JP2020099461A - Autonomously travelling type cleaner - Google Patents

Abstract

To provide an autonomously travelling type cleaner that allows a map of a cleaning place to be created easily.SOLUTION: An autonomously travelling cleaner includes a cleaner body, driving wheels for driving the cleaner body, a millimeter wave radar 40 provided to the cleaner body, a camera 50 provided to the cleaner body, and a power storage device for storing power to be supplied to the driving wheels, the millimeter wave radar 40, and the camera 50. The millimeter wave radar 40 performs scanning by causing the cleaner body to make 360-degree ultra-pivotal turning when starting operation so as to create a map of a room.SELECTED DRAWING: Figure 3

Description

The present invention relates to an autonomous traveling vacuum cleaner.

In Patent Literature 1, an initial map of a traveling place is displayed based on the surrounding shape scanned by a surroundings detection sensor that detects the surroundings of the body case by rotating the body case by controlling the drive unit by the traveling control means. An electric vacuum cleaner capable of autonomous traveling equipped with a mapping means to be created is described.

JP, 2018-75191, A

However, in the vacuum cleaner described in Patent Document 1, a camera and a laser are used as the surroundings detection sensor. Therefore, when the camera is used, there is a problem that the cleaning area located behind the obstacle such as furniture cannot be detected and the camera needs to detect the cleaning area again. Further, when a laser is used, there is a problem that a detection distance is relatively short in an electric vacuum cleaner that can be autonomously driven.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide an autonomous traveling type vacuum cleaner capable of easily creating a map of a cleaning place.

The present invention includes a cleaner body, a drive unit that drives the cleaner body, a millimeter wave radar provided in the cleaner body, and a power storage device that supplies power to the drive unit and the millimeter wave radar. It is characterized by being provided.

According to the present invention, it is possible to provide an autonomous traveling type vacuum cleaner capable of easily creating a map of a cleaning place.

It is an appearance perspective view showing the autonomous running type vacuum cleaner of this embodiment. It is a bottom view showing the autonomous running type vacuum cleaner of this embodiment. It is a perspective view showing the state where the upper case was removed from the autonomous traveling type cleaner of this embodiment. It is a perspective view showing a sensor substrate. It is the VV sectional view taken on the line of FIG. It is a control block diagram which shows the autonomous traveling type vacuum cleaner of this embodiment. The figure explaining the function of a millimeter wave radar is shown, (a) at the time of driving|operation start, (b) is driving. It is explanatory drawing which shows the detection principle by a millimeter wave radar. It is a flowchart which shows operation|movement of the autonomous traveling type vacuum cleaner of this embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings as appropriate. Of the directions in which the autonomous traveling cleaner S (hereinafter, abbreviated as cleaner S) advances, the direction in which the cleaner S mainly moves is forward, the vertically upward direction is upward, and the drive wheels 3 and 4 face each other. The driving wheel 3 side is the right side and the driving wheel 4 side is the left side (see FIG. 2). That is, as shown in FIG. 1 and the like, front-back, up-down, and left-right directions are defined.

FIG. 1 is an external perspective view showing an autonomous traveling type vacuum cleaner of the present embodiment.
As shown in FIG. 1, the cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, a floor surface Y of a room (see FIG. 5)) while autonomously moving. Further, the cleaner S includes a cleaner body 1, a bumper 2 that covers a side circumference of the cleaner body 1, a pair of drive wheels 3 and 4 (see FIG. 2 ), an auxiliary wheel 5 (see FIG. 2 ), and a side brush 6. , 6 are provided.

The cleaner body 1 has an upper cover 1u forming at least a part of an upper surface and a lower case 1s forming at least a part of a bottom surface.

The upper cover 1u is provided with operation buttons 7 that can perform various operations such as start and stop of driving. Further, the upper cover 1u is provided with a detachable dust collection case 8. The dust collecting case 8 is provided on the rear side of the center in the front-rear direction. A handle 8a is rotatably attached to the dust collection case 8.

The bumper 2 is provided on substantially the entire side circumference of the cleaner body 1. Such a bumper 2 is formed, for example, in a bottomless, substantially tubular shape. The bumper 2 may be provided in such a manner that at least the front side circumference of the cleaner body 1 is movable in the horizontal direction, particularly in the front-rear direction. Further, when the bumper 2 comes into contact with an obstacle or the like as the cleaner S moves, the bumper 2 is pushed by the force associated with the contact, so that the inside of the cleaner S (the front side of the cleaner S contacts the bumper 2). If so, it can be displaced toward the rear).

FIG. 2 is a bottom view showing the autonomous vacuum cleaner of the present embodiment.
As shown in FIG. 2, the drive wheels 3 and 4 are wheels as an example of a drive unit, and are attached to the lower case 1s. Further, the cleaner S can be moved forward, backward, or turned (including super-turned turning) by rotating the drive wheels 3 and 4 themselves. The drive wheels 3 and 4 are disposed on the left and right sides, respectively, and are rotationally driven by wheel units composed of traveling motors 3m and 4m (see FIG. 3) and a speed reducer, respectively. The drive wheels 3 and 4 are provided substantially at the center in the front-rear direction and near the outer periphery of the lower case (outside) in the left-right direction.

Further, the lower case 1s is provided with drive mechanism accommodating portions 11 and 11 for accommodating a drive mechanism including traveling motors 3m and 4m (see FIG. 3), arms 3a and 4a, and speed reduction mechanisms 3b and 4b. Has been.

Further, on the rear side of the drive wheels 3, 4 and the drive mechanism accommodating portions 11, 11, there are provided a suction port portion 12 accommodating the rotating brush 14, a scraping brush 15, and the like.

The rotary brush 14 is arranged substantially parallel to an axis (left-right direction) passing through the rotation centers of the drive wheels 3 and 4. The rotary brush 14 is driven by a rotary brush motor 14a (see FIG. 3).

The scraping brush 15 is arranged parallel to the rotating shaft of the rotating brush 14. The scraping brush 15 is a so-called lint brush, and is configured to rotate within a predetermined angle range.

The auxiliary wheel 5 is a driven wheel and is a caster that freely rotates. In addition, the auxiliary wheel 5 is provided in the front side of the cleaner S in the front-rear direction and in the substantially center in the left-right direction. Further, the auxiliary wheel 5 contributes to keeping the lower case 1s together with the drive wheels 3 and 4 at a predetermined height from the floor surface Y (see FIG. 5). Moreover, the cleaner S can be smoothly moved by the drive wheels 3 and 4 and the auxiliary wheel 5. The auxiliary wheel 5 is rotatably driven by the frictional force generated between the auxiliary wheel 5 and the floor surface Y as the cleaner S moves, and is pivotally supported by the lower case 1s so that the auxiliary wheel 5 can revolve 360° in the horizontal direction.

The side brush 6 is a brush that is partly outside the cleaner body 1 (see FIG. 1 ), and guides dust to a suction portion 12 at a location where it is difficult to reach a rotating brush 14 described later. The side brushes 6 have three bundles of brushes that extend radially at intervals of 120° in a plan view, and are arranged on the front side and the left and right sides of the lower case 1s, respectively. The root of the side brush 6 is fixed to the side brush holder 6a. The rotation axis of the side brush 6 is the vertical direction (the direction perpendicular to the paper surface of FIG. 2 ), and a part of the side brush 6 projects outward from the cleaner body 1 (see FIG. 1) in a plan view.

The bristles of the side brush 6 are inclined so as to approach the floor surface Y (see FIG. 5) toward the tip, and the vicinity of the tip is in contact with the floor surface. Further, the side brush 6 rotates as shown by an arrow α1 so as to sweep the area outside the front of the cleaner S in the direction from the outside in the left-right direction to the inside, and removes the dust on the floor surface Y to the center. Collect on the rotating brush 14 side. The side brush 6 is rotationally driven by the side brush motor 6b (see FIG. 3).

The lower case 1s is provided with floor distance measuring sensors 13a, 13b, 13c, 13d at four positions in the front, rear, left and right. The floor distance measuring sensor 13 a is located in front of the auxiliary wheel 5. The floor distance measuring sensor 13b is located on the outer peripheral side between the drive wheel 3 and the right side brush 6. The floor distance measuring sensor 13c is located on the outer peripheral side between the drive wheel 4 and the left side brush 6. The floor distance measuring sensor 13d is located behind the scraping brush 20.

Further, the lower case 1s is provided with connecting portions 16 and 16 that are electrically connected to a charging stand (not shown). The connecting portion 16 is located between the side brush holder 6a and the floor distance measuring sensor 13a.

FIG. 3 is a perspective view showing a state in which the upper case is removed from the autonomous traveling vacuum cleaner of the present embodiment, and FIG. 4 is a perspective view showing the sensor substrate.
As shown in FIG. 3, the cleaner S includes a millimeter wave radar 40, a camera 50, and a distance measuring sensor 60. The millimeter wave radar 40, the camera 50, and the distance measuring sensor 60 are mounted on one surface side of a single sensor substrate 70 as shown in FIG. 4, and are arranged so as to face the front side.

As shown in FIGS. 3 and 4, the millimeter-wave radar 40 uses millimeter-wave radio waves and is located at the center in the width direction (left-right direction). Further, the millimeter wave radar 40 has a sensor unit 40a that emits a millimeter wave and an antenna 40b that receives the millimeter wave that is reflected and returned (see FIG. 4). Further, the millimeter wave radar 40 is arranged below the sensor substrate 70. The millimeter wave radar 40 can detect a distant obstacle (about 10 meters), for example.

Further, the millimeter wave radar 40 can change the intensity of the emitted millimeter wave to increase the intensity when detecting an obstacle at a distance and decrease the intensity when detecting an obstacle near. .. As described above, the power consumption can be suppressed by lowering the intensity when it is not necessary to detect the distant obstacle instead of always increasing the intensity.

The camera (imaging unit) 50 is a monocular camera, and is located on the left side of the millimeter wave radar 40. The camera 50 may be on the right side of the millimeter wave radar 40. Further, since the camera 50 can detect the shape of an object more firmly than the millimeter wave radar 40, it becomes easier to avoid an obstacle. Further, since the camera 50 can have a wider field angle than the millimeter wave radar 40, it is possible to avoid an obstacle on the floor surface. For example, it is possible to prevent the clothes on the floor from being caught up and the cord from being entangled in the brush. Thus, by using the camera 50 together with the millimeter wave radar 40, the shape of the obstacle can be clearly detected, and the obstacle can be discriminated.

Further, the camera 50 is capable of changing the frame rate. For example, the frame rate is increased when a nearby obstacle is detected, and the frame rate is reduced when moving in a wide place where there are no obstacles. As a result, it is not necessary to operate the camera 50 with the frame rate constantly increased, so that the power consumption of the camera 50 can be suppressed.

The distance measuring sensor 60 is an infrared sensor that detects the distance to an obstacle, and is configured by, for example, a PSD (Position Sensitive Detector) sensor. Further, the distance measuring sensors 60 are provided at a total of three positions on the front surface and both left and right sides. Further, the distance measuring sensor 60 has a light emitting unit that emits infrared light and a light receiving unit that receives the reflected light that the infrared light reflects from the obstacle and returns. The distance to the obstacle is calculated based on the reflected light detected by the light receiving unit. Specifically, the distance to the obstacle is calculated based on the position where the reflected light is received, the time until the reflected light is received, the amount of the reflected light, the intensity, and the like. The distance measuring sensor 60 is not limited to the PSD sensor and may be an ultrasonic sensor. By providing the plurality of distance measuring sensors 60 in this way, cleaning along the wall can be performed.

The bumper 2 is made of resin or glass that transmits light. At least the vicinity of the distance measuring sensor 60 of the bumper 2 is formed of a material having a higher infrared transmittance than the visible light and the ultraviolet transmittance. As a result, it is possible to reduce the possibility that ultraviolet rays or visible light may enter the light receiving unit and erroneously recognize the distance to the obstacle.

FIG. 5 is a sectional view taken along line VV of FIG.
As shown in FIG. 5, the cleaner S includes a storage battery 21 and a suction fan 22 inside.

The storage battery 21 is disposed in front of the suction fan 22, and includes traveling motors 3m and 4m (see FIG. 3), a rotary brush motor 14a (see FIG. 3), various motors such as the suction fan 22, a bumper sensor (not shown), and a camera 50. (See FIG. 3), distance measuring sensor 60 (see FIG. 3 ), floor distance measuring sensors 13 a to 13 d (see FIG. 2 ), millimeter wave radar 40 (see FIG. 3 ), and so on.

The suction fan 22 generates a suction force to collect the dust scraped by the rotating brush 14 into the dust collection case 8. The suction fan 22 is provided between the drive wheels 3 and 4 at the center in the front-rear direction. The air taken into the dust collecting case 8 together with the dust is taken into the suction fan 22 through the dust collecting filter 8b, and is discharged to the outside of the cleaner S from the exhaust port 1t (see FIG. 2) formed in the lower case 1s. Is discharged.

FIG. 6 is a control block diagram showing the autonomous traveling type vacuum cleaner of the present embodiment.
As shown in FIG. 6, the control device 30 controls the cleaner S in a centralized manner, and is configured by, for example, a microcomputer and peripheral circuits mounted on a substrate. The microcomputer implements various processes by reading a control program stored in a ROM (Read Only Memory), expanding the control program in a RAM (Random Access Memory), and executing it by a CPU (Central Processing Unit). The peripheral circuit has an A/D/D/A converter, a drive circuit for various motors, a sensor drive circuit, a charging circuit for the storage battery 21, and the like.

In addition, the control device 30 operates the operation button 7 capable of inputting a command by the user, the bumper sensor (not shown), the floor distance measuring sensors 13a to 13d, the distance measuring sensor 60, the camera 50, and the millimeter wave radar 40. The arithmetic processing is executed according to the input signal, and the signal after the arithmetic processing is output.

7A and 7B are views for explaining the function of the millimeter wave radar, in which FIG. 7A is at the start of operation and FIG. 7B is in operation. Note that FIG. 7 shows a state where obstacles T1 and T2 are placed in the room R.
As shown in FIG. 7A, at the start of the operation, the vacuum cleaner S is super-turned while the millimeter wave radar 40 is operating. The millimeter wave radar 40 can detect (recognize) the obstacle T2 behind the obstacle T1 and the wall of the room R by transmitting the millimeter wave through the obstacle T1. For example, when the range indicated by the alternate long and short dash line is scanned, the obstacle T1 can be transmitted and the obstacle T2 and the wall R1 in the hatched region can be recognized. In this way, by rotating the vacuum cleaner S once at the start of operation, it is possible to map the entire room R (create a layout of obstacles in the room).

As shown in FIG. 7B, during operation, the vacuum cleaner S is driven (moved) while operating the millimeter wave radar 40. For example, when the cleaner S goes straight toward the wall R1 of the room R and then turns to the right on the wall R1, the distance between the cleaner S and the front wall R1 and the cleaner S after turning to the right. It is possible to recognize the self position (the position of the cleaner S) in the room R based on the distance from the front wall R2.

FIG. 8 is an explanatory diagram showing the principle of detection by the millimeter wave radar. In addition, in FIG. 8, the case where the wall Rb1 of the adjacent room Rb is detected from the wall Ra1 of the room Ra currently located from the cleaner S is shown. The horizontal axis represents the distance from the front surface of the housing of the cleaner S, and the vertical axis represents the magnitude of the reflected wave on the line A.

As shown in FIG. 8, when the millimeter wave radio wave emitted from the millimeter wave radar 40 of the cleaner S collides with the first wall Ra1, a part thereof is reflected, and the reflected wave is reflected by the millimeter wave radar 40. The light is received by the light receiving unit. In this case, the vacuum cleaner S recognizes the wall Ra1 by detecting the peak value Pa of the reflected wave. The millimeter wave transmitted through the first wall Ra1 collides with the second wall Rb1 (the wall Rb1 of the adjacent room Rb) and is reflected, and the reflected wave is received by the light receiving unit of the millimeter wave 40. To be done. In this case, the vacuum cleaner S recognizes the wall Rb1 by detecting the peak value Pb of the reflected wave.

In this way, not only the wall Ra1 of the room Ra where the cleaner S is currently located but also the wall Rb1 of the adjacent room Rb can be recognized. Further, even if furniture or obstacles are placed in front of the walls Ra1 and Rb1, the obstacles can be transmitted, and thus the rooms Ra and Rb can be mapped. For example, since the adjacent room can be recognized from the self position (current position of the cleaner S), by recognizing the door of the room by the camera 50, the adjacent room can be cleaned through the door. Become.

FIG. 9: is a flowchart which shows operation|movement of the autonomous traveling type vacuum cleaner of this embodiment.
As shown in FIG. 9, in step S10, the control device 30 causes the vacuum cleaner S to make a super turning turn (rotate once) while the millimeter wave radar 40 is turned on. In addition, when the cleaner S is connected to a charging stand (not shown), control for separating from the charging stand is executed. Specifically, by rotating the drive wheel 3 of the cleaner S to one side and the drive wheel 4 to the other side, the cleaner S rotates on the spot. Further, by rotating the cleaner S once, it is possible to detect (recognize) the condition of the wall of the room where the cleaner S is currently located and the obstacle. Further, as described with reference to FIG. 8, when there is an adjacent room, the adjacent room and the obstacle can be detected (recognized).

Further, in step S10, in addition to the detection by the millimeter wave radar 40, the camera 50 may be operated to recognize the type of obstacle in front of the wall.

In step S20, the control device 30 calculates the cleaning route. In this way, it becomes possible to perform room mapping before starting cleaning, and it becomes possible to optimize the cleaning route before starting cleaning. That is, in the present embodiment, the mapping can be performed before the cleaning operation is started, instead of performing the mapping during the cleaning operation.

In step S30, control device 30 starts cleaning. That is, the drive wheels 3, 4, the side brushes 6, and the rotary brush 14 are rotated, and the suction fan 22 is driven to suck dust from the suction port 12 and take it into the dust collection case 8.

In step S40, the control device 30 turns on the camera 50. At this time, the frame rate of the camera 50 is lowered. By reducing the frame rate, the power consumption of the camera 50 can be suppressed.

In step S50, the control device 30 switches the strength of the radio wave of the millimeter wave radar 40. That is, by increasing the radio wave intensity of the millimeter wave radar 40, an obstacle at a long distance is detected, and by reducing the radio wave intensity, an obstacle at a short distance is detected. In this way, by alternately detecting the long distance and the short distance, the power consumption of the millimeter wave radar 40 can be suppressed.

Further, by detecting the wall of the room by the millimeter wave radar 40 while the cleaner S is running, the self-position of the cleaner S in the room currently being cleaned can be recognized. Therefore, even if new obstacles appear such as when an object is placed or a pet comes in after the cleaning is started, they are not erroneously recognized as a wall. That is, in the present embodiment, by always recognizing the position of the wall, it is possible to always recognize the position of the self, and it is possible to perform cleaning while ignoring new obstacles such as pets.

In step S60, the control device 30 determines whether or not an obstacle is recognized. The obstacle can be recognized by detecting the value of the reflected wave of the millimeter wave radar 40. The control device 30 proceeds to step S70 when an obstacle is detected (S60, Yes), and proceeds to step S100 when it is determined that an obstacle is not detected (S60, No).

In step S70, the control device 30 increases the frame rate of the camera 50. For example, the frame rate is changed from 10 fps to 30 fps to facilitate recognition of the shape of an object (obstacle).

In step S80, the control device 30 determines whether or not an obstacle is recognized. If the obstacle is recognized (Yes), the process proceeds to step S90, and if the obstacle is not recognized (No), The process of step S80 is repeated.

In step S90, the control device 30 reduces the frame rate of the camera 50. For example, the frame rate is changed from 30 fps to 10 fps.

In step S100, control device 30 determines whether cleaning is completed. Whether or not the cleaning has been completed can be determined by referring to the record of traveling on the cleaning route, which is calculated in step S20. When it is determined that the cleaning is completed (S100, Yes), the control device 30 ends, and when it is determined that the cleaning is not completed (S100, No), the control device 30 returns to step S60.

Thus, in the present embodiment, the millimeter wave radar 40 measures the distance and the camera 50 recognizes the shape of the obstacle. By changing the frame rate of the camera 50 according to the value of the millimeter wave, both low power consumption and high-performance distance detection can be achieved. That is, when an obstacle is detected by millimeter waves during normal traveling (step S60), the frame rate of the camera 50 is increased (10 fps→30 fps) to make it easier to recognize the shape of the obstacle (step S70). The frame rate is restored (step S90). Thus, the high power consumption camera 50 is used only when the shape recognition of the obstacle is required.

By the way, when the camera 50 is used alone in the vacuum cleaner S, power consumption is large in an autonomous traveling vacuum cleaner driven by a secondary battery (storage battery 21), and accurate distance detection is difficult. Further, when a distance sensor such as a laser is used alone, it is difficult to recognize the shape of the obstacle, and there are problems such as pushing the obstacle and colliding with the obstacle. Moreover, the laser and camera mounted on the autonomous traveling type vacuum cleaner can detect only the position visible from the main body, and the situation of the place where the object is shadowed cannot be grasped. In a room with many obstacles or a complicated shape, it was necessary to grasp the shape of the room and the shape and position of obstacles while filling in the shadows of objects, which made the map creation time longer and the accuracy of the map less accurate. There was a problem of falling.

Therefore, in the cleaner S of the present embodiment, the cleaner body 1, the drive wheels 3 and 4 (driving section) for driving the cleaner body 1, the millimeter wave radar 40 provided in the cleaner body 1, and the drive wheels. 3, 4 and the storage battery 21 (power storage device) that stores electric power supplied to the millimeter wave radar 40. According to this, the wall can be detected through the obstacle, so that the map of the cleaning place can be easily created.

Further, in the present embodiment, the millimeter wave radar 40 scans by driving the cleaner body 1 with the drive wheels 3 and 4. According to this, since it is not necessary to provide a mechanism for driving the millimeter wave radar 40, the entire configuration can be simplified.

In addition, in the present embodiment, the drive wheels 3 and 4 make the cleaner body 1 rotate 360 degrees over the ground at the start of operation. According to this, it is possible to create a map of a room at one time. Also, because millimeter waves can pass through walls, you can create a map of another room, such as the next room at a time.

Further, in the present embodiment, the millimeter wave radar 40 is located in front of the cleaner body 1 and at the center in the width direction. According to this, it becomes possible to measure a long distance, and it is possible to easily recognize the position of the object with respect to the center of the cleaner body 1.

In addition, in the present embodiment, the cleaner body 1 includes the camera 50 (imaging unit). According to this, the type of the obstacle can be discriminated and the angle of view is wide, so that the obstacle on the floor near the cleaner body 1 can be detected. As a result, it is possible to prevent clothes on the floor from being caught and the cord on the floor from getting caught in the drive wheels 3 and 4 and the rotating brush 14.

Further, in the present embodiment, the camera 50 is a monocular camera. According to this, it can be constructed at a lower cost than a stereo camera.

Further, in the present embodiment, the camera 50 is arranged beside the millimeter wave radar 40. Since the camera 50 has a wide angle of view, the camera 50 can perform correction by knowing the displaced distance. Therefore, by arranging the camera 50 on the side of the millimeter wave radar 40, the height of the sensor substrate 70 in the vertical direction can be kept low, and the height of the cleaner S can be kept low.

Further, in the present embodiment, the control device 30 that controls the frame rate of the camera 50 is provided. The control device 30 increases the frame rate when the camera 50 detects an obstacle and lowers the frame rate when the obstacle is recognized (returns to the original). According to this, since the frame rate is increased only when the obstacle is detected, the power consumption of the camera 50 can be suppressed.

In addition, in the present embodiment, the cleaner body 1 includes the distance measuring sensor 60 that measures the distance at the position of the reflected light of infrared rays. According to this, as compared with an infrared sensor that determines an object based on the presence or absence of reflected light of infrared rays, it is possible to detect a nearby wall more accurately. Therefore, it is possible to get close to the wall and clean the corners or along the wall. The same effect can be obtained by using an ultrasonic sensor instead of the distance measuring sensor 60.

Further, in the present embodiment, the distance measuring sensor 60 is located on the front surface of the cleaner body 1 and at the center in the width direction. According to this, it is possible to easily recognize where the object is located with respect to the center of the cleaner body 1.

Note that the content of the present invention is not limited to the embodiment, and can be appropriately modified within a range not departing from the gist thereof. Moreover, although the vacuum cleaner S that travels on the floor has been described as an example of the electric device, the same effect can be obtained by applying it to a flying moving body. By applying it to a flying moving body, it becomes possible to remove not only dust on the floor surface but also dust adhering to the wall surface.

In the present embodiment, the case where the monocular camera 50 is mounted has been described as an example, but a configuration in which a compound eye camera is mounted instead of the monocular camera 50 may be used.

1 Vacuum cleaner body 3, 4 Drive wheels (drive unit)
21 Storage battery (electric storage device)
22 suction fan 30 control device 40 millimeter wave radar 50 camera (imaging unit)
60 Distance measuring sensor S Autonomous traveling type vacuum cleaner

Claims (10)

With the vacuum cleaner body,
A drive unit for driving the cleaner body,
A millimeter wave radar provided in the cleaner body,
An autonomous traveling vacuum cleaner comprising: a power storage device that supplies electric power to the drive unit and the millimeter wave radar. The autonomous traveling type vacuum cleaner according to claim 1, wherein the millimeter wave radar scans by driving the cleaner main body by the driving unit. The autonomous drive type vacuum cleaner according to claim 1 or 2, wherein the drive unit turns the cleaner body 360 degrees in a super-spatial manner at the start of operation. The autonomous millimeter-wave cleaner according to any one of claims 1 to 3, wherein the millimeter wave radar is located in front of the cleaner main body and in the center in the width direction. The autonomous cleaner of any one of claims 1 to 4, wherein the cleaner main body includes an image capturing unit. The autonomous traveling vacuum cleaner according to claim 5, wherein the imaging unit is a monocular camera. The autonomous traveling type vacuum cleaner according to claim 5 or 6, wherein the imaging unit is arranged laterally of the millimeter wave radar. A control device for controlling the frame rate of the imaging unit,
8. The control device increases the frame rate when the imaging unit detects an obstacle and lowers the frame rate when the obstacle is recognized. The autonomous traveling type vacuum cleaner according to item 1. The autonomous cleaner of any one of claims 1 to 8, wherein the cleaner body includes a distance measuring sensor that measures a distance at a position of reflected light of infrared rays. The autonomous traveling vacuum cleaner according to claim 9, wherein the distance measuring sensor is located in front of the cleaner main body and in the center in the width direction.

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