CN109938649A - Self-discipline driving body - Google Patents
Self-discipline driving body Download PDFInfo
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- CN109938649A CN109938649A CN201811351283.9A CN201811351283A CN109938649A CN 109938649 A CN109938649 A CN 109938649A CN 201811351283 A CN201811351283 A CN 201811351283A CN 109938649 A CN109938649 A CN 109938649A
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Abstract
Purpose is to provide a kind of electric dust collector that can be also imaged by video camera in darker place.Electric dust collector has the function of the main body casing that can be travelled, the video camera being mounted in main body casing (24), the portion SLAM (67) with testing agency and lamp (25).The portion SLAM (67) is via the brightness around video camera (24) detection.Lamp (25) in the case where the brightness for detecting surrounding by the portion SLAM (67) is relatively small relative increases at least in the camera shooting of video camera (24) brightness in the camera shooting direction of video camera (24).
Description
Technical field
The present invention relates to the self-discipline driving bodies for having the video camera being mounted in main body.
Background technique
Conventionally, there is known by the so-called self-discipline of floor cleaning while the self-discipline traveling on the ground as swept surface
The electric dust collector (sweeping robot) of traveling type.
As such electric dust collector, there is structure below: equipped with video camera, when for example being detected by force-feeling sensor
When invading interior to the personage for being likely to be suspicious person, light indoor illumination, with video camera by pickup.
But since indoor illumination is usually fixed, it is not achieved so there is the illumination such as the lower section of bed or sofa
Position.Such position cannot be photographed by the video camera of electric dust collector.
Patent document 1: Japanese Unexamined Patent Publication 2005-296510 bulletin
Summary of the invention
The object of the present invention is to provide one kind can use the self-discipline driving body of camera photography even if darker local.
The self-discipline driving body of technical solution has: main body can travel；Video camera is mounted in the main body；Detection machine
Structure, by the brightness around the camera shooting machine testing；And lighting mechanism, the bright of surrounding is being detected by the testing agency
Spend it is relatively small in the case where, at least relative increase the brightness in the camera shooting direction of above-mentioned video camera.
The self-discipline driving body that thereby, it is possible to obtain that camera photography can be used even if darker local.
Detailed description of the invention
Fig. 1 is in-built piece of figure for indicating the self-discipline driving body of the 1st embodiment.
Fig. 2 is the perspective view of ibid self-discipline driving body.
Fig. 3 is the plan view that will be same as above self-discipline driving body and indicate from below.
Fig. 4 is the plan view for showing schematically a part of main body for driving body of ibid restraining oneself.
Fig. 5 is the explanatory diagram for showing schematically the self-discipline driving body system for having driving body of ibid restraining oneself.
Fig. 6 is an example for indicating the relationship of the lighting mechanism bring illumination intensity and brightness by ibid self-discipline driving body
Curve graph.
Fig. 7 be indicate ibid to restrain oneself driving body Lighting control flow chart.
Fig. 8 is the flow chart for indicating the Lighting control of self-discipline driving body of the 2nd embodiment.
Fig. 9 is the perspective view for indicating the self-discipline driving body of the 3rd embodiment.
Label declaration
11 electric dust collector as self-discipline driving body；15 networks；17 external equipments；20 main body casing as main body；
24 video cameras；25 lamp as lighting mechanism；26 have the function of the communication unit of receiving mechanism and transmitting mechanism；42 illumination sensing
Device；43 force-feeling sensors；The 51 camera driver motor as direction transformation portion；The 53 lamp driving horse as direction transformation portion
It reaches；64 have the function of the lighting control section of adjustment mechanism；67 have the function of the SLAM of testing agency and cartography mechanism
Portion.
Specific embodiment
Hereinafter, being described with reference to the structure of the 1st embodiment.
In Fig. 1 into Fig. 5,11 be the electric dust collector as self-discipline driving body.The electric dust collector 11 with as pedestal
The charging unit (not shown) (battery charger cradle) of device together, is constituted (electronic as the electric sweeping device of self-discipline traveling body device
Purging system), which is the base portion of the charging of the electric dust collector 11.Also, electric dust collector 11 is in this reality
It applies in mode, is while the self-discipline traveling (voluntarily) on the swept surface as tread i.e. ground by the institute of floor cleaning
Call the robot cleaner (sweeping robot) of self-propelled.The electric dust collector 11 by with as example configuration in purging zone
Between the home gateway (router) 14 of interior equal relay facility (relay) using wire communication or Wi-Fi (registered trademark),
The wireless communication of Bluetooth (registered trademark) etc. is communicated (transmitting-receiving), (outside) network 15 that can be waited via internet,
With the general server 16 as data saving mechanism (data saving part) or has the general external equipment of display function
The wired or wireless communication of 17 equal progress.
The electric dust collector 11 has the main body casing 20 as main body.In addition, the electric dust collector 11 has as row
Sail the driving wheel 21 of driving portion.In turn, which can also have the cleaning part 22 of the dust cleaning on ground.This
Outside, which has sensor portion 23.In turn, which has as camera shooting mechanism (image pickup part)
Video camera 24.In addition, the electric dust collector 11 has the lamp 25 as lighting mechanism (illumination portion).In turn, the electric dust collector
11 can also have the communication unit 26 with receiving mechanism (receiving unit) and transmitting mechanism (transmission unit).In addition, the electricity
Dynamic dust catcher 11 can also have the display unit of display image.In turn, which can also have as controller
That is the control unit 28 of control mechanism.Also, the electric dust collector 11 can also have the battery of the power supply as power supply unit.Separately
Outside, front-rear direction (arrow shown in Fig. 2 will be set as along the direction of the driving direction of electric dust collector 11 (main body casing 20) below
Head FR, RR direction), by the left and right directions (two side directions) for intersecting (orthogonal) relative to the front-rear direction be set as width direction and into
Row explanation.
Main body casing 20 as synthetic resin such as forming.The main body casing 20 is formed to accommodate various devices and zero
The shape of part.The main body casing 20 can also be formed as such as it is flat it is cylindric it is (discoid).In addition, in the main body casing
On 20, the suction inlet 31 etc. of dust collecting opening can also be provided as in the lower part etc. opposed with ground.
Driving wheel 21 make electric dust collector 11 (main body casing 20) march forward on the ground direction and direction of retreat traveling (from
Rule traveling), as traveling.In the present embodiment, which for example has one in the left and right settings of main body casing 20
It is right.The driving wheel 21 is driven by the motor 33 as driving mechanism.Alternatively, it is also possible to the replacement driving wheel 21 used as row
Sail the unlimited track etc. of driving portion.
Motor 33 is corresponding with driving wheel 21 and configures.Thus, in the present embodiment, which is for example provided with left and right
It is a pair of.Also, the motor 33 can independently drive each driving wheel 21.
Cleaning part 22 is the mechanism for for example removing the dust on ground.The cleaning part 22 has the dust on such as ground
From suction inlet 31 collect and trap or by the wipings such as ground clean etc. functions.The cleaning part 22 can have following part extremely
Lack some: electric blowing machine 35 sucks together with air from suction inlet 31 by dust；Rotating brush 36 and the rotating brush 36 is rotated
The brush motor 37 of driving, the rotating brush 36 are rotatably installed on suction inlet 31, and clear as the rotation for lifting dust
Sweep body；And side brush 38 and the side brush motor 39 for driving the side brush 38, the side brush 38 are rotatably installed in main body casing
It is as the auxiliary dust catcher structure (auxiliary cleaning part) that dust is dialled to the convolution cleaning part held together on 20 peripheral part.In addition, this is clear
The dust collecting part 40 for being connected to suction inlet 31 and accumulating dust can also be had by sweeping portion 22.In addition, the cleaning part 22 is not required
Structure.
Sensor portion 23 has illuminance transducer 42.In addition, sensor portion 23 has force-feeling sensor 43.Thus, it is electronic
Dust catcher 11 has illuminance transducer 42.In addition, electric dust collector 11 has force-feeling sensor 43.In turn, the sensor portion 23
Can also have sensing such as ground concave-convex state (scale), as electric dust collector 11 traveling obstacle wall or barrier
Hinder object, ground amount of dust etc. infrared sensor or ultrasonic sensor etc. detection of obstacles mechanism (barrier sensing
Device).
Illuminance transducer 42 detects the illumination of (running region) around main body casing 20 (electric dust collector 11).As this
Illuminance transducer 42 uses such as photistor or photodiode etc..
People of the detection of force-feeling sensor 43 around main body casing 20 (electric dust collector 11).As the people's propagated sensation sense
Device 43, such as use infrared sensor etc..The force-feeling sensor 43 for example can also be in the movement of electric dust collector 11, i.e.,
It is failure to actuate in during electric dust collector 11 starts running until back to charging unit from charging unit.Thus, it should
Force-feeling sensor 43 can also be only in the non-action of electric dust collector 11, i.e. the connection of electric dust collector 11 be on the charging device
It is acted under connection status.In addition, hereinafter, the movement of so-called electric dust collector 11 as described above, is set as being electric dust collector
11 start running from charging unit during until back to charging unit (in a series of cleaning movement), during this period
In, however it is not limited to the state that electric dust collector 11 (main body casing 20) is travelling, even such as close to barrier etc. and
It temporarily ceases or the state etc. of (pivot turn) of turning for avoiding obstacles etc., is also contained in the dynamic of electric dust collector 11
In work.
Front of the video camera 24 by direction as the driving direction of main body casing 20, is carried relative to main body casing 20
The parallel direction in the ground set is with the number of defined horizontal field of view angle (such as 105 ° etc.) photography digital picture (moving image)
Video camera.The video camera 24 is in the present embodiment in main body casing 20 equipped with 1.For example, the video camera 24 is configured
In the front, center of main body casing 20.The video camera 24 is although it is not shown, but the camera shooting that has lens, aperture, shutter, CCD etc.
Element and camera shooting control circuit etc..In addition, the video camera can also can pass through the camera shooting as (the 1st) direction transformation portion
Machine drive motor 51 images direction to convert.That is, electric dust collector 11 has the camera driver as (the 1st) direction transformation portion
Motor 51.The camera driver motor 51 can by the camera shooting direction of video camera 24 at least up conversion in above-below direction.The camera shooting
Machine drive motor 51 can also can by the camera shooting direction of video camera 24 not only in above-below direction, also up conversion in left and right directions.
That is, in the present embodiment, camera driver motor 51 can tilt video camera 24 and yawing.
Lamp 25 images required brightness by obtaining the camera shooting directional lighting of video camera 24.That is, the lamp 25 is defeated
The light of wave band corresponding with the wave band of light that can be imaged by video camera 24 out.Lamp 25 can will be seen that optical band in video camera 24
Image pickup in the case where, using output visible light wave range light, video camera 24 can be by the image pickup of infrared band
In the case where, use the light of output infrared band.The lamp 25 is corresponding with video camera 24 and is arranged.In the present embodiment, lamp 25
Such as clip the left and right that video camera 24 is arranged respectively at the video camera 24.These lamps 25,25 have video camera 24 field angle V with
On irradiating angle LA (Fig. 4).As long as at this point, the irradiating angle LA of each lamp 25 be also possible to the field angle V of video camera 24 hereinafter,
It can include the field angle V of video camera 24 by the irradiating angle LA of whole lamps 25.In other words, it is configured to, it will by lamp 25
The field angle integral illumination of video camera 24.These lamps 25 are such as using LED.Also, the lamp 25 can also can pass through conduct
Lamp (illumination) drive motor 53 in (the 2nd) direction transformation portion converts illumination direction.That is, electric dust collector 11 has as (
2) the lamp drive motor 53 in direction transformation portion.The lamp drive motor 53 for example can be by the illumination direction of lamp 25 at least in upper and lower
To up conversion.The lamp drive motor 53 can also can be by the illumination direction of lamp 53 not only in above-below direction, also in left and right directions
Up conversion.That is, in the present embodiment, lamp drive motor 53 can tilt lamp 25 and yawing.
Here, lamp drive motor 53 is preferably interlocked with camera driver motor 51.That is, when by camera driver motor
51 by the camera shooting direction transformation of video camera 24 when, preferably the illumination direction of lamp 25 is converted by lamp drive motor 53 so that
Lamp 25 is by the image pickup scope integral illumination of video camera 24.In other words, lamp drive motor 53 is preferably with by camera driver
The variation in the camera shooting direction of 51 bring video camera 24 of motor and change the illumination direction of lamp 25.Thus, camera driver horse
It can both be integrally provided up to 51 and lamp drive motor 53, also be configured to, by common direction transformation portion by video camera 24
And lamp 25 carries out direction transformation simultaneously.
Communication unit 26 has for carrying out wirelessly via home gateway 14 and network 15 and server 16 and external equipment 17
Communication as wireless communication mechanisms (wireless communication part) and the nothing of dust catcher signal receiving structure (dust catcher signal receiving part)
Line lan device etc..That is, the communication unit 26 has the information of electric dust collector 11 and the image data etc. imaged by video camera 24
The function that various information are sent to server 16 and external equipment 17.In addition, the communication unit 26 has via network 15 from outside
The function of the reception operation signal of equipment 17.The operation signal is, for example, to operate camera driver motor 51, lamp drive motor 53
Signal, or the signal of operation motor 33.That is, in the present embodiment, user by via 17 input operation signal of external equipment,
It can be by video camera 24 and the direction transformation of lamp 25, or the driving direction of control main body casing 20 (electric dust collector 11).In addition,
Access point function can also be carried in such as communication unit 26, do not carry out nothing directly with external equipment 17 via home gateway 14
Line communication.In addition, for example can also be to 26 additional network-service device function of communication unit.
Control unit 28 use have it is micro- such as CPU, ROM and RAM of control mechanism main body (control unit main body)
Type computer.The control unit 28 and cleaning part 22, sensor portion 23, video camera 24, lamp 25, communication unit 26, each motor 51,53 etc.
Electrically connect.More particularly, which has the driving control portion 61 as traveling control mechanism.In addition, the control
Portion 28 processed can also have as the cleaning control unit 62 for cleaning control mechanism.In turn, which has as sensor
The sensor attachment portion 63 of control mechanism.In addition, the control unit 28 has the lighting control section 64 as Lighting control mechanism.Into
And the control unit 28 has the communication control unit 65 as communication control mechanism.It is controlled in addition, the control unit 28 has as driving
The drive control part 66 of mechanism processed.In turn, which has the portion SLAM 67.In addition, the control unit 28 has as storage
The memory of mechanism (storage unit).In turn, which with cell electrical connect.In addition, the control unit 28 can also have
The charging control section of the charging of standby control battery.Thus, electric dust collector 11 has the traveling control as traveling control mechanism
Portion 61.In addition, electric dust collector 11 can also have as the cleaning control unit 62 for cleaning control mechanism.In turn, electric dust absorption
Device 11 has the sensor attachment portion 63 as sensor control mechanism.In addition, electric dust collector 11 has as Lighting control
The lighting control section 64 of mechanism.In turn, electric dust collector 11 has the communication control unit 65 as communication control mechanism.In addition,
Electric dust collector 11 has the drive control part 66 as drive control mechanism.In turn, electric dust collector 11 has the portion SLAM 67.
In addition, electric dust collector 11 has the memory as storing mechanism (storage unit).In turn, electric dust collector 11 can also have
Control the charging control section of the charging of battery.
Driving control portion 61 is electrically connect with motor 33.The driving control portion 61 for example controls the driving of motor 33, i.e.,
Size and the direction that electric current in motor 33 is flowed to by controlling, make motor 33 forward or reverse, thus controls motor 33
Driving, by controlling the driving of motor 33, to control the driving of driving wheel 21.The driving control portion 61 has based on expression traveling
The detection of the map datum in region (corresponding with running region) and sensor portion 23 sets driving path, passes through control driving wheel
The driving of 21 (motors 33) and so that main body casing 20 (electric dust collector 11) is restrained oneself in running region along the driving path row
The driving mode sailed, the running region are configured with electric dust collector 11 and the region that can travel.In addition, in present embodiment
In, since the region that electric dust collector 11 can travel is substantially the region for being used as the cleaning object of cleaning part 22, so row
It is identical as subject area is cleaned to sail region.
Clean the movement that control unit 62 controls cleaning part 22.In the present embodiment, which controls electronic
The driving of pressure fan 35, brush motor 37 and side brush motor 39, that is, by separately controlling electric blowing machine 35, brush motor
37 and side brush motor 39 turn on angle, control 39 (side of these electric blowing machines 35, brush motor 37 (rotating brush 36) and side brush motor
The driving of brush 38).The cleaning control unit 62 is not required structure.
Sensor attachment portion 63 is electrically connect with sensor portion 23.The sensor attachment portion 63 is obtained by sensor portion 23
Obtained testing result.
Lighting control section 64 is electrically connect with lamp 25.The lighting control section 64 control lamp 25 is lighted, is knocked out.In addition,
The lighting control section 64 is electrically connect with sensor attachment portion 63 and the portion SLAM 67.Also, the lighting control section 64 can also be with
With according to bright around the electric dust collector 11 (main body casing 20) detected by illuminance transducer 42 or the portion SLAM 67
(illumination) is spent to adjust the function of the adjustment mechanism (adjustment section) of the illumination intensity of lamp 25.Specifically, the lighting control section 64
It is controlled, so that the brightness around electric dust collector 11 (main body casing 20) is relatively lower, i.e. relatively darker, lamp 25
Illumination intensity it is relatively bigger.In other words, which is controlled, so that the illumination intensity of lamp 25 is according to electronic suction
Brightness around dirt device 11 (main body casing 20) and change (Fig. 6).That is, the lighting control section 64 is completely black for example around
When illumination intensity is set as maximum, and in the case where surrounding is that some are dark, it is strong that illumination is adjusted according to its illumination (brightness)
Degree.The lighting control section 64 mainly in the movement of electric dust collector 11, i.e., started running from charging unit (cleaning) to
Terminate to clean and act lamp 25 back in during until the charging unit, but can also be in non-action, be connected to
Make its movement when standby on charging unit or when battery charges (when connection status).It is above-mentioned that " brightness of surrounding is relatively
It is small (relatively darker) ", refer to that the brightness around the electric dust collector 11 measured by illuminance transducer 42 is lower than specified value.
The specified value is preparatory as condition using the degree of the bright information to around can be obtained based on the photographs of video camera 24 around
Setting.Specified value both can be set as fixed value, and also can be set as can be according to the value of the parameter variations of regulation.Illumination passes
Sensor 42, which may be set to be, is able to detect brightness whole around electric dust collector 11, but may be set to be and be limited to take the photograph
The camera shooting direction of camera 24 is able to detect brightness.If so, then simplify the apparatus structure of electric dust collector 11, it can
Inhibit manufacturing cost.
Communication control unit 65 is electrically connect with communication unit 26.In addition, the communication control unit 65 and the portion SLAM 67 are electrically
Connection.Signal that the communication control unit 65 is received to the signal and data sent from communication unit 26 and by communication unit 26 and
Data are handled.
Drive control part 66 is electrically connect with camera driver motor 51, lamp drive motor 53.The drive control part 66
By controlling the driving of these motors 51,53, to control the direction conversion of video camera 24 and/or lamp 25.The drive control part 66
It electrically connect with communication control unit 65, believes if receiving the operation inputted from external equipment 17 via communication control unit 65
Number, then according to the operation signal control camera driver motor 51, lamp drive motor 53 driving, come control video camera 24 and/
Or inclination, the yawing of lamp 25.
The portion SLAM 67 is electrically connect with video camera 24.In addition, the portion SLAM 67 and communication control unit 65 (communication unit 26)
Electrically connect.Also, the data of the image imaged by video camera 24 are taken by the portion SLAM 67, carry out various image procossings.
In turn, which has the self-position estimation mechanism based on the image data estimation self-position after image procossing (certainly
Body position estimation portion) function.In addition, the portion SLAM 67, which has, makes main body casing 20 based on the image data after image procossing
The function of the cartography mechanism (cartography portion) of the map of the running region of (electric dust collector 11) traveling.
The portion SLAM 67, which has, to be sensed surrounding to make the map in the region for indicating to travel, i.e. running region,
And obtain the function (so-called SLAM (Simultaneous of the self-position of electric dust collector 11 in the map
Localization and Mapping) function).The SLAM function of carrying in the electric dust collector 11 of present embodiment is benefit
With the SLAM function of stereo camera image.That is, it is respective to extract 2 video cameras 24 in the portion SLAM 67 of present embodiment
Same position (characteristic point at angle of furniture etc.) in photographed images can by the binocular parallax using these video cameras 24
Obtain the distance from camera position to characteristic point.The acquirement of distance is repeated in this way, it is known that the shape and furniture of wall
Position or size etc. electric dust collector 11 around situation, so based on the situation around this, in the portion SLAM 67, energy
Enough produce the map for indicating electric dust collector 11 (main body casing 20) running region.Also, in the portion SLAM 67, by that will make
The map made is corresponding with the ranging information foundation based on photographed images, can obtain self-position.In addition, by the portion SLAM 67
In the case where obtaining self-position, it is not absolutely required to oneself to make map, also can use the map obtained from outside.This
Outside, in order to realize SLAM function, in addition to using other than stereo camera image, can also using using infrared sensor or
And with the known technology of angular-rate sensor and acceleration transducer etc., so omitting detailed description.
In addition, the portion SLAM 67 can also make range image data based on the image data imaged by video camera 24
(parallax image data).That is, the portion SLAM 67 also can have the distance for making the depth for calculating the object in image data
The function of the depth calculation mechanism (depth calculation portion) of image data.
In addition, the portion SLAM 67 also can have by by video camera 24 defined image range (such as with main body casing
20 width and height is corresponding and the image range that sets) in the distance of object that images with as presetting or variable setting
The set distance of threshold value compare, set distance distance below will be located at (away from electric dust collector 11 (main body casing 20)
Distance) object determine be barrier function.That is, the portion SLAM 67 also can have based on the image imaged by video camera 24
Data judging calculate the distance away from main body casing 20 object whether be barrier barrier decision mechanism (barrier determine
Portion) function.
Also, it is possibly stored in memory by the map datum that the portion SLAM 67 produces.In addition, the portion SLAM 67 exists
The shapes or configure of the barrier in map datum produced etc. and the shapes or configure for detecting surrounding are inconsistent
In the case where, map datum can suitably be corrected.
In addition, the portion SLAM 67 has according to the 11 (main body casing of image detection electric dust collector imaged by video camera 24
20) function of testing agency's (test section) of the brightness (illumination) around.For example, the portion SLAM 67 is configured to, detection by
The brightness for the image that video camera 24 images out is detected bright around electric dust collector 11 (main body casing 20) based on the brightness
Brightness (illumination).
In addition, the portion SLAM 67 also can have the data to the original image imaged out by video camera 24, carry out to by
The amendment of distortion, the removing of noise, setting contrast and the unification of picture centre etc. that the lens of these video cameras 24 generate
An image procossing image correction mechanism (image correction portion) function.
Memory uses the nonvolatile memory such as flash memory.In the memory, having will be made by the portion SLAM 67
The function as map storing mechanism of map datum (map datum for the indicating running region) storage made.In addition, storage
The traveling that device 68 can also be stored together with the map datum in the map datum (has cleaned) region.
Battery is to cleaning part 22, sensor portion 23, video camera 24, lamp 25, communication unit 26, control unit 28 and video camera
The power supply such as drive motor 51, lamp drive motor 53.As the battery, in the present embodiment, such as using chargeable secondary
Battery.Therefore, in the present embodiment, such as in the bottom of main body casing 20, expose and be configured with to charge on battery
Charging terminal 71.
Charging unit is the base portion returned when electric dust collector 11 terminates traveling (cleaning).The charging unit can also be with
It is built-in with the charging circuit such as constant-current circuit.In addition, being provided with the charging of the charging of battery in the charging unit
Use terminal.The charging terminal is electrically connect with charging circuit.Also, the charging terminal and the electricity for returning to charging unit
The charging terminal 71 of dynamic dust catcher 11 is mechanical and electrically connects.
Home gateway 14 is also referred to as access point etc., is arranged in building, for example passes through wired connection to network 15.
Server 16 is the computer (Cloud Server) being connected on network 15, can save various data.
External equipment 17 is can to carry out wired or nothing to network 15 via such as home gateway 14 in the inside of building
Line communication, and such as PC (the tablet computer terminal of wired or wireless communication can be carried out to network 15 in the outside of building
(tablet PC)) or smart phone (portable phone) etc. general equipment.The external equipment 17 at least has the aobvious of display image
Show function.
Then, illustrate the movement of the first embodiment described above.
Firstly, explanation by electric dust collector 11 carry out since cleaning to end overview.Electric dust collector 11
If starting to clean, based on map datum stored in memory by floor cleaning while travelling, and by map number
According to updating at any time.Also, if cleaning terminates, after electric dust collector 11 is returned to charging unit, shift the charging for battery
The connection status with charging unit of operation or standby mode etc..
If further illustrating above-mentioned control, electric dust collector 11 in preset cleaning start time or
By communication unit 26 receive by the transmissions such as external equipment 17 cleaning start control command when etc. timing, control unit 28 switching
For driving mode, start to clean.In the case where newly being cleaned to the room for not carrying out cleaning, do not have in memory 68
There is the map datum of storage running region.In the case, by carrying out defined movement and by sensor portion 23, video camera 24
And barrier around the detection such as portion SLAM 67 electric dust collector 11 (main body casing 20) etc., new ground is made by the portion SLAM 67
Diagram data.In addition, map datum can not also pass through the production in electric dust collector 11 (portion SLAM 67), but obtained from outside.
As the processing in the portion SLAM 67, firstly, being taken into image data from video camera 24, the distortions correction of lens is carried out.
In the case, by the portion SLAM 67, according to based on the brightness around the image data imaged by video camera 24 or by shining
The illumination (brightness) that degree sensor 42 detects, lighting control section 64 sets the illumination intensity of lamp 25, by taking the photograph for video camera 24
As range lighting.That is, brightness of the portion SLAM 67 around being gone out based on the image detection imaged out by video camera 24 is relatively
In the case that the illumination detected in the case where small or by illuminance transducer 42 is relatively small, make the camera shooting side of the video camera 24
To brightness relative increase, with become preset regulation more than brightness.At this point, in the present embodiment, shining
Bright control unit 64 is to provide to light lamp 25 in situation below in brightness (illumination), and lamp 25 is made to go out other than it
Fall.In addition, in the portion SLAM 67, the setting contrast for the image data that can also be imaged.
Also, the portion SLAM 67 carries out SLAM processing according to the image data after the image procossing, implements self-position estimation
And cartography.
Then, it is based on map datum, driving control portion 61 makes driving path.As long as the mode of the production of the driving path
Use known method.
Also, 11 (main body casing of electric dust collector is made by control driving wheel 21 (motor 33) in driving control portion 61
20) along the driving path of setting restrain oneself traveling while, cleaning control unit 62 acts cleaning part 22 and running region is (clear
Sweep subject area) floor cleaning (cleaning modes).In cleaning part 22, pass through the powered supplied air driven by cleaning control unit 62
Machine 35, brush motor 37 (rotating brush 36) or side brush motor 39 (side brush 38), by the dust on ground via suction inlet 31 to dust collecting part
40 trappings.In addition, electric dust collector 11 is being restrained oneself when driving, if detected by sensor portion 23 or video camera 24 and the portion SLAM 67
To the three-dimensional coordinate of the object of the barrier not having in the running region recorded in map etc., then the portion SLAM 67 arrives its reflection
In map datum, store into memory.In turn, electric dust collector 11 can also be believed according to the operation from external equipment 17
Number, drive control part 66 drives motor 51,53, in above-below direction by the illumination direction of the camera shooting direction of video camera 24 and lamp 25
Or the upper change such as left and right directions, the image in the direction after these changes that can photograph.Alternatively, it is also possible to will be by video camera 24
The image of camera shooting is sent out from communication control unit 65, communication unit 26 via network 15 or directly to external equipment 17 having a display function
It send, allows users to read by the external equipment 17.
Also, if cleaning terminates, electric dust collector 11 is returned to charging unit, is connect with charging unit.
On one side referring to flow chart shown in Fig. 7, illustrate the control of the lamp 25 when the movement of the electric dust collector 11 on one side.It is first
First, if electric dust collector 11 start act (step S1), the portion SLAM 67 by the image imaged by video camera 24 or by
Illuminance transducer 42, judge around whether darker (step S2).In the case where being judged as darker in step S2, Lighting control
Portion 64 makes lamp 25 light (step S3), and brightness is made to become regulation or more, advances to step S5.On the other hand, in step s 2
In the case where being judged as not dark (brighter), lighting control section 64 makes lamp 25 knock out (step S4), advances to step S5.Also,
In control unit 28, judge whether movement has terminated (step S5), in the case where being judged as that movement is not over, to before step S2
Into.On the other hand, in the case where being judged as that movement has terminated in step s 5, control unit 28 judges whether lamp 25 is just being lighted and (walks
Rapid S6).In the case where being judged as that lamp is just lighted in step S6, lighting control section 64 knocks out lamp 25 (step S7), terminates
Movement.On the other hand, in the case where being judged as that lamp 25 is not just being lighted and (just knocked out) in step s 6, original sample tenth skill.
In addition, under the connection status with the charging unit, by the way that by video camera 24, by image pickup, area can will be travelled
Domain (room etc.) fixed point monitoring.In this case, electric dust collector 11 can also be according to the operation signal from external equipment 17
And drive control part 66 controls the movement of camera driver motor 51, lamp drive motor 53, changes the camera shooting direction of video camera 24
And the illumination direction of lamp 25.In addition, electric dust collector 11 can also be such that force-feeling sensor 43 acts.It can be by the people's propagated sensation sense
In the case that device 43 detects people, imaged by video camera 24.In this case as well, it is possible to around electric dust collector 11
Lamp 25 is acted by lighting control section 64 when darker and improves brightness.
In addition, video camera 24 both can be imaged always under the connection status with the charging unit, it can also be defined
Moment or per stipulated time are imaged.The data of the image of the camera shooting can also as former state or as defined in implementing after image procossing,
It is sent by communication unit 26, via network 15 to server 16 and external equipment 17.
Also, occupant not in case etc., should not change usually in the image of running region, if but
In the case where being changed in the image imaged at different times by video camera 24, it is contemplated that be the feelings of intrusion of suspicious person etc.
Condition, so being imaged with video camera 24.In this case as well, it is possible to be controlled when darker around electric dust collector 11 by illumination
Portion 64 processed makes lamp 25 act and improve brightness.
As described above, according to the first embodiment described above, by the way that lamp 25 to be arranged respectively to the left and right of video camera 24, i.e.,
It, also can be whole by image with video camera 24 by the illumination of this 2 lamp 25,25 using the smaller lamp 25 of irradiating angle
It images brightly.Therefore, the information imaged by video camera 24 can be utilized to greatest extent.
In addition, lighting control section 64 can also be according to by the figure imaged by video camera 24 in the first embodiment described above
As and brightness around the electric dust collector 11 (main body casing 20) that is detected by the portion SLAM 67 or by illuminance transducer 42
The illumination detected, to adjust the illumination intensity of lamp 25.That is, also can replace the step S2 of the first embodiment described above to step
S4, the 2nd embodiment as shown in Figure 8 is such, and it is strong with illumination corresponding with the brightness detected to have lighting control section 64
Spend the control for the step S9 for lighting lamp 25.The illumination intensity both can be based on the brightness and illumination intensity for indicating to detect
Corresponding preset table is set, and multiple threshold values also can be used, is set based on the size relation with these threshold values, or
Person also can be set as using the calculated brightness such as calculating formula based on the brightness detected.
In addition, in the respective embodiments described above, in the case where having multiple, for example pairs of (a pair) video camera 24,
The 3rd embodiment that can also be as shown in Figure 9 is such, can every place between these video cameras 24,24 be arranged 1 illumination angle compared with
Big lamp 25.In this way, many lamps 25 can not be used by the configuration of lamp 25 between pairs of video camera 24,24, and
By the illumination of 1 lamp 25, image is integrally imaged brightly by video camera 24,24.Therefore, it can utilize to greatest extent by taking the photograph
The information that camera 24 images.
In addition, can be both respectively configured in a manner of clipping each video camera 24 in the case where having multiple video camera 24
Multiple lamps 25 can also be arranged to each video camera 24 in lamp 25.
In turn, in the respective embodiments described above, the portion SLAM 67 has the structure of multiple functions with being integrated, but can also incite somebody to action
These functions are made up of processing unit independently, also may be constructed the arbitrary multiple function being provided integrally in these functions
The processing unit of energy.
At least one embodiment from the description above, around being detected by video camera 24 by the portion SLAM 67
Brightness it is relatively small in the case where, by the camera shooting side at least making the video camera 24 by lamp 25 in the camera shooting of video camera 24
To brightness relative increase, even if when for example running region is darker or electric dust collector 11 (main body casing 20) traveling
Lower section to bed or sofa etc. the is indoor darker place such as when illuminating the darker position being not achieved, no matter i.e. running region
How is light and shade, and it is (distinct can to image out bright image by video camera 24 in the state of making brightness increase by lamp 25
Image).
In the case where acting lamp 25 only in the movement of electric dust collector 11, it is able to suppress and carries out electricity in charging unit
The power consumption when charging in pond.
By making 20 (electric dust collector of main body casing based on the characteristic point in the image data imaged out by video camera 24
11) map of the running region travelled, can make map in the case where running region is darker.
There is the irradiating angle of the field angle of video camera 24 or more by lamp 25, it can be integrally bright by image by video camera 24
It images brightly.Therefore, the information imaged by video camera 24 can be utilized to greatest extent.
It is adjusted and the illumination intensity of lamp 25 is corresponding with the brightness of surrounding by the portion SLAM 67, it can be by lamp 25
Power consumption optimization.
Illuminance transducer 42 by having the illumination around detection also can even if acting video camera 24 always
By the brightness around the detection of illuminance transducer 42.
By having the camera driver motor 51 in the camera shooting direction at least changing video camera 24, video camera 24 can be changed
Camera shooting direction.
In addition, by the lamp drive motor 53 for having the illumination direction for changing lamp 25, even if by camera driver motor
In the case that 51 change the camera shooting direction of video camera 24, change the illumination of lamp 25 by the camera shooting direction according to the video camera 24
Direction also can integrally be imaged brightly image by video camera 24.
The operation signal operated to the movement of motor 51,53 is received by having from external equipment 17 via network 15
Communication unit 26, user can want the position of viewing from outgoing place etc. by the image viewing of video camera 24, so can
The situation etc. of the pet in the position or confirmation man of the concern in running region (room) is confirmed using electric dust collector 11.
Also, it is (main to electric dust collector 11 by that can also be received by communication unit 26 from external equipment 17 via network 15
Body casing 20) traveling, i.e. the operation signal that the movement of motor 33 is operated, the movement that can control electric dust collector 11 opens
Begin and stop etc..Thus, it is possible to which electric dust collector 11 is applied not only to clean purposes, also apply flexibly in the prison of the situation of confirmation man
Shield, safety.
By having the communication unit for sending the image data based on the image data imaged from video camera 24 to network 15
26, user is able to use the image that the reading of external equipment 17 is imaged out by video camera 24.
It is illuminated by lamp 25 when detecting people by force-feeling sensor 43, as occupant (especially children or older
Person) when going home, the situation can be detected by force-feeling sensor 43 and be imaged with video camera 24, it can be by electric dust collector
11 apply flexibly in monitoring, safety.In the case, lamp 25 exports the light of visible light wave range.
Lamp 25 by different moments of in the non-action of electric dust collector 11 when connection status () with charging unit by
It is illuminated in the case that the image that video camera 24 images is different, the feelings of the image change that is not changed usually when outgoing etc.
Under condition, it is capable of detecting when the changed condition of the running region as camera shooting object.So by the detection by video camera
24 are imaged, and can be applied flexibly electric dust collector 11 in monitoring, safety.In the case, lamp 25 exports visible light wave range
Light.
Illustrate some embodiments of the present invention, but these embodiments prompt as an example, are not intended to define
The range of invention.These new embodiments can be implemented in the form of other are various, in the purport for not departing from invention
Various omissions, substitutions and changes are able to carry out in range.These embodiments and modifications thereof be included in invention range and
In purport, and it is included in invention and the range of equal value with it documented by claims.
Claims (13)
1. a kind of self-discipline driving body, which is characterized in that
Have:
Main body can travel；
Video camera is mounted in the main body；
Testing agency, by the brightness around the camera shooting machine testing；And
Lighting mechanism, detected by the testing agency surrounding brightness it is relatively small in the case where, at least taken the photograph above-mentioned
Relative increase the brightness in the camera shooting direction of above-mentioned video camera when the camera shooting of camera.
2. self-discipline driving body as described in claim 1, which is characterized in that
Above-mentioned lighting mechanism only acts in the movement of aforementioned body.
3. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Has based on the characteristic point in the image data gone out by above-mentioned camera photography the traveling area for making aforementioned body traveling
The cartography mechanism of the map in domain.
4. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Above-mentioned lighting mechanism has the irradiating angle of the field angle of above-mentioned video camera or more.
5. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Above-mentioned lighting mechanism is arranged respectively at the left and right of above-mentioned video camera.
6. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Above-mentioned video camera configures in couples；
Above-mentioned lighting mechanism configuration is between above-mentioned pairs of video camera.
7. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Has the adjustment mechanism for adjusting the illumination intensity of above-mentioned lighting mechanism according to the brightness of surrounding.
8. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Above-mentioned lighting mechanism has the illuminance transducer of the illumination around detection.
9. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
The direction transformation portion for having the camera shooting direction at least changing above-mentioned video camera.
10. self-discipline driving body as claimed in claim 9, which is characterized in that
Has the reception for receiving the operation signal operated to the movement in above-mentioned direction transformation portion from external equipment via network
Mechanism.
11. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Has the transmitting mechanism for sending the image data based on the image data gone out from above-mentioned camera photography to network.
12. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
Aforementioned body has force-feeling sensor；
Above-mentioned lighting mechanism is illuminated when detecting people by the force-feeling sensor.
13. self-discipline driving body as claimed in claim 1 or 2, which is characterized in that
The image gone out at the time of difference of the above-mentioned lighting mechanism in the non-action of aforementioned body by above-mentioned camera photography is different
In the case where illuminated.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-244100 | 2017-12-20 | ||
| JP2017244100A JP2019109854A (en) | 2017-12-20 | 2017-12-20 | Autonomous traveling body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109938649A true CN109938649A (en) | 2019-06-28 |
Family
ID=67005886
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811351283.9A Pending CN109938649A (en) | 2017-12-20 | 2018-11-14 | Self-discipline driving body |
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| JP (1) | JP2019109854A (en) |
| CN (1) | CN109938649A (en) |
Families Citing this family (1)
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| KR102396048B1 (en) * | 2020-05-11 | 2022-05-10 | 엘지전자 주식회사 | A robot cleaner a control method thereof |
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| US20170336796A1 (en) * | 2016-05-17 | 2017-11-23 | Lg Electronics Inc. | Mobile robot and method of controlling the same |
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| JP2019109854A (en) | 2019-07-04 |
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Application publication date: 20190628 |