JP2002085305A - Robot cleaner and robot cleaner system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To clean an arbitrarily selected cleaning area to be cleaned out of a plurality of cleaning areas without a complex input operation for a travel route. SOLUTION: This robot cleaner system comprises an autonomous-travel robot cleaner 8 and a home server 6 for controlling the robot cleaner. The home server 6 has a selecting means for selecting an arbitrary cleaning area from a plurality of cleaning areas and selecting a cleaning mode for the selected cleaning area. The robot cleaner 8 has sensors for autonomous travel such as an obstruction sensor, a rotary encoder and a visual sensor used for specifying a current position, a storing part for storing map information on each cleaning area, and a position specifying means for specifying a current position from the output of the autonomous-travel sensors and the map information stored in the storing part. The robot cleaner autonomously travels to the selected cleaning area in accordance with the current position specified by the position specifying means, and cleans the cleaning area while autonomously traveling in accordance with the cleaning mode for the cleaning area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner for cleaning a cleaning area such as a room while traveling autonomously, and a robot cleaner system using the robot cleaner.

[0002]

2. Description of the Related Art For example, Japanese Patent Application Laid-Open No. 2000-224702.
The publication describes an autonomous mobile work vehicle having a cleaning function and autonomously traveling to clean a running surface. That is, this autonomous mobile work vehicle has a forward distance measuring sensor, a left distance measuring sensor,
Equipped with a right distance sensor and a rear distance sensor, the distance to the front obstacle with the front distance sensor, the distance to the left obstacle with the left distance sensor, and the distance to the right obstacle with the right distance sensor The distance to the obstacle behind is measured by the rear distance measuring sensor, and the map information storage means is provided, and information on the cleaning range for cleaning, for example, the size of the room and the furniture placed in the room It stores information such as the position and size of obstacles such as. Then, based on the information measured by the distance measurement sensor and the information in the map information storage unit, it is determined which position of the autonomous mobile work vehicle is in the cleaning range, and the travel control unit is stored in the map information storage unit. Based on the cleaning range and the traveling route and the current position information, a route to be traveled is determined, a control signal is output to control the driving of the motor, and the traveling of the autonomous mobile work vehicle is controlled.

[0003]

The autonomous mobile work vehicle having such a configuration is cleaned by the map information storage unit when a plurality of rooms are cleaned through a plurality of rooms or corridors separated by walls or the like. It is necessary to set the entire cleaning route for the room and the corridor. In this case, when arbitrarily selecting and combining the rooms to be cleaned and performing cleaning, a traveling route for sequentially moving the selected room and cleaning traveling in each room. A route had to be set for each combination. Further, when it is desired to change the cleaning travel route depending on the room even if the combination of the rooms is the same, it is necessary to separately set the travel route after the change. Thus, conventionally,
Complicated input work had to be performed to set the travel route.

[0004] Accordingly, the invention according to claims 1 to 5 is a robot cleaner which can freely select a cleaning area to be cleaned from a plurality of cleaning areas without complicated work of inputting a traveling route and perform cleaning. I will provide a. Claim 6
The invention described in any one of the above embodiments 9 to 9 provides a robot cleaner system that can freely select a cleaning area to be cleaned from a plurality of cleaning areas and cause the robot cleaner to perform cleaning without involving a complicated input operation of a traveling route.

[0005]

According to the first aspect of the present invention,
Selecting means for selecting an arbitrary cleaning area from a plurality of cleaning areas and selecting a cleaning mode in the selected cleaning area, an autonomous traveling sensor used to specify a current position, and a map of each cleaning area Storage means for storing information; and a position specifying means for specifying a current position from the output of the autonomous driving sensor and the map information stored in the storage means, wherein the selecting means selects the current position based on the current position specified by the position specifying means. There is a robot cleaner that autonomously travels to the selected cleaning area and performs cleaning of the selected cleaning area while autonomously traveling according to the cleaning mode of the cleaning area.

According to a second aspect of the present invention, in the robot cleaner according to the first aspect, a cleaning start point is set for each of the plurality of cleaning areas, and the robot cleaner autonomously travels to the cleaning start point of the cleaning area selected by the selection means. Cleaning the cleaning area. The invention described in claim 3 is the invention according to claim 1.
Or in the robot cleaner according to 2, using a visual sensor as a sensor for autonomous traveling, obtain an image with this visual sensor, the map information includes an image representing the state of each cleaning area or an object image in each cleaning area, The position specifying means is to specify the current position by comparing the image acquired by the visual sensor with the image of the map information.

According to a fourth aspect of the present invention, in the robot cleaner according to any one of the first to third aspects, when the cleaning area is a room partitioned by a wall, the robot cleaner runs autonomously along a wall of the room to specify a position. The means is to identify the current position by comparing the output of the autonomous traveling sensor with the map information. According to a fifth aspect of the present invention, in the robot cleaner according to any one of the first to fourth aspects, a plurality of traveling patterns are provided as a cleaning mode, and each of the traveling patterns has the same position as the traveling pattern traveling vertically and horizontally at the same position. The present invention has a traveling pattern in which the vehicle travels in one direction only.

According to a sixth aspect of the present invention, there is provided an autonomously traveling robot cleaner and a server for controlling the robot cleaner. The server selects an arbitrary cleaning area from a plurality of cleaning areas and selects the selected cleaning area. The robot cleaner is provided with a selection unit for selecting a cleaning mode, an autonomous traveling sensor used to specify a current position, a storage unit for storing map information of each cleaning area, and an output of the autonomous traveling sensor. The apparatus further includes position identification means for identifying the current position from the map information stored in the storage means, autonomously travels to the cleaning area selected by the selection means based on the current position specified by the position identification means, and In the robot cleaner system that performs autonomous cleaning according to the cleaning mode of the cleaning area. According to a seventh aspect of the present invention, in the robot cleaner system according to the sixth aspect, the server sets an entrance of the room as a cleaning start point of the cleaning area, and the robot cleaner sets the entrance of the room in the cleaning area selected by the selection unit. After autonomous driving to the entrance, cleaning the room.

The invention according to claim 8 is provided with a robot cleaner which runs autonomously and a server for controlling the robot cleaner, the server comprising: a selection means for selecting an arbitrary cleaning area from a plurality of cleaning areas; and a robot cleaner. Image display means for displaying an image from the robot, the robot cleaner stores an autonomous traveling sensor used for specifying a current position, a visual sensor for acquiring an image, and map information of each cleaning area. Storage means, and a position specifying means for specifying a current position from the output of the autonomous traveling sensor and map information stored in the storage means, wherein the cleaning area selected by the selection means based on the current position specified by the position specifying means. Autonomously travels to the selected cleaning area while performing autonomous cleaning according to the cleaning mode of the cleaning area, and the image acquired by the visual sensor. In a robot cleaner system to send to the server.

According to a ninth aspect of the present invention, there is provided a robot cleaner which runs autonomously and a server which controls the robot cleaner. The server performs an image display means for displaying an image from the robot cleaner and performs a running operation of the robot cleaner. Operating means and selecting means for selecting an arbitrary cleaning area from among a plurality of cleaning areas and for autonomously traveling to the selected cleaning area, autonomously traveling in the cleaning area, or operating with the operating means. The robot cleaner includes an autonomous traveling sensor used to identify the current position, a visual sensor for acquiring an image, a storage unit for storing map information of each cleaning area, and an output of the autonomous traveling sensor. And a position specifying means for specifying the current position from the map information stored in the storage means, based on the current position specified by the position specifying means. Autonomously traveling to the removal area, cleaning while autonomously traveling in the cleaning area, transmitting the image acquired by the visual sensor to the server and traveling according to the operation of the operation means of the server according to the content selected by the selection means There is a robot cleaner system to do.

[0011]

Embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, each of equipment such as a refrigerator 2, a television device 3, an air conditioner 4, a lighting device, an intercom, an electronic lock, and the like, which exist in a relatively small space 1 such as a home or a small office. The home appliance 6 and the home appliance 6 are connected to the home server 6 by wireless L such as Bluetooth.
They are connected by AN7 to form a home network. The home appliances 2, 3, 4 and the sensor device 5 are centrally managed by the home server 6.

The home server 6 has a wireless LAN.
The robot cleaner 8 is connected via the. The robot cleaner 8 includes a visual sensor 9, an autonomous traveling mechanism described later, and a cleaner mechanism. In addition, LAN
However, a wired system or a wireless system may be used, but a wireless system such as Bluetooth is preferable because it has a higher degree of freedom in arrangement.

The home server 6 is connected to an external computer network 10 via a terminal adapter (TA) and the Internet 11, and communicates with a mobile phone 13 via a modem and a public line 12. It is connected to a reporting device 15 of the police, fire department, security company, or the like.

As shown in FIG. 2, the home server 6 includes a control unit 16 for controlling the home appliances 2, 3, 4, the sensor device 5, and the robot cleaner 8, and the home appliances 2, 3 , 4, a setting unit 17 for setting various information for controlling the sensor device 5 and the robot cleaner 8
And a wireless communication unit 18 for performing wireless communication with each of the home electric appliances 2, 3, 4, the sensor device 5, and the robot cleaner 8.
And each of the home appliances 2, 3, 4 and the sensor device 5 from outside.
And a repeater 19 for setting various information for controlling the robot cleaner 8, a size and a shape of each room as a cleaning area, an arrangement of each room, and an arrangement of furniture and walls and other obstacles in each room. The map information storage unit 20 as a storage unit that stores a map, an image representing a state of each room, and an image of an obstacle having a characteristic of each room, information such as an image sent from the robot cleaner 8 and the like. A collation unit 21 for collating with information such as an image stored in the map information storage unit 20 and a display unit 22 for displaying an image sent from the robot cleaner 8 are provided.

The home server 6 has a function similar to that of a personal computer terminal, and may be an ordinary desktop or notebook personal computer. The home server 6 and the robot cleaner 8, other home appliances 2,
3, 4 and equipment are connected to each other by a small and high-speed wireless device such as Bluetooth.
Both parties can exchange data and commands. Further, the home server 6 is connected to the outside, that is, the Internet 11 through a high-speed line such as ISDN or CATV, like a normal personal computer.

As shown in FIG. 3, the robot cleaner 1 has two drive wheels 31a, 31b which constitute the front wheels.
And one rear wheel 32 provided at the center of the rear end and freely rotating.
And an autonomous traveling mechanism constituted by two motors 33a and 33b for driving the left and right driving wheels 31 respectively, and a power rotary brush 34, a motor 35 for driving the rotary brush 34 to rotate, a paper bag and the like. A dust collection chamber 36, a fan and cleaner motor 37 disposed behind the dust collection chamber 36, and the fan and cleaner motor 3
There is provided a cleaner mechanism constituted by a suction path 38 for sucking dust collected by the rotation of the rotary brush 7 and the rotation of the rotary brush 34 into the dust collection chamber 36. The left and right driving wheels 31a, 31b are respectively provided with rotary encoders 39.
a, 39b are attached. Also, the driving wheel 31
Load sensors (not shown) are attached to the wheel bearing portions a and 31b.

The robot cleaner 8 includes the visual sensor 9, an image processing unit 40 for processing an image signal picked up by the visual sensor 9, the motors 33a, 33b, 3
5, a cleaner motor controller 42 for controlling the fan and cleaner motor 37, an obstacle sensor 43 comprising an ultrasonic sensor or an infrared sensor, and measuring a distance to a wall or furniture in front of the vehicle. Rechargeable battery 44 that supplies power to the vehicle, a charging control unit 45 that controls charging of the rechargeable battery 44, a wireless communication unit 46 that wirelessly communicates with the home server 6, a storage unit 47, and an integrated running that controls each unit The control unit 48 is provided.

The left and right driving wheels 31a and 31b are connected to motors 33a and 33b via belts, respectively, and can be driven to rotate left and right independently. Thereby, the robot cleaner 8 can move forward, reverse, rotate, and run on a curve. The rotation speed and rotation direction of each of the drive wheels 31a and 31b are respectively set to the rotary encoders 39a and 39b.
b is detected individually.

The visual sensor 9 is composed of, for example, a CCD sensor, and obtains a forward field of view as an image.
Captures images in the direction of travel. The load sensor has a mechanism in which when the robot cleaner 8 is lifted for carrying, the wheel is lowered by its own weight, and thereby the switch is turned off. The robot cleaner 8 detects carrying when the load sensor is turned off, and transmits a detection signal to the home server 6.

FIG. 4 is a block diagram showing the configuration of the control section of the robot cleaner 8. The storage section 47 includes a map information storage section 47a, a cleaning running pattern storage section 4
7b is provided. In addition, the general travel control unit 48
Is provided with a position / direction specifying unit 48a and a traveling control unit 48b. The traveling control unit 48b controls the driving of the autonomous traveling mechanism. Further, a cleaner control unit 49 for controlling the drive of the cleaner mechanism is provided. The position / direction specifying unit 48
The visual sensor 9, the obstacle sensor 43, the rotary encoders 39a and 39b, and the wireless communication unit 46 are connected to a.

The map information storage unit 47a is provided with a map transmitted from the home server 6 via the wireless communication unit 46 to indicate the size and shape of each room to be cleaned and the arrangement of obstacles in each room; It stores the furniture in the room to be cleaned, the arrangement of obstacles such as walls, images of the room to be cleaned, and images of characteristic obstacles in the room.

The traveling pattern storage unit for cleaning 4
7b stores a plurality of traveling patterns used for cleaning. A traveling pattern is read from the cleaning traveling pattern storage unit 47b in accordance with the cleaning mode information for each room set by the home server 6 received by the wireless communication unit 46, and based on the read traveling pattern. Thus, the traveling control unit 48b controls the autonomous traveling mechanism, and the cleaner control unit 49 controls the cleaner mechanism.

The position / direction specifying section 48a specifies the position and direction using the outputs of the rotary encoders 39a, 39b provided on the left and right drive wheels 31a, 31b.
When the outputs of the rotary encoders 39a and 39b change by the same amount at the same timing, they are moving straight, and the amount of movement is the output amount, the number of pulses per rotation of the rotary encoders 39a and 39b, and the It can be calculated from the diameter of the ring. Since the home position and the initial moving direction are defined, the moving amount and direction of the robot cleaner 8 based on the home position and the initial moving direction can be determined. This can be compared with the map information in the map information storage unit 47a, and the current position on the map can be specified.

Further, the position / direction specifying section 48a stores the image acquired by the visual sensor 9 and the map information storage section 47a.
By comparing the image of the room to be cleaned and the image representing the state of the room to be cleaned or a specific object image in the room, it is possible to recognize the position on the map. The position is specified by the outputs of the rotary encoders 39a and 39b. The output of the visual sensor 9 can be used for confirming the position and for fine adjustment. It is also possible to mainly confirm the position of the visual sensor 9, but in that case, it is necessary to prepare many reference images for collation such as an image showing the state of the room or a specific object image in the room, It is desirable that both the output of the rotary encoder and the output of the visual sensor 9 be used together to complement each other.

The position / direction specifying unit 48a calculates the distance from the output from the obstacle sensor 43 to the obstacle in front of the obstacle, and detects the obstacles such as furniture and walls in each room. The current position and direction can be specified from the arrangement of objects.

The travel control unit 48b stores the current position from the position / direction specifying unit 48a and the map information storage unit 47.
The amount and direction of movement to the room to be cleaned are determined from the arrangement of the room to be cleaned stored in a. The travel control unit 48b includes the cleaning travel pattern storage unit 47.
The moving direction and the moving amount according to the running pattern read from b are determined.

The motor control unit 41 outputs the left and right drive wheels 31a, 31b based on the output from the travel control unit 48b.
The rotation of each of the motors 33a and 33b is controlled independently, and the drive wheels 31a and 31b are independently driven to rotate back and forth.

Next, the operation when the home server 6 controls and cleans the robot cleaner 8 will be described. When the home server 6 inputs setting information from a keyboard or the like while viewing the screen of the display unit 22, the home server 6 sets the setting information in the setting unit 17. A menu screen is displayed on the display unit 22 of the home server 6 in a hierarchical manner from the top, and switches to a guide screen and a control screen of various home electric appliances wirelessly networked. A control screen of the robot cleaner 8 is provided as a part of the control screen.

As shown in FIG. 5, the control screen displays an image display window 50, some select buttons 51, a status display window 52, and the like. The status display window 5
2 displays the state of the robot cleaner 8 at that time, that is, charging, charging completed, cleaning, moving, and the like.

First, on the top menu screen of the cleaner, as shown in FIG. 5, a face image of a comical expression is displayed in the image display window 50, and a "return" button for returning to the next higher hierarchy as a selection button 51; Return to the root of the hierarchy "HO
An “ME” button, “full-auto”, “remote control room selection”, “remote control” buttons for selecting an operation mode, and a “special” menu button for setting are displayed. , `` Charging remaining XX
Minutes "characters. "Fully automatic" is a mode for completely unattended cleaning, "Remote control room selection" is a mode for selecting a course at the discretion of the person and automatically moving to the desired room, and "Remote control" is a In this mode, the route is selected and the movement between rooms is performed by remote control.

When the "fully automatic" mode is selected, the display 2
The control screen of No. 2 is switched to FIG. Here to display the simple layout screen G ₁ of room for selecting a room to be cleaned is. At this time, if the robot cleaner 8 is on the charging stand at the home position, it is automatically moving,
If the current position can be grasped during cleaning, the color of the room is changed and displayed. Here, the state in which the color has changed is indicated by a cross line. The status display window 52
Displays the text of “Estimated time to complete charging XX minutes”. The “TOP” button of the selection button 51 is a button for returning to the first control screen.

When displaying the layout of the room, the floor where the home position is located is preferentially displayed, but the "other floor" button 53 is also displayed so that another floor can be selected. When the "other floor" button 53 is operated, the layout of the room on the other floor is displayed in the same manner in the pull-down menu, and the room can be selected. Incidentally, as shown in FIG. 7, instead of the layout screen of the room selected room, determine the name of the room, it may be performed by the character string selected by displaying the text screen G ₂ in the name.

When the robot cleaner 8 is carried from the home position to any room, the load sensor detects and informs the user, and the control screen of the display unit 22 switches to FIG. At this time, the character "Moved." Is displayed in the status display window 52, a message requesting that the room where the robot cleaner 8 is currently placed is displayed, and the room where the robot cleaner 8 is placed is displayed. Moves autonomously along the wall and specifies the position in the map information.

When one room is selected on the control screen of FIG. 6, the control screen of the display unit 22 is switched to the control screen of FIG. In this control screen, as the selection button 51,
The cleaning mode selection buttons in the fully automatic mode of “recommended”, “careful”, and “important” are displayed.

Here, in which cleaning mode the selected room is to be cleaned is selected. When cleaning other rooms, the "return" button is operated to return to the control screen of FIG. After selecting the room, the cleaning mode selection button is selected and operated again on the control screen of FIG.

The "recommended" of the cleaning mode selection buttons is a normal mode in which the vehicle travels in the same position in only one direction to perform cleaning. Also, if you select "priority" mode, the control screen changes as shown in FIG. 10, the display layout of the selected room as an enlarged screen G _3.
In the enlarged screen C, the room is indicated by a dotted line by 1 m ²
The area is divided into units, and an area to be intensively cleaned is selected and designated from the unit.

In this way, when all the rooms to be cleaned are selected and the cleaning mode is selected for each room, the "execute" button of the selection button 51 is operated. This allows
The robot cleaner 8 starts running.

FIG. 11 is a flowchart showing the operation of the system when the fully automatic mode is selected. The home server 6 uses the control screen displayed on the display unit 22 in S1 to designate a room and select the cleaning mode. I do. For example, cleaning area (room) A designation, cleaning mode selection, cleaning area (room) B
Designation and cleaning mode selection are sequentially performed, and the room selection ends. A cleaning start point for each cleaning area is preset in the home server 6 as a target point for the robot cleaner 8 to move to the specified cleaning area and start cleaning. In this embodiment, the entrance of the room is set as the cleaning start point.

Then, a movement command is transmitted to the robot cleaner 8. The selection of the room and the selection of the cleaning mode can also be performed by external remote control using the mobile phone 13, the computer network 10, or the like.

After specifying the cleaning area A and selecting the cleaning mode, the home server 6 transmits the map information of the room A and the cleaning mode to the robot cleaner 8. When the cleaning area B is specified and the cleaning mode is selected, the home server 6 transmits the map information of the room B and the cleaning mode to the robot cleaner 8. This transmission may be transmitted to the robot cleaner 8 at a time when the selection of the room is completed. Upon receiving the map information and the cleaning mode, the robot cleaner 8 stores them in the storage unit 47.

When a movement command is transmitted from the home server 6 to the robot cleaner 8, the robot cleaner 8 receives this movement command and moves from the home position where the charging stand is located, that is, starts traveling. Then, in S2, the movement amount and the direction are confirmed from the outputs of the rotary encoders 39a and 39b. That is, the movement amount and the movement direction are estimated from the outputs of the rotary encoders 39a and 39b, and are compared with the map information stored in the storage unit 47 to specify the current position on the map. Also,
Since the moving amount and the direction of the cleaning start point of the room to be cleaned from the home position are also known, the traveling control unit 48
b can control the moving amount and moving direction to the cleaning start point. Then, when the movement amount to the cleaning start point is reached, in S3, the position is confirmed and fine-tuned based on the image from the visual sensor 9. This is because an error may occur in the recognition amount due to idling of the drive wheels 31a and 31b. It should be noted that fine adjustment is also possible by the output from the failure sensor 43.

When the cleaning start point is set at the entrance of the room, the robot cleaner 8 receives the situation image of the room viewed from the entrance from the home server 6 before receiving the movement command from the home server 6, and maps the situation image in advance. Since the information is stored in the storage unit 47, the information is collated with the stored image and adjusted and moved so as to improve the matching.

Even if the cleaning start point is set in the room, the home server 6 has an image of a known obstacle in the room as viewed from this point as map information, and the robot cleaner 8 uses this image. Before the movement command is received from the home server 6, it is received from the home server 6 and stored in the storage unit 47 as map information in advance. .

By setting the cleaning start point for each cleaning area in this way, a reference point can be set when moving to a designated room, and it is easy to separate the movement → position confirmation → cleaning.

Thus, the robot cleaner 8 moves toward the cleaning start point of the designated room and is positioned at this cleaning start point. For example, as shown in FIG. 12, if a living room is designated as the cleaning point A and a bedroom B is designated as the cleaning point B, the robot cleaner 8 first moves from the home position P0 to the cleaning start point P1 of the living room. Then, when the cleaning of the living room is completed, the cleaner moves from the cleaning start point P1 to the bedroom cleaning start point P2.

When confirming that the robot cleaner 8 has arrived at the cleaning start point in the designated room, the robot cleaner 8 transmits an arrival command to the home server 6 in S4. Upon receiving the arrival command from the robot cleaner 8 in S5, the home server 6 transmits a cleaning start command to the robot cleaner 8 in S6. Robot cleaner 8
Receives the cleaning start command in S7, and in S8,
The cleaning is performed according to the map information from the home server 6, the cleaning mode, and the current position information.

The cleaning operation is performed based on the running pattern. The robot cleaner 8 has a plurality of traveling patterns as a cleaning mode, and includes a careful mode in which the same position is traveled twice vertically and horizontally, and a recommended mode in which the robot travels in the same position in one direction. Furthermore, it has a priority mode in which any position in the selected room is mainly cleaned.

In the recommendation mode, as shown in FIG. 13A, the robot cleaner 8 finishes the cleaning in one zigzag running in the room starting from the cleaning start point P10. The zigzag travel at this time is performed by causing the robot cleaner 8 to travel in parallel and reciprocate with a width such that there is no gap in cleaning. In the elaborate mode, as shown in FIG. 13B, the robot cleaner 8 starts from the cleaning start point P10, travels one zigzag in the room, and then moves in the direction 9.
Change the angle by 0 degrees and run the zigzag once more in the room to complete the cleaning. As a result, many parts of the area are overlapped and cleaned without gaps.

In the cleaning by the zigzag traveling, if the cleaning start point is at the corner of the room, the cleaning is performed first along the edge of the area. After moving by the size of the robot cleaner 8, the direction is changed again so as to be parallel to the end of the first area, and then the vehicle runs in the opposite direction. This is achieved by repeating this. In the elaborate mode, this is realized by further changing the direction of the robot cleaner 8 by 90 degrees and repeating the same traveling. At this time, the speed may be further reduced. In the case of the priority mode, the portion designated as the priority area is cleaned in the meticulous mode, and other portions are cleaned in the recommended mode.

During cleaning, the robot cleaner 8 sequentially transmits position information to the home server 6 in S9, and the home server 6 receives position information from the robot cleaner 8 in S10 and determines the sequential position. It has recognized. Therefore, the home server 6 always knows the state of the robot cleaner 8, and when the robot cleaner 8 is moving between rooms, the status display window 52 of the display unit 22 displays “「 ”.
The message "Move in between ○" is displayed, and when cleaning starts, "○○
"Cleaning room" is displayed.

When the cleaning of one room is completed, the robot cleaner 8 transmits a cleaning end command to the home server 6 in S11, and the home server 6 receives the cleaning end command in S12. Robot cleaner 8
Transmits the cleaning end command, in S13, starts moving to the next cleaning start point P2 of the room B, and repeats the processing of S2, S3, S4, S7, S8, S9, S11 again. When the cleaning of all the designated rooms is completed, the home server 6 returns to the home position P0, which is the start point, in S14.
At 15, confirm it.

Next, a case where a person carries the robot cleaner 8 to an arbitrary room and places it to start cleaning is shown in FIG.
This will be described based on the flowchart shown in FIG. In this case, the relative position cannot be detected from the home position P0.
Extract the characteristics of the placed room. This extraction, for example,
The robot cleaner 8 moves to the vicinity of an obstacle such as a wall or a closet of the room using the obstacle sensor 43, starts traveling along the wall or the obstacle, and based on the moving amount and the moving direction of the room. Obtain information on the size, shape, and size and shape of obstacles.

The robot cleaner 8 transmits these to the home server 6 as room characteristic data in S21. In S22, each rotary encoder 39
The moving amount and the direction are confirmed from the outputs of a and 39b, and this information is transmitted to the home server 6. Further, in S23, the state of the room such as an obstacle is acquired as an image by the visual sensor 9, and the acquired image is transmitted to the home server 6.

When the home server 6 receives information such as characteristic data and images from the robot cleaner 8 in S24, the collation unit 21 collates the information with the map information stored in the map information storage unit 20, and in S25. , The current position of the robot cleaner 8 is recognized. Then, if there is the matching map information, in S26, the robot cleaner 8
The matching data, that is, the matching map information,
The robot cleaner 8 receives this map information in S27. If there is no matching map information, it notifies the robot cleaner 8 to that effect.

When transmitting the matching map information to the robot cleaner 8, the home server 6 subsequently transmits a cleaning start command to the robot cleaner 8 in S28. Upon receiving the cleaning start command in S29, the robot cleaner 8 starts cleaning in S30 according to the map information, the cleaning mode, and the current position information.

During cleaning, the robot cleaner 8 sequentially transmits position information to the home server 6 in S31, and the home server 6 receives position information from the robot cleaner 8 in S32 and determines the sequential position. It has recognized.

When the cleaning of the room is completed, the robot cleaner 8 transmits a cleaning end command to the home server 6 in S33, and the home server 6 receives the cleaning end command in S34. After transmitting the cleaning end command, the robot cleaner 8 returns to the home position P0, which is the start point, in S35. When the robot cleaner 8 returns to the home position P0, the home server 6 confirms it in S36. I do.

When the home server 6 notifies that there is no matching map information, the robot cleaner 8 collects room layout information in S37.
In this case, the vehicle runs along the wall based on the output of the obstacle sensor 43 and the image information of the visual sensor 9. At this time, the vehicle travels while counting its own position by counting the number of pulses from the rotary encoders 39a and 39b. Even when there is a corner or an obstacle, the direction is determined from the rotation of the rotary encoders 39a and 39b. A feature point such as a corner may be used as a base point of the survey. Surveying is performed on immovable furniture, such as tables and sofas, inside and outside of the room. At this time, the vehicle travels in a zigzag manner from the corner of the room, and, when an obstacle is detected, goes around the periphery of the obstacle and acquires detailed data.

On the screen of FIG. 8 described above, a message requesting the user to specify the room where the robot cleaner 8 is currently placed is displayed. At this time, as shown in the flowchart of FIG. The cleaner 8 can autonomously move along the wall to specify the position in the map information. In this case, when a message requesting the user to specify the room where the user is currently located is displayed on the screen of FIG.

During cleaning, as shown in FIG. 15, the display section 22 of the home server 6 indicates that cleaning is in progress on the status display window 52, and a "Cancel" button and an image transfer are displayed as the selection buttons 51. "Camera o
An "n" button is displayed. When the "stop" button is operated, a "stop" button and an "end" button are displayed. Here, when the “stop” button is operated, the robot cleaner 8 stops immediately and the “restart” button is displayed on the display unit 22. Then, when the "Resume" button is operated, the robot cleaner 8 resumes its operation and resumes cleaning from the continuation. When the "end" button is operated, the robot cleaner 8 stops cleaning halfway and returns to the home position. When the home position is not on that floor,
Alternatively, if the current position cannot be recognized, the apparatus waits at the cleaning end point or a corner of the room.

When the “camera on” button is operated, FIG.
As shown in FIG. 6, the moving image from the visual sensor 9 of the robot cleaner 8 is transmitted after being compressed by MPEG or the like, and the home server 6 decodes the received compressed data and decodes the received compressed data.
Display at 0. Also, as the selection button 51, a “moving image capture” button and a “still image capture” button for capturing a moving image and a still image of an image are displayed.

When a moving image capture is started, a "stop" button is displayed. However, the storage device may be wasted, so that it may be set to stop automatically in a few seconds to a few tens of seconds. Camera images are always transferred and image display window 5
0 may be displayed, but a face with a comical expression is displayed in the image display window 50 when the image is not displayed. For example, when the current position is unknown, a confused expression is displayed. During cleaning, you may have a good expression.

In the control screen display of FIG. 5, when the "remote control room designation" button is operated, a room selection similar to that of the full automatic operation is performed. You can only choose a room. In this mode, the robot cleaner 8 autonomously travels using the map information, the outputs of the rotary encoders 39a and 39b, and the image from the visual sensor 9 as in the case of a fully automatic movement to the selected room. Move to the cleaning start point. Then, when the cleaning start point is reached, an arrival command is transmitted to the home server 6, which causes the home server 6 to enter the remote control mode.

In the remote control mode, as shown in FIG. 17, a compressed moving image sent from the visual sensor 9 of the robot cleaner 8 is expanded and displayed on the image display window 50 of the display unit 22 and displayed on the display unit 22. Robot cleaner 8
Is displayed, a cross-shaped operation button G4 for moving forward, backward, right rotation, left rotation. Further, as the selection buttons 51, a “stop” button, a “cleaner on” button, a “movie capture” button, and a “still image capture” button are displayed. On this display screen, the user operates the operation button G4 while looking at the image in the image display window 50 to move the robot cleaner 8 forward, backward, right or left, and further operates the "cleaner on" button to perform cleaning.

When the "special" button is operated on the control screen display of FIG. 5, a special menu for creating floor plan data, setting a timer, and the like is displayed. The creation of the floor plan data is performed by causing the robot cleaner 8 to perform the same operation as the collection of the layout information described above, and thereafter, the cleaning is performed based on the created map information. More precise traveling may be performed by reducing the speed near a wall or an obstacle or increasing the sensitivity of the obstacle sensor 43.

Other special menus include, for example, confirmation of the state of charge, setting of the basic traveling speed,
It also displays the remaining capacity of the paper packs inside. Since the charging state is obtained from the charging current and voltage at that time, the home server 6 makes an inquiry about the charging state to the robot cleaner 8 and displays the answer from the robot cleaner 8 at that time. The basic traveling speed allows the speed to be set in several steps. For example, when it is desired to clean a large room in a short time, the traveling speed is increased. The setting of the traveling speed also affects the continuous traveling distance by the battery 44. If the traveling speed is increased, a wider area can be cleaned at a time.

When cleaning a plurality of rooms that are moving, especially in the case of cleaning continuously, it is assumed that the door of each room is open. If each room has a door that opens and closes automatically, the robot cleaner 8 sends it to the home server 6
Further, a command to directly open the door is transmitted from the robot cleaner 8 to open the door. If there is no such automatic door,
The robot cleaner 8 transmits a message indicating that the work cannot be performed to the home server 6, and interrupts the cleaning.

In this embodiment, the control function of the robot cleaner is included in the home server used in the home network system. However, the present invention is not limited to this, and it is necessary to remotely control the robot cleaner from the server. If not, a server for controlling the robot cleaner may be integrated with the robot cleaner.

[0069]

According to the first to fifth aspects of the present invention, it is possible to freely select a cleaning area to be cleaned from a plurality of cleaning areas and perform cleaning without involving a complicated traveling route input operation. A robot cleaner can be provided. According to the second aspect of the present invention, the cleaning start position in each cleaning area can be kept constant. According to the third and fourth aspects of the present invention, it is possible to further reliably specify the current position. According to the fifth aspect of the present invention, it is possible to further clean various types of traveling and improve versatility.

According to the present invention, the robot cleaner can freely select a cleaning area to be cleaned from a plurality of cleaning areas without involving a complicated traveling route input operation and cause the robot cleaner to perform cleaning. Can provide a robot cleaner system capable of performing such operations.

According to the seventh aspect of the present invention, the cleaning start position in each cleaning area can be always kept constant. According to the invention described in claim 8, the server can monitor the movement of the robot cleaner. According to the ninth aspect, the robot cleaner can be remotely controlled in the server, and the versatility can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a home network according to an embodiment of the present invention.

FIG. 2 is an exemplary block diagram showing a configuration of a main part of the home server according to the embodiment;

FIG. 3 is a diagram showing a configuration of a robot cleaner according to the embodiment.

FIG. 4 is a block diagram showing a configuration of a control unit of the robot cleaner according to the embodiment.

FIG. 5 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

FIG. 6 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

FIG. 7 is an exemplary view showing a display example of a display unit of the home server according to the embodiment.

FIG. 8 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

FIG. 9 is an exemplary view showing a display example of a display unit of the home server according to the embodiment.

FIG. 10 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

FIG. 11 is a flowchart showing the operation of the system when the fully automatic mode in the embodiment is selected.

FIG. 12 is a diagram showing a home position and a cleaning start point in the embodiment.

FIG. 13 is a view showing an example of travel patterns in a recommended mode and a meticulous mode in the embodiment.

FIG. 14 is a flowchart showing the operation of the system when the robot cleaner is carried to an arbitrary room to start cleaning in the embodiment.

FIG. 15 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

FIG. 16 is a diagram showing a display example of a display unit of the home server according to the embodiment.

FIG. 17 is an exemplary view showing a display example of a display unit of the home server in the embodiment.

[Explanation of symbols]

 6 Home server 8 Robot cleaner 9 Visual sensor 16 Control unit 17 Setting unit 20 Map information storage unit 21 Collation unit 22 Display unit 31a, 31b Drive wheels 39a, 39b Rotary encoder 43 Obstacle Sensor 47: Storage unit 48: General traveling control unit

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Claims (9)

[Claims] 1. A selection means for selecting an arbitrary cleaning area from a plurality of cleaning areas and selecting a cleaning mode in the selected cleaning area, an autonomous traveling sensor used to identify a current position, A storage unit for storing map information of each of the cleaning areas; and a position specifying unit for specifying a current position from the output of the sensor for autonomous traveling and the map information stored in the storage unit. A robot cleaner that autonomously travels to a cleaning area selected by the selection unit based on a current position, and performs cleaning of the selected cleaning area while autonomously traveling in accordance with a cleaning mode of the cleaning area. 2. A cleaning start point is set for each of a plurality of cleaning areas, and after autonomous traveling to a cleaning start point of the cleaning area selected by the selection means, the cleaning area is cleaned. The robot cleaner according to 1. 3. A visual sensor is used as a sensor for autonomous driving, an image is acquired by the visual sensor, and the map information includes an image representing a state of each cleaning area or an object image in each cleaning area. 3. The robot cleaner according to claim 1, wherein the current position is specified by comparing an image acquired by the visual sensor with an image of map information. 4. 4. When the cleaning area is a room partitioned by a wall, the vehicle travels autonomously along the wall of the room, and the position specifying unit specifies the current position by comparing the output of the autonomous traveling sensor with map information. The robot cleaner according to any one of claims 1 to 3, wherein: 5. A cleaning pattern having a plurality of traveling patterns, wherein each traveling pattern has a traveling pattern traveling in the same position only in one direction at the same position as the traveling pattern traveling vertically and horizontally at the same position. 5. The robot cleaner according to any one of 1 to 4. 6. An autonomous traveling robot cleaner and a server for controlling the robot cleaner, wherein the server selects an arbitrary cleaning area from a plurality of cleaning areas and selects a cleaning mode in the selected cleaning area. An autonomous traveling sensor used to identify the current position, a storage unit for storing map information of each cleaning area, an output of the autonomous traveling sensor, and the storage. Means for specifying a current position from the map information stored in the means; autonomously traveling to the cleaning area selected by the selection means based on the current position specified by the position specifying means; A robot cleaner system wherein an area is cleaned while autonomously traveling in accordance with the cleaning mode of the cleaning area. 7. The server sets an entrance of the room as a cleaning start point of the cleaning area, and the robot cleaner performs autonomous traveling to the entrance of the room of the cleaning area selected by the selection means, and then cleans the room. The robot cleaner system according to claim 6, wherein: 8. An autonomously traveling robot cleaner and a server for controlling the robot cleaner, wherein the server selects an arbitrary cleaning area from a plurality of cleaning areas, and displays an image from the robot cleaner. The robot cleaner includes an autonomous traveling sensor used to specify a current position, a visual sensor to acquire an image, and a storage unit that stores map information of each of the cleaning areas. And a position specifying means for specifying a current position from the output of the autonomous traveling sensor and the map information stored in the storage means, wherein the position is selected by the selection means based on the current position specified by the position specifying means. The vehicle travels autonomously to the cleaning area, and performs cleaning of the selected cleaning area while autonomously traveling in accordance with the cleaning mode of the cleaning area. Robot cleaner system but which and transmits the acquired image to the server. 9. A robot cleaner that autonomously travels and a server that controls the robot cleaner, wherein the server includes: an image display unit that displays an image from the robot cleaner; and an operating unit that performs a traveling operation of the robot cleaner. A selection means for selecting an arbitrary cleaning area from a plurality of cleaning areas and autonomously traveling to the selected cleaning area, or autonomously traveling in the cleaning area, or selecting to operate with the operation means, The robot cleaner is a sensor for autonomous traveling used to identify a current position, a visual sensor for acquiring an image, a storage unit for storing map information of each cleaning area, and a sensor for the autonomous traveling sensor. A position specifying unit for specifying a current position from the output and the map information stored in the storage unit; Whether to autonomously travel to the cleaning area based on the current position, to clean while autonomously traveling in the cleaning area, or to transmit the image obtained by the visual sensor to the server and to run according to the operation of the operation means of the server. A robot cleaner system according to the content selected by the selection means.