiment comprises a plurality of self-propelled vacuum cleaners 100 (vacuum cleaner 100A, vacuum cleaner 100B, vacuum cleaner 100C, etc.) and a control device 200 that clean within the cleaning area P. The plurality of vacuum cleaners 100 and the control device 200 are connected via a network N. Here, the vacuum cleaner 100 is an example of a cleaning unit. The control device 200 is an example of a control unit. In this embodiment, the "system" is described as being composed of multiple devices, but it may also be composed of a single device. For example, the control device 200, which is an example of a control unit, may be mounted on one of the plurality of vacuum cleaners 100. In this case, the vacuum cleaner 100 determines the state of dirt, and based on the state of dirt, it plans and executes an emergency cleaning task.

[0012] The cleaning machine 100 is a so-called robot cleaner, which is placed in the cleaning area P to be cleaned and autonomously travels within the cleaning area P to clean the floor surface and the like. Specifically, as shown in FIG. 1, each cleaning machine 100 is assigned to clean a plurality of cleaning areas P set in a predetermined area, for example, the platform of a station, and to perform cleaning of the predetermined cleaning area P. In this example, it is set as a normal cleaning task that the cleaning machine 100A cleans the cleaning area P1, the cleaning machine 100B cleans the cleaning area P2, and the cleaning machine 100C cleans the cleaning area P3.

[0013] The control device 200 generates a cleaning task for each cleaning area P and assigns the cleaning task for each cleaning area P to each of the cleaning machines 100.

[0014] In the cleaning system 10 of the present embodiment, when the cleaning machine 100 executes a normal cleaning task while autonomously traveling within the cleaning area P and the detected state of the dirt T is a predetermined state, a plurality of cleaning machines 100 execute an emergency task, enabling a higher level of cleaning than the normal cleaning task. Here, a higher level of cleaning includes cleaning more neatly and cleaning faster than the normal cleaning task.

[0015] Next, the hardware configuration of the plurality of cleaning machines 100 according to the present embodiment will be described with reference to FIG. 2. Note that the plurality of cleaning machines 100 have many common parts in terms of hardware configuration. Therefore, the configuration will be described using one cleaning machine 100 representative of the plurality of cleaning machines 100.

[0016] The cleaning machine 100 includes a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, a communication I / F (InterFace) 105, and an input / output I / F 106. Each component is connected so as to be able to communicate with each other via a bus 107. And, via the input / output I / F 106, a camera 108, a display 109, a cleaning tool 110, a position detection unit 111, and a traveling device 112 are connected.

[0017] The CPU 101 is a central processing unit that executes various programs and controls each part. That is, the CPU 101 reads a program from the ROM 102 or the storage unit 104 and executes the program using the RAM 103 as a work area. The CPU 101 performs control of each of the above components and various arithmetic processes according to a program recorded in the ROM 102 or the storage unit 104. In the present embodiment, programs are stored in the ROM 102 or the storage unit 104. Also, the CPU 101 is an example of a processor. The processor referred to in the present embodiment refers to a processor in a broad sense and includes a general-purpose processor (e.g., a CPU) and a dedicated processor (e.g., a GPU: Graphics Processing Unit, an ASIC: Application Specific Integrated Circuit, an FPGA: Field Programmable Gate Array, a programmable logic device, etc.).

[0018] The ROM 102 stores various programs and various data. The RAM 103 temporarily stores a program or data as a work area. The storage unit 104 is composed of an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory, etc., and stores various programs including an operating system and various data.

[0019] In this embodiment, the information stored in the memory unit 104 includes, for example, image data captured by the camera 108 of the vacuum cleaner 100, location information of each vacuum cleaner 100, a cleaning plan, and so on.

[0020] The communication interface 105 is an interface for communicating with the control unit 200 and other vacuum cleaners 100.

[0021] Camera 108 is capable of imaging the area around the vacuum cleaner 100 and the floor surface, and detects and photographs dirt T. It is preferable that one or more cameras 108 be mounted in appropriate locations on the vacuum cleaner 100. As this camera 108, a two-dimensional camera using an image sensor such as a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor can be used. Alternatively, a three-dimensional camera such as a stereo camera, structured light, or a camera with a depth sensor such as a ToF (Time of Flight) sensor can also be used as this camera 108.

[0022] The display 109 is a display device capable of providing various information to workers using the vacuum cleaner 100 and to people H around the vacuum cleaner 100. In addition to status information of the vacuum cleaner 100, the display 109 can also display messages for the people H around it.

[0023] The cleaning tool 110 is installed in a suitable location on the vacuum cleaner 100 and is capable of cleaning the floor surface and other surfaces over which the vacuum cleaner 100 travels. Examples of cleaning tools 110 include a rotating cleaning brush or mop that can contact the floor surface, a scraper (or wiper) for removing liquid from the floor surface, a device for suctioning dust and debris from the floor surface, or a cloth for wiping floor and wall surfaces. The cleaning tool 110 may also include one or more robotic arms capable of attaching or gripping cleaning tools. Furthermore, the specific configurations of the cleaning tools 110 used in multiple vacuum cleaners 100 may all be identical or different. By varying the configuration of the cleaning tool 110 for each vacuum cleaner 100, the function of each vacuum cleaner 100 can be changed. When the configurations of the cleaning tools 110 differ for each vacuum cleaner 100, it is preferable to easily perform cleaning using the optimal cleaning method by changing the vacuum cleaner 100 that performs the cleaning according to the type of dirt T. Furthermore, one vacuum cleaner 100 may be equipped with one cleaning tool 110, or multiple types of cleaning tools 110 may be equipped with one vacuum cleaner 100.

[0024] The position detection unit 111 detects the position information of the vacuum cleaner 100, and can use, for example, GNSS (Global Navigation Satellite System). It may also be equipped with radar (e.g., millimeter-wave sensor) or LiDAR (Laser Imaging Detection and Ranging) to detect the distance and direction to objects around the vacuum cleaner 100, or sonar to detect objects around the vacuum cleaner 100 using sound waves. Furthermore, it is possible to estimate its own position using a digital map such as GIS (Geographic Information System).

[0025] The traveling device 112 may include a plurality of wheels 112A arranged at the front and rear bottom of the vacuum cleaner 100. Furthermore, autonomous movement of the vacuum cleaner 100 may be achieved by rotating at least a portion of these wheels 112A using a driving means such as a motor (not shown), and by changing the direction of travel by steering means that can control the orientation of at least a portion of the wheels 112A.

[0026] Next, the hardware configuration of the control device 200 according to this embodiment will be described using Figure 3. The control device consists of a device including a general-purpose computer.

[0027] As shown in Figure 3, the control device 200 according to this embodiment includes a CPU 201, ROM 202, RAM 203, storage unit 204, and communication interface 205. Each component is connected to the others via a bus 206 so as to be able to communicate with each other. Here, the CPU 201 is an example of a processor. Note that the detailed structure is largely the same as that of the computer that makes up the vacuum cleaner 100, so its explanation is omitted here.

[0028] In this embodiment, multiple cleaning plans are stored in the memory unit 204. The cleaning plan is predetermined based on the state of the dirt T, such as the size of the dirt T and the type of dirt T.

[0029] Next, the functional configuration realized by the control device 200 will be described. Figure 4 is a block diagram showing an example of the functional configuration of the CPU 201 of the control device 200.

[0030] As shown in Figure 4, the control device 200 has a functional configuration consisting of a reception unit 210, a dirt status determination unit 211, a cleaning plan determination unit 212, and an output unit 213. Each functional configuration is realized by the CPU 201 reading and executing a program stored in the ROM 202 or the storage unit 204.

[0031] The reception unit 210 receives image data of the dirt T captured from the vacuum cleaner 100.

[0032] The dirt condition determination unit 211 determines the state of the dirt T from the image data of the dirt T received by the reception unit 210. The state of the dirt T includes the size of the dirt T, the type of dirt T, etc. The determination of the state of the dirt T may include using known image recognition technology.

[0033] The cleaning plan determination unit 212 determines the cleaning plan for the emergency task based on the determination result of the soiling condition determination unit 211. The cleaning plan is determined by selecting from a predetermined plan based on the size and type of soiling T. However, the cleaning plan determination unit 212 is not limited to selecting from a predetermined plan based on the size and type of soiling T, but may also generate a cleaning plan based on various conditions.

[0034] The output unit 213 outputs an emergency task, which specifies the cleaning plan determined by the cleaning plan determination unit 212, to each vacuum cleaner 100.

[0035] Next, the cleaning process of the cleaning system 10 will be explained using Figures 5 and 6. The process shown in Figure 5 is executed by the CPU 101 of the vacuum cleaner 100.

[0036] In step S100, the CPU 101 of the vacuum cleaner 100 executes a normal cleaning task. The normal cleaning task is started when it is received from the control device 200. In this embodiment, the normal cleaning task includes cleaning the cleaning area P along a predetermined route. Then, the process proceeds to the next step S102.

[0037] In step S102, the CPU 101 of the vacuum cleaner 100 determines whether or not the camera 108 has detected dirt T during the execution of the cleaning task. If it is determined that dirt T has been detected, the process proceeds to the next step S104. On the other hand, if it is determined that dirt T has not been detected, the process proceeds to step S106. Here, it is not limited to proceeding to step S104 in all cases where dirt T is detected; it is also possible to proceed to step S104 only when a predetermined amount of dirt T is detected. That is, it is normal for there to be dirt T before the vacuum cleaner 100 cleans, and it is desirable for the vacuum cleaner 100 to clean without having to transmit all dirt T to the control device 200 in step S104 described later. For this reason, the CPU 101 of the vacuum cleaner 100 may determine whether or not it is better to transmit information about the dirt T to the control device 200.

[0038] In step S104, the CPU 101 of the vacuum cleaner 100 transmits information about the dirt T detected in step S102, such as image data, to the control device 200. Then, the process proceeds to the next step S106.

[0039] In step S106, the CPU 101 of the vacuum cleaner 100 determines whether or not it has received an emergency task from the control device 200. If it is determined that an emergency task has been received, the process proceeds to the next step S108. On the other hand, if it is not determined that an emergency task has been received, the process proceeds to step S114. Here, if, after sending the information about dirt T to the control device 200 in step S104, a predetermined amount of time has elapsed and it is not determined that an emergency task has been received, the process may proceed to step S114.

[0040] In step S108, the CPU 101 of the vacuum cleaner 100 executes the emergency task received in step S106. Here, the emergency task is a cleaning task in which the operation of the vacuum cleaner 100 is modified from a normal cleaning task, and includes cleaning with multiple vacuum cleaners 100 depending on the state of the dirt T. The vacuum cleaners 100 then clean according to the cleaning plan of the emergency task sent from the control device 200 to each vacuum cleaner 100. Then, the process proceeds to the next step S110.

[0041] In step S110, the CPU 101 of the vacuum cleaner 100 determines whether the emergency task has been completed. Here, whether the emergency task has been completed is determined by whether the vacuum cleaner 100 has cleaned according to the cleaning plan of the emergency task. Alternatively, this may be determined by determining whether the camera 108 of the vacuum cleaner 100 no longer detects dirt T as a result of the emergency task. If it is determined that the emergency task has been completed, the process proceeds to the next step S114. On the other hand, if it is determined that the emergency task has not been completed, the process returns to step S108.

[0042] In step S114, the CPU 101 of the vacuum cleaner 100 determines whether the normal cleaning task has been completed. This determination is made based on whether the vacuum cleaner has traveled the entire predetermined route according to the normal cleaning task. If it is determined that the normal cleaning task has been completed, the process proceeds to the next step S116. On the other hand, if it is determined that the normal cleaning task has not been completed, the process returns to step S100.

[0043] In step S116, the CPU 101 of the vacuum cleaner 100 sends a message to the control unit 200 indicating that the cleaning task has been completed. Then, the process terminates.

[0044] The process shown in Figure 6 is executed by the CPU 201 of the control device 200.

[0045] In step S200, the CPU 201 receives the information about the contaminant T that was sent in step S104 in Figure 5. Then, the process proceeds to the next step, S202.

[0046] In step S202, the CPU 201 determines, based on the information about the dirt T received in step S200, whether the state of the dirt T is a predetermined type of dirt T that requires an emergency task to be performed. If it is determined that the state of the dirt T is a predetermined type of dirt T that requires an emergency task to be performed, the process proceeds to the next step S204. On the other hand, if it is not determined that the state of the dirt T is a predetermined type of dirt T that requires an emergency task to be performed, the process terminates. If it is determined that the state of the dirt T is not a predetermined type of dirt T that requires an emergency task to be performed, a message to that effect is sent back to the vacuum cleaner 100, and the vacuum cleaner 100, upon receiving this message, may continue with its normal cleaning task.

[0047] In step S204, the CPU 201 formulates a cleaning plan for an urgent task based on the information about the contamination T. Then, the process proceeds to the next step, S206.

[0048] In step S206, the CPU 201 sends the emergency cleaning plan devised in step S204 to each vacuum cleaner 100. Here, the emergency cleaning plan is sent not only to the vacuum cleaner 100 that detected the dirt T, but to all vacuum cleaners 100 that will execute the emergency cleaning plan. Then the process ends.

[0049] Next, an example of the control of the vacuum cleaner 100 in an emergency task performed by the control device 200 will be explained using Figure 7. The arrows in the figure indicate the direction of travel for each vacuum cleaner 100.

[0050] First, the vacuum cleaner 100A performs a normal cleaning task along route R1, as shown in Figure 7(A). Here, route R1 may be set by the control device 200 or set autonomously by the vacuum cleaner 100. Then, the camera 108 detects dirt T and transmits image data to the control device 200.

[0051] Figure 7(B) shows the cleaning route R1 when the control device 200 determines that cleaning can be performed with a normal cleaning task. That is, if the vacuum cleaner 100 does not receive an emergency task, as shown in Figure 7(B), the vacuum cleaner 100A travels over the location of the dirt T twice to clean the dirt T.

[0052] If the control device 200 determines that the dirt T is a predetermined type of dirt T, in this example a type of dirt T that is of higher urgency than normal dirt T, it devises a cleaning plan according to the state of the dirt T and transmits an emergency task, which is a modified version of the normal cleaning task shown in Figure 7(B), to each vacuum cleaner 100 (100A, 100B). As shown in Figure 7(C), the cleaning plan is such that both vacuum cleaner 100A and vacuum cleaner 100B will clean the dirt T detected by vacuum cleaner 100A. Here, vacuum cleaner 100B is the vacuum cleaner 100 that was cleaning another cleaning area P. In other words, in the emergency task, the cleaning area P that vacuum cleaner 100A is cleaning is assigned to the other vacuum cleaner 100B for operation. Vacuum cleaner 100B, which was cleaning another cleaning area P, was cleaning along a predetermined route in the normal cleaning task, but deviates from that route to move and clean the dirt T detected by vacuum cleaner 100A. Furthermore, the cleaning is not limited to using the vacuum cleaner 100 that was cleaning another cleaning area P, but may also be done using a vacuum cleaner 100 that was waiting in a warehouse or elsewhere without having cleaned. Then, as shown in Figure 7(D), vacuum cleaner 100B performs an emergency cleaning task, cleaning again the dirt T that vacuum cleaner 100A has already cleaned once, along route R2. This configuration makes it possible to clean faster than if vacuum cleaner 100A were to clean alone.

[0053] Here, vacuum cleaner 100B may be a vacuum cleaner 100 equipped with a different cleaning function than vacuum cleaner 100A. For example, vacuum cleaner 100A may be a vacuum cleaner 100 equipped with a wet wiping function, and vacuum cleaner 100B may be a vacuum cleaner 100 equipped with a dry wiping function. By configuring it in this way, it becomes possible to perform different types of cleaning that cannot be done with just one vacuum cleaner 100A.

[0054] Furthermore, after completing an emergency cleaning task, the vacuum cleaner 100 may return to the back room instead of immediately switching to a normal cleaning task. This configuration reduces the discomfort caused to people nearby by continuing to clean with a dirty vacuum cleaner 100 after cleaning up dirt T.

[0055] Next, using Figure 8, another example of the control of the vacuum cleaner 100 in an emergency task performed by the control device 200 will be described.

[0056] First, the vacuum cleaner 100A performs a normal cleaning task along route R1, as shown in Figure 8(A). Then, it detects dirt T with the camera 108 and transmits image data to the control device 200.

[0057] Figure 8(B) shows the cleaning route R1 when the control device 200 determines that cleaning is possible with a normal cleaning task. That is, if the vacuum cleaner 100 does not receive an emergency task, as shown in Figure 8(B), the vacuum cleaner 100A will run over the dirt T1 and T2 at locations that could not be cleaned in the first run a total of three times to clean the dirt T.

[0058] If the control device 200 determines that the dirt T is a predetermined level of urgency, which in this example is greater than normal dirt T, it devises a cleaning plan according to the state of the dirt T and transmits an emergency task, which is a modified version of the normal cleaning task shown in Figure 8(B), to each vacuum cleaner 100 (100A, 100B). As shown in Figure 8(C), the cleaning plan includes both vacuum cleaner 100A and vacuum cleaner 100B cleaning the dirt T detected by vacuum cleaner 100A. Then, as shown in Figure 8(D), vacuum cleaner 100A cleans the remaining dirt T1 (upper side in Figure 8(D)) that could not be cleaned along route R1, and vacuum cleaner 100B performs the emergency task of cleaning the remaining dirt T2 (lower side in Figure 8(D)) that vacuum cleaner 100A could not clean along route R2. This configuration makes it possible to clean faster than if vacuum cleaner 100A were to clean alone.

[0059] Furthermore, the emergency task cleaning plan is not limited to cleaning with vacuum cleaners 100A and 100B as shown in Figure 8(D), but may also include vacuum cleaner 100C as shown in Figure 8(E). That is, vacuum cleaner 100B may clean the remaining dirt T1 (upper side in Figure 8(E)) that vacuum cleaner 100A could not clean along route R2, and vacuum cleaner 100C may clean the remaining dirt T2 (lower side in Figure 8(D)) along route R3 to perform the emergency task cleaning. This configuration makes it possible to clean faster than cleaning with vacuum cleaners 100A and 100B alone.

[0060] Next, using Figure 9, another example of the control of the vacuum cleaner 100 in an emergency task performed by the control device 200 will be described.

[0061] First, the vacuum cleaner 100A performs a normal cleaning task along route R1, as shown in Figure 9(A). Then, it detects dirt T with the camera 108 and transmits image data to the control device 200.

[0062] Figure 9(B) shows the cleaning route R1 when the control device 200 determines that cleaning is possible with a normal cleaning task. That is, if the vacuum cleaner 100 does not receive an emergency task, as shown in Figure 9(B), the vacuum cleaner 100A will run a total of three times over the areas with dirt T1 and T2 that could not be cleaned in the first run, cleaning the dirt T.

[0063] If the control device 200 determines that there is a predetermined type of dirt T, in this example a liquid type of dirt T larger than the width that the vacuum cleaner 100 can clean, it devises a cleaning plan according to the state of the dirt T and transmits an emergency task, which is a modified version of the normal cleaning task shown in Figure 9(B), to each vacuum cleaner 100 (100A, 100B). As shown in Figure 9(C), the cleaning plan includes vacuum cleaners 100B and 100C cleaning the dirt T detected by vacuum cleaner 100A, in addition to vacuum cleaner 100A. Then, as shown in Figure 9(C), vacuum cleaner 100B may clean the remaining dirt T1 (upper side in Figure 9(C)) that vacuum cleaner 100A could not clean along route R2, and vacuum cleaner 100C may clean the remaining dirt T2 (lower side in Figure 9(C)) along route R3 as part of the emergency cleaning task. This configuration allows for faster cleaning than using only vacuum cleaners 100A and 100B. Here, since the dirt T is liquid, it is desirable for vacuum cleaners 100B and 100C to clean areas that overlap with the area cleaned by vacuum cleaner 100A. In the case of liquid dirt T, after vacuum cleaner 100 has passed, moisture on the wheels of vacuum cleaner 100 may remain on the floor surface, re-soak into areas that have already been cleaned, and water may be pushed out by wiping while pressing down on puddles. Therefore, it is desirable to clean the same area with multiple vacuum cleaners 100.

[0064] Next, using Figure 10, another example of the control of the vacuum cleaner 100 in an emergency task performed by the control device 200 will be described.

[0065] First, the vacuum cleaner 100A performs a normal cleaning task along route R, as shown in Figure 10(A). Then, it detects dirt T with the camera 108 and transmits image data to the control device 200.

[0066] Figure 10(B) shows the cleaning route R when the control device 200 determines that cleaning is possible with a normal cleaning task. That is, if the vacuum cleaner 100 does not receive an emergency task, as shown in Figure 10(B), the vacuum cleaner 100A cleans the dirt T in only one pass.

[0067] If the control device 200 determines that the dirt T is a predetermined type, in this example, a liquid type of dirt T smaller than the width that the vacuum cleaner 100 can clean, it devises a cleaning plan according to the state of the dirt T and transmits an emergency task, which is a modified version of the normal cleaning task shown in Figure 10(B), to each vacuum cleaner 100 (100A, 100B). The cleaning plan, as shown in Figure 10(C), involves having vacuum cleaner 100B, in addition to vacuum cleaner 100A, travel along the same route R as vacuum cleaner 100A to clean. That is, after vacuum cleaner 100A cleans the dirt T, vacuum cleaner 100B cleans the same dirt T again. In the case of liquid dirt T, after the vacuum cleaner 100 has traveled, moisture on the wheels of the vacuum cleaner 100 may remain on the floor surface, re-soak into areas that have already been cleaned, or water may be pushed out by wiping while pressing down on puddles, so it is desirable to have multiple vacuum cleaners 100 clean the same area.

[0068] Furthermore, vacuum cleaners 100A and 100B may perform different types of cleaning. For example, vacuum cleaner 100A may perform rough wiping, while vacuum cleaner 100B may perform dry wiping.

[0069] Next, using Figure 11, another example of the control of the vacuum cleaner 100 in an emergency task performed by the control device 200 will be described.

[0070] This example illustrates how to control a vacuum cleaner 100 that is not actually cleaning while performing a normal cleaning task or an emergency task as shown in Figures 7 to 10 above.

[0071] First, the vacuum cleaner 100 uses a person recognition unit to recognize a person H in its vicinity. Then, as shown in Figure 11(A), the control device 200 devises a cleaning plan to move between the dirt T and the person H and transmits it to the vacuum cleaner 100. In this embodiment, the person recognition unit is the camera 108 equipped on the vacuum cleaner 100 that detects dirt, but it may also be a person-recognizing device such as an infrared sensor. When the person recognition unit detects the movement of person H, the control device 200 moves the vacuum cleaner 100A to be positioned between person H and the dirt T in accordance with the movement of person H, as shown in Figures 11(B) and 11(C).

[0072] By configuring it in this way, it becomes possible to prevent person H, who is near the soiled T, from seeing the soiled T.

[0073] Furthermore, the vacuum cleaner 100 moved between person H and the dirt T is not limited to one unit, but may be multiple units, or multiple vacuum cleaners 100 may be used to surround the dirt T. Also, the method is not limited to using the vacuum cleaner 100 itself to conceal the dirt T, but may also be used to conceal the dirt T by placing a sheet or curtain around it. Additionally, the message "Cleaning in progress" may be displayed on the vacuum cleaner 100's display 109 or on a sheet to prevent person H from looking at the dirt T.

[0074] Furthermore, if the condition of the dirt T is a predetermined state, for example, dirt T that cannot be cleaned by the vacuum cleaner 100, the control device 200 may notify a predetermined person, for example, a worker, and call a worker. When calling a worker, the control device 200 may also send image data of the dirt T taken by the camera 108 to the worker's smartphone or other device to inform the worker of the condition of the dirt T in advance. The worker may then transmit to the control device 200 that the emergency task with the vacuum cleaner 100 has been completed by operating a switch (not shown) on the vacuum cleaner 100 when starting or finishing the cleaning work. The worker may also operate another switch (not shown) on the vacuum cleaner 100 to call a vacuum cleaner 100 equipped with the necessary cleaning tools for the cleaning work.

[0075] Furthermore, the multiple vacuum cleaners 100 may include vacuum cleaners with different cleaning functions, and the control device 200 may select a vacuum cleaner from the multiple vacuum cleaners 100 that corresponds to the state of the dirt T and have it clean. For example, if it is determined that the dirt T is oily, the control device 200 may select a vacuum cleaner 100 that is suitable for oily dirt, and if it is determined that the dirt T is chemical, the control device 200 may select a vacuum cleaner 100 that is suitable for chemicals. In addition, if the vacuum cleaner 100 is equipped with an odor sensor and it is determined that the odor is a predetermined odor, the control device 200 may select a vacuum cleaner 100 that has a deodorizing or odor removal function.

[0076] Furthermore, when the control device 200 performs an emergency cleaning task, it may select a vacuum cleaner 100 from among the multiple vacuum cleaners 100 that is adjacent to the cleaning area P and have it perform the emergency cleaning task. This configuration allows for faster cleaning than having a vacuum cleaner 100 cleaning a distant cleaning area P perform the emergency cleaning task. In addition, the travel distance of the vacuum cleaner 100 is shortened, and the frequency of charging and battery replacement of the vacuum cleaner 100 can be reduced, which is expected to reduce the operating cost of the vacuum cleaner 100. Furthermore, when the control device 200 performs an emergency cleaning task, it may output a cleaning plan that minimizes cleaning costs. For example, depending on the type and quality of the dirt T, it may choose to use a cheaper cleaning agent if it is possible, or to use cheaper cleaning tools if it is possible.

[0077] Furthermore, if the rain is heavy and rainwater enters the building, the control device 200 may perform an emergency task in which one of the vacuum cleaners 100 sucks up the rainwater, and the other vacuum cleaners 100 transport the sucked-up rainwater. Alternatively, the floor cleaning mops attached to the multiple vacuum cleaners 100 may be pressed down on the floor to prevent rainwater from entering the building.

[0078] Furthermore, the vacuum cleaner 100 may be equipped with sensors to detect wind speed and wind direction, and the control device 200 may create a cleaning plan to have the vacuum cleaner 100 clean from upwind when the wind speed exceeds a predetermined speed. When the wind is strong, dirt and debris are more likely to be blown away, so by positioning the vacuum cleaner 100 upwind, the vacuum cleaner 100 can be used as a windbreak to clean.

[0079] Furthermore, if the condition of the dirt T is unsuitable for vacuuming with the vacuum cleaner 100, such as fallen leaves, an emergency cleaning task may be planned to clean using a pair of vacuum cleaners 100: one with a blower function and the other with a suction function. In this case, the vacuum cleaner 100 with the blower function and the vacuum cleaner 100 with the suction function are positioned on either side of the dirt T, with the vacuum cleaner with the blower function moving towards the dirt T and the vacuum cleaner 100 moving backward from the dirt T to clean. Also, when cleaning fallen leaves on a slope, an emergency cleaning task may be planned to place the vacuum cleaner 100 with the blower function on the upper side of the slope and the vacuum cleaner 100 with the suction function on the lower side of the slope to clean. In addition, in the case of a pair of vacuum cleaners 100 with both blower and suction functions, if the amount of fallen leaves sucked up by one vacuum cleaner 100 exceeds a threshold, the roles may be reversed and the other vacuum cleaner 100 may continue to suck up the leaves.

[0080] The cleaning system may further include a confirmation unit to check the state after the vacuum cleaner 100 has cleaned. Here, the confirmation unit may include cameras (including surveillance cameras and security cameras) that are filming the cleaning area P, or cameras 108 that are installed in front of and behind the vacuum cleaner 100 in the direction of travel. The control device 200 may change the operation of multiple vacuum cleaners based on a trained model that has been machine-learned to understand the relationship between the state of dirt T, the operation of multiple vacuum cleaners 100, and the state of the multiple vacuum cleaners 100 after cleaning. That is, a trained model is generated by machine learning using various cleaning methods and cleaning results as training data. The cleaning result is calculated by whether the area of ​​dirt T is smaller than before cleaning, or whether the odor of the dirt has decreased. The trained model takes the state of dirt T as input data and the cleaning plan for the emergency task as output data. The trained model is generated using, for example, a neural network. It is also desirable that the trained model be updated by cleaning. With this configuration, it is possible to output a cleaning plan for the cleaning method that best removes the dirt T, depending on the state of the dirt T.

[0081] Furthermore, the control device 200, using a confirmation unit that checks the state after the vacuum cleaner 100 has cleaned, may, if the dirt T has not been removed, either use another vacuum cleaner 100 with a different function or call a worker.

[0082] Furthermore, the configuration of the cleaning system 10 described in the above embodiment (see Figure 1) is merely an example, and it goes without saying that unnecessary parts may be removed or new parts added without departing from the spirit of the present invention.

[0083] In the above embodiment, an example was described in which the cleaning program is stored in the storage unit 204. However, the storage location of the cleaning program is not limited to the storage unit 204. The cleaning program can also be provided in a form recorded on a computer-readable storage medium.

[0084] For example, the cleaning program may be provided in the form of a CD-ROM (Compact Disk Read Only Memory), DVD-ROM (Digital Versatile Disk Read Only Memory), or optical disc such as a Blu-ray disc. Alternatively, the cleaning program may be provided in the form of a portable semiconductor memory such as a USB (Universal Serial Bus) memory or memory card. The storage unit 204, CD-ROM, DVD-ROM, Blu-ray disc, USB, and memory card are examples of non-transitory storage media.

[0085] The control unit and method described herein may be implemented by a dedicated computer comprising a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the apparatus and method described herein may be implemented by a dedicated computer comprising a processor composed of dedicated hardware logic circuits. Alternatively, the apparatus and method described herein may be implemented by one or more dedicated computers comprising a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.

[0086] The following additional information is disclosed regarding the technology described herein. <Note> (Note 1) Multiple autonomous cleaning units (100), A stain condition determination unit (211) capable of determining the condition of the discovered stain (T), A control unit (200) that controls the operation of multiple cleaning units, Equipped with, The control unit is a cleaning system (10) that changes the operation of multiple cleaning units to perform cleaning according to the state of dirt determined by the dirt state determination unit.

[0087] (Note 2) The cleaning system according to Appendix 1, wherein the control unit operates to have the dirt cleaned by a plurality of cleaning units, depending on the state of the dirt.

[0088] (Note 3) The cleaning system according to Appendix 1 or Appendix 2, wherein the control unit assigns a predetermined cleaning area (P) to each of the multiple cleaning units and has them clean, and depending on the state of the dirt, assigns the cleaning area in which the dirt was found to other cleaning units for cleaning as well.

[0089] (Note 4) The control unit causes each of the multiple cleaning units to clean along a predetermined route, and depending on the state of the dirt, deviates from the route to clean the dirt, as described in any one of Appendix 1 to Appendix 3 of the cleaning system.

[0090] (Note 5) The control unit operates to cause the dirt to be cleaned by the multiple cleaning units, The cleaning system according to any one of the appendices 1 to 4, wherein the multiple cleaning units perform different types of cleaning.

[0091] (Note 6) The cleaning unit is equipped with a person recognition unit (108) capable of recognizing people in the vicinity of the cleaning unit. The cleaning system according to any one of the appendices 1 to 5, wherein the control unit moves one of the multiple cleaning units between the person recognized by the person recognition unit and the dirt if the state of the dirt is a predetermined state of dirt.

[0092] (Note 7) The person recognition unit detects the movement of the person, The cleaning system according to Appendix 6, wherein the control unit moves one of the cleaning units so as to when the person detected by the person recognition unit moves, so as to when the person moves.

[0093] (Note 8) If the state of the soiling is a predetermined state, the control unit can notify a predetermined person of the cleaning system described in any one of the appendices 1 to 7.

[0094] (Note 9) The multiple cleaning units include cleaning units with different cleaning functions. The cleaning system according to any one of the appendices 1 to 8, wherein the control unit selects and cleans a cleaning unit from among the plurality of cleaning units that corresponds to the state of the dirt.

[0095] (Note 10) The cleaning system according to any one of the appendices 1 to 9, wherein the control unit modifies the operation of the multiple cleaning units based on a trained model obtained by machine learning the relationship between the state of the dirt, the operation of the multiple cleaning units, and the state after the multiple cleaning units have cleaned.

[0096] (Note 11) The cleaning system according to Appendix 3, wherein the control unit changes the operation of one of the plurality of cleaning units to start cleaning from the cleaning unit adjacent to the cleaning area.

[0097] (Note 12) A program for controlling a control unit that cleans using multiple autonomously operating cleaning units, At least one processor (201) Determine the condition of the discovered stains. A program for executing a cleaning process that modifies the operation of multiple cleaning units based on the determined state of the dirt. [Explanation of Symbols]

[0098] 10 cleaning systems, 100 vacuum cleaners, 200 control devices

Claims

1. Multiple autonomous cleaning units (100), A stain condition determination unit (211) capable of determining the condition of the discovered stain (T), A control unit (200) that controls the operation of multiple cleaning units, Equipped with, The control unit is a cleaning system (10) that modifies the operation of multiple cleaning units to clean the same dirt, based on the dirt condition determined by the dirt condition determination unit.

2. The cleaning system according to claim 1, wherein the control unit assigns a predetermined cleaning area (P) to each of the multiple cleaning units and causes them to clean, and depending on the state of the dirt, assigns the cleaning area in which the dirt was found to other cleaning units for cleaning as well.

3. The cleaning system according to claim 1, wherein the control unit causes each of the plurality of cleaning units to clean along a predetermined route, and also causes the unit to deviate from the route and clean the dirt depending on the state of the dirt.

4. The control unit operates to cause the dirt to be cleaned by the multiple cleaning units, The cleaning system according to claim 2 or 3, wherein the plurality of cleaning units perform different types of cleaning.

5. The cleaning unit is equipped with a person recognition unit (108) capable of recognizing people in the vicinity of the cleaning unit. The cleaning system according to claim 1, wherein the control unit moves one of the plurality of cleaning units between the person recognized by the person recognition unit and the dirt if the state of the dirt is a predetermined state of dirt.

6. The person recognition unit detects the movement of the person, The cleaning system according to claim 5, wherein the control unit moves either of the cleaning units so as to move a person detected by the person recognition unit, so as to be positioned between the person and the dirt.

7. The cleaning system according to claim 1, wherein the control unit can notify a predetermined person if the state of the soiling is a predetermined state.

8. The multiple cleaning units include cleaning units with different cleaning functions. The cleaning system according to claim 1, wherein the control unit selects a cleaning unit from among a plurality of cleaning units that corresponds to the state of the dirt and performs cleaning.

9. The cleaning system according to claim 1, wherein the control unit modifies the operation of the plurality of cleaning units based on a trained model obtained by machine learning the relationship between the state of the dirt, the operation of the plurality of cleaning units, and the state after the plurality of cleaning units have cleaned.

10. The cleaning system according to claim 2, wherein the control unit changes the operation of one of the plurality of cleaning units to start cleaning from the cleaning unit adjacent to the cleaning area.

11. A program for controlling a control unit that cleans using multiple autonomously operating cleaning units, At least one processor (201) Determine the condition of the discovered stains. A program for performing a cleaning process that modifies the operation of multiple cleaning units so that the same dirt is cleaned by multiple cleaning units, based on the determined state of the dirt.

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