JP2006011845A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of cleaning as it propels itself, and of being used for fire alarms while utilizing its self-propelled function. <P>SOLUTION: A distance-measuring AF passive sensor 31FM provided in the self-propelled cleaner is used to detect flames. This eliminates the need to newly install a camera or the like for detection of fires. The AF passive sensor 31FM performs imaging at least twice or more (step S510, S530), and since an increase or decrease in an image pixel area corresponding to a flame is used as criteria, it is possible to securely detect only flames. In this way, the possibility of detecting any obstacles that resemble flames in color as flames is eliminated. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention provides a self-propelled body including a main body including a cleaning mechanism, a distance measuring mechanism that detects a distance from an obstacle, and a drive mechanism that realizes steering and driving based on the distance measured by the distance measuring mechanism. This relates to a vacuum cleaner.

2. Description of the Related Art Conventionally, as this type of fire alarm, one that detects a fire by analyzing color image data captured by a color camera is known (for example, see Patent Document 1). According to such a configuration, it is possible to accurately detect the flame component included in the color image data by paying attention to the spatial frequency characteristics of the flame position change. Therefore, even when image components such as illumination are included in the color image data, it is possible to accurately determine the presence or absence of a fire.
Japanese Patent Laid-Open No. 10-126765

  However, since the above-described fire alarm is fixedly installed, the field of view is constant. Therefore, in order to monitor fire over a wide area, a plurality of color cameras must be installed. In this case, there is a problem that the number of color cameras installed increases and the installation cost increases. In addition, there is a problem that a blind spot is caused by an obstacle or the like, and there is a portion where the fire cannot be monitored substantially even within the field of view.

  The present invention has been made in view of the above problems, and provides a self-propelled cleaner that can be self-propelled and cleaned, and that can also be used for fire alarm while utilizing the self-propelled function. Objective.

In order to achieve the above object, the invention according to claim 1 is directed to a main body having a cleaning mechanism, a distance measuring mechanism for detecting a distance from an obstacle, and steering based on a distance measured by the distance measuring mechanism. In a self-propelled cleaner provided with a drive mechanism that realizes driving,
The distance measuring mechanism is composed of a plurality of imaging pixels, and a distance measuring means for measuring a distance from the obstacle from imaging deviations in two or more CCD line sensors provided at different positions; and the CCD line sensor Flame detection means for acquiring an accumulation degree of charge accumulated in each of the imaging pixels, and detecting an imaging pixel in which the acquired accumulation degree is in a value range corresponding to the flame as an imaging pixel receiving the flame; and brightness Brightness detection means to be acquired, value range changing means for changing the value range corresponding to the flame according to the brightness acquired by the brightness detection means, and imaging pixels that have received the flame are detected by the flame detection means. In this case, the steering and driving by the driving mechanism are stopped, and the CCD line sensor captures an image again. A fire detecting means for detecting movement, and an alarm means for issuing an alarm while causing the drive mechanism to perform steering and driving when recognizing a change in an imaging pixel area where the fire detecting means has received a flame. It is as.

  In the invention of claim 1 configured as described above, when the self-propelled cleaner performs cleaning by the cleaning mechanism, the drive mechanism realizes steering and driving. Further, when the distance measuring mechanism detects the distance to the obstacle, steering and driving can be realized while avoiding the obstacle. The distance measuring mechanism is constituted by two or more CCD line sensors provided at different positions, and each of the CCD line sensors is constituted by a plurality of imaging pixels. Then, the distance to the obstacle can be measured based on the imaging deviation of each CCD line sensor.

  When imaging is performed by the CCD line sensor, charges corresponding to inputs are accumulated in each imaging pixel. The flame detecting means acquires the accumulated charge accumulation degree. Then, the accumulation degree is compared with a value range corresponding to the flame, and an image sensor in which the accumulation degree is within the same value range is detected as an imaging pixel that has received the flame. On the other hand, the brightness detection means acquires brightness. Then, the value range changing means changes the value range corresponding to the flame according to the brightness acquired by the brightness detection means.

  The fire detection means stops the steering and driving by the drive mechanism when the imaging pixel receiving the flame is detected by the flame detection means. Thereby, the imaging field of view of the CCD line sensor is kept constant. Then, the image is picked up again by the CCD line sensor, and the fluctuation of the image pickup pixel area where the flame is received is detected from the image pickup result. When there is a change in the imaging pixel area that has received the flame, the alarm means issues an alarm. When an alarm is issued, steering and driving are performed by the drive mechanism. That is, when the imaging pixel area that has received the flame changes with time, the fluctuation of the flame can be recognized and a fire alarm can be issued.

  As for the cleaning mechanism provided in the main body, a suction type cleaning mechanism may be adopted, a cleaning mechanism of a type scraped with a brush may be adopted, or a combination of both may be adopted.

  Also, with respect to a drive mechanism capable of steering and driving, by separately controlling the rotation of the drive wheels arranged on the left and right in the main body, the steering and the forward, backward, left and right direction change and rotation at the same place It can be driven. In this case, it goes without saying that auxiliary wheels may be provided at the front and rear. Further, the drive wheel may be realized by a configuration that drives not only the wheel but also an endless belt. Of course, besides this, the drive mechanism can be realized with various configurations such as four wheels and six wheels.

According to a second aspect of the present invention, there is provided a distance measuring mechanism for detecting a distance between a main body having a cleaning mechanism, an obstacle, and a drive for realizing steering and driving based on the distance measured by the distance measuring mechanism. In a self-propelled vacuum cleaner equipped with a mechanism,
The distance measuring mechanism is composed of a plurality of imaging pixels, and distance measuring means for measuring a distance from the obstacle from an imaging deviation in two or more line sensors provided at different positions, and imaging by the line sensor Flame detection means for detecting an imaging pixel that has received a flame from the result, and when the imaging pixel that has received the flame is detected by the flame detection means, imaging is performed again by the line sensor, and imaging is performed by receiving the flame from the imaging result. A fire detection unit that detects a change in the pixel area and an alarm unit that issues a warning when the fire detection unit recognizes a change in the imaging pixel region that has received a flame are configured.

  In the invention of claim 2 configured as described above, when the self-propelled cleaner performs cleaning by the cleaning mechanism, the drive mechanism realizes steering and driving. Further, when the distance measuring mechanism detects the distance to the obstacle, steering and driving can be realized while avoiding the obstacle. The distance measuring mechanism is composed of two or more line sensors provided at different positions, and each of the line sensors is composed of a plurality of imaging pixels. And the distance with the said obstruction can be measured based on the imaging shift of each line sensor.

  The flame detection means detects an imaging pixel that has received a flame from the imaging result of the line sensor. The fire detection means, when an image pickup pixel that has received a flame is detected by the flame detection means, picks up an image again by the line sensor, and detects a change in the image pickup pixel area that has received the flame from the image pickup result. When there is a change in the imaging pixel area that has received the flame, the alarm means issues an alarm.

Further, in the invention according to claim 3, the flame detecting means acquires the accumulation degree of the electric charge accumulated in the line sensor, and sets the image pickup pixels in which the obtained accumulation degree falls within a value range corresponding to the flame. It is configured to detect the received image pickup pixel.
In the invention of claim 3 configured as described above, when imaging is performed by the line sensor, charges corresponding to input are accumulated in each imaging pixel. The flame detecting means acquires the accumulated charge accumulation degree. Then, the accumulation degree is compared with a value range corresponding to the flame, and an image sensor in which the accumulation degree is within the same value range is detected as an imaging pixel that has received the flame. By doing in this way, it becomes possible to detect what shows a flame while measuring the distance to an obstacle as a distance measuring mechanism.

Further, the invention according to claim 4 includes brightness detection means for acquiring brightness, and value range changing means for changing the value range corresponding to the flame according to the brightness acquired by the brightness detection means. It is as composition to do.
In the invention of claim 4 configured as described above, the brightness detection means acquires brightness. Then, the value range changing means changes the value range corresponding to the flame according to the brightness acquired by the brightness detection means. By doing in this way, the said threshold value according to the brightness can be set.

According to a fifth aspect of the present invention, the driving mechanism is configured to stop steering and driving until the fire detecting unit completes another imaging after the flame detecting unit detects a flame.
In the invention of claim 5 configured as described above, when the imaging pixel receiving a flame is detected by the flame detecting means, the steering and driving by the driving mechanism are stopped. Thereby, the imaging field of view of the line sensor is kept constant. Therefore, it is possible to evaluate the variation of the imaging pixel area that receives the flame for a certain visual field.

According to a sixth aspect of the present invention, the line sensor is a CCD sensor.
In the invention of claim 6 configured as described above, a CCD sensor can be applied as the line sensor.

The invention according to claim 7 is configured such that the alarm means issues an alarm while causing the drive mechanism to steer and drive the self-propelled cleaner.
In the invention of claim 7 configured as described above, when a warning is issued, the warning can be issued by approaching a user at a distant position by performing steering and driving by the drive mechanism.

As described above, according to the first and second aspects of the invention, the self-propelled cleaner can be self-propelled and cleaned, and can be used for fire alarm while utilizing the self-propelled function. Can be provided.
According to the invention of claim 3, the flame can be detected based on the charge accumulation degree in the line sensor.
Furthermore, according to the invention concerning Claim 4, a flame can be detected without being influenced by external brightness.

Furthermore, according to the invention concerning Claim 5, the fluctuation | variation of a flame can be compared in the same visual field.
Furthermore, according to the sixth aspect of the invention, it is possible to perform imaging with high sensitivity.
Moreover, according to the invention concerning Claim 7, generation | occurrence | production of a fire can be notified reliably.

FIG. 1 is a block diagram showing a schematic configuration of a self-propelled cleaner according to the present invention.
As shown in the figure, a control unit 10 for controlling each unit, a human body sensing unit 20 for detecting whether or not a person is in the vicinity, an obstacle monitoring unit 30 for detecting surrounding obstacles, and movement A traveling system unit 40 for cleaning, a cleaner system unit 50 for cleaning, a camera system unit 60 for photographing a predetermined range, a wireless LAN unit 70 for wirelessly connecting to a LAN, an additional sensor, and the like. An option unit 80 is included. The main body BD has a thin and substantially cylindrical shape.

FIG. 2 is a block diagram showing the configuration of an electric system that specifically realizes each unit.
As the control unit 10, a CPU 11, a ROM 13, and a RAM 12 are connected via a bus 14. The CPU 11 executes various controls using the RAM 12 as a work area according to the control program and various parameter tables recorded in the ROM 13. The contents of the control program will be described later.

  The bus 14 is provided with an operation panel unit 15. The operation panel unit 15 is provided with various operation switches 15a, a liquid crystal display panel 15b, and a display LED 15c. As the liquid crystal display panel, a monochrome liquid crystal panel capable of multi-gradation display is used, but a color liquid crystal panel or the like can also be used.

  This self-propelled cleaner has a battery 17, and the CPU 11 can monitor the remaining amount of the battery 17 via the battery monitoring circuit 16. The battery 17 includes a charging circuit 18 that charges using electric power supplied in a non-contact manner via an induction coil 18a. The battery monitoring circuit 16 mainly monitors the voltage of the battery 17 and detects the remaining amount.

  As the human body sensing unit 20, four human body sensors 21 (21fr, 21rr, 21fl, 21rl) are provided facing each other in the front left / right diagonal direction and the rear left / right diagonal direction. Each human body sensor 21 includes an infrared light receiving sensor and detects the presence or absence of a human body based on a change in the amount of received infrared light. In order to change an output status when a changing infrared irradiation object is detected, The CPU 11 can acquire the detection of the human body sensor 21 via the bus 14. That is, the CPU 11 goes to acquire the status of each human body sensor 21fr, 21rr, 21fl, 21rl every predetermined time. If the acquired status changes, the CPU 11 moves in the opposite direction of the human body sensors 21fr, 21rr, 21fl, 21rl. The presence of the human body can be detected.

  Here, the human body sensor is configured by a sensor based on a change in the amount of infrared light, but the human body sensor is not limited to this. For example, if the processing amount of the CPU increases, a configuration can be realized in which a color image is taken, a skin color region characteristic of the human body is searched, and the human body is detected based on the size and change of the region.

  The obstacle monitoring unit 30 includes an AF passive sensor 31 (31R, 31FR, 31FM, 31FL, 31L, 31CL) as a distance measuring sensor for autofocus (hereinafter referred to as AF), and an AF serving as an interface for the communication. It comprises a sensor communication I / O 32, an illumination LED 33, and an LED driver 34 that supplies a drive current to each LED. First, the configuration of the AF passive sensor 31 will be described. FIG. 3 shows a schematic configuration of the AF passive sensor 31. The biaxially parallel optical systems 31a1 and 31a2, the CCD line sensors 31b1 and 31b2 disposed substantially at the imaging positions of the optical systems 31a1 and 31a2, and the image data of the CCD line sensors 31b1 and 31b2, respectively. And an output I / O 31c for outputting to the outside.

  The CCD line sensors 31b1 and 31b2 are composed of 160 to 170 pixel imaging pixels that convert light energy into electrical energy, and can store the electrical energy generated for each imaging pixel as a charge. Then, 8-bit data can be output according to the amount of charge accumulated in each imaging pixel. Since the amount of charge accumulated in a certain time is an amount corresponding to the input light energy, different values of charge are accumulated in each imaging pixel depending on the amount of light, wavelength, etc. of the input light. Become. That is, the CCD line sensors 31b1 and 31b2 can generate data that can represent the input image.

  In addition, since the optical system is biaxial, the formed image has a shift corresponding to the distance, and the distance can be measured based on the shift of data output from the CCD line sensors 31b1 and 31b2. For example, the shift of the image is larger as the distance is shorter, and the shift of the image is eliminated as the distance is longer. Accordingly, the data string for every 4 to 5 pixels in one output data is scanned in the other output data, the difference between the address of the original data string and the address of the discovered data string is obtained, and the ROM 13 is preliminarily stored with the difference amount. The actual distance is obtained by referring to the difference amount-distance conversion table T1 stored in (1).

  In the vicinity of one CCD line sensor 31b1, a monitor cell 31b3 composed of several pixels is provided. The monitor cell 31b3 is imaged by an optical system 31a3 having a wider angle than the CCD line sensors 31b1 and 31b2. Further, since the monitor cell 31b3 is also constituted by the imaging pixels, it is possible to accumulate charges according to the input light energy. However, the optical system 31a3 for inputting light to the monitor cell 31b3 has a wide angle, and the monitor cell 31b3 is composed of several pixels, so the resolution is lower than that of the CCD line sensors 31b1 and 31b2. That is, a blurred image is captured by the monitor cell 31b3. Further, the monitor cell 31b3 calculates the average of the charges accumulated in each imaging pixel constituting the monitor cell 31b3, and outputs data corresponding to the average value.

  By doing in this way, the average light quantity in the wide visual field which can be input into the monitor cell 31b3 can be output as data. In other words, average brightness over a wide range of the room in which the self-propelled cleaner is installed can be acquired by the monitor cell 31b3. The brightness data acquired by the monitor cell 31b3 is also output to the CPU 11 and the like by the output I / O 31c. The ROM 13 is provided with a brightness-color-charge table T2 in addition to the above-described difference amount-distance conversion table T1. The brightness-color-charge table T2 is a table that defines the correspondence between the brightness acquired by the monitor cell 31b3 and the color indicated by the charges accumulated in the CCD line sensors 31b1 and 31b2.

  An experiment is performed in which the CCD line sensors 31b1 and 31b2 image subjects of various colors at various brightnesses. The brightness-color-charge table T2 tabulates the correspondence between the amount of charge for each color stored in each imaging pixel and the brightness data acquired by the monitor cell 31b3. Has been created. FIG. 4 schematically shows a brightness-color-charge table T2. In the figure, the horizontal axis indicates the brightness, and the vertical axis indicates the amount of charge accumulated in the imaging pixel for a certain time as a voltage. In the same figure, the range of values that can be taken by the charge values when green, orange and red objects are imaged at each brightness (25%, 50%, 100%) is shown. From the figure, it can be seen that the amount of light input to the imaging pixel and the charge are in a linear relationship, and the charge decreases as the wavelength increases.

  By referring to the brightness-color-charge table T2, for example, it is possible to specify a range of charges that can be taken when an orange image is captured at a brightness of 50%. Therefore, by acquiring the brightness data in the monitor cell 31b3 while measuring the distance with the CCD line sensors 31b1 and 31b2, the CCD line sensors 31b1 and 31b2 pick up images with reference to the brightness-color-charge table T2. The color of the captured image can be specified for each imaging pixel.

  Of the AF passive sensors 31R, 31FR, 31FM, 31FL, 31L, and 31CL, the AF passive sensors 31FR, 31FM, and 31FL are used to detect frontal obstructions. The AF passive sensor 31CL is used to detect the distance to the front ceiling. The monitor cell 31b3 acquires brightness only in the AF passive sensor 31CL used for detecting a frontal obstacle. Therefore, it is possible to detect the color of the obstacle only in front of the front.

  As described above, when the AF passive sensors 31R, 31FR, 31FM, 31FL, 31L, and 31CL perform distance measurement, the difference in the address of the data string for every 4 to 5 pixels in the CCD line sensors 31b1 and 31b2. And it is not necessary to know which color each imaging pixel indicates. Therefore, it goes without saying that ranging is possible even with the passive sensors for AF 31R, 31FR, 31FM, 31FL, 31L for which the monitor cell 31b3 does not acquire brightness.

  FIG. 5 shows the principle when the AF passive sensor 31 detects an obstacle immediately before the front and front left and right. These AF passive sensors 31 are arranged obliquely with respect to the surrounding floor surface. When there is no obstacle in the facing direction, the distance measured by the AF passive sensor 31 is L1 in almost the entire imaging range. However, when there is a step as shown by the alternate long and short dash line in the drawing, the distance measurement distance is L2. It can be determined that there is a step that decreases as the distance is increased. If there is a step that rises as shown by the two-dot chain line, the distance measurement distance is L3. When there is an obstacle, the distance measuring distance is measured as the distance to the obstacle, as is the step that goes up, and is shorter than the floor.

  In the present embodiment, when the AF passive sensor 31 is oriented obliquely on the front floor surface, the imaging range is about 10 cm. Since the width of the self-propelled cleaner is 30 cm, the three passive sensors for AF 31FR, 31FM, and 31FL are arranged at slightly different angles so that the imaging ranges do not overlap. As a result, the three AF passive sensors 31FR, 31FM, and 31FL can detect an obstacle and a step in a range of 30 cm in the forward direction. Of course, the detection width varies depending on the sensor specification, the mounting position, and the like, and the number of sensors corresponding to the actually required width may be used.

  On the other hand, the AF passive sensors 31R and 31L that detect obstacles immediately before and after the front left and right are arranged obliquely with respect to the floor surface with respect to the vertical direction. In addition, the AF passive sensor 31R is mounted on the left side of the main body and is opposed so as to capture the right range beyond the main body width from the position immediately before the right across the center of the main body. While being attached to the right, it is opposed so as to image the left range exceeding the width of the main body from the position immediately before the left across the center of the main body.

  If the left and right positions are photographed without crossing, the sensor must face the floor surface at a steep angle, and in this case, the imaging range becomes extremely narrow, so a plurality of sensors are required. . For this reason, the arrangement is made to cross, and the imaging range is widened so that the required range can be covered with a small number of sensors. In addition, arranging the imaging range obliquely with respect to the vertical direction means that the arrangement direction of the CCD line sensors is oriented in the vertical direction, and the width that can be imaged is W1, as shown in FIG. Here, the distance L4 to the floor surface is short on the right side of the imaging range, and the distance L5 is long on the left side. If the boundary line on the side surface of the main body BD is a wavy position B on the drawing, the imaging range up to the boundary line is used for detecting a step, and the imaging range exceeding the boundary line is used for detecting the presence or absence of a wall surface. The

  The AF passive sensor 31CL that detects the distance to the front ceiling faces the ceiling. Normally, the distance from the floor surface to the ceiling detected by the AF passive sensor 31CL is constant. However, when approaching the wall surface, the imaging range becomes the wall surface instead of the ceiling, and the distance measurement distance becomes shorter. Therefore, the presence of the front wall surface can be detected more accurately.

  FIG. 7 shows the attachment positions of the AF passive sensors 31R, 31FR, 31FM, 31FL, 31L, and 31CL to the main body BD, and the imaging ranges on the floors are shown in correspondence with the reference numerals in parentheses. . The imaging range is omitted for the ceiling. In order to prove the imaging of the AF passive sensors 31R, 31FR, 31FM, 31FL, 31L, a right illumination LED 33R composed of white LEDs, a left illumination LED 33L, and a front illumination LED 33M are provided, and the LED driver 34 is a CPU 11. Based on a control instruction from the device, a drive current is supplied to enable illumination. This makes it possible to obtain effective captured image data from the AF passive sensor 31 even at night or in a dark place such as under a table.

  The travel system unit 40 includes motor drivers 41R and 41L, drive wheel motors 42R and 42L, and a gear unit (not shown) and drive wheels that are driven by the drive wheel motors 42R and 42L. One drive wheel is arranged on each of the left and right sides of the main body BD. In addition, a free rolling wheel having no drive source is attached to the front lower center lower surface of the main body. The drive wheel motors 42R and 42L can be driven in detail by the motor drivers 41R and 41L with respect to the rotation direction and rotation angle, and each motor driver 41R and 41L outputs a corresponding drive signal in accordance with a control instruction from the CPU 11. In addition, the actual rotation direction and rotation angle of the drive wheel can be accurately detected from the output of the rotary encoder that is integrally attached to the drive wheel motors 42R and 42L. Note that the rotary encoder is not directly connected to the drive wheel, and a driven wheel that can be freely rotated is mounted in the vicinity of the drive wheel, and the drive wheel slips by feeding back the rotation amount of the driven wheel. It may be possible to detect the amount of rotation. In addition to this, the traveling system unit 40 is provided with a geomagnetic sensor 43 so that the traveling direction can be determined in light of the geomagnetism. The acceleration sensor 44 detects the acceleration in the XYZ triaxial directions and outputs the detection result.

  Various types of gear units and drive wheels can be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  The cleaning mechanism in the self-propelled cleaner is disposed on both front sides and scrapes near the center of the main body BD near the center of the main body BD and the side brush that scrapes dust and the like on both sides in the traveling direction of the main body BD. The main brush scoops up the dust and a suction fan that sucks up the dust scooped up by the main brush and stores it in the dust box. The cleaner unit 50 includes side brush motors 51R and 51L that drive each brush, a main brush motor 52, motor drivers 53R, 53L, and 54 that supply driving power to the respective motors, and a suction motor 55 that drives a suction fan. The motor driver 56 supplies driving power to the suction motor. The cleaning using the side brush and the main brush is controlled by the CPU 11 as appropriate according to the floor condition, the battery condition, the user instruction, and the like.

  The camera system unit 60 includes two CMOS cameras 61 and 62 having different viewing angles, and is set at different elevation angles in the front direction of the main body BD. A camera communication I / O 63 is also provided for instructing the cameras 61 and 62 to capture images and outputting captured images. Furthermore, a camera illumination LED 64 composed of 15 white LEDs facing the imaging direction of the cameras 61 and 62 and an LED driver 65 for supplying illumination drive power to the LEDs are provided.

  The wireless LAN unit 70 has a wireless LAN module 71, and the CPU 11 can be connected to an external LAN wirelessly according to a predetermined protocol. Assume that the wireless LAN module 71 is connected to an external wide area network (for example, the Internet) via a router or the like on the assumption that an access point (not shown) exists. Therefore, it is possible to send and receive normal mail via the Internet and browse the WEB site. The wireless LAN module 71 includes a standardized card slot and a standardized wireless LAN card connected to the slot. Of course, other standardized cards can be connected to the card slot.

  The option unit 80 includes a communication unit as shown in FIG. In the present embodiment, an infrared communication unit 83 and a fire alarm device 84 are provided. The infrared communication unit 83 can receive an infrared signal in which position information transmitted from a marker described later is coded, and can decode the position information and send it to the CPU 11. The fire alarm device 84 can notify the user of the occurrence of a fire by an alarm, and includes a speaker. The user can be notified of the occurrence of a fire by emitting a sound, a buzzer sound, or the like. The response determination device 86 includes a switch that is operated after the user confirms whether or not a fire has occurred, and the fire alarm device 84 stops the alarm when the switch is operated.

  FIG. 12 shows the appearance of the marker 85, which includes a liquid crystal display panel 85a, a cross key 85b, an enter key 85c, and a return key 85d. Inside, a one-chip microcomputer, an infrared transmission / reception unit, a battery, and the like are provided. The one-chip microcomputer controls display on the liquid crystal display panel 85a in accordance with the operation of the determination key 85c and the return key 85d. In addition, setting parameters corresponding to the same operation are generated, and position information corresponding to the setting parameters can be output from the infrared transmission / reception unit. In this embodiment, the room numbers “1-7 and corridor”, cleaning selection “Yes”, “No”, “EXIT (exit)”, “ENT (entrance)”, “SP1 (special position) as special designations can be set. 1) "SP2 (special position 2)" SP3 (special position 3) "SP4 (special position 4)". In the following embodiments, the special positions 1 to 4 are locations of fire monitoring objects that can cause fire, and are set in advance. The flowchart required for these settings is not special and can be generated by those skilled in the art with ordinary knowledge.

Next, the operation of the self-propelled cleaner having the above configuration will be described.
(1) About travel control and cleaning operation:
8 and 9 are flowcharts corresponding to the control program executed by the CPU 11, and FIG. 10 is a diagram showing a traveling route on which the self-propelled cleaner travels according to the control program.

  When the power is turned on, the CPU 11 starts the traveling control shown in FIG. In step S110, the detection result of the AF passive sensor 31 is input, and the front area is monitored. The detection results of the AF passive sensors 31FR, 31FM, and 31FL are used for monitoring the front area. If the floor surface is flat, the captured image can be obtained up to the diagonally lower floor surface shown in FIG. Distance L1. Based on the detection results of the respective AF passive sensors 31FR, 31FM, and 31FL, it can be determined whether or not the front floor surface corresponding to the main body BD width is flat. However, at this time, no information is obtained between the floor position where each AF passive sensor 31FR, 31FM, 31FL is facing and the position immediately before the main body, so that it becomes a blind spot.

In step S120, the driving wheel motors 42R and 42L are instructed to drive the same amount of rotation through the motor drivers 41R and 41L while changing the rotation directions. Thereby, the main body BD starts rotating on the spot. The rotation amounts of the drive motors 42R and 42L required for 360-degree rotation (spin turn) at the same place are known in advance, and the CPU 11 instructs the motor drivers 41R and 41L to perform the rotation amounts.
During the spin turn, the CPU 11 inputs the detection results of the AF passive sensors 31R and 31L, and determines the status of the position immediately before the main body BD. The blind spot described above is almost eliminated by the detection result during this period, and when there is no step or obstacle, the presence of the surrounding flat floor surface can be detected.

  In step S130, the CPU 11 instructs the drive wheel motors 42R and 42L to drive the same rotation amount via the motor drivers 41R and 41L. As a result, the main body BD starts going straight. While traveling straight, the CPU 11 inputs detection results of the AF passive sensors 31FR, 31FM, 31FL, and moves forward while judging whether there is an obstacle in front. And if the wall surface which is an obstruction in the front is detected from the detection result, it will stop in front of the predetermined distance of the wall surface.

  In step S140, it is rotated 90 degrees to the right. In step S130, the actuator stops at a predetermined distance on the wall surface, but this predetermined distance does not collide with the wall surface when the main body BD rotates, and the AF passive sensor 31R for determining the immediately preceding and left and right situations. , 31L is a distance in a range corresponding to the outside of the body width detected. That is, the distance is such that at least the AF passive sensor 31L can detect the position of the wall surface when stopping based on the detection results of the AF passive sensors 31FR, 31FM, 31FL in step S130 and rotating 90 degrees in step S140. It is trying to become. Further, when rotating 90 degrees, the state of the immediately preceding position is determined based on the detection results of the AF passive sensors 31R and 31L. FIG. 10 shows a situation in which the cleaning travel is started with the lower left corner of the room when viewed in the plan view thus reached as the cleaning start position.

  There are various other methods for reaching the cleaning travel start position. If you rotate 90 degrees to the right while in contact with the wall surface, you may start from the middle of the first wall surface, so if you reach the optimal position in the lower left corner as shown in FIG. It is also desirable travel control to rotate 90 degrees to the left, move forward until it contacts the front wall surface, and rotate 180 degrees when contacted.

  In step S150, cleaning travel is performed. A more detailed flow of the cleaning traveling is shown in FIG. When traveling forward, detection results of various sensors are input in steps S210 to S240. In step S210, forward monitoring sensor data is input. Specifically, detection results of AF passive sensors 31FR, 31FM, 31FL, and 31CL are input, and whether or not an obstacle or a wall surface exists in front of the traveling range. It will be used for judgment. In addition, in the case of forward monitoring, monitoring of the ceiling in a broad sense is included.

  In step S220, step sensor data is input. Specifically, the detection results of the AF passive sensors 31R and 31L are input and used to determine whether or not there is a step immediately before the travel range. In addition, when moving in parallel along the wall surface or obstacle, the distance to the wall surface or obstacle is measured and used to determine whether the object is moving in parallel.

  In step S230, geomagnetic sensor data is input. Specifically, the detection result of the geomagnetic sensor 43 is input and used to determine whether or not the traveling direction has changed during straight traveling. For example, the geomagnetic angle at the start of cleaning traveling is stored, and if the angle detected during traveling is different from the stored angle, the rotational amounts of the left and right drive wheel motors 42R, 42L are slightly increased. Correct the direction of travel by making it different, and return to the original angle. For example, if the angle changes in a direction in which the angle increases based on the angle of geomagnetism (change from 359 degrees to 0 degrees is an exception), the trajectory needs to be corrected in the left direction, and the right drive wheel motor 42R Instructions for controlling the drive are output to the respective motor drivers 41R and 41L so that the rotation amount is slightly increased from the rotation amount of the left drive wheel motor 42L.

  In step S240, acceleration sensor data is input. Specifically, the detection result of the acceleration sensor 44 is input and used for checking the running state. For example, normal acceleration can be determined if acceleration in a substantially constant direction can be detected at the start of straight traveling, but abnormality such that one of the drive wheel motors is not driven can be determined by detecting rotating acceleration. In addition, when the acceleration value exceeds the normal range, it is possible to determine an abnormality such as a fall from a step or a rollover. And if the big acceleration to the direction which hits back is detected during advance, the abnormality which contact | abutted the front obstacle can be judged. In this way, there is no direct control over traveling such as inputting the acceleration value to maintain the target acceleration or obtaining the speed based on the integral value, but the acceleration value is used for the purpose of detecting an abnormality. We use effectively.

  In step S250, the obstacle is determined based on the detection results of the AF passive sensors 31FR, 31FM, 31CL, 31FL, 31R, and 31L input in steps S210 and S220. Obstacles are determined for each of the front, ceiling, and immediately preceding parts. The front is determined as the meaning of an obstacle or a wall, and immediately before the step is determined, the right and left conditions outside the traveling range, for example, the presence or absence of a wall are determined. Even if there is no obstacle in the front when the distance to the ceiling is decreasing due to a duck or the like, the ceiling is used to determine that it is a corridor and goes out of the room.

  In step S260, the detection result from each sensor is comprehensively determined to determine whether or not it is necessary to avoid it. Unless there is a need for avoidance, the cleaning process in step S270 is executed. The cleaning process is a process of sucking dust while rotating the side brush and the main brush. Specifically, the motor drivers 53R, 53L, 54, and 56 are instructed to drive the motors 51R, 51L, 52, and 55. Output. Of course, the same instruction is always issued during traveling, and the vehicle is stopped when the termination condition for cleaning traveling is satisfied, as will be described later.

  On the other hand, if it is determined that avoidance is necessary, a 90 degree turn to the right is performed in step S280. This turn is a 90-degree turn at the same position, and drives the rotation amount necessary for the 90-degree turn while changing the rotation direction with respect to the drive wheel motors 42R and 42L via the motor drivers 41R and 41L. Instruct. The rotation direction is the backward direction with respect to the right drive wheel, and the forward direction with respect to the left drive wheel. During the rotation, the detection results of the AF passive sensors 31R and 31L, which are step sensors, are input to determine the state of the obstacle. For example, when an obstacle is detected on the front and a 90-degree turn to the right is performed, if the AF passive sensor 31R does not detect the wall surface immediately before the front right, it can be said that it is simply in contact with the front wall surface. After that, if the wall surface is detected at a position immediately before the right front side, it can be determined that the wall has entered the corner. Further, if neither of the AF passive sensors 31R, 31L detects an obstacle immediately before the rotation when rotating 90 degrees to the right, it can be determined that the obstacle is not a contact with the wall surface but a small obstacle.

In step S290, the vehicle advances to change the course while scanning the obstacle. It abuts against the wall and rotates forward 90 degrees to the right. If stopped before the wall surface, the forward travel amount is approximately the width of the main body BD. After advance by that amount, in step S300, the right 90 degree turn is performed again.
During the above movement, the presence or absence of front obstacles and front and right obstacles is always scanned to check the situation and stored as information on the presence or absence of obstacles in the room.

  By the way, in the above description, the right 90 degree turn is executed twice. However, when the right 90 degree turn is executed next when the wall surface is detected forward, the turn returns to the original state. If you repeat the right, the next is the left, the next is the right, and so on. Therefore, a right turn is used for the odd-numbered obstacle avoidance and a left turn is used for the even-numbered obstacle avoidance.

  As described above, the cleaning traveling is continued by scanning the room in a zigzag manner while avoiding the obstacles. Then, in step S310, it is determined whether or not the end of the room has been reached. The end of the cleaning travel is when the second turn is advanced along the wall surface to perform the cleaning travel, after which an obstacle is detected forward and when the vehicle has already traveled. That is, the former is an end condition that occurs after the last end-to-end travel that traveled in a zigzag manner, and the latter is an end condition that occurs when an uncleaned area is found and cleaning travel is started again as described later. become.

If this termination condition is not satisfied, the process returns to step S210 and the above processing is repeated. If the termination condition is satisfied, the main cleaning traveling subroutine process is terminated, and the process returns to the process shown in FIG.
After returning, in step S160, it is determined whether or not an uncleaned area remains from the previous travel route and the situation around the travel route. If an uncleaned area is found, it moves to the starting point of an uncleaned area at step S170, returns to step S150, and restarts cleaning travel.
Even if the uncleaned areas are scattered in a plurality of places, the uncleaned areas are finally eliminated by repeating the detection of the uncleaned areas every time the termination condition of the cleaning traveling as described above is satisfied. .

(2) About mapping:
Various methods can be used to determine the presence or absence of an uncleaned area. In this embodiment, the determination is realized by the mapping method shown in FIGS. 13 and 14.
FIG. 13 shows a flowchart of mapping, and FIG. 14 is a diagram for explaining a mapping method. In this example, based on the detection result of the rotary encoder described above, the indoor travel route and the presence or absence of wall surfaces detected during travel are written on a map secured in the storage area, and the surrounding wall surfaces are Judgment is made based on whether or not the vehicle travels continuously in a room without obstacles, and the surroundings of obstacles that existed in the room are also continuous, and the entire range excluding the obstacles is traveled indoors.

  The mapping database is a two-dimensional database that can be addressed on the x-axis and y-axis, with (1, 1) as the starting point that is the corner of the room, and (n, 0) (0, m) It represents a temporary wall surface. As the body BD travels, the room is mapped by dividing the non-running area, the cleaning completion area, the walls, and the obstacles by using the size 30 cm × 30 cm of the body BD as a unit area.

  In step S400, a start point flag is written. As shown in FIG. 14, the start point (1, 1) is the corner of the room. Make a 360 degree spin turn, confirm that there are walls on the back and left, and write wall flags for each unit area (1, 0), (0, 1) (1). Further, a wall flag is written to the intersection (0, 0) of (2). In step S402, it is determined whether or not there is a failure in front of the main body BD. If there is no failure in front, the unit advances in unit area in step S404. This advancement is actually the advancement with the cleaning described above. Specifically, this mapping process is performed in parallel when moving by the unit area from the output of the rotary encoder during the movement accompanying the cleaning. It will be.

  On the other hand, if it is determined that there is an obstacle ahead, it is determined in step S406 whether there is an obstacle in the turn direction. Obstacles are avoided by turning 90 degrees, moving forward, and turning 90 degrees. As described above, the turn direction is sequentially changed by repeating the left and right twice. Assuming that the next turn for avoidance is in the right direction, when there is an obstacle ahead, it is determined whether or not the turn can proceed in the right direction. At the beginning, it is determined that the right direction is an uncleaned area and there is no obstacle in the turn direction, and a normal avoidance exercise is performed in step S408.

  After these movements, a travel part flag is written in the unit area of the traveled route in step S410. Since traveling means that cleaning has been performed, a flag indicating a cleaning completion area is written. In step S412, the status of the surrounding wall surface is written for each unit area as a peripheral wall flag. When moving from the unit area (1,1) to the unit area (1,2), based on the detection results of the AF passive sensors 31R, 31L, the walls of the unit areas (0,1), (2,1) The unit area (0, 1) can be written with a flag indicating a wall, and the unit area (2, 1) can be written with a flag indicating no running and no cleaning.

  On the other hand, in the unit area (1, 20), a failure was detected forward, and the traveling direction was reversed 180 degrees while moving to the unit area (2, 20) by two 90 degree turns and forward movement. At this time, flags can be written (4) for each of the unit areas (0, 20), (2, 20), (1, 21), and (2, 21). For the unit area (0, 21), a flag representing the wall is written based on the determination that the intersection is between the walls (5). In addition, the run and cleaned area is also treated as an obstacle.

  When moving forward, in the unit area (3, 10) and the unit area (3, 11), an obstacle is detected in the right direction, and an obstacle flag is written at that time (6). When the unit areas (3, 1) to (3, 9) are moved, an untraveled and uncleaned area is detected on the right side in the traveling direction, and a flag representing these is written. Similarly, when the unit areas (8, 9) to (8, 1) are moved later, a non-running and uncleaned area is detected on the right side in the traveling direction, and a flag representing these is written.

  Further, in the unit area (4, 12), an obstacle is detected ahead and an avoidance exercise is performed. At this time, the obstacle flag is written in the unit area (4, 11). An obstacle flag is written in the area (4, 11).

  In step S414, it is determined whether or not position information has been communicated from the marker 85 described above in the traveled unit area. When communication with the marker is performed, a flag based on the information obtained from the marker is written in step S416. For example, if the user operates the operation keys 85b to 85d of the marker 85 to place an evacuation exit and puts it in a specific unit area, when the main body BD passes the same unit area, the infrared communication unit 83 Since the same position information is acquired, a flag indicating an evacuation exit is written in the unit area.

  Repeating forward and avoidance movements, the unit area (10, 20) finds an obstacle to the left in the direction of travel. In this case, since the unit area (10, 21) is determined to be a continuous wall, a flag representing the wall is written for the unit area (11, 20) (4), and then the intersection (11, 21) is also a wall. Is written (5).

  As a result of repeating the forward movement and the avoidance movement, it is determined that the unit area (10, 1) finds an obstacle ahead and also has an obstacle in the turn direction. Therefore, in this case, it is determined in step S418 whether or not the end is reached. As for the unit area (10, 1), the front obstacle and the wall on the left side in the traveling direction are found (7) (8).

  Whether or not it is the end is a first determination item whether or not there is a unit area in which a flag indicating unrunning and uncleaning is written. When a unit area in which a flag indicating unrun and unclean is written is no longer found, it is determined whether or not the wall flag written at the start point makes one round. If the circuit has made a round, the room is scanned in the X and Y directions to find an area where no flag is written. Note that the area determined to be an obstacle is also determined as a continuous area in the same manner as the wall, and the detection of the obstacle is completed.

  If it is not the end, a non-running area is detected in step S420, and it moves to the start point of the non-running area in step S422, and the above-described processing is repeated. Then, if it is finally determined that it is the end, the mapping process is completed. When the mapping is completed, the walls and the running area in the room are obvious and are used as map information for each room.

  The above mapping process is completed for all rooms and corridors, and the entrance to each room is designated by a marker 85 for the corridors and the like. FIG. 15 shows a method of connecting the map information formed in each room and corridor. All rooms and corridors can be obtained for each room by specifying the room number (1-3) and entrance (E) of each room and the entrance (1-3) to each room from the corridor. The obtained map information can be connected in a plane.

(3) About fire monitoring processing:
FIG. 16 shows a fire monitoring time and fire monitoring target setting screen.
The operation switch 15a and the liquid crystal display panel 15b are operated, and the fire monitoring target location is designated at the time of each monitoring as well as the time of fire monitoring. The traveling time can be set up to five times, and the locations to be monitored by the fire can be set up to four locations by the special positions SP1 to SP4 of the marker 85. O and X attached to the front of the time indicate whether or not the time is circulated. In the example shown in FIG. 16, the first fire monitoring target and the second fire monitoring target are visited at the time 7:00, and the first fire monitoring target is visited at the time 12:00. , Represents a setting to go to the second fire monitoring target location at 19:00. Needless to say, a clock function is provided along with the setting of the tour time.
A program for setting the time and designating the target of the cyclic fire monitoring is processed in accordance with a flowchart that can be realized by a person skilled in the art with ordinary capabilities.

FIG. 17 shows the flow of the fire monitoring process. When execution of this processing is instructed by an instruction from the operation panel unit 15, in step S440, it is determined whether or not it is a timer set time by comparing the current time with the timer set time. The following processing is executed.
In step S442, the current position is stored. By saving it here, you can return to your current location after visiting the last fire monitoring location.

In step S444, the location of the fire monitoring target to go around is acquired and stored in an array variable. Assuming that the current time is 7:00, the first and second fire monitoring targets to circulate are shown in FIG. Therefore, the locations of the two fire monitoring targets are acquired and stored in array variables. By storing the data in the array variable, it is possible to sequentially cycle through the variable n. Therefore, “1” is set to the variable n.
In step S446, a travel route from the current position to the location of the nth fire monitoring target stored in the array variable is obtained.

  As described above, when the map information is complete, it is possible to search for a travel route from the current position to the nth fire monitoring target location. A known maze answering method can be used to obtain the travel route. For example, if you proceed while touching the wall with your right hand always along the direction of travel using the right method, you will eventually reach the goal from the entrance. Thereafter, the redundant paths are sequentially deleted. For example, turn back 180 degrees and erase the points that are returned. Also, since it is indoors, the part where the U-shaped turn is made is searched, and unless there is a failure, the turn part is set to the near side and the route is narrowed down. Of course, instead of automatically obtaining the travel route in this way, an interface for instructing the travel route to the user may be provided.

  In this way, after the travel route from the current position to the location to be monitored by fire is obtained, the vehicle travels along the travel route in step S448. After the movement is completed, in step S500, the fire detection process is executed with the driving and steering stopped. FIG. 18 shows the flow of the fire detection process. In step S505, the brightness is acquired using the monitor cell 31b3 in the AF passive sensor 31CL. The charge accumulated in the monitor cell 31b3 before measuring the brightness is discharged in advance. In step S510, imaging in front of the front is performed by the CCD line sensor 31b1 in the AF passive sensor 31CL. The charges accumulated in the CCD line sensor 31b1 before imaging are discharged in advance. In step S515, the color corresponding to each imaging pixel is specified from the charge accumulated in each imaging pixel of the CCD line sensor 31b1. That is, by referring to the brightness-color-charge table T2, the color is specified based on the charge accumulated in each imaging pixel. At this time, the other CCD line sensor 31b2 may also perform imaging and measure.

  In step S520, from among all the imaging pixels of the CCD line sensor 31b1, the imaging pixel determined to show the flame color in step S515 is detected as the imaging pixel that has received the flame. In addition, the flame color here is defined in advance, and can be, for example, red or orange. Of course, since the color of the flame differs depending on the combustion product, it is possible to define other colors as flame colors. By referring to the brightness-color-charge table T2, the charge range corresponding to the flame color also varies according to the brightness as shown in FIG. That is, the charge range corresponding to the flame color also varies according to the amount of light incident on the monitor cell 31b3 from a peripheral external light source other than the flame.

  For example, in an average bright environment, even if the flame color is the same, there is a tendency for the accumulated charge to increase due to the large amount of light incident from an external light source other than the flame. Since the value range is shifted too much, the flame color can be determined appropriately. Conversely, in an average dark environment, even if the color of the flame is the same, there is a tendency for the accumulated charge to decrease due to the small amount of light incident from an external light source other than the flame, but the charge corresponding to the flame color accordingly. Since the value range of is shifted slightly, the flame color can be properly determined. That is, it is possible to accurately determine the flame color without depending on the light amount of an external light source other than the flame.

  Also, if the flame is bright, the amount of reflected light incident on the monitor cell 31b3 is increased when the light emitted from the flame is reflected indoors. That is, it can be said that the brightness of the flame itself can be roughly predicted by the amount of light measured by the monitor cell 31b3. Therefore, when the flame itself is bright, charges are more likely to be accumulated in the same flame color than when it is dark, but the charge value range corresponding to the flame color is larger depending on the brightness measured by the monitor cell 31b3. Since it is shifted, the flame color can be properly determined. For example, in FIG. 4, the value range of the amount of charge corresponding to green light at a brightness of 50% is equal to the value range of the amount of charge corresponding to orange light at a brightness of 100%, and the CCD line sensor 31b1. It is impossible to determine which color of light is received by only the electric charge accumulated in. However, since the brightness is known in advance in the monitor cell 31b, the color value range at the corresponding brightness can be applied. In the present embodiment, the color and brightness are determined based on the amount of charge accumulated in a certain time, but the color and brightness are determined based on the time required until the certain charge is accumulated. You may do it.

  If it is determined in step S520 that there is an imaging pixel that indicates flame color, the process waits for 30 seconds in step S525. That is, driving and steering are stopped so that the visual field of the CCD line sensor 31b1 does not fluctuate during this time. In step S530, the visual field held constant over steps S510 to S525 is imaged again by the CCD line sensor 31b1.

  In step S535, it is determined whether or not there is any increase or decrease in the pixel area determined to show the flame color in step S515. FIG. 19 schematically shows an image captured by the CCD line sensor 31b1. The upper part of the figure shows the captured image in step S510, and the lower part of the figure shows the captured image in step 530. Further, it is assumed that a flame and a red figurine are imaged as imaging targets. The cells shown in the CCD line sensor 31b1 indicate the respective imaging pixels, and the cells indicated by diagonal lines indicate the imaging pixels in which charges corresponding to the flame color (red to orange) are accumulated.

  In the upper stage, the image pickup pixel of the address corresponding to the flame and red figurine in the CCD line sensor 31b1 shows the flame color. In the lower stage, the flame is enlarged, and the pixel region B of the imaging pixel that has received the flame is also enlarged. On the other hand, the pixel area A of the imaging pixel indicating the red figurine is not changed. In step S535, a pixel area that fluctuates (increases or decreases) between step S510 and step S530, such as the pixel area B, is detected. If it is determined that the pixel area indicating the flame has changed, it is determined in step S540 that a fire has occurred. On the other hand, if there is only a pixel region A that does not vary between step S510 and step S530, it is determined in step S545 that there is no fire.

  That is, since the flame always changes its shape, the presence of the flame can be determined based on whether the pixel area indicating the flame color changes. Therefore, even if an object that shows flame color is present in the field of view, only a fire can be detected. On the other hand, if no imaging pixel indicating a flame color is detected in step S520, there is no possibility that a fire has occurred, so it is determined in step S545 that there is no fire. In order to detect a fire more accurately, steps S525 and S530 may be repeated a plurality of times to check the fluctuation of the flame from many imaging results. Of course, the imaging interval is not limited to 30 seconds.

  In step S456, the result of the fire detection process described above is recognized, and if a fire has occurred, an alarm is issued in step S453. This alarm is performed by a fire alarm device 84 provided in the option unit 80. When the fire alarm device 84 issues an alarm, the user is notified of the occurrence of a fire by generating a sound, a buzzer sound, or the like. In addition, the self-propelled cleaner starts driving the drive wheel motors 42R and 42L with the start of the alarm and goes around each room. In this way, it is possible to reliably notify the occurrence of a fire regardless of which room the user is in.

  On the other hand, if no fire is detected, the variable n is incremented in step S454, and it is determined in step S455 whether or not the circulation is completed from the value of the variable. That is, if the number of fire monitoring target locations acquired in step S444 is greater, the fire monitoring ends, and in step S456, the process returns to the first current position stored in step S442. On the other hand, if it is not the end, the process returns to step S446, and a travel route from the current position at this point to the next position to be monitored for fire is obtained.

  In the above description, the fire monitoring process is performed as an independent process, but the fire may be monitored during a normal cleaning operation. In other words, the data necessary for detecting the imaging pixel indicating the flame color in step S520 is the brightness data from the monitor cell 31b3 and the charge data from the CCD line sensor 31b1, which are also acquired during normal travel. It is possible data. In particular, the CCD line sensor 31b1 intermittently performs imaging to avoid obstacles. Therefore, it is possible to monitor fire incidentally during normal operation. If a flame color is detected during normal operation, driving and steering may be performed at the same time, and imaging may be performed again without changing the field of view.

  Moreover, you may make it acquire brightness by providing an illuminometer instead of the monitor cell 31b3. Further, in order to more accurately measure the brightness by the monitor cell 31b3, a range in which the monitor cell 31b3 captures an image for measuring the brightness may be defined at a predetermined position. That is, when the monitor cell 31b3 detects the brightness, the color in the captured range becomes noise, so that the brightness can be accurately measured by imaging a position having a certain color. For example, when the monitor cell 31b3 detects brightness, the self-propelled cleaner is driven and stopped so that the front faces the white wall each time, so that the brightness is not affected by noise due to color. Can be measured. Of course, in that case, it is assumed that the brightness-color-charge table T2 is created based on the brightness data obtained by imaging the white wall.

  Further, in the brightness measurement by the monitor cell 31b3, the brightness depending on the outside due to illumination, sunlight or the like is only measured. However, it can be considered that the flame itself emits light and emits a light beam having a specific wavelength with a specific light amount without depending on external brightness. Therefore, although it is preferable to perform brightness measurement, the present invention can be realized without necessarily performing brightness measurement. In addition, since the flame also emits light rays other than visible light, the flame may be detected based only on the accumulated charge without being bound by the color of the flame. In this case, it is desirable that the range of the charge accumulated according to the energy of the light emitted from the flame is prepared based on an experiment in which the flame is imaged in advance.

  In this case, in step S515, it is possible to detect the presence or absence of a flame by referring to a table that defines a range in which charges accumulated when a flame is imaged can be taken. That is, in the present invention, it is not always necessary to specify the color of the mapping, and it is sufficient that at least whether the mapping generates a charge corresponding to the flame can be determined. However, even in this case, the influence of external light on the optical path is unavoidable, so it is desirable to prepare a table in which different value ranges are defined for each brightness. Furthermore, it is good also considering the flame which performs an experiment beforehand by a fire monitoring object as a different thing. For example, when the fire monitoring target is a kitchen, a table based on a result of imaging a flame in which gas is burned may be referred to.

  As described above, according to the present invention, flame detection can be performed using the AF passive sensor 31CL for distance measurement provided in the self-propelled cleaner. Therefore, there is no need to newly install a fire detection camera or the like. In addition, since the AF passive sensor 31CL performs imaging at least twice (steps S510 and S530) and uses the increase / decrease in the imaging pixel area corresponding to the flame as a criterion, it is possible to reliably detect only the flame. Therefore, an obstacle having a color similar to a flame is not detected as a flame.

It is a block diagram which shows schematic structure of the self-propelled cleaner concerning this invention. It is a more detailed block diagram of the self-propelled cleaner. It is a block diagram of a passive sensor for AF. It is a graph which shows the relationship between brightness, a color, and an electric charge. It is explanatory drawing which shows the condition of the floor surface condition, and the change of ranging distance when the passive sensor for AF is oriented obliquely downward with respect to the floor surface. It is explanatory drawing which shows the ranging distance of the imaging range in case the passive sensor for AF for immediately before positions is orientated diagonally downward with respect to the floor surface. It is a figure which shows the arrangement position and ranging part of each passive sensor for AF. It is a flowchart of traveling control. It is a flowchart of cleaning travel. It is a figure which shows the indoor traveling route. It is a figure which shows the structure of an option unit. It is an appearance of a marker. It is a flowchart of a mapping process. It is a figure explaining mapping. It is a figure explaining the method of connecting the map information of each room after mapping. It is a figure which shows the setting screen of fire monitoring time and a fire monitoring object. It is a flowchart of a fire monitoring process. It is a flowchart of a fire detection process. It is a schematic diagram which shows the mode of a fire detection process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Control unit 20 ... Human body detection unit 30 ... Obstacle monitoring unit 40 ... Traveling system unit 50 ... Cleaner system unit 60 ... Camera system unit 70 ... Wireless LAN unit 80 ... Option unit

Claims (7)

In a self-propelled cleaner comprising a main body having a cleaning mechanism, a distance measuring mechanism for detecting a distance from an obstacle, and a drive mechanism for realizing steering and driving based on the distance measured by the distance measuring mechanism. ,
The distance measuring mechanism is
Ranging means for measuring the distance to the obstacle from imaging deviations in two or more CCD line sensors each constituted by a plurality of imaging pixels and provided at different positions;
Flame detection means for acquiring an accumulation degree of charge accumulated in each imaging pixel of the CCD line sensor and detecting an imaging pixel in which the obtained accumulation degree is in a value range corresponding to a flame as an imaging pixel receiving a flame; ,
Brightness detection means for acquiring brightness;
Value range changing means for changing the value range corresponding to the flame according to the brightness acquired by the brightness detection means;
When the imaging pixel that has received the flame is detected by the flame detection means, the steering and driving by the drive mechanism are stopped, and the CCD line sensor captures the image again, and the imaging pixel area that has received the flame from the imaging result Fire detection means for detecting fluctuations;
A self-propelled cleaner, comprising: an alarm unit that issues an alarm while causing the drive mechanism to perform steering and driving when the fire detection unit recognizes a change in an imaging pixel region that has received a flame. . In a self-propelled cleaner comprising a main body having a cleaning mechanism, a distance measuring mechanism for detecting a distance from an obstacle, and a drive mechanism for realizing steering and driving based on the distance measured by the distance measuring mechanism. ,
The distance measuring mechanism is
Ranging means for measuring the distance from the obstacle from imaging deviations in two or more line sensors each composed of a plurality of imaging pixels and provided at different positions;
Flame detection means for detecting an imaging pixel that has received a flame from the imaging result of the line sensor;
When an image pickup pixel that has received a flame is detected by the flame detection unit, a fire detection unit that takes an image again by the line sensor and detects a change in an image pickup pixel region that has received the flame from the image pickup result;
A self-propelled cleaner, comprising: an alarm unit that issues an alarm when the fire detection unit recognizes a change in an imaging pixel region that has received a flame. The flame detection means is
3. The image sensor according to claim 2, wherein an accumulation degree of the electric charge accumulated in the line sensor is acquired, and an imaging pixel in which the obtained accumulation degree is in a value range corresponding to the flame is detected as an imaging pixel receiving the flame. The self-propelled vacuum cleaner described. Brightness detection means for acquiring brightness;
4. The self-propelled cleaner according to claim 3, further comprising a value range changing means for changing the value range corresponding to the flame according to the brightness acquired by the brightness detecting means.   5. The drive mechanism according to claim 2, wherein the drive mechanism stops steering and drive until the fire detection unit completes another imaging after the flame detection unit detects the flame. The self-propelled vacuum cleaner described.   The self-propelled cleaner according to any one of claims 2 to 5, wherein the line sensor is a CCD sensor.   The self-propelled cleaner according to any one of claims 2 to 6, wherein the alarm means issues an alarm while causing the drive mechanism to steer and drive the self-propelled cleaner. .

Images