AUTONOMOUSLY TRAVELING FLOOR WASHER, CLEANING SCHEDULE DATA STRUCTURE, STORAGE MEDIUM, METHOD FOR CREATING CLEANING SCHEDULE, AND PROGRAM

摘要

Provided is a floor washer for autonomously cleaning a floor surface while faithfully reproducing cleaning work done by skilled cleaning workers. In an autonomous movement-type floor washer (100), a position estimating unit (5145) estimates a position. When a manual operation instruction mode is being executed, an instruction data obtaining unit (5015) obtains instruction position data and instruction cleaning conditions during an instruction data obtaining period. A cleaning schedule creating unit (5025) creates a cleaning schedule (500). A cleaning reproduction unit (5035) calculates a reproduced movement control command and a reproduced cleaning condition over an elapsed time on the basis of the cleaning schedule (500) and outputs the reproduced movement control command and the reproduced cleaning condition during execution of an autonomous cleaning mode. An elapsed time determining unit (5245) determines the instruction data obtaining period and the elapsed time.