JP2015207120A - 自律走行体 - Google Patents
自律走行体 Download PDFInfo
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- JP2015207120A JP2015207120A JP2014086811A JP2014086811A JP2015207120A JP 2015207120 A JP2015207120 A JP 2015207120A JP 2014086811 A JP2014086811 A JP 2014086811A JP 2014086811 A JP2014086811 A JP 2014086811A JP 2015207120 A JP2015207120 A JP 2015207120A
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- 238000003384 imaging method Methods 0.000 claims abstract description 123
- 238000001514 detection method Methods 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 description 43
- 230000006870 function Effects 0.000 description 20
- 239000000428 dust Substances 0.000 description 19
- 238000000034 method Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 11
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- 230000009471 action Effects 0.000 description 3
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- 230000002265 prevention Effects 0.000 description 3
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 229910002091 carbon monoxide Inorganic materials 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- 238000012790 confirmation Methods 0.000 description 1
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- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- A—HUMAN NECESSITIES
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- A—HUMAN NECESSITIES
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
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- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- A—HUMAN NECESSITIES
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
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- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- G—PHYSICS
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- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A47L2201/022—Recharging of batteries
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Computer Vision & Pattern Recognition (AREA)
Abstract
【解決手段】電気掃除機本体11は、本体ケース20と、本体ケース20に設けられ、所定の画角で撮像可能なカメラ35と、本体ケース20を走行可能とする駆動輪と、制御手段とを有する。制御手段は、走行モードと、撮像モードとを少なくとも有する。走行モードでは、制御手段は、駆動輪の駆動を制御することで本体ケース20を自律走行させる。撮像モードでは、制御手段は、所定の撮像位置に本体ケース20を自律走行させて画角以下の角度で順次隣り合う複数の方向の静止画を撮像する。
【選択図】図1
Description
電気掃除機本体11は、例えば予め設定された掃除開始時刻となったときなど、掃除の開始のタイミングで、待機モードから掃除モードとなった制御手段37が電動送風機21、駆動輪23,23(モータ24,24)、サイドブラシ26,26(サイドブラシモータ27,27)および回転ブラシ28(ブラシモータ29)などを駆動させ、例えば充電装置12から離脱して、駆動輪23,23により床面上を自律走行しながら掃除を開始する。なお、掃除の開始位置は、電気掃除機本体11の走行開始位置、あるいは部屋Rの出入り口など、任意の場所に設定可能である。
充電装置12に電気掃除機本体11が接続された後、所定のタイミング、例えば予め設定された充電開始時刻となったとき、あるいは電気掃除機本体11が充電装置12に接続されてから所定時間が経過したときなどに、制御手段37および充電装置制御手段58はそれぞれ充電モードに移行して充電回路52を駆動させ、二次電池39の充電を開始する。そして、二次電池39の電圧が所定の使用可能電圧まで上昇したと判断すると、制御手段37および充電装置制御手段58が充電回路52による充電を停止させて充電作業を終了し、制御手段37および充電装置制御手段58がそれぞれ待機モードとなる。
図5に示すフローチャートも参照しながら説明すると、制御手段37は、外部装置16からネットワーク15を介して送信されたカメラ35での撮像を指示する外部信号である撮像指示信号を、アクセスポイント14を介して無線LANデバイス36により受信したかどうかを例えばリアルタイム、あるいは所定時間毎に判断する(ステップ1)。なお、外部装置16と電気掃除機本体11との無線通信については、例えば外部装置16毎、および、電気掃除機本体11毎にIDおよびパスワードなどを設定して接続時に認証を要求することで、不正な信号に関しては受信できないようにすることが好ましい。
20 本体ケース
23 駆動輪
31 測距手段である障害物検出手段の機能を有するセンサ部
35 撮像手段としてのカメラ
36 無線通信手段である無線LANデバイス
37 制御手段
Claims (7)
- 本体ケースと、
この本体ケースに設けられ、所定の画角で撮像可能な撮像手段と、
前記本体ケースを走行可能とする駆動輪と、
この駆動輪の駆動を制御することで前記本体ケースを自律走行させる走行モードと、所定の撮像位置に前記本体ケースを自律走行させて前記画角以下の角度で順次隣り合う複数の方向の静止画を撮像する撮像モードとを少なくとも有する制御手段と
を具備したことを特徴とした自律走行体。 - 本体ケースに設けられ、障害物を検出する障害物検出手段を具備し、
制御手段は、撮像モードにおいて、前記障害物検出手段による障害物の検出に基づいて撮像手段による撮像位置を設定する
ことを特徴とした請求項1記載の自律走行体。 - 障害物検出手段は、障害物との距離を検出することで障害物の有無を検出する測距手段であり、
制御手段は、撮像モードにおいて、前記測距手段により本体ケースの周囲の一定距離以内に障害物を検出しない位置を撮像位置とする
ことを特徴とした請求項2記載の自律走行体。 - 制御手段は、撮像モードにおいて、障害物検出手段により障害物を検出したときに、この障害物から離間する方向に所定距離移動した位置を撮像位置とする
ことを特徴とした請求項2記載の自律走行体。 - 制御手段は、撮像モードにおいて、障害物検出手段により障害物を検出した位置を撮像位置とし、その障害物と反対側を撮像手段により撮像する
ことを特徴とした請求項2記載の自律走行体。 - 無線通信可能な無線通信手段を具備し、
制御手段は、撮像モードにおいて、前記無線通信手段により無線信号を受信したときに、この無線信号を送信した対象と本体ケースとの位置関係に基づいて撮像位置を設定する
ことを特徴とした請求項1記載の自律走行体。 - 制御手段は、駆動輪の駆動を制御することで本体ケースを旋回可能である
ことを特徴とした請求項1ないし6いずれか一記載の自律走行体。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014086811A JP6599603B2 (ja) | 2014-04-18 | 2014-04-18 | 自律走行体 |
CN201580020190.6A CN106255932B (zh) | 2014-04-18 | 2015-04-16 | 自主行走体 |
US15/305,055 US9968232B2 (en) | 2014-04-18 | 2015-04-16 | Autonomous traveling body |
KR1020167009272A KR101834678B1 (ko) | 2014-04-18 | 2015-04-16 | 자율 주행체 |
PCT/JP2015/061761 WO2015159961A1 (ja) | 2014-04-18 | 2015-04-16 | 自律走行体 |
CA2945743A CA2945743C (en) | 2014-04-18 | 2015-04-16 | Autonomous traveling body |
EP15780246.3A EP3133458B1 (en) | 2014-04-18 | 2015-04-16 | Autonomous traveling body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014086811A JP6599603B2 (ja) | 2014-04-18 | 2014-04-18 | 自律走行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015207120A true JP2015207120A (ja) | 2015-11-19 |
JP6599603B2 JP6599603B2 (ja) | 2019-10-30 |
Family
ID=54324162
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014086811A Active JP6599603B2 (ja) | 2014-04-18 | 2014-04-18 | 自律走行体 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9968232B2 (ja) |
EP (1) | EP3133458B1 (ja) |
JP (1) | JP6599603B2 (ja) |
KR (1) | KR101834678B1 (ja) |
CN (1) | CN106255932B (ja) |
CA (1) | CA2945743C (ja) |
WO (1) | WO2015159961A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020039571A (ja) * | 2018-09-10 | 2020-03-19 | 日立グローバルライフソリューションズ株式会社 | 自律走行型掃除機 |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6826804B2 (ja) * | 2014-08-29 | 2021-02-10 | 東芝ライフスタイル株式会社 | 自律走行体 |
DE102015111392A1 (de) * | 2015-07-14 | 2017-01-19 | Vorwerk & Co. Interholding Gmbh | Verfahren zum Betrieb eines Flächenbearbeitungsgerätes |
DE102015113035A1 (de) | 2015-08-07 | 2017-02-09 | Vorwerk & Co. Interholding Gmbh | Flächenbearbeitungsgerät und Basisstation |
KR102434410B1 (ko) * | 2015-12-14 | 2022-08-22 | 삼성전자주식회사 | 전자장치 및 그의 동작 방법 |
KR102506421B1 (ko) * | 2016-05-26 | 2023-03-07 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
KR102601463B1 (ko) * | 2016-10-28 | 2023-11-14 | 삼성전자주식회사 | 로봇 청소기 및 그 구동 방법 |
KR20180087798A (ko) | 2017-01-25 | 2018-08-02 | 엘지전자 주식회사 | 이동 로봇 및 그 제어방법 |
CN108272392A (zh) * | 2018-02-05 | 2018-07-13 | 苏州木山云智能科技有限公司 | 一种智能扫地机器人的远程控制方法 |
US10595696B2 (en) | 2018-05-01 | 2020-03-24 | Sharkninja Operating Llc | Docking station for robotic cleaner |
US11497363B2 (en) | 2018-07-20 | 2022-11-15 | Sharkninja Operating Llc | Robotic cleaner debris removal docking station |
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CN106255932A (zh) | 2016-12-21 |
CA2945743A1 (en) | 2015-10-22 |
CN106255932B (zh) | 2020-06-09 |
CA2945743C (en) | 2019-11-05 |
EP3133458A4 (en) | 2018-03-28 |
WO2015159961A1 (ja) | 2015-10-22 |
JP6599603B2 (ja) | 2019-10-30 |
US9968232B2 (en) | 2018-05-15 |
KR20160054565A (ko) | 2016-05-16 |
EP3133458A1 (en) | 2017-02-22 |
KR101834678B1 (ko) | 2018-03-05 |
EP3133458B1 (en) | 2021-07-07 |
US20170215672A1 (en) | 2017-08-03 |
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