JP2005205028A - Self-propelled vacuum cleaner - Google Patents

Abstract

Provided is a self-propelled cleaner that can reduce a burden on a control unit by dividing a cleaning area in a cleaning area such as a room or a store.
A cleaner 10 travels in a cleaning area and creates a simple whole map 50 from detection results of a detection sensor 12. The created entire map 50 is referred to and divided into a plurality of divided areas 60. One of the divided areas 60 is selected, and the detailed map 70 is created while actually traveling. A travel route in the divided area 60 is determined with reference to the detailed map 70. Cleaning is performed according to the travel route, and the detailed map 70 is deleted after the cleaning is completed.
[Selection] Figure 3

Description

  The present invention relates to a self-propelled cleaner that can automatically run and clean indoors.

  2. Description of the Related Art Conventionally, self-propelled cleaners that travel while adapting to a traveling environment have been used to clean rooms and shops. This self-propelled cleaner keeps track of the unknown space.

  Therefore, in Patent Document 1, an attribute corresponding to the state of the traveling space is registered in the map, and the map is divided based on this map information. It is disclosed that a travel route is determined in each divided map. Patent Document 2 discloses an operation of avoiding a collision between autonomous mobile robots and giving a route to another autonomous mobile robot when a plurality of autonomous mobile robots work in the same work area. Yes.

JP-A-8-16241 (paragraphs 0006 to 0010, FIG. 12)

JP-A-8-63229 (paragraphs 0007 to 0008, FIGS. 4 and 7 to 10)

  The cleaner itself travels in the travel space, creates a map indicating the size and shape of the travel space by the mapping operation, and then determines the travel route necessary for autonomous travel based on the map. However, when the object to be cleaned is a wide range, a large-capacity storage device is required to hold the map information, and a high calculation capability is required to determine the travel route. Since the travel route is determined based on the wide-area map information, if detailed information is not known, the travel route may be inefficient.

  Therefore, an object of the present invention is to provide a self-propelled vacuum cleaner that can efficiently clean a room, a store, and other areas to be cleaned by grasping the situation of the cleaning area and dividing the cleaning area. Yes.

  In order to achieve the above object, the present invention includes a detection sensor that detects a surrounding situation and a control unit that controls movement according to the surrounding situation, and the control unit is based on a detection result of the detection sensor. Cleaning area dividing means for dividing the cleaning area into a plurality of divided areas, detailed map creating means for creating a detailed map of the divided areas, and travel route determining means for determining a travel route in the divided areas based on the detailed map It is characterized by having.

  The control unit of the cleaner holds information such as the created entire map and detailed map. For this reason, when the cleaning area is wide, there is a risk that the amount of information that can be held in the memory of the control unit may be insufficient, so the amount of information to be held is made as small as possible. That is, the control unit creates a simple overall map from the surrounding conditions detected by the detection sensor, and divides the map into a plurality of divided regions while referring to the created overall map. Further, a detailed map is created for each divided area to be cleaned, and a travel route is determined based on the detailed map. Thereby, since the detailed map of a division area is a map of a narrow range, the control part can reduce the information content to hold | maintain. In addition, since the traveling range is narrow, the time required to determine the traveling route can be shortened.

  Further, after cleaning one divided area, the control unit deletes the detailed map of the divided area, and then creates a detailed map of the divided area to be cleaned next. Accordingly, the control unit only needs to hold the minimum necessary information, and can reduce the amount of information to be held.

  Moreover, a control part divides | segments a cleaning area | region based on the environmental information in a cleaning area | region. That is, the status of the cleaning area is determined from the environmental information such as the position of the obstacle and the floor type, and optimal division is performed according to the status.

  For example, when the environmental information is a floor type in the cleaning area, the control unit determines a divided area for each floor type. Depending on the floor type, the cleaning power brush is changed for cleaning. Therefore, by setting the divided area according to the floor type, the divided area can be cleaned without changing the rotation speed of the power brush. That is, the cleaner can efficiently perform cleaning according to the situation of each divided area.

  Further, when the environmental information is the number and position of obstacles in the area to be cleaned, the control unit determines the divided areas according to the number of obstacles. For example, when there are many obstacles, a small divided area is used. Even if there are many obstacles, the divided area becomes narrow, so that the control unit can easily determine the travel route. In other words, since the size of the divided area can be changed depending on the number of obstacles, the travel route can be simplified, and the cleaner can clean efficiently.

  Furthermore, a plurality of cleaning machines having different cleaning capabilities for cleaning while moving are combined, and each cleaning machine is cleaned in parallel. In this case, at least one of the cleaners detects the cleaning area, creates an entire map, and divides it into a plurality of divided areas. Further, each cleaning machine sharing each divided area is determined based on the cleaning ability of the cleaning machine, and this determination is performed by one cleaning machine or a management device that manages the entire cleaning. Each cleaner creates a detailed map of the determined divided area and determines a travel route based on the detailed map. Thereby, each cleaner can clean each division | segmentation area | region, without mutually interfering with cleaning, a driving | running | working, etc. Moreover, since each cleaning machine holds only the detailed map information of the divided area in charge, the amount of information can be reduced.

  As described above, according to the present invention, by creating a detailed map in each divided area in the cleaning area, the amount of information to be held can be reduced, and the time required for determining the travel route can be reduced. It can be shortened. Therefore, it is possible to reduce the load applied to the control unit, and it is possible to select a route carefully when determining the travel route, and to perform efficient cleaning. Moreover, when performing by a some cleaning machine, the cleaning range of each cleaning machine becomes clear by creating a division | segmentation area | region, and the share of each cleaning machine can be decided to a suitable material suitable place. As a result, even in a space with an obstacle, it can be cleaned all over, no unnecessary cleaning is required, and efficiency can be improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 is a perspective view of a cleaning machine according to the present invention, FIG. 2 is a control block diagram, FIG. 3A is an overall map of a cleaning area, FIG. 3B is a detailed map of a divided area obtained by dividing the cleaning area, and FIG. 4 is a detailed map when the divided area is determined based on the floor type, FIG. 5 is a flowchart for cleaning the divided area based on the floor type, and FIG. 6 is a divided area determined based on the number of obstacles. 7 is a flowchart for cleaning a divided area based on the number of obstacles, FIG. 8 is a diagram for explaining a method for determining a travel route, and (a) is a detailed view of the divided area, (B) is a figure which shows the 1st driving | running route of a division area, (c) is a figure which shows the 2nd driving | running route of a division area.

  As shown in FIGS. 1 and 2, the cleaning machine 10 of the present invention moves a dome-shaped cleaning machine main body 11, a cleaning device 20 that sucks dust, dust, and the like on the floor, and a cleaning area. Moving device 30, a detection sensor for detecting the surrounding situation, and a control unit 40 for controlling cleaning device 20 and moving device 30 based on the detection result of the detection sensor. A cleaning device 40 is mounted on the main body 11 and a control unit 40 is built therein. The bottom surface of the main body is a flat rectangle, and the top surface is also flat. From this upper surface to the front surface, it is a gentle curved surface so that the upper corner does not hit the obstacle.

  The cleaning device 20 is configured in the same manner as a general vacuum cleaner, and sucks dust, dust, and the like together with air from a nozzle 21 provided on the front bottom surface of the main body 11, and a dust collection bag ( Dust such as dust and dirt is collected in (not shown). At that time, the air sucked together with the dust is exhausted from an exhaust port (not shown). The nozzle 21 is formed wider than the width of the main body 11 and can clean a wide area at a time.

  The moving device 30 includes a drive motor (not shown) built in the main body, a pair of left and right drive wheels 31 driven by the drive motor, and auxiliary wheels that support the main body 11 during traveling. The drive motor is built in the main body 11 and transmits power to the drive wheels 31 via a power transmission unit (not shown) such as a shaft or gear. The drive wheels 31 are provided on both rear sides of the side surface of the main body 11 and rotate independently on the left and right sides. During forward travel, both drive wheels 31 rotate simultaneously in the forward direction, and during reverse travel, both drive wheels 31 rotate simultaneously in the reverse direction. At the time of turning, each drive wheel 31 rotates in a different direction, or one drive wheel 31 is stopped and the other drive wheel 31 is driven to rotate. The auxiliary wheel is disposed between the nozzle 21 and the driving wheel 31 provided on the front surface of the main body. The auxiliary wheel rotates in the left-right direction so that the main body 11 can travel smoothly along the movement of the drive wheel 31. Therefore, the cleaner 10 can travel freely by a combination of operations such as forward movement, backward movement, turning, and stopping.

  As a detection sensor, it has the distance sensor 12 which consists of non-contact-type sensors, such as an infrared sensor and an ultrasonic sensor. The distance sensor 12 is disposed on the front surface and the side surface of the main body 11 and detects the position of an obstacle such as a wall or furniture around the main body 11. Further, as other detection sensors, there are a floor surface detection sensor 13 for detecting the type of floor such as carpet and flooring, and a dust amount sensor 14 for detecting the amount of dust contained in the dust bag.

  The control unit 40 is composed of a general microcomputer having a RAM, a ROM, and a CPU inside, and the cleaning device 20 and the moving device 30 according to a predetermined cleaning pattern based on an input from the detection sensor. To control. The control unit 40 collects information on the cleaning area based on the output of the detection sensor while moving the main body 11, and obtains the entire map creating means for creating the entire map 50 of the cleaning area based on the collected information, and the detection sensor. Cleaning area dividing means for dividing the cleaning area according to the information on the surrounding situation, detailed map creating means for creating a detailed map of the divided area 60 based on the whole map, and a travel route 80 based on the detailed map 70 Traveling route determining means for determining

  The whole map 50 is a map created based on the detection result from the distance sensor 12 regarding the shape and situation of the area to be cleaned, that is, the position of an obstacle such as a wall or furniture. On the entire map 50, as shown in FIG. 3A, the cleaning area is divided into a plurality of cells, and information about the presence or absence of an obstacle or the like is added to each cell. A colorless cell 91 in FIG. 3 indicates a cell without an obstacle, and a black cell 92 indicates a cell with an obstacle. For example, the cells have a square shape of about 30 cm square and are arranged in a mosaic shape. When the occupied area of the obstacle in the area of the cells 91 and 92 is, for example, one third or more, the control unit determines that there is an obstacle. The value of the area occupied by the obstacles in the cells 91 and 92 is not particularly limited, and may be set arbitrarily. Further, the size of the cells 91 and 92 is not limited to the size shown in the present embodiment, and may be arbitrarily changed according to the size of the room, the setting of the user, and the like.

  The cleaning area dividing means divides the cleaning area into square areas set to an arbitrary size. For example, assume a 3 × 3 cell matrix. Each divided region 60 does not overlap. Also, the cleaning area can be divided by adding environmental information in the cleaning area. This environmental information is the size of the cleaning area, the type of floor to be cleaned, the position of obstacles, etc., that is, the situation in the cleaning area. The shape of the divided region may be a polygon, but it is easy to manage if it is a square, and this is adopted.

  The detailed drawing creation means creates a detailed map in each divided area 60. As in the creation method of the entire map 50, the creation method detects the surrounding situation by the distance sensor 12 while traveling in the divided area 60, and creates the detailed map 70 from the detection result.

  The detailed map 70 is a map in which information such as the position of a wall and the position of an obstacle such as a bed or furniture is added to a plurality of minute cells 93 and 94. A colorless micro cell 93 in FIG. 3B indicates a micro cell without an obstacle, and a hatched micro cell 94 indicates a micro cell with an obstacle. The detailed map 70 shows the shapes of obstacles and the like that are more detailed than the overall map 50. The size of the minute cells 93 and 94 is not particularly limited as is the case with the cells 91 and 92 of the entire map 50.

  An example of a specific division method will be described. As shown in FIGS. 4 and 5, the control unit 40 divides based on the floor type. The load torque applied to the drive motor that drives the rotating brush of the cleaning device 20 is measured by a known floor surface detection sensor 13. The control unit 40 determines the floor type such as flooring and carpet from the measurement result. That is, the control unit 40 compares a preset threshold value with a measured value of the load torque applied to the drive motor, and determines that the load torque is lower than the threshold value and flooring, and that the load torque is higher, the carpet. The carpet area 101 in the cleaning area is specified from the determination result and added to the entire map 50. At this time, the black cell 92 shown in the whole map 50 shows a carpet. The control unit 40 recognizes the two areas as the area including the entire carpet area 101 and the other area. Here, since the floor surface other than the carpet region 101 is flooring, this region is referred to as a flooring region 102. As shown in FIGS. 4C and 4D, when the area including the carpet is a divided area, the flooring is regarded as an obstacle. In this case, the minute cell 93 including the flooring is excluded from the target cells to be cleaned. As shown in FIG. 4B, when an area including flooring is a divided area, the carpet area 101 is handled as an obstacle. When cleaning the flooring area 102, it is determined that cleaning is not required for the divided area 60 that is entirely made of carpet, so the cleaner does not clean.

  Further, as shown in FIGS. 6 and 7, the division is performed based on the position of the obstacle. In this case, the number of obstacles is determined based on the detection result from the distance sensor 12, and division is performed according to the determination result. That is, the cleaning area is divided into a plurality of divided areas 60 having a constant area, and the number of cells 92 where obstacles exist is counted for each divided area 60. At this time, a large obstacle whose shape is not complicated, such as a wall located on the outer periphery of the cleaning region, is excluded from the object of evaluation as an obstacle. Only cells 92 with obstacles scattered in the cleaning area are counted. A threshold value for the amount of obstacles in the divided area 60 is set, and when there are few obstacles in the divided area 60, integration is performed with the adjacent divided areas 60. As a result, the divided areas 60 with few obstacles are integrated into a divided area 60 having a large area. On the other hand, the divided region 60 with many obstacles is left as it is and becomes a divided region 60 with a small area. The amount of obstacles in each divided region 60 is substantially equal. In order to count the cells 92 having obstacles scattered in the divided area 60, the detailed map 70 of the divided area 60 is regarded as an image, and obstacles scattered by image processing are extracted.

  As shown in FIG. 8, the travel route determination means determines the travel route so that a wide area can be cleaned with a small number of turnings in the divided region 60. That is, the control unit 40 simulates the pattern of the travel route so as to travel efficiently in the divided area 60 while referring to the created detailed map 70. At this time, the basic operation of the cleaning machine 10, the number of direction changes, and the like are set in advance. Therefore, the number of simulations of the travel route can be reduced.

  For example, it is assumed that the cleaning machine 10 performs only a straight movement and a left and right turn of 90 degrees, and turns to either the left or right when the obstacle or the boundary of the divided area 60 is reached. Further, the number of direction changes is up to a total of 10 times, and when the 11th direction change occurs, the cleaning is finished and the process returns to the start point in the divided area 60.

  Based on the above settings, a driving route pattern is simulated. Among the microcells that have traveled in the divided area 60, the microcells excluding the overlap are counted, and the travel route with the largest number of counted microcells is determined as the actual travel route. As shown in FIG. 8, the presence / absence of an obstacle in the cell is the same as that of the entire map 50. The white background minute cell 93 is a minute cell without an obstacle, and the hatched minute cell 94 is a minute cell with an obstacle. The applied micro cell 95 is a micro cell traveled by a cleaner. In the detailed map 70 of the divided area 60 shown in FIG. 8A, there are 25 minute cells 93 that can be cleaned without an obstacle. 8 (b) and 8 (c) show routes that travel straight and turn 10 times with the minute cell 93 where the cleaner 10 is located as the start point, and travel to the 11th turn. In the case of FIG. 8B, the cleaning machine 10 travels 21 out of 25 microcells 95, and in the case of FIG. 8C, the cleaning machine 10 travels 20 microcells 95. In this case, the route of FIG. 8B is determined. Actually, the same evaluation is performed for all the routes that can be taken by the 10 times of direction change, and the route with the largest number of micro cells 95 is determined as the travel route. If the number of traveled microcells 95 is the same, a travel route with less overlap of the traveled microcells 95 is determined. Furthermore, when the overlap number is also the same, the travel route is randomly selected and determined. In the present embodiment, an arbitrary value is set for simulating the travel route, but this is not particularly limited. You may select and determine from the driving routes of all patterns, without setting. Further, the order of determination may also be determined based on the number of turns, the travel time, and the like.

  Next, the procedure for cleaning using the cleaner 10 of the present embodiment will be described with reference to FIG. FIG. 9 shows an action flowchart of the cleaner.

  The cleaning machine 10 travels around the room to be cleaned with the point at the nearest wall installed by the user at the start as the origin. At this time, the cleaner 10 stores the shape of the room, the position of the obstacle, and the like in a memory (not shown) provided in the control unit 40 while traveling, and based on the information, the cleaning area 10 A whole map 50 is created. The cleaning area is divided into a plurality of divided areas 60 with reference to the entire map 50. Next, the cleaner 10 moves to any one of the divided areas 60, travels within the divided area 60, detects the position of the obstacle, and creates the detailed map 70. Based on the created detailed map 70, the travel route is simulated by the travel route determination means to determine the optimum travel route. The cleaner 10 travels based on the determined travel route and simultaneously drives the cleaning device 20 to perform cleaning. When the cleaning in the divided area 60 is finished, it returns to the start position along the boundary of the divided area 60. At this time, the control unit 40 determines that the cleaning of the divided area 60 has been completed, and deletes the data of the detailed map 70 of the divided area 60 from the memory. The cleaning machine 10 moves to the uncleaned divided area 60, repeatedly creates the same detailed map 70 and determines the travel route, and performs cleaning. When all the divided areas 60 in the cleaning area are completed, the cleaning is finished.

  The cleaning machine 10 creates a necessary map every time it is cleaned, and erases the map when it is finished. Further, by changing the size of the divided region 60 according to the situation in the divided region 60, the number of times of simulation of the traveling route is reduced, and an efficient traveling route can be selected. Therefore, a memory with a small capacity can be used, the cost can be reduced, the time required for calculation and the time for running can be shortened, and the power consumption can be reduced.

  Further, a plurality of cleaning machines having different cleaning capabilities for cleaning while moving may be combined for cleaning. This case will be described with reference to FIG. In addition, FIG. 10 has shown the flowchart of the cleaning action by two cleaning machines.

  Of the two cleaners 104 and 105, a divided area to be cleaned by the first cleaner 104 is determined. Other configurations are the same as described above. The control part 40 of the 1st cleaning machine 104 judges whether the division area 60 can be cleaned based on the cleaning capability of each cleaning machine, and determines the division area 60 to clean from the judgment result. In order to exchange data between the cleaners, each cleaner has a communication device (not shown). The communication device can perform bidirectional communication by performing wireless communication. That is, according to the situation in the divided area 60, it is possible to share the cleaning with a cleaning machine having a cleaning capability adapted to the situation.

  For example, when the cleaning capacity is the empty capacity of the dust bag, each of the cleaners 104 and 105 detects the current storage amount by the dust amount sensor 14 and indicates how much dust can be stored based on the storage amount. Calculate the free space. The second cleaning machine 105 transmits the empty capacity information to the first cleaning machine 104 via a communication device. If the first cleaner 104 determines that the transferred empty capacity and the total amount of dust in the divided area 60 can be cleaned, the first cleaner 104 determines the division of the divided area 60 to be cleaned. It transmits to the 2nd cleaning machine 105 which takes charge of the determined division area 60 via a communication apparatus.

  The total amount of dust in the divided area 60 is detected using an image sensor (not shown) provided below the main body 11. Dust distribution information from the image sensor is added to the entire map 50, the presence or absence of dust in the minute cells 93 and 94 in the divided area 60 is judged, and the number of minute cells 94 with dust is counted. The counted number of minute cells 94 is the total amount of dust. As a result, the divided region 60 with a large amount of dust is handled by a cleaning machine having a large dust collection bag capacity, and the divided region 60 with a small total amount of dust is handled by a cleaning machine having a small dust collection bag capacity. Therefore, the dust in the cleaning area can be collected all over by the plurality of cleaners.

  Moreover, instead of deciding the sharing according to the cleaning ability, a plurality of divided regions 60 may be combined into one block, and each cleaner may perform cleaning in block units. As shown in FIG. 11, the first cleaning machine 104 is assigned A to E, and the second cleaning machine 105 is assigned to F to I before the start of cleaning.

  In addition, you may provide the management apparatus (not shown) which determines the division area | region which each cleaning machine cleans. For example, the management apparatus is provided as a host server on the ceiling or desk in the cleaning area. At this time, the management device acquires various types of information about the cleaning area from each cleaning machine using a wireless communication device, and the information about the entire map 50, the divided area 60, the cleaning share, and the like from the acquired information. , 105. Thereby, the control part 40 of each cleaning machine 104,105 creates the detailed map 70 of the division area 60 determined by the management apparatus, and cleans the division area 60 adapted to the cleaning capability by determining the travel route. be able to.

  A management device is provided in the charging unit of the cleaner. In this case, communication is performed via a terminal for charging. The terminal is a connection terminal such as a pin, and can exchange information by electrical connection.

  Further, the cleaning ability may be not only the empty capacity of the dust bag, but also the shape of the nozzle 21, the size of the main body 11, the traveling speed, and the like. For example, when the nozzle 21 is formed large, a wide range can be cleaned. Moreover, when the nozzle 21 is formed small, it is possible to clean the vicinity of an obstacle such as a gap near a wall or furniture.

  As mentioned above, this invention is not limited to the said embodiment, Of course, correction and a change can be added within the scope of the present invention. For example, the distance sensor uses a non-contact type sensor such as an infrared sensor or an ultrasonic sensor, but may be a contact sensor extended to a length equivalent to the size of the cleaner. In this case, the cleaner can detect the obstacle by the obstacle coming into contact with the contact-type sensor when passing near the obstacle.

The perspective view of the cleaning machine which concerns on this invention Control block diagram (A) is an entire map of the cleaning area, (b) is a detailed map of the divided area obtained by dividing the cleaning area. Detailed map when segmented areas are determined based on floor type Flowchart when cleaning divided areas based on floor type Detailed map when segmented areas are determined based on the number of obstacles Flowchart when cleaning a divided area based on the number of obstacles It is a figure for demonstrating the determination method of a travel route, (a) is a detailed figure of a division area, (b) is a figure which shows the 1st travel route of a division area, (c) is the 2nd travel route of a division area. Figure showing the Cleaner action flowchart Flow chart of cleaning action by two cleaners The figure which decided the division area based on the cleaning ability of each cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Cleaning machine 11 Cleaning machine main body 12 Distance sensor 13 Floor surface detection sensor 14 Garbage amount sensor 20 Cleaning device 21 Nozzle 30 Moving device 31 Drive wheel 40 Control part 50 Whole map 60 Division area 70 Detailed map 91 Cell 92 without an obstacle Fault A cell 93 with an obstacle A minute cell 94 without an obstacle A minute cell 95 with an obstacle A cell 101 in which a cleaner travels A carpet area 102 A flooring area 103 A boundary 104 A first cleaner 105 A second cleaner

Claims (10)

A detection sensor that detects a surrounding situation and a control unit that controls movement according to the surrounding situation, and the control unit divides the cleaning region into a plurality of divided regions based on a detection result of the detection sensor. Self-propelled cleaning comprising area dividing means, detailed map creating means for creating a detailed map of the divided area, and travel route determining means for determining a travel route in the divided area based on the detailed map Machine. It is a self-propelled cleaner that combines multiple self-propelled cleaners with different cleaning capabilities, and the cleaner is a detection sensor that detects the surrounding situation and a control that controls movement according to the surrounding situation. The control unit creates a detailed map of the divided area determined according to the cleaning area dividing means for dividing the cleaning area into a plurality of divided areas based on the detection result of the detection sensor and the cleaning ability. A self-propelled cleaner comprising: detailed map creating means; and travel route determining means for determining a travel route in a divided area based on the detailed map. 3. The self-propelled according to claim 1, wherein the control unit deletes a detailed map of the divided area after cleaning one divided area, and creates a detailed map of the divided area to be cleaned next. Type vacuum cleaner. The self-propelled cleaner according to any one of claims 1 to 3, wherein the cleaning area dividing means divides the cleaning area based on environmental information in the cleaning area. The self-propelled cleaner according to claim 4, wherein the environmental information is a kind of floor in the cleaning area, and a divided area is determined according to the kind of floor. 5. The self-propelled cleaner according to claim 4, wherein the environmental information is a position of an obstacle in the cleaning area, and a divided area is determined according to the number of obstacles. The self-propelled cleaner according to any one of claims 1 to 4, wherein the travel route determining means determines the travel route so that the wide area can be cleaned within the divided area with a small number of turnovers. A self-propelled cleaner comprising a plurality of self-propelled cleaners having different cleaning capabilities and a management device capable of communicating with each cleaner, wherein the cleaner is a detection sensor for detecting a surrounding situation, A control unit that controls movement according to surrounding conditions, and the management device divides the cleaning area into a plurality of divided areas based on information about the situation in the cleaning area obtained from the cleaning machine, and each cleaning A divided area to be cleaned by the machine is determined, and the control unit determines a detailed map creating means for creating a detailed map of the divided area determined by the management device, and a traveling route in the divided area based on the detailed map. A self-propelled cleaner having a travel route determining means. 9. The self-propelled cleaner according to claim 8, wherein the control unit deletes the detailed map of the divided area after cleaning one divided area and creates a detailed map of the divided area to be cleaned next. . The cleaning capacity is an empty capacity for storing the sucked dust, and the management device performs cleaning when it is determined that the cleaning capacity can be cleaned by comparing the empty capacity of each cleaner and the total amount of dust in the divided area. The self-propelled cleaner according to claim 8 or 9, wherein the self-propelled cleaner is determined as a divided area.

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