JP2003180586A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive self-propelled cleaner that can precisely control the traveling motion by detecting the moving distance and rotating angle with high degree of accuracy. <P>SOLUTION: A self-propelled cleaner is provided with a plurality of optical moving distance sensors 57 and 58, which detect two-dimensional moving distance from the change in the optical image on a floor surface 8, a moving distance detector 70 that detects two-dimensional moving distance and rotating angle of the cleaner body 2 based on the two-dimensional moving distance detected by the sensors, and a movement control section 75 that controls the movement of the cleaner body 2 based on the detected two-dimensional moving distance and the rotating angle. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a self-propelled vacuum cleaner.

[0002]

2. Description of the Related Art A self-propelled vacuum cleaner has been proposed which is equipped with a moving means having wheels driven by a motor and a nozzle for sucking dust and which automatically travels on a floor surface for cleaning.
In this self-propelled cleaner, it is necessary to measure the moving distance and the turning angle of the cleaner using a sensor and control the wheels so that the cleaner travels along an appropriate moving route.

Conventionally, for such control, a method has been used in which the rotational speed of the drive wheels is measured to detect the moving distance and the turning angle in the front-rear direction. There is also a gyroscope used to detect the turning angle with high accuracy.

Further, Japanese Patent Application Laid-Open No. 7-175518 describes a mobile work robot having a measuring wheel and detecting the rotational speed of the measuring wheel to move the main body straight.

Further, in Japanese Patent Laid-Open No. 8-75459,
The recognition device recognizes the bar provided along the travel route,
An unmanned vehicle that detects speed or position based on the count number is described.

[0006]

In a self-propelled cleaner that measures the number of rotations of drive wheels to control movement, when slip occurs between the wheels and the floor surface, a detection error in the movement distance or turning angle may occur. Therefore, there is a problem in that it is easily affected by the floor surface and the accuracy of the traveling route is low. Further, for this purpose, for example, when used so as to reciprocally move on the floor surface to clean the floor surface by a constant width, a cleaning leak occurs on the floor surface, or the interval of the moving path is narrowed to prevent the cleaning leak. If the overlapping width is increased so that cleaning is performed, there is a problem in that cleaning takes a long time.

The method of measuring the turning angle using the gyro can improve the accuracy of the traveling route, but has a problem that the device becomes expensive.

Further, the mobile work robot described in JP-A-7-175518 reduces the influence of the floor surface by providing a measuring wheel in addition to the driving wheel, but it is a contact type. However, depending on the condition of the floor surface, there is a problem that slippage occurs and an error occurs in the travel route.

Further, the moving mechanism described in Japanese Unexamined Patent Publication No. 8-75459 has a problem that the usable place is restricted because it is necessary to previously provide a mark on the traveling route.

Therefore, it is conceivable to detect the moving distance based on the image signal obtained by photographing the floor surface by an optical sensor using a camera. However, the self-propelled vacuum cleaner
Since the vehicle may travel on an uneven floor surface covered with a carpet or the like, the nozzle may be caught on the floor surface, etc. This may occur, and an error may occur in the detection of the moving distance during a short time. Further, due to the influence of the unevenness on the floor surface, the image may be out of focus, and the movement distance may not be detected. In addition, since the vehicle travels on a dusty floor surface, dust may adhere to the lens of the camera and it may not be possible to detect the moving distance.

An object of the present invention is to propose a relatively inexpensive self-propelled cleaner capable of detecting a self-propelled path with high accuracy and efficiently cleaning the floor surface.

Another object of the present invention is to propose a self-propelled cleaner which is not easily affected by the floor surface to be cleaned.

Yet another object of the present invention is to propose a self-propelled cleaner which is easy to maintain.

[0014]

The present invention provides a self-propelled cleaner including a moving body, a moving means for moving the moving body on a floor surface, and a cleaning means for cleaning the floor surface. And an image input unit that is provided on the moving body so as to face the floor surface and that repeatedly captures the floor surface and repeatedly inputs an image signal, and a repetitive image input from the image input unit. A plurality of optical moving distance detecting means including an image processing means for detecting a two-dimensional moving distance of the image input means with respect to the floor surface based on a change in the signal, and the plurality of optical moving distance detecting means detect the moving distance. Based on the two-dimensional moving distance, the moving amount detecting means for detecting the two-dimensional moving distance and the turning angle of the moving body, the two-dimensional moving distance of the moving body detected by the moving amount detecting means, and Based on the turning angle, And movement control means for controlling the movement of the body is provided, it is performed by detecting the moving control of high precision turning angle exactly moving distance without being affected by the slip of the wheels in an inexpensive structure.

Further, the moving means further includes a plurality of rotating wheels provided on the moving body and grounded on a floor surface, a rotation speed detecting means for detecting a rotating speed of the plurality of rotating wheels, and the rotation means. A mechanical moving distance detecting means including a converting means for detecting a component of a moving distance in the front-rear direction and a turning angle of the moving body based on the number of rotations detected by the number detecting means,
The movement amount detection means is based on a two-dimensional movement distance detected by the plurality of optical movement distance detection means, a component of the front-back direction movement distance detected by the mechanical movement distance detection means, and a turning angle. By detecting the two-dimensional moving distance and the turning angle of the moving body, the influence of the detection error of the optical moving distance detecting means is eliminated.

Further, by supporting the image input means so as to be movable up and down with respect to the moving body, it is possible to reduce the influence of the unevenness of the floor surface and realize the stable detection of the moving distance and the turning angle.

Further, the image input means realizes stable detection of the moving distance and the turning angle by reducing the adhesion of dust by forming the surface of the image forming means facing the floor surface into a smooth concave surface. Is.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the drawings.

First Embodiment FIGS. 1 and 2 are a side view and a plan view of a self-propelled cleaner according to the first embodiment.

Self-propelled vacuum cleaner 1 in this embodiment
Is a cleaner body 2 that constitutes a moving body, a nozzle 3 and a suction type dust remover 4 that constitute cleaning means, a pair of left and right drive wheels 11 and 12 and wheel drive motors 13 and 14 that constitutes drive means, Rotational speed sensors 15 and 16 constituting rotational speed detection means for detecting the rotational speeds of the drive wheels 11 and 12.
A driven wheel 5, two camera units 21 and 22 arranged before and after the image input unit, a control device 6 for sensor signal processing and motor drive control, a suction dust remover 4, a wheel drive motor. 13, 14 and the battery 7 for supplying power to the control device 6.

Here, the drive means, the rotation speed detection means,
The rotation speed detecting means, the image inputting means, the control device and the battery constitute a moving means.

This self-propelled vacuum cleaner 1 has left and right drive wheels 1
By controlling the rotational speeds of 1 and 12, the front-back movement and the turning are performed on the floor surface 8. Then, the dust on the floor surface 8 is sucked from the nozzle 3 to the suction type dust remover 4 to remove the dust and cleaned. In addition, here, the left and right directions in FIG.
That is, the direction parallel to the direction of the drive wheels 11 and 12 is called the front-back direction of the self-propelled cleaner 1, and the direction orthogonal to it is the left-right direction.

FIG. 3 is a vertical cross-sectional side view of the camera units 21 and 22 which constitute the image input means in this embodiment.

The camera section 21 (22) includes an image pickup device 31 (32) forming an image pickup means, a lens 42 and a lens cover 43 forming an image forming means, a lamp 44, and a holder for holding these parts. 41 is provided. Here, the image pickup device 31 (32) is an electronic image input device such as CCD or CMOS. The lens cover 43
May be formed integrally with the lens 42.

The retainer 41 is attached to the cleaner body 2 by a guide 45, supported vertically slidably and non-rotatably, and pressed downward by a spring 46 so that a sliding member 47 provided on the bottom surface of the retainer 41 is attached to the floor surface 8. To slide on the floor surface 8.

In such a camera unit 21 (22), the optical image of the floor surface 8 illuminated by the lamp 44 is formed on the image pickup device 31 (32) by the lens 42, and the image pickup device 31 (32) is formed.
(32) is photographed and the image signal of the floor surface 8 is output.
Since the cage 41 is pushed by the spring 46 and slides on the floor surface 8, even if the floor surface 8 has irregularities, the cage 41 moves up and down along the irregularities, and The optical image is the image sensor 31
(32) is always focused and converted into an image signal.

Further, the optical image of the floor surface 8 is captured by the image pickup device 31 (3
The lens cover 43, which is a surface facing the floor surface 8 of the optical system leading to 2), is 1 mm to 1 mm by the sliding member 47 between the lens cover 43 and the floor surface 8.
A gap of about several mm is formed, and the surface facing the floor surface 8 is formed as a smooth concave surface. This configuration
Since the lens cover 43 and the floor surface 8 do not come into direct strong contact,
It is effective in preventing scratches on the optical system and preventing dust from collecting. From the viewpoint of preventing dust from adhering, it is desirable that the peripheral edge of the lens cover 43 be attached so as to be located at a portion continuous with the bottom surface of the holder 41. In order to prevent dust from adhering to the lens cover 43
It is desirable to apply an antistatic treatment to the. Accordingly, the image pickup device 31 (32) can always output a clear image signal of the floor surface 8.

The camera section 21 (22) may be fixedly attached to the cleaner body 2 apart from the floor surface 8. In this case, in order to deal with the unevenness of the floor surface 8, the camera portion 21 (22) is installed at a position sufficiently higher than the height of the unevenness, and the unevenness of the floor surface 8 is obtained by using the lens 42 having a deep depth of focus. It is desirable to configure so as to prevent defocusing due to.

FIG. 4 is a functional block diagram of a control system mainly including the control device 6 in this embodiment.

Image pickup devices 31, 32 and image processing units 51, 5
2 constitutes two optical movement distance sensors 57 and 58, which respectively cause the image pickup devices 31 and 32 to repeatedly output the image signals 53 and 54 at a predetermined cycle to output the image processing unit 5;
1, 52, and as shown in FIG. 5, X, Y of images (image signals 53, 54) of patterns, stains, scratches, etc. on the floor surface 8.
By measuring the amount of movement on the coordinates, the camera units 21, 2
The front and rear and left and right movement distances of 2 are detected and front and rear movement distance signals 55a and 56a and left and right movement distance signals 55b and 56b are output. The optical movement distance sensors 57 and 58 can use existing inexpensive parts in which the image pickup devices 31 and 32 and the image processing units 51 and 52 are unitized, respectively.

The rotation speed sensors 15 and 16 and the rotation speed sensor conversion unit 60 constitute a mechanical movement distance sensor 64, and the rotation speed sensor conversion unit 60 is obtained from the rotation speed sensors 15 and 16 of the drive wheels 11 and 12. Based on the rotation speed signals 61 and 62, the moving distances and the rotation angles of the cleaner main body 2 in the front-rear direction and the left-right direction are obtained, and the movement distance signals 63a and 63b and the rotation angle signal 63c are output. Here, the moving distance in the front-rear direction can be obtained from the average value of the rotational speeds of the left and right wheel drive motors 13 and 14, and the turning angle 63c is the difference between the rotational speeds of the left and right wheel drive motors 13 and 14 and the drive wheels. 1
It can be obtained from the distance between 1 and 12. Drive wheel 1
Since it is premised that there is no skid when the moving distance is obtained from the rotational speeds of 1 and 12, the moving distance signal 63b in the left-right direction is always regarded as 0.

Instead of detecting the rotation speeds of the wheel drive motors 13 and 14, wheels, rollers, balls, etc. are provided as the rotation wheels for distance measurement separately from the drive wheels 11 and 12, and the rotation speeds are set. You may make it detect. According to this structure, the influence of slip is less likely to occur than the detection of the rotation speeds of the drive wheels 11 and 12, and the detection accuracy of the moving distance and the turning angle is improved. In this case, the moving distance in the left-right direction can be measured by providing the rotating wheel that detects the movement in the left-right direction.

The movement amount detecting section 70 includes two camera sections 2.
Based on the front-rear direction movement distance signals 55a, 56a and the left-right direction movement distances 55b, 56b of 1, 22, the movement distance of the cleaner body 2 in the front-rear direction and the left-right direction, that is, the two-dimensional movement distance and the turning angle are obtained and moved. Distance signal 71
a, 71b and the optical sensor conversion unit 72 that outputs the turning angle signal 71c, and the comparator 7 that compares the front and rear movement distance signals 55a and 56a of the two camera units 21 and 22.
3 and the comparison result of the comparator 73, the two-dimensional moving distance signal 71 obtained by the optical sensor conversion unit 72.
a, 71b, a turning angle signal 71c, and a two-dimensional moving distance signal 63 obtained by a mechanical moving distance sensor 64.
The selector 74 is provided for selecting any of the a, 63b and the turning angle signal 63c.

The movement control unit 75 causes the cleaner body 2 to travel along a predetermined route based on the two-dimensional movement distance signals 76a and 76b and the turning angle signal 76c selected and output by the selector 74. Thus, the rotations of the left and right wheel drive motors 13 and 14 are controlled.

Here, the rotation speed sensor conversion unit 60, the moving charge detection unit 70, and the movement control unit 75 are actually realized by the signal processing function of a microcomputer.

In the self-propelled cleaner 1 thus constructed, when the cleaner body 2 moves, the image pickup device 3 is correspondingly moved.
The light image of the floor surface 8 formed on the surfaces 1 and 32 moves. The image pickup devices 31 and 32 repeatedly convert the light image into image signals 53 and 54 at a predetermined cycle and pass the image signals to the image processing units 51 and 52. As shown in FIG. 5, the image processing units 51 and 52 compare the image signals 53 and 54 that are sequentially captured, and the camera units 21 and 21.
The two-dimensional movement distances of the two floor surfaces 8, that is, the movement distances in the front-rear direction and the movement distances in the left-right direction are detected to detect front-rear movement distance signals 55a, 56a and left-right movement distance signals 55b, 56b.

Here, the light image taking-in (photoelectric conversion) cycle is determined so that the amount of movement of the light image until the next taking-in time does not become excessive with respect to the visual field width of the camera sections 21 and 22. The amount of movement of the light image is preferably 1/10 or less of the field of view. For example, when the maximum movement speed is 300 mm / s and the field of view of the camera is 3 mm, the light image capturing period is 1
It is desirable to set it to ms or less.

The optical sensor conversion section 72 is a moving distance signal 55a, 56a in the front-back direction of the two camera sections 21, 22.
And moving distance signals 55b and 56b in the left-right direction are averaged to obtain the moving distances in the front-rear direction and the left-right direction of the cleaner body 2 to obtain the moving-distance signal 71a in the front-rear direction and the moving-distance signal 71b in the left-right direction. Output. Also,
The optical sensor conversion unit 72 includes two camera units 21 and 22.
By dividing the difference in the moving distance (signals 55a, 56a) in the front-back direction by the distance L between the cameras, the turning angle of the cleaner body 2 is obtained and the turning angle signal 71c is output.

Since the signals 71a, 71b and 71c of the moving distance and the turning angle obtained here are detected based on the optical image of the floor surface 8 photographed by the camera units 21 and 22, the moving distance by the wheels is changed. There is no problem of slip that tends to occur when is detected, and it is possible to detect with high accuracy without being affected by the floor surface 8. Further, the turning angle can be detected with high accuracy without using an expensive gyro.

In this control system, two optical movement distance sensors capable of detecting a two-dimensional movement distance are detected, while a plane movement having a total of three degrees of freedom such as a two-dimensional movement distance and a turning angle is detected. 57 and 58 are used, and a sensor having a total of 4 degrees of freedom is included. For this reason, this control system has redundancy, and this can be utilized to detect a detection error of the sensor.

Since the two camera parts 21 and 22 are attached to the common cleaner body 2, the distance between the cameras is constant. For this reason, the components of the moving distance detected based on the image signal of the floor surface 8 captured by the two camera units 21 and 22 in the direction connecting the cameras are equal to each other. Here, since the camera units 21 and 22 are arranged in the front and rear,
Normally, the movement distances of the two camera units 21 and 22 in the front-rear direction with respect to the floor surface 8 are always the same. Therefore, when the moving distances detected based on the image signals of the floor surface 8 captured by the two camera units 21 and 22 are different, the optical image of the floor surface 8 can be captured correctly (photoelectric conversion) for some reason. No, it can be considered that an error has occurred in the detection of the moving distance.

Therefore, the movement amount detecting section 70 has a comparator 73.
The moving distance signal 55 in the front-back direction of the two camera units
a and 56a are compared, and if the difference between the two is smaller than a predetermined value, it is considered that there is no detection error, and the selector 74
Select the two-dimensional movement distance and turning angle signals 71a, 71b, 71c obtained by the optical sensor conversion unit 72 based on the movement distance signals 55a, 56a, 55b, 56b obtained from the optical movement distance sensors 57, 58. Then, when the difference between the two is larger than a predetermined value, it is considered that a detection error has occurred, and as an alternative means, the two-dimensional data obtained from the mechanical movement distance sensor 64 is used. The movement distance and the turning angle signals 63a, 63b, 63c are selected and input to the movement control unit 75. Where the above given value is
It is set to about twice the detection error of the moving distance when there is no normal detection error. During a period in which an error occurs in the optical movement distance sensors 57 and 58 and the mechanical movement distance sensor 64 substitutes, the detection accuracy of the movement distance and the turning angle is reduced, but usually in a short time. As it recovers, no major impact will occur.

Second Embodiment FIG. 6 is a bottom view of the self-propelled cleaner according to the second embodiment, showing the arrangement of the image input section.

In the above-described first embodiment, 2
Although the two camera units 21 and 22 are arranged apart from each other in the front and rear of the cleaner body 2, this embodiment has two camera units 2 and 22.
This is a configuration in which the cleaners 1 and 22 are arranged separately on the left and right of the cleaner body 2.

The control system in this embodiment can be constructed in the same manner as in the first embodiment, but the optical sensor conversion unit 72 is arranged so that the two camera units 21 and 22 move in the horizontal direction ( Instead of dividing the difference between the signals 55b, 56b) by the distance L between the cameras, the moving distance in the front-back direction (signal 55b
a, 56a) is divided by the distance L between the cameras to change the configuration to obtain the turning angle (signal 71c) of the cleaner body 2. Further, the comparator 73 includes two camera units 2
1 and 22 moving distance in the front-back direction (signals 55a, 56a)
Instead of comparing
b, 56b) is changed to a configuration for comparison.

Third Embodiment FIG. 7 is a bottom view of the self-propelled cleaner according to the third embodiment, showing the arrangement of the image input section.

The first and second embodiments described above are
The cleaner main body 2 has two camera parts 21 and 22 installed therein. In the third embodiment, (a) and (b) are used.
As shown in (3), the configuration is such that three or more camera units 23 are provided.

According to this structure, even if an error occurs in any of the sensors, the remaining distance can be used as a substitute to detect the moving distance and the turning angle. It is possible to perform high-precision control without using it as described above, and it is possible to obtain high detection accuracy for the moving distance and the turning angle. In this embodiment, for each arbitrary combination of two of the plurality of camera units 23, each camera unit 23 of the detected two-dimensional movement distances.
It suffices to compare the components in the direction connecting the two and to selectively use the component having a difference smaller than a predetermined value to detect the moving distance and the turning angle of the cleaner body 2.

[0049]

According to the present invention, since the movement distance and the turning angle can be detected with high accuracy by reducing the influence of the floor surface, it is possible to perform accurate traveling control along a desired route. Moreover, it is possible to realize an inexpensive self-propelled vacuum cleaner.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled vacuum cleaner according to a first embodiment of the present invention.

FIG. 2 is a top view of the self-propelled vacuum cleaner according to the first embodiment of the present invention.

FIG. 3 is a vertical cross-sectional side view of an image input unit according to the first embodiment of the present invention.

FIG. 4 is a block diagram of a control system according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of image processing for detecting a movement amount according to the first embodiment of the present invention.

FIG. 6 is a bottom view of the self-propelled cleaner according to the third embodiment of the present invention.

FIG. 7 is a bottom view of the self-propelled cleaner according to the fourth embodiment of the present invention.

[Explanation of symbols]

1 ... Self-propelled cleaner, 2 ... Vacuum cleaner body, 3 ... Nozzle, 4 ...
Suction type dust remover, 6 ... control device, 11, 12 ... drive wheels,
13, 14 ... Wheel drive motors, 15, 16 ... Rotation speed sensors 21, 22 ... Camera section, 31, 32 ... Imaging device, 4
2 ... Lens, 43 ... Lens cover, 57, 58 ... Optical movement distance sensor, 60 ... Mechanical movement distance sensor, 70 ...
Movement amount detection unit, 75 ... Movement control unit.

Continued front page    (72) Inventor Minoru Arai             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center (72) Inventor Ikuo Takeuchi             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center (72) Inventor Taiji Tajima             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center F-term (reference) 3B057 DA00

Claims (7)

[Claims] 1. A self-propelled cleaner including a moving body, a moving means for moving the moving body on a floor surface, and a cleaning means for cleaning the floor surface, wherein the moving means includes a floor surface on the moving body. An image input unit that is provided so as to face the floor surface repeatedly and repeatedly inputs an image signal,
A plurality of optical movement distance detecting means including an image processing means for detecting a two-dimensional movement distance of the image input means with respect to the floor surface based on the repeated change of the image signal inputted from the image input means; 2 detected by the plurality of optical movement distance detecting means
A moving amount detecting means for detecting a two-dimensional moving distance and a turning angle of the moving body based on a two-dimensional moving distance; and a two-dimensional moving distance and a turning angle of the moving body detected by the moving amount detecting means. A self-propelled vacuum cleaner, comprising: a movement control unit that controls movement of a moving body based on the above. 2. The rotating means according to claim 1, further comprising: a plurality of rotating wheels provided on the moving body and grounded on a floor surface; and rotating speed detecting means for detecting rotating speeds of the plurality of rotating wheels. And a mechanical movement distance detecting means including a conversion means for detecting a component of a moving distance in the front-rear direction and a turning angle of the moving body based on the rotation speed detected by the rotation speed detecting means. The detection means moves based on the two-dimensional movement distance detected by the plurality of optical movement distance detection means, the component of the front-back movement distance detected by the mechanical movement distance detection means, and the turning angle. A self-propelled cleaner characterized by detecting a two-dimensional moving distance and a turning angle of a body. 3. The moving amount detecting means according to claim 1, wherein the moving amount detecting means detects the optical moving distance detecting means for any combination of the plurality of optical moving distance detecting means. Of the plurality of optical movement distance detecting means, comparing means for comparing two-dimensional movement distances to detect a difference in components of movement distances in a direction connecting the image input means of each of the optical movement distance detecting means A selection means for selecting a combination of optical movement distance detection means in which a difference in movement distance components in a direction connecting the image input means detected by the comparison means is smaller than a predetermined value. A two-dimensional moving distance and a turning angle of the moving body are detected based on the two-dimensional moving distance detected by the combination of the selected optical moving distance detecting means. Expression vacuum cleaner. 4. The optical movement distance detection means according to claim 3, wherein the optical movement distance detection means is two optical movement distance detection means in which an image input means is arranged apart from each other in the front-back direction of the moving body. The detecting means includes a comparing means for comparing the moving distances detected by the two optical moving distance detecting means, and for detecting a difference in the front-back direction component of the moving distance. If the difference is smaller than a predetermined value, the two-dimensional moving distance of the moving body is detected from the average of the two-dimensional moving distances detected by the two optical moving distance detecting means, and the two optical distances are detected. Detecting the turning angle of the moving body from the difference in the left-right direction component of the moving distance detected by the moving distance detecting means, if the difference in the front-back direction component of the moving distance is larger than a predetermined value, The mechanical distance measurement 2 of the moving body based on the component of the moving distance in the front-back direction and the turning angle detected by the output means.
A self-propelled vacuum cleaner characterized by detecting a two-dimensional movement distance and a turning angle. 5. The optical movement distance detection means according to claim 3, wherein the optical movement distance detection means is two optical movement distance detection means in which an image input means is arranged apart from each other in the left-right direction of the moving body. The detecting means includes a comparing means for comparing the moving distances detected by the two optical moving distance detecting means and detecting a difference between the left and right components of the moving distance. If the difference is smaller than a predetermined value, the two-dimensional moving distance of the moving body is detected from the average of the two-dimensional moving distances detected by the two optical moving distance detecting means, and the two optical distances are detected. The turning angle of the moving body is detected from the difference in the front-rear direction component of the movement distance detected by the moving distance detection means, and when the difference in the left-right direction component of the movement distance is larger than a predetermined value, The mechanical distance measurement A two-dimensional moving distance and a turning angle of the moving body are detected based on a component of a moving distance in the front-rear direction and a turning angle detected by the output means. 6. The self-propelled vacuum cleaner according to claim 1, wherein the image input means is supported so as to be vertically movable with respect to the moving body. 7. The image input means according to claim 1, further comprising an image pickup means and an image formation means for forming an image of a floor surface on the image pickup means, wherein the image formation means is a floor. A self-propelled vacuum cleaner characterized in that the surface facing the surface is formed into a smooth concave surface.