# US 11,906,324 B2 · Cleaning route determination system and method for determining cleaning route > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,324 B2 - Document ID: US11906324B2 - Status: Granted - Kind: B2 - Application number: 17/330,493 - Filed: 2021-05-26 - Published: 2021-09-09 - Granted: 2024-02-20 - Earliest claimed: 2019-01-31 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Tetsuya Takayanagi - Web page: https://patentgrep.com/patent/US11906324B2 ## CPC - G01C 21/383: {Indoor data} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor} - G01C 21/206: {specially adapted for indoor navigation} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/648: Performing a task within a working area or space, e.g. cleaning - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract A cleaning route determination system includes an analyzer that analyzes behavior of airflow and particles inside a facility, a map generator that generates a dust accumulation map indicating one or more dust accumulation areas inside the facility and one or more dust amounts corresponding to the one or more dust accumulation areas, and a route calculator that determines a first route from second routes. Each of the second routes is a route for a cleaner to pass through, within a certain period of time, at least one of the one or more dust accumulation areas. A total amount indicating a sum of dust amounts corresponding to dust accumulation areas included the first route is largest among total amounts corresponding to the second routes, each of the total amounts indicating a sum of dust amounts corresponding to dust accumulation areas included in each of the second routes. ## Claims ### Claim 1 A cleaning route determination system comprising: a calculation condition inputter configured to receive a calculation condition including information regarding an inside of a facility; an analyzer configured to perform an analysis of a behavior of airflow and particles inside the facility based on the calculation condition and an airflow speed induced by human movement; a map generator configured to generate a dust accumulation map based on the analysis by the analyzer, the dust accumulation map indicating one or more dust accumulation areas inside the facility and one or more dust amounts corresponding to the one or more dust accumulation areas; and a route calculator configured to determine a first route from second routes based on the dust accumulation map, wherein each of the second routes is a route for a cleaner to pass through at least one of the one or more dust accumulation areas within a certain period of time, and wherein a total amount indicating a sum of dust amounts corresponding to dust accumulation areas of the first route is largest among total amounts corresponding to the second routes, each of the total amounts indicating a sum of dust amounts corresponding to dust accumulation areas included in each of the second routes. ### Claim 2 (depends on 1) The cleaning route determination system according to claim 1, further comprising: a terminal, wherein the map generator is configured to update the dust accumulation map based on information regarding a dust amount in a cleaned area, wherein the terminal is configured to receive the updated dust accumulation map, and wherein the terminal is configured to display the updated dust accumulation map. ### Claim 3 (depends on 2) The cleaning route determination system according to claim 2, wherein the terminal further includes an inputter, and wherein the map generator is configured to update the dust accumulation map based on information regarding an area cleaned by cleaning staff, the information being input to the inputter. ### Claim 4 (depends on 3) The cleaning route determination system according to claim 3, wherein the analyzer is configured to use information regarding the updated dust accumulation map as an initial condition to analyze the behavior of the particles. ### Claim 5 (depends on 1) The cleaning route determination system according to claim 1, wherein each of the one or more dust accumulation areas is an area where at least a certain amount of dust has accumulated. ### Claim 6 (depends on 1) The cleaning route determination system according to claim 1, wherein the analyzer is configured to perform the analysis of the behavior of the airflow using a lattice Boltzmann method. ### Claim 7 (depends on 1) The cleaning route determination system according to claim 1, wherein the analyzer is configured to perform the analysis of the behavior of the airflow using a k-ε model. ### Claim 8 (depends on 1) The cleaning route determination system according to claim 1, wherein the analyzer is configured to perform the analysis of the behavior of the particles using a one-way model. ### Claim 9 (depends on 1) The cleaning route determination system according to claim 1, further comprising: a dust cluster calculator configured to classify the one or more dust accumulation areas into one or more clusters using machine learning, wherein the route calculator is further configured to determine the first route using the one or more clusters. ### Claim 10 (depends on 1) The cleaning route determination system according to claim 1, wherein the route calculator is further configured to calculate the first route using at least a genetic algorithm, simulated annealing, or quantum annealing. ### Claim 11 A method for determination a cleaning route, the method comprising: receiving a calculation condition including information regarding an inside of a facility; analyzing behavior of airflow and particles inside the facility based on the calculation condition and an airflow speed induced by human movement; generating a dust accumulation map based on the analyzing, the dust accumulation map indicating one or more dust accumulation areas inside the facility and one or more dust amounts corresponding to the one or more dust accumulation areas; and determining a first route from second routes based on the dust accumulation map, wherein each of the second routes is a route for a cleaner to pass through at least one of the one or more dust accumulation areas within a certain period of time, and wherein a total amount indicating a sum of dust amounts corresponding to dust accumulation areas of the first route is largest among total amounts corresponding to the second routes, each of the total amounts indicating a sum of dust amounts corresponding to dust accumulation areas included in each of the second routes.