Self-propelled cleaning machine, control method, and program

Abstract

A self-propelled cleaning machine (100) comprises: a body (B); a moving unit (1) that moves the body (B); a cleaning unit (3) that cleans a predetermined area (A); a storage unit (51) that stores a plurality of pieces of cleaning data (D) generated for each position in the predetermined area (A); a control unit (53) that controls the moving unit (1) and the cleaning unit (3) using the cleaning data (D); and an instruction unit (7) that instructs the control unit to sequentially use a predetermined number of pieces of the cleaning data (D). The control unit (53) determines whether or not second cleaning data (D) is present before or after first cleaning data (D) among the predetermined number of pieces of the cleaning data (D), and when the second cleaning data (D) is present, sets a cleaning condition for a joint region (CON) between a first movement path indicated by the first cleaning data (D) and a second movement path indicated by the second cleaning data (D) on the basis of at least one of a cleaning condition indicated by the first cleaning data and a cleaning condition indicated by the second cleaning data.

Description

Self-propelled cleaning machine, control method, and program

[0001] The present invention relates to a self-propelled cleaning machine that autonomously moves and cleans a predetermined area, a control method for controlling a self-propelled cleaning machine, and a program for causing a computer to execute the control method.

[0002] A self-propelled cleaner that autonomously moves through a predetermined area and autonomously cleans the predetermined area is known (see, for example, Patent Document 1). This self-propelled cleaner stores cleaning data in advance, including information about a movement path along which the self-propelled cleaner moves through predetermined locations within the predetermined area and information about cleaning conditions while moving along the movement path. The self-propelled cleaner is controlled in accordance with the cleaning data, thereby autonomously reproducing the movement path and cleaning conditions indicated in the cleaning data.

[0003] Patent No. 6711405

[0004] In the above-described self-propelled cleaning machine, each cleaning data is generated for cleaning a specific location within a predetermined area. By using multiple such cleaning data, the self-propelled cleaning machine can be caused to continuously clean multiple different locations within the predetermined area and / or repeatedly clean the same location within the predetermined area. However, simply combining the cleaning data may not allow the self-propelled cleaning machine to perform appropriate cleaning.

[0005] An object of the present invention is to allow an autonomous cleaning device to perform appropriate cleaning by combining multiple cleaning data generated for cleaning units of specific locations within a specified area.

[0006] Several aspects are described below as means for solving the problems. These aspects can be combined as needed. A self-propelled cleaning machine according to one aspect of the present invention is a self-propelled cleaning machine that autonomously moves and cleans a predetermined area. The self-propelled cleaning machine includes a main body, a moving unit, a cleaning unit, a memory unit, a control unit, and a command unit. The moving unit moves the main body. The cleaning unit is provided on the main body and cleans the predetermined area. The memory unit stores multiple cleaning data. Each cleaning data includes movement path information that indicates the movement path of the main body at a specific location in the predetermined area, and cleaning condition information that indicates the cleaning conditions of the cleaning unit while moving along the movement path. The control unit controls the movement unit and the cleaning unit according to the cleaning data. The command unit selects a predetermined number of cleaning data from the multiple cleaning data stored in the memory unit, and commands the control unit to control the movement unit and the cleaning unit sequentially using the selected predetermined number of cleaning data.

[0007] When the moving unit and cleaning unit are controlled using multiple cleaning data generated for each cleaning unit for each specific location within a predetermined area, inappropriate cleaning may occur, particularly in the area corresponding to the joint between two cleaning data, i.e., the area at the boundary between two specific locations. Therefore, the self-propelled cleaning machine determines whether there is second cleaning data to be used before or after the first cleaning data among the selected predetermined number of cleaning data, and if there is second cleaning data, sets the cleaning conditions for the cleaning unit in the joint area between the first movement path indicated in the movement path information of the first cleaning data and the second movement path indicated in the movement path information of the second cleaning data based on at least one of the cleaning conditions set for the cleaning work using the first cleaning data and the cleaning conditions set for the cleaning work using the second cleaning data.

[0008] When cleaning multiple specific locations using multiple cleaning data generated for each specific location within a predetermined area, the cleaning conditions for the seam areas where improper cleaning is likely to occur are set based on the cleaning conditions set before and after the seam areas. Therefore, the self-propelled cleaning machine can continuously perform appropriate cleaning across multiple specific locations even when cleaning a predetermined area using multiple cleaning data sequentially.

[0009] In the above-described self-propelled cleaning machine, the cleaning unit may have a cleaning unit and a suction unit. The cleaning unit cleans a predetermined area using a liquid. The suction unit sucks up the liquid used for cleaning. This allows for appropriate cleaning to be performed using the cleaning unit and the suction unit.

[0010] In the self-propelled cleaning machine, the joint area may be determined based on the distance between the cleaning unit and the suction unit, thereby allowing the start timing of the cleaning unit and the suction unit to be appropriately set.

[0011] In the self-propelled cleaning machine, when the control unit determines that second cleaning data to be used after the first cleaning data exists and that the cleaning unit will perform cleaning in the area where cleaning work using the first cleaning data ended, the control unit may set cleaning conditions to cause the cleaning unit to continue cleaning in the seam area, thereby preventing cleaning in the seam area from being interrupted.

[0012] In the above-described self-propelled cleaning machine, when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to operate in the end area of ​​the cleaning work using the first cleaning data, the control unit may change the cleaning condition information indicating the cleaning conditions in the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit, thereby preventing inappropriate ending of cleaning with liquid used for cleaning remaining.

[0013] A control method according to another aspect of the present invention is a control method for a self-propelled cleaning machine. The self-propelled cleaning machine includes a main body, a moving unit, a cleaning unit, and a memory unit. The moving unit moves the main body. The cleaning unit is provided on the main body and cleans a predetermined area. The memory unit stores multiple cleaning data. Each cleaning data includes movement path information that indicates the movement path of the main body at a specific location within the predetermined area, and cleaning condition information that indicates the cleaning conditions for the cleaning unit while moving along the movement path. The control method includes the following steps: (a) selecting a predetermined number of cleaning data from the multiple cleaning data stored in the memory unit; (b) instructing the moving unit and the cleaning unit to be controlled using the selected predetermined number of cleaning data in sequence; and (c) determining whether there is second cleaning data to be used before or after first cleaning data among the selected predetermined number of cleaning data. (d) if second cleaning data exists, a step of setting cleaning conditions for the cleaning unit in the joint area between the first movement path indicated in the movement path information of the first cleaning data and the second movement path indicated in the movement path information of the second cleaning data based on at least one of the cleaning conditions set in the cleaning work using the first cleaning data and the cleaning conditions set in the cleaning work using the second cleaning data.

[0014] When cleaning multiple specific locations using multiple cleaning data generated for each specific location within a predetermined area, the cleaning conditions for the seam areas where improper cleaning is likely to occur are set based on the cleaning conditions set before and after the seam areas. Therefore, the self-propelled cleaning machine can continuously perform appropriate cleaning across multiple specific locations even when cleaning a predetermined area using multiple cleaning data sequentially.

[0015] In the above control method, the cleaning unit may include a washing unit and a suction unit. The washing unit washes a predetermined area using a liquid. The suction unit sucks up the liquid used for washing. This allows for appropriate cleaning to be performed using the washing unit and the suction unit.

[0016] In the above control method, the seam area may be determined based on the distance between the cleaning unit and the suction unit, thereby allowing the timings at which the cleaning unit and the suction unit start operating to be set appropriately.

[0017] In the above control method, the step of setting cleaning conditions for the seam area may include a step of setting cleaning conditions so that, when second cleaning data to be used after the first cleaning data exists and it is determined that the cleaning unit will perform cleaning in the area where cleaning work using the first cleaning data ended, the cleaning unit continues cleaning in the seam area, thereby preventing cleaning in the seam area from being interrupted.

[0018] In the above control method, the step of setting cleaning conditions for the seam area may include, when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to operate in the end area of ​​the cleaning work using the first cleaning data, changing the cleaning condition information indicating the cleaning conditions for the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit, thereby preventing inappropriate ending of cleaning with liquid used for cleaning remaining.

[0019] A program according to yet another aspect of the present invention is a program for causing a computer to execute the above control method.

[0020] When the self-propelled cleaning device is made to clean using multiple cleaning data generated for cleaning units of specific locations within a predetermined area, the cleaning conditions for the joint area between one cleaning data and the next cleaning data to be used are set based on the cleaning conditions set before and after the joint area. Therefore, even when multiple cleaning data are used sequentially to clean a predetermined area, appropriate cleaning can be continuously performed.

[0021] 1 is a diagram showing the overall configuration of a self-propelled cleaning machine. FIG. 2 is a diagram showing the control configuration of a self-propelled cleaning machine. FIG. 3 is a diagram showing an example of the data configuration of cleaning data. FIG. 4 is a diagram showing an example of a predetermined area and a set movement path. FIG. 5 is a diagram showing an example of setting cleaning conditions for cleaning the entire movement path. FIG. 6 is a diagram showing another example of setting cleaning conditions for cleaning the entire movement path. FIG. 7 is a diagram showing an example of setting cleaning conditions for cleaning only a part of the movement path. FIG. 8 is a diagram showing another example of setting cleaning conditions for cleaning only a part of the movement path. FIG. 9 is a diagram showing yet another example of setting cleaning conditions for cleaning only a part of the movement path. FIG. 10 is a diagram showing an example of setting cleaning conditions for when no cleaning is performed. FIG. 11 is a diagram showing an example of a cleaning condition setting screen. FIG. 12 is a diagram showing an example of a cleaning data selection screen. A flowchart showing the basic operation of a self-propelled cleaning machine. A flowchart showing the operation of a self-propelled cleaning machine in autonomous mode. A flowchart showing cleaning work operation in a start area. A diagram showing an example of setting cleaning conditions when cleaning is interrupted at a seam area. A diagram showing an example of setting cleaning conditions when cleaning is not interrupted at a seam area. A diagram showing an example of setting cleaning conditions when cleaning is performed up to the end point of the previous cleaning job. 10 is a flowchart showing the cleaning operation in the intermediate region; FIG. 11 is a flowchart showing the cleaning operation in the end region; FIG. 12 is a diagram showing an example of the state of the cleaning member, suction unit, and cleaning liquid outlet when the cleaning conditions are set to operate only the suction unit in the start region and / or end region of the cleaning work in the second embodiment; FIG. 13 is a diagram showing an example of setting cleaning conditions when cleaning is not interrupted in the seam region in the second embodiment; FIG. 14 is a diagram showing an example of setting cleaning conditions when connecting cleaning data D in which cleaning conditions are set to operate only the suction unit in the end region to cleaning data D in which cleaning conditions are set not to perform cleaning in the start region in the second embodiment.

[0022] 1. First Embodiment (1) Overview The self-propelled cleaning device 100 will be described below. The self-propelled cleaning device 100 cleans a predetermined area A while autonomously moving within the area. The predetermined area A is, for example, a facility such as a store, an airport or station lobby, an amusement park, or an exhibition facility. The self-propelled cleaning device 100 stores cleaning work within the predetermined area A as cleaning data D, and reproduces the cleaning work according to the stored cleaning data D, thereby autonomously moving within the predetermined area A and cleaning.

[0023] In the self-propelled cleaning device 100, cleaning data D is generated for each specific location that is part of the predetermined area A. The self-propelled cleaning device 100 can continuously clean multiple locations by performing cleaning work in accordance with the multiple selected cleaning data D.

[0024] (2) Overall Configuration of Self-Propelled Cleaning Machine The overall configuration of the self-propelled cleaning machine 100 will be described using FIG. 1. FIG. 1 is a diagram showing the overall configuration of the self-propelled cleaning machine 100. The self-propelled cleaning machine 100 according to this embodiment autonomously travels along a designated travel path (autonomous travel path) within a predetermined area (for example, inside a building or the like) and autonomously reproduces cleaning conditions set at each passing point of the autonomous travel path. Specifically, the self-propelled cleaning machine 100 mainly includes a main body B, a moving unit 1, a cleaning unit 3, an information processing device 5, and a command unit 7.

[0025] The main body B constitutes the main body of the self-propelled cleaning device 100. A forward detector 21a is provided in front of the main body B in the direction of travel, and a rear detector 21b is provided behind the main body B in the direction of travel. The forward detector 21a and the rear detector 21b are devices that acquire information about obstacles (such as walls) that exist around the self-propelled cleaning device 100 (main body B). The forward detector 21a and the rear detector 21b are, for example, laser range finders (LRF) with a detection range of 180° or more. When laser range finders are used as the forward detector 21a and the rear detector 21b, the distance between the moving unit 1 and the obstacle and the direction in which the obstacle is located are acquired as information about the obstacle.

[0026] The information acquired by the forward detector 21a and the rear detector 21b may be two-dimensional information indicating the location of an obstacle on a predetermined plane, or may be three-dimensional information including information indicating the location of the obstacle in the vertical direction. Furthermore, the detection range (detection angle and / or detection distance) of the forward detector 21a may be wider than the detection range of the rear detector 21b. This allows information about obstacles present in a wider range in the forward direction of the self-propelled cleaning device 100 to be acquired. Furthermore, the forward detector 21a and the rear detector 21b may be a TOF (Time Of Flight) camera or the like.

[0027] The moving unit 1 is provided on the main body B and is a device for moving the self-propelled cleaning device 100. The moving unit 1 has a moving motor 11 at each of the left and right ends of the bottom of the main body B, and main wheels 13 attached to the output rotation shaft of the moving motor 11 and rotating in accordance with the rotation of the moving motor 11. The output rotation shaft of the moving motor 11 is provided with an encoder 17 ( FIG. 2 ) that measures the amount of rotation of the moving motor 11.

[0028] The moving part 1 may have auxiliary wheels 15 to allow the self-propelled cleaning device 100 to travel more stably. The auxiliary wheels 15 may be rotatably attached to the left and right ends of the bottom of the main body B, rearward of the main wheels 13, or may be attached forward of the main wheels 13, taking into consideration the position of the center of gravity of the self-propelled cleaning device 100, etc.

[0029] The cleaning unit 3 is provided at the bottom of the main body B and is a device that cleans the floor surface F in a predetermined area A according to specified cleaning conditions. The cleaning unit 3 scrubs the floor surface F using a cleaning liquid. The cleaning unit 3 has a washing unit 31 and a suction unit 33.

[0030] The cleaning unit 31 cleans the floor surface F using cleaning liquid supplied to the floor surface F in a predetermined area A. Specifically, the cleaning unit 31 has a cleaning liquid discharge port 31a and a cleaning member 31b. The cleaning liquid discharge port 31a discharges cleaning liquid (e.g., water) supplied from a cleaning liquid supply tank 31c by a cleaning liquid supply pump 31d onto the floor surface F on the front side of the main body B. The cleaning member 31b is provided on the front side of the bottom surface of the main body B, and cleans the floor surface F by rotating on the floor surface F where cleaning liquid is present due to rotation of a cleaning member rotation motor 31e. The cleaning member 31b is, for example, a brush.

[0031] The suction unit 33 sucks up the cleaning liquid used for cleaning. Specifically, the suction unit 33 has a squeegee 33a and a suction port 33b. The squeegee 33a is provided at the rear of the bottom surface of the main body B and collects the cleaning liquid remaining on the floor surface F. The squeegee 33a is movable up and down relative to the main body B. The suction port 33b is provided on the squeegee 33a and connected to a collection member 33c. The collection member 33c is provided with a suction motor 33d that puts the collection member 33c into a negative pressure state. In this suction unit 33, when the suction motor 33d puts the inside of the collection member 33c into a negative pressure state, the cleaning liquid, dust, etc. collected by the squeegee 33a are sucked through the suction port 33b and collected into the collection member 33c.

[0032] The information processing device 5 is a computer system including a CPU, a storage device (RAM, ROM, hard disk drive, SSD, etc.), various interfaces, etc. The information processing device 5 performs various controls related to the self-propelled cleaning device 100.

[0033] The command unit 7 is provided in the main body B, and performs various settings related to the self-propelled cleaning device 100, and outputs the set information to the information processing device 5. As will be described later, the self-propelled cleaning device 100 uses cleaning data stored in the storage unit 51 of the information processing device 5 to cause the self-propelled cleaning device 100 to autonomously perform cleaning work. For this reason, the command unit 7 has a function of allowing the user to select which cleaning data D to use to perform cleaning work. The command unit 7 can allow the user to select multiple cleaning data D. This allows the self-propelled cleaning device 100 to clean multiple locations by using multiple cleaning data D generated for each location within the specified area A.

[0034] The command unit 7 can instruct the cleaning conditions for the floor surface F by the cleaning unit 3. Specifically, the command unit 7 can instruct, in accordance with the user's operation, whether to move the squeegee 33a of the cleaning unit 3 up and down (i.e., whether to suck in the cleaning liquid) and whether to rotate the cleaning member 31b. The command unit 7 can also set the amount of cleaning liquid discharged from the cleaning liquid discharge port 31a, the number of rotations of the cleaning member 31b, and the suction force of the cleaning liquid by the suction port 33b.

[0035] The command unit 7 does not have to be attached to the main body B. In this case, the command unit 7 may be, for example, a console capable of wireless communication, such as a portable terminal.

[0036] The self-propelled cleaning device 100 is equipped with a travel path teaching unit 9. The travel path teaching unit 9 accepts a user's operation to move the moving unit 1. The travel path teaching unit 9 is attached to the upper rear side of the main body B via an attachment member 8. The travel path teaching unit 9 is, for example, an operating device having a pair of rotatable handles. The steering handles or handle bars of the travel path teaching unit 9 are used to adjust the amount of rotation of each of the pair of main wheels 13, making it possible to steer the travel direction of the self-propelled cleaning device 100.

[0037] The movement path teaching unit 9 is provided in the main body B near the command unit 7. This allows the user to operate the command unit 7 while operating the movement path teaching unit 9. In other words, the user can make the self-propelled cleaning device 100 clean the floor surface F while driving the self-propelled cleaning device 100.

[0038] The movement path teaching unit 9 may be, for example, a remote controller equipped with a joystick or the like for a user to remotely operate the self-propelled cleaning device 100. Furthermore, the self-propelled cleaning device 100 may be operable by both the movement path teaching unit 9 attached to the main body B and a remote controller. Furthermore, the command unit 7 and the movement path teaching unit 9 may be integrated.

[0039] (3) Control Configuration Hereinafter, a control configuration for controlling the self-propelled cleaning device 100 will be described with reference to Fig. 2. Fig. 2 is a diagram showing the control configuration of the self-propelled cleaning device 100. The control configuration of the self-propelled cleaning device 100 is made up of an information processing device 5 and a command unit 7.

[0040] The information processing device 5 has a storage unit 51, a control unit 53, and a temporary storage unit 55. The storage unit 51 is a part or all of the storage area of ​​the storage device of the computer system that constitutes the information processing device 5, and stores various settings, information, etc. related to the self-propelled cleaning device 100. The storage unit 51 stores cleaning data D and an environmental map M.

[0041] The cleaning data D is data that records cleaning work performed at specific locations within a predetermined area A. The cleaning data D includes, for example, travel route information IN1 and cleaning condition information IN2, as shown in Fig. 3. Fig. 3 is a diagram showing an example of the data structure of the cleaning data D.

[0042] The movement path information IN1 is information that indicates the movement path of the self-propelled cleaning device 100 (main body B) when performing cleaning work at a specific location within a predetermined area A. The movement path information IN1 is information that indicates the movement path of the self-propelled cleaning device 100 (main body B) when performing cleaning work at a specific location within a predetermined area A. ０ , T １ , ...T ｎ ) is a coordinate value ((x ０ , y ０ ), (x １ , y １ ), ... (x ｎ , y ｎ )) and angle information (θ ０ , θ １ , ...θ ｎ ) In other words, the movement path information IN1 is configured as a point cloud of passing points on the movement path traveled during cleaning work.

[0043] The cleaning condition information IN2 is information that indicates the cleaning conditions for the cleaning unit 3 when the self-propelled cleaning device 100 moves along the movement path according to the movement path information IN1. The cleaning condition information IN2 is information (SU ０ , S.U. １ , ...SU ｎ ) and information (W ０ , W １ , ...W ｎ ) and information (PO ０ , P.O. １ , ... PO ｎ ) and.

[0044] By arbitrarily setting the cleaning data D, the self-propelled cleaning device 100 can perform cleaning work with arbitrary movement paths and cleaning conditions for each location within the predetermined area A. For example, as shown in Fig. 4, the predetermined area A can be divided into three locations P1 to P3, and arbitrary movement paths can be set for each of the locations P1 to P3. Fig. 4 is a diagram showing an example of the predetermined area A and the set movement paths.

[0045] For example, a travel route T1 can be set for location P1 from a start point ST1 to an end point G1 as shown in FIG. 4 . A travel route T2 can be set for location P2 from a start point ST2 to an end point G2 as shown in FIG. 4 . The travel routes T1 and T2 are routes instructed by a user or the like. On the other hand, a travel route T3 can be set for location P3 from a start point ST3 to an end point G3 as shown in FIG. 4 . The travel route T3 is a route for evenly traveling through location P3. Such a route can also be called a "filled route." A filled route can be set, for example, by instructing the periphery of the location to be traveled along the filled route (location P3 in the example of FIG. 4 ), dividing the area surrounded by the instructed periphery into multiple small areas, and planning a route to travel through all of the multiple small areas.

[0046] 4, the end point G1 of the travel path T1 and the start point ST3 of the travel path T3 approximately coincide, and the end point G3 of the travel path T3 and the start point ST2 of the travel path T2 approximately coincide. In this case, the self-propelled cleaning device 100 can autonomously clean multiple locations (i.e., the entire predetermined area A) by performing the cleaning work of the location P1, the cleaning work of the location P3, and the cleaning work of the location P2 in this order. The self-propelled cleaning device 100 can also perform the cleaning work of the location P1, the cleaning work of the location P3, and the cleaning work of the location P2 individually.

[0047] On the other hand, cleaning conditions can be set to perform cleaning along the entire movement path, as shown in Figures 5A and 5B. Figures 5A and 5B are diagrams showing examples of setting cleaning conditions to perform cleaning along the entire movement path. In the cleaning conditions shown in Figure 5A, cleaning by the cleaning unit 31 is not performed near the start point ST of the movement path (referred to as the start area) and near the end point G of the movement path (referred to as the end area), and only the suction unit 33 is operated. This allows the cleaning liquid used in the cleaning operation to be properly collected in the start area and the end area.

[0048] 5B, the cleaning unit 31 and the suction unit 33 operate simultaneously at the start point ST and stop operating simultaneously at the end point G. When a cleaning operation is started or ended under such cleaning conditions, there is a possibility that the cleaning liquid used in the cleaning operation will not be collected and will remain on the floor surface F in the start area and / or end area. The cleaning conditions shown in FIG. 5B are set, for example, by an inexperienced user who is not familiar with cleaning operations.

[0049] Furthermore, cleaning conditions can be set to clean only a portion of the movement path. For example, cleaning conditions can be set to clean only the first half of the movement path as shown in FIG. 6A, cleaning conditions to clean only the second half of the movement path as shown in FIG. 6B, and cleaning conditions to clean only the middle portion of the movement path as shown in FIG. 6C. FIGS. 6A to 6C are diagrams showing examples of cleaning conditions that are set to clean only a portion of the movement path. Furthermore, it is also possible to set cleaning conditions that only perform movement but do not perform cleaning, as shown in FIG. 7. FIG. 7 is a diagram showing an example of cleaning condition settings when cleaning is not performed.

[0050] The environmental map M is map information representing a predetermined area A. The environmental map M is used when estimating the position of the self-propelled cleaning device 100 in the predetermined area A (referred to as its own position). The environmental map M can be created, for example, by moving the self-propelled cleaning device 100 in the predetermined area A and arranging map information (referred to as a local map) indicating the arrangement of objects around the main body B obtained at each passing point during the movement. The local map can be obtained using the forward detector 21a and / or the rear detector 21b. Alternatively, the environmental map M can be created using CAD or the like.

[0051] The control unit 53 is configured by a CPU of the computer system that constitutes the information processing device 5, part of the storage device, and various interfaces, and executes control related to the movement and cleaning of the self-propelled cleaning device 100. The control operation by the control unit 53 is realized by a program stored in the storage device of the information processing device 5.

[0052] The control unit 53 controls the movement of the self-propelled cleaning device 100 by controlling the movement unit 1. As described above, in the movement unit 1, a movement motor 11 and a main wheel 13 are provided at each of the left and right ends of the bottom of the main body B. In this case, the control unit 53 independently controls the rotation speed and rotation direction of each of the two movement motors 11 on the left and right to determine the traveling direction of the self-propelled cleaning device 100. By making the rotation speed and rotation direction of the movement motors 11 the same, the self-propelled cleaning device 100 can move in a straight line. On the other hand, by making the rotation direction of the movement motors 11 the same but making the rotation speed different, the posture of the self-propelled cleaning device 100 can be changed while moving.

[0053] The control unit 53 controls the movement of the self-propelled cleaning device 100 (main body B) by controlling the movement motor 11 based on operation by a user or the like via the movement path teaching unit 9, or by controlling the movement motor 11 in accordance with movement path information IN1 in the cleaning data D. The mode in which the movement motor 11 is controlled by operation performed by the movement path teaching unit 9 is called the "manual operation mode," and the mode in which the movement motor 11 is controlled in accordance with the cleaning data D is called the "autonomous mode." These modes can be switched based on commands from outside (for example, the command unit 7 or the movement path teaching unit 9).

[0054] In the manual operation mode, the control unit 53 calculates the target rotation speed of the travel motor 11 based on the amount of operation of the steering handle or handlebars in the travel path teaching unit 9. The control unit 53 controls the travel motor 11 to rotate at the target rotation speed by outputting drive power to the travel motor 11 based on the difference between the actual rotation speed of the travel motor 11 and the target rotation speed. The actual rotation speed of the travel motor 11 can be measured by the encoder 17.

[0055] Furthermore, when the manual operation mode is executed, the control unit 53 estimates the self-position of the self-propelled cleaning device 100. In estimating the self-position, the control unit 53 estimates the current self-position of the self-propelled cleaning device 100 based on a self-position estimation result based on the amount of rotation of the travel motor 11 when moving from the previous position to the current position, and a self-position estimation result obtained by map matching between the local map acquired at the current position and the environmental map M stored in the storage unit 51.

[0056] On the other hand, in the autonomous mode, the control unit 53 estimates the current position of the self-propelled cleaning device 100, calculates the control amount of the movement motor 11 for moving from the current position to the target passing point (the passing point closest to the current position among the passing points included in the movement route information IN1 of the cleaning data D), and controls the movement motor 11 based on the control amount, thereby causing the self-propelled cleaning device 100 to move autonomously according to the movement route information IN1 of the cleaning data D.

[0057] The control unit 53 also controls the cleaning unit 31 and suction unit 33 of the cleaning unit 3 to cause the self-propelled cleaning device 100 to perform cleaning work under predetermined cleaning conditions. In the manual operation mode, the control unit 53 controls the cleaning liquid supply pump 31d of the cleaning unit 31 to control the amount of cleaning liquid discharged from the cleaning liquid discharge port 31a, and controls the cleaning member rotation motor 31e to control the rotation speed of the cleaning member 31b, based on operation by the user or the like using the command unit 7. The control unit 53 also controls the squeegee 33a and suction motor 33d to control the up and down movement of the squeegee 33a (i.e., whether or not to suck in cleaning liquid) and the suction force of the cleaning liquid, based on operation by the user or the like using the command unit 7.

[0058] On the other hand, in the autonomous mode, the control unit 53 controls the cleaning unit 31 and the suction unit 33 based on the cleaning conditions associated with the current host location among the cleaning condition information IN2 in the cleaning data D, thereby performing cleaning work at the current location in accordance with the cleaning conditions. Specifically, the control unit 53 controls the cleaning liquid supply pump 31d of the cleaning unit 31 to control the amount of cleaning liquid discharged from the cleaning liquid discharge port 31a and the cleaning member rotation motor 31e to control the rotation speed of the cleaning member 31b, based on the cleaning conditions associated with the current host location, thereby performing cleaning work in accordance with the cleaning condition information IN2 in the cleaning data D. Furthermore, the control unit 53 controls the squeegee 33a and the suction motor 33d to control the up and down movement of the squeegee 33a (i.e., whether or not to suction cleaning liquid) and the suction force of the cleaning liquid, based on the cleaning conditions associated with the current host location, thereby performing cleaning work in accordance with the cleaning condition information IN2 in the cleaning data D.

[0059] The temporary storage unit 55 is a temporary storage area (for example, a memory such as a RAM that temporarily stores data, and / or a cache area such as an SSD or HDD) of the computer system that constitutes the information processing device 5, and temporarily stores programs, various information, etc. It also stores various settings, information, etc. related to the self-propelled cleaning device 100.

[0060] In the autonomous mode, the control unit 53 stores one piece of cleaning data D currently in use in the temporary storage unit 55, and controls the moving unit 1 and the cleaning unit 3 according to the cleaning data D stored in the temporary storage unit 55. If the cleaning data D needs to be modified, the control unit 53 modifies the cleaning data D stored in the temporary storage unit 55. In other words, the cleaning data D stored in the storage unit 51 remains unchanged.

[0061] The command unit 7 has an input unit 71 and a command control unit 73. The input unit 71 is a device for inputting commands to the self-propelled cleaning device 100. The input unit 71 is a touch panel having a display. In the manual operation mode, the user can set cleaning conditions through user operation using the input unit 71. When cleaning conditions can be set through user operation, the input unit 71 displays a cleaning condition setting screen GUI1 as shown in FIG. 8 on the display. The user can set cleaning conditions using the cleaning condition setting screen GUI1. FIG. 8 is a diagram showing an example of the cleaning condition setting screen GUI1.

[0062] The cleaning condition setting screen GUI1 has a rotation speed setting button B1, a suction force setting button B2, a cleaning liquid volume setting button B3, a squeegee operation button B4, a cleaning liquid discharge button B5, a mode switching button B6, a manual operation mode start button B7, and an autonomous mode start button B8. The rotation speed setting button B1 is a button for setting the rotation speed (cleaning power) of the cleaning member 31b. The suction force setting button B2 is a button for setting the suction force of the cleaning liquid by the suction motor 33d. The cleaning liquid volume setting button B3 is a button for setting the amount of cleaning liquid supplied by the cleaning liquid supply pump 31d. The squeegee operation button B4 is a button for moving the squeegee 33a upward or downward. The cleaning liquid discharge button B5 is a button for switching between supplying and stopping the cleaning liquid by the cleaning liquid supply pump 31d.

[0063] The mode switching button B6 is a button for switching between the operating modes (manual cleaning mode and automatic cleaning mode) related to cleaning of the self-propelled cleaning device 100. The manual cleaning mode is a mode in which cleaning conditions can be set manually after the self-propelled cleaning device 100 starts moving. The automatic cleaning mode is a mode in which, after the self-propelled cleaning device 100 starts moving, the rotation speed (cleaning power) of the cleaning member 31b, the suction power of the cleaning liquid by the suction motor 33d, and the amount of cleaning liquid supplied by the cleaning liquid supply pump 31d are automatically set, and the squeegee 33a and the cleaning member 31b are automatically operated.

[0064] The manual operation mode start button B7 is a button for starting a manual operation mode that enables manual operation of the self-propelled cleaning device 100. The autonomous mode start button B8 is a button for starting an autonomous mode that causes the self-propelled cleaning device 100 to operate autonomously.

[0065] In the autonomous mode, the user can use the input unit 71 to select (set) which cleaning data D to use in causing the self-propelled cleaning device 100 to perform cleaning. When cleaning data D is selectable, the input unit 71 causes a cleaning data selection screen GUI2, such as that shown in Fig. 9, to be displayed on the display. The user can select cleaning data D using the cleaning data selection screen GUI2. Fig. 9 is a diagram showing an example of the cleaning data selection screen GUI2.

[0066] The cleaning data selection screen GUI2 has a cleaning data list display section D1, a start position display section D2, a switch button B9, and a confirm button B10. The cleaning data list display section D1 displays a list of cleaning data names of cleaning data D stored in the memory unit 51. The start position display section D2 displays map information near the start point of the movement route indicated in the movement route information IN1 of the selected cleaning data D. The switch button B9 is a button that switches between displaying only the cleaning data D selected in the cleaning data list display section D1 in the order of selection or displaying all cleaning data D. The confirm button B10 is a button for confirming the selection of cleaning data D.

[0067] In the cleaning data list display section D1 of the cleaning data selection screen GUI2, for example, the desired cleaning data D can be selected by aligning the cleaning data D to be selected with the route selection display section SE1, which provides a display area for selecting cleaning data D, and pressing the route selection display section SE1 along with the name of the selected data.

[0068] The cleaning data selection screen GUI2 may further include a cleaning mode selection button B11. The cleaning mode selection button B11 is a button for selecting a cleaning mode when the autonomous mode is being executed. The cleaning modes include a reproduction mode, which performs cleaning according to the cleaning condition information IN2 of the cleaning data D; a current setting cleaning mode, which performs cleaning according to currently set cleaning conditions; and an individual cleaning mode, which performs cleaning according to individually set cleaning conditions. The cleaning conditions (rotation speed of the cleaning member 31b, suction power of the cleaning liquid, amount of cleaning water dispensed, amount of detergent dispensed) can be set in the current setting cleaning mode and the individual cleaning mode. Note that if the movement path indicated in the movement path information IN1 of the cleaning data D is a solid path, only the current setting cleaning mode and the individual cleaning mode can be selected.

[0069] The command control unit 73 is hardware (a system) that receives input from the input unit 71 and transmits the command input to the input unit 71 to the information processing device 5. The command control unit 73 may be a system on chip (SOC) that realizes the above functions.

[0070] In the autonomous mode, when multiple cleaning data D are selected using the input unit 71, the command control unit 73 commands the control unit 53 of the information processing device 5 to sequentially use the selected multiple cleaning data D to control the moving unit 1 and the cleaning unit 3. In other words, the command control unit 73 does not notify the control unit 53 of all of the selected multiple cleaning data D at once, but rather notifies the control unit 53 of the cleaning data D to be used to control the moving unit 1 and the cleaning unit 3 one by one in response to a request from the control unit 53.

[0071] In the autonomous mode, the command control unit 73 notifies the control unit 53 whether cleaning work is being performed using the selected cleaning data D and whether the cleaning data D to be used is the first or last data to be used. Meanwhile, the control unit 53 notifies the command control unit 73 whether cleaning work according to the cleaning data D to be used has been completed. Upon receiving this notification, the command control unit 73 commands the control unit 53 to perform cleaning work using the cleaning data D to be used next, as necessary.

[0072] (4) Operation of Self-propelled Cleaning Device (4-1) Basic Operation Hereinafter, the operation of the self-propelled cleaning device 100 will be described. First, the basic operation of the self-propelled cleaning device 100 will be described using Fig. 10. Fig. 10 is a flowchart showing the basic operation of the self-propelled cleaning device 100. First, the control unit 53 of the information processing device 5 confirms whether the self-propelled cleaning device 100 is to be operated in the manual operation mode or the autonomous mode (step S1).

[0073] When the manual operation mode start button B7 is pressed (manual operation mode in step S1), the control unit 53 determines to operate the self-propelled cleaning device 100 in the manual operation mode. This makes the self-propelled cleaning device 100 operable by operation by a user or the like (step S2). That is, the control unit 53 controls the movement of the self-propelled cleaning device 100 based on the operation by a user or the like via the movement path instruction unit 9, and controls the cleaning of the self-propelled cleaning device 100 based on the operation by a user or the like using the cleaning condition setting screen GUI1 of the command unit 7.

[0074] In the manual operation mode, when instructed to record the operation of the user, etc., the control unit 53 estimates the self-position of the self-propelled cleaning machine 100 while the self-propelled cleaning machine 100 moves along a movement path operated by the user, etc., records the estimated self-position in the cleaning data D as movement path information IN1, and records the cleaning conditions of the self-propelled cleaning machine 100 operated by the user, etc. (cleaning conditions set in the cleaning work using the cleaning data D of the present invention) in the cleaning data D as cleaning condition information IN2.

[0075] When a filled-in path is set as the movement path of the cleaning data D, the self-propelled cleaning device 100 is moved around the periphery of the area to be cleaned (a part of the predetermined area A) by the user or the like in the manual operation mode. The control unit 53 then generates a filled-in path in the area inside the periphery of the area instructed as described above, and sets cleaning conditions (cleaning conditions set in the cleaning work using the cleaning data D of the present invention) at each passing point of the generated filled-in path, thereby generating the cleaning data D.

[0076] On the other hand, when the autonomous mode start button B8 is pressed (autonomous mode in step S1), the control unit 53 determines to operate the self-propelled cleaning device 100 in the autonomous mode. This puts the self-propelled cleaning device 100 in a state where it can perform cleaning work in accordance with the cleaning data D stored in the storage unit 51 (step S3). That is, the control unit 53 executes the autonomous mode.

[0077] Note that before step S3, the cleaning mode to be executed by the self-propelled cleaning device 100 may be selected. Specifically, by pressing the mode switching button B6, the cleaning mode to be executed can be switched between the manual cleaning mode and the automatic cleaning mode.

[0078] (4-2) Operation of Self-Propelled Cleaning Device in Autonomous Mode The operation of the self-propelled cleaning device 100 in autonomous mode will now be described with reference to FIG. 11. FIG. 11 is a flowchart showing the operation of the self-propelled cleaning device 100 in autonomous mode. First, cleaning data D to be used for cleaning work performed in autonomous mode is selected (step S31). Specifically, the command control unit 73 displays a cleaning data selection screen GUI2 as shown in FIG. 9 on the display of the input unit 71. The user or the like can use the cleaning data selection screen GUI2 to select cleaning data D to be used for cleaning work.

[0079] The user can select multiple cleaning data D as the cleaning data D to be used for the cleaning work. In this case, the same cleaning data D can be selected multiple times. If multiple cleaning data D are selected, the cleaning work can be performed using the multiple cleaning data D in the order selected when running in autonomous mode. Alternatively, after selecting multiple cleaning data D, the order of the multiple cleaning data D can be changed when running in autonomous mode.

[0080] When selecting multiple cleaning data D as cleaning data D to be used, if the user selects cleaning data D that does not allow continuous cleaning work, the user may be notified that the incorrect cleaning data D has been selected. This notification may be realized, for example, by displaying a message to that effect on the cleaning data selection screen GUI2 and / or by emitting a sound from the command unit 7.

[0081] Furthermore, when a specific cleaning data D is selected, the cleaning data list display section D1 of the cleaning data selection screen GUI2 may display only the names of the selectable cleaning data D, or the names of the cleaning data D that cannot be selected may be displayed as invalid (a display that visually indicates that the data cannot be selected).

[0082] After selecting the cleaning data D to be used, the self-propelled cleaning device 100 autonomously performs cleaning work in accordance with the selected cleaning data D. If one cleaning data D is selected, the self-propelled cleaning device 100 autonomously moves along the movement path indicated in the movement path information IN1 of the cleaning data D, and autonomously performs the cleaning work indicated in the cleaning condition information IN2 of the cleaning data D (the cleaning conditions set in the cleaning work according to the cleaning data D of the present invention) (if the cleaning mode is the reproduction mode), or autonomously performs the cleaning work according to the set mode (if the cleaning mode is the currently set cleaning mode or the individual cleaning mode).

[0083] On the other hand, if two or more predetermined number of cleaning data D are selected in step S31, the following operation is performed: First, the command control unit 73 of the command unit 7 notifies the control unit 53 of the information processing device 5 of information about one cleaning data D to be used to perform the cleaning work among the selected predetermined number of cleaning data D (e.g., identification information of the cleaning data D) (step S32).

[0084] Upon receiving the notification, the control unit 53 copies the cleaning data D that it has been instructed to use from the storage unit 51 to the temporary storage unit 55. This allows the control unit 53 to change the content of the cleaning data D stored in the temporary storage unit 55 as needed. In other words, the control unit 53 does not change the content of the cleaning data D stored in the storage unit 51.

[0085] Thereafter, the control unit 53 controls the moving unit 1 and the cleaning unit 3 to perform the current cleaning task using the cleaning data D stored in the temporary storage unit 55. When the cleaning task using the cleaning data D starts to be performed, that is, when the self-propelled cleaning device 100 is present in (or in the vicinity of) the start area of ​​the movement path indicated in the movement path information IN1 of the cleaning data D, the control unit 53 performs the cleaning task in the start area of ​​the movement path (step S33).

[0086] The start area is, for example, an area extending from the start point ST of the current cleaning job to a point a distance d away. This distance d can be determined, for example, based on the distance between the cleaning unit 31 and the suction unit 33 of the cleaning unit 3. That is, the start area can be determined based on the distance between the cleaning unit 31 and the suction unit 33. Specifically, the distance d can be, for example, the sum of the distance from the center of the cleaning member 31b of the cleaning unit 31 to the squeegee 33a of the suction unit 33, the radius of the cleaning member 31b, and the travel distance required to determine whether the cleaning liquid has been collected.

[0087] The start area is included in the seam area CON. The seam area CON is the area corresponding to the connection (seam) between the movement path indicated in the movement path information IN1 of a certain cleaning data D and the movement path indicated in the movement path information IN1 of the cleaning data D to be used after that cleaning data D. The seam area CON includes the end area (described below) of the movement path of the certain cleaning data D, the end point G of that movement path, the start point ST of the movement path of the next cleaning data D to be used, and the start area of ​​that movement path. In other words, the seam area CON can be determined based on the distance d between the cleaning unit 31 and the suction unit 33.

[0088] The control unit 53 performs cleaning work in the start area according to the flowchart shown in Fig. 12. Fig. 12 is a flowchart showing cleaning work operations in the start area. First, the control unit 53 determines whether the cleaning data D stored in the temporary storage unit 55 in step S32, i.e., the cleaning data D to be used, is the initial cleaning data D (step S3301). The control unit 53 determines, for example, whether the start position of the autonomous mode (e.g., the position of the self-propelled cleaning device 100 in the predetermined area A at the start of the autonomous mode) matches the start point ST of the cleaning data D to be used, and if they match, the control unit 53 can determine that the cleaning data D to be used is the initial cleaning data D.

[0089] If the cleaning data D to be used is the initial cleaning data D (step S3301: Yes), the control unit 53 determines whether the cleaning conditions are set in the cleaning data D to clean the start area (step S3302). This determination can be made, for example, by referencing the first portion of the cleaning condition information IN2 of the cleaning data D to be used (the cleaning conditions associated with the first coordinate value portion corresponding to the start area of ​​the travel path information IN1) and determining whether at least one of the cleaning unit 31 and the suction unit 33 is set to operate in that portion. If at least one of the cleaning unit 31 and the suction unit 33 is operating in that portion, it can be determined that cleaning will be performed in the start area.

[0090] If it is determined that cleaning of the start area will not be performed ("No" in step S3302), the control unit 53 sets the cleaning conditions for the start area of ​​the cleaning data D to be used as follows (step S3303): the cleaning unit 31 of the cleaning unit 3 will not be operated and the suction unit 33 will not be operated (cleaning unit 31: OFF, suction unit 33: OFF).

[0091] Note that not operating the cleaning unit 31 (cleaning unit 31: OFF) means that the cleaning liquid supply pump 31d of the cleaning unit 31 is not operated to not discharge cleaning liquid from the cleaning liquid discharge port 31a, and the cleaning member rotation motor 31e is not operated to not rotate the cleaning member 31b. Also, not operating the suction unit 33 (suction unit 33: OFF) means that the squeegee 33a of the cleaning unit 31 is moved upward to separate it from the floor surface F, and the suction motor 33d is not operated to not generate suction force at the suction port 33b.

[0092] On the other hand, if it is determined that cleaning of the start area is to be performed ("Yes" in step S3302), the control unit 53 sets cleaning conditions for starting the cleaning work. Specifically, the control unit 53 sets a condition that the suction unit 33 is operated (suction unit 33: ON) and then the cleaning unit 31 is operated (cleaning unit 31: ON) as the cleaning condition for the start area of ​​the cleaning data D to be used (step S3304).

[0093] Operating the cleaning unit 31 (cleaning unit 31: ON) means operating the cleaning liquid supply pump 31d of the cleaning unit 31 to discharge cleaning liquid from the cleaning liquid discharge port 31a and operating the cleaning member rotation motor 31e to rotate the cleaning member 31b. Operating the suction unit 33 (suction unit 33: ON) means moving the squeegee 33a of the cleaning unit 31 downward to contact the floor surface F and operating the suction motor 33d to generate suction force at the suction port 33b.

[0094] Furthermore, in the description of the cleaning work, "operating B after operating A" means that operation A starts at a position before the position at which operation B starts. In other words, "before and after operation timing" in the description of the cleaning work means before and after a position during movement along the movement path.

[0095] In this case, if cleaning conditions are set in cleaning condition information IN2 of the cleaning data D to be used that operate the cleaning unit 31 in the start area, for example, as shown in FIG. 5B , the control unit 53 changes the cleaning conditions of the cleaning data D to be used, i.e., the cleaning data D stored in temporary storage unit 55, so that the cleaning unit 31 operates after the suction unit 33. Note that if cleaning condition information IN2 of the start area of ​​the cleaning data D to be used that operates the suction unit 33 in the start area and then the cleaning unit 31, as shown in FIGS. 5A and 6A , the cleaning condition information IN2 is not changed. In the following description, changing the cleaning conditions of the cleaning data D to be used means changing the cleaning conditions of the cleaning data D stored in temporary storage unit 55.

[0096] On the other hand, in the above step S3301, if the cleaning data D to be used is not the first cleaning data D ("No" in step S3301), that is, if cleaning data D existed immediately before, the control unit 53 determines whether the cleaning conditions are set to clean the starting area in the cleaning work performed with the cleaning data D to be used (step S3305).

[0097] If it is determined that cleaning of the start area will be performed ("Yes" in step S3305), the control unit 53 determines whether cleaning was performed in the end area of ​​the cleaning task (the previous cleaning task) performed using the cleaning data D used immediately before the target cleaning data D (step S3306). This determination can be made, for example, by determining whether at least one of the cleaning unit 31 and the suction unit 33 is operating at the start point ST of the current cleaning task. This is because, as will be described later, if there is a cleaning data D to be used after the target cleaning data D and cleaning conditions are set to perform cleaning in the end area of ​​the cleaning task (the current cleaning task) using the target cleaning data D, the cleaning conditions are set to continue cleaning at the end point G of the cleaning task using the target cleaning data D (i.e., the start point ST of the next cleaning data D). This is because at least one of the cleaning unit 31 and the suction unit 33 is operating at the start point ST of the cleaning task using the next cleaning data D.

[0098] If cleaning is being performed in the start area of ​​the current cleaning job ("Yes" in step S3305) and cleaning is being performed in the end area of ​​the previous cleaning job ("Yes" in step S3306), the control unit 53 sets the cleaning conditions to continue the cleaning that was being performed in the end area of ​​the previous cleaning job in the start area of ​​the current cleaning job. That is, the control unit 53 sets the conditions that the cleaning unit 31 and the suction unit 33 are operated (cleaning unit 31: ON, suction unit 33: ON) as the cleaning conditions for the start area of ​​the cleaning job according to the cleaning data D to be used (step S3307).

[0099] In this case, if the cleaning condition information IN2 of the cleaning data D to be used has set cleaning conditions such as those shown in Figures 5A and 6A (cleaning conditions such that the cleaning unit 31 is not operated in the start area but the suction unit 33 is operated), the control unit 53 changes the cleaning condition information IN2 of the cleaning data D to be used so that the cleaning unit 31 is operated in the start area. Note that if the cleaning condition information IN2 of the cleaning data D to be used has set cleaning conditions such as those shown in Figure 5B that operate the cleaning unit 31 and suction unit 33 in the start area, the cleaning condition information IN2 is not changed.

[0100] For example, if two cleaning data D with cleaning conditions set as shown in Fig. 5A (cleaning conditions in which the cleaning unit 31 is not operated but the suction unit 33 is operated in the start area) are linked without changing the cleaning conditions, the cleaning conditions are set so that the cleaning unit 31 is not operated in the seam area CON and the suction unit 33 is not operated at the start point ST of the current cleaning job (end point G of the previous cleaning job), as shown in Fig. 13. In other words, the cleaning conditions are set so that cleaning is interrupted at the seam area CON. Fig. 13 is a diagram showing an example of setting cleaning conditions when cleaning is interrupted at the seam area CON.

[0101] On the other hand, when connecting two cleaning data D with cleaning conditions set as shown in FIG. 5A (cleaning conditions that do not operate the cleaning unit 31 in the start area / end area but operate the suction unit 33), as described above, by changing the previous cleaning data D to perform cleaning in the end area of ​​the previous cleaning job and changing the cleaning data D to be used to perform cleaning in the start area of ​​the current cleaning job, as shown in FIG. 14, both the cleaning unit 31 and the suction unit 33 will operate in the seam area CON, and cleaning will not be interrupted in the seam area CON. Note that in FIG. 14 and subsequent figures, the changed cleaning conditions are indicated by diagonal hatching. FIG. 14 shows an example of setting cleaning conditions when cleaning will not be interrupted in the seam area CON.

[0102] Returning to the description of FIG. 12 , if cleaning is to be performed in the start area of ​​the current cleaning job ("Yes" in step S3305) but cleaning has not been performed in the end area of ​​the previous cleaning job ("No" in step S3306), the control unit 53 sets cleaning conditions to start cleaning in the current cleaning job. Specifically, the control unit 53 sets the cleaning conditions for the start area of ​​the cleaning job based on the cleaning data D to be used (step S3308) as follows: operate the suction unit 33 while moving through the start area (suction unit 33: ON), and then operate the cleaning unit 31 (cleaning unit 31: ON).

[0103] In this case, if the cleaning condition information IN2 of the cleaning data D to be used specifies a cleaning condition to operate the cleaning unit 31 in the start area, as shown in Fig. 5B, the control unit 53 changes the cleaning condition of the cleaning data D to operate the cleaning unit 31 after operating the suction unit 33. Note that if the cleaning condition information IN2 of the start area of ​​the cleaning data D to be used specifies a cleaning condition to not operate the cleaning unit 31 in the start area but to operate the suction unit 33, as shown in Figs. 5A and 6A, the cleaning condition information IN2 is not changed.

[0104] If the cleaning data D to be used is not the first cleaning data D (i.e., there is cleaning data D used immediately before) and cleaning is not to be performed in the start area of ​​the current cleaning work ("No" in step S3305), the control unit 53 determines whether cleaning was performed in the end area of ​​the previous cleaning work (step S3309).

[0105] If cleaning is not performed in the start area of ​​the current cleaning work, but cleaning was performed in the end area of ​​the previous cleaning work ('Yes' in step S3309), the control unit 53 sets the condition that the cleaning unit 31 is not operated (cleaning unit 31: OFF) but the suction unit 33 is operated (suction unit 33: ON) as the cleaning condition for the start area of ​​the cleaning work to be performed using the cleaning data D to be used (step S3310).

[0106] For example, if cleaning data D with cleaning conditions set so that the cleaning unit 31 is not operated but the suction unit 33 is operated in the end area as shown in FIG. 5A is followed by cleaning data D with cleaning conditions set so that cleaning is not performed in the start area as shown in FIGS. 6B, 6C, and 7, the cleaning conditions for the previous cleaning job are set so that cleaning is continued in the end area (the cleaning unit 31 and the suction unit 33 are operated), as described below. In this case, by operating the suction unit 33 in the start area of ​​the current cleaning job as described above, cleaning can be performed up to the end point G of the previous cleaning job while the cleaning liquid used in cleaning the end area can be reliably collected, as shown in FIG. 15. FIG. 15 is a diagram showing an example of setting cleaning conditions when cleaning is performed up to the end point G of the previous cleaning job.

[0107] On the other hand, if cleaning has not been performed in the start area of ​​the current cleaning job and cleaning has not been performed in the end area of ​​the previous cleaning job ("No" in step S3309), the control unit 53 sets the cleaning conditions so that cleaning will not be performed in the start area of ​​the current cleaning job. Specifically, the control unit 53 sets the cleaning conditions for the start area of ​​the cleaning job to be performed using cleaning data D to such a condition that the cleaning unit 31 is not operated (cleaning unit 31: OFF) and the suction unit 33 is not operated (suction unit 33: OFF) (step S3311).

[0108] After executing the above steps S3301 to S3311 and setting the cleaning conditions for the start area of ​​the current cleaning job, i.e., after adjusting the cleaning condition information IN2 of the cleaning data D to be used (cleaning data D stored in temporary memory unit 55), control unit 53 performs the cleaning work of the start area in accordance with the cleaning data D to be used (adjusted cleaning data D stored in temporary memory unit 55) (step S3312).

[0109] Returning to the description of the operation in the autonomous mode using FIG. 11 , after completing the cleaning work in the start area by executing steps S3301 to S3312 described above, the self-propelled cleaning device 100 performs cleaning work in the intermediate area of ​​this cleaning work (step S34). The intermediate area is an area other than the start area and end area (described later) of the cleaning work. The control unit 53 performs cleaning work in the intermediate area according to the flowchart shown in FIG. 16 . FIG. 16 is a flowchart showing the cleaning work operation in the intermediate area.

[0110] First, the control unit 53 determines whether cleaning has started in the intermediate area in the cleaning data D (the current cleaning job) to be used, i.e., the cleaning data D stored in the temporary storage unit 55, and whether the self-propelled cleaning device 100 has reached a position before the start position of the cleaning (step S3401). The position before the start position of cleaning is, for example, the above-mentioned distance d before the start point of cleaning by the cleaning unit 31.

[0111] If the self-propelled cleaning device 100 is located in a position before the start position of cleaning ("Yes" in step S3401), the control unit 53 starts cleaning from the position before that. That is, the control unit 53 sets the cleaning conditions so that the suction unit 33 is operated from the position before the start position (suction unit 33: ON), and then the cleaning unit 31 is operated at the start position (cleaning unit 31: ON) (step S3402).

[0112] In this case, if the cleaning condition information IN2 of the cleaning data D to be used is set so that the cleaning unit 31 and suction unit 33 operate simultaneously at the start position of cleaning, unlike in Figures 6B and 6C, the control unit 53 changes the cleaning condition information IN2 of the cleaning data D to be used so that the suction unit 33 starts operating between the previous position and the start position. Note that if the cleaning condition information IN2 of the cleaning data D to be used is set so that the cleaning unit 31 operates after the suction unit 33 operates, as shown in Figures 6B and 6C, the cleaning condition information IN2 is not changed.

[0113] On the other hand, if the self-propelled cleaning device 100 is not in a position before the start position of cleaning ("No" in step S3401), the control unit 53 determines whether cleaning has ended in the intermediate area in the cleaning data D (current cleaning job) to be used and whether the self-propelled cleaning device 100 has reached a position before the end position of the cleaning (step S3403). The position before the end position of cleaning is, for example, a position the distance d described above before the end point of cleaning by the cleaning unit 31.

[0114] If the self-propelled cleaning device 100 is located in a position before the cleaning end position ("Yes" in step S3403), the control unit 53 ends the cleaning from the previous position. That is, the control unit 53 sets the cleaning conditions so that the cleaning unit 31 is stopped at the previous position (cleaning unit 31: OFF), and then the suction unit 33 is stopped between the previous position and the cleaning end position (suction unit 33: OFF) (step S3404). This ensures that the cleaning liquid used in cleaning the intermediate area can be reliably collected.

[0115] In this case, if the cleaning condition information IN2 of the cleaning data D to be used is set so that the cleaning unit 31 and suction unit 33 stop simultaneously at the cleaning end position, unlike in Figures 6A and 6C, the control unit 53 changes the cleaning condition information IN2 of the cleaning data D to stop the cleaning unit 31 at a position just before that. Note that if the cleaning condition information IN2 of the cleaning data D to be used is set so that the cleaning unit 31 stops just before the cleaning end position and then the suction unit 33 stops at the end position, as shown in Figures 6A and 6C, the cleaning condition information IN2 is not changed.

[0116] If the self-propelled cleaning machine 100 is located at a position that is neither before the start position of cleaning nor before the end position of cleaning ("No" in step S3401 and "No" in step S3403), the control unit 53 performs cleaning work on the intermediate area according to the cleaning data D stored in the temporary memory unit 55 (step S3405).

[0117] During the cleaning operation in the intermediate area, the control unit 53 determines whether the self-propelled cleaning device 100 has reached the end area of ​​the current cleaning operation (step S3406). The end area is, for example, the area from the end point G of the current cleaning operation to a point that is the distance d before that. As described above, the distance d can be determined based on, for example, the distance between the cleaning unit 31 and the suction unit 33 of the cleaning unit 3. That is, the end area can be determined based on the distance between the cleaning unit 31 and the suction unit 33. Furthermore, the seam area CON, which includes the start area and the end area, can be determined based on the distance between the cleaning unit 31 and the suction unit 33.

[0118] If the end area of ​​this cleaning operation has not been reached ("No" in step S3406), the cleaning operation returns to step S3401, i.e., the control unit 53 executes the above steps S3401 to S3405 to continue cleaning the intermediate area.

[0119] If the end area of ​​the current cleaning job has been reached ("Yes" in step S3406), the control unit 53 ends the cleaning job of the intermediate area. After completing the cleaning job of the intermediate area, the control unit 53 performs cleaning work in the end area of ​​the current cleaning job (step S35), as shown in Fig. 11. The control unit 53 performs cleaning work in the end area in accordance with the flowchart shown in Fig. 17. Fig. 17 is a flowchart showing the cleaning job operation in the end area.

[0120] First, the control unit 53 determines whether cleaning data D for controlling the movement unit 1 and cleaning unit 3 to perform the next cleaning task exists after the cleaning data D to be used (step S3501). The control unit 53 can determine whether next cleaning data D exists based on whether the command control unit 73 of the command unit 7 has notified the control unit 53 that the cleaning data D to be used is the last data to be used. If the command control unit 73 has notified the control unit 53, it can determine that the cleaning data D to be used is the last cleaning data D to be used and that no next cleaning data D exists.

[0121] If the next cleaning data D exists (step S3501: Yes), the control unit 53 determines whether the cleaning conditions in the cleaning data D to be used are set to clean the end area (step S3502). This determination can be made, for example, by referencing the last part of the cleaning condition information IN2 in the cleaning data D to be used (the cleaning conditions associated with the last coordinate value part corresponding to the end area in the travel path information IN1) and determining whether at least one of the cleaning unit 31 and the suction unit 33 is set to operate in that part. If at least one of the cleaning unit 31 and the suction unit 33 is operating in that part, it can be determined that cleaning will be performed in the start area.

[0122] If it is determined that cleaning of the end area will not be performed ("No" in step S3502), the control unit 53 sets the cleaning conditions for the end area of ​​the cleaning data D to be used as follows (step S3503): the cleaning unit 31 of the cleaning unit 3 will not be operated and the suction unit 33 will not be operated (cleaning unit 31: OFF, suction unit 33: OFF).

[0123] On the other hand, if the next cleaning data D exists ("Yes" in step S3501) and it is determined that cleaning of the end area will be performed ("Yes" in step S3502), the control unit 53 sets the conditions of operating the cleaning unit 31 (cleaning unit 31: ON) and operating the suction unit 33 (suction unit 33: ON) as the cleaning conditions for the end area of ​​the cleaning data D to be used (step S3504).

[0124] In this case, if the cleaning condition information IN2 of the cleaning data D to be used specifies a cleaning condition not to operate the cleaning unit 31 in the end zone, as shown in Figures 5A and 6B, the control unit 53 changes the cleaning condition of the cleaning data D to be used so that the cleaning unit 31 operates in the end zone. That is, the control unit 53 changes the cleaning condition information IN2 of the cleaning data D to be used so that both the cleaning unit 31 and the suction unit 33 operate in the end zone. Note that if the cleaning condition information IN2 of the end zone of the cleaning data D to be used specifies a cleaning condition to operate the cleaning unit 31 and the suction unit 33 in the end zone, as shown in Figure 5B, the cleaning condition information IN2 is not changed.

[0125] In this way, if the next cleaning data D exists and cleaning is to be performed in the end area of ​​the cleaning work based on the current cleaning data D (the current cleaning work), the cleaning conditions are set to operate both the cleaning unit 31 and the suction unit 33 in the end area of ​​the current cleaning work. As described above, if cleaning is performed in the end area of ​​the current cleaning work and also in the start area of ​​the next cleaning work, the cleaning conditions are set to operate both the cleaning unit 31 and the suction unit 33 in the start area of ​​the next cleaning work. In other words, if the next cleaning data D exists and it is determined that cleaning will be performed by the cleaning unit 3 in the end area of ​​the cleaning work based on the current cleaning data D (the current cleaning work), the cleaning conditions are set to cause the cleaning unit 3 to continue cleaning in the seam area CON (i.e., to operate both the cleaning unit 31 and the suction unit 33).

[0126] As a result, as explained using FIG. 14, even if cleaning data D with cleaning conditions as shown in FIG. 5A are selected as the current cleaning data D and the next cleaning data D, cleaning will not be interrupted at the seam area CON, and multiple locations can be cleaned continuously.

[0127] Furthermore, even if cleaning is not performed in the start area of ​​the next cleaning job, by setting the cleaning conditions to operate both the cleaning unit 31 and the suction unit 33 in the end area of ​​the current cleaning job, cleaning of the current cleaning job can be reliably completed up to the end point G, as explained with reference to Fig. 15. Furthermore, as described above, if cleaning is performed in the end area of ​​the current cleaning job but cleaning is not performed in the start area of ​​the next cleaning job, the cleaning liquid used in cleaning the end area of ​​the current cleaning job can be reliably collected by operating only the suction unit 33 in the start area of ​​the next cleaning job.

[0128] On the other hand, if it is determined in step S3501 that the next cleaning data D does not exist ("No" in step S3501), the control unit 53 determines that the cleaning data D to be used is the last cleaning data D and that the current cleaning job is the last cleaning job. In this case, the control unit 53 sets cleaning conditions for ending the cleaning job in the end area of ​​the current cleaning job. Specifically, the control unit 53 sets the cleaning conditions for the end area of ​​the cleaning data D to stop the cleaning unit 31 (cleaning unit 31: OFF) and then stop the suction unit 33 (suction unit 33: OFF) (step S3505). This prevents the inappropriate ending of cleaning with the cleaning liquid used in the current cleaning job remaining. In other words, the cleaning liquid used in the current cleaning job is reliably collected from the floor F and does not remain on the floor F.

[0129] In this case, if the cleaning condition information IN2 of the cleaning data D to be used includes a cleaning condition that operates the cleaning unit 31 in the end area, as shown in Figure 5B, for example, the control unit 53 changes the cleaning condition of the cleaning data D to be used so that the cleaning unit 31 stops in the end area.

[0130] In other words, if there is no cleaning data D to be used next and the cleaning condition information IN2 of the cleaning data D to be used indicates that the cleaning unit 31 is to be operated in the end area of ​​the cleaning work by the cleaning data D to be used, the control unit 53 changes the cleaning condition information IN2 indicating the cleaning conditions in the end area to cleaning conditions that do not operate the cleaning unit 31 but operate the suction unit 33.

[0131] In addition, if the cleaning condition information IN2 for the end area of ​​the cleaning data D to be used includes a cleaning condition that stops the suction unit 33 after stopping the cleaning unit 31 in the end area, as shown in Figures 5A and 6B, the cleaning condition information IN2 is not changed.

[0132] After executing the above steps S3501 to S3505 and setting the cleaning conditions for the end area of ​​this cleaning work, i.e., after adjusting the cleaning condition information IN2 of the cleaning data D stored in the temporary memory unit 55, the control unit 53 performs the cleaning work of the end area in accordance with the cleaning data D stored in the temporary memory unit 55 (step S3506).

[0133] Returning to the explanation of Figure 11, after steps S33 to S35 are executed and the cleaning work is performed in accordance with one cleaning data set D stored in temporary storage unit 55, control unit 53 notifies command control unit 73 of command unit 7 that the cleaning work using that one cleaning data set D has been completed.

[0134] Upon receiving the notification, the command control unit 73 determines whether cleaning data D to be used for the next cleaning job exists (step S36). If cleaning data D to be used for the next cleaning job exists ("Yes" in step S36), the command control unit 73 notifies the control unit 53 of the information processing device 5 of information related to the cleaning data D to be used next (e.g., identification information of the cleaning data D) (step S32).

[0135] In addition, if the cleaning data D notified to the control unit 53 is the last cleaning data D among the cleaning data D selected in step S31, the command control unit 73 notifies the control unit 53 that the cleaning data D notified this time is the last cleaning data D.

[0136] Upon receiving the notification, the control unit 53 copies the next cleaning data D that it has been instructed to use from the storage unit 51 to the temporary storage unit 55. The control unit 53 then executes steps S33 to S35 described above for the next cleaning data D, causing the self-propelled cleaning device 100 to perform the cleaning work in accordance with the next cleaning data D.

[0137] On the other hand, if there is no cleaning data D to be used for the next cleaning job ("No" in step S36), the self-propelled cleaning machine 100 ends the cleaning job in the autonomous mode.

[0138] As described above, when the self-propelled cleaning device 100 performs cleaning work by linking multiple cleaning data D, the cleaning conditions for the cleaning unit 3 in the joint area CON, which is the joint between the movement paths of the cleaning work performed using the two cleaning data D, are set based on at least one of the cleaning conditions set for the cleaning work performed using one cleaning data D and the cleaning conditions set for the cleaning work performed using the other cleaning data D. In other words, the cleaning conditions for the joint area CON, where improper cleaning is likely to occur, are set based on the cleaning conditions set before and after it. This allows the self-propelled cleaning device 100 to continuously perform appropriate cleaning across multiple locations within the specified area A, even when the self-propelled cleaning device 100 cleans the specified area A using multiple cleaning data D sequentially.

[0139] For example, in a case where cleaning is performed in the end area of ​​a previous cleaning job and cleaning is performed in the start area of ​​a subsequent cleaning job, by setting the cleaning conditions so that cleaning work continues in the seam area CON, cleaning is not interrupted in the seam area CON, and cleaning can be performed continuously and uninterrupted across multiple locations.

[0140] Furthermore, for example, in a case where cleaning is performed in the end area of ​​the previous cleaning work and cleaning is not performed in the start area of ​​the subsequent cleaning work, by setting the cleaning conditions so that cleaning continues in the first half of the seam area CON (the end area of ​​the previous cleaning work) while only the suction unit 33 continues to operate in the second half (the start area of ​​the subsequent cleaning work), cleaning can be performed up to the end point G of the previous cleaning work while reliably recovering the cleaning liquid used to clean the end area of ​​the previous cleaning work.

[0141] Furthermore, when the self-propelled cleaning device 100 finishes cleaning, it first stops the cleaning unit 31 and then stops the suction unit 33. This ensures that the cleaning liquid used for cleaning is collected. Therefore, the cleaning liquid used for cleaning does not remain on the floor surface F.

[0142] 2. Second Embodiment In the first embodiment, the cleaning unit 31 and the suction unit 33 provided in the self-propelled cleaning device 100 were provided separately in the main body B and were independently controllable. However, this is not limited to this. In the self-propelled cleaning device 100, the cleaning unit 31 and the suction unit 33 may be integrated. For example, the cleaning member 31b of the cleaning unit 31 and the squeegee 33a of the suction unit 33 may be connected, and the cleaning member 31b may move up and down in accordance with the up and down movement of the squeegee 33a. In this case, when the suction unit 33 operates to bring the squeegee 33a into contact with the floor surface F, the cleaning member 31b of the cleaning unit 31 also comes into contact with the floor surface F. When the suction unit 33 is stopped and the squeegee 33a moves away from the floor surface F, the cleaning member 31b also moves away from the floor surface F.

[0143] In the main body B, the cleaning unit 31 (cleaning member 31b) is disposed in front of the suction unit 33. Therefore, even if the cleaning conditions are set so that only the suction unit 33 operates in the start area and / or end area of ​​the cleaning work, the cleaning member 31b will come into contact with the floor surface F in (part of) the start area and / or end area, as shown in Fig. 18. Fig. 18 is a diagram showing an example of the state of the cleaning member 31b, the suction unit 33, and the cleaning liquid outlet 31a when the cleaning conditions are set so that only the suction unit 33 operates in the start area and / or end area of ​​the cleaning work in the second embodiment.

[0144] 18, in the second embodiment, when only the suction unit 33 is operated in the start region, the operation of the suction unit 33 is started at the start of cleaning, and then the discharge of the cleaning liquid from the cleaning liquid discharge port 31a is started. Also, when only the suction unit 33 is operated in the end region, the operation of the suction unit 33 is stopped at the end of cleaning, and then the discharge of the cleaning liquid from the cleaning liquid discharge port 31a is stopped.

[0145] That is, in the second embodiment, "not operating the cleaning unit 31 (cleaning unit 31: OFF)" and "stopping the cleaning unit 31" mean "not operating the cleaning liquid supply pump 31d (not discharging cleaning liquid from the cleaning liquid outlet 31a)." Also, "operating the cleaning unit 31 (cleaning unit 31: ON)" means "operating the cleaning liquid supply pump 31d (discharging cleaning liquid from the cleaning liquid outlet 31a)." In the second embodiment, the cleaning work is performed by interpreting the operations described in the first embodiment as described above. Note that the cleaning member 31b of the cleaning unit 31 may stop rotating depending on whether or not the cleaning liquid is being discharged, or may be constantly rotating.

[0146] As a result, for example, when connecting two cleaning data D in which cleaning conditions for operating only the suction unit 33 in the start and end regions are set, by discharging cleaning liquid in the seam region CON (operating the cleaning liquid supply pump 31d to discharge cleaning liquid from the cleaning liquid outlet 31a) while also operating the suction unit 33, cleaning can be continued without interruption in the seam region CON, as in the first embodiment, as shown in Fig. 19. Fig. 19 is a diagram showing an example of setting cleaning conditions in the second embodiment in which cleaning is continued in the seam region CON.

[0147] 20 , by discharging cleaning liquid and also operating the suction unit 33 in the end region of the previous cleaning data D and then stopping discharging cleaning liquid and operating only the suction unit 33 in the start region of the next cleaning data D, cleaning can be performed up to the end point G of the previous cleaning job while reliably recovering the cleaning liquid used to clean the end region, as in the first embodiment. Figure 20 is a diagram showing an example of how cleaning conditions are set when cleaning data D, set to operate only the suction unit 33 in the end region, is connected to cleaning data D, set to not clean in the start region, in the second embodiment.

[0148] 3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention. In particular, the multiple embodiments and modifications described in this specification can be arbitrarily combined as needed. (A) The processing content of each step in the flowchart described above and / or the processing order of each step can be arbitrarily changed without departing from the spirit of the present invention.

[0149] (B) The command unit 7 and the information processing device 5 may be configured as a single computer system. That is, the functions of the information processing device 5 and the functions of the command unit 7 may be realized in a single computer system.

[0150] (C) The moving unit 1 and / or cleaning unit 3 are not limited to the configuration described above. The moving unit 1 only needs to have a configuration that realizes the function of moving the main body B, and the cleaning unit 3 only needs to have a configuration that realizes the function of cleaning a specified area A.

[0151] 4. Supplementary Notes (1) A self-propelled cleaning machine (e.g., self-propelled cleaning machine 100) is a self-propelled cleaning machine that autonomously moves and cleans a predetermined area (e.g., predetermined area A). The self-propelled cleaning machine includes a main body (e.g., main body B), a moving unit (e.g., moving unit 1), a cleaning unit (e.g., cleaning unit 3), a memory unit (e.g., memory unit 51), a control unit (e.g., control unit 53), and a command unit (e.g., command unit 7). The moving unit moves the main body. The cleaning unit is provided in the main body and cleans the predetermined area. The memory unit stores multiple cleaning data (e.g., cleaning data D). Each cleaning data includes movement path information that indicates the movement path of the main body at a specific location in the predetermined area, and cleaning condition information that indicates the cleaning conditions of the cleaning unit when moving along the movement path. The control unit controls the movement unit and the cleaning unit according to the cleaning data. The command unit selects a predetermined number of cleaning data from the plurality of cleaning data stored in the memory unit, and commands the control unit to control the moving unit and cleaning unit using the selected predetermined number of cleaning data in sequence.

[0152] When controlling the moving unit and cleaning unit using multiple cleaning data generated for each cleaning unit for each specific location within a predetermined area, inappropriate cleaning may occur, particularly in an area corresponding to a joint between two cleaning data, i.e., an area at the boundary between two specific locations. Therefore, the self-propelled cleaning machine determines whether there is second cleaning data to be used before or after the first cleaning data among the selected predetermined number of cleaning data, and if there is second cleaning data, sets cleaning conditions for the cleaning unit in the joint area (e.g., joint area CON) between the first movement path indicated in the movement path information of the first cleaning data and the second movement path indicated in the movement path information of the second cleaning data based on at least one of the cleaning conditions set for the cleaning work using the first cleaning data and the cleaning conditions set for the cleaning work using the second cleaning data.

[0153] When cleaning multiple specific locations using multiple cleaning data generated for each specific location within a predetermined area, the cleaning conditions for the seam areas where improper cleaning is likely to occur are set based on the cleaning conditions set before and after the seam areas. Therefore, the self-propelled cleaning machine can continuously perform appropriate cleaning across multiple specific locations even when cleaning a predetermined area using multiple cleaning data sequentially.

[0154] (2) In the self-propelled cleaning device of (1) above, the cleaning unit may have a cleaning unit (e.g., cleaning unit 31) and a suction unit (e.g., suction unit 33). The cleaning unit cleans a predetermined area using a liquid. The suction unit sucks up the liquid used for cleaning. This allows for appropriate cleaning to be performed using the cleaning unit and the suction unit.

[0155] (3) In the self-propelled cleaning machine of (1) or (2) above, the seam area may be determined based on the distance (e.g., distance d) between the cleaning unit and the suction unit, thereby allowing the start timing of the cleaning unit and the suction unit to be appropriately set.

[0156] (4) In any of the self-propelled cleaning machines (1) to (3) above, when the control unit determines that second cleaning data to be used after the first cleaning data exists and that the cleaning unit will perform cleaning in the area where the cleaning work using the first cleaning data ended, the control unit may set cleaning conditions to cause the cleaning unit to continue cleaning in the seam area, thereby preventing cleaning in the seam area from being interrupted.

[0157] (5) In the self-propelled cleaning machine according to any of (2) to (4), when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to operate in the end area of ​​the cleaning work performed by the first cleaning data, the control unit may change the cleaning condition information indicating the cleaning conditions in the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit. This prevents inappropriate ending of cleaning with residual liquid remaining in the cleaning work.

[0158] (6) The control method is a control method for a self-propelled cleaning machine. The self-propelled cleaning machine includes a main body, a moving unit, a cleaning unit, and a memory unit. The moving unit moves the main body. The cleaning unit is provided on the main body and cleans a predetermined area. The memory unit stores multiple cleaning data. Each cleaning data includes movement path information that indicates a movement path of the main body at a specific location within the predetermined area, and cleaning condition information that indicates cleaning conditions for the cleaning unit while moving along the movement path. The control method includes the following steps. The following steps (a) to (d) do not limit the order of the processes: (a) selecting a predetermined number of cleaning data from multiple cleaning data stored in the memory unit; (b) issuing an instruction to control the movement unit and the cleaning unit using the selected predetermined number of cleaning data in sequence; and (c) determining whether there is second cleaning data to be used before or after first cleaning data among the selected predetermined number of cleaning data. (d) if second cleaning data exists, a step of setting cleaning conditions for the cleaning unit in the joint area between the first movement path indicated in the movement path information of the first cleaning data and the second movement path indicated in the movement path information of the second cleaning data based on at least one of the cleaning conditions set in the cleaning work using the first cleaning data and the cleaning conditions set in the cleaning work using the second cleaning data.

[0159] When cleaning multiple specific locations using multiple cleaning data generated for each specific location within a predetermined area, the cleaning conditions for the seam areas where improper cleaning is likely to occur are set based on the cleaning conditions set before and after the seam areas. Therefore, the self-propelled cleaning machine can continuously perform appropriate cleaning across multiple specific locations even when cleaning a predetermined area using multiple cleaning data sequentially.

[0160] In the above control method, the cleaning unit may include a washing unit and a suction unit. The washing unit washes the predetermined area using the liquid supplied to the predetermined area. The suction unit sucks up the liquid used for washing. This allows appropriate cleaning to be performed using the washing unit and the suction unit.

[0161] In the above control method, the seam area may be determined based on the distance between the cleaning unit and the suction unit, thereby allowing the timings at which the cleaning unit and the suction unit start operating to be set appropriately.

[0162] In the above control method, the step of setting cleaning conditions for the seam area may include a step of setting cleaning conditions so that, when second cleaning data to be used after the first cleaning data exists and it is determined that the cleaning unit will perform cleaning in the area where cleaning work using the first cleaning data ended, the cleaning unit continues cleaning in the seam area, thereby preventing cleaning in the seam area from being interrupted.

[0163] In the above control method, the step of setting cleaning conditions for the seam area may include, when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to operate in the end area of ​​the cleaning work using the first cleaning data, changing the cleaning condition information indicating the cleaning conditions for the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit, thereby preventing inappropriate ending of cleaning with liquid used for cleaning remaining.

[0164] The present invention can be widely applied to self-propelled cleaning machines that autonomously move and clean a predetermined area.

[0165] DESCRIPTION OF SYMBOLS 100: Self-propelled cleaning machine B: Main body 1: Moving unit 11: Moving motor 13: Main wheels 15: Auxiliary wheels 17: Encoder 21a: Front detector 21b: Rear detector 3: Cleaning unit 31: Cleaning unit 31a: Cleaning liquid discharge port 31b: Cleaning member 31c: Cleaning liquid supply tank 31d: Cleaning liquid supply pump 31e: Cleaning member rotation motor 33: Suction unit 33a: Squeegee 33b: Suction port 33c: Collection member 33d: Suction motor 5: Information processing device 51: Memory unit D: Cleaning data IN1: Movement route information IN2: Cleaning condition information IN3: Time information M: Environmental map 53: Control unit 55: Temporary memory unit 7: Command unit 71: Input unit 73 : Command control section GUI1 : Cleaning condition setting screen B1 : Mode switching button B2 : Rotation speed setting button B3 : Suction power setting button B4 : Squeegee operation button B5 : Cleaning liquid discharge button B6 : Cleaning liquid amount setting button GUI2 : Cleaning data selection screen B7 : Switching button B8 : Confirm button B9 : Cleaning mode selection button D1 : Cleaning data list display section D2 : Start position display section SE1 : Path selection display section 8 : Mounting member 9 : Movement path teaching section A : Predetermined area F : Floor surface G : End point P1 to P3 : Location ST, ST1 to ST3 : Start point T1 to T3 : Movement path CON : Joint area

Claims

1. A self-propelled cleaning device that autonomously moves and cleans a predetermined area, comprising: a main body; a movement unit that moves the main body; a cleaning unit that is provided on the main body and cleans the area; a memory unit that stores a plurality of cleaning data including movement path information that indicates the movement path of the main body at a specific location within the area and cleaning condition information that indicates the cleaning conditions to be used by the cleaning unit when moving along the movement path; a control unit that controls the movement unit and the cleaning unit in accordance with the cleaning data; and a command unit that selects a predetermined number of cleaning data from the plurality of cleaning data stored in the memory unit, and commands the control unit to control the movement unit and the cleaning unit using the selected predetermined number of cleaning data in sequence, wherein the control unit determines whether or not there is second cleaning data to be used before or after first cleaning data among the selected predetermined number of cleaning data, and when the second cleaning data exists, the self-propelled cleaning machine sets cleaning conditions for the cleaning unit in a joint area between a first movement path indicated in the movement path information of the first cleaning data and a second movement path indicated in the movement path information of the second cleaning data based on at least one of cleaning conditions set in a cleaning operation using the first cleaning data and cleaning conditions set in a cleaning operation using the second cleaning data.

2. The self-propelled cleaning machine according to claim 1, wherein the cleaning unit has a cleaning unit that cleans the area using a liquid, and a suction unit that sucks up the liquid used for cleaning.

3. The self-propelled cleaning machine according to claim 2, wherein the joint area is determined based on the distance between the cleaning section and the suction section.

4. A self-propelled cleaning machine as described in claim 1, wherein the control unit sets cleaning conditions to cause the cleaning unit to continue cleaning in the seam area when it determines that there is second cleaning data to be used after the first cleaning data and that the cleaning unit will perform cleaning in the area where cleaning work using the first cleaning data has ended.

5. A self-propelled cleaning machine as described in claim 2, wherein, when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to be operated in the end area of ​​the cleaning work using the first cleaning data, the control unit changes the cleaning condition information indicating the cleaning conditions in the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit.

6. A control method for a self-propelled cleaning machine comprising: a main body; a movement unit that moves the main body within a predetermined area; a cleaning unit that is provided on the main body and cleans the area; and a memory unit that stores a plurality of cleaning data including movement path information that represents the movement path of the main body at specific locations within the area and cleaning condition information that represents the cleaning conditions by the cleaning unit when moving along the movement path, the control method comprising the steps of: selecting a predetermined number of cleaning data from the plurality of cleaning data stored in the memory unit; issuing a command to control the movement unit and the cleaning unit using the selected predetermined number of cleaning data in sequence; determining whether or not there is second cleaning data to be used before or after first cleaning data among the selected predetermined number of cleaning data; and if there is second cleaning data, setting the cleaning conditions of the cleaning unit in the joint area between the first movement path indicated in the movement path information of the first cleaning data and the second movement path indicated in the movement path information of the second cleaning data based on at least one of the cleaning conditions set in cleaning work using the first cleaning data and the cleaning conditions set in cleaning work using the second cleaning data.

7. The control method according to claim 6, wherein the cleaning unit has a cleaning unit that cleans the area using a liquid, and a suction unit that sucks up the liquid used for cleaning.

8. The control method according to claim 7, wherein the seam area is determined based on the distance between the cleaning section and the suction section.

9. The control method of claim 6, wherein the step of setting cleaning conditions for the seam area includes a step of setting cleaning conditions so that the cleaning unit continues cleaning in the seam area when it is determined that second cleaning data to be used after the first cleaning data exists and that cleaning by the cleaning unit will be performed in the area where cleaning work using the first cleaning data has ended.

10. The control method described in claim 7, wherein the step of setting cleaning conditions for the seam area includes, when there is no second cleaning data to be used after the first cleaning data and the cleaning condition information of the first cleaning data indicates that the cleaning unit is to be operated in the end area of ​​the cleaning work using the first cleaning data, changing the cleaning condition information indicating the cleaning conditions in the end area to cleaning conditions that do not operate the cleaning unit but operate the suction unit.

11. A program for causing a computer to execute the control method according to any one of claims 6 to 10.

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