JP2005309531A - Self-propelled cleaner and mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner and a mobile robot for accurately reaching an object even when its distance to the object is far. <P>SOLUTION: A cleaner 110 is provided with a traveling part 128 for traveling in a traveling direction decided by a control part 122, an input part 130 for accepting the teaching of the traveling direction, a geomagnetic sensor 112 for detecting a direction from magnetism, a camera 134 for detecting the location of an object separately from the geomagnetic sensor 112 and the control part 122 for deciding the traveling direction based on the direction detected by the geomagnetic sensor 112 and teaching accepted by the input part 130 until the location of the object is detected by the camera 134, and for deciding the direction of the object detected by the camera 134 as the traveling direction after the location of the object is detected by the camera 134. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner and a movable robot, and more particularly to a self-propelled cleaner and a movable robot that can be charged automatically.

  As disclosed in Patent Document 1, a conventional movable robot includes a magnetic field strength detection unit for determining a magnetic field strength provided in a robot body, and an output of the magnetic field strength detection unit. A position discriminating means for discriminating the position, a magnetic field direction detecting means for detecting the direction of the magnetic field using the output of the position discriminating means, and a steering and driving means controlled by the output of the magnetic field direction detecting means; And a charging device that has a battery as a power source and a magnetic field generation means and supplies electric power to the battery from the outside of the robot body.

  According to the present invention, the position of the charging device can be accurately determined.

  Patent Document 2 discloses a station for charging a battery, charging magnetic field generating means for generating an induction magnetic field for charging the battery of the robot body in the station, and guidance for guiding the robot body to the station. An induction magnetic field generation means for generating a magnetic field; a state detection means for detecting that the robot main body has returned to the station; a reception means for receiving the induction magnetic field in the robot main body; and a battery that receives the induction magnetic field for charging. A mobile robot having charging control means for charging the battery is disclosed.

  According to this invention, the battery in the robot body can be automatically charged.

  Patent Document 3 includes a moving robot main body and a charging station for charging the main body. The battery, a traveling motor, motor control means for controlling the traveling motor, and charging for charging the battery are included in the main body. A charging means for receiving a magnetic field, a receiving means for receiving an induction magnetic field, and an ultrasonic transmission means for transmitting an ultrasonic wave, a magnetic field generating means for generating a magnetic field in the charging station, and a main body returning to the charging station A state detecting means for detecting the state, a magnetic field control means for controlling the magnetic field generating means according to the state of the state detecting means, and the state detecting means for detecting that the main body starts moving and leaves the charging station for a predetermined time. Transmission stop means for stopping the generation of the magnetic field, ultrasonic reception means for receiving the ultrasonic wave transmitted from the main body, and a magnetic field is generated by a signal from the ultrasonic reception means. It is an arrangement mobile robot having a function of.

  According to the present invention, the battery of the main body can be automatically charged. Furthermore, according to the present invention, it is possible to repeatedly perform work movement such as cleaning without the user performing work such as connecting the battery and the charge control means.

However, the invention disclosed in Patent Document 1 has a problem that the range in which the robot can operate cannot be increased so much. The cause of this problem lies in that if the magnetic field strength detection unit cannot detect the magnetic field, the position determination unit cannot determine the position of the charging device. Not only the position of the charging device but the invention disclosed in Patent Document 1 makes it difficult to accurately reach the robot at a far destination. The invention disclosed in Patent Document 2 has a similar problem. The invention disclosed in Patent Document 3 has a similar problem.
JP-A-4-54804 Japanese Patent Laid-Open No. 5-23264 JP-A-7-64638

  The present invention has been made to solve the above-described problems, and its purpose is to provide a self-propelled cleaner and a movable device that can accurately reach the object even if the distance to the object is long. To provide a robot.

  In order to achieve the above object, according to one aspect of the present invention, a self-propelled vacuum cleaner is autonomous according to suction means for sucking dust and any one of predetermined rules and procedures. A control means for controlling the suction means, a moving means for moving in the advancing direction, a receiving means for accepting teaching of the advancing direction, and for detecting the direction by magnetism. By detecting a predetermined feature appearing in any of the shape, color, and pattern of the object from the first detection means, the photographing means for photographing the image, and the image photographed by the photographing means Based on the second detection means for detecting the position of the object, the direction detected by the first detection means until the second detection means detects the position of the object, and the teaching received by the reception means Determine the direction of travel, One after the second detection means detects the position of the object and a determination means for determining the direction of the object in the traveling direction based on the position detected second detection means.

  That is, the suction means sucks dust. The control means controls the suction means so as to autonomously suck dust in accordance with any of predetermined rules and procedures. The moving means moves in the traveling direction. The accepting unit accepts the teaching of the traveling direction. The first detecting means detects the direction by magnetism. The imaging means captures an image. The second detection unit detects the position of the target object by detecting a predetermined feature appearing in any of the shape, color, and pattern of the target object from the image captured by the imaging unit. The determining means determines the advancing direction based on the direction detected by the first detecting means and the teaching received by the accepting means until the second detecting means detects the position of the object, and the second detecting means After detecting the position of the target object, the direction of the target object is determined as the traveling direction based on the position detected by the second detection means. Thereby, even if the second detection unit cannot detect the target because the distance to the target is long, the direction can be detected by the magnetism detected by the first detection unit. Since the direction is detected by magnetism, the determining means can accurately determine the direction of the object to be moved by the moving means. Furthermore, the position of the target detected based on the predetermined feature has less error than the direction of the target determined by magnetism. In addition, a feature that appears in any of the shape, color, and pattern of the object in the object can be easily detected. The position of the object will be detected accurately and easily. At the same time, dust is sucked. As a result, it is possible to provide a self-propelled cleaner that can reach the target more accurately and easily even when the distance to the target is long and can suck dust.

  According to another aspect of the present invention, the movable robot includes a moving means for moving in the traveling direction, a receiving means for receiving the teaching of the traveling direction, and a first for detecting the direction by magnetism. In addition to the detection means and the first detection means, the second detection means for detecting the position of the object and the first detection means until the second detection means detects the position of the object. After the second detecting means detects the position of the object, the direction of the object is determined based on the position detected by the second detecting means after the second detecting means detects the position of the object. And determining means for determining the direction of travel.

  That is, the moving means moves in the traveling direction. The accepting unit accepts the teaching of the traveling direction. The first detecting means detects the direction by magnetism. The second detection means detects the position of the object separately from the first detection means. The determining means determines the advancing direction based on the direction detected by the first detecting means and the teaching received by the accepting means until the second detecting means detects the position of the object, and the second detecting means After detecting the position of the target object, the direction of the target object is determined as the traveling direction based on the position detected by the second detection means. Thereby, even if the second detection unit cannot detect the target because the distance to the target is long, the first detection unit detects the direction by magnetism. Since the direction is detected by magnetism, the determining means can determine the direction of the object to be moved by the moving means. As a result, it is possible to provide a movable robot that can reach the target accurately even when the distance to the target is long.

  The second detection means described above is an imaging means for capturing an image, and a means for detecting the position of the target object by detecting a predetermined feature from the image captured by the imaging means. It is desirable to include.

  That is, the photographing means takes an image. The means for detecting the position detects the position of the object by detecting a predetermined feature from the image taken by the photographing means. The position of the target detected based on the predetermined feature has less error than the direction of the target determined by magnetism. Thereby, the determination means can determine more accurately the direction of the target object which the movement means should move. As a result, it is possible to provide a movable robot that can reach the target more accurately even when the distance to the target is long.

  Alternatively, it is desirable that the above-described predetermined feature includes a feature that appears in any of the shape, color, and pattern of the object.

  That is, the means for detecting the position detects the position of the target object by detecting a feature appearing in any one of the shape, color, and pattern of the target object from the image captured by the photographing means. Features appearing in any of the shape, color, and pattern of the object in the object can be easily detected. Thereby, the means for detecting the position can easily detect the position of the object. As a result, it is possible to provide a movable robot that can reach the object more accurately and easily even when the distance to the object is long.

  According to another aspect of the present invention, the self-propelled cleaner is configured to autonomously suck dust in accordance with any of suction means for sucking dust and predetermined rules and procedures. A control means for controlling the suction means, a moving means for moving in the traveling direction, a receiving means for receiving the teaching of the traveling direction, and a first detecting means for detecting the direction by magnetism Separately from the first detection means, a second detection means for detecting the position of the object, and a direction detected by the first detection means until the second detection means detects the position of the object. And after the second detecting means detects the position of the object, the direction of the object is set to the moving direction based on the position detected by the second detecting means. Determining means for determining.

  That is, the suction means sucks dust. The control means controls the suction means so as to autonomously suck dust in accordance with any of predetermined rules and procedures. The moving means moves in the traveling direction. The accepting unit accepts the teaching of the traveling direction. The first detection means detects the direction of the object by magnetism. The second detection means detects the position of the object separately from the first detection means. The determining means determines the advancing direction based on the direction detected by the first detecting means and the teaching received by the accepting means until the second detecting means detects the position of the object, and the second detecting means After detecting the position of the target object, the direction of the target object is determined as the traveling direction based on the position detected by the second detection means. Thereby, even if the second detection unit cannot detect the target because the distance to the target is long, the first detection unit detects the direction by magnetism. Since the direction is detected by magnetism, the determining means can determine the direction of the object to be moved by the moving means. At the same time, dust is sucked. As a result, it is possible to provide a self-propelled cleaner that can accurately reach the target and can suck dust even when the distance to the target is long.

  The self-propelled cleaner and the movable robot according to the present invention can reach the object accurately even if the distance to the object is long.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  Referring to FIG. 1, cleaning system 100 according to the present embodiment includes a vacuum cleaner 110 and a charger 180. The vacuum cleaner 110 is a movable robot that cleans an indoor floor surface. The charger 180 is a device that supplies electric power to the cleaner 110 by outputting electromagnetic waves (in the case of the present embodiment, these electromagnetic waves are extremely short waves). The main body of the charger 180 has a barcode (the barcode in the present embodiment is taken by the camera 134 described later when the distance from the cleaner 110 to the charger 180 is a first predetermined value described later. Based on the image, it is assumed that the control unit 122 can detect the presence of the barcode). The vacuum cleaner 110 identifies the exact position of the charger 180 by detecting this barcode. Instead of detecting the bar code, a feature that appears in any of the shape, color, and pattern of the charger 180 may be detected. However, in the case of the present embodiment, vacuum cleaner 110 detects a barcode attached to charger 180.

  Referring to FIG. 2, vacuum cleaner 110 according to the present embodiment includes geomagnetic sensor 112, communication unit 114, rectifier circuit 116, storage battery 118, cleaning unit 120, control unit 122, timer 124, and the like. , A memory 126, a traveling unit 128, an input unit 130, a camera 134, and a voltmeter 136. FIG. 3 shows an appearance of the vacuum cleaner 110 according to the present embodiment.

  The geomagnetic sensor 112 detects the direction by the geomagnetism and the magnetism generated by the charger 180. The geomagnetic sensor 112 is a device that hangs four sides of a magnetic material with wires and detects the above-described magnetism based on the strain of those wires. The communication unit 114 receives high-frequency electromagnetic waves output from the charger 180. The communication unit 114 is also a device that converts received electromagnetic waves into AC power. The rectifier circuit 116 converts the AC power output from the communication unit 114 into DC power. The storage battery 118 stores the DC power converted by the rectifier circuit 116. The cleaning unit 120 sucks dust. The controller 122 controls each part of the cleaner 110. The control unit 122 is also a device that performs calculations necessary for the control. The timer 124 outputs a signal when a predetermined time has elapsed. The memory 126 stores information necessary for controlling each part of the cleaner 110. The traveling unit 128 generates a propulsive force when the cleaner 110 travels. That is, the traveling unit 128 is a device for moving in the traveling direction determined by the control unit 122. The input unit 130 receives a user operation. The camera 134 images the surroundings of the cleaner 110. In the present embodiment, the camera 134 is a device using a CCD element (charge coupled device). The voltmeter 136 reads the voltage of the storage battery 118 and outputs it to the control unit 122.

  Cleaning unit 120 includes a suction port 150 and a first motor 152. The suction port 150 sucks and stores dust from the floor surface. The first motor 152 generates an airflow necessary for sucking dust.

  Traveling unit 128 includes a second motor 160 and wheels 164. The second motor 160 consumes electric power and rotates the rotor. The wheels 164 transmit the torque of the rotor to the floor surface. Thereby, the vacuum cleaner 110 travels on the floor surface.

  Referring to FIG. 4, charger 180 according to the present embodiment includes power supply unit 182, inverter 184, generator 186, electromagnet 188, control unit 190, memory 192, and communication unit 194. Including. The power supply unit 182 supplies power. The power supply unit 182 supplies power when the communication unit 194 receives predetermined information. The inverter 184 converts the power supplied from the power supply unit 182 into AC power. The generator 186 charges the storage battery 118 of the cleaner 110 by generating high-frequency electromagnetic waves from the AC power converted by the inverter 184. The generator 186 is also a device that outputs electromagnetic waves generated by itself. The electromagnet 188 generates magnetism when the power supply unit 182 supplies power. In the case of the present embodiment, the electromagnet 188 generates magnetism so that the direction in which the charger 180 is “north”. The control unit 190 controls each unit of the charger 180. The control unit 190 is also a device that performs calculations necessary for the control. The memory 192 stores information necessary for controlling each unit of the charger 180. The communication unit 194 receives predetermined information from the communication unit 114 of the cleaner 110 (in the case of the present embodiment, information that the amount of power stored in the storage battery 118 has become equal to or less than a predetermined value. In the form, the predetermined value can be freely determined by the user).

  Referring to FIG. 5, the program executed by cleaner 110 according to the present embodiment has the following control structure with respect to charging.

  In step 200 (hereinafter, step is abbreviated as S), input unit 130 accepts teaching in a direction in which charger 180 is located. In the case of the present embodiment, the user presses a key of the input unit 130, thereby the first direction indicating the direction of the charger 180 before the charger 180 generates magnetism (in the case of the present embodiment, “ North ”), and a second direction (in this embodiment,“ north ”in this embodiment) indicating the direction of the charger 180 after the charger 180 generates magnetism. Thereby, the input unit 130 can accept the teaching in the direction in which the charger 180 is present. The control unit 122 stores the first direction and the second direction in the memory 126 based on the type of the pressed key.

  In S202, control unit 122 controls cleaning unit 120 to clean the floor surface. All of these controls are stored in the memory 126, and a predetermined rule (may follow a predetermined procedure. However, the control unit 122 according to the present embodiment follows a predetermined rule). The control unit 122 controls the cleaning unit 120 so as to autonomously suck dust. In the case of the present embodiment, the control unit 122 also controls the traveling unit 128 in order to assist the suction of dust by the cleaning unit 120. As a result, the vacuum cleaner 110 sucks dust while traveling.

  In S <b> 204, control unit 122 reads voltage of storage battery 118 using voltmeter 136. In S206, control unit 122 determines whether it is time to charge based on the voltage of storage battery 118. If it is determined that it is time to charge (YES in S206), the process proceeds to S208. If not (NO in S206), the process proceeds to S202.

  In S <b> 208, communication unit 114 transmits to charger 180 a signal to search for charger 180. At this time, the control unit 122 does not grasp the position of the charger 180. However, the signal transmitted by the communication unit 114 spreads in all directions. Since the signal spreads in all directions, the charger 180 can receive the signal.

  In S210, geomagnetic sensor 112 detects magnetism so that the magnitude for each direction becomes clear. In the present embodiment, the direction in which the geomagnetic sensor 112 detects magnetism is, as a general rule, only a certain range centered on the front of the cleaner 110. Based on the magnetism detected by geomagnetic sensor 112, control unit 122 detects the direction in which charger 180 is located (in this embodiment, the direction is the direction in which the magnet points to “north”). However, if the magnetism generated by the electromagnet 188 is too large and the geomagnetic sensor 112 cannot clearly determine the magnitude of each direction of magnetism within the above-described range, the control unit 122 controls the traveling unit 128 to control the vacuum cleaner. 110 is rotated once. The geomagnetic sensor 112 detects magnetism in all directions. Thereby, the control part 122 can detect the direction where the charger 180 exists.

  In S212, control unit 122 detects the distance from cleaner 110 to charger 180. A specific method for detecting the distance is not particularly limited. In the case of the present embodiment, the distance is detected through the following procedure. The first procedure is a procedure for communicating a signal multiple times. Here, the “signal” is a signal indicating the time when the signal is first transmitted in the charger 180. The number of specific communications is not particularly limited. However, at least the number of times that the difference between the time when the signal was first transmitted and the time when the signal was last received can be detected is necessary. The second procedure is a procedure for calculating the time required for communication based on the reception time after the signal is communicated a plurality of times and the number of times the signal has been communicated. If the vacuum cleaner 110 moves during communication, this is also taken into account when calculating the time. The third procedure is a procedure for calculating the distance from the cleaner 110 to the charger 180 based on the time required for communication.

  In S214, control unit 122 determines whether or not the distance detected by itself is equal to or less than a first predetermined value representing a distance for searching for charger 180 by geomagnetic sensor 112. If determined to be equal to or less than the first predetermined value (YES in S214), the process proceeds to S220. If not (NO in S214), the process proceeds to S216.

  In S216, control unit 122 determines the direction in which cleaner 110 proceeds. In the case of the present embodiment, in principle, the control unit 122 sets the direction in which the magnet is pointing to “north” as the direction in which the cleaner 110 advances. However, when the vacuum cleaner 110 hits the wall, for example, and the magnet cannot move straight in the direction indicating “north”, the control unit 122 sets the other arbitrary direction as the direction in which the vacuum cleaner 110 travels. The method for determining whether or not the vacuum cleaner 110 cannot proceed straight is not particularly limited. In the case of the present embodiment, the control unit 122 determines whether or not to proceed straight based on the magnitude of magnetism detected by the geomagnetic sensor 112. When the vehicle can travel straight, when the second motor 160 is operated, the magnitude of the magnetism detected by the geomagnetic sensor 112 changes. Normally, when it is impossible to move straight, the magnitude of magnetism detected by the geomagnetic sensor 112 does not change even if the second motor 160 is operated. In general, an obstacle such as a wall is made of a nonconductor, and the cause is that the magnetic flux runs along the outer wall of the obstacle. Therefore, based on the transition of the magnitude of magnetism detected by the geomagnetic sensor 112, it can be determined whether or not the cleaner 110 can not proceed straight.

  In S218, control unit 122 controls traveling unit 128. Specifically, the control unit 122 controls the second motor 160 to generate torque. The torque is transmitted to the wheel 164. Thereby, the cleaner 110 can drive | work.

  In S220, control unit 122 determines whether or not the detected distance is equal to or less than a second predetermined value that represents a distance that can be charged in a non-contact manner. If determined to be equal to or smaller than the second predetermined value (YES in S220), the process proceeds to S228. If not (NO in S220), the process proceeds to S222.

  In S222, the camera 134 captures a surrounding image. The camera 134 outputs information representing surrounding images to the control unit 122. The control unit 122 analyzes the image captured by the camera 134, and from this image, a predetermined feature (in the case of the present embodiment, “predetermined feature” is attached to the charger 180. Is a bar code). Thereby, the control part 122 detects the position (namely, the place where the charger 180 exists) of the target object.

  In S224, control unit 122 determines the direction in which cleaner 110 proceeds. The control unit 122 sets the direction in which the charger 180 is present as the direction in which the cleaner 110 advances. In S226, control unit 122 controls traveling unit 128.

  In S <b> 228, communication unit 114 transmits a signal indicating that the vicinity of charger 180 has been reached to charger 180. By receiving this signal, the charger 180 can detect that the cleaner 110 is in a position where it can be charged.

  In S230, communication unit 114 receives the high-frequency electromagnetic wave output from generator 186. In S232, communication unit 114 converts the received electromagnetic wave into AC power. The rectifier circuit 116 converts the AC power output from the communication unit 114 into DC power. In S234, storage battery 118 stores the DC power converted by rectifier circuit 116.

  In S <b> 236, communication unit 114 transmits a signal indicating that charging is complete to charger 180. By receiving this signal, the output of the high frequency electromagnetic wave is stopped.

  Referring to FIG. 6, the program executed by charger 180 according to the present embodiment has the following control structure regarding charging.

  In S250, communication unit 194 receives a signal from cleaner 110 to search for charger 180. In S252, control unit 190 controls power supply unit 182 to supply electric power to electromagnet 188. The electromagnet 188 generates magnetism when electric power is supplied.

  In S 254, communication unit 194 receives a signal indicating that the vicinity of charger 180 has been reached from cleaner 110. In S256, control unit 190 controls generator 186 to generate a high-frequency electromagnetic wave.

  In S258, control unit 190 determines whether or not charging of cleaner 110 has been completed based on whether or not communication unit 194 has received a signal indicating that charging has been completed. When it is determined that charging of cleaner 110 has been completed (YES in S258), control unit 194 of charger 180 controls inverter 184 and generator 186 to stop the output of high-frequency electromagnetic waves, The process ends. If not (NO in S258), the process proceeds to S256.

  An operation of cleaning system 100 based on the structure and flowchart as described above will be described. In the present embodiment, it is assumed that cleaner 110 accepts a direction instruction at a location where cleaning is started. The vacuum cleaner 110 is carried by the user to the place where the teaching is received.

[When the vacuum cleaner 110 is cleaning near the charger 180]
The input unit 130 receives a teaching in a direction in which the charger 180 is present (S200). When the direction teaching is accepted, the control unit 122 controls the cleaning unit 120 and the traveling unit 128 to clean the floor (S202). When the floor surface is cleaned, control unit 122 reads the voltage of storage battery 118 (S204). When the value is read, control unit 122 determines whether or not it is time to charge based on the voltage of storage battery 118 (S206). Initially, it is not time to charge (NO in S206), control unit 122 continues to clean the floor (S202). FIG. 8A represents this situation.

  When cleaning progresses and time elapses, the time for charging comes (YES in S206), and communication unit 114 transmits a signal to search for charger 180 to charger 180 (S208). With reference to FIG. 7, the format of data when communication unit 114 according to the present embodiment communicates signals will be described. The format of the data when receiving the remote control signal according to the present embodiment includes a start bit area 300, an operation code area 302 indicating signal transmission, a command code area 304 indicating signal contents, and a signal. A data area 306 and a stop bit area 308 when data is attached to the contents of the The communication unit 194 of the charger 180 receives a signal to search for the charger 180 from the cleaner 110 (S250). When the signal is received, the control unit 190 controls the power supply unit 182 to supply power to the electromagnet 188 (S252). The electromagnet 188 generates magnetism when electric power is supplied. When magnetism is generated, the geomagnetic sensor 112 detects the magnetism so that the magnitude of each direction becomes clear. Based on the magnetism detected by the geomagnetic sensor 112, the controller 122 detects the direction in which the magnet points to “north” (S210). At this time, the direction detected by the control unit 122 is not the actual “north”, but the direction in which the charger 180 is located. FIG. 8B represents this situation. When the direction is detected, the controller 122 detects the distance from the cleaner 110 to the charger 180 (S212). When the distance is detected, the control unit 122 determines whether or not the distance detected by itself is equal to or less than a first predetermined value that represents the distance to search for the charger 180 by the geomagnetic sensor 112 (S214). Since the distance is not initially determined to be equal to or less than the first predetermined value (NO in S214), control unit 122 determines the direction in which cleaner 110 proceeds (S216). When the direction is determined, the control unit 122 controls the traveling unit 128 (S218). Thereby, the cleaner 110 can drive | work. When the cleaner 110 travels, the control unit 122 detects the distance from the cleaner 110 to the charger 180 again (S212). Thereafter, through the processing of S212 to S218, the control unit 122 finally determines that the detected distance is equal to or less than a first predetermined value that represents the distance to search for the charger 180 by the geomagnetic sensor 112 (in S214). YES), the control unit 122 determines whether or not the detected distance is equal to or less than a second predetermined value indicating a distance that can be charged in a non-contact manner (S220). Initially, it is not determined that the distance is equal to or smaller than the second predetermined value (NO in S220), so camera 134 captures a surrounding image. The control unit 122 analyzes the image captured by the camera 134, and detects the barcode attached to the charger 180 from this image (S222). When the barcode is detected, the control unit 122 determines the direction in which the cleaner 110 travels (S224). When the direction is determined, the control unit 122 controls the traveling unit 128 (S226). Thus, the control unit 122 determines the traveling direction based on the direction detected by the geomagnetic sensor 112 and the instruction received by the input unit 130 until the camera 134 and the control unit 122 themselves detect the position where the charger 180 is located. After the camera 134 and the control unit 122 themselves detect the position where the charger 180 is present, the control unit 122 determines the direction in which the charger 180 is present as the traveling direction based on the position detected by the camera 134 and the control unit 122 itself. When the traveling unit 128 is controlled and the cleaner 110 travels, the control unit 122 detects the distance from the cleaner 110 to the charger 180 again (S212). Thereafter, through the processes of S212 to S226, the control unit 122 finally determines that the detected distance is equal to or less than a second predetermined value that represents a non-contact chargeable distance (YES in S220). The communication unit 114 transmits a signal indicating that the vicinity of the charger 180 has been reached to the charger 180 (S228). When the signal is transmitted, communication unit 194 of charger 180 receives a signal indicating that it has reached the vicinity from cleaner 110 (S254). When the signal is received, the control unit 190 controls the generator 186 to generate a high-frequency electromagnetic wave (S256). When the electromagnetic wave is generated, the communication unit 114 receives the high-frequency electromagnetic wave output from the generator 186 (S230). When the electromagnetic wave is received, the communication unit 114 converts the received electromagnetic wave into AC power. When the electromagnetic wave is converted into AC power, the rectifier circuit 116 converts the AC power output from the communication unit 114 into DC power (S232). When the electromagnetic wave is converted into DC power, the storage battery 118 stores the DC power converted by the rectifier circuit 116 (S234). When the electric power is stored, the communication unit 114 transmits a signal indicating that the charging is completed to the charger 180 (S236). When the signal is transmitted, control unit 190 of charger 180 determines whether or not charging of cleaner 110 has been completed based on whether or not communication unit 194 has received a signal indicating that charging has been completed. (S258). In this case, since it is determined that charging of cleaner 110 has been completed (YES in S258), the process ends.

[When the vacuum cleaner 110 is cleaning away from the charger 180]
Through the processes of S202 to S208 and S250 to S252, the geomagnetic sensor 112 detects magnetism so that the magnitude for each direction becomes clear. Based on the magnetism detected by the geomagnetic sensor 112, the controller 122 detects the direction in which the magnet points to “north” (S210). At this time, the vacuum cleaner 110 is cleaning away from the charger 180. The term “distant place” as used herein refers to a place where the direction of the charger 180 is some distance away in the same direction within an error range, regardless of where the cleaner 110 is scheduled to be cleaned. . For this reason, the magnitude of the magnetism generated by the electromagnet 188 is a magnitude that cannot be detected by the geomagnetic sensor 112. However, the control unit 122 can detect the magnetism generated by the electromagnet 188 through the processes of S212 to S218 by using the geomagnetism and the first direction stored in the memory 126 as a clue. it can. When the magnetism generated by the electromagnet 188 is detected, the vacuum cleaner 110 reaches the vicinity of the charger 180 through the processes of S220 to S236 and can store electric power.

  As described above, cleaning system 100 according to the present embodiment performs charging when a signal to search for charger 180 is communicated. Normally, no magnetic field for charging is generated. Thereby, power saving is realized. Moreover, when the cleaner 110 is away from the charger 180, the cleaning system 100 according to the present embodiment uses a geomagnetic sensor to detect the direction and accurately place the cleaner 110 in the vicinity of the charger 180. To guide. Thereby, even when the cleaner 110 is in a position not affected by the magnetic force generated by the charger 180, the possibility that the cleaner 110 will reach the vicinity of the charger 180 is increased. By the method of returning to the charger of the rechargeable vacuum cleaner (that is, a self-propelled robot) as described above, the loss of power consumption is less, the range of activities is wider, and the position of the charging device is accurately determined. A robot that can be a self-propelled cleaner and a robot that can be a self-propelled cleaner can be provided.

  Instead of detecting the direction using only the geomagnetic sensor 112, a detection unit 140 including the geomagnetic sensor 112 and a magnetic sensor such as the Hall element 144 may be provided. FIG. 9 shows a control block diagram of the cleaner when the detection unit 140 is provided. FIG. 10 is a diagram illustrating the configuration of the detection unit 140. Usually, the magnetism generated by the electromagnet 188 is extremely high compared to the geomagnetism. In this case, the magnetism exceeds the range that can be detected by the geomagnetic sensor 112 in the vicinity of the electromagnet 188. For this reason, the geomagnetic sensor 112 cannot properly detect the magnetism for each direction. On the other hand, since the Hall element 144 has a lower sensitivity than the geomagnetic sensor 112, the magnetism generated from the electromagnet 188 can be appropriately detected even when placed at a location relatively close to the electromagnet 188. On the other hand, when the vacuum cleaner is located away from the electromagnet 188, the geomagnetic sensor 112 can appropriately detect the magnetism in each direction if the magnetism is sufficiently small. This is because the sensitivity is extremely higher than that of the Hall element 144. When the hall element 144 is placed at a location away from the electromagnet 188, the magnetism generated from the electromagnet 188 cannot be properly detected. Therefore, by using these together, the detection unit 140 can detect the magnitude of magnetism regardless of whether the cleaner is near or far from the charger 180 (strictly, the electromagnet 188 built in the charger 180). Can be detected appropriately for each direction.

  Further, the cleaning unit 120 itself may travel autonomously (not depending on the traveling unit 128) and suck dust. In this case, the control unit 122 controls only the cleaning unit 120.

  In addition, when the barcode cannot be detected in S224, the control unit 122 travels so as to move in the direction opposite to the direction in which the charger 180 is once (in the above case, “north”). The unit 128 may be controlled. This is because there is a possibility that the charger 180 is misidentified due to the influence of a strong magnetic field such as television. In this case, the control unit 122 considers that the barcode could not be detected when determining the new direction of travel.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a lineblock diagram of the cleaning system concerning an embodiment of the invention. It is a control block diagram of the vacuum cleaner which concerns on embodiment of this invention. It is an external view of the vacuum cleaner which concerns on this Embodiment. It is a control block diagram of the charger which concerns on embodiment of this invention. It is a flowchart which shows the procedure of control of the charge process of the cleaner which concerns on embodiment of this invention. It is a flowchart which shows the procedure of control of the charging process of the charger which concerns on embodiment of this invention. It is a figure showing the format of the signal used for communication between the cleaner and charger which concern on embodiment of this invention. It is a figure showing operation | movement of the cleaning system which concerns on embodiment of this invention. It is a control block diagram of the cleaner which concerns on the modification of embodiment of this invention. It is a figure showing the structure of the detection part which concerns on the modification of embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Cleaning system, 110 Vacuum cleaner, 112 Geomagnetic sensor, 114,194 Communication part, 116 Rectifier circuit, 118 Storage battery, 120 Cleaning part, 122,190 Control part, 124 Timer, 126,192 Memory, 128 Traveling part, 140 Detection part 144 Hall element, 150 suction port, 152 1st motor, 160 2nd motor, 164 wheel, 180 charger, 182 power supply, 184 inverter, 186 generator, 188 electromagnet.

Claims (5)

A suction means for sucking dust;
Control means for controlling the suction means so as to suction the dust autonomously in accordance with any of predetermined rules and procedures;
A moving means for moving in the traveling direction; a receiving means for receiving the teaching of the traveling direction;
First detecting means for detecting a direction by magnetism;
Photographing means for photographing an image;
Second detection means for detecting the position of the target object by detecting a predetermined feature appearing in any of the shape, color, and pattern of the target object from the image photographed by the photographing means. When,
Until the second detection means detects the position of the object, the traveling direction is determined based on the direction detected by the first detection means and the teaching received by the reception means, and the second detection A self-propelled cleaner comprising: determining means for determining the direction of the object to be the traveling direction based on the position detected by the second detecting means after the means detects the position of the object. A moving means for moving in the traveling direction; a receiving means for receiving the teaching of the traveling direction;
First detecting means for detecting a direction by magnetism;
Apart from the first detection means, second detection means for detecting the position of the object;
Until the second detection means detects the position of the object, the traveling direction is determined based on the direction detected by the first detection means and the teaching received by the reception means, and the second detection After the means detects the position of the object, the robot includes a determining means for determining the direction of the object as the traveling direction based on the position detected by the second detecting means. The second detection means includes
Photographing means for photographing an image;
The movable robot according to claim 2, further comprising means for detecting a position of the object by detecting a predetermined feature from an image photographed by the photographing means.   The movable robot according to claim 3, wherein the predetermined feature includes a feature that appears in any one of a shape, a color, and a pattern of the object. A suction means for sucking dust;
Control means for controlling the suction means so as to suction the dust autonomously in accordance with any of predetermined rules and procedures;
Moving means for moving in the direction of travel;
Accepting means for accepting the teaching of the traveling direction;
First detecting means for detecting a direction by magnetism;
Apart from the first detection means, second detection means for detecting the position of the object;
Until the second detection means detects the position of the object, the traveling direction is determined based on the direction detected by the first detection means and the teaching received by the reception means, and the second detection A self-propelled cleaner comprising: determining means for determining the direction of the object to be the traveling direction based on the position detected by the second detecting means after the means detects the position of the object.

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