JP2003339599A - Self-advancing cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-advancing cleaner capable of efficiently cleaning while corresponding to every region. <P>SOLUTION: This self-advancing cleaner comprises autonomously traveling first and second cleaners 1, 2. The first cleaner is provided with distance measuring means 11 for measuring the distance of a region form by autonomously traveling a prescribed region prior to cleaning, a dust detecting means 12 for detecting dust on the region, and a first control part 10. The second cleaner 2 is provided with a second control part 20. The first control part 10 has a region determining part for determining first and second regions where the respective cleaners 1, 2 can travel, and a dust accumulated region on the basis of output values from the distance measuring means 11 and the dust detecting means 12; a first storage part for storing information on the first region and dust accumulated region; and a sending part for sending information on the second region. The second control part 20 has a second storage part for receiving and storing the information from the sending part. The first cleaner 1 autonomously travels at least the dust accumulated region to clean the first region on the basis of the information in the first storage part, and the second cleaner 2 autonomously travels and cleans the second region on the basis of the information in the second storage part. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner for autonomously traveling in a predetermined area for cleaning, and more particularly to a self-propelled cleaner composed of a plurality of cleaners.

[0002]

2. Description of the Related Art As a conventional self-propelled cleaner, for example, as disclosed in Japanese Patent Publication No. 7-34791, a large-sized suction cleaner suitable for cleaning a wide area such as a station yard. There is. Further, Japanese Patent Application Laid-Open No. 11-178765 discloses a small-sized wiping type vacuum cleaner that autonomously travels while wiping the floor surface with a collection sheet. It is suitable for cleaning a narrow and complicated area such as a room.

[0003]

However, in the former case, since the main body is large, it is difficult to drive in a narrow and complicated area such as a wall, a confined narrow space, or a space with a limited height. The cleaning function cannot be fully exerted.

On the other hand, in the latter case, since the main body is small, it can travel in a wide area and can be cleaned for a time, but the cleaning operation requires a complicated procedure and a huge amount of time.
In addition, complicated mechanisms and operations are required so that autonomous traveling can be performed while recognizing a narrow and complicated area. Particularly, in order to ensure the operation accuracy, a high-performance position control sensor group and operation control sensor The group is indispensable.

Therefore, in order for any of the self-propelled cleaners to efficiently and sufficiently perform the cleaning function, the area to be cleaned is limited in the first place.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a self-propelled cleaner capable of efficiently cleaning all areas.

[0007]

In order to achieve the above object, a self-propelled cleaner according to the present invention comprises a first cleaner and a second cleaner, each of which autonomously travels, and cleans a predetermined area. In the self-propelled cleaner, the first cleaner is a distance measuring unit that autonomously travels in the predetermined area to measure the shape of the area before cleaning, and dust detection that detects dust accumulated on the area. Means, the first area where the first cleaner can travel in the predetermined area, and the second area where the second cleaner can travel in the predetermined area based on the output values from the distance measuring means and the dust detecting means.
An area determining unit that determines the dust accumulation area existing in the first area, a first storage unit that stores information on the first area and the dust accumulation area, and the second area.
And a second storage unit for storing the information of the second area sent from the sending unit. The first vacuum cleaner autonomously travels at least in the dust accumulation area to clean the first area based on the information stored in the first storage unit, and the second cleaner cleans the second storage area. Based on the information stored in the section, the entire second area is autonomously driven and cleaned. That is, since the first cleaner autonomously travels in a predetermined area in advance, the predetermined area is a first area such as a wide central portion where the first cleaner is in charge of cleaning, and the second cleaner is in charge of cleaning. In addition to being clearly divided into a second area such as a narrow corner portion, the dust accumulation area in the first area, which particularly needs cleaning, is determined. Then, the first and second vacuum cleaners share the respective first and second areas suitable for cleaning in cooperation with each other, and in particular, the first vacuum cleaner in the areas other than the dust accumulation area. By simply running without focusing on cleaning, the dust accumulation area will be cleaned intensively.

Here, in order to construct a practical self-propelled cleaner, the first cleaner includes a suction nozzle that opens toward the predetermined area, and an electric blower that communicates with the suction nozzle. And a suction type vacuum cleaner that sucks dust from the suction nozzle by suction of the electric blower.
The vacuum cleaner of 1 includes a rotary shaft protruding outward, an electrostatic brush radially protruding from the rotary shaft, and a drive motor for driving the rotary shaft, and the electrostatic motor is driven by the drive motor. It is preferable that the brush is an electrostatic attraction type vacuum cleaner that is charged with electricity while attracting dust while rotating.

Further, from the viewpoint of suppressing the waste of power consumption, in the electric blower, when the first cleaner is autonomously traveling and cleaning, the suction drive is stopped except in the dust accumulation area, and the dust accumulation area is stopped. It is preferable that the suction drive is performed when the temperature reaches.

Further, in order to obtain a practical dust detecting means with a simple structure, the dust detecting means is an infrared sensor arranged in the suction nozzle, and the infrared sensor is discharged by the electric blower. It is preferable that dust that has risen in the suction nozzle be detected.

Further, from the viewpoint of obtaining a practical distance measuring means with an inexpensive structure, the distance measuring means is a first optical distance measuring sensor and a first optical distance measuring sensor arranged around the main body of the first cleaner. It may be an ultrasonic distance measuring sensor.

Further, when the first and second cleaners autonomously travel and clean, a second optical distance measuring sensor is provided around the main body of the second cleaner in order to ensure sufficient operation accuracy. And a second ultrasonic distance measuring sensor are provided, and the first and second cleaners have the first and second optical distance measuring sensors and the first and second ultrasonic distance measuring sensors, respectively. It is preferable that the vehicle is adapted to autonomously drive and clean based on the output value from the.

Further, when the first and second cleaners are autonomously traveling and cleaning, if the respective positions can be successively confirmed, the operation accuracy is further improved. Therefore, the first and second cleaners are autonomously traveling. It is advisable to provide position detecting means for detecting the position of each.

Further, when the first and second cleaners autonomously clean the predetermined area where an uncertain obstacle exists, the obstacle hinders traveling such as a chair, a desk and a thick magazine. If so, run avoiding it, on the other hand, if the obstacles are such as paper scraps and thin magazines that do not hinder running, by running without pushing it away without avoiding it, The cleaning operation is efficient and smooth. In order to do this, first and second vacuum cleaners are provided with first and second CCD cameras having an optical axis toward the front, and image data is extracted from the first and second CCD cameras. First and second extraction units, and first and second avoidance determination units that perform obstacle avoidance determination based on the image data extracted by the first and second extraction units, respectively, are provided. It is preferable that the first and second vacuum cleaners are configured to autonomously run and clean while performing the obstacle avoidance determination by the first and second avoidance determination units.

Here, in order to easily perform sufficient avoidance determination, the first and second extraction units extract contour data as the image data, and the first and second avoidance determination units perform the contour data. It is preferable that the avoidance judgment of the obstacle be made by comparing the data with the reference data.

Further, from the viewpoint of efficiently processing the image data performed in the first and second extraction units, the first and second
The pixel data of a predetermined range is intermittently extracted from the CCD camera and digitized, and the image data is extracted from the first and second extraction sections only when the numerical fluctuation reaches a predetermined value or more. Is preferred.

In order to achieve the above object more effectively, the self-propelled cleaner according to the present invention includes a first cleaner, a second cleaner that autonomously travels, and a first cleaner and a second cleaner. In a self-propelled cleaner, which comprises a learning server capable of communication, and in which the first and second cleaners clean a predetermined area based on information received from the learning server, the first cleaner cleans before cleaning. Distance measuring means for autonomously traveling in the predetermined area to measure the shape of the area, dust detecting means for detecting dust accumulated on the area, and based on output values from the distance measuring means and the dust detecting means, The predetermined area is divided into a first area where the first cleaner can travel and a second area where the second cleaner can travel, and a dust accumulation area existing in the first area is divided. A region defining unit for defining, and the first,
The second cleaner includes: a sending unit that sends information of the second area and the dust accumulation area to the learning server; and a first storage unit that stores the information sent from the learning server. A second for storing the information sent from the learning server
The learning server learns a difference with respect to a reference pattern in the information of the first and second areas and the dust accumulation area sent from the sending unit, and the learned first The information of the area and the dust accumulation area is the first
The learned information of the second area is stored in the storage unit of
And the first cleaner cleans the first area by autonomously traveling at least in the dust accumulation area based on the information stored in the first storage section. The vacuum cleaner is configured to autonomously travel and clean the entire second area based on the information stored in the second storage unit. That is, the learning server verifies and learns the difference from the reference pattern with respect to the information of the first and second areas and the dust accumulation area that are clarified by the first vacuum cleaner autonomously traveling in the predetermined area in advance. Based on the learning result, the first and second cleaners share the respective first and second areas suitable for each cleaner in cooperation with each other and perform cleaning.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. First, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing an example of specifications of a self-propelled cleaner of the present invention, and FIG. 2 is a perspective view schematically showing an appearance of the self-propelled cleaner of the first embodiment.

As shown in FIGS. 1 and 2, the self-propelled cleaner according to the present embodiment includes a first cleaner 1 that autonomously travels, and a second cleaner 1 having a smaller outer shape than the first cleaner 1. The cleaning device information 2 is used to clean a predetermined area. here,
The first cleaner 1 is a cyclone-type suction cleaner, and includes a suction nozzle 31 projecting from a front side of the main body and opening downward, and a suction hose 32 and a dust cup 33 which are provided to the suction nozzle 31. An electric blower 34 capable of suction / discharge that communicates with each other is provided, and the electric blower 34 is the control unit 10 (hereinafter, may be referred to as “first control unit”).
Suction is driven in response to a command from, and thereby dust is sucked from the suction nozzle 31 for cleaning.

A first control unit 1 is provided on both sides of the main body.
Two pairs of drive wheels 35 driven by a command from 0 (see FIG.
Then, only the front side is shown.)
Eight sets of distance measuring means 11 (only the front side and the front side are shown in FIG. 2) for measuring the distance around eight directions (45 ° pitch) of 0 ° are provided. These distance measuring means 11 are connected to the first control unit 10, and in the present embodiment, an ultrasonic distance measuring sensor (hereinafter, referred to as “first ultrasonic distance measuring sensor”) is used for the purpose of an inexpensive structure. And an optical distance measuring sensor for correcting the output value of the first ultrasonic distance measuring sensor (hereinafter sometimes referred to as "first optical distance measuring sensor").
Consists of.

An infrared sensor 12 is provided in the suction nozzle 31, and the infrared sensor 12 is a first infrared sensor.
Of the electric blower 34, which is driven by a command from the control unit 10, detects the degree of dust rising in the suction nozzle 31, that is, plays a role as a dust detection unit that detects dust accumulated on a predetermined area. .

The first controller 1 will be described in detail later.
Reference numeral 0 has an area defining unit, a first storage unit, and a sending unit, which are not shown. The area defining unit is a measurement unit obtained by the first cleaner 1 autonomously traveling in a predetermined area before cleaning. Distance means 1
1 (first ultrasonic distance measuring sensor and first optical distance measuring sensor) and the infrared sensor 12 (dust detecting means) based on the output values, the first cleaner 1 can travel in the predetermined area. The first area and the second area in which the second cleaner 2 can travel are divided, and the dust accumulation area existing in the first area is determined. In addition, the first storage unit,
The information of the first area and the dust accumulation area determined by the area determination unit is stored, and the sending unit sends the information of the second area to the second cleaner 2.

On the other hand, the second cleaner 2 is an electrostatic adsorption cleaner, and includes a rotating shaft 41 protruding toward the front of the main body,
A nylon electrostatic brush 42 radially protruding from the rotary shaft 41, and a drive motor 43 for driving the rotary shaft 41.
And a drive motor 43 thereof is driven by a command from a control unit 20 (hereinafter, may be referred to as a “second control unit”), whereby the electrostatic brush 42 is charged while rotating. Cleaning is done by adsorbing dust and sweeping it out.

A second control unit 2 is provided on both sides of the main body.
A pair of drive wheels 44 driven by a command from 0 (see FIG.
In the figure, only the front side is shown), and the driven wheels 45 are provided on the front side, and around the main body, three directions out of the front 180 ° (90 degrees).
Ultrasonic distance sensor (hereinafter,
“A second ultrasonic distance measuring sensor” may be described, and an optical distance measuring sensor for correcting an output value of the second ultrasonic distance measuring sensor (hereinafter, referred to as “second optical distance measuring sensor”). Sensor "
3) of distance measuring sensors 21 (only the front side and the front side are shown in FIG. 2). These distance measuring sensors 21 are connected to the second controller 20.

The second control unit 2 will be described in detail later.
0 has a second storage unit (not shown), and this second storage unit is the second storage unit sent from the sending unit of the first cleaner 1.
The information in the area is received and stored.

As shown in FIG. 1, the first vacuum cleaner 1
, Other gyro, acceleration sensor, CCD camera,
The odor sensor and the odor sensor, and the second cleaner 2 are also provided with a gyro, an acceleration sensor, and a CCD camera, which will be described in detail in second to fourth embodiments described later.

The actual operation of the first and second vacuum cleaners 1 and 2 having such a configuration will be described below. First, before the actual cleaning operation, the first cleaner 1 autonomously travels in a predetermined area without exception in response to a command from the first controller 10, and the distance measuring means 11 measures the area form and infrared rays. The sensor 12 detects dust accumulated on the area. Then, the area determining unit divides the predetermined area into the first and second areas based on the output values from the distance measuring unit 11 and the infrared sensor 12, and determines the dust accumulation area. After that, the information of the first area and the dust accumulation area is stored in the first storage unit, and together with this, the information of the second area is sent from the sending unit. On the other hand, the second cleaner 2 receives and stores the information of the second area sent from the sending section in the second storage section. This completes the pre-operation before the cleaning operation.

Then, the first cleaner 1 autonomously travels at least in the dust accumulation area to clean the first area based on the information stored in the first storage unit, and the second cleaner 2 , The entire second region is autonomously driven and cleaned based on the information stored in the second storage unit. Here, the first and second cleaners 1 and 2 are stored in the first and second storage units by the respective first and second control units 10 and 20 in order to ensure sufficient operation accuracy. The autonomous traveling is performed while sequentially comparing the information thus obtained with the output values from the first and second optical distance measuring sensors and the first and second ultrasonic distance measuring sensors. Further, in order to prevent the power consumption of the first vacuum cleaner 1 from being wasted, the suction control of the electric blower 34 is stopped in a region other than the dust accumulation region, and the dust accumulation region is reached, in accordance with a command from the first control unit 10. It is designed to be driven by suction.

As described above, even if the predetermined area to be cleaned is uncertain, the first cleaner 1 autonomously travels in advance in the predetermined area, whereby the first and second cleaners 1 are , 2 clarifies first and second areas in charge of cleaning, and the first and second vacuum cleaners 1 and 2 respectively define first and second areas suitable for the respective clarified areas. Since the cleaning work is shared in cooperation with each other, it is possible to efficiently perform cleaning in any predetermined area. Moreover, the first vacuum cleaner 1
Makes it possible to intensively clean the dust accumulation area, and efficient cleaning can be performed with almost no unnecessary traveling.

Next, a second embodiment of the present invention will be described. Note that the description overlapping with the first embodiment is omitted as appropriate, and the same applies to the third to fifth embodiments described later.
A feature of this embodiment is that the first and second cleaners 1 and 2 of the first embodiment are designed to improve the operation accuracy when autonomously traveling and cleaning. That is, in the present embodiment, as shown in FIG. 1, the gyro and the acceleration sensor provided in each of the first and second cleaners 1 and 2 are utilized as position detecting means for detecting the position during autonomous traveling. As a result,
When the second cleaners 1 and 2 autonomously travel and clean, each position can be sequentially confirmed, and the operation accuracy is improved.

Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 3 is a flowchart showing the operation of image processing in the self-propelled vacuum cleaner of the third embodiment,
FIG. 4 is a flowchart showing the operation of shape recognition in the self-propelled cleaner. The feature of the present embodiment is that a predetermined area where an uncertain obstacle exists exists in the first and second areas of the first embodiment.
It is intended that the cleaning operation can be performed efficiently and smoothly when the cleaners 1 and 2 autonomously travel and clean. That is, in this embodiment, the CCD cameras (see FIG. 1) provided in the first and second cleaners 1 and 2 are used.

Specifically, the first vacuum cleaner 1 has a CCD camera (hereinafter, referred to as "first CCD") having an optical axis toward the front.
(Sometimes referred to as "camera")
The control unit 10 (see FIG. 2) of FIG. 2 includes an extraction unit (hereinafter, may be referred to as “first extraction unit”) that extracts image data from the first CCD camera, and the first extraction unit. An avoidance determination unit (hereinafter, may be referred to as “first avoidance determination unit”) that performs an obstacle avoidance determination based on the extracted image data is provided. On the other hand, similarly for the second vacuum cleaner 2,
A second CCD camera is provided, and a second control unit 20 (see FIG. 2) is also provided with a second extraction unit and a second avoidance determination unit corresponding to the second CCD camera. ing.

As a result, even if an uncertain obstacle exists on the predetermined area, the first and second cleaners 1 and 2 are operated by the respective first and second avoidance determination units. If there are obstacles such as chairs, desks and thick magazines that hinder running, run around them, but if the obstacles do not hinder running such as paper scraps and thin magazines Since the vehicle autonomously travels and cleans while avoiding it and running as it is while pushing away, it performs an avoidance determination according to the form of the obstacle, so that an efficient and smooth cleaning operation can be obtained.

Here, in the present embodiment, the first and second
The image data processing performed by the extraction unit is efficiently performed. That is, instead of continuously processing all image data, the image data is processed only when there is an abnormality. Specifically, as shown in FIG. 3, in step # 5, an image is intermittently captured, and in step # 10, the image is filtered to extract pixel data in a predetermined range (about 100 points) and digitize it. To do. Next, in step # 15, the numerical value is compared with the previously extracted numerical value to determine the variation amount, and in step # 20, it is combined and recognized whether or not the variation amount is within a predetermined value. Then, if the variation is within the predetermined value, it returns as True (0: zero), and if it is more than the predetermined value, it returns as False (other than 0) (step # 25). This allows True or False
Becomes a key signal, and based on the transmission of this key signal,
The extraction processing of the image data used for the avoidance determination can be performed from the second extraction unit.

Further, in this embodiment, sufficient avoidance determination is made easy. Specifically, based on the transmission of the key signal, as shown in FIG.
In step # 55, the image data of the obstacle is extracted and fetched from the first and second extractors, the image data is filtered to extract the outline, that is, the contour data, and in step # 60, the contour data is extracted. Recognize as a characteristic shape.
Then, in step # 65, the contour data is collated with the preset reference data such as circles, triangles, and squares to recognize the combination, and in step # 70, the first,
Avoidance determination of True or False is performed while referring to the distance to the obstacle based on the output values from the second optical distance measuring sensor and the first and second ultrasonic distance measuring sensors. Then, if it is determined that the obstacle needs to be avoided, it returns as True, and if it is determined that the obstacle is not required, False is returned.
Return as se (step # 75). As a result, sufficient avoidance determination can be performed without performing processing over the entire area of image data that requires a large memory capacity and time.

Next, a fourth embodiment of the present invention will be described. The features of this embodiment are the first and second aspects of the first embodiment.
The point is that when the cleaners 1 and 2 of FIG. 2 autonomously travel, air cleaning can be efficiently performed together with cleaning. That is, in this embodiment, the gas sensor provided in the first cleaner 1 (see FIG.
(Refer to).

Specifically, the first cleaner 1 is provided with a gas sensor for detecting the degree of cleanliness of the air around the main body, and the gas sensor is used for the first controller 10 (see FIG. 2).
Connected to. Here, the gas sensor is generally composed of an alumina substrate, a tin oxide body which is vapor-deposited on the alumina substrate and whose electric resistance changes depending on the cleanliness of air, a heater which heats the alumina substrate, and a battery which supplies a current to the tin oxide body. The applicable ones apply.

Further, the first cleaner 1 has a suction nozzle 3
1 (see FIG. 2), an air suction opening that communicates with the electric blower 34 via an electromagnetic valve and opens upward is provided. As a result, the first vacuum cleaner 1 autonomously travels and cleans the first vacuum cleaner 1 according to the output value from the gas sensor.
The electromagnetic valve is opened / closed by a command from the control unit 10 to enable efficient air cleaning.

Next, FIG. 5 shows the fifth embodiment of the present invention.
It will be explained based on. FIG. 5: is a figure which shows the system network structure of the self-propelled (vacuum) cleaner of 5th Embodiment. A feature of the present embodiment is that a system network is constructed as the self-propelled cleaner of the first embodiment, and the system network is designed so as to be able to efficiently and effectively clean all predetermined areas.

As shown in FIG. 5, the system network according to the present embodiment can roughly communicate with the first and second cleaners 1 and 2, and the first and second cleaners 1 and 2. It consists of the learning server 50, and specifically, the first and second
Vacuum cleaner side terminals 51 for waste disposal and power feeding, which are wirelessly connected to the vacuum cleaners 1 and 2 of FIG.
A cleaner side modem 52, a learning server side modem 53 connected to the cleaner side modem 52, a dial-up server 54 connected to the learning server side modem 53 and the learning server 50, and a learning server 50. It is composed of a WEB server 55 connected to the Internet.

Here, differences between the first and second cleaners 1 and 2 from the first embodiment will be described. Firstly, the destination to be sent from the sending unit is different from the destination. That is, in the present embodiment, the target to be sent is the first vacuum cleaner 1
Was clarified by autonomous driving before cleaning,
This is information on the second area and the dust accumulation area, and the destination thereof is the cleaner side terminal 51, that is, the learning server 50.
Is. Secondly, the storage objects stored in the first and second storage sections are different, and in this embodiment, the storage objects are information sent from the learning server 50, that is, the cleaner-side terminal 51.

The processing operation of the learning server 50 will be described below. The learning server 50 sets and stores a standard reference pattern serving as a reference for learning, and determines a difference between the reference pattern and the information of the first and second areas and the dust accumulation area sent from the sending unit. Learned, the learned first information and the information of the dust accumulation area to the first
On the other hand, the learned information of the second area is sent to the second storage section.

With such a system network configuration, the learning server performs the clear information about the first and second areas and the dust accumulation area by the first cleaner 1 autonomously traveling in a predetermined area in advance. Verify and learn with 50,
Based on the learning result, the first and second vacuum cleaners 1, 2
, The respective first and second areas suitable for each area are shared in cooperation with each other to perform cleaning, so that it is possible to efficiently and effectively clean all areas. In addition to practical use for cleaning, this network receives abnormalities of various sensors, remaining battery power, and the like from the first and second cleaners 1 and 2 to perform first and second cleaning. The fact that the vacuum cleaners 1 and 2 of No. 2 are incapable of running or that the battery may run out can also be used to notify the user by displaying them on the display device by the WEB server 55.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, it goes without saying that the above-described embodiments may be appropriately combined to meet the market demand.

[0045]

As described above, according to the present invention, there is provided a self-propelled cleaner for cleaning a predetermined area, which comprises a first cleaner and a second cleaner which are autonomously traveling, respectively. The cleaner includes a distance measuring unit that autonomously travels in the predetermined region to measure the shape of the region before cleaning, a dust detecting unit that detects dust accumulated on the region, the distance measuring unit and the dust detecting unit. The predetermined area based on the output value from
A first area in which the vacuum cleaner can travel and a second area in which the second vacuum cleaner can travel, and an area determination unit that determines a dust accumulation area existing in the first area,
A first storage unit for storing information on the first region and the dust accumulation region, and a transmission unit for transmitting information on the second region,
The second vacuum cleaner includes a second storage unit that stores information on the second area sent from the sending unit, and the first cleaner holds the first storage unit. Based on the information stored in the unit, autonomously travels at least in the dust accumulation region to clean the first region, and the second cleaner cleans the second region based on the information stored in the second storage unit. It is designed to autonomously drive and clean the entire area. Therefore, the first vacuum cleaner autonomously travels in a predetermined area in advance, so that the first and second cleaners are in charge of cleaning the first and second cleaners.
Since the second area is clarified, and the first and second cleaners share the respective first and second areas suitable for the clarified cleaning, the cleaning is performed in a shared manner. It can be said that cleaning can be performed efficiently in all areas. In addition, the dust accumulation area that needs to be particularly cleaned out of the first area is clarified, so that the first cleaner can focus on the dust accumulation area, and there is almost no unnecessary traveling, and the efficiency is high. Cleaning can be done.

Here, the first cleaner includes a suction nozzle that opens toward the predetermined area and an electric blower that communicates with the suction nozzle, and dust from the suction nozzle is sucked by the electric blower. A suction type vacuum cleaner for sucking, wherein the second cleaner is a rotary shaft protruding outward, an electrostatic brush radially protruding from the rotary shaft, and a drive motor driving the rotary shaft. A self-propelled vacuum cleaner for both business and household use, which is an electrostatic adsorption type vacuum cleaner equipped with a Becomes

Further, in the electric blower, when the first cleaner is autonomously traveling and cleaning, the suction drive is stopped in a region other than the dust accumulation region, and the suction blower is driven when reaching the dust accumulation region. It is possible to suppress the waste of power consumption.

Further, the dust detection means is an infrared sensor arranged in the suction nozzle, and the infrared sensor detects dust soared in the suction nozzle by the discharge of the electric blower. If so, it becomes possible to obtain a practical dust detecting means with a simple configuration.

If the distance measuring means is the first optical distance measuring sensor and the first ultrasonic distance measuring sensor arranged around the main body of the first cleaner, the distance measuring means is practical and has a low cost. It is possible to obtain various distance measuring means.

Further, a second member is provided around the main body of the second cleaner.
Optical distance measuring sensor and second ultrasonic distance measuring sensor are provided, and the first and second cleaners are provided with the first and second cleaning sensors, respectively.
If the vehicle is designed to autonomously travel and clean based on the output values from the optical distance measuring sensor and the first and second ultrasonic distance measuring sensors, the first and second cleaners autonomously travel and clean. In doing so, it becomes possible to secure sufficient operation accuracy.

If the first and second cleaners are respectively provided with position detecting means for detecting a position during autonomous traveling,
When the first and second cleaners autonomously travel and clean, each position can be sequentially confirmed, and the operation accuracy is further improved.

Further, the first and second vacuum cleaners have first and second CCD cameras having optical axes toward the front, and first image data is extracted from the first and second CCD cameras. , A second extraction unit, and first and second avoidance determination units that perform obstacle avoidance determination based on the image data extracted by the first and second extraction units, respectively. When the second cleaner is configured to autonomously run and clean while performing the obstacle avoidance determination in each of the first and second avoidance determination units, a predetermined indeterminate obstacle exists. When the first and second cleaners autonomously travel and clean the area, the avoidance determination can be made according to the form of the obstacle, so that an efficient and smooth cleaning operation can be performed.

Here, the first and second extraction units extract the contour data as the image data, and the first and second avoidance determination units collate the contour data with the reference data to detect obstacles. If the avoidance determination is performed, sufficient avoidance determination can be easily performed.

Further, pixel data in a predetermined range is intermittently extracted from the first and second CCD cameras and digitized, and only when the numerical value variation reaches a predetermined value or more, the first and second extraction units are provided. If the image data is extracted from the above, the image data processing performed by the first and second extraction units can be performed only when there is an abnormality, which is efficient.

Further, the first and second cleaners each traveling autonomously and a learning server communicable with the first and second cleaners are provided. Based on the information received from the learning server, the first and second cleaners are provided. In a self-propelled vacuum cleaner in which a second vacuum cleaner cleans a predetermined area, the first vacuum cleaner autonomously travels in the predetermined area before cleaning, and distance measuring means for measuring the shape of the area. A dust detection unit that detects dust accumulated on the area, and a first cleaner that can travel in the predetermined area based on the output values from the distance measurement unit and the dust detection unit.
Area and a second area in which the second cleaner can travel, and an area defining portion that defines a dust accumulation area in the first area, the first and second areas, and A sending unit that sends information on the dust accumulation region to the learning server, and a first unit that stores the information sent from the learning server
And a second storage unit that stores information sent from the learning server, and the learning server sends the learning server to the sending unit. The difference between the first and second areas and the dust accumulation area is learned with respect to the reference pattern, and the learned first
Information of the area and the dust accumulation area is sent to the first storage unit, and the learned information of the second area is sent to the second storage unit, and the first cleaner is the first storage unit. On the basis of the information stored in the second area, the vehicle autonomously travels at least in the dust accumulation area to clean the first area, and the second cleaner cleans the second area.
Based on the information stored in the storage unit, the entire second area is autonomously driven and cleaned. Therefore,
The learning server verifies and learns the difference between the reference pattern and the information of the first and second areas and the dust accumulation area that are clarified by the first vacuum cleaner autonomously traveling in the predetermined area in advance. Based on the learning results, the first and second vacuum cleaners share the first and second areas suitable for each in a more cooperative manner and perform cleaning, so that the efficiency in all areas can be improved. It can be said that it can be cleaned more effectively.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of specifications of a self-propelled vacuum cleaner according to the present invention.

FIG. 2 is a perspective view schematically showing the external appearance of the self-propelled vacuum cleaner according to the first embodiment.

FIG. 3 is a flowchart showing an operation of image processing in the self-propelled cleaner according to the third embodiment.

FIG. 4 is a flowchart showing an operation of shape recognition in the self-propelled cleaner according to the third embodiment.

FIG. 5 is a diagram showing a system network configuration of a self-propelled cleaner according to a fifth embodiment.

[Explanation of symbols]

1 1st Vacuum Cleaner 2 2nd Vacuum Cleaner 10 1st control part 11 Distance measurement means (1st ultrasonic distance measurement sensor, optical distance measurement sensor) 12 Infrared sensor (dust detection means) 20 2nd control Part 31 Suction nozzle 32 Suction hose 33 Dust cup 34 Electric blower 35 Drive wheel 41 Rotating shaft 42 Electrostatic brush 43 Drive motor 44 Drive wheel 45 Driven wheel 50 Learning server 51 Vacuum cleaner side terminal 52 Vacuum cleaner side modem 53 Learning server side modem 54 Dial-up server 55 WEB server

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kazutoshi Takimoto             22-22 Nagaikecho, Abeno-ku, Osaka-shi, Osaka             Inside the company F-term (reference) 3B006 KA01                 3B057 DA04 DE02

Claims (11)

[Claims] 1. A first cleaner and a second cleaner, each of which autonomously travels.
In the self-propelled cleaner that cleans a predetermined area, the first cleaner autonomously travels in the predetermined area before cleaning, and distance measuring means for measuring the shape of the area. Dust detection means for detecting dust accumulated on the area, a first area where the first cleaner can travel in the predetermined area based on output values from the distance measuring means and the dust detection means, and A second cleaner is divided into a second area in which the second cleaner can travel, and an area determining unit that determines a dust accumulation area existing in the first area, and stores information on the first area and the dust accumulation area. A second storage unit for storing the information of the second area, the first storage section and a sending section for sending the information of the second area; 2 storage units are provided, and the first vacuum cleaner stores in the first storage unit. Based on the stored information, autonomously travels at least in the dust accumulation area to clean the first area, and the second cleaner cleans the second area based on the information stored in the second storage unit. A self-propelled vacuum cleaner characterized by autonomously traveling and cleaning the entire area. 2. The first cleaner includes a suction nozzle that opens toward the predetermined area, and an electric blower that communicates with the suction nozzle, and the electric blower sucks dust from the suction nozzle. The second cleaner includes a rotary shaft that projects outward, an electrostatic brush that radially projects from the rotary shaft, and a drive motor that drives the rotary shaft. The self-propelled cleaner according to claim 1, further comprising an electrostatic attraction type vacuum cleaner that is electrostatically attracted to the electrostatic brush while the electrostatic brush is rotated by driving the drive motor. 3. The electric blower, when the first cleaner is autonomously traveling to perform cleaning, stops the suction drive in a region other than the dust accumulation region and drives the suction blower when reaching the dust accumulation region. The self-propelled vacuum cleaner according to claim 2. 4. The dust detecting means is an infrared sensor arranged in the suction nozzle, and the infrared sensor detects dust soared in the suction nozzle by the discharge of the electric blower. The self-propelled vacuum cleaner according to claim 2 or 3. 5. The distance measuring means is a first optical distance measuring sensor and a first ultrasonic distance measuring sensor arranged around the main body of the first cleaner. The self-propelled vacuum cleaner according to any one of to 4. 6. A second optical distance measuring sensor and a second ultrasonic distance measuring sensor are arranged around the main body of the second cleaner, and the first and second cleaners are provided with the respective ones. The self-propelled cleaner according to claim 5, wherein the self-propelled cleaner cleans by autonomously traveling based on output values from the first and second optical distance measuring sensors and the first and second ultrasonic distance measuring sensors. . 7. The self-propelled cleaning device according to claim 1, wherein each of the first and second cleaners is provided with position detecting means for detecting a position during autonomous traveling. Machine. 8. The first and second vacuum cleaners, first and second CCD cameras having an optical axis toward the front, and the first and second CCD cameras.
First and second extraction units for extracting image data from a second CCD camera, and first for performing obstacle avoidance determination based on the image data extracted by the first and second extraction units,
A second avoidance determination unit is provided, and the first and second cleaners perform autonomous traveling while cleaning while performing obstacle avoidance determination by the first and second avoidance determination units. The self-propelled cleaner according to any one of claims 1 to 7. 9. The first and second extraction units extract contour data as the image data, and the first and second avoidance determination units collate the contour data with reference data to detect obstacles. The self-propelled cleaner according to claim 8, wherein avoidance determination is performed. 10. Pixel data in a predetermined range is intermittently extracted from the first and second CCD cameras and digitized,
The self-propelled vacuum cleaner according to claim 8 or 9, wherein the image data is extracted from the first and second extraction units only when the numerical fluctuation reaches a predetermined value or more. 11. A self-propelled first and second cleaner, and a learning server communicable with the first and second cleaners, and the first and second cleaners based on information received from the learning server. A self-propelled cleaner in which a second cleaner cleans a predetermined area, wherein the first cleaner autonomously travels in the predetermined area before cleaning, and distance measuring means for measuring the shape of the area. Dust detection means for detecting dust accumulated on the area, a first area where the first cleaner can travel in the predetermined area based on output values from the distance measuring means and the dust detection means, and An area determining unit that divides the second cleaner into a second area in which the second cleaner can travel and determines a dust accumulation area in the first area, and information on the first and second areas and the dust accumulation area. A sending unit for sending the data to the learning server; A second storage unit for storing the information sent from the learning server; and a second storage unit for storing the information sent from the learning server. Learns a difference with respect to a reference pattern regarding the information of the first and second areas and the dust accumulation area sent from the sending unit, and outputs the learned information of the first area and the dust accumulation area to the first information. The learned information of the second area is sent to the second storage section, and the first cleaner cleans at least the dust accumulation area based on the information stored in the first storage section. It is characterized in that it autonomously travels to clean the first area, and the second vacuum cleaner autonomously travels and cleans the entire area of the second area based on information stored in the second storage unit. And self-propelled vacuum cleaner.