Control method of autonomous cleaner, control device, non-transitory computer-readable recording medium storing a control program, and autonomous cleaner
First Claim
1. A control method of a control device having a processor and a memory, and that controls an autonomous cleaner, the method comprising:
- obtaining, by the processor, an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner;
estimating, by the processor, a person-present position at which a person is present in the predetermined space;
dividing, by the processor, the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner;
identifying, by the processor, a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area;
identifying, by the processor, cleaning target areas adjacent to the person-present cleaning target area as surrounding cleaning target areas;
excluding, by the processor and from the plurality of cleaning target areas, the person-present cleaning target area and the surrounding cleaning target areas from cleaning by the autonomous cleaner; and
determining, by the processor and among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target areas to be cleanable areas,wherein at least one unoccupied cleaning target area is present between each of the cleanable areas and the person-present cleaning target area.
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Accused Products
Abstract
A management device that controls an autonomous cleaner includes a processing circuitry that obtains an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner. The management device estimates a person-present position at which a person is present in the predetermined space, and divides the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner. The management device further identifies a cleaning target area including the person-present position where the person is estimated to be present, as a person-present cleaning target area. The management device further identifies a cleaning target area around the person-present cleaning target area as a surrounding cleaning target area. The management device determines, among the multiple cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target area to be cleanable areas.
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Citations
16 Claims
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1. A control method of a control device having a processor and a memory, and that controls an autonomous cleaner, the method comprising:
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obtaining, by the processor, an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner; estimating, by the processor, a person-present position at which a person is present in the predetermined space; dividing, by the processor, the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner; identifying, by the processor, a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area; identifying, by the processor, cleaning target areas adjacent to the person-present cleaning target area as surrounding cleaning target areas; excluding, by the processor and from the plurality of cleaning target areas, the person-present cleaning target area and the surrounding cleaning target areas from cleaning by the autonomous cleaner; and determining, by the processor and among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target areas to be cleanable areas, wherein at least one unoccupied cleaning target area is present between each of the cleanable areas and the person-present cleaning target area. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13)
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6. A control method of a control device having a processor and a memory, and that controls an autonomous cleaner, the method comprising:
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obtaining, by the processor, an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner; estimating, by the processor, a person-present position at which a person is present in the predetermined space; dividing, by the processor, the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner; identifying, by the processor, a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area; identifying, by the processor, a cleaning target area around the person-present cleaning target area as a surrounding cleaning target area; determining, by the processor and among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target area to be cleanable areas; outputting, by the processor, cleaning instruction information to cause the autonomous cleaner to perform a cleaning operation on the cleanable areas; and outputting, by the processor, when one or more areas of the plurality of cleanable areas have been identified as the cleanable areas, the cleaning instruction information including an instruction to cause the autonomous cleaner to clean a cleanable area, among the cleanable areas, that is located at a position farthest from the person-present cleaning target area.
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14. A control method that controls an autonomous cleaner, the device comprising:
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processing circuitry; and a memory storage including at least one set of instructions that, when executed by the processing circuitry, cause the processing circuitry to perform operations including obtaining an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner, estimating a person-present position at which a person is present in the predetermined space, dividing the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner, identifying a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area, identifying cleaning target areas adjacent to the person-present cleaning target area as surrounding cleaning target areas, excluding, from the plurality of cleaning target areas, the person-present cleaning target area and the surrounding cleaning target areas from cleaning by the autonomous cleaner, and determining, among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target areas to be cleanable areas, wherein at least one unoccupied cleaning target area is present between each of the cleanable areas and the person-present cleaning target area.
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15. A non-transitory computer-readable recording medium storing a control program to control an autonomous cleaner, the program, when executed by a computer, causing the computer to execute a method including
obtaining an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner, estimating a person-present position at which a person is present in the predetermined space, dividing the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner, identifying a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area, identifying cleaning target areas adjacent to the person-present cleaning target area as surrounding cleaning target areas, excluding, from the plurality of cleaning target areas, the person-present cleaning target area and the surrounding cleaning target areas from cleaning by the autonomous cleaner, and determining, among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target area to be cleanable areas, wherein at least one unoccupied cleaning target area is present between each of the cleanable areas and the person-present cleaning target area.
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16. An autonomous cleaner that cleans while autonomously traveling, comprising:
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processing circuitry; and a memory storage including at least one set of instructions that, when executed by the processing circuitry, cause the processing circuitry to perform operations including obtaining an electronic floor plan of a predetermined space, the predetermined space being a cleaning range of the autonomous cleaner, estimating a person-present position at which a person is present in the predetermined space, dividing the predetermined space into a plurality of cleaning target areas to be individually cleaned by the autonomous cleaner, identifying a cleaning target area including the person-present position where the person is estimated to be present, among the plurality of cleaning target areas, as a person-present cleaning target area, identifying cleaning target areas adjacent to the person-present cleaning target area as surrounding cleaning target areas, excluding, from the plurality of cleaning target areas, the person-present cleaning target area and the surrounding cleaning target areas from cleaning by the autonomous cleaner, and determining, among the plurality of cleaning target areas, cleaning target areas other than the person-present cleaning target area and the surrounding cleaning target areas to be cleanable areas, and moving to the cleanable area and performing a cleaning operation in the cleanable area, wherein at least one unoccupied cleaning target area is present between each of the cleanable areas and the person-present cleaning target area.
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Specification