AUTONOMOUSLY TRAVELING FLOOR WASHER, CLEANING SCHEDULE DATA STRUCTURE, STORAGE MEDIUM, METHOD FOR CREATING CLEANING SCHEDULE, AND PROGRAM
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Abstract
In an autonomously traveling floor washer, a position estimating unit estimates position data. When a manual operation teaching mode is being executed, a taught data obtaining unit obtains taught position data and a taught cleaning condition at a taught data obtaining time. A cleaning schedule generation unit generates a cleaning schedule. When an autonomous cleaning mode is executed, a cleaning reproduction unit calculates and outputs a reproduced travel control command and a reproduced cleaning condition in an elapsed time based on the cleaning schedule. An elapsed time determining unit determines the taught data obtaining time and the elapsed time.
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Citations
19 Claims
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1-10. -10. (canceled)
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11. An autonomously traveling floor washer that autonomously travels and cleans by reproducing a taught cleaning condition and a taught travel route, the autonomously traveling floor washer comprising:
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a cleaning unit that cleans a floor surface in accordance with a cleaning condition; a traveling unit that travels in accordance with an operator'"'"'s operation or a travel control command; a position estimating unit that estimates position data including information regarding a position and a direction of the traveling unit on the travel route in a predetermined coordinate system; a cleaning condition teaching unit that accepts an input of the cleaning condition by the operator and outputs the cleaning condition to the cleaning unit; a travel route teaching unit that accepts an operation of moving the traveling unit by the operator; a taught data obtaining unit that obtains taught position data as the position data estimated by the position estimating unit and a taught cleaning condition as the cleaning condition taught by the cleaning condition teaching unit at a taught data obtaining time when a manual operation teaching mode is executed in which the operator'"'"'s operation teaches the cleaning condition and the travel route; a cleaning schedule generation unit that generates and stores a cleaning schedule in which the taught position data and the taught cleaning condition are associated with the taught data obtaining time; a cleaning reproduction unit that calculates a reproduced cleaning condition and a reproduced travel control command at a predetermined elapsed time from start of execution of an autonomous cleaning mode based on the taught data obtaining time, the taught cleaning condition, and the taught position data stored in the cleaning schedule, and to output the reproduced cleaning condition and the reproduced travel control command to the cleaning unit and the traveling unit, respectively, when the autonomous cleaning mode is executed in which autonomous traveling and cleaning is performed; and an elapsed time determining unit that determines the taught data obtaining time and the predetermined elapsed time;
whereinthe elapsed time from start of execution of the autonomous cleaning mode is determined based on the position data estimated by the position estimating unit. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A method of autonomous cleaning for causing an autonomously traveling floor washer to autonomously travel and clean in accordance with a cleaning schedule, the autonomously traveling floor washer including a traveling unit and a cleaning unit that cleans a floor surface, the cleaning schedule being a schedule in which a taught cleaning condition and a taught position data are stored and associated with taught data obtaining time, the taught cleaning condition being a cleaning condition taught by an operator, the taught position data being position data on a travel route taught by the operator, and the taught data obtaining time being time at which the taught position data and the taught cleaning condition are obtained, the method of autonomous cleaning including:
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estimating a position of the autonomously traveling floor washer; determining elapsed time from start of execution of an autonomous cleaning mode based on the estimated position of the autonomously traveling floor washer, the autonomous cleaning mode being a mode in which the autonomously traveling floor washer autonomously travels and cleans; calculating a reproduced cleaning condition and a reproduced travel control command at the elapsed time based on the taught data obtaining time, the taught cleaning condition, and the taught position data; and controlling the traveling unit based on the reproduced travel control command and controlling the cleaning unit based on the reproduced cleaning condition. - View Dependent Claims (19)
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Specification