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Control method of autonomous cleaner, control device, non-transitory computer-readable recording medium storing a control program, and autonomous cleaner

  • US 10,694,910 B2
  • Filed: 02/15/2018
  • Issued: 06/30/2020
  • Est. Priority Date: 03/01/2017
  • Status: Active Grant
First Claim
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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:

  • 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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