JP2018139720A - Autonomous traveling work device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous traveling work device that suppresses damage due to the work of a floor such as commercial establishment, responds to change of the place to be worked in the same work area, and properly maintains and manages the floor irrespective of the change of a worker.SOLUTION: An autonomous traveling work device 1 can execute autonomous travel work for autonomously traveling according to a program and automatically working. The autonomous traveling work device includes: a device body 2; a traveling unit 3 for making the device body 2 travel in a cleaning area; a cleaning unit 5 for performing cleaning on a traveling route in the cleaning area of the device body 2; a memory unit 7b for storing a plan comprising combination of the traveling route and traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit for autonomous travel work; a recommended plan determination unit 26 for determining the recommended plan in line with the predetermined recommendation conditions from two or more plans at the start of the autonomous travel work, when two or more plans exist and these two or more plans comprise any of two or more traveling routes; and a recommended plan notification unit 27 for notifying the recommended plan of the determination results by the recommended plan determination unit 26.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an autonomous traveling work device that autonomously travels by acquiring a distance from a surrounding object.

  Conventionally, an autonomous traveling working device inputs a program or the like in advance to store an environmental map, a traveling route, traveling settings and cleaning settings (working settings), and autonomously travels and automatically by automatic operation based on the stored results. Has the function of cleaning. For example, the autonomous traveling device is applied to an industrial (business) cleaning robot (autonomous traveling floor cleaning device) that performs cleaning work on floors of commercial facilities, offices, hotel lobbies and the like.

  Such a commercial floor cleaning apparatus is equipped with a water supply tank, a sewage tank, a large-capacity battery, and the like, and therefore increases in weight. Furthermore, the floor surface cleaning apparatus performs cleaning by pressing the cleaning pad against the floor surface with a predetermined force. For this reason, if the floor cleaning device composed of autonomous traveling type (robot) sets the traveling route in advance with a program etc. and cleans the same floor surface many times in the same traveling direction, the same traveling with good reproducibility There is a risk that cleaning traces and running traces may be generated on the floor surface due to following the route. In order to avoid such damage to the floor surface, when repeatedly cleaning the same floor surface, it is desirable to switch to a different traveling direction for cleaning. In addition, the level of dirt on the floor is not the same every time in the same cleaning area, and may vary from place to place in the cleaning area, so depending on the situation of dirt and the time allocated for cleaning work, It is desirable to control appropriately.

  For example, the self-propelled device (autonomous traveling work device) of Patent Document 1 includes an autonomous control unit that performs cleaning by controlling the traveling control unit and the cleaning unit, and the autonomous control unit performs pattern cleaning that performs cleaning according to a predetermined pattern. The pattern cleaning means performs pattern cleaning with reference to the information in the cleaning information storage means at the second and subsequent cleanings. Pattern cleaning means, for example, mode transition in the order of a round mode that runs around the room along the wall, a vertical mode that reciprocates vertically with respect to the wall, and a horizontal mode that reciprocates horizontally Clean while doing.

  Moreover, the self-propelled cleaner (autonomous traveling working device) of Patent Document 2 includes a wheel (traveling means), a suction nozzle (suction means) for sucking dust, a control means for controlling the wheels and the suction nozzle, and dust. A large amount of position learning means, and the large amount of dust position learning means learns the position where the amount of dust is large in advance, so that the control means controls the suction nozzle before traveling the position where there is a large amount of dust. There is less leftover and no action is required to pass the same position again.

JP 2004-147963 A JP 2005-204872 A

  By the way, the floor surface of a commercial facility or the like is different from the floor surface of a general household, and there are cases where the soiling differs depending on the environment such as an event or weather even in the same cleaning area. In addition, floor surfaces of commercial facilities and the like need to be cleaned outside the business hours of the store, and the time that can be cleaned is limited. Therefore, it is difficult for an autonomously traveling business floor cleaning apparatus to properly maintain and manage the floor of a commercial facility simply by repeating cleaning according to a program given in advance. Furthermore, the cleaning workers in commercial facilities may change, but for the changed workers, information related to appropriate travel and cleaning (travel route, travel settings, cleaning settings, number of cleanings) within the limited cleaning time. Etc.) and properly maintaining and managing the floor surface is difficult. However, in the conventional autonomous traveling work apparatus as described above, it is not possible for the worker to grasp information regarding appropriate traveling and cleaning, and it is also impossible to select information regarding traveling and cleaning according to the situation of the floor surface. .

  For example, the autonomous traveling work apparatus like patent document 1 is not comprised with the intention of cleaning the floor surface of a commercial facility. Even if the uncleaned area can be eliminated by repeating the cleaning according to a predetermined traveling pattern, cleaning according to the dirt condition of the cleaning area, such as intensive cleaning in a place where the dirt is severe, etc. I can't. Furthermore, it is difficult to carry out the cleaning of the predetermined second and subsequent traveling patterns within a limited cleaning time.

  Moreover, the autonomous traveling work apparatus like patent document 2 is not comprised with the intention of cleaning the floor surface of a commercial facility. Further, simply reflecting the learning result of the degree of dirt cannot properly clean the floor of a commercial facility or the like affected by the environment such as an event or weather.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to suppress damage caused by work on a floor surface of a commercial facility or the like, and an environment of a place where work should be performed in the same work area. It is an object of the present invention to provide an autonomous traveling working apparatus that can cope with changes in the level and can appropriately maintain and manage a floor surface regardless of changes of workers.

  In order to solve the above problems, a first autonomous traveling work device of the present invention is an autonomous traveling working device capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance. An apparatus main body, a traveling unit that causes the apparatus main body to travel in a work area, a work unit that performs work on a travel route in the work area of the apparatus main body, a travel route and travel settings of the travel unit, and the A storage unit for storing a plan composed of a combination with a work setting of a working unit for the autonomous traveling work, two or more of the plans, and two or more plans of two or more traveling routes In any case, the recommended plan determination unit that determines a recommended plan that matches a predetermined recommended condition from the two or more plans at the start of the autonomous traveling work, and the recommended plan determination unit The recommended plan notification unit for notifying the recommended plan of the determination result, characterized in that it comprises a.

  According to the first autonomous traveling work device of the present invention, since the recommendation of the plan determined to be more appropriate for the work on the work floor is notified, the selection of the work based on the more appropriate plan is recommended. Can be recognized by the operator. Thereby, the efficiency of autonomous traveling work can be improved and the work result in the work area can be kept high. Thus, according to the present invention, it is possible to suppress damage caused by work on the floor surface of a commercial facility or the like, to respond to a change in a place where work should be performed in the same work area, and to change the floor regardless of the operator's change. The surface can be properly maintained.

  In order to solve the above-described problem, the second autonomous traveling work device of the present invention is the above-described first autonomous traveling work device of the present invention, wherein the storage unit is configured to store the two or more traveling routes. The number of executions of autonomous traveling work is stored, and the recommended plan determination unit sets the recommendation for each of the two or more plans as the recommended condition that the number of executions of the travel route has not reached a predetermined upper limit number. It is characterized by determining whether or not the condition is met.

  According to the second autonomous traveling work device of the present invention, switching to the autonomous traveling work in the recommended plan can be performed more appropriately, and problems occurring in the work area can be more effectively suppressed.

  In order to solve the above-described problem, the third autonomous traveling work device of the present invention is the above-described first or second autonomous traveling work device of the present invention, wherein the recommended plan determination unit starts the autonomous traveling work. In some cases, the recommended plan is determined after an operation for selecting the work area in which the autonomous running work is performed.

  According to the third autonomous traveling work apparatus of the present invention, it is possible to determine a plan to be recommended at an appropriate timing and to notify the operator of the existence of the recommended plan at an appropriate timing.

  In order to solve the above problems, a fourth autonomous traveling work device of the present invention is the above-described autonomous traveling working device according to any one of the first to third aspects of the present invention, wherein the recommended plan notification unit includes the two While displaying the above plans in a selectable manner, the recommended plan notification screen displaying the recommended plan in a selected state is displayed on the display unit, so that the recommended plan is notified.

  According to the 4th autonomous traveling working apparatus of this invention, it can make it easy to select a recommended plan with respect to an operator.

  In order to solve the above-described problem, a fifth autonomous traveling work device of the present invention is the above-described autonomous traveling work device according to any one of the first to fourth aspects of the present invention, wherein the working unit is configured as the autonomous traveling task. The work area is divided into a dirt detection unit configured to perform cleaning work such as floor cleaning, cleaning, polishing or peeling, and detecting dirt on the floor surface based on a result of the cleaning work of the working part. A cleaning history creation unit that determines whether or not each of the plurality of cells has been soiled after the cleaning operation, and the cleaning history creation unit has a predetermined detection result by the soiling detection unit of each cell. It is determined that each cell is dirty when it is equal to or greater than the reference range.

  According to the fifth autonomous traveling work device of the present invention, it is possible to appropriately grasp the dirt for each place on the floor surface.

  In order to solve the above-described problem, the sixth autonomous traveling work device of the present invention is the above-described fifth autonomous traveling work device of the present invention, wherein the cleaning history creation unit determines whether each cell is dirty. The determination result is stored in the storage unit as a cleaning history of each cell, and based on the cleaning history of the plurality of cells stored in the storage unit, the stain frequency of the floor surface is statistically determined, A new recommended plan is created based on the determination result.

  According to the sixth autonomous traveling work device of the present invention, the dirt frequency for each place on the floor surface is statistically determined to appropriately grasp the tendency of dirt for each place, and the travel setting is set according to the tendency. You can recommend a plan that has been properly changed or the cleaning settings have been changed appropriately. And when an operator selects this plan, it becomes possible to perform an efficient cleaning operation.

  In order to solve the above-mentioned problem, a seventh autonomous traveling work device of the present invention is a report showing detailed information of the autonomous traveling work in any of the first to sixth autonomous traveling work devices of the present invention described above. Is generated and output.

  According to the seventh autonomous traveling work apparatus of the present invention, reports indicating past work situations can be displayed as a list on the screen, or can be printed and stored as a data file for management and storage. Thereby, the worker who sees the report can check the report after the autonomous traveling work, and can follow up by performing additional work.

  According to the present invention, the autonomous traveling work device suppresses damage caused by work on a floor surface of a commercial facility, copes with a change in a place where work should be performed in the same work area, and is involved in a change of an operator. The floor surface can be properly maintained.

It is a perspective view which shows the external appearance of the autonomous running work apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the autonomous running work apparatus which concerns on embodiment of this invention. It is a block diagram which shows the detail of the control apparatus of the autonomous running work apparatus which concerns on embodiment of this invention. It is a top view which shows the operation display part of the autonomous running work apparatus which concerns on embodiment of this invention, and the menu screen of the touch panel. It is a top view which shows the plan selection screen of the touch panel of the autonomous running work apparatus which concerns on embodiment of this invention. It is a top view which shows the recommended plan alerting | reporting screen of the touchscreen of the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows a series of operation examples of the cleaning work in the autonomous running work by the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the recommended plan determination by the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the setting change by the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the stain | pollution | contamination detection of the cell of the floor surface, and cleaning history preparation by the autonomous running work apparatus which concerns on embodiment of this invention. It is a top view which shows the driving | running route display screen displayed on the touch panel of the autonomous driving | working work apparatus which concerns on embodiment of this invention. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the run course display screen which displayed the 1st run course. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the run course display screen which displayed the 2nd run course. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the run course display screen which displayed the 3rd run course. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the running route display screen which displayed the 4th running route. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the run route display screen which displayed the dirt frequency map. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the run route display screen which displayed the cleaning report display screen. In the autonomous running work device concerning the embodiment of the present invention, it is a top view showing the printed matter of the outputted cleaning report. In the autonomous running work device concerning other embodiments of the present invention, it is a top view showing the run route display screen which displayed the 5th run route of the spot cleaning plan. It is a table | surface which shows the environmental information regarding the event used by the environmental information preparation part in the autonomous running work apparatus which concerns on other embodiment of this invention. It is a table | surface which shows the cleaning log | history containing the environment information used by the environment information creation part in the autonomous running work apparatus which concerns on other embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferable specific examples of the present invention and disclose various preferable techniques, but the technical scope of the present invention is not limited to these embodiments.

  An autonomous traveling work device according to an embodiment of the present invention will be described. As shown in FIG. 1, the autonomous traveling work device 1 includes an apparatus main body 2 for housing each part, a traveling part 3 that causes the apparatus main body 2 to travel, and a traveling operation part 4 that receives a manual operation of the traveling part 3. Prepare. The autonomous traveling working device 1 can be equipped with a working mechanism (working unit) that performs a predetermined work in the device main body 2, for example, a floor surface washing machine that performs a cleaning work on a floor surface below the device main body 2. Etc. are provided as a working part.

  In addition, as shown in FIG. 2, the autonomous traveling work device 1 includes a positional relationship between the device main body 2 and an obstacle (object) such as a wall or a figurine around the device main body 2 (for example, the traveling direction of the device main body 2). And a measurement unit 6 that measures an angle and a distance). Further, the autonomous traveling work device 1 includes a control device 7 that performs overall control of each part and various functions of the autonomous traveling work device 1 (traveling by the traveling unit 3, cleaning work by the cleaning unit 5, measurement by the measuring unit 6, and the like); An operation display unit 8 including a touch panel for operation and display of functions, a wireless communication unit 9 for performing wireless communication with an external device, and a power supply device 10 for supplying power to each unit are provided. Furthermore, the autonomous traveling work device 1 includes a dirt detection unit 11 that detects the dirt on the floor surface based on the result of the floor surface cleaning work by the cleaning unit 5.

  The autonomous traveling work device 1 is a vehicle capable of autonomous traveling according to a program inputted in advance, and may be a vehicle capable of traveling by manual operation and autonomous traveling by automatic operation. The operation is switched to any one of the automatic operation mode and the data correction mode.

  The autonomous traveling work device 1 can execute autonomous traveling work (cleaning) by storing in advance an environmental map, traveling route, traveling setting, and cleaning setting (working setting) of a cleaning area (working area). The cleaning area is an area to be cleaned (worked) by the autonomous mobile work device 1, and for example, the floor of a large commercial facility such as a cinema complex or a shopping mall is the target for cleaning. A unique area name and environmental map is stored in association with each of the one or more cleaning areas. Note that one or more plans combining the travel route, the travel setting, and the cleaning setting are stored in advance along with a unique plan name in the cleaning area.

  The autonomous traveling work device 1 can execute the environment map, traveling route, traveling setting, and cleaning setting input in advance by autonomous traveling work that performs traveling and cleaning by automatic operation. The autonomous traveling work device 1 has one or more plans prepared for each of one or more cleaning areas, and when performing autonomous traveling work in each cleaning area, 1 selected from one or more plans Use one plan. At this time, one plan is selected by manual operation via the operation display unit 8 or by automatic operation by the control device 7. In addition, when two or more plans exist, each plan may be configured with a different travel route or may be configured with a common travel route.

  The autonomous traveling work device 1 can change at least a part of the traveling setting and the cleaning setting of the plan. When the travel settings and the cleaning settings are changed, new travel settings and cleaning settings after the change are created and stored. In other words, separately from the plan before the change, a plan that combines the changed travel route, the travel setting, and the cleaning setting is stored for each change. The data change may be changed based on the input data, or may be performed automatically by the control device 7.

  As shown in FIG. 2, the traveling unit 3 includes a pair of left front wheel units 12 and a right front wheel unit 13 as drive wheels, and a pair of left and right rear wheels 14 as auxiliary wheels. Is provided. The left front wheel unit 12 includes a left front wheel, a left motor that drives the left front wheel, and a left encoder 12a that detects the rotation of the left front wheel. The right front wheel unit 13 detects the rotation of the right motor and the right front wheel that drive the right front wheel. The right encoder 13a is provided. The traveling unit 3 can cause the device main body 2 to travel (forward or backward) by simultaneously rotating the left front wheel and the right front wheel by the left motor and the right motor, while stopping the left front wheel or the right front wheel (or rotating at a low speed). ) And simultaneously rotating the right front wheel or the left front wheel (or rotating at a high speed), the apparatus main body 2 can be turned left or right. The left front wheel and the right front wheel can be rotated on the spot by rotating in the opposite directions.

  The travel data stored as the travel route of the travel unit 3 includes, for example, the coordinates of the travel route (X coordinate and Y coordinate on the environment map), the turning angle with respect to the traveling direction, and the encoder (the left encoder 12a and the right encoder 13a). There are count numbers and the like, and the travel route can be illustrated based on the travel data. The travel setting of the travel unit 3 includes travel activation / stop, travel speed, and the like. The travel data stored as the travel setting includes, for example, a travel motor (the left motor and the right front wheel unit of the left front wheel unit 12). 13 right motors) are operating (off, low speed, medium speed, high speed). The operating state of the travel motor may be set in multiple stages by numbers (1 to 5 or 1 to 7) in addition to low speed, medium speed, and high speed.

  The traveling operation unit 4 is provided on the rear side of the upper surface of the apparatus main body 2 and includes a handle 4a and a throttle 4b. The left motor of the left front wheel unit 12 and the right motor of the right front wheel unit 13 are operated by manual operation of the handle 4a and throttle 4b. Operated. For example, the traveling operation unit 4 can turn the apparatus main body 2 to the left or right by manually operating the handle 4a, and can operate the apparatus main body 2 to travel (forward or backward) by manually operating the throttle 4b. Stopping and adjustment (acceleration / deceleration) of traveling speed can be performed. In addition, while the operation mode of the autonomous traveling work device 1 is set to the manual operation mode, the traveling operation unit 4 accepts a manual operation by the operator, but is set to the automatic operation mode and the data correction mode. Is configured not to accept manual operation by an operator other than the operation of the emergency stop button 37.

  The cleaning unit 5 is configured to clean the floor surface according to the cleaning setting, and the cleaning setting may be initially set, manually set via the operation display unit 8, or stored in the storage unit 7b. It may be automatically set based on the cleaning data. The cleaning unit 5 is a mechanism for cleaning the floor surface by, for example, a wet cleaning method using liquid, and includes a cleaning unit 16 that cleans the floor surface, and a cleaning liquid supply unit 17 that supplies the cleaning liquid to the cleaning unit 16 (see FIG. 2) and a suction part 18 for sucking cleaning liquid after use in the cleaning part 16, that is, sewage.

  The cleaning unit 16 includes, for example, a cleaning member 16a, a cover 16b, a cleaning member rotating motor 16c, a ground pressure adjusting member 16d (see FIG. 2), and the like. The cleaning member 16a is composed of a cleaning pad, a cleaning brush, and the like, is rotatably attached to the center of the lower surface of the apparatus main body 2, and cleans the floor surface by contacting and rotating with the floor surface. The cleaning member 16a is detachable from the apparatus main body 2, that is, a replaceable member. The cover 16b is configured to cover the cleaning member 16a, and prevents the cleaning liquid used in the cleaning member 16a from scattering. The cleaning member rotation motor 16c is connected to the upper part of the cleaning member 16a and rotates the cleaning member 16a. The contact pressure adjusting member 16d is configured by a pad pressure adjusting actuator that adjusts the contact pressure with respect to the floor surface of the cleaning member 16a and adjusts the pad pressure of the cleaning pad, for example.

  The cleaning liquid supply unit 17 is provided inside the apparatus main body 2 and stores a cleaning liquid tank (not shown) that stores the cleaning liquid, a water supply hose (not shown) that communicates the cleaning liquid tank and the cleaning member 16a of the cleaning unit 16, and A water supply pump (not shown) is provided. The cleaning liquid supply unit 17 supplies the cleaning liquid from the cleaning liquid tank to the cleaning member 16a via the water supply hose by the water supply pump. Further, the cleaning liquid supply unit 17 includes a water level sensor 19 in the cleaning liquid tank in order to detect the remaining amount of the cleaning liquid.

  The suction unit 18 includes, for example, a squeegee 18a, a suction pipe (not shown), a sewage tank (not shown), a suction blower 18b (see FIG. 2), a squeegee position adjusting member 18c (see FIG. 2), and the like. The squeegee 18a is a member that is long in the left-right direction, and is provided behind the cleaning unit 16 on the lower surface of the apparatus main body 2 so that the sewage from the cleaning unit 16 does not escape to the rear of the apparatus main body 2 by contacting the floor surface. collect. The suction pipe, the sewage tank, and the suction blower 18b are provided inside the apparatus main body 2, and the suction pipe communicates the squeegee 18a and the sewage tank. The suction unit 18 sucks sewage from the squeegee 18a through the suction pipe by the suction blower 18b and collects it into the sewage tank. The squeegee position adjusting member 18c is an actuator that adjusts the vertical position of the squeegee 18a with respect to the floor surface. The suction unit 18 includes a water level sensor 19 in the sewage tank in order to detect the amount of sewage collected.

  The cleaning setting of the cleaning unit 5 includes, for example, operation / stop of rotation of the cleaning member 16a, operation / stop of cleaning liquid supply by the cleaning liquid supply unit 17, operation / stop of suction by the suction unit 18, and the floor surface of the cleaning member 16a There are the strength of the ground pressure, the amount of cleaning liquid supplied by the cleaning liquid supply unit 17, the suction strength by the suction unit 18, and the like. The cleaning data stored as the cleaning setting includes, for example, a rotation state (off, low speed, medium speed, high speed) and a ground pressure state (off, low pressure, medium pressure, high pressure) of the cleaning member 16a by the cleaning unit 16, There are cleaning liquid supply state (off, small amount, medium amount, large amount) by the cleaning liquid supply unit 17, suction state of the suction blower 18b by the suction unit 18, that is, sewage recovery state (off, small amount, medium amount, large amount), etc. . Note that each cleaning data may be set in multiple stages by numbers (1 to 5 or 1 to 7 or the like).

  The measuring unit 6 includes an obstacle sensor 6a (see FIG. 2) that measures a distance and an angle between the apparatus main body 2 and an object such as a surrounding obstacle or a wall, and further includes a step on the floor near the apparatus main body 2. You may provide the level | step difference sensor (not shown) to detect, the contact sensor (not shown) etc. which detect a contact with objects, such as an obstruction. The obstacle sensor 6a is provided, for example, on the front surface of the apparatus main body 2 and is constituted by an obstacle range finder (LRF) or the like, and is within a predetermined measurable height from the floor surface. An object such as an obstacle existing within a predetermined measurable range is detected.

  As shown in FIGS. 2 and 3, the control device 7 includes a control unit 7 a and a storage unit 7 b configured by a CPU (Central Processing Unit) or the like. The control unit 7a and the storage unit 7b are connected via a bus 7c, and the bus 7c is further connected to an interface 7d. The storage unit 7b includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like, and stores programs and data for controlling each unit and various functions of the autonomous mobile work device 1.

  The control unit 7a controls each unit and various functions by reading a program and data stored in the storage unit 7b and executing the program. The control unit 7a includes the travel unit 3, the travel operation unit 4, the cleaning unit 5, the measurement unit 6, the operation display unit 8, the wireless communication unit 9, the power supply device 10, and the dirt detection unit via the bus 7c and the interface 7d. 11 is connected. And the control apparatus 7 receives electric power supply from the power supply device 10, transmits a control signal to each part, operates each part, and receives a signal from each part. For example, the control unit 7a performs overall control of functions such as traveling by the traveling unit 3 in autonomous traveling and cleaning work by the cleaning unit 5 in automatic cleaning, detection of dirt on the floor surface, determination of recommended plans and notification in autonomous traveling work, and the like. To do.

  Furthermore, the control unit 7a includes an autonomous travel control unit 21, an automatic cleaning control unit 22, an environmental map creation unit 23, a travel data creation unit 24, a cleaning data creation unit 25, a recommended plan determination unit 26, and a recommendation. A plan notification unit 27, a cell division unit 28, a cleaning history creation unit 29, a contamination frequency determination unit 30, a setting change unit 31, a cleaning report creation unit 32, and a cleaning report output unit 33 are provided. In addition, the autonomous travel control unit 21, the automatic cleaning control unit 22, the environmental map creation unit 23, the travel data creation unit 24, the cleaning data creation unit 25, the recommended plan determination unit 26, the recommended plan notification unit 27, the cell division unit 28, the cleaning The history creation unit 29, the contamination frequency determination unit 30, the setting change unit 31, the cleaning report creation unit 32, and the cleaning report output unit 33 may be configured by programs stored in the storage unit 7b and executed by the control unit 7a. . Further, the travel data creation unit 24 and the cleaning data creation unit 25 may be a plan creation unit integrated so as to create a plan combining a travel route, travel settings, and cleaning settings. Each unit provided in the control unit 7a (autonomous travel control unit 21, automatic cleaning control unit 22, environmental map creation unit 23, travel data creation unit 24, cleaning data creation unit 25, recommended plan determination unit 26, recommended plan notification unit 27, cell Details of the dividing unit 28, the cleaning history creation unit 29, the contamination frequency determination unit 30, the setting change unit 31, the cleaning report creation unit 32, and the cleaning report output unit 33) will be described later.

  In addition, the storage unit 7b includes an environment map storage unit 41 that stores each environmental map and area name for one or more cleaning areas, and a travel data storage unit 42 that stores one or more travel data of each cleaning area. A cleaning data storage unit 43 that stores one or more cleaning data of each cleaning area, a dirt log storage unit 44 that stores a detection result of the dirt detection unit 11 in the cleaning operation as a dirt log, and cell information of a plurality of cells A cell storage unit 45 that stores a cleaning history (for example, a contamination status) of a plurality of cells for each cleaning operation, and a contamination frequency storage unit 47 that stores a contamination frequency of a plurality of cells. A cleaning report storage unit 48 that stores a cleaning report for each of one or more cleaning operations. The environmental map storage unit 41, the travel data storage unit 42, the cleaning data storage unit 43, the dirt log storage unit 44, the cell storage unit 45, the cleaning history storage unit 46, the dirt frequency storage unit 47, and the cleaning report storage unit 48 are stored in a storage unit. The hard disk and the flash memory of 7b may be configured to be readable and writable. The travel data storage unit 42 and the cleaning data storage unit 43 may be a plan storage unit integrated so as to store one or more plans and plan names in which the travel route, the travel setting, and the cleaning setting are combined. Furthermore, the memory | storage part 7b memorize | stores the frequency | count that the driving | running route which comprises each plan was used by the autonomous driving | operation work of automatic operation mode, ie, the number of execution. The plan storage unit also stores the time required for each plan to perform the cleaning work.

  The operation display unit 8 is provided on the upper surface of the apparatus body 2 on the front side of the travel operation unit 4, and includes a main switch 51, an emergency stop button 52, and a touch panel 53 (display unit) as shown in FIG. Each unit of the operation display unit 8 is connected to the control device 7. The operation display unit 8 may be configured by an operation display panel or the like attached to the apparatus main body 2, or may be configured by a tablet terminal or the like that is detachably attached to the apparatus main body 2. In addition, the operation display part 8 comprised with a tablet terminal etc. may be attached by built-in, and is connected with the control apparatus 7 via the radio | wireless communication part 9, and can thereby operate the autonomous traveling work apparatus 1 remotely. It becomes.

  The main switch 51 is configured to be switchable on and off. When the main switch 51 is turned on, power is supplied to each part from the power supply device 10 to operate the autonomous traveling work device 1, while the main switch 51 is turned off to supply power from the power supply device 10 to each part. Is stopped and the operation of the autonomous mobile work device 1 is stopped. The emergency stop button 52 is operated to forcibly stop the operation (particularly, autonomous traveling) of each part of the autonomous mobile work device 1 and forcibly stop power supply from the power supply device 10 to each part.

  The touch panel 53 displays various screens according to the control signal from the control device 7 and transmits an operation signal based on the touch operation on each screen to the control device 7. Details of each screen displayed on the touch panel 53 will be described later.

  The wireless communication unit 9 wirelessly communicates with an operation display unit 8 such as a tablet terminal or an external device based on a control signal from the control device 7 according to a communication standard such as a wireless LAN such as Wi-Fi or Bluetooth (registered trademark). I do. For example, the wireless communication unit 9 transmits a control signal for displaying each screen from the control device 7 to the operation display unit 8 of the tablet terminal, and receives an operation signal from the operation display unit 8 of the tablet terminal to the control device 7. Do.

  The power supply apparatus 10 includes a battery (power supply) mounted inside the apparatus main body 2 and is configured to be rechargeable by connecting to an external power supply.

  The dirt detection unit 11 is for determining the dirt on the floor surface before the cleaning operation by the cleaning unit 5, and includes, for example, an optical turbidity meter and the like from the floor surface being cleaned to the sewage tank of the suction unit 18. Measure the turbidity (dirt degree) of the recovered cleaning wastewater. Further, the dirt detection unit 11 stores a measurement result for each coordinate at a predetermined interval of the traveling route during the cleaning work in the dirt log storage unit 44 as a dirt log.

  Next, each part (autonomous traveling control part 21, automatic cleaning control part 22, environmental map creation part 23, traveling data creation part 24, cleaning data creation part 25, recommended plan determination part 26, recommended plan notification part provided in the control part 7a. 27, the cell division unit 28, the cleaning history creation unit 29, the contamination frequency determination unit 30, the setting change unit 31, the cleaning report creation unit 32, and the cleaning report output unit 33) will be described.

  The autonomous traveling control unit 21 controls autonomous traveling by automatic operation when performing autonomous traveling work by selecting the automatic operation mode. Specifically, the autonomous traveling control unit 21 creates an environmental map of the cleaning area by the environmental map creating unit 23 in autonomous traveling of a predetermined cleaning area. In addition, the autonomous traveling control unit 21 creates traveling data of the traveling route and traveling condition of the autonomous traveling by the traveling data creating unit 24 and stores it in the traveling data storage unit 42 of the storage unit 7b. In addition, the autonomous traveling control unit 21 counts the number of executions of the traveling route of the plan including the traveling route used in autonomous traveling, the travel setting, and the cleaning setting.

  For example, a plan including these travel routes, travel settings, and cleaning settings is obtained at predetermined intervals from the start to the end of autonomous travel at predetermined intervals of the left encoder 12a and right encoder 13a of the travel unit 3, travel data, and Created by enumerating cleaning data. The plan composed of travel data and cleaning data includes the number of steps, the encoder count, and the elapsed time from the start of autonomous travel. The plan composed of the travel data and the cleaning data may be created based on each step, but may be created based on a predetermined elapsed time, a predetermined moving distance, and a predetermined count of the left encoder 12a and the right encoder 13a. .

  The automatic cleaning control unit 22 reads, from the travel data storage unit 42 and the cleaning data storage unit 43, the environment map, the travel data, and the cleaning data (execution plan) that should be automatically cleaned when the autonomous travel operation in the automatic operation mode is executed. . And the automatic cleaning control part 22 controls the cleaning part 5 so that the apparatus main body 2 performs the cleaning according to the cleaning setting of this cleaning data on this environmental map. The automatic cleaning control unit 22 creates the cleaning data of the cleaning setting of the automatic cleaning by the cleaning data creation unit 25 and stores it in the cleaning data storage unit 43 of the storage unit 7b. The travel data storage unit 42 and the cleaning data storage unit 43 store travel data and cleaning data, that is, a plan for each cleaning area, so that the plan can be read for each cleaning area.

  The environment map creation unit 23 uses a technology such as SLAM (Simultaneous Localization and Mapping) that performs self-position estimation and environment map creation in real time. The environment map creation unit 23 creates a local map around the device body 2 by converting the distance and angle from the obstacle (object) measured by the measurement unit 6 with respect to the device body 2 at a predetermined position. An environmental map is created based on the created local map. Further, the environmental map creating unit 23 is based on the environmental map and the detection results (movement amount of the traveling unit 3) by the left encoder 12a of the left front wheel unit 12 and the right encoder 13a of the right front wheel unit 13 of the traveling unit 3. The self position (coordinates) of the apparatus main body 2 in the environmental map is estimated.

  The travel data creation unit 24 creates travel data based on the travel route and travel settings input in advance. Alternatively, it may be created based on teaching travel. The date and time of creation is also added to the travel data.

  The cleaning data creation unit 25 creates cleaning data based on the cleaning settings input in advance. Or you may create based on the cleaning operation by the manual operation accompanying teaching driving | running | working. The creation date is also added to the cleaning data.

  When there are two or more plans composed of different travel routes, the recommended plan determination unit 26 determines a recommended plan that matches a predetermined recommended condition from these two or more plans at the start of the autonomous traveling work. For example, when the autonomous traveling work device 1 operates in the automatic operation mode, the recommended plan determination unit 26 determines the recommended condition when a cleaning area for performing autonomous traveling work is selected from one or more cleaning areas. Do. The selection of the cleaning area is performed using, for example, a plan selection screen 57 as shown in FIG. Details of the plan selection screen 57 will be described later. In the plan selection screen 57, when any one of the plan items 61 in any one of the cleaning areas is selected, a cleaning area and a plan (traveling route, traveling setting, and cleaning setting) corresponding to the selected plan item 61 are selected. Is done.

  For example, the recommended plan determination unit 26 uses, as a recommended condition, that the number of executions or the execution time of the autonomous traveling work on the travel route does not reach a predetermined upper limit number (for example, three times) or an upper limit time (for example, 20 hours). It is determined whether or not the recommended conditions are met for each of two or more plans. When there are two or more travel routes that match the recommended conditions, the recommended plan determination unit 26 prioritizes a travel route with a lower execution frequency (for example, a travel route with a lower execution frequency or execution time). A plan consisting of a travel route that is ranked as recommended and has the lowest execution frequency (for example, a travel route with the least number of executions and execution time) may be used as the recommended plan. Further, when there are two or more plans composed of travel routes that meet the recommended conditions, the recommended plan determination unit 26 may use the latest plan with the latest creation date and time (the creation date and time of travel data and cleaning data) as the recommended plan. . Furthermore, when there is no travel route that matches the recommended conditions, the recommended plan determination unit 26 may use the plan used in the previous cleaning work as the recommended plan.

  The recommended plan notification unit 27 notifies the operator of the recommended plan determined by the recommended plan determination unit 26. The notification of the recommended plan is performed using, for example, a recommended plan notification screen 63 as shown in FIG. Details of the recommended plan notification screen 63 will be described later. In the recommended plan notification screen 63, the plan selection key 64 of two or more plans is displayed so as to be selectable, and the plan selection key 64 of the recommended plan is displayed in the selection state 64a, so that the recommended plan is notified. In FIG. 6, the selection state 64 a is identified by hatching the plan selection key 64 of the recommended plan, but the recommended plan is identified by the display color or boldface different from the other plan selection keys 64. Also good. As described above, the recommended plan determination unit 26 determines the recommended plan regardless of whether or not there is a plan on the travel route that matches the recommended condition. Therefore, the recommended plan notification (display of the recommended plan notification screen 63) is performed on the touch panel 53. After the cleaning area is selected by selecting the plan item 61 on the plan selection screen 57 (see FIG. 5) displayed on the screen, the recommended plan determination unit 26 determines the recommended plan.

  The cell dividing unit 28 divides each cleaning area into a plurality of cells and stores each cell information in the cell storage unit 45 in order to locally grasp the state of the floor surface of each cleaning area. For example, when the environmental map of each cleaning area is created, the cell dividing unit 28 divides the environmental map into a plurality of cells, assigns a unique ID to each cell, and sets the coordinates of each cell on the environmental map. The cell ID is obtained by using the ID and coordinates of each cell. Note that when the travel route is created, the cell dividing unit 28 may determine the size of each cell based on the width of the travel route and a predetermined interval along the travel route. For example, when the travel route is configured to include two or more parallel routes, a square cell whose width is the average value of the interval (cleaning pitch) for each parallel line is estimated, and this cell is traveled. A plurality of cells may be defined by arranging them along a route.

  The cleaning history creation unit 29 acquires the floor dirt log detected by the dirt detection unit 11 from the dirt log storage unit 44 and stores the cleaning history indicating the dirt status of each cell in the cleaning history storage unit 46. In the cleaning history storage unit 46, the cleaning history of each cell is stored for each cleaning operation, the cleaning history of a plurality of cells of all cleaning operations can be taken out, and the cleaning history of all the cleaning operations is stored in the cell. It can be taken out every time, or the cleaning history of a plurality of cells can be taken out every cleaning operation.

  Specifically, the cleaning history creating unit 29 associates the dirt log for each coordinate of the travel route acquired from the dirt log storage unit 44 with the cell information (coordinates) of a plurality of cells taken out from the cell storage unit 45. Then, based on the dirt log corresponding to each cell, the sewage turbidity (degree of dirt) in the washing of each cell is determined. Further, the cleaning history creation unit 29 averages the sewage turbidity in a plurality of cells, and defines a reference range based on the reference value using the average value as a reference value. Then, the cleaning history creation unit 29 determines that the cell is dirty when the turbidity obtained from each cell is higher than the reference range as the contamination state of each cell in the cleaning operation, and is below the reference range. If so, it is determined that the cell is not dirty.

  Note that the cleaning history creation unit 29 may distinguish the cell contamination status by expressing it at a plurality of levels. For example, the reference value ± 5 is set as the reference range, and the turbidity value exceeding the reference range is set to increase by 5 every time the turbidity value increases by 5. When the value is within +6 to +10, the level is set to +1. When the value is within the reference value +11 to +15, the level is set to +2. When the value is within the reference value +16 to +20, the level is set to +3. In this way, the cell contamination status can be objectively evaluated by indicating the cell contamination status at multiple levels. In addition, the range of the level of contamination status of each cell is not limited to the five-level evaluation, and may be evaluated in other numbers of stages. For example, the numerical range of turbidity for each level is narrowed to a ten-level evaluation. May be represented.

  The contamination frequency determination unit 30 aggregates the cleaning histories of a plurality of cells stored in the cleaning history storage unit 46, and determines whether or not each cell is easily contaminated based on the aggregation result, that is, the contamination frequency of each cell. Judge statistically. For example, the contamination frequency determination unit 30 is contaminated with a cleaning history of a cleaning operation that has been performed more than a predetermined number of contaminations (for example, 3 times) among the cleaning operations that have been performed within the most recent fixed period (for example, one week). A cell that is determined to be dirty is determined to be a dirty cell. In addition, the contamination frequency determination unit 30 is not contaminated with the cleaning history of the cleaning operation that has been performed more than a predetermined number of times without contamination (for example, 5 times) during the cleaning operation performed within a certain period (for example, one week). Are determined to be difficult to stain. Note that a cell that is not determined to be easily contaminated or difficult to stain may be determined to be a cell having a normal contamination frequency.

  In this way, by determining the ease of cell contamination based on the cleaning history of a plurality of cleaning operations, a more reliable determination result is obtained than when determining the cell contamination status of only one cleaning operation. It is done. Then, the contamination frequency determination unit 30 stores the determination result of the contamination frequency such that the plurality of cells are easily contaminated or difficult to stain in the contamination frequency storage unit 47. For example, when the recommended plan is determined by the recommended plan determination unit 26, the contamination frequency determination unit 30 determines the contamination frequency for a plurality of cells in the cleaning area corresponding to the recommended plan.

  The setting changing unit 31 changes the travel setting and the cleaning setting of the recommended plan based on the determination result of the statistical contamination frequency of the plurality of cells by the contamination frequency determination unit 30. For example, the setting changing unit 31 increases the cleaning strength for cells that are easily contaminated (for example, lowers the traveling speed, supplies more cleaning water, increases the pad pressure, etc.) The traveling setting and the cleaning setting are changed so as to weaken the cleaning strength (for example, increase the traveling speed, supply less washing water, weaken the pad pressure, etc.). The travel setting and the cleaning setting may be changed by raising and lowering the level of various settings one step at a time.

  Then, the setting change unit 31 newly creates a plan in which the travel data and the cleaning data of the recommended plan are rewritten according to the change of the travel setting and the cleaning setting, and stores the plan in the travel data storage unit 42 and the cleaning data storage unit 43. To do. After this setting change, the newly created plan becomes the recommended plan, while the recommended plan before the change becomes the past plan, and the driving data and cleaning data of the past plan are generated and output for cleaning reports. Therefore, it remains in the travel data storage unit 42 and the cleaning data storage unit 43. In this way, the cleaning area can be more appropriately cleaned by changing the travel setting and the cleaning setting to reflect the statistical contamination frequency of the plurality of cells.

  The setting changing unit 31 changes the setting of the recommended plan as described above after the determination by the recommended plan determination unit 26 and before the notification by the recommended plan notification unit 27. The setting change unit 31 may automatically change the setting of the recommended plan according to the determination result of the contamination frequency determination unit 30, or assign the determination result of the contamination frequency determination unit 30 as shown in FIG. The environment map may be displayed on the touch panel 53, and the recommended plan setting may be changed according to the manual operation of the operator.

  The cleaning report creation unit 32 stores, in the cleaning report storage unit 48, a cleaning report including cleaning histories of a plurality of cells in the cleaning work and detailed information on the cleaning work after the cleaning work in the autonomous traveling work is completed. The cleaning report also stores the date of the cleaning operation, the type of travel route (travel route name), the contamination status of cells (the presence or absence of dirty cells in a plurality of cells), and the presence / absence of detailed information. The detailed information includes the worker name, work time, type of cleaning, presence / absence of error in autonomous running work, execution ratio (%) of autonomous running (automatic cleaning) during cleaning work, and the like.

  The cleaning report output unit 33 outputs the selected cleaning report among the one or more cleaning reports stored in the cleaning report storage unit 48 to the touch panel 53 for display. For example, the cleaning report output by the cleaning report output unit 33 is displayed on the environmental map in addition to the cleaning history and detailed information stored in the cleaning report storage unit 48 as shown in FIGS. A simplified diagram describing the travel route and the location of dirty cells is also output. Further, the cleaning report output unit 33 converts the selected cleaning report into a JPEG or PDF file format, and transmits it to an external device of a worker or user connected to the autonomous mobile work device 1 via the wireless communication unit 9. And send. Alternatively, the cleaning report output unit 33 transmits the selected cleaning report to a printer (not shown) connected to the autonomous mobile work device 1 via the wireless communication unit 9 to be printed.

  Next, FIG. 4 to FIG. 6 and the screens of FIG. 11 to FIG. 17 displayed by the control device 7 on the touch panel 53 of the operation display unit 8, together with the respective screens of FIGS. Description will be made with reference to the flowcharts of FIGS. 7 shows a series of operation examples of the cleaning work in autonomous traveling work, FIG. 8 shows an operation example of recommended plan determination, FIG. 9 shows an operation example of setting change, and FIG. 10 shows a floor surface. An example of the operation of detecting contamination of a cell and creating a cleaning history will be shown.

  First, when the autonomous traveling work device 1 operates, the control device 7 displays the menu screen 55 shown in FIG. On the menu screen 55, as an operation mode switching button, a manual operation mode button 55a, an automatic operation mode button 55b, and a data correction mode button 55c are displayed so that a touch operation is possible. The operation mode of the autonomous mobile work device 1 is switched to the manual operation mode when the manual operation mode button 55a is operated, and is switched to the automatic operation mode when the automatic operation mode button 55b is operated. The data correction mode is switched by operating 55c.

  When the manual operation mode button 55 a of the menu screen 55 is operated on the touch panel 53, the control device 7 displays a manual operation screen (not shown) on the touch panel 53 instead of the menu screen 55. On the manual operation screen, for example, a button for executing manual travel is displayed, and travel settings and cleaning settings during manual travel can be changed by operating this button. On the manual operation screen, buttons for operating rotation of the left motor of the left front wheel portion 12 of the traveling unit 3 and the right motor of the right front wheel portion 13 and a display indicating the state of rotation are displayed. Various buttons for manually operating each part and various indicators indicating the operation status of each part of the cleaning unit 5 are displayed. The control device 7 controls the traveling unit 3 and the cleaning unit 5 based on operation signals of various buttons. For example, the manual operation screen includes buttons for operating the speed setting of the traveling unit 3, the rotation and ground pressure of the cleaning member 16a, the cleaning liquid supply and supply water amount of the cleaning liquid supply unit 17, the suction and suction amount of the suction unit 18, and the like. Have. The various buttons for operating the traveling unit 3 and the cleaning unit 5 accept manual operation by the operator while the operation mode of the autonomous traveling work device 1 is set to the manual operation mode.

  When the automatic operation mode button 55b or the data correction mode button 55c on the menu screen 55 is operated on the touch panel 53 (Step S1), the control device 7 replaces the menu screen 55 with the plan selection screen 57 shown in FIG. 53. On the plan selection screen 57, the menu button 57a is displayed so that it can be touched. When the menu button 57a is operated, the automatic operation mode or the data correction mode is ended, and the operation mode of the autonomous mobile work device 1 is turned off. The control device 7 displays a menu screen 55 on the touch panel 53 instead of the plan selection screen 57.

  Furthermore, an area list 58 is displayed on the plan selection screen 57, and the area list 58 includes one or more cleaning areas corresponding to one or more cleaning areas stored in the environment map storage unit 41 of the storage unit 7b. The cleaning area column 59 is listed, and each cleaning area column 59 displays the area name of the cleaning area.

  In the plan selection screen 57, a plan list 60 is displayed in the cleaning area column 59 of each cleaning area. The plan list 60 stores the cleaning area in the travel data storage unit 42 and the cleaning data storage unit 43 of the storage unit 7b. One or more plan items 61 corresponding to each of the one or more plans of the travel data and the cleaning data thus listed are listed, and each plan item 61 has a plan name 61a of the plan and a thumbnail icon 61b of the travel route. Is displayed. In the area list 58 and the plan list 60, one plan item 61 can be selected from all the plan items 61 in all the cleaning area columns 59. Further, the plan selection screen 57 displays a selected plan notation field 57b and a plan decision button 57c that can be touch-operated. In the selected plan notation column 57b, the plan name of the selected plan item 61 is displayed.

  When the plan determination button 57c is operated on the plan selection screen 57 as described above, a cleaning area and a plan corresponding to the selected plan item 61 are selected (step S2). The subsequent operation differs depending on the automatic operation mode and the data correction mode, and here, the operation in the automatic operation mode will be described.

  When the cleaning area is selected, a plan composed of travel data and cleaning data used in the past by the recommended plan determination unit 26 in the cleaning operation of the selected cleaning area is converted into the travel data storage unit 42 and the cleaning data storage unit 43. (Step S3). The recommended plan determination unit 26 determines whether or not two or more plans have been used (exists) for the selected cleaning area based on the read travel data and cleaning data, and further two or more It is determined whether or not the travel route is used (is present) (step S4).

  At this time, when there is only one plan for the selected cleaning area, or when there is only one travel route (step S4: No), the selected plan is used as it is as an execution plan (step S5) An autonomous traveling operation (cleaning) is executed by the autonomous traveling control unit 21 and the automatic cleaning control unit 22 (step S6). During execution of this autonomous traveling work (cleaning), the control device 7 displays a traveling route display screen 66 shown in FIG.

  On the travel route display screen 66, the entire map screen 67, the detail correction screen 68, and the operation key screen 69 are displayed on one screen. The entire map screen 67, the detailed correction screen 68, and the operation key screen 69 may be arranged in various patterns. For example, the entire map screen 67 is in the center, the detailed correction screen 68 is on the right side of the entire map screen 67, and the operation key screen. 69 are arranged on the left side of the entire map screen 67, respectively.

  On the entire map screen 67, an environment map 71 corresponding to the cleaning area of the execution plan is displayed as a whole, and a travel route 72 displayed as a straight line or a curve based on the travel data of the execution plan is superimposed on the environment map 71. Displayed. In the travel route 72, symbols such as squares are displayed at the travel start position 72a and the travel end position 72b. Further, an arrow-shaped direction cursor 72c is displayed at a predetermined designated position on the travel route 72, and the direction of the arrow of the direction cursor 72c indicates the traveling direction. Further, on the entire map screen 67, a travel setting based on travel data of the execution plan and a cleaning setting setting chart based on the cleaning data may be overlapped and displayed along the travel route 72. The entire map screen 67 also includes an enlargement / reduction operation button 67a and a scroll operation button 67b, and enables the environment map 71 and the travel route 72 to be enlarged / reduced and scrolled.

  On the detailed correction screen 68, a step bar 74 is displayed that shows only the straight line that indicates the designated position of the direction cursor 72c on the entire map screen 67 and the surrounding travel route 72 in the order of steps, and the corresponding cursor 74a at the designated position is also displayed. Is done. Further, a setting chart 75 of the same step traveling setting and cleaning setting as the step bar 74 is displayed side by side, and the setting chart 75 is created in the form of a linear bar chart continuous in the order of steps. In the setting chart 75, a portion where the same traveling setting and the same cleaning setting are continued is indicated by a line segment data bar 75a, and a boundary between changes in the traveling setting and the cleaning setting is indicated by a boundary symbol 75b such as a circle. In other words, the travel setting and cleaning setting data bars 75a are connected by the boundary symbol 75b. The detailed correction screen 68 may display a travel speed setting chart 75 as well as the cleaning water supply amount, ground pressure and suction amount setting chart 75. The detailed correction screen 68 may display one or more travel setting and cleaning setting setting charts 75 in various combinations. The cleaning setting setting chart 75 shown in FIG. 11 and the like identifies the difference in the cleaning setting for each data bar 75a by changing the thickness of the line, but the difference in the travel setting and the cleaning setting for each data bar 75a. May be identified by changing shading, shading or color.

  On the operation key screen 69, for example, a menu button 69a, a save button 69b, a travel speed button 69c, a delete button 69d, a travel route correction button 69e, and a stop correction button 69f are displayed so that a touch operation is possible. Since these buttons are not used when automatically changing the travel settings and cleaning settings of the recommended plan in the automatic operation mode, these buttons may be disabled.

  Further, in the determination of the cleaning area plan and the travel route being selected by the recommended plan determination unit 26 (step S4), there are two or more plans for the selected cleaning area, and there are two or more travel routes. Is present (step S4: Yes), the process proceeds to a recommended condition determination process (step S7).

  In the recommended condition determination process (step S7), as shown in FIG. 8, the recommended plan determination unit 26 determines whether or not the number of executions of each travel route has reached a predetermined upper limit number as a recommended condition as described above. Determination is made (step S8).

  By the way, as two or more different travel routes in the same cleaning area, for example, a first travel route in which the cleaning operation is shifted in the vertical direction as shown in FIG. 12, and a horizontal direction as shown in FIG. As shown in FIG. 15, a second traveling route for transferring the cleaning work, a third traveling route for dividing the cleaning area into a plurality of blocks as shown in FIG. 14 and transferring the cleaning work for each block. There is a fourth travel route that travels spirally from the outside toward the center. 12 to 15 show a travel route display screen 66 for displaying the first to fourth travel routes, and the travel route display screen 66 also displays a plurality of cells 71 a assigned to the environment map 71. ing. Two or more travel routes may be created by performing each teaching travel, may be created by inputting data, or may be created by converting a travel route that has already been created. The two or more travel routes may be created by adjusting the cleaning pitch to the interval between the centers of the cells 71a so as to follow all the plurality of cells 71a obtained by dividing the environmental map of the cleaning area.

  For example, the second travel route can be created by rotating the first travel route by 90 degrees and adjusting the first travel route so as to match the environment map. In this way, by changing the direction of the travel route, it becomes difficult for cleaning marks to be generated on the floor surface, and it becomes easy to prevent the carpet from falling down. In addition, by separating the blocks to be cleaned as in the third travel route, while the autonomous traveling work device 1 performs autonomous traveling work (cleaning) of one block, the worker can perform other blocks and cleaning areas. As a result, it is possible to manually clean small places such as the corners of the doors and improve work efficiency. In addition, as in the fourth travel route, by performing the cleaning work from the outside to the center of the cleaning area, the cleaning work can be performed while suppressing the spread of sand, dust, and washing water to the outside. It can be suitably used for cleaning an athletic field such as a court. In this way, by properly using a plurality of travel routes, it is possible to properly use cleaning according to the type of the floor surface, and it becomes more difficult for cleaning marks to be generated on the floor surface, making it easier to prevent the carpet from falling down.

  Then, if there is a travel route that matches the recommended condition in which the number of executions does not reach the predetermined upper limit number (step S8: Yes), the recommended plan determination unit 26 determines the plan consisting of the travel route with the least number of executions. Among these, the plan with the newest creation date (the most recently used) is determined as the recommended plan (step S9). On the other hand, if there is no travel route that matches the recommended condition where the number of executions has not reached the predetermined upper limit number (step S8: No), the most recently created date and time among the plans consisting of the travel route used in the previous cleaning work A new (most recently used) plan is determined as a recommended plan (step S10).

  When the recommended plan is determined in this way, the control device 7 proceeds to the setting change process (step S11) and, as shown in FIG. 9, the contamination frequency of the cleaning area selected by the contamination frequency determination unit 30 is set. In addition to the determination, the setting change unit 31 changes the travel setting and the cleaning setting of the recommended plan according to the contamination frequency.

  Specifically, the contamination frequency determination unit 30 acquires a cleaning history for a certain period from the cleaning history storage unit 46 for each of the plurality of cells 71a in the selected cleaning area (step S12). The contamination frequency determination unit 30 counts the number of times determined to be dirty in the cleaning history of each cell 71a for a certain period (step S13), and if it is equal to or greater than the predetermined number of contaminations (step S14: Yes), The cell 71a is determined as a cell 71a that is easily contaminated (step S15), and otherwise (step S14: No), it is determined as a cell 71a having a normal contamination frequency (step S16). These determination results of the contamination frequency are stored in the contamination frequency storage unit 47.

  Note that the contamination frequency of the plurality of cells 71a determined by the contamination frequency determination unit 30 can be assigned to each cell 71a on the environment map 71 and displayed on the contamination frequency map 77 as shown in FIG. The dirt frequency map 77 is displayed on the entire map screen 67 by operating a dirt frequency display button (not shown) on the operation key screen 69 of the travel route display screen 66, for example. In FIG. 16, as an example, cells 71a having a normal contamination frequency are represented by white, cells 71a that are easily contaminated are represented by hatching that rises to the right, and cells 71a that are difficult to stain are represented by hatching that rises to the left. Further, depending on the contamination frequency, the contamination frequency may be distinguished by changing the hatching interval or the fill color, or may be distinguished by attaching a symbol of “O” or “X”.

  Then, the setting change unit 31 changes the travel setting and the cleaning setting so as to increase the cleaning strength for the easily contaminated cell 71a determined by the contamination frequency determination unit 30 (step S17), and changes the travel setting and the cleaning setting. Accordingly, the new recommended plan in which the travel data and the cleaning data are rewritten is stored in the travel data storage unit 42 and the cleaning data storage unit 43 (step S18).

  When this setting change process (step S11) is completed, as shown in FIG. 7, the process proceeds to notification of a recommended plan (step S19), and the recommended plan notification screen 63 (see FIG. 6) is displayed on the touch panel by the recommended plan notification unit 27. 53. On the recommended plan notification screen 63, a plan item 64 corresponding to the plan for the selected cleaning area is displayed in a selectable manner, and in particular, the plan item 61 of the recommended plan is displayed in the selected state 64a.

  The plan selected on the recommended plan notification screen 63 becomes the execution plan (step S20), and the autonomous traveling work (cleaning) in the selected execution plan is executed by the autonomous traveling control unit 21 and the automatic cleaning control unit 22 for cleaning. Work is performed (step 6).

  During the autonomous running work (cleaning), the control device 7 also performs a cleaning history creation process (step S21) for each cell 71a. In the cleaning history creation process (step S21), as shown in FIG. 10, first, cell information of a plurality of cells divided by the cell dividing unit 28 from the environmental map of the cleaning area being selected (during the cleaning operation) It is taken out from the storage unit 45 (step S22). Further, during the automatic cleaning, the dirt log of the turbidity of the sewage generated by the cleaning for each coordinate of the travel path by the dirt detection unit 11 is stored in the dirt log storage unit 44, and after the automatic cleaning, the cleaning history creation unit 29 A dirt log is extracted (step S23).

  Then, the cleaning history creation unit 29 determines the turbidity of the sewage generated by the cleaning of each cell based on each cell information and the dirt log (step S24). In addition, the cleaning history creation unit 29 determines whether or not the turbidity of each cell exceeds the reference range (step S25). If the turbidity exceeds the reference range (step S25: Yes), the cell is It is determined that the cell is dirty (step S26). Otherwise (step S25: No), it is determined that the cell is not dirty (step S27). In the cleaning history creation unit 29, a cleaning history is created based on the determination result of the contamination status of each cell (step S28), and stored in the cleaning history storage unit 46 (step S29).

  When this cleaning history creation process (step S21) is completed, the cleaning report creation unit 32 creates a cleaning report including the cleaning history of the plurality of cells in the cleaning work and the detailed information of the cleaning work, and the cleaning report storage unit 48. (Step S30).

  The cleaning report created by the cleaning report creation unit 32 can be displayed as a cleaning report display screen 79 as shown in FIG. The cleaning report display screen 79 is displayed on the entire map screen 67 by, for example, operating a cleaning report display button (not shown) on the operation key screen 69 of the travel route display screen 66. In the cleaning report display screen 79, for each cleaning operation, a list 80 of date, type of travel route (travel route name), cell contamination status (presence of dirty cells in a plurality of cells), presence / absence of detailed information, etc. Is displayed. Also, on the cleaning report display screen 79, each cleaning work column can be selected from the cleaning work list 80, and an output button 81 and a display button 82 are displayed to be operable.

  Then, by operating the output button 81 with each cleaning work selected on the cleaning report display screen 79, detailed information on the cleaning work is output by the cleaning report output unit 33. For example, the detailed information of the cleaning work is printed by the cleaning report output unit 33 using a printer, and as shown in FIG. 18, the printed material 84 of the detailed information of the cleaning work includes, for example, a date, an operator name, and an operation time. The type of travel is displayed, and a simplified map of the environment map showing a plurality of cells, travel routes, contamination frequency, etc. is displayed.

  Further, by operating the display button 82 in a state where each cleaning work is selected on the cleaning report display screen 79, detailed information on the cleaning work can be displayed on a cleaning report detail display screen (not shown). The cleaning report detail display screen is displayed on the entire map screen 67 by operating a cleaning report detail display button (not shown) on the operation key screen 69 of the travel route display screen 66, for example. The cleaning report detail display screen may display the same content as the printed matter 84 (see FIG. 18) by the cleaning report output unit 33.

  In the above-described embodiment, the example in which the setting change unit 31 automatically changes the travel data and the cleaning data of the recommended plan based on the determination result of the contamination frequency determination unit 30 has been described. The plan travel data and the cleaning data may be changed according to the operation of the person. For example, when a recommended plan is determined by the recommended plan determination unit 26 in the automatic operation mode, or when a plan is selected in the data correction mode, the travel route display screen 66 (see FIG. 11 etc.) for the plan is displayed. The travel data and the cleaning data may be changed by displaying on the touch panel 53 and using the travel route display screen 66.

  For example, on the entire map screen 67 of the travel route display screen 66, a setting chart for travel settings and cleaning settings can be touch-operated, and travel settings and cleaning settings can be changed according to the operation of the setting chart. For example, the cleaning portion or the non-cleaning portion of the setting chart on the travel route may be expanded or contracted, and the setting content of each cleaning portion may be changeable. In addition, on the whole map screen 67, as shown in FIG. 13, you may alert | report the cell which should change a setting by displaying the contamination frequency of each cell.

  In the detailed correction screen 68, the data bar 75a, the boundary symbol 75b, and the step bar 74 of the setting chart 75 can be touch-operated, and the travel setting and the cleaning setting are changed according to the operation of the data bar 75a and the boundary symbol 75b. can do. For example, the data bar 75a may be expanded or contracted, and the setting contents of each data bar 75a may be changeable.

  On the operation key screen 69, when the menu button 69a is operated, the data correction mode is ended and the operation mode of the autonomous mobile work device 1 is turned off, and the control device 7 replaces the data correction screen 57 with the menu. The screen 40 is displayed on the touch panel 53. In the case of the automatic operation mode, the menu button 69a may be disabled. When the save button 69b is operated, setting changes on the entire map screen 67 and the detailed correction screen 68 are reflected, and a plan composed of new travel data and cleaning data is stored, that is, the travel data storage unit 42 and the cleaning data. It is stored in the storage unit 43. The travel speed button 69 c enables a travel speed change operation for the setting chart on the entire map screen 67 or the data bar 75 a on the detail correction screen 68. The delete button 69d allows the setting chart of the entire map screen 67 or the operation of turning off the cleaning setting for the data bar 75a of the detailed correction screen 68 and the partial deletion of the travel route. The travel route correction button 69e enables the travel route on the entire map screen 67 to be corrected. The stop correction button 69e enables the temporary stop point on the travel route 72 of the entire map screen 67 to be changed to continuous travel. In addition to the various operation keys described above, the operation key screen 69 may include operation keys for performing template correction for travel settings and cleaning settings, such as automatic travel path offset, manual offset, and reverse travel.

  As described above, according to the present embodiment, the autonomous traveling work device 1 capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance includes the device main body 2 and the device main body 2. A traveling unit 3 that travels in a cleaning area (working area), a cleaning unit 5 (working unit) that performs cleaning (working) on a traveling route in the cleaning area of the apparatus body 2, a traveling route of the traveling unit 3, and There are a storage unit 7b for storing a plan composed of a combination of the traveling setting and the cleaning setting (work setting) of the cleaning unit for autonomous traveling work, and there are two or more plans, and these two or more plans are two. In the case of any one of two or more travel routes, a recommended plan determination unit 26 that determines a recommended plan that meets a predetermined recommended condition from two or more plans at the start of autonomous driving work, and a recommended plan determination unit 26 It comprises a recommended plan notification unit 27 for notifying the recommended plan of the constant result.

  With such a configuration, in the autonomous traveling work device 1 according to the present embodiment, the recommendation of the plan determined to be more appropriate for the cleaning work of the cleaning floor is notified, so the selection of the cleaning work based on the more appropriate plan It is possible for the worker to recognize that is recommended. As a result, the efficiency of the automatic cleaning work can be improved, and the aesthetics of the cleaning area can be kept high. Thus, according to the present invention, it is possible to suppress damage caused by work on the floor surface of a commercial facility or the like, to respond to a change in a place where work should be performed in the same work area, and to change the floor regardless of the operator's change. The surface can be properly maintained.

  Moreover, in this embodiment, the memory | storage part 7b memorize | stores the frequency | count of execution of each autonomous driving | running | working operation | work of two or more driving | running routes, and the recommendation plan determination part 26 reaches the predetermined | prescribed upper limit number of times of execution of a driving | running route. It is better to determine whether or not the recommended condition is met for each of two or more plans.

  With such a configuration, switching to the cleaning work in the recommended plan can be performed more appropriately, and generation of cleaning marks or the like on the floor surface of the cleaning area can be more effectively suppressed.

  In the present embodiment, the recommended plan determination unit 26 may determine the recommended plan after an operation for selecting a cleaning area for performing the autonomous traveling work is performed at the start of the autonomous traveling work.

  With such a configuration, it is possible to determine a plan to be recommended at an appropriate timing and to notify the operator of the existence of the recommended plan at an appropriate timing.

  In the present embodiment, the recommended plan notification unit 27 displays a recommended plan notification screen 63 displaying the recommended plan in a selected state on the touch panel 53 (display unit) while displaying two or more plans in a selectable manner. It is better to notify the recommended plan.

  With such a configuration, it is possible to easily select a recommended plan for the worker.

  Moreover, in this embodiment, the cleaning part 5 is comprised so that the cleaning operation | work of cleaning, washing | cleaning, grinding | polishing, or peeling of a floor surface may be performed. In addition, the autonomous traveling work device 1 is soiled after the cleaning work for each of a plurality of cells that divide the cleaning area and the dirt detection unit 11 that detects the dirt on the floor surface based on the result of the cleaning work of the cleaning unit 5. A cleaning history creation unit 29 that determines whether or not each cell is dirty, and the cleaning history creation unit 29 determines that each cell is dirty when the detection result of the stain detection unit 11 of each cell is equal to or greater than a predetermined reference range. Good.

  With such a configuration, it is possible to appropriately grasp the dirt for each place on the floor surface.

  In the present embodiment, the cleaning history creation unit 29 stores the determination result of whether or not each cell is dirty in the cleaning history storage unit 46 of the storage unit 7b as the cleaning history of each cell, and the cleaning history storage unit 46 It is preferable to statistically determine the floor contamination frequency based on the cleaning histories of a plurality of cells stored in, and create a new recommended plan based on the determination result.

  With such a configuration, the dirt frequency for each place on the floor surface is statistically determined, so that the tendency of dirt for each place can be properly grasped, and the travel settings and cleaning settings are changed appropriately according to the tendency. Or, you can recommend an appropriately created plan. And when an operator selects this plan, it becomes possible to perform an efficient cleaning operation. For example, it is possible to remove dirt by increasing the cleaning strength by slowing the traveling speed, increasing the amount of sprinkling of the cleaning liquid, and increasing the ground pressure of the cleaning pad for the cells on the floor surface that are easily contaminated, Further, by notifying an operator of a cell on the floor surface that is easily soiled, only the cell can be additionally cleaned by an operator.

  Moreover, in this embodiment, it is good to create and output the cleaning report which shows the detailed information of autonomous running work.

  With such a configuration, it is possible to display a list of cleaning reports indicating past cleaning statuses, or to output and manage them as prints or data files. Thereby, the worker who has seen the report can confirm the cleaning report after the automatic cleaning work, and can additionally follow a dirty cell or a cell that is easily contaminated by cleaning.

  In the above-described embodiment, the setting change unit 31 of the control device 7 is based on the contamination frequency of a plurality of cells by the contamination frequency determination unit 30, and the recommended plan in which the travel setting and the cleaning setting are changed from the recommended plan that is past data. However, the recommended plan to be created is not limited to this.

  For example, in another embodiment, as illustrated in FIG. 3, the control unit 7 a of the control device 7 includes a battery remaining amount detection unit 34 and a water amount determination unit 35. The battery remaining amount detection unit 34 and the water amount determination unit 35 may be configured by a program stored in the storage unit 7b and executed by the control unit 7a. The battery remaining amount detection unit 34 detects the remaining capacity of the battery of the power supply device 10 and outputs a signal indicating the detection result to the control device 7. The water amount determination unit 35 calculates the water amount of each tank based on the detection result of the water level sensor 19 provided in the cleaning liquid tank of the cleaning liquid supply unit 17 and the sewage tank of the suction unit 18, and the remaining amount of cleaning water in the cleaning liquid tank And the amount of collected sewage in the sewage tank (empty capacity in the sewage tank) is determined.

  The setting changing unit 31 sets the remaining time (cleanable time) allocated to the cleaning operation, the remaining amount of the battery of the power supply device 10, the remaining amount of the cleaning liquid tank of the cleaning liquid supply unit 17, and the free capacity of the sewage tank of the suction unit 18. Based on the recommended plan determined by the recommended plan determination unit 26, it is determined whether or not the entire cleaning area can be cleaned.

  For example, when the cleaning time is shorter than the required work time of the recommended plan, when the remaining amount of the battery is small, or when the remaining amount of the cleaning liquid tank or the free capacity of the sewage tank is small, it is determined that the cleaning operation cannot be performed. When it is determined that the entire cleaning area can be cleaned with the recommended plan, a recommended plan in which the travel setting and the cleaning setting are changed from the recommended plan that is past data is created as in the above embodiment.

  On the other hand, if it is determined that the entire cleaning area cannot be cleaned by the recommended plan, the setting changing unit 31 determines that the cells determined to be dirty or easily contaminated based on the cleaning history and the contamination frequency of the plurality of cells. The determined cell is determined as a cleaning target cell. Then, as illustrated in FIG. 19, the setting change unit 31 creates travel data including the fifth travel route 72 of the shortest route that passes only through the cleaning target cell and the travel settings, and cleans only the cleaning target cell. Create cleaning data consisting of settings. The setting changing unit 31 sets a spot cleaning plan for performing work only for such a cleaning target cell as a new recommended plan. In addition, after the cleaning work by autonomous running work in the spot cleaning plan is completed, if there is room for cleaning time, remaining battery capacity, cleaning liquid tank capacity, sewage tank free capacity, uncleaned cells You may perform the cleaning work by autonomous running work.

  Alternatively, the setting changing unit 31 determines a cell determined not to be dirty or a cell determined to be difficult to be dirty as a non-cleaning target cell based on the cleaning history and the contamination frequency of the plurality of cells, and the non-cleaning target cell. It is also possible to create a plan that omits the cleaning work and make it a recommended plan. Alternatively, the setting changing unit 31 changes the travel settings and cleaning settings from the recommended plan, which are past data, according to the cleaning possible time, the remaining amount of the battery, the remaining amount of the cleaning liquid tank, and the free capacity of the sewage tank. You may decide.

  In this way, using a spot cleaning plan or a plan to avoid cleaning based on the data of cells that are likely to become dirty or difficult to get dirty, the time required for cleaning can be shortened, and autonomous operation can be achieved by running out of battery, washing water, and washing It is possible to avoid troubles during traveling.

  In the above-described embodiment, the contamination frequency determination unit 30 of the control device 7 determines the contamination frequency of each cell based on the cleaning history of a plurality of cells, but the determination material for the contamination frequency is not limited to this.

  For example, in another embodiment, as illustrated in FIG. 3, the control unit 7 a of the control device 7 includes an environment information acquisition unit 36. The environment information acquisition unit 36 may be configured by a program stored in the storage unit 7b and executed by the control unit 7a. The storage unit 7b includes an environment information storage unit 49 that stores one or more pieces of environment information related to an environment such as an event or weather before the cleaning work is performed. The environment information storage unit 49 may be configured to be readable and writable by a part of the hard disk or flash memory of the storage unit 7b.

  The environment information acquisition unit 36 acquires environment information related to the environment such as an event or weather in the cleaning area and stores it in the environment information storage unit 49. For example, as environmental information about an event, as shown in FIG. 20, the date and time (date and time) when the event is held, the type of business day (normal day, busy day, etc.), the location of each floor or venue, the event Type (character show, product exhibition, etc.), event ID indicating the level of congestion, and the like. In the cleaning area, the floor near the venue for such an event becomes particularly dirty. Environmental information related to the event is stored as data such as an annual schedule in a server (not shown) held by a facility having a cleaning area, a store operating company, or the like. It is automatically acquired by periodically connecting to the server by FTP (File Transfer Protocol) communication or general-purpose software.

  The environmental information related to the weather includes the date and the type of weather (sunny, cloudy, rain, etc.). Furthermore, environmental information related to the weather includes information specific to each region, such as winter snow in Hokuriku and Tohoku regions, yellow sand in early spring in the Kyushu region, and volcanic ash from the eruption of Sakurajima in Kagoshima Prefecture. . In the cleaning area, the floor near the entrance, which is easily affected by the weather, becomes particularly dirty. The environment information related to the weather is stored in a dedicated site such as a Web information providing service, and the environment information acquisition unit 36 periodically connects to the site by FTP communication via the wireless communication unit 9 and automatically To get to.

  In addition, the environment information acquisition part 36 is not limited to acquiring environment information automatically as mentioned above, You may acquire the environment information input manually by the operator.

  In this embodiment, when the cleaning history creation unit 29 stores the cleaning history in the cleaning history storage unit 46 at the time of the cleaning operation, environmental information related to the environment such as an event or weather before the cleaning operation is performed is stored in the environment information storage unit. By acquiring and adding from 49, environmental information is added to the cleaning history of the past cleaning work. For example, information such as the cleaning history of each cleaning operation stored in the cleaning history storage unit 46 in association with environmental information such as event information and weather information is shown in FIG. The cleaning history of each cleaning operation includes the date, the dirt status of each cell, the type of business day, the weather, the plan for the cleaning operation, and the event ID.

  The contamination frequency determination unit 30 statistically determines the contamination frequency of each cell based on the environmental information stored in the environmental information storage unit 49 in addition to the cleaning history of a plurality of cells. When performing the current cleaning work, the contamination frequency determination unit 30 acquires the current environment information stored in the environment information storage unit 49, and from the past cleaning history stored in the cleaning history storage unit 46, A cleaning history (hereinafter referred to as a related cleaning history) to which environmental information similar to the environmental information is added is acquired.

  Then, the contamination frequency determination unit 30 aggregates past related cleaning histories in addition to the cleaning history of the most recent fixed period, and statistically determines the contamination frequency of each cell based on the aggregation result. As a result, the contamination frequency can be determined not only according to the current contamination state of the floor surface but also according to the environment such as an event or weather when the cleaning operation is performed.

  For example, FIG. 21 shows a weekly cleaning history when event B is held in September 2015 and a weekly cleaning history when the same event B is held in September 2016. Referring to these cleaning histories, cells that are not soiled on a normal day without Event B tend to be soiled on busy days where Event B is held, and this trend is the same for both 2015 and 2016. Since it appears in B, it can be determined that the dirt is peculiar to this event B. Therefore, the dirt frequency determination unit 30 changes the cleaning setting when the event B is held in the current cleaning work based on the cleaning history at the past event B holding, so that the floor surface peculiar to the event B is changed. The dirt can be cleaned.

  In FIG. 21, a cleaning history on a rainy day in September 2015 and a cleaning history on a rainy day in September 2016 are shown. With reference to these cleaning histories, cells that are less soiled on clear and cloudy days tend to be more soiled on rainy days, even on normal days that are not busy, this trend in both 2015 and 2016. Since it appears on a rainy day, it can be determined that the stain is peculiar to a rainy day. Therefore, the dirt frequency determination unit 30 cleans the floor dirt peculiar to a rainy day by changing the cleaning setting on a rainy day based on the past rainy day cleaning history in the current cleaning work. can do.

  In this way, by comparing and statistically examining the cleaning history of each cell in the cleaning area associated with environmental information such as weather and events, it is possible to identify the characteristic dirt situation of each cell that is not easily known by the operator. I can grasp it. Furthermore, it is possible to appropriately change the travel settings and the cleaning settings based on the characteristic dirt situation of each cell, to improve the efficiency of automatic cleaning work, and to keep the beauty of the cleaning area high. It becomes possible.

  In the above-described embodiment, the recommended plan determination unit 26 sets the travel route plan that matches the recommended condition, with the recommended condition that the number of executions or the execution time of the travel route has not reached the predetermined upper limit number or upper limit time. Although the example of using as the recommended plan has been described, the recommended plan is not limited to this. For example, the recommended plan determination unit 26 may determine the day of the week on which the cleaning operation is performed, and may select a plan that differs for each day of the week as the recommended plan. The recommended plan determination unit 26 may determine the plan of the first travel route as the recommended plan from Monday to Saturday, and may determine the recommended plan by switching the plans of the second to fifth travel routes on Sunday. In addition, the day of the week may be determined and switched (for example, the plan is changed to a recommended plan every Tuesday).

  Further, in the above-described embodiment, the dirt detection unit 11 has been described as an example of detecting dirt on the floor surface by measuring the turbidity of the cleaning sewage collected in the sewage tank using a turbidimeter. The method for detecting dirt is not limited to this. For example, the dirt detection unit 11 may be mounted with an imaging device such as a camera to take an image of the floor surface, and determine the dirt on the floor surface based on the imaging data. The stain detection unit 11 may determine the stain on the floor from the difference in color of the captured data, or may determine the stain on the floor by image recognition processing. Note that this imaging data may be stored and attached to the cleaning report.

  In the above-described embodiment, the cleaning unit 5 has been described as an example of a wet cleaning mechanism including the cleaning unit 16, the cleaning liquid supply unit 17, and the suction unit 18, but the cleaning unit 5 is limited to this example. Instead, a dry cleaning mechanism may be used.

  Further, the present invention can be appropriately changed without departing from the spirit or idea of the invention which can be read from the claims and the entire specification, and an autonomous traveling work apparatus accompanied by such a change is also a technique of the present invention. Included in thought.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for an autonomous traveling work device capable of autonomous traveling work and a business automatic floor cleaning / cleaning device configured integrally therewith in accordance with a program input in advance. In addition to this, the present invention can also be suitably used for agricultural equipment such as lawn mowers, rice planters, and rice mowers.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work apparatus 2 Apparatus main body 3 Traveling part 5 Cleaning part (working part)
DESCRIPTION OF SYMBOLS 6 Measurement part 7 Control apparatus 7a Control part 7b Memory | storage part 8 Operation display part 9 Wireless communication part 10 Power supply device 11 Dirt detection part 16 Cleaning part 17 Cleaning liquid supply part 18 Suction part 19 Water level sensor 21 Autonomous traveling control part 22 Automatic cleaning control part DESCRIPTION OF SYMBOLS 23 Environmental map creation part 24 Driving | running | working data creation part 25 Cleaning data creation part 26 Recommended plan determination part 27 Recommended plan alerting | reporting part 28 Cell division part 29 Cleaning history creation part 30 Contamination frequency determination part 31 Setting change part 32 Cleaning report creation part 33 Cleaning Report output unit 34 Battery remaining amount detection unit 35 Water amount determination unit 36 Environmental information acquisition unit 41 Environmental map storage unit 42 Travel data storage unit 43 Cleaning data storage unit 44 Dirt log storage unit 45 Cell storage unit 46 Cleaning history storage unit 47 Contamination frequency Storage unit 48 Cleaning report storage unit 49 Environmental information storage unit 57 Plan selection Surface 58 Area list 59 Cleaning area column 60 Plan list 61 Plan item 63 Recommended plan notification screen 64 Plan selection key 64a Selection state 66 Travel route display screen 67 Overall map screen 68 Detailed correction screen 69 Operation key screen 71 Environmental map 71a Cell 72 Travel Route 77 Dirt frequency map 79 Cleaning report display screen

Claims (7)

An autonomous traveling work device capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance,
The device body;
A traveling unit that travels the apparatus body in a work area;
A working unit for performing work on a travel route in the work area of the apparatus body;
A storage unit that stores a plan composed of a combination of a travel route and a travel setting of the travel unit and a work setting of the working unit for the autonomous travel operation;
When two or more of the plans exist and the two or more plans consist of any of the two or more travel routes, a predetermined recommended condition from the two or more plans at the start of the autonomous traveling work A recommended plan determination unit that determines a recommended plan that matches
An autonomous traveling work device comprising: a recommended plan notifying unit that notifies the recommended plan of the determination result by the recommended plan determining unit. The storage unit stores the number of executions of the autonomous traveling work for each of the two or more traveling routes,
The recommended plan determination unit determines whether the recommended condition is met for each of the two or more plans, with the recommended condition that the number of executions of the travel route has not reached a predetermined upper limit number. The autonomous traveling work device according to claim 1, wherein:   The said recommended plan determination part performs determination of the said recommended plan after selection operation of the said work area which performs the said autonomous traveling work at the time of the start of the said autonomous traveling work is performed. 2. The autonomous traveling work device according to 2.   The recommended plan notification unit performs notification of the recommended plan by displaying a recommended plan notification screen displaying the recommended plan in a selected state while displaying the two or more plans in a selectable manner. The autonomous traveling work device according to any one of claims 1 to 3, wherein The working unit is configured to perform cleaning work for floor cleaning, washing, polishing or peeling as the work,
A dirt detecting unit for detecting dirt on the floor surface based on the result of the cleaning operation of the working unit;
A cleaning history creation unit that determines whether or not each cell that has divided the work area was dirty after the cleaning work,
The said cleaning history preparation part determines with each said cell having been dirty when the detection result by the said stain | pollution | contamination detection part of each said cell is beyond a predetermined reference range, Any one of Claims 1-4 characterized by the above-mentioned. The autonomous traveling work apparatus of Claim 1. The cleaning history creation unit stores a determination result of whether or not each cell is dirty in the storage unit as a cleaning history of each cell,
Based on the cleaning history of the plurality of cells stored in the storage unit, the stain frequency of the floor surface is statistically determined, and a new recommended plan is created based on the determination result. The autonomous traveling work device according to claim 5.   The autonomous traveling work apparatus according to any one of claims 1 to 6, wherein a report indicating detailed information of the autonomous traveling work is created and output.

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