CN110367871A - From principal mode electric dust collector - Google Patents
From principal mode electric dust collector Download PDFInfo
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- CN110367871A CN110367871A CN201910275053.7A CN201910275053A CN110367871A CN 110367871 A CN110367871 A CN 110367871A CN 201910275053 A CN201910275053 A CN 201910275053A CN 110367871 A CN110367871 A CN 110367871A
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- Prior art keywords
- image
- dust collector
- principal mode
- prohibited
- electric dust
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- 239000000428 dust Substances 0.000 title claims abstract description 250
- 238000012545 processing Methods 0.000 claims abstract description 54
- 238000003860 storage Methods 0.000 claims abstract description 51
- 230000008859 change Effects 0.000 claims abstract description 6
- 230000007613 environmental effect Effects 0.000 claims description 19
- 230000008030 elimination Effects 0.000 claims description 13
- 238000003379 elimination reaction Methods 0.000 claims description 13
- 238000005286 illumination Methods 0.000 claims description 13
- 238000007664 blowing Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 8
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- 238000000034 method Methods 0.000 description 7
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
Abstract
The present invention propose without enter device other than the machine such as anti-locking apparatus, magnetic recording tape, information terminal, only can set by the machine be prohibited from entering place from principal mode electric dust collector.Have from principal mode electric dust collector (1): main body, it being capable of autonomous with the moving portion moved on by dust suction face；Camera unit (22) is set to main body, shoots image；Image storage part (45) stores the image taken by camera unit；Place instruction unit (53) are prohibited from entering, the identification image for being prohibited from entering place when camera unit being made to shoot autonomous for identification simultaneously makes image storage part store the identification image；And autonomous control portion (51), the identification image for successively comparing the current position image shot in the movement of main body by camera unit and being stored in image storage part, current position image in the identical or similar situation of identification image, inhibited traveling more forward than current location and change direction of travel be prohibited from entering processing.
Description
Technical field
Embodiments of the present invention are related to from principal mode electric dust collector.
Background technique
It has been known that there is the automatic dust absorption systems having into anti-locking apparatus and self-propelled cleaner.It is super into the output of anti-locking apparatus
Sound wave and form virtual wall.Self-propelled cleaner detects virtual wall, and sets the dummy line based on the virtual wall.
Moreover, self-propelled cleaner cannot cross virtual wall, dummy line and move.It is configured that is, automatic dust absorption system passes through
The moving range of self-propelled cleaner is limited into anti-locking apparatus.In other words, automatic dust absorption system limits self-propelled cleaner
It makes in the moving range by entering the setting of anti-locking apparatus.
Patent document 1: Japanese Unexamined Patent Publication 2017-064063 bulletin
It is previous from principal mode electric dust collector using other than the machine device, for example into anti-locking apparatus come identify forbid into
Enter place.In addition, other than using the method for entering anti-locking apparatus, there are also will as the method that identification is prohibited from entering place
Magnetic recording tape for specifying dummy line be pasted on the method on ground, on the environmental map that the machine is stored in advance identification forbid into
Enter the method in place.
However, using place is prohibited from entering into anti-locking apparatus or magnetic recording tape to identify, if into preventing
Device moves in a flash at certain or magnetic recording tape deteriorates, then being prohibited from entering place will unexpectedly change.
In addition, in the case where identification is prohibited from entering place in advance on environmental map, it has in production environment map
Once enter and be prohibited from entering in place in the process, or in order on environmental map specify be prohibited from entering place and need the machine with
The information terminals such as outer personal computer or smart phone.
Summary of the invention
The present invention proposes one kind from principal mode electric dust collector, without for example into anti-locking apparatus, magnetic recording tape, information terminal
Etc. device other than the machine, can only be set by the machine and be prohibited from entering place.
In order to solve above-mentioned problem, embodiments of the present invention has from principal mode electric dust collector: main body, has
The moving portion that is moved on dust suction face and being capable of autonomous；Camera unit is set to the main body, shoots image；Image storage
Portion stores the described image taken by the camera unit；It is prohibited from entering place instruction unit, keeps the camera unit for shooting
The identification image for being prohibited from entering place when identifying autonomous simultaneously makes described image storage unit store the identification image；And
Autonomous control portion controls the autonomous of the main body, and successively compares in the movement of the main body by the video camera
The current position image of portion's shooting be stored in the identification image of described image storage unit, the current position image with
In the identical or similar situation of the identification image, is inhibited traveling more forward than current location and change direction of travel
It is prohibited from entering processing.
Embodiments of the present invention are preferably that the camera unit is stereo camera from principal mode electric dust collector, institute
Autonomous control portion is stated when judging whether the current position image and the identification image are consistent or similar, in the judgement
Comprising scheming from the main body to the separating distance of the reference object of the current position image and from the main body to the identification
Difference between the separating distance of the reference object of picture.
Embodiments of the present invention are preferably from principal mode electric dust collector, described to be also equipped with from principal mode electric dust collector:
Illumination region, to the coverage irradiation light of the camera unit；Acceptance part receives the reflection of the light irradiated from the illumination region
Light；And distance calculating unit, based on since shining until the acceptance part receives the reflected light the illumination region
Time difference, obtain the range information of reference object from the main body to described image, the autonomous control portion is described in the judgement
When current position image and the whether consistent or similar identification image, comprising being based on the distance calculating unit in the judgement
Obtained by the acquired range information, from the main body to the separating distance of the reference object of the current position image with
From the main body to the difference between the separating distance of the reference object of the identification image.
Embodiments of the present invention are preferably from principal mode electric dust collector, described to be also equipped with from principal mode electric dust collector:
Map information, store dust suction place Environmental Map Information, the autonomous control portion the current position image with
In the identical or similar situation of the identification image, by it is described be prohibited from entering place and be reflected in the map information deposited
The Environmental Map Information of storage.
Embodiments of the present invention are preferably that described image storage unit stores multiple knowledges from principal mode electric dust collector
Other image.
Embodiments of the present invention are preferably that the place instruction unit that is prohibited from entering is based on one from principal mode electric dust collector
Secondary shooting instruction and the identification image for shooting multiple positions.
Embodiments of the present invention are preferably from principal mode electric dust collector, described to be also equipped with from principal mode electric dust collector:
Be prohibited from entering processing switching part, in the case where meeting rated condition, to it is described be prohibited from entering processing execute whether setting into
Row switching.
Embodiments of the present invention are preferably from principal mode electric dust collector, described to be also equipped with from principal mode electric dust collector:
It is prohibited from entering place elimination portion, at least one of the identification image that described image storage unit is stored can be eliminated.
Embodiments of the present invention are preferably from principal mode electric dust collector, described to be also equipped with from principal mode electric dust collector:
It is prohibited from entering place judging part, in the current position image and the identification image, is compared from two image zooming-outs
Characteristic point or according to the calculated characteristic quantity of the characteristic point, judges the consistent or similar of two images.
Embodiments of the present invention are preferably base of the described image storage unit in described image from principal mode electric dust collector
On plinth or replaces the image and store at least one party of the characteristic point and the characteristic quantity.
Invention effect
In accordance with the invention it is possible to provide it is a kind of from principal mode electric dust collector, without for example into anti-locking apparatus, magnetic recording tape,
Device other than the machine such as information terminal can only be set by the machine and be prohibited from entering place.
Detailed description of the invention
Fig. 1 is the perspective view from principal mode electric dust collector of embodiments of the present invention.
Fig. 2 is the right view from principal mode electric dust collector of embodiments of the present invention.
Fig. 3 is the bottom view from principal mode electric dust collector of embodiments of the present invention.
Fig. 4 is the top view from principal mode electric dust collector of embodiments of the present invention.
Fig. 5 is the block diagram from principal mode electric dust collector of embodiments of the present invention.
Fig. 6 is an example in the dust suction place from principal mode electric dust collector of embodiments of the present invention and in the dust suction
The top view for being prohibited from entering place an example identified is set in place.
Fig. 7 is an example in the dust suction place from principal mode electric dust collector of embodiments of the present invention and in the dust suction
Avoid the top view of an example for being prohibited from entering place identified in place.
Fig. 8 is that identification is prohibited from entering the identification image in place from principal mode electric dust collector in embodiments of the present invention
An example.
Fig. 9 be outlined embodiments of the present invention from principal mode electric dust collector, current position image and identification
The figure of the relationship of image.
Figure 10 be outlined embodiments of the present invention from principal mode electric dust collector, current position image and identification
The figure of the relationship of image.
Description of symbols
1 ... from principal mode electric dust collector, 2 ... main body shells, 3 ... secondary cells, 5 ... cradles, 6 ... power supply lines, and 11 ...
Rotating brush, 12 ... brush motor, 13 ... dust containers, 15 ... electric blowing machines, 21 ... traveling portions, 22 ... camera units,
22a ... photographing element, 22b ... optical system, 23 ... control units, 25 ... suction inlets, 26 ... driving wheels, 27 ... motor, 28 ...
Driven wheel, 31 ... are prohibited from entering place instruction input unit, and 32 ..., which are prohibited from entering place, eliminates input unit, and 33 ... are prohibited from entering processing
Switching input unit, 35 ... display units, 36 ... communication units, 37 ... audio output units, 39 ... Distnace determination devices, 41 ... illumination regions,
42 ... acceptance parts, 45 ... image storage parts, 51 ... autonomous control portions, 52 ... camera control portions, 53 ..., which are prohibited from entering place, refers to
Show portion, 55 ... are prohibited from entering place judging part, and 56 ... are prohibited from entering processing switching part, and 57 ... are prohibited from entering place elimination portion,
58 ... distance calculating units, 61 ... driving control portions, 62 ... dust suction control units, 63 ... map informations, 65 ... camera units,
67 ... selection input units, 68 ... determine input unit.
Specific embodiment
The embodiment of the invention from principal mode electric dust collector is illustrated referring to figs. 1 to Figure 10.In addition, multiple
In attached drawing, same appended drawing reference is marked to same or similar composition.
Fig. 1 is the perspective view from principal mode electric dust collector of embodiments of the present invention.
As shown in Figure 1, present embodiment from principal mode electric dust collector 1 be so-called sweeping robot.It is electronic from principal mode
The consumption of dust catcher 1 is set to the electric power of the secondary cell 3 of main body shell 2 and automatically moves (traveling).From principal mode electric dust collector 1
It indoor moved around (throughout by suction area mobile) on dust suction face (ground) by suction area A occupying and traps dirt
Angstrom.From principal mode electric dust collector 1 after dust suction operating, playbacks to cradle 5 and wait the operating of dust suction next time.
In addition, be prohibited from entering region B (being prohibited from entering place) with by suction area A it is be overlapped or in room with quilt
The mode that suction area A is independently arranged, by being identified from principal mode electric dust collector 1.It can be executed on one side from principal mode electric dust collector 1
Avoid being prohibited from entering processing to be prohibited from entering that region B enters, on one side to by suction area A by the progress dust suction of dust suction face.From
Principal mode electric dust collector 1 can not also execute to being prohibited from entering being prohibited from entering processing of region B and by suction area A and forbid
The Lai Jinhang dust suction (throughout by suction area mobile) is moved around on dust suction face (ground) into region B.That is, from principal mode
Electric dust collector 1 is allowed hand over to the execution for being prohibited from entering processing for being prohibited from entering region B and is not executed.
Cradle 5 be set to occupy it is indoor by dust suction face.Cradle 5 is smooth with that can be provided from principal mode electric dust collector 1
Shape ground connection or be detached from.Cradle 5 has in the state of being connected to from principal mode electric dust collector 1 from commercial ac power
Source guides the power supply line 6 of electric power to secondary cell 3.Power supply line 6 is the circuit to 3 power transmission of secondary cell.From principal mode electric dust absorption
The playback when waiting dust suction operating next time of device 1 charges secondary cell 3 to cradle 5, so that it is time-consuming not have to user
It tries to charge, and copes with the dust suction operating of burst required by user.
Fig. 2 is the right view from principal mode electric dust collector of embodiments of the present invention.
Fig. 3 is the bottom view from principal mode electric dust collector of embodiments of the present invention.
As shown in Figures 2 and 3, present embodiment has from principal mode electric dust collector 1: hollow main body shell 2；As
The rotating brush 11 of rotary cleaning body, set on the bottom of main body shell 2；Brush motor 12 makes the rotation driving of rotating brush 11；Dust
Container 13, set on the rear portion of main body shell 2；Electric blowing machine 15 is contained in main body shell 2, fluidly with dust container 13
Connection；As the traveling portion 21 of moving portion, move main body shell 2 on the ground；Camera unit 22 is set to main body shell 2, claps
It takes the photograph from the image I around principal mode electric dust collector 1；Control unit 23, control traveling portion 21 and make by dust suction face from principal mode
Electric dust collector 1 automatically moves；And secondary cell 3, accumulation for electric blowing machine 15, traveling portion 21, camera unit 22 and
The electric power that control unit 23 consumes.
Main body shell 2 is, for example, synthetic resin system, has flat cylindrical shape (disc-shape).Substantially justify when vertical view
Turning radius when turning can be suppressed to smaller by the main body shell 2 of shape compared with other shapes.The bottom surface of main body shell 2 has
There is the suction inlet 25 that will be sucked together with air by the dust on dust suction face.
Suction inlet 25 is sucked dust by the negative pressure that electric blowing machine 15 generates together with air.Suction inlet 25 is along main body
The width direction of shell 2 extends.In other words, the opening width of the left and right directions of suction inlet 25 is in the front-back direction than suction inlet 25
Opening width is big.The bottom surface of main body shell 2 is set to main body shell 2 independently opposed (opposite) with by dust suction face when driving
Bottom surface suction inlet 25 can by by dust suction face dust or rotating brush 11 from the dust swept by dust suction face easily
Sucking.
Rotating brush 11 is configured at suction inlet 25.The rotation centerline of rotating brush 11 is towards the width from principal mode electric dust collector 1
Spend direction.When by being placed into from principal mode electric dust collector 1 with the state that can be travelled by dust suction face, rotating brush 11 and quilt
Dust suction face contact.It therefore,, can will be by by making the rotation driving of rotating brush 11 from principal mode electric dust collector 1 in traveling of advancing
Dust on dust suction face sweeps and efficiently sucks to suction inlet 25.
Brush with motor 12 make rotating brush 11 rotate forward (advance when it is auxiliary to being carried out from the propulsive force of principal mode electric dust collector 1
The direction helped) or reversion (direction that the propulsive force from principal mode electric dust collector 1 is assisted when retreating).
Dust container 13 to and the negative suction generated by electric blowing machine 15 from the dust that suction inlet 25 sucks into
Row accumulation.Dust container 13 is the filter of trapping to be filtered to dust or by centrifuge separation (cyclonic separation) or directly
Into inertia such as separation (using the difference of the inertia force between straight air and dust come the separate mode of dirt separation and air)
It separates to accumulate the separator of dust.Dust container 13 can be loaded and unloaded to main body shell 2, additionally it is possible to be opened and closed.User can
Dust container 13 is temporarily removed from main body shell 2, open dust container 13, by accumulation in dust container 13 dust easily
It is discarded, or dust container 13 is cleaned, is cleaned.
Electric blowing machine 15 consumes the electric power of secondary cell 3 and drives.Electric blowing machine 15 sucks sky from dust container 13
Gas and generate negative suction.The suction function generated in dust container 13 is in suction inlet 25.Main body shell 2 have make powered supplied air
The exhaust outlet (illustration omitted) that the exhaust (clean air) of machine 15 is flowed out to the outside of main body shell 2.
Traveling portion 21 have at least a pair of driving wheels 26, as the multiple driving portions for driving each driving wheel 26 dividually
Motor 27 and main body shell 2 is supported in the driven wheel 28 on ground together with driving wheel 26.
Driving wheel 26 makes mobile by the main body shell 2 on dust suction face.Driving wheel 26 has (left and right width side in the width direction
To) extend wheel shaft (illustration omitted).The wheel shaft of a pair of driving wheels 26 is substantially configured on same line.Therefore, from principal mode electricity
Dynamic dust catcher 1 being capable of easily straight and turning.Suction inlet 25 is configured between a pair of driving wheels 26.Driving wheel 26 is by suspension
Device (so-called suspension, illustration omitted) is pressed against by dust suction face.Driving wheel 26 can also be replaced from principal mode electric dust collector 1 and
Have crawler belt (illustration omitted).
Motor 27 drives each driving wheel 26 independently.That is, passing through the driving for making left and right from principal mode electric dust collector 1
Wheel 26 rotates and straight (advance or retreat) to identical direction, by rotating the driving wheel 26 of left and right to different directions
And it turns and (turns right or turn left).In addition, from principal mode electric dust collector 1 can increase and decrease left and right driving wheel 26 output and
The speed that adjustment is advanced or retreated, or keep the output of the driving wheel 26 of left and right different and adjust the size of turning radius.
Driven wheel 28 is configured at the substantially central portion of the width direction of the lower part of main body shell 2 and is front.Driven wheel 28
It is circular rotary body, e.g. castor.Driven wheel 28 easily follow the advance from principal mode electric dust collector 1, retreat and
It turns and changes direction, make to stablize from the traveling (movement) of principal mode electric dust collector 1.In addition, the wheel shaft of driving wheel 26, driven wheel
The center of gravity from principal mode electric dust collector 1 that 28 wheel shaft is supported preferably is configured at a pair of driving wheels 26 and 28 institute of driven wheel
At triangle inside.In this case, the risk that can reduce overturning from principal mode electric dust collector 1, can be steadily
Mobile (traveling).Alternatively, it is also possible to no driven wheel 28.
In addition, have main body from principal mode electric dust collector 1, the main body have main body shell 2, as to ground etc. by dust suction
Face carries out the rotating brush 11 and suction inlet 25 and as the moving portion for moving on by dust suction face of the dust collecting port of dust suction
Traveling portion 21, and can on by dust suction face autonomous.The main body refers to previous realizing from principal mode electric dust collector
The part of general function.
Fig. 4 is the top view from principal mode electric dust collector of embodiments of the present invention.
As shown in Fig. 1 and Fig. 4, present embodiment has from principal mode electric dust collector 1: being prohibited from entering place instruction input
Portion 31 accepts the instruction of the identification image Ii for being prohibited from entering region B when camera unit 22 being made to shoot autonomous for identification
Input；It is prohibited from entering place and eliminates input unit 32, accept at least one finger eliminated for the identification image Ii that shooting finishes
The input shown；It is prohibited from entering processing switching input unit 33, accepts and holds in the case where meeting rated condition to being prohibited from entering processing
The input of the instruction for being set for switching whether row；And display unit 35.
It is prohibited from entering place instruction input unit 31, be prohibited from entering place elimination input unit 32 and is prohibited from entering processing switching is defeated
Enter the top surface that portion 33 is set to main body shell 2.Therefore, user can will be placed in from principal mode electric dust collector 1 by dust suction face
Easily attendant exclusion enters place instruction input unit 31, is prohibited from entering place elimination input unit 32 and is prohibited from entering place under state
Reason switching input unit 33.
It is prohibited from entering place instruction input unit 31, be prohibited from entering place elimination input unit 32 and is prohibited from entering processing switching is defeated
Entering portion 33 is the input unit for inputting information corresponding with the operation content that user is intended to, and is so-called button.Button can be with
It is prohibited from entering place instruction input unit 31, place is prohibited from entering and eliminates input unit 32 and be prohibited from entering processing switching input unit 33 and divide
It is not respectively provided with one accordingly, a shared button can also be equipped with.In the case where a shared button of setting, according to
Mode of operation as defined in duration of the number, down state pressed at the appointed time etc. is distinguished using input content i.e.
It can.
These are prohibited from entering place instruction input unit 31, are prohibited from entering place elimination input unit 32 and are prohibited from entering processing and cut
Input unit 33 is changed around the top of button or button, marks text, the figure of readily identified respective function.
Display unit 35, which passes through, displays or the display of text, figure such as lights, flashes, to user, positioned at electronic from principal mode
The information that the third party around dust catcher 1 notifies operation start etc. suitable.Display unit 35 is, for example, set on the top surface of main body shell 2
Display.Therefore, user easily can visually see in the state of will be placed in from principal mode electric dust collector 1 by dust suction face
Examine the information for being shown in display unit 35.In addition, user can be obtained by being shown in 35 information of display unit from the electronic suction of principal mode
Various information suggested by dirt device 1.
Fig. 5 is the block diagram from principal mode electric dust collector of embodiments of the present invention.
Other than Fig. 2 to Fig. 4, also as shown in figure 5, present embodiment is brushed from principal mode electric dust collector 1 in addition to having
With motor 12, driving motor 27, electric blowing machine 15, camera unit 22, control unit 23, secondary cell 3, display unit 35
Except, it is also equipped with communication unit 36 and by sound such as voice, warnings to user, positioned at from around principal mode electric dust collector 1
Third party's information for notifying operation start etc. suitable voice output portion 37.
Communication unit 36, which has to send the transmission unit (illustration omitted) of infrared signal to cradle 5 and receive to come from, to be filled
Electric seat 5, remote controler (illustration omitted) infrared signal receiving unit (illustration omitted).Transmission unit is for example comprising infrared light emission
Element.Receiving unit is for example comprising phototransistor.
Voice output portion 37 to user, is located at from around principal mode electric dust collector 1 by sound such as voice, warnings
Third party's information for notifying operation start etc. suitable.Voice output portion 37 is, for example, loudspeaker.
By the sound that exports from voice output portion 37 and display is shown in from the user of principal mode electric dust collector 1
The visual information in portion 35 can be readily ascertained by the state from principal mode electric dust collector 1.In addition, from principal mode electric dust collector 1
Can only have the one party in voice output portion 37 and display unit 35.
Camera unit 22 is set to from the front of principal mode electric dust collector 1, is shot from the front of principal mode electric dust collector 1.It takes the photograph
Camera portion 22 is, for example, digital camera.That is, camera unit 22 has the camera shooting member that the image that will be taken is converted to electric signal
Part 22a (imaging sensor) and the optical system 22b that (generation) image is formed on photographing element 22a.Photographing element 22a
E.g. ccd image sensor (Charge-Coupled Device image sensor), cmos image sensor (Comple
mentary metal-oxide-semiconductor image sensor).It therefore, can be real from principal mode electric dust collector 1
When with Digital data processing image.That is, the image taken by camera unit 22 (can for example be omitted using image processing circuit
Diagram) it is compressed into defined data mode, be converted to bianry image or is converted to tonal gradation.Camera unit 22 is for example with every several
Ten milliseconds or the image per the predetermined time interval shooting number such as several seconds.Camera unit 22 for example shoots visible light region
Image.The image of visible light region good quanlity compared with the image of such as infrared region, without implementing complicated image procossing
The information for capableing of visual confirmation can be easily provided user.
Work as being referred to as in the movement from principal mode electric dust collector 1 by the newest image I of 22 moment of camera unit shooting
Front position image Ip.
In addition, camera unit 22 is also possible to stereo camera.That is, image I captured by camera unit 22 is comprising inciting somebody to action
It is overlapped from the coverage of the position in the extended front of center line of the width direction of principal mode electric dust collector 1.In the situation
Under, camera unit 22 can obtain the letter of the depth of field (separating distance from from principal mode electric dust collector 1) in coverage
Breath.
Stereo camera can also be replaced from principal mode electric dust collector 1 or be also equipped on its basis to be taken the photograph with solid
The different principle of camera obtains the Distnace determination device 39 of the depth of view information in coverage.Distnace determination device 39 has to taking the photograph
The acceptance part of the reflected light for the light that the illumination region 41 of the coverage irradiation light in camera portion 22 and reception are irradiated from illumination region 41
42.Since principal mode electric dust collector 1 can based on illumination region 41 it is luminous to receive acceptance part 42 reflected light until when
Between it is poor, obtain from the range information from principal mode electric dust collector 1 to the reference object of image I.The range information, which is stored in, to be deposited
Storage portion.Illumination region 41 for example irradiates infrared ray, visible light.
In addition, the illumination such as LED (Light Emitting Diode), light bulb can also be set side by side in camera unit 22
Device (illustration omitted).Lighting device illuminates some or all of the coverage of camera unit 22.Lighting device makes to take the photograph
Camera portion 22 can obtain suitable under the darker environment such as that darker place, night of the shade of the barriers such as furniture
When image.
Control unit 23 for example has central processing unit (Central Processing Unit, CPU, illustration omitted), deposits
Storage is executed auxilary unit (such as the Read Only of the various operation programs of (processing), parameter etc. by central processing unit
Memory, ROM, illustration omitted), dynamically ensure program operating area main storage means (for example, Random access
Memory, RAM, illustration omitted).The image for the image I that storage is taken by camera unit 22 is ensured in main storage means
Storage unit 45.Image storage part 45 has the capacity that can store multiple images I.Auxilary unit is preferably for example non-volatile
Memory can be rewritten like that.
Control unit 23 be electrically connected to brush motor 12, driving motor 27, electric blowing machine 15, camera unit 22,
Communication unit 36, voice output portion 37, display unit 35 and secondary cell 3.Control unit 23 according to via communication unit 36 from cradle 5 and
The received instruction of remote controler, pilot brush motor 12, driving motor 27, electric blowing machine 15, camera unit 22, distance
Measurement device 39, communication unit 36, voice output portion 37, display unit 35 and secondary cell 3.
Control unit 23 has the autonomous control portion 51 of autonomous of the control from principal mode electric dust collector 1, control video camera
The camera control portion 52 of the movement in portion 22, make the shooting of camera unit 22 for identification autonomous when be prohibited from entering place
Identification image Ii and make that image storage part 45 stored be prohibited from entering place instruction unit 53 and by current position image Ip
Judge that the identical or similar of two image I is prohibited from entering place judging part 55 compared with identifying image Ii.
In addition, control unit 23 has: be prohibited from entering processing switching part 56, in the case where meeting rated condition to forbid into
Enter and is set for switching whether processing executes；And it is prohibited from entering place elimination portion 57,45 institute of image storage part can be eliminated
At least one of the identification image Ii of storage.
Moreover, control unit 23 can also have distance calculating unit 58, which is based on from Distnace determination device
39 illumination region 41 starts the time difference to shine until acceptance part 42 receives reflected light, obtains from main body shell 2 to image I
Reference object range information.
Autonomous control portion 51 has the driving control portion 61 and pilot brush of the movement of the motor 27 of control traveling portion 21
With the dust suction control unit 62 of the movement of motor 12 and electric blowing machine 15.
The size and direction of the electric current flowed in the motor 27 of the control traveling portion 21 of driving control portion 61, make motor 27
Forward or reverse.Driving control portion 61 controls the driving of driving wheel 26 by making motor 27 forward or reverse.
In addition, driving control portion 61 has Environmental Map Information (Environment Map, the omission in storage dust suction place
Diagram) map information 63.
Map information 63 is the set of the data constructed in the ensured storage region of auxilary unit, is had
Suitable data configuration.Map information 63 is read in from auxilary unit main storage means and is utilized, via suitable
Update after to auxilary unit cover.
Environmental Map Information be from principal mode electric dust collector 1 it is autonomous traveling used in information, be include at least at
For in the place of dust suction object from principal mode electric dust collector 1 can travel region shape information.It is electronic from principal mode in use
When dust catcher 1, Environmental Map Information can be prepared in advance, can also pass through SLAM (Simultaneous Localization
And Mapping, while positioning and map structuring) it is produced while inferring self-position.Passing through SLAM production environment
In the case where cartographic information, the image in addition to shooting the front (direction of advance) of the machine is preferably from principal mode electric dust collector 1
Camera unit 22 except, the various sensors such as video camera needed for being also equipped with the production of map, encoder (illustration omitted).Ring
Border cartographic information can also be produced and update during the movement operated along with dust suction.
Environmental Map Information can be shown in display unit 35 by control unit 23.User is according to the ring for being shown in display unit 35
Border cartographic information can easily verify that the state of the Environmental Map Information made by the principal mode electric dust collector 1.
Dust suction control unit 62 dividually pilot brush motor 12 and electric blowing machine 15.
The movement of the control of camera control portion 52 camera unit 22.Camera control portion 52 is according to every predetermined time interval
Camera unit 22 is set to shoot image.The image I taken by camera unit 22 is stored in image storage by camera control portion 52
Portion 45.In addition, the image information for being stored in image storage part 45, which can be, will indicate the image I's taken by camera unit 22
Data store as former state, are also possible under the premise of the analysis processing for retaining image required information to reduce size of data
Then mode, which is processed, to be stored.The image information for being stored in image storage part 45 is for example also possible to be taken by camera unit 22
Image I be converted to the image after tonal gradation (hereinafter, be referred to as identically as the original image I taken by camera unit 22
Image I.).In the case where grey scale image, the pixel value of image I is consistent with brightness value.Tonal gradation is converted in preservation
Image I in the case where, compared with the case where storing original image, control unit 23 can reduce to image storage part 45 distribute
The capacity (resource) of memory area.In addition, the case where processing after the image I for being converted into tonal gradation is used in
Under, compared with handling in the case where original image, control unit 23 can reduce the load of central processing unit.
In addition, the image procossing of the tonal gradation comprising image I executed by camera control portion 52 can also be by taking the photograph
Camera portion 22 executes.By executing image procossing by camera unit 22, the load of central processing unit can reduce.
In addition, camera control portion 52 controls lighting and extinguishing for lighting device.Lighting device makes image I brighten and make to work as
Front position image Ip becomes easy compared with identifying image Ii.
Be prohibited from entering place instruction unit 53 according to be input to be prohibited from entering place instruction input unit 31 from external finger
Show and issue and indicate to camera control portion 52, is issued to camera unit 65 and instruct and make its shooting identification image Ii and make image
Storage unit 45 is stored.In addition, image storage part 45 has the capacity that can store multiple identification image Ii.
It is prohibited from entering place judging part 55 and calculates current position image Ip and identification figure using known image comparison method
As the consistent degree of Ii is judged as current position image Ip and identification in the case where the consistent degree is more than pre-determined threshold value
Image Ii is consistent or similar.
Being prohibited from entering place judging part 55 can also be not only directly to compare current position image Ip and identification image Ii,
But be compared to the characteristic point extracted from each image I or according to the calculated characteristic quantity of this feature point, to judge two
Image I's is consistent or similar.In addition, one kind as characteristic quantity, there is characteristic point or characteristic curve.It is prohibited from entering place judging part 55
The characteristic point for extracting identification image Ii in advance, calculates its characteristic quantity and is stored in storage unit, such as image storage part 45.In addition,
It is prohibited from entering the characteristic point of 55 moment of place judging part extraction current position image Ip, and calculates its characteristic quantity.Then, forbid into
Enter place judging part 55 and compare the characteristic quantity of identification image Ii and the characteristic quantity of current position image Ip, calculates the one of two image I
Cause degree.Then, the feelings that place judging part 55 is more than pre-determined threshold value in the consistent degree of the characteristic quantity of two image I are prohibited from entering
Under condition, it is judged as that current position image Ip and identification image Ii are consistent or similar.The characteristic point of two image I is to pass through edge detection
The regional scope at the angle (edge, corner), same color that extract etc., the characteristic point that can be extracted by various algorithms.
Be prohibited from entering processing switching part 56 according to be input to be prohibited from entering processing switching input unit 33 from external finger
Show, autonomous control portion 51 is executed and is prohibited from entering processing and switches over not executing.User enters processing by attendant exclusion
Switch input unit 33, easily autonomous control portion 51 can be executed and be prohibited from entering processing and switch over not executing.
It is pressed if being prohibited from entering place and eliminating input unit 32, is prohibited from entering place elimination portion 57 and will be stored in image and deposit
The identification image Ii in storage portion 45 is eliminated.Since image storage part 45 can store multiple identification image Ii, it is prohibited from entering field
Elimination portion 57, institute is preferable to select any number of identification image Ii from multiple identification image Ii and eliminate, or will be complete
The identification image Ii in portion is eliminated together.In this case, being prohibited from entering place elimination input unit 32 preferably dividually has
It selects input unit 67 and determines input unit 68.In addition, the identification in order to select arbitrary quantity from multiple identification image Ii
Image Ii, the identification image Ii for being preferably stored in image storage part 45 can be shown in display unit 35.User can one
The identification image Ii that side visual confirmation is shown in display unit 35 is selected on one side, or selection is denoted as the option of " Quan Xuan ", will wish
The identification image Ii of prestige is reliably eliminated.
Secondary cell 3 is brush motor 12, driving motor 27, electric blowing machine 15, camera unit 22, distance survey
Determine the power supply of device 39, control unit 23, communication unit 36, voice output portion 37 and display unit 35.Secondary cell 3 is accumulated to brush electricity consumption
Motivation 12, driving motor 27, electric blowing machine 15, control unit 23, camera unit 22, Distnace determination device 39 and communication unit
The electric power of 36 supplies.Therefore, it is not necessarily to power supply line from principal mode electric dust collector 1, can not be limited by the length of power supply line, layout path
It makes and is freely independently travelled.
Secondary cell 3 is for example electrically connected to the charging terminal (illustration omitted) in the bottom surface of main body shell 2 or back side setting.
If from the playback of principal mode electric dust collector 1 to cradle 5, which is electrically connected to cradle 5.Therefore, electronic from principal mode
Dust catcher 1 starts that secondary cell 3 cradle 5 can be electrically connected to without using person, further, it is possible to inhale waiting next time
Dirt charges secondary cell 3 during operating.
Fig. 6 is an example in the dust suction place from principal mode electric dust collector of embodiments of the present invention and in the dust suction
The top view of an example for being prohibited from entering place identified is set in place.
Fig. 7 is an example in the dust suction place from principal mode electric dust collector of embodiments of the present invention and in the dust suction
Avoid the top view of an example for being prohibited from entering place identified in place.
Fig. 8 is that identification is prohibited from entering the identification image in place from principal mode electric dust collector in embodiments of the present invention
An example.
As shown in fig. 6, the user from principal mode electric dust collector 1 of present embodiment will be from principal mode electric dust collector 1
Shooting direction (the solid arrow F of Fig. 6) direction that is positive, in other words, being camera unit 65 with being prohibited from entering place B will be autonomous
Type electric dust collector 1 is configured at by dust suction face (the shooting place C in Fig. 6), and attendant exclusion enters place instruction input unit 31.
Then, place B is prohibited from entering easily to be specified.
From principal mode electric dust collector 1 when being prohibited from entering place instruction input unit 31 and being pressed, camera unit 65 is utilized to clap
Identification image Ii (such as Fig. 8) is taken the photograph, and makes to identify that image Ii is stored in image storage part 45.It is pre- to be prohibited from entering place judging part 55
The characteristic point for first extracting identification image Ii calculates characteristic quantity according to this feature point, makes the characteristic point and characteristic quantity that identify image Ii
Image storage part 45 is stored in together with identification image Ii.
In addition, the star-shaped label M in Fig. 8 abstractively shows reference object contained by coverage.Compared to only wrapping
The wall W of floor FL and uniform color containing uniform color, be difficult to capture the image of feature (characteristic point), actual identification
Image Ii be more preferably including, for example, window frame, furniture, ornaments object and their a part etc. label M, be easy to capture feature
Image.
Be prohibited from entering place instruction unit 53 can also based on a shooting instruction, in other words, be prohibited from entering place instruction
Pushing operation of input unit 31 shoots the identification image Ii of multiple positions.It is based on for example, being prohibited from entering place instruction unit 53
It is prohibited from entering a long press operation of place instruction input unit 31, the right direction or left direction shot to current location is continuous
Multiple identification image Ii.
Shooting field shown in solid in Fig. 6 will be placed in from principal mode electric dust collector 1 from the user of principal mode electric dust collector 1
Institute C, and long-pressing is prohibited from entering place instruction input unit 31.Then, place instruction unit 53 is prohibited from entering to be based on being prohibited from entering place
The long press operation of instruction input unit 31 repeats to act as follows: the shooting and storage of first identification image Ii are turned right
90 degree, with the advance of the comparable distance of width of main body shell 2, turn left 90 degree, the shooting of second identification image Ii and
Storage, turn right 90 degree ....It is long pressed that is, being prohibited from entering place instruction unit 53 with being prohibited from entering place instruction input unit 31
On the basis of the place (current location) of operation, the continuous multiple identification image Ii of right direction to current location are shot.In addition, prohibiting
Only enter place instruction unit 53 for example to have again been operated and (press again) or by connecing being prohibited from entering place instruction input unit 31
The midway for touching the movement of sensor (illustration omitted) or non-contact sensor (illustration omitted) in shooting place senses barrier
Such as the wall in room near to or in contact with when, make identify image Ii shooting terminate.
That is, present embodiment from principal mode electric dust collector 1 using be prohibited from entering the operation of place instruction input unit 31 as
Opportunity shoots identification image Ii using camera unit 65.Identification image Ii forbids from principal mode electric dust collector 1 for identification
Into place B.Therefore, from principal mode electric dust collector 1 without using entering anti-locking apparatus or magnetic recording tape, and without being deposited in the machine
Identification is prohibited from entering place B in advance on the environmental map of storage, it will be able to which setting is prohibited from entering place B.
Then, by dust suction place A's being handled since principal mode electric dust collector 1 by the operation of user or timer
Dust suction.At this point, autonomous control portion 51 successively compares the current location figure shot in the movement of main body shell 2 by camera unit 22
As Ip and the identification image Ii for being stored in image storage part 45 are pressed down in the identical or similar situation of two images Ii, Ip
Make traveling more forward than current location and change direction of travel be prohibited from entering processing.Successively compare in master in autonomous control portion 51
The current position image Ip shot in the movement of body shell body 2 by camera unit 22 and the identification image for being stored in image storage part 45
Ii inhibits to be prohibited from entering processing in two inconsistent situations of image Ii, Ip, in known dust suction running path r (so-called word
Shape traveling, reflection traveling etc.) in automatically move.
For example, from principal mode electric dust collector 1 as shown in fig. 7, in dust suction place A with zigzag travels and carries out dust suction.From
1 moment of principal mode electric dust collector using camera unit 65 shoot current position image Ip, successively compare current position image Ip with
Identify image Ii.Then, the shooting place C of identification image Ii is approached or reached from principal mode electric dust collector 1.Then, two
A image Ii, Ip are consistent or similar, therefore are prohibited from entering processing from the execution of principal mode electric dust collector 1.
Therefore, from principal mode electric dust collector 1 without using entering anti-locking apparatus or magnetic recording tape, and without locally stored
Environmental map in advance identification be prohibited from entering place B, it will be able to execute forbid to be prohibited from entering place B enter be prohibited from entering
Processing.
Autonomous control portion 51 will be prohibited from entering place B and be reflected in ring in the identical or similar situation of two images Ii, Ip
Border cartographic information.Specifically, autonomous control portion 51 is in the Environmental Map Information in dust suction place for indicating Fig. 6, to having taken
Place (the shooting place C in Fig. 6) additional marking of current position image Ip, or setting is by the line of demarcation of dust suction place A.That is,
Once autonomous control portion 51 just identifies taboo in Environmental Map Information in the identical or similar situation of two images Ii, Ip
Only enter place B.Therefore, autonomous control portion 51 is not necessarily to be prohibited from entering the corresponding identification image Ii of place B to what identification finished
Carry out again current position image Ip with identify image Ii successively compared with, can reduce the load of processing.
In addition, for example as the upper right in Fig. 7 be prohibited from entering place B and lower-left be prohibited from entering place B, specify
Many places integrally be continuously prohibited from entering place B in the case where, be also possible to be prohibited from entering place eliminate input unit 32 operated
When, place B, which is continuously prohibited from entering, according to each one eliminates identification image together.In such manner, it is possible to which field will be prohibited from entering by improving
The convenience for the operation that the setting of institute B is eliminated.
In addition, foregoing describe shot based on a long press operation for being prohibited from entering place instruction input unit 31 to current
The continuous multiple identification image Ii of the right direction or left direction of position.Like this according to the primary shooting instruction of user from
In the case where multiple camera site shooting identification images, it will be configured to from the traveling portion 21 of principal mode electric dust collector 1 in addition to front and back
It also can be straight preferable in the lateral direction except direction.In such manner, it is possible on one side keep user towards shooting direction one
While it is mobile to the right direction or left direction of current location, the time spent in shooting from multiple positions can be shortened.In addition to front and back
Also straight construction used is constructed using arbitrary in the lateral direction except direction.
Fig. 9 and Figure 10 be outlined embodiments of the present invention from principal mode electric dust collector, current position image
And the figure of the relationship of identification image.
In addition, in Fig. 9, from main body shell 2 to the separating distance Lp of the reference object STp of current position image Ip with from master
The separating distance Li of body shell body 2 to the reference object STi for identifying image Ii are consistent.In Figure 10, from main body shell 2 to current location
The separating distance Lp of the reference object STp of image Ip with from main body shell 2 to identification image Ii reference object STi separation away from
It is inconsistent from Li.
As shown in figure 9, reference object taken by the identification image Ii from principal mode electric dust collector 1 of present embodiment
STi is, for example, the character image (bust M) of A2 size.It is assumed that reference object STp taken by current position image Ip
Such as and the character image (bust M) of A2 size, identical with reference object STi taken by identification image Ii.A2
Size is the quadrangle of 420mm × 594mm.
(Fig. 9) in this case, when judging whether current position image Ip and identification image Ii are consistent or similar, even if
Do not include in judgement the separating distance Lp of reference object STp from main body shell 2 to current position image Ip with from body shell
Body 2 can also clapped to the difference between the separating distance Li of the reference object STi of identification image Ii from principal mode electric dust collector 1
It takes the photograph in the C of place and is prohibited from entering processing according to the intention execution of user.
On the other hand, as shown in Figure 10, taken by the identification image Ii from principal mode electric dust collector 1 of present embodiment
Reference object STi be, for example, A2 size character image (bust).It is assumed that shooting taken by current position image Ip
Object STp is, for example, the character image (bust) of L dimension, and is and reference object STi taken by identification image Ii
The different identical image of size (being all bust).L dimension is 89 millimeters × 127 millimeters of quadrangle.
(Figure 10) in this case, when judging whether current position image Ip and identification image Ii are consistent or similar,
Do not include in judgement the separating distance Lp of reference object STp from main body shell 2 to current position image Ip with from main body shell 2
To the difference between the separating distance Li of the reference object STi of identification image Ii, very may be used from principal mode electric dust collector 1
The intention of user can be violated in shooting place C and execute and be prohibited from entering processing.
Therefore, it is prohibited from entering place judging part 55 is judging whether current position image Ip and identification image Ii consistent or class
Like when, separating distance Lp in judgement comprising reference object STp from main body shell 2 to current position image Ip with from main body
Shell 2 is preferable to the difference between the separating distance Li of the reference object STi of identification image Ii.
That is, be prohibited from entering place judging part 55 as shown in Figure 9, current position image Ip with identify that image Ii is consistent, simultaneously
And from main body shell 2 to the separating distance Lp of the reference object STp of current position image Ip and from main body shell 2 to identification image
It is executed under the substantial unanimous circumstances of separating distance Li of the reference object STi of Ii and is prohibited from entering processing.
On the other hand, place judging part 55 is prohibited from entering as shown in Figure 10, in current position image Ip and identification image Ii
Unanimously, but from main body shell 2 to the separating distance Lp of the reference object STp of current position image Ip and from main body shell 2 to knowledge
In the case that the separating distance Li of the reference object STi of other image Ii is substantially inconsistent, inhibit, prevent, avoid and avoid and
The execution for being prohibited from entering processing is not executed.
The difference of separating distance Lp, Li be using the stereo-picture taken by stereo camera (camera unit 22) and three
It ties up measuring or calculated using being measured by Distnace determination device 39 and being stored in the range information of storage unit.That is, prohibiting
Only enter place judging part 55 and directly find out the difference of separating distance Lp, Li from stereo-picture, or finds out and current location figure
As Ip establishes the corresponding and range information that stores and and identification image Ii foundations is corresponding and the difference of the range information of storage.
As described above, present embodiment from principal mode electric dust collector 1 successively compare in the movement of main body shell 2 by
The current position image Ip that camera unit 22 the is shot and identification image Ii taken in advance by camera unit 22, in two images
In the identical or similar situation of Ii, Ip, inhibited it is more forward than current location traveling and change direction of travel forbid into
Enter processing.Therefore, from principal mode electric dust collector 1 without using entering anti-locking apparatus or magnetic recording tape, and without being deposited in the machine
Identification is prohibited from entering place B in advance on the environmental map of storage, it will be able to which setting is prohibited from entering place B, and is able to carry out and forbids
Processing is prohibited from entering to the execution that place B enters is prohibited from entering.
It is prohibited from entering place instruction input unit 31 that is, being connected to from the camera unit 22 that principal mode electric dust collector 1 has,
Image can be shot according to the operation of user.From principal mode electric dust collector 1 using the shooting image as identification by using
What person specified is prohibited from entering the identification image Ii in place and stores.When having taken identification image Ii from principal mode electric dust absorption
The position of device 1 and towards in the case where reproduction in dust suction traveling taken current position image Ip and is known when the reproduction
Other image Ii should be consistent.Therefore, from principal mode electric dust collector 1 in its traveling current position image Ip and identification image
Under Ii unanimous circumstances, avoid side's traveling further along, so as to for forbid specified by user among room into
Enter region B and realizes the function of avoiding enter into.Alternatively, it is also possible to be, even if current position image Ip and identification image Ii are incomplete
Unanimously, but it is similar to it is believed that reaching travelable region and the boundary for being prohibited from entering place from principal mode electric dust collector 1
Degree, then being just changed from the control of the traveling of the direction of travel of principal mode electric dust collector 1.
The function of forbidding the region specified to user to enter is generally known as virtual protection etc..Previous virtual protection needs
The equipment that the device of electric wave as defined in issuing in a room etc., the magnetic recording tape for indicating boundary etc. are separately matched.Present embodiment from
Principal mode electric dust collector 1 can be grasped based on the image taken by camera unit 22 and be prohibited from entering region by what user specified
B.It therefore, can be without using other equipment from other than principal mode electric dust collector 1.In off-limits setting, by its order
It is preferable to user report.In such manner, it is possible to which user is urged to be prohibited from entering the temporary releasing of setting, generated for a long time independently with reducing
The state of affairs of the dust suction of type electric dust collector 1 to region not.About the mode of report, can be carried out by showing can also be with
It is carried out, can also be carried out via the other information terminal that user is held by sound.
In addition, present embodiment is prohibited from entering processing whether executing and (could execute) from principal mode electric dust collector 1
Judgement in the separating distance Lp comprising reference object STp from main body shell 2 to current position image Ip with from main body shell 2
Difference to the separating distance Li of the reference object STi of identification image Ii.Therefore, even if existing from principal mode electric dust collector 1
It takes and the feelings for different, the similar current position image Ip of identification image Ii size for being prohibited from entering place B for identification
Under condition, also can more accurately judge whether current location is to be prohibited from entering place B.
Moreover, present embodiment from principal mode electric dust collector 1 in the identical or similar situation of two images Ii, Ip,
Place B will be prohibited from entering and be reflected in Environmental Map Information.Therefore, it can stop and identify to finish from principal mode electric dust collector 1
Be prohibited from entering corresponding identification image Ii and the current position image Ip of place B successively compared with and mitigate the load of processing.
In addition, present embodiment stores multiple identification image Ii from principal mode electric dust collector 1.Therefore, present embodiment
Can be set from principal mode electric dust collector 1 and more larger range of than the image I shot by camera unit 65 be prohibited from entering field
Institute B.
Moreover, the identification for shooting multiple positions based on a shooting instruction from principal mode electric dust collector 1 of present embodiment
Image Ii.Therefore, can be improved from principal mode electric dust collector 1 for present embodiment sets one that ratio is shot by camera unit 65
The convenience that image I is larger range of when being prohibited from entering place B.
In addition, present embodiment from principal mode electric dust collector 1 have to execute or do not execute be prohibited from entering handle into
Row switching is prohibited from entering processing switching part 56.Therefore, from principal mode electric dust collector 1 without removing into anti-locking apparatus, magnetism
Band eliminates the place B that is prohibited from entering recognized on environmental map and just allows hand over and be prohibited from entering processing.
Moreover, present embodiment has at least one elimination that can will identify image Ii from principal mode electric dust collector 1
Be prohibited from entering place elimination portion 57.Therefore, taboo can easily be changed according to the intention of user from principal mode electric dust collector 1
Only enter place B.
In addition, present embodiment from principal mode electric dust collector 1 compare two image Ip, Ii characteristic point or characteristic quantity and
Judge that two image Ip, Ii's is consistent or similar.Therefore, it can reduce from principal mode electric dust collector 1 and identify that is finished is prohibited from entering
Two image Ii, Ip involved in the B of place successively compare and whether consistent judgement processing load, be prohibited from entering the negative of processing
Lotus.In this case, present embodiment from principal mode electric dust collector 1 on the basis of identifying image Ii or replaces it and deposits
Store up either one for the characteristic point and characteristic quantity for identifying image Ii.Therefore, it can reduce identification figure from principal mode electric dust collector 1
As the feature point extraction of Ii and the load of the adjoint processing of characteristic quantity operation, it is prohibited from entering the load of processing.
Therefore, according to the present embodiment from principal mode electric dust collector 1, without other than the machine into anti-locking apparatus, magnetic
Property the devices such as band and information terminal, only can set by the machine and be prohibited from entering place.
The sensor for being placed in the state on ground whether is in from principal mode electric dust collector 1 for sensing in addition, being provided with,
In the state of being not disposed in ground from principal mode electric dust collector 1, even if user's pressing is prohibited from entering place instruction input unit 31,
Also it is preferable not store identification image Ii.The image taken in the state of being not disposed in ground from principal mode electric dust collector 1 will not
It is consistent with the image shot under steam from principal mode electric dust collector 1, it is difficult to grasp being prohibited from entering place B based on it.Therefore, right
In the image taken in the state of being not disposed in ground from principal mode electric dust collector, stored not as identification image Ii, from
And it can be avoided unnecessary computer disposal.
Several embodiments of the invention are described, but these embodiments are suggested as examples, and
It is not intended to limit the range of invention.These new embodiments can be implemented with various other ways, in the master for not departing from invention
In the range of purport, various omissions, substitutions and changes may be made.These embodiments and modifications thereof be included in invention range or
In purport, and it is included in invention and its equivalent range documented by claims.
Claims (10)
1. a kind of from principal mode electric dust collector, wherein have:
Main body, being capable of autonomous with the moving portion moved on by dust suction face；
Camera unit is set to the main body, shoots image；
Image storage part stores the described image taken by the camera unit；
It is prohibited from entering place instruction unit, the knowledge for being prohibited from entering place when the camera unit being made to shoot autonomous for identification
Other image, and described image storage unit is made to store the identification image；And
Autonomous control portion controls the autonomous of the main body, and successively compares and taken the photograph in the movement of the main body by described
The current position image that camera portion takes and the identification image for being stored in described image storage unit, in the current location
In image situation identical or similar with the identification image, is inhibited traveling more forward than current location and change and advance
Direction is prohibited from entering processing.
2. according to claim 1 from principal mode electric dust collector, wherein
The camera unit is stereo camera,
The autonomous control portion is when judging whether the current position image and the identification image are consistent or similar, described
In judgement comprising from the main body to the separating distance of the reference object of the current position image with from the main body to described
Identify the difference between the separating distance of the reference object of image.
3. according to claim 1 from principal mode electric dust collector, wherein
It is described to be also equipped with from principal mode electric dust collector:
Illumination region, to the coverage irradiation light of the camera unit；
Acceptance part receives the reflected light of the light irradiated from the illumination region；And
Distance calculating unit, based on since the time to shine until the acceptance part receives the reflected light the illumination region
Difference obtains the range information of the reference object from the main body to described image,
The autonomous control portion is when judging whether the current position image and the identification image are consistent or similar, described
In judgement comprising based on obtained by the range information acquired by the distance calculating unit, from the main body to the present bit
Set the separating distance of the reference object of image and from the main body between the separating distance of the reference object of the identification image
Difference.
4. according to any one of claim 1 to 3 from principal mode electric dust collector, wherein
It is described to be also equipped with from principal mode electric dust collector:
Map information stores the Environmental Map Information in dust suction place,
The autonomous control portion is in current position image situation identical or similar with the identification image, by the taboo
Only enter place and is reflected in the Environmental Map Information that the map information is stored.
5. according to any one of claim 1 to 4 from principal mode electric dust collector, wherein
Described image storage unit stores multiple identification images.
6. according to claim 5 from principal mode electric dust collector, wherein
It is prohibited from entering the identification image that place instruction unit shoots multiple positions based on a shooting instruction.
7. according to any one of claim 1 to 6 from principal mode electric dust collector, wherein
It is described to be also equipped with from principal mode electric dust collector:
It is prohibited from entering processing switching part, in the case where meeting rated condition, is prohibited from entering setting whether processing executes to described
Surely it switches over.
8. according to any one of claim 1 to 7 from principal mode electric dust collector, wherein
It is described to be also equipped with from principal mode electric dust collector:
It is prohibited from entering place elimination portion, at least one in the identification image that described image storage unit is stored can be eliminated
It is a.
9. according to any one of claim 1 to 8 from principal mode electric dust collector, wherein
It is described to be also equipped with from principal mode electric dust collector:
It is prohibited from entering place judging part, in the current position image and the identification image, compares and is mentioned from two images
The characteristic point that takes or according to the calculated characteristic quantity of the characteristic point, judges the consistent or similar of two images.
10. according to claim 9 from principal mode electric dust collector, wherein
Described image storage unit is on the basis of described image or replaces the image and stores the characteristic point and the feature
At least one party of amount.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018077273A JP7030007B2 (en) | 2018-04-13 | 2018-04-13 | Autonomous vacuum cleaner |
| JP2018-077273 | 2018-04-13 |
Publications (2)
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| CN112971616A (en) * | 2021-02-07 | 2021-06-18 | 美智纵横科技有限责任公司 | Charging seat avoiding method and device, sweeping robot and storage medium |
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Also Published As
| Publication number | Publication date |
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| JP2019185500A (en) | 2019-10-24 |
| CN110367871B (en) | 2022-05-17 |
| JP7030007B2 (en) | 2022-03-04 |
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