JP7842713B2 - Cleaning system, cleaning robot control method and program - Google Patents

Description

This disclosure relates to a cleaning system, a control method for a cleaning robot, and a program.

In recent years, robots have been used to perform tasks in place of humans in various applications, such as cleaning and transportation. Furthermore, the practical application of robots capable of providing interpersonal services is progressing (see, for example, Patent Document 1 below).

Patent Document 1, described below, describes a system for controlling robots that provide person-to-person services (e.g., directions, facility introductions, interpretation) to passersby in service areas such as floors and concourses of commercial facilities. Furthermore, Patent Document 1 describes a system for predicting the degree of congestion in the service area and setting the robot's operating mode according to the predicted congestion level.

Japanese Patent Publication No. 2019-000940

Multiple cleaning robots are sometimes used to clean relatively large areas such as train stations, restaurants, and public facilities. For cleaning robots used in such applications, it is crucial that they do not collide with pedestrians or obstruct pedestrian traffic. One method to avoid collisions and obstruction of traffic is to select a specific operating mode from multiple operating modes with different movement distances based on the degree of congestion, as described in Patent Document 1 above. However, the standby mode, which is selected as an operating mode during congestion, involves the robot waiting in a designated waiting area, and it is virtually impossible to provide service while in standby mode.

Furthermore, the robot described in Patent Document 1, regardless of its operating mode, is capable of providing only person-to-person services and is not intended to provide value other than person-to-person services.

This disclosure addresses the aforementioned challenges and aims to provide a cleaning system, a control method for a cleaning robot, and a program that can provide services while considering the surrounding congestion.

To achieve the above objective, a cleaning system (1) according to a first aspect of this disclosure is a cleaning system that cleans a set cleaning area (A1, A2, A3) using a plurality of autonomously mobile cleaning robots (2, 2-1, 2-2, 2-3) each equipped with a cleaning tool (12). The plurality of cleaning robots include a communication unit (31), a self-positioning unit (32) for identifying its own position, a dirt detection unit (33) capable of detecting the state and type of dirt within the cleaning area, a congestion detection unit (34) capable of detecting the degree of congestion in the cleaning area, and an operation mode determination unit (35) that selectively executes a cleaning mode for performing cleaning of the cleaning area based on the congestion detected by the congestion detection unit, and a cooperative operation mode for performing performance operations in cooperation with other cleaning robots.

The cleaning system described above allows for the provision of services that take into account the surrounding congestion. More specifically, if the area around a cleaning robot is congested and cleaning is difficult, the cleaning robot can perform coordinated performance actions with other cleaning robots, thereby contributing to improving the value of the area being cleaned.

A cleaning system according to a second aspect of this disclosure, in the cleaning system according to the first aspect, wherein the congestion detection unit detects the congestion level based on the movement speed of people passing through the cleaning area.

A third aspect of the present disclosure relates to a cleaning system according to the first aspect, wherein the cooperative operation mode includes aligning other cleaning robots operating in the same cooperative operation mode in a predetermined order.

A fourth aspect of the present disclosure relates to a cleaning system according to the first aspect, wherein at least one of the multiple cleaning robots operating in the cooperative operation mode performs a guiding action for people passing by.

A fifth aspect of the present disclosure relates to a cleaning system according to the first aspect, wherein the cooperative operation mode performs a cleaning operation to clean the cleaning area together with the performance operation.

A cleaning system according to a sixth aspect of this disclosure, in the cleaning system according to the fifth aspect, is configured such that the performance operation performed in conjunction with the cleaning operation in the cooperative operation mode is adjusted to include an operation for cleaning the dirt when dirt is detected by the dirt detection unit during the performance operation.

A seventh aspect of this disclosure is a cleaning system according to any of the first to sixth aspects, further comprising a task command device (3) for managing the plurality of cleaning robots, wherein the task command device includes a task generation unit (41) for generating the work content to be performed by the plurality of cleaning robots.

The cleaning system according to the eighth aspect of this disclosure, in the cleaning system according to the seventh aspect, modifies the content of the performance operation performed by each cleaning robot based on the number of cleaning robots among the plurality of cleaning robots that can operate in the cooperative operation mode.

A cleaning system according to a ninth aspect of this disclosure, in the cleaning system according to the seventh aspect, further includes a task command device that can detect the degree of soiling of the cleaning area to be cleaned by the plurality of cleaning robots, and causes at least some of the plurality of cleaning robots that clean the cleaning area where the degree of soiling is below a predetermined threshold to simultaneously perform a common performance operation at a predetermined timing.

A control method for a cleaning robot according to a tenth aspect of this disclosure is a control method for an autonomously mobile cleaning robot having a cleaning tool that cleans a set cleaning area, and includes the steps of: detecting the degree of congestion in the cleaning area; and selectively executing a cleaning mode for performing cleaning of the cleaning area based on the detected degree of congestion; and a cooperative operation mode for performing performance operations in cooperation with other cleaning robots.

A program according to an eleventh aspect of this disclosure causes at least one processor of a computer equipped with a cleaning tool, which cleans a set cleaning area, to perform the following steps: a step of detecting the degree of congestion in the cleaning area; a step of selectively executing a cleaning mode for performing cleaning of the cleaning area based on the detected degree of congestion; and a cooperative operation mode for performing performance operations in cooperation with other cleaning robots.

This is a schematic diagram illustrating an example of a cleaning system according to one embodiment of the present disclosure. Figure 1 is a configuration diagram showing an example of the hardware configuration of a cleaning robot included in the cleaning system. Figure 1 is a functional block diagram showing an example of the various functions of the cleaning system. This is a flowchart showing the main routine of an example of a control method for a cleaning robot according to one embodiment of the present disclosure. Figure 4 shows an example of a subroutine in the flowchart. This flowchart shows an example of the processing on the management server side.

The following describes embodiments for implementing this disclosure with reference to the drawings. The following will schematically show the extent necessary to achieve the objectives of this disclosure, and will primarily describe the extent necessary to explain the relevant parts of this disclosure. Any parts omitted from the explanation will be covered by prior art.

The cleaning system 1 according to this embodiment, as shown in Figure 1, includes multiple cleaning robots, for example, three cleaning areas A1, A2, and A3, set up in a predetermined area, such as a train station platform. These robots include multiple cleaning robots, such as three robots 2-1, 2-2, and 2-3. Each cleaning robot 2-1, 2-2, and 2-3 may be configured to clean one cleaning area, or several robots may be configured to handle one or more cleaning areas. In this embodiment, for ease of understanding, the case where one cleaning robot cleans one cleaning area is illustrated as an example. Furthermore, while this embodiment illustrates a case where three cleaning areas are set up and three cleaning robots are used, the number of cleaning areas and cleaning robots are not limited to these examples.

A cleaning system 1 including multiple cleaning robots 2-1, 2-2, and 2-3 may further include a management server 3 as an example of a task command device capable of managing each of the cleaning robots 2-1, 2-2, and 2-3. In the cleaning system 1 according to this embodiment, the management server 3 determines the work to be performed by the multiple cleaning robots 2-1, 2-2, and 2-3 (hereinafter, information regarding the determined work content is referred to as a "task"), and cleaning is performed by each cleaning robot 2-1, 2-2, and 2-3 that receives the generated task and performs work in accordance with the task. In addition, the management server 3 can manage the status and progress of the multiple cleaning robots 2-1, 2-2, and 2-3 by monitoring the execution status of the tasks. Note that the cleaning system of this disclosure does not necessarily have to include the management server 3 described above. If the management server 3 is not included, the above-mentioned management operations can be performed by one or more cleaning robots constituting the cleaning system 1, or each cleaning robot 2-1, 2-2, and 2-3 can determine the work content independently or in cooperation with each other.

Next, the hardware configurations of the multiple cleaning robots 2-1, 2-2, and 2-3 will be explained with reference to Figure 2. Note that the hardware configurations of the multiple cleaning robots 2-1, 2-2, and 2-3 are largely common. Therefore, in Figure 2, one cleaning robot representing these multiple cleaning robots 2-1, 2-2, and 2-3 will be referred to as "Cleaning Robot 2," and its configuration will be described below.

The cleaning robot 2 can be composed of an autonomously mobile robot including cleaning means. Specifically, as shown in Figure 2, the cleaning robot 2 may mainly include a travel device 11, a cleaning tool 12, a camera 13, a display 14, a speaker 15, and a control device 16.

The travel device 11 may be an autonomously mobile device installed on the bottom of the cleaning robot 2. This travel device 11 may include a plurality of wheels 11A arranged on the front and rear bottom of the cleaning robot 2. Furthermore, autonomous movement of the cleaning robot 2 may be achieved by rotating at least a portion of these wheels 11A using a drive means such as a motor (not shown), and by varying the direction of travel using a steering means capable of controlling the orientation of at least a portion of the wheels 11A.

The cleaning tool 12 is installed at an appropriate location on the cleaning robot 2 and may be capable of cleaning the floor surface where the cleaning robot 2 travels, as well as the walls of cleaning areas A1, A2, and A3. Examples of cleaning tools 12 include a rotating cleaning brush or mop that can contact the floor surface, a scraper (or wiper) for removing liquid from the floor surface, a vacuum cleaner capable of sucking up dust and debris from the floor surface, or a cloth for wiping the floor and walls. Furthermore, the cleaning tool 12 may include one or more robotic arms capable of attaching or gripping predetermined cleaning tools. The specific configurations of the cleaning tools 12 used in each of the multiple cleaning robots 2-1, 2-2, and 2-3 may all be identical or different. If the configuration of the cleaning tool 12 differs for each cleaning robot, it is preferable to easily implement optimal cleaning by changing the cleaning robot 2 performing the cleaning according to the type of dirt.

The camera 13 may be capable of imaging the area around the cleaning robot 2, and one or more cameras may be mounted at appropriate locations on the cleaning robot 2. This camera 13 can be a two-dimensional camera using an image sensor such as a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor. Furthermore, this camera 13 can also be a three-dimensional camera, such as a stereo camera, structured light, or a camera with a depth sensor such as a ToF (Time of Flight) sensor.

The display 14 is a display device that serves as an example of a user interface capable of providing various information to users of the cleaning robot 2, and may be installed at any position on the cleaning robot 2, for example, on its top surface. This display 14 can be made up of well-known display devices such as a Liquid Crystal Display (LCD) or an Organic Electro-Luminescent Display (OLED). In addition to status information of the cleaning robot 2, this display 14 can also display messages for people in the surrounding area.

The speaker 15 is an example of a user interface capable of providing various information via voice to users and others around the cleaning robot 2. This speaker 15 may be capable of outputting predetermined announcements or music to people in the vicinity. In this embodiment, the display 14 and speaker 15 described above are exemplified as user interfaces of the cleaning robot 2, but other user interfaces may also be included. Other user interfaces could include, for example, operating means such as switches or touch panels, or microphones capable of picking up the voices of people in the vicinity. These other user interfaces can be appropriately adopted according to the content of the tasks performed by the cleaning robot 2.

The control device 16 is a device capable of performing various controls on the cleaning robot 2, and can be configured as, for example, a well-known computer. A control device 16 configured as a well-known computer may include, for example, at least one processor 21, a ROM (Read Only Memory) 22 and a RAM (Random Access Memory) 23 as an example of memory, storage 24, an input/output interface 25, and a communication interface 26. Furthermore, these components may be connected to each other via an internal bus 27 so that they can communicate with one another.

The processor 21 can be configured as, for example, a CPU (Central Processing Unit) and may be capable of executing various programs and controlling various parts. Specifically, this processor 21 may be capable of reading various programs stored in the ROM 22 or storage 24 and executing those programs using the RAM 23 as a working area. The processor 21 may be capable of controlling various components of the cleaning robot 2, specifically the travel device 11, cleaning tools 12, camera 13, etc., and performing various calculations according to the program.

ROM 22 may be capable of storing various programs and data. RAM 23 may be capable of temporarily storing programs or data as a working area.

The storage 24 can be composed of recording media such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory. This storage 24 may temporarily store various programs, including the operating system, and various data necessary for operating the cleaning robot 2, such as control information related to each operating mode and images captured by the camera 13.

The input/output interface 25 is connected to various components of the cleaning robot 2 and may be capable of transmitting and receiving various types of information, such as control signals for each component and images captured by the camera 13. Furthermore, although not shown in the figure, this input/output interface 25 may also include a connector for connecting an external recording medium and various drives, such as a DVD drive.

The communication interface 26 may be capable of sending and receiving predetermined data via wireless communication based on wireless communication standards such as Wi-Fi® or Bluetooth®. This communication interface 26 allows the control device 16 of the cleaning robot 2 to communicate with other electronic devices, such as the management server 3 or other cleaning robots, via the network.

The management server 3 may be a server device connected to a network and capable of managing multiple cleaning robots 2-1, 2-2, and 2-3 included in the cleaning system 1. This management server 3 can be configured as a cloud server capable of providing XaaS (X as a Service). Alternatively, this management server 3 can be configured as a server computer. Its detailed structure is largely the same as that of the computer constituting the control device for the cleaning robots 2, so its detailed explanation is omitted here.

Next, referring to Figure 3, various functions that realize the cleaning system 1 according to this embodiment will be described. The cleaning robot 2 included in the cleaning system 1, as shown in Figure 3, includes a communication unit 31, a self-positioning unit 32 for determining its own position, a dirt detection unit 33 capable of detecting the state and type of dirt within the cleaning area it cleans, a congestion detection unit 34 capable of detecting the degree of congestion in the cleaning area it cleans, and an operation mode determination unit 35 for determining the operation mode of the cleaning robot 2.

The communication unit 31 can be implemented primarily by the communication interface 26 and may be capable of sending and receiving data, etc., with at least the management server 3.

The self-positioning unit 32 is used by the cleaning robot 2 to determine its own position, and in this embodiment, it can be mainly implemented using the camera 13. Based on the position information determined by this self-positioning unit 32, the progress of cleaning a specific cleaning area can be grasped. While this embodiment exemplifies a system that determines its own position based on images captured by the camera 13, the specific structure of the self-positioning unit 32 is not limited to this. Specifically, for example, its own position may be determined using LIDAR (Laser Imaging Detection and Ranging), radar, sonar, or a digital map.

The dirt detection unit 33 may be capable of detecting dirt within the cleaning area to be cleaned by the cleaning robot 2, and detecting the type and state of the dirt. This dirt detection unit 33 can primarily be implemented using a camera 13. When dirt is detected by the dirt detection unit 33, this is reflected in the operation of the cleaning robot 2. Specifically, for example, the control device 16 generates and executes a dirt removal plan, including the cleaning robot 2's travel route, or a cleaning robot equipped with a cleaning tool 12 matching the type of dirt is selected, and the dirt removal work is performed by that robot. Furthermore, in order to detect the degree of dirtiness in each cleaning area A1, A2, and A3, the detection results from the dirt detection unit 33 should be transmitted to the management server 3.

The congestion detection unit 34 can detect the level of congestion around the cleaning robot 2, more specifically, the cleaning area being cleaned by the cleaning robot 2. This congestion detection unit 34 can be realized primarily by analyzing images captured by the camera 13.

The congestion detection unit 34 in this embodiment detects whether an area is congested based on the movement speed of people passing through the cleaning area being cleaned by the cleaning robot 2. The movement speed of people here may be the average speed per unit time of multiple people passing through the cleaning area, or it may be the minimum speed. One purpose of detecting congestion based on people's movement speed is to prioritize avoiding collisions between the cleaning robot 2 and people.

The congestion detection method in the congestion detection unit 34 is not limited to the method described above. Specifically, congestion may be detected based on, for example, whether the number of people in the image captured by the camera 13 exceeds a threshold, or whether there is enough space within the cleaning area for the cleaning robot 2 to continue cleaning. Furthermore, congestion may be detected by combining multiple of these methods.

The operation mode determination unit 35 may determine the operation mode to be performed by the cleaning robot 2. This operation mode determination unit 35 can be mainly implemented by the processor 21. In this embodiment, the operation mode determination unit 35 may determine the operation mode in accordance with the task generated by the task generation unit 41 of the management server 3 (described later).

Furthermore, the operation mode determination unit 35 selectively executes an operation mode based on the congestion level detected by the congestion level detection unit 34. Here, the operation modes to be executed include at least a cleaning mode for cleaning a specific cleaning area and a cooperative operation mode for performing performance actions in cooperation with other cleaning robots. More specifically, this embodiment exemplifies an operation mode consisting of three modes: a cleaning mode for executing cleaning tasks described later, a cooperative operation mode for executing special tasks described later, and a standby mode for waiting in a pre-set waiting space until a new task is received.

The travel control unit 36 may control the travel device 11 to move the cleaning robot 2 according to the operation mode to be executed. The cleaning control unit 37 may control the position of the cleaning tool 12 to clean the cleaning area. Furthermore, the display control unit 38 may control the content displayed on the display 14. All of these components can be controlled by control signals from the processor 21.

The management server 3 included in the cleaning system 1 may include, as shown in Figure 3, a task generation unit 41 that generates the tasks to be performed by each cleaning robot 2-1, 2-2, and 2-3, a server-side communication unit 42, and a dirt level detection unit 43 for detecting the degree of dirt in each cleaning area A1, A2, and A3.

The task generation unit 41 is capable of generating tasks to be executed by each cleaning robot 2-1, 2-2, and 2-3, specifically cleaning tasks including the content of the cleaning work and special tasks including performance actions. The cleaning tasks may include information such as the cleaning area to be cleaned, the target level of cleaning, and the cleaning tools 12 to be used.

The special task is executed when the level of congestion in the cleaning area being cleaned by the cleaning robot 2 exceeds a threshold. Specifically, it may include performance actions to entertain or improve the mood of people around the cleaning robot 2.

The performance actions included in the special task can be any action that enhances the value of the area where the cleaning robot 2 is located, and may include a variety of actions. However, it is particularly important to note that these performance actions are not performed by a single cleaning robot 2, but rather by multiple cleaning robots 2 working together in coordination. By ensuring that the performance actions always consist of coordinated actions by multiple cleaning robots, the value of the area can be further enhanced.

Furthermore, the task generation unit 41 should modify the content of the performance actions within the special tasks it generates based on the number of cleaning robots 2-1, 2-2, and 2-3 that can operate in cooperative mode. By adjusting the content of the special tasks according to the number of cleaning robots performing them, various performances can be implemented, contributing to an improvement in the value of the environment.

Performance actions that entertain those around them include, for example, multiple cleaning robots gathering in a designated area to dance or play musical instruments. Performance actions that improve the mood of those around them may include, for example, robots lining up towards a departing train on a station platform and waving the robotic arms that grasp the cleaning tools 12 like hands. In addition to the actions described above, the display 14 can display related information, such as greetings like "Have a good day," and the speaker 15 can output music or greetings.

Since the performance actions described above are carried out in cooperation with multiple cleaning robots, the specific content of the special tasks transmitted from the management server 3 may differ for each cleaning robot receiving the task. In this regard, the cleaning system 1 of this embodiment can arrange multiple cleaning robots that have received special tasks in a predetermined order. Here, the predetermined order may include arranging multiple cleaning robots 2-1, 2-2, and 2-3 in a line according to their size, or forming a predetermined formation. Therefore, it is possible to have them dance in a specific formation or march like a marching band while playing musical instruments.

Furthermore, some of the performance actions included in the special tasks transmitted to multiple cleaning robots may involve guiding people passing by, for example, people passing through a space where other cleaning robots are dancing. This guiding action may include actions that secure the performance area or guide the direction of movement for passersby. In this way, if some of the multiple cleaning robots performing the special tasks guide people passing by to prevent collisions with the cleaning robots, then actions such as dancing or playing musical instruments by multiple cleaning robots can be safely carried out.

Furthermore, if a person approaches a cleaning robot while it is performing a performance or cleaning operation, the robot should either stop or move away from the person.

Furthermore, special tasks may include cleaning operations in addition to specific performance actions. A cleaning robot receiving such a special task can perform both performance and cleaning operations simultaneously. In such cases, the value of the space can be improved while cleaning is being carried out.

Furthermore, when a cleaning robot performs the aforementioned performance actions and cleaning actions simultaneously, it is advisable to activate the dirt detection unit 33 during these actions to detect whether there is dirt in the surrounding area. If dirt is detected by the dirt detection unit 33, the control device 16 within the cleaning robot and the management server 3 should adjust the content of the special task currently being executed by the cleaning robot to include actions that can clean the detected dirt. By making such adjustments, surrounding dirt can be effectively cleaned even while the special task is being executed, and the operating time of the cleaning robot in cleaning mode can be shortened.

The server-side communication unit 42 may be used for sending and receiving tasks, data, etc., between the communication units 31 of multiple cleaning robots 2-1, 2-2, and 2-3.

The dirt level detection unit 43 may be capable of detecting the degree of dirt in each cleaning area A1, A2, and A3 by, for example, collecting information on dirt detected by multiple cleaning robots 2-1, 2-2, and 2-3. Based on the detection results of the dirt level detection unit 43, the task generation unit 41 can generate a special task and transmit it to at least some of the multiple cleaning robots 2-1, 2-2, and 2-3. Specifically, for example, if the dirt level detection unit 43 detects a cleaning area with a low degree of dirt, the task generation unit 41 generates and transmits a special task, including performance actions related to the time, to one or more cleaning robots cleaning that area at a specific time. When a cleaning robot that receives this special task performs a performance action within the special task, such as announcing the current time via the speaker 15, it can inform people around the cleaning robot of the time. The reason for executing such a special task while considering the degree of dirt in the cleaning area is that if the degree of dirt is relatively low, temporarily stopping the execution of the cleaning task will not have a significant impact on the cleanliness of the cleaning area.

As explained above, the cleaning system according to this embodiment selectively executes a cleaning mode and a cooperative operation mode based on the degree of congestion in the cleaning area where each cleaning robot is to be cleaned. Therefore, during periods when the cleaning area is congested and cleaning is difficult, the cleaning robots can be used to improve the value of the area by executing the cooperative operation mode. Furthermore, since the performance actions performed in cooperative operation mode are carried out by multiple cleaning robots working together, the performance actions can be recognized by a wider audience. Thus, it can significantly contribute to improving the value of the area.

Next, an example of a control method for the cleaning robot according to this embodiment will be described below with reference to Figures 4 and 5. The control method for the cleaning robot according to this embodiment includes at least a step of detecting the degree of congestion in the area to be cleaned (step S02), and a step of selectively executing a cleaning mode that performs cleaning of the area based on the detected degree of congestion, and a cooperative operation mode that performs performance operations in cooperation with other cleaning robots (step S03, etc.). The series of processes will be described in more detail below.

In the following explanation, we will illustrate the case where a series of control processes are executed by the cleaning robot 2-1. Furthermore, the cleaning area to be cleaned by this cleaning robot 2-1 is assumed to be cleaning area A1. The control method for the cleaning robot 2-1 described below may be implemented by executing a control program that causes a computer constituting the control device 16 within the cleaning robot 2-1 to perform a predetermined operation. This control program may be stored in a recording means such as storage 24, or provided in the form of a computer-readable recording medium.

As shown in Figure 4, when the cleaning robot 2-1 starts up, it waits in a state where it can receive tasks transmitted from the management server 3. Upon receiving a cleaning task from the management server 3 via the communication unit 31 of the cleaning robot 2-1 (step S01), the congestion detection unit 34 begins detecting the congestion level of the cleaning area A1 included in the received cleaning task (step S02).

If the congestion level detected by the congestion detection unit 34 is less than a predetermined threshold, i.e., if the cleaning area A1 is not congested (No in step S03), the cleaning robot 2-1 selects and executes a cleaning mode using the operation mode determination unit 35 (step S04). In cleaning mode, the cleaning robot 2-1 acquires its current location using the self-positioning unit 32, detects the location, type, and state of dirt within the cleaning area A1 using the dirt detection unit 33, and can perform cleaning work while selecting the optimal route and cleaning tools. Furthermore, information regarding the dirt in the cleaning area A1 detected by the dirt detection unit 33 should be sequentially transmitted to the management server 3.

On the other hand, if the congestion level detected by the congestion detection unit 34 is above a predetermined threshold, in other words, if the speed at which people are moving through the cleaning area A1 is fast (Yes in step S03), the system reports to the management server 3 that the cleaning area A1 is congested and asks for an action to be taken (step S05).

After querying the management server 3 as described above, cleaning robot 2-1, upon receiving a special task (Yes in step S06), executes a cooperative operation mode based on that special task (step S07). If no special task is received (No in step S06), it enters a standby state.

The cooperative operation mode is a mode in which cleaning robot 2-1 performs coordinated operations with one or more other cleaning robots. Specifically, it may be a mode in which several cleaning robots gather in a predetermined space and perform performance operations in a specific formation. When this cooperative operation mode is executed, predetermined performance operations are performed based on control signals included in the special task. Furthermore, as shown in Figure 5, when cleaning robot 2-1 completes the performance operations within the received special task, or when it receives a permission signal from the management server 3 indicating that it may terminate the special task (Yes in step S11), it stops the cooperative operation mode at a predetermined timing (step S12). After stopping the cooperative operation mode, cleaning robot 2-1 determines whether or not to resume the cleaning task it received immediately before (step S13). If the cleaning task is to be resumed, cleaning robot 2-1 returns to cleaning mode (step S14) and then proceeds to step S08. If the cleaning task is not to be resumed, cleaning robot 2-1 transitions to standby mode (step S15) and completes the series of operations.

When the system returns from cooperative operation mode to cleaning mode, or when cleaning mode is executed in step S04, it is then determined whether the cleaning task has been completed (step S08). If it is determined that the cleaning task has not been completed, the system returns to step S03. If it is determined that the cleaning task has been completed, the system transitions to standby mode (step S09) and waits for a new task to be received.

As described above, the control method for the cleaning robot according to this embodiment selectively executes a cleaning mode and a cooperative operation mode based on the degree of congestion in the cleaning area where the cleaning robot is to be cleaned. Therefore, the same effects as those described for the cleaning system can be expected.

Next, the control process on the management server side of the cleaning system according to this embodiment will be described below with reference to Figure 6.

As shown in Figure 6, when the management server 3 starts up, the task generation unit 41 generates cleaning tasks to be sent to multiple cleaning robots 2-1, 2-2, and 2-3, and sequentially sends the generated cleaning tasks to the target cleaning robots (step S21).

After the generation and transmission of the necessary cleaning tasks are completed, or while the generation and transmission of such cleaning tasks is in progress, the management server 3 receives inquiries from cleaning robots currently performing cleaning tasks (step S22). Upon receiving such inquiries, the server considers whether a special task needs to be performed for a specific cleaning robot (step S23). The decision on whether a special task needs to be performed may be made based on factors such as the number of cleaning robots that made the inquiry, the presence or absence of robotic arms on the cleaning robots, and the progress of the cleaning tasks.

If a special task is to be performed (Yes in step S23), the task generation unit 41 generates the special task (step S24). The special task generated here is tailored to the role and function of the cleaning robot that will perform the special task. The generated special tasks are then sequentially transmitted to the specific cleaning robot (step S25). If a special task is not to be performed (No in step S23), no new task is transmitted to the cleaning robot. Therefore, the cleaning robot that made the inquiry enters a hold mode until it receives the special task or until the congestion level in its assigned cleaning area decreases and it can perform the cleaning task.

By performing the above-described management on the management server 3, it is possible to improve the value of the space through cooperative operation mode when it is difficult to operate the cleaning robots constituting the cleaning system in cleaning mode. Therefore, unlike conventional systems, the cleaning system according to this embodiment can contribute to improving the value of the space using cleaning robots even in crowded conditions.

As an option, the management server 3 may receive information regarding the degree of soiling of each cleaning area A1, A2, and A3 from each cleaning robot 2-1, 2-2, and 2-3. If the soiling level of several cleaning areas is below a predetermined threshold, the soiling level detection unit 43 may generate and transmit a special task to be performed by the cleaning robot responsible for that area. A cleaning robot that receives such a special task can then perform performance actions, etc., to the extent that it does not affect the execution of the cleaning task. In other words, in the cleaning system 1 according to this embodiment, it is also possible to generate and transmit special tasks regardless of the degree of congestion.

In addition, the cleaning robot may perform both cleaning and performance actions simultaneously in a cooperative operation mode. In this case, the dirt detection unit 33 should be operated during the cooperative operation mode. If dirt is detected within the space during performance action, the operation path and other parameters identified by the special task should be adjusted so that the detected dirt can be cleaned. This adjustment may be performed within the cleaning robot, or it may be adjusted by adjusting the special task in the management server 3, which has acquired information about the dirt, and transmitting it to the cleaning robot, thereby changing the special task executed by the cleaning robot.

As an option, the management server 3 can also specify which cleaning robots to keep on standby when determining which cleaning robots will perform coordinated operations. Furthermore, if a high-priority task arises during coordinated operation by multiple cleaning robots, such as an emergency cleaning task to remove urgent dirt, the standby cleaning robot may be dispatched to perform the emergency cleaning task, preventing interruption to the coordinated operation (i.e., operations like dancing, comedy, or playing musical instruments). Also, based on the type and state of the urgent dirt, if a specific cleaning robot in the coordinated operation must perform an emergency cleaning task, a standby cleaning robot may be allowed to participate in the coordinated operation in its place.

This disclosure is not limited to the embodiments described above, and can be implemented with various modifications without departing from the spirit of this disclosure. All such modifications are included within the technical concept of this disclosure.

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

<Note>
The features of this disclosure are as follows.

(Note 1)
A cleaning system (1) that cleans a set cleaning area (A1, A2, A3) using multiple autonomously moving cleaning robots (2, 2-1, 2-2, 2-3) equipped with cleaning tools (12),
The aforementioned multiple cleaning robots are
Communications Department (31),
A self-positioning unit (32) for determining its own position,
A dirt detection unit (33) capable of detecting the state and type of dirt within the cleaning area,
A congestion detection unit (34) capable of detecting the degree of congestion in the cleaning area,
The system includes an operation mode determination unit (35) that selectively executes a cleaning mode for performing cleaning of the cleaning area based on the congestion level detected by the congestion level detection unit, and a cooperative operation mode for performing performance operations in cooperation with other cleaning robots.
Cleaning system.
(Note 2)
The congestion detection unit detects the degree of congestion based on the speed at which people pass through the cleaning area.
The cleaning system described in Appendix 1.
(Note 3)
The aforementioned cooperative operation mode includes aligning with other cleaning robots operating in the same cooperative operation mode in a predetermined order.
The cleaning system described in Appendix 1 or Appendix 2.
(Note 4)
At least one of the multiple cleaning robots operating in the aforementioned cooperative operation mode performs a guiding action for people passing by.
The cleaning system described in Appendix 1 to Appendix 3.
(Note 5)
The aforementioned coordinated operation mode performs a cleaning operation to clean the cleaning area together with the performance operation.
The cleaning system described in Appendix 1 to Appendix 4.
(Note 6)
In the aforementioned coordinated operation mode, the performance operation performed together with the cleaning operation is adjusted to include an operation to clean the dirt if dirt is detected by the dirt detection unit during the performance operation. (Cleaning system as described in Appendix 5)
(Note 7)
The system further includes a task command device (3) for managing the multiple cleaning robots,
The task command device includes a task generation unit (41) that generates the work content to be performed by the multiple cleaning robots.
A cleaning system as described in any of Appendix 1 to Appendix 6.
(Note 8)
The task generation unit modifies the content of the performance operation performed by each cleaning robot based on the number of cleaning robots among the multiple cleaning robots that can operate in the cooperative operation mode.
The cleaning system described in Appendix 7.
(Note 9)
The task command device further includes a dirt level detection unit (43) capable of detecting the degree of dirt in the cleaning area to be cleaned by the multiple cleaning robots,
At least some of the multiple cleaning robots that clean the cleaning area where the degree of soiling is below a predetermined threshold are to simultaneously perform the common performance operation at a predetermined timing.
The cleaning system described in Appendix 7 or Appendix 8.
(Note 10)
A control method for an autonomous, mobile cleaning robot equipped with cleaning tools that cleans a set cleaning area,
A step of detecting the degree of congestion in the cleaning area,
The system includes a step of selectively executing a cleaning mode that performs cleaning of the cleaning area based on the detected degree of congestion, and a cooperative operation mode that performs performance operations in cooperation with other cleaning robots.
A method for controlling a cleaning robot.
(Note 11)
At least one processor in the computer of an autonomous, mobile cleaning robot equipped with cleaning tools that cleans a designated cleaning area,
A step of detecting the degree of congestion in the cleaning area,
Based on the detected degree of congestion, the system performs the following steps: selectively execute a cleaning mode that performs cleaning of the cleaning area and a cooperative operation mode that performs performance operations in cooperation with other cleaning robots.
program.

1. Cleaning System 2, 2-1, 2-2, 2-3. Cleaning Robot 3. Management Server (Example of Task Command Device) 12. Cleaning Tools 16. Control Device 31. Communication Unit 32. Self-Positioning Unit 33. Dirt Detection Unit 34. Congestion Detection Unit 35. Operation Mode Determination Unit 41. Task Generation Unit 43. Dirt Level Detection Unit

Claims (11)

A cleaning system (1) that cleans a set cleaning area (A1, A2, A3) using multiple autonomously moving cleaning robots (2, 2-1, 2-2, 2-3) equipped with cleaning tools (12),
The aforementioned multiple cleaning robots are
Communications Department (31),
A self-positioning unit (32) for determining its own position,
A dirt detection unit (33) capable of detecting the state and type of dirt within the cleaning area,
A congestion detection unit (34) capable of detecting the degree of congestion in the cleaning area,
The system includes an operation mode determination unit (35) that selectively executes a cleaning mode for performing cleaning of the cleaning area based on the congestion level detected by the congestion level detection unit, and a cooperative operation mode for performing performance operations in cooperation with other cleaning robots.
Cleaning system. The congestion detection unit detects the degree of congestion based on the speed at which people pass through the cleaning area.
The cleaning system according to claim 1. The aforementioned cooperative operation mode includes aligning with other cleaning robots operating in the same cooperative operation mode in a predetermined order.
The cleaning system according to claim 1. At least one of the multiple cleaning robots operating in the aforementioned cooperative operation mode performs a guiding action for people passing by.
The cleaning system according to claim 1. The aforementioned coordinated operation mode performs a cleaning operation to clean the cleaning area together with the performance operation.
The cleaning system according to claim 1. In the aforementioned coordinated operation mode, the performance operation performed together with the cleaning operation is adjusted to include an operation to clean the dirt if dirt is detected by the dirt detection unit during the performance operation.
The cleaning system according to claim 5. The system further includes a task command device (3) for managing the multiple cleaning robots,
The task command device includes a task generation unit (41) that generates the work content to be performed by the multiple cleaning robots.
A cleaning system according to any one of claims 1 to 6. The task generation unit modifies the content of the performance operation performed by each cleaning robot based on the number of cleaning robots among the multiple cleaning robots that can operate in the cooperative operation mode.
The cleaning system according to claim 7. The task command device further includes a dirt level detection unit (43) capable of detecting the degree of dirt in the cleaning area to be cleaned by the multiple cleaning robots,
At least some of the multiple cleaning robots that clean the cleaning area where the degree of soiling is below a predetermined threshold are to simultaneously perform the common performance operation at a predetermined timing.
The cleaning system according to claim 7. A control method for an autonomous, mobile cleaning robot equipped with cleaning tools that cleans a set cleaning area,
A step of detecting the degree of congestion in the cleaning area,
The system includes a step of selectively executing a cleaning mode that performs cleaning of the cleaning area based on the detected degree of congestion, and a cooperative operation mode that performs performance operations in cooperation with other cleaning robots.
A method for controlling a cleaning robot. At least one processor in the computer of an autonomous, mobile cleaning robot equipped with cleaning tools that cleans a designated cleaning area,
A step of detecting the degree of congestion in the cleaning area,
Based on the detected degree of congestion, the system performs the following steps: selectively execute a cleaning mode that performs cleaning of the cleaning area and a cooperative operation mode that performs performance operations in cooperation with other cleaning robots.
program.