JP2021101812A - Autonomous travel type cleaner - Google Patents

Abstract

To provide an autonomous travel type cleaner which can effectively perform return to a charging cradle even when a map of a cleaning spot is not created in advance.SOLUTION: An autonomous travel type cleaner comprises: an electric blower; drive wheels; a main brush for scraping dust up to a housing; a periphery detection sensor; and an infrared ray reception unit. The autonomous travel type cleaner executes: a detection step of detecting a return signal emitted by the charging cradle with the infrared ray reception unit by performing 360-degree ultra-pivotal turn of the cleaner body after start of the return operation as the return step; a step of detecting the return signal emitted by the charging cradle with the infrared ray reception unit by moving to the next charging cradle presence/absence unconfirmed area on the basis of map information acquired by the periphery detection sensor and performing the 360-degree ultra-pivotal turn again when the return signal cannot be detected in the detection step; and a step of returning to the charging cradle while detecting the return signal when the return signal can be detected in the detection step.SELECTED DRAWING: Figure 11

Description

The present invention relates to an autonomous traveling vacuum cleaner and its operation.

Patent Document 1 describes a main body case, a drive unit that enables the main body case to travel, a map generation means for creating a map for describing area information, a self-position estimation means for estimating a self-position, and the main body case. The control means is provided with an information acquisition means for acquiring external information of the main body and a control means for autonomously traveling the main body case by controlling the operation of the drive unit based on a map created by the map generation means. Describes an autonomous traveling body characterized in that the next traveling route of the main body case is set based on the map reflecting the information acquired by the information acquiring means during autonomous traveling.

JP-A-2017-146742

However, in the vacuum cleaner described in Patent Document 1, the next travel route can only be set using the map created based on the acquired information. For example, the vacuum cleaner can be manually placed in another place. If you move to, you may not know your position. If the self-position is unknown, it is desirable to return to the charging stand and reset the map information. However, the vacuum cleaner described in Patent Document 1 charges efficiently when there is no self-position information. It may not be possible to drive to return to the platform.

The present invention solves the above-mentioned conventional problems, and provides an autonomous traveling type vacuum cleaner capable of efficiently returning to a charging stand without creating a map of a cleaning place in advance. With the goal.

The present invention is an autonomous traveling vacuum cleaner provided with an electric blower, a drive wheel, a main brush for scraping dust into a housing, a surrounding detection sensor, and an infrared light receiving unit, and returns as a return step. When the vacuum cleaner main body is swiveled 360 degrees after the start of operation, a detection step of detecting the feedback signal emitted by the charging stand by the infrared light receiving unit is executed, and the feedback signal cannot be detected by the detection step. Moves to the next charging stand presence / absence unconfirmed area based on the map information acquired by the surrounding detection sensor, makes a 360-degree super-credit turn again, and detects the feedback signal emitted by the charging stand by the infrared light receiving unit. If the feedback signal can be detected by the detection step, the step of returning to the charging stand is executed while detecting the feedback signal.

According to the present invention, it is possible to provide an autonomous traveling type vacuum cleaner capable of efficiently returning to a charging stand without creating a map of a cleaning place in advance.

It is an external perspective view which shows the autonomous traveling type vacuum cleaner of this embodiment. It is a bottom view which shows the autonomous traveling type vacuum cleaner of this embodiment. FIG. 3 is a sectional view taken along line III-III of FIG. It is a perspective view which shows the state which removed the upper case from the autonomous traveling type vacuum cleaner of this embodiment. It is a perspective view which shows the ambient detection sensor unit. It is a perspective view which shows the front sensor unit. It is a control block diagram which shows the autonomous traveling type vacuum cleaner of this embodiment. The figure explaining the function of LiDAR is shown, (a) is at the start of operation, (b) is in operation. It is a flowchart which shows the operation of the autonomous traveling type vacuum cleaner of this embodiment. It is a flowchart which shows the operation of the charging stand return of the autonomous traveling type vacuum cleaner of this embodiment. It is a figure explaining the charging stand return operation 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 vacuum cleaner S (hereinafter abbreviated as vacuum cleaner S) travels, the direction in which the vacuum cleaner S mainly travels is forward, the vertically upward direction is upward, and the drive wheels 3 and 4 face each other. In the direction, the drive wheel 3 side is on the right side and the drive wheel 4 side is on the left side (see FIG. 2). That is, as shown in FIG. 1 and the like, the front-back, up-down, and left-right directions are defined.

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

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

The upper cover 1u is provided with an operation button 7 capable of performing various operations such as starting and stopping the operation. Further, the upper cover 1u is provided with a removable dust collecting 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 collecting case 8.

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

FIG. 2 is a bottom view showing the autonomous traveling type vacuum cleaner of the present embodiment.
As shown in FIG. 2, the drive wheels 3 and 4 are wheels as an example of the drive unit, and are attached to the lower case 1s. Further, the vacuum cleaner S can be moved forward, backward, and turned (including super-credit turning) by rotating the drive wheels 3 and 4 themselves. Further, the drive wheels 3 and 4 are arranged on both the left and right sides, and are rotationally driven by a wheel unit composed of traveling motors 3 m and 4 m (see FIG. 4) and a speed reducer, respectively. Further, the drive wheels 3 and 4 are provided substantially in the center in the front-rear direction and closer to 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 3 m and 4 m (see FIG. 4), arms 3a and 4a, and deceleration mechanisms 3b and 4b. Has been done.

Further, on the rear side of the drive wheels 3 and 4 and the drive mechanism accommodating portions 11 and 11, a mouthpiece 12 accommodating the rotary brush 14, a scraping brush 15, and the like are provided.

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

The scraping brush 15 is arranged parallel to the rotation axis of the rotation brush 14. Further, the scraping brush 15 is composed of a so-called lint brush, and is adapted to rotate within a predetermined angle range.

The training wheels 5 are driven wheels and casters that rotate freely. Further, the training wheels 5 are provided on the front side of the vacuum cleaner S in the front-rear direction and substantially in the center in the left-right direction. Further, the training wheels 5 contribute to keeping the lower case 1s at a predetermined height from the floor surface Y (see FIG. 3) together with the drive wheels 3 and 4. Further, the drive wheels 3 and 4 and the auxiliary wheels 5 can smoothly move the vacuum cleaner S. The training wheels 5 are pivotally supported by the lower case 1s so that they rotate driven by the frictional force generated between the vacuum cleaner S and the floor surface Y and can revolve 360 ° in the horizontal direction.

The side brush 6 is a brush that guides dust to the mouthpiece 12 in a place where a part of the side brush 6 is outside the vacuum cleaner main body 1 (see FIG. 1) and it is not easy for the rotating brush 14 to reach. Further, the side brush 6 has three bundles of brushes extending radially at intervals of 120 ° in a plan view, and is arranged on the front side of the lower case 1s. Further, the root of the side brush 6 is fixed to the side brush holder 6a. Further, the rotation axis of the side brush 6 is in the vertical direction (vertical direction on the paper surface of FIG. 2), and a part of the side brush 6 protrudes outward from the vacuum cleaner main body 1 (see FIG. 1) in a plan view.

Further, the flocking of the side brush 6 is inclined so as to approach the floor surface Y (see FIG. 3) toward the tip, and the vicinity of the tip is in contact with the floor surface. Further, as shown by the arrow α1, the side brush 6 rotates so as to sweep the front outer region of the vacuum cleaner S from the outer side in the left-right direction to the inner side, and removes dust on the floor surface Y in the center. Collect on the rotating brush 14 side. The side brush 6 is rotationally driven by the side brush motor 6b (see FIG. 4).

Further, in the lower case 1s, floor surface distance measuring sensors 13a, 13b, 13c, and 13d are provided at four locations in the front, rear, left, and right directions. The floor distance measuring sensor 13a is located in front of the training wheels 5. The floor distance measuring sensor 13b is located on the outer peripheral side between the drive wheel 3 and the side brush 6 on the right side. The floor surface distance measuring sensor 13c is located symmetrically with respect to the floor surface distance measuring sensor 13b. The floor ranging sensor 13d is located behind the scraping brush 15.

Further, the lower case 1s is provided with connection portions 16 and 16 that are electrically connected to the charging stand. The connecting portion 16 is located between the side brush holder 6a and the floor surface measuring sensor 13a.

FIG. 4 is a perspective view showing a state in which the upper case is removed from the autonomous traveling type vacuum cleaner of the present embodiment, and FIG. 5 is a perspective view showing a surrounding detection sensor unit.
As shown in FIG. 4, the vacuum cleaner S includes a LiDAR unit 40, a camera 50, a distance measuring sensor 60, and an infrared light receiving unit 70 as an example of a distance measuring sensor using light. These LiDAR units 40 are arranged on the central axis of the upper surface of the vacuum cleaner S. As shown in FIG. 4, the camera 50, the distance measuring sensor 60, and the infrared receiving unit 70 are arranged so as to face the front side.

As shown in FIGS. 4 and 5, the LiDAR unit 40 is divided into an upper rotating portion 40a and a lower fixing portion 40b. The upper side is composed of LiDAR 41, which is a distance measuring sensor using light such as infrared rays, and a photo interrupter for detecting the angle of LiDAR on the horizontal plane. The lower fixed portion is an electric motor 42 for rotating the LiDAR 40a, a bearing that reduces the frictional force between the belt 43 that transmits the rotation of the electric motor 42 to the LiDAR unit 40 and the fixed portion when the rotating portion rotates, and a photointerruptor on a horizontal plane. It consists of protrusions for detecting the upper angle. The LiDAR 41 is composed of a light emitting unit 41a and a light receiving unit 41b, and measures the distance to an object by a trigonometry based on the light emitting angle of the light emitting unit 41a and the light receiving angle of the light receiving unit 41b. The angle on the horizontal plane with respect to the vacuum cleaner body 1 is the photo interrupter of each protrusion and the rotating part on the fixed portion 40b fixed to the vacuum cleaner body 1, and the protrusion detected between the light emitting element and the light receiving element of the photo interrupter. The angle of the rotating part on the horizontal plane is detected by the number. Only one protrusion in the front direction of the vacuum cleaner body 1 is shortened, the angle of the front surface of the vacuum cleaner body 1 is detected, and each angle is detected by the number of protrusions detected from the angle. Based on the angle on the horizontal plane of the vacuum cleaner main body 1 measured by the LiDAR unit 40 and the distance to the obstacle, the position and velocity vector of the vacuum cleaner main body 1 on the map are specified while creating the map information of the surroundings. Instead of the LiDAR 41, the ambient detection sensor may be a distance measuring sensor capable of measuring 1 m or more such as a millimeter wave radar or an ultrasonic sensor, or a method using the trigonometry with the camera 50. The arrangement of the LiDAR unit is not limited to the upper surface of the vacuum cleaner main body 1, and may be the lower surface. Further, the rotation angle of the rotating portion of the LiDAR unit 40 is not limited to 360 °, and it is sufficient that the measurement can be performed at least 60 ° or more by replacing the belt with a link mechanism or the like. The method for measuring the distance of the LiDAR 41 may be a Time of Flight method using the phase difference between the light of the light emitting portion and the light receiving portion instead of the trigonometry.

Further, the LiDAR unit 40 can detect an obstacle farther away by changing the light intensity of the LiDAR 41. However, when it is not necessary to detect an obstacle in the distance instead of always increasing the intensity, the power consumption can be suppressed by decreasing the intensity. Further, by increasing the rotation speed of the electric motor 42, obstacles can be detected in more detail. However, the electric motor 42 does not always have a high rotation speed, and when it is not necessary to detect an obstacle at a detailed angle, the power consumption can be suppressed by lowering the rotation speed.

FIG. 6 is a perspective view of the front sensor unit.
As shown in FIG. 6, the front sensor unit includes a camera 50, a distance measuring sensor 60, and an infrared light receiving unit 70 inside.

The camera (imaging unit) 50 is a monocular camera and is located on the central axis of the front surface of the vacuum cleaner main body 1. Further, since the camera 50 can accurately detect the shape and position of an object as compared with the LiDAR unit 40, it becomes easier to avoid obstacles. Further, since the camera 50 can have a wider angle of view in the vertical direction than the LiDAR unit 40, obstacles on the floor surface can be avoided. For example, it can prevent clothes on the floor from getting caught in it and the cord from getting entangled in the brush. In this way, by using the camera 50 together with the LiDAR unit 40, it is possible to clearly detect the shape and position of obstacles at a short distance while detecting the rough arrangement of obstacles in a wide range, and to detect obstacles. It becomes possible to discriminate.

Further, the camera 50 can change the frame rate. For example, the frame rate is increased when detecting a nearby obstacle, and the frame rate is decreased when moving in a wide area where there are no obstacles. As a result, it is not necessary to operate the camera 50 in a state where the frame rate is always increased, so that the power consumption of the camera 50 can be suppressed.
As described above, in the present embodiment, by using both the LiDAR and the camera, it is possible to detect the distance information and the shape information to the obstacle with high accuracy. More specifically, when creating a map of the cleaning area, the position information of the detected obstacles, etc. is detected and mapped mainly or exclusively by using LiDAR41, and the shape information is mainly or exclusively used by the camera. Can be detected and mapped. In order to make these associations highly accurate, in this embodiment, the LiDAR 41 and the camera are provided adjacent to each other (separation distance is within 10 cm, 5 cm, or 3 cm).
Further, the focal length of the camera may be adjusted or the moving speed of the vacuum cleaner main body 1 may be changed (for example, decelerated) based on the distance information detected by the LiDAR 41.
Autonomous vacuum cleaners of related technology cannot detect the cleaning area located behind obstacles such as furniture, and to recognize that area, wrap around behind the obstacle and then use the camera or There is a problem that it is necessary to detect it again with LiDAR41.

The distance measuring sensor 60 is an infrared sensor whose detection range is, for example, about 1/10 or more shorter than that of the LiDAR 41, and detects a distance to a relatively nearby obstacle (for example, about 1 m, preferably about 50 cm or 30 cm or less). For example, it is composed of a PSD (Position Sensitive Detector) sensor. Further, the distance measuring sensors 60 are provided at a total of three locations on the front surface and both the left and right sides. Further, the distance measuring sensor 60 has a light emitting unit that emits infrared rays and a light receiving unit that receives reflected light that is reflected by an obstacle and returned. 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 a PSD sensor, and may be an ultrasonic sensor. By providing the plurality of distance measuring sensors 60 in this way, it is possible to perform cleaning along the wall surface.

The bumper 2 is made of a resin or glass that transmits light. At least in the vicinity of the distance measuring sensor 60 of the bumper 2, the vicinity of the distance measuring sensor 60 is made of a material having a transmittance of infrared rays larger than that of visible light and ultraviolet rays. As a result, it is possible to reduce the possibility that ultraviolet rays or visible light enter the light receiving portion and erroneously recognize the distance to an obstacle. A material that transmits only the wavelength of light used may be used.

The vacuum cleaner S is electrically connected to the charging stand via the connection portion 16 to supply power to the storage battery 21. Further, the vacuum cleaner S specifies the direction of the charging stand with respect to the vacuum cleaner main body according to the type of infrared rays received by receiving the three types of infrared LEDs transmitted from the charging stand by the infrared receiving unit 70.

FIG. 3 is a cross-sectional view taken along the line III-III of FIG.
As shown in FIG. 3, the vacuum cleaner S includes a storage battery 21 and a suction fan 22 inside.

The storage battery 21 is arranged in front of the suction fan 22, and includes various motors such as traveling motors 3 m and 4 m (see FIG. 4), a rotary brush motor 14a, and a suction fan 22, a bumper sensor (not shown), a camera 50, and a distance measuring sensor 60. Power is supplied to various sensors such as the floor distance measuring sensors 13a to 13d and the LiDAR unit 40.

The suction fan 22 generates a suction force to collect the dust scraped off by the rotating brush 14 into the dust collecting case 8. Further, 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 via the dust collecting filter 8b. The exhaust of the suction fan 22 is mainly discharged to the outside of the vacuum cleaner S from the exhaust port 1t (see FIG. 2) formed in the lower case 1s, but a part of the exhaust is discharged in the front direction of the vacuum cleaner main body 1 to exhaust the exhaust to the motor. It is used for cooling 42.

FIG. 7 is a control block diagram showing the autonomous traveling type vacuum cleaner of the present embodiment.
As shown in FIG. 7, the control device 30 controls the vacuum cleaner S in an integrated manner, and is configured by, for example, mounting a microcomputer and peripheral circuits on a substrate. The microcomputer reads the control program stored in the ROM (Read Only Memory), expands it into the RAM (Random Access Memory), and executes it by the CPU (Central Processing Unit) to realize various processes. Peripheral circuits include A / D / D / A converters, drive circuits for various motors, sensor drive circuits, charging circuits for storage batteries 21, and the like.

Further, the control device 30 can operate the operation buttons 7 capable of inputting commands by the user, and from the bumper sensor (not shown), the floor distance measuring sensors 13a to 13d, the distance measuring sensor 60, the camera 50, and the LiDAR unit 40. Arithmetic processing is executed according to the input signal, and the signal after the arithmetic processing is output.

FIG. 8 shows a diagram illustrating mapping by LiDAR 41 when the vacuum cleaner S moves from S1 to S2, where (a) is before the move and (b) is after the move. Note that FIG. 8 shows a state in which the obstacle T is placed in the room R.
As shown in FIG. 8A, the electric motor 42 of the LiDAR unit 40 is rotated from the start of operation, and the LiDAR is rotated through the belt 43. Thereby, LiDAR can detect (recognize) the obstacle T1 around the vacuum cleaner S1 and the wall W1 of the room R. FIG. 8B is a diagram in which the vacuum cleaner S is moved from S1 to S2. At the position of S2, the obstacle T2 and the wall W2 of the room R can be recognized. The self-position is recognized by extracting the feature points of the obstacles T1 and T2 and the walls W1 and W2, matching the shapes of the rooms R in S1 and S2, and specifying the positions S1 and S2 in the room R. By rotating the LiDAR with the motor 42 in this way, it is possible to map the entire room R (create a layout of obstacles in the room) and recognize the self-position in the map. By traveling the entire room in advance and collecting mapping data before starting cleaning, it is possible to reduce unnecessary routes during cleaning, reduce power consumption during cleaning, and expand the range that can be cleaned. it can.
The pre-created mapping data or the mapping data at the time of the previous cleaning may be stored even after the automatic cleaning is completed, and the pre-created mapping process may be omitted from the next time onward. For example, the user can specify whether or not the mapping data needs to be created in advance. The user can specify that it is necessary to update the map when the pattern is changed after the latest mapping.

FIG. 9 is a flowchart showing the operation of the autonomous traveling type vacuum cleaner of the present embodiment.
As shown in FIG. 9, in step S10, it is confirmed whether or not the map created by the map creation run in advance or the map at the time of the previous cleaning is registered on the main body or the network server.

In step S20, the control device 30 rotates the electric motor 42 of the LiDAR unit 40 to rotate the LiDAR 41. When the vacuum cleaner S is connected to the charging stand (not shown), the control to move away from the charging stand is executed. Further, by rotating LiDAR once, it is possible to detect (recognize) the condition of the wall of the room in which the vacuum cleaner S is currently located and obstacles. Further, in addition to the detection by the LiDAR 41, the camera 50 may be operated to recognize the type of obstacle in front of the wall. It is confirmed whether or not the map detected in this way and the current position of the vacuum cleaner S can match the registered map.

In steps S30 and 31, the control device 30 calculates the cleaning route. As in step S30, the cleaning route has a registered map, and when the self-position can be identified, the optimum route is calculated from the entire registered map. If there is no registered map or self-position identification is not possible as in step S31, the cleaning route is calculated from the walls and obstacles of the room detected by LiDAR.

In step S40, the control device 30 starts cleaning based on step S30 or step S31. That is, the drive wheels 3 and 4, the side brush 6 and the rotary brush 14 are rotated and the suction fan 22 is driven to suck the dust from the suction port portion 12 and take it into the dust collecting case 8.

In step S50, the control device 30 turns on the camera 50. At this time, the frame rate of the camera 50 is lowered. By lowering the frame rate, the power consumption of the camera 50 can be suppressed.

Further, by detecting the wall and obstacles of the room by LiDAR 41 while running the vacuum cleaner S, it is possible to recognize the self-position of the vacuum cleaner S in the room currently being cleaned. Therefore, even if new obstacles appear, such as when an object is placed after the start of cleaning or a pet comes in, they will not be mistakenly 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 oneself, 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 the obstacle is recognized. Obstacles can be recognized by detecting them with the LiDAR 41 or the camera 50. When the control device 30 detects an obstacle (S60, Yes), the control device 30 proceeds to step S70, and when it determines that no obstacle is detected (S60, No), the control device 30 proceeds to step S100.

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 make it easier to recognize the shape of an object (obstacle).

In step S80, the control device 30 determines whether or not the obstacle is recognized, proceeds to step S90 if the obstacle is recognized (Yes), and 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 lowers the frame rate of the camera 50 (for example, changing the frame rate from 30 fps to 10 fps).

In step S100, the control device 30 determines whether or not the cleaning is completed. Whether or not the cleaning is completed can be determined by referring to the record of traveling on the cleaning route calculated in step S30. 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 process returns to step S60.

As described above, in the present embodiment, the distance is measured by the LiDAR 41, and the shape of the obstacle is recognized by the camera 50. By changing the frame rate of the camera 50 according to the values of the LiDAR 41 and the camera 50, both low power consumption and high-performance distance detection can be achieved at the same time. That is, if an obstacle is detected by the LiDAR 41 or the camera 50 during normal driving (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), and after recognition. Return to the original frame rate (step S90). In this way, the high power consumption camera 50 is used only when it is necessary to recognize the shape of the obstacle.

By the way, when the camera 50 is used alone in the vacuum cleaner S, the power consumption of the autonomous traveling type vacuum cleaner driven by the secondary battery (storage battery 21) is large, and accurate distance detection is difficult. Further, when a single distance sensor such as a laser is fixed to the vacuum cleaner S and used, the drive wheels 3 and 4 are controlled to detect the surrounding conditions of the vacuum cleaner S to move the front surface of the vacuum cleaner S to the left and right. There was a problem that the map creation time became long and the accuracy of the map decreased.

Therefore, in the vacuum cleaner S of the present embodiment, the vacuum cleaner main body 1, the drive wheels 3 and 4 (drive units) for driving the vacuum cleaner main body 1, the LiDAR unit 40 provided in the vacuum cleaner main body 1, and the drive wheels 3 , 4 and a storage battery 21 (storage device) for storing electric power to be supplied to the LiDAR unit 40. According to this, since the distance around the vehicle can be measured while traveling, it is possible to efficiently create a map of the cleaning place.

Further, in the present embodiment, the LiDAR unit 40 is located on the upper surface and the central axis of the vacuum cleaner main body 1. According to this, it is possible to measure a distance of 360 ° around the circumference, and it is possible to easily recognize the position of an object with respect to the center of the vacuum cleaner main body 1.

FIG. 10 is a flowchart showing details of the operation of returning the charging stand of the vacuum cleaner main body 1 in step S110 of FIG. The vacuum cleaner S identifies the position of the charging stand by receiving the infrared signal transmitted from the charging stand by the infrared receiving unit 70 provided on the front surface of the vacuum cleaner main body 1, and controls the drive wheels 3 and 4 to charge. Electrically connect to the stand. As shown in FIG. 10, in step S210, it is confirmed whether the position of the charging stand is registered on the vacuum cleaner main body 1 or the network server in the map created by the map creation run in advance or the map at the time of cleaning. If the charging stand is registered on the map, the process proceeds to step S220 to identify the self-position. After that, the route to the charging stand is calculated using the self-position and the map, and the vehicle returns to the charging stand as in step S230. If the charging stand is not registered on the map, the process proceeds to step S211. In step S211, the map data created in the past operation and the data acquired by the LiDAR unit 40 are collated, and it is determined whether or not there is a match. If there is a match, the map is used to move to step S220 and self-position identification is performed. If there is no match, the process proceeds to step S240.

In step S240, the vacuum cleaner main body 1 performs super-credit rotation on the spot, so that the return signal from the charging stand is searched for in all directions only by the infrared light receiving unit 70 provided in front. Since the vacuum cleaner body 1 can receive the infrared signal of the charging stand from a position about 4 m away, if the infrared signal of the charging stand cannot be received during this super-credit rotation, it should be within 4 m around the vacuum cleaner body 1. Determines that the charging stand does not exist. After finishing the super-credit rotation, the process proceeds to step S250.

If the infrared signal of the charging stand can be received in step S250, the charging stand return operation is started. If the infrared signal of the charging stand cannot be received, the process proceeds to step S260. In step S260, based on the map data created by using the surrounding detection sensor 40, the closed space C (see FIG. 11) such as a wall and the surrounding detection sensor 40 could not detect the wall or the obstacle. The space OP (see FIG. 11) is identified. When the open space OP does not exist, it is determined that the charging stand does not exist in the returnable range, the process proceeds to step S280, the stoppage is performed on the spot, and the stop notification is transmitted to the operation terminal or the like. The operation terminal is, for example, a preferably portable terminal owned by each user. The operation terminal is a device capable of communicating with the vacuum cleaner main body 1 by using the wide area network protocol and the wireless communication protocol. This notification may be notified from the vacuum cleaner main body 1 by voice guidance or the like. The stop position may be within 4 m from the point where it is determined that the charging stand does not exist within the returnable range, even if it is not on the spot. If there is an open space OP, the process proceeds to step S270. In step S270, the movement to the open space OP is performed. When there are a plurality of open space OPs, it is determined that the open space having the widest opening is the area where the charging stand is most likely to exist, and the movement is performed. After that, the process returns to step S211 and collates with the map data created in the past operation. If there is no matching map data, the process returns to step S240 again, and the infrared signal of the charging stand is searched for by performing super-credit rotation. By repeating this operation, the infrared signal of the charging stand is accurately searched in an unknown area, and the charging stand return operation is performed efficiently.

The charging stand return operation starts automatically after the cleaning is completed, except when the user gives an instruction to return the charging stand. Therefore, the charging stand return operation starts from the state where the remaining battery level of the storage battery 21 is low. Will be done. If the storage battery 21 continues to operate with a low battery level, the depth of discharge becomes deeper and the life of the storage battery 21 becomes shorter. Deterioration of the storage battery 21 can be suppressed by efficiently performing the charging stand return operation using the map data. Further, when the charging stand does not exist or the infrared signal of the charging stand cannot be received, the storage battery 21 is discharged by determining the presence or absence of the infrared signal of the charging stand in the room while using the map data and stopping. It is possible to prevent the vacuum cleaner main body 1 from searching the charging stand until the depth becomes deep, and protect the storage battery 21 from deterioration. In addition, by sending a notification to the mobile terminal or the like when the device is stopped, the user can know that the return has not been completed normally.

Further, in the present embodiment, the ambient detection sensor 40 itself scans by rotating the ambient detection sensor 40 by the drive mechanism. However, by driving the vacuum cleaner main body 1 by the drive wheels 3 and 4, scanning may be performed without providing a mechanism for driving the surrounding detection sensor 40.

Further, in the present embodiment, the drive wheels 3 and 4 rotate the vacuum cleaner main body 1 by 360 degrees when searching for a charging stand. According to this, it is possible to search for a charging stand in the vicinity at a time. At the same time, the camera 50 can confirm whether or not there is an obstacle in the surroundings. Further, a sensor capable of measuring a distance in a wide range can be used as a substitute for the camera 50, and the rotation angle does not have to be limited to 360 degrees.

Further, in the present embodiment, the vacuum cleaner main body 1 includes a camera 50 (imaging unit). According to this, it is possible to determine the type of obstacle, and since the angle of view is wide, it is possible to detect an obstacle on the floor surface in the vicinity of the vacuum cleaner main body 1. As a result, it is possible to prevent clothes that have fallen on the floor surface from being caught in the clothes and the cord on the floor surface from being entangled with 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 configured at a lower cost than a stereo camera.

Further, in the present embodiment, the camera 50 is arranged on the front surface of the vacuum cleaner main body 1 and above the central axis. By arranging the camera 50 so as to face downward from the front from a higher position, the shadow of the object in front becomes clear.

Further, in the present embodiment, the control device 30 for controlling 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 decreases (returns) the frame rate when the camera 50 recognizes the obstacle. According to this, since the frame rate is increased only when an obstacle is detected, the power consumption of the camera 50 can be suppressed.

Further, in the present embodiment, the vacuum cleaner main body 1 includes a distance measuring sensor 60 that measures a distance at a position of reflected light of infrared rays. According to this, a nearby wall can be detected more accurately than an infrared sensor that determines an object based on the presence or absence of infrared reflected light. Therefore, it is possible to get closer to the wall and clean the corners and along the wall. A similar effect can be obtained by using an ultrasonic sensor instead of the distance measuring sensor 60. Alternatively, a bumper or a camera may be used.

Map data is used for the wall cleaning operation. At the time of wall operation, first, the self-position in the map measured by LiDAR 41 is detected, and a rough route capable of operating parallel to the wall is determined. Next, the distance measuring sensor 60 on the side surface of the vacuum cleaner main body 1 measures the distance to the wall, and the drive wheels 3 and 4 are controlled to move the tip to a position where the tip of the side brush 6 hits the wall when the side brush 6 rotates. After that, it moves according to the route according to the map data. In that case, move while measuring the distance to the wall with the distance measuring sensor 60 on the side of the vacuum cleaner body 1, and when the vacuum cleaner body 1 shifts to a position where the side brush 6 does not hit, it is opposite to the wall. The rotation speed of the drive wheel 3 or 4 on the side is increased to move to the position where the side brush 6 hits. Since the side brush 6 is arranged on one side of the vacuum cleaner main body 1, if it is arranged on the right side, it cleans the wall clockwise, and if it is arranged on the left side, it cleans the wall counterclockwise. Also, in order to improve the amount of dust scraped from the wall, increase the rotation speed of the side brush when cleaning the wall.

The operation of cleaning the corner is shifted by using the LiDAR 41 and the distance measuring sensor 60 during the wall cleaning. When the distance measuring sensor 60 on the front surface of the vacuum cleaner main body 1 detects the front wall while moving parallel to the wall in the wall cleaning operation, the operation shifts to the corner cleaning operation. In that case, the distance to the wall is measured by the distance measuring sensors 60 on the front and side of the vacuum cleaner main body 1, and when the drive wheels 3 and 4 are controlled and the side brush 6 rotates, the tip is the front and side walls. Move it to the position where it hits, and clean the corner. After that, it shifts to wall cleaning again.

Further, in the present embodiment, the distance measuring sensor 60 is located in front of the vacuum cleaner main body 1 and in the center in the width direction. According to this, it is possible to easily recognize the position of the object with respect to the center of the vacuum cleaner main body 1. Further, the position of the obstacle or the wall surface may be set by LiDAR41, the shape may be set by the camera, and the position information or shape may be corrected by using the detection information by the distance measuring sensor or the bumper.

The content of the present invention is not limited to the embodiment, and can be appropriately changed without departing from the spirit of the present invention. Further, although the vacuum cleaner S traveling on the floor surface as an electric device has been described as an example, the same effect can be obtained even if it is applied to a flying moving body. By applying it to a flying moving body, it is 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 compound eye camera may be mounted instead of the monocular camera 50.
If the feedback signal can be detected, the docking trial step of detecting the object by the sensor may be executed while detecting the feedback signal.

1 Vacuum cleaner body 1u Upper cover 1s Lower case 1t Exhaust port 2 Bumper 3,4 Drive wheel (drive unit)
3a, 4a Arm 3b, 4b Deceleration mechanism 3m, 4m Travel motor 5 Training wheels 6 Side brush 6a Side brush holder 6b Side brush motor 7 Operation button 8 Dust collection case
8a Handle 8b Dust collection filter 11 Drive mechanism accommodating part 12 Suction part 13a, b, c, d Distance measuring sensor for floor surface 14 Rotating brush 14a Rotating brush motor 15 Scraping brush 16 Charging stand connection part 21 Storage battery (power storage device)
22 Suction fan 30 Control device 40 LiDAR unit 40a LiDAR rotating part 40b LiDAR fixing part 41 LiDAR
41a LiDAR light emitting unit 41b LiDAR light receiving unit 42 motor 43 belt 50 camera (imaging unit)
60 Distance measuring sensor 70 Infrared light receiving part α1 Side brush rotation direction OP Open space C Closed space S Autonomous traveling type vacuum cleaner S1, S2 Vacuum cleaner position R Room T, T1, T2 Obstacles W, W1, W2 Wall Y Floor surface S10 Item to confirm the existence of the registered map S20 Item to confirm whether the self-position can be identified S30 Item to calculate the optimum cleaning route S31 Item to calculate the cleaning route S40 Item to start cleaning S50 Start the camera at a low frame rate Item S60 Item to confirm whether an obstacle is detected S70 Item to increase the frame rate of the camera S80 Item to confirm whether an obstacle is recognized S90 Item to decrease the frame rate of the camera S100 Item to confirm whether cleaning is completed S110 Charging stand Item to start returning to S210 Item to confirm the existence of the map to the charging stand S211 Item to confirm the match between the map created in the past and the environmental information S220 Item to perform self-position identification S230 Item to return by the designated route S240 Cleaning Item to search the charging stand by going around the machine S250 Item to check if the charging stand was found S260 Item to check if there is an area without a map S270 Item to move to an area without a map S280 Item to stop on the spot

Claims (3)

It is an autonomous vacuum cleaner equipped with an electric blower, drive wheels, a main brush for scraping dust into the housing, an ambient detection sensor, and an infrared receiver.
As a return step
After the start of the return operation, the vacuum cleaner main body is swiveled 360 degrees, and a detection step of detecting the return signal emitted by the charging stand by the infrared light receiving unit is executed.
If the feedback signal cannot be detected by the detection step, the user moves to the next charging stand presence / absence unconfirmed area based on the map information acquired by the surrounding detection sensor, makes a 360-degree super-credit turn again, and charges the charging stand. The step of detecting the feedback signal emitted by the infrared receiver by the infrared receiver is executed.
An autonomous traveling vacuum cleaner that executes a step of returning to the charging stand while detecting the feedback signal when the feedback signal can be detected by the detecting step. During the feedback step, a collation step for collating the map data created in the past with the data acquired by the surrounding detection sensor is executed.
When the map data created in the past by the collation step and the data acquired by the surrounding detection sensor match, self-position identification is performed on the map data and the data is moved toward the charging stand on the map data. And perform the steps to detect the feedback signal,
The autonomous traveling type vacuum cleaner according to claim 1, wherein when the return signal can be detected by the detection step, the step of returning to the charging stand is executed while detecting the feedback signal. During the return step, there is no open space and a step of identifying a closed closed space such as a wall and an open space where a wall or an obstacle could not be detected by the surrounding detection sensor based on the created map data. In this case, the autonomous traveling vacuum cleaner according to claim 1, wherein it is determined that the charging stand does not exist within the returnable range, the vacuum cleaner is stopped within 4 m, and the stop notification is transmitted to the operation terminal or the like. ..

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