JP2018153375A - Electric apparatus, autonomous traveling vacuum cleaner as electric apparatus and system including electric apparatus and base - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electrical apparatus in which influence on imaging due to a bumper that an imaging part receives is reduced.SOLUTION: An electrical apparatus includes: a body; an imaging part and a bumper provided in at least part of periphery of the body and movable relative to the body. Part of the bumper is positioned on an optical axis of the imaging part. The imaging part is mounted so as to be movable with the bumper.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an electric device, an autonomous traveling type cleaner as an electric device, and a system having an electric device and a base.

  As a prior art, an autonomously traveling vacuum cleaner that cleans while moving autonomously in a room is known. Patent Document 1 is an autonomous traveling type cleaning that has cameras 51, 52, and 53 that are spaced apart from a main body case 20, image the traveling direction side of the main body case 20 so that the fields of view overlap each other, and calculate the depth of the object. The machine is disclosed.

International Publication WO2016 / 104640 Pamphlet

  The autonomous traveling type vacuum cleaner may use a bumper that is movable in the horizontal direction on the side of the main body case in order to detect this contact when an obstacle, a wall surface, or the like comes into contact with the main body case. On the other hand, when the camera is mounted so that the traveling direction side of the autonomously traveling cleaner can be photographed, it is conceivable that the camera is also installed on the side periphery. Then, depending on the installation mode of the bumper and camera, it is necessary to consider physical properties such as the refractive index of the members forming the bumper and the transmissive wavelength band, the possibility of camera position shift or damage due to contact with obstacles, etc. Arise. However, Patent Document 1 does not disclose the relationship between the camera and the bumper in view of these problems, the configuration of the camera and the bumper itself, and the like.

  The present invention made in view of the above circumstances is an electrical apparatus including a main body, an imaging unit, and a bumper provided at least in a part of the periphery of the main body and movable with respect to the main body. A part of the bumper is located on the optical axis of the part, and the imaging part is movably attached together with the bumper.

The perspective view which looked at the autonomous running type vacuum cleaner concerning Embodiment 1 from the left front. FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner according to the first embodiment. AA sectional drawing of FIG. The perspective view which removed the bumper shade of the autonomous running type vacuum cleaner which concerns on Embodiment 1, and was able to observe a bumper internal structure. The block diagram which shows the apparatus connected to the control apparatus of the autonomous running type vacuum cleaner which concerns on Embodiment 1, and a control apparatus. The perspective view which looked at the charging stand of the autonomous running type vacuum cleaner concerning Embodiment 1 from the left front. The figure which looked at the state at the time of the calibration which concerns on Embodiment 1 from the left side surface. Sectional drawing of the autonomous traveling type vacuum cleaner which concerns on Embodiment 2. FIG. The perspective view which removed the bumper shade of the autonomous running type vacuum cleaner which concerns on Embodiment 2, and made it possible to observe a bumper internal structure. The perspective view which looked at the autonomous running type vacuum cleaner concerning Embodiment 3 from the left front.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings as appropriate.

<< Embodiment 1 >>
(Autonomous vacuum cleaner S)
FIG. 1 is a perspective view of the autonomous traveling cleaner S according to the first embodiment when viewed from the left front, FIG. 2 is a bottom view of the autonomous traveling cleaner S according to the first embodiment, and FIG. 3 is AA in FIG. FIG. 4 is a perspective view showing an internal configuration of the bumper 2 with the bumper shade 2c of the autonomous traveling cleaner S according to the first embodiment removed, and FIG. 5 is a control device for the autonomous traveling cleaner S according to the first embodiment. 10 is a configuration diagram illustrating devices connected to the control device 10.

  Among the traveling directions of the autonomous traveling cleaner S, the direction in which the autonomous traveling cleaner S mainly travels is the front, the vertically upward direction is the upper direction, and the driving wheels 3 and 4 are opposed to each other. The right side and the drive wheel 4 side are the left side (see FIG. 2). That is, as shown in FIG.

  The autonomously traveling vacuum cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, the floor surface Y of the room) while moving autonomously. As the electric device, a device that can move and has an imaging unit such as a camera and has a function of detecting the fact of contact by contact with a wall or an obstacle is conceivable.

  The autonomously traveling cleaner S includes a main body case 1, a bumper 2 that covers the side periphery of the main body case 1, a pair of drive wheels 3 and 4, auxiliary wheels 5, and side brushes 8a and 8b.

(Body case 1)
The main body case 1 has an upper cover 1 u that forms at least a part of the upper surface of the autonomous traveling cleaner S and a lower case 1 s that forms at least a part of the bottom surface of the autonomous traveling cleaner S.

(Bumper 2)
The bumper 2 is provided on substantially the entire side periphery of the autonomously traveling vacuum cleaner S. Such a bumper 2 can be formed, for example, as a bottomless, generally cylindrical shape, but is provided in such a manner that at least the front side of the autonomously traveling cleaner S is movable in the horizontal direction, particularly in the front-rear direction. It only has to be. When the bumper 2 comes in contact with an obstacle or the like as the autonomous traveling cleaner S moves, the bumper 2 is pushed by the force accompanying the contact, thereby causing the inner side of the autonomous traveling cleaner S (the front side of the autonomous traveling cleaner S). When the bumper 2 is touched, it can be displaced backward). Details of the bumper 2 will be described later.

(Drive wheels 3, 4)
The drive wheels 3 and 4 are attached to the lower case 1s side, and the drive wheels 3 and 4 themselves rotate as an example of a drive unit that can move the autonomous traveling cleaner S forward, backward, and turn. It is a wheel. The drive unit can move the autonomously traveling vacuum cleaner S, which is an example of an electric device, with respect to the floor surface Y. The drive wheels 3 and 4 are arranged on both the left and right sides, and are driven to rotate by wheel units composed of travel motors 3m and 4m and a reduction gear, respectively. The drive wheels 3 and 4 are provided at the approximate center of the autonomously traveling cleaner S in the front-rear direction and on the outer side (outside) of the lower case in the left-right direction.

(Auxiliary wheel 5)
The auxiliary wheel 5 is a driven wheel and is a caster that freely rotates. The auxiliary wheel 5 is provided at the front side of the autonomously traveling cleaner S in the front-rear direction and substantially in the center in the left-right direction. The auxiliary wheels 5 together with the drive wheels 3 and 4 contribute to maintaining the lower case 1s at a predetermined height from the floor surface Y. The autonomous traveling cleaner S can be smoothly moved by the drive wheels 3 and 4 and the auxiliary wheel 5. The auxiliary wheel 5 is pivotally supported by the lower case 1s so as to be driven and rotated by the frictional force generated with the floor surface Y along with the movement of the autonomously traveling cleaner S, and to revolve 360 ° in the horizontal direction. ing.

(Side brush 8)
The side brushes 8a and 8b are provided below the lower case 1s of the autonomous traveling cleaner S, on the front side of the autonomous traveling cleaner S, near the outer periphery of the lower case in the left-right direction. . The side brushes 8a and 8b rotate so as to sweep the region outside the front of the autonomously traveling cleaner S in the direction from the outside in the left-right direction to the inside as indicated by the arrow α1 in FIG. Collect on the center rotating brush 6 (see FIG. 2) side. The side brushes 8a and 8b are driven to rotate by a side brush motor 8am and 8bm (see FIG. 5), respectively, on a rotation axis substantially perpendicular to the vertical direction. In the side brushes 8a and 8b, one or two or more hairs or hair bundles rotate.

(Control device 10)
The autonomously traveling cleaner S includes a rechargeable battery 9 and a control device 10 inside.
The rechargeable battery 9 supplies power to various sensors such as the control device 10, various motors such as the traveling motors 3 m and 4 m, the bumper sensor 19, the stereo camera 20, the front ranging sensor 21, and the floor ranging sensor 22.

  The autonomously traveling cleaner S is centrally controlled by the control device 10. The control device 10 is configured, for example, by mounting a microcomputer and peripheral circuits on a substrate. The microcomputer reads a control program stored in a ROM (Read Only Memory), develops it in a RAM (Random Access Memory), and executes various processes by being executed by a CPU (Central Processing Unit). The peripheral circuit includes an A / D / D / A converter, driving circuits for various motors, a sensor driving circuit, a charging circuit for the rechargeable battery 9, and the like.

  The control device 10 performs arithmetic processing according to the operation of the operation button 18 that can input a command by the user, or signals input from the bumper sensor 19, the distance measuring sensor 22 for the floor, the front distance measuring sensor 21, and the stereo camera 20. To output the signal after the arithmetic processing.

(Bumper 2 structure)
The bumper 2 covers, for example, a hollow bottomless cylindrical bumper frame 2a that covers at least a part of the side periphery of the main body case 1, and a bumper edge at a position where the bumper frame 2a protrudes more than the bumper frame 2a. 2b and a bumper shade 2c located outside the bumper frame 2a in the autonomous traveling cleaner S and located inside the bumper edge 2b.

  The bumper frame 2a, the bumper edge 2b, and the bumper shade 2c are installed so as to be integrally movable in the horizontal direction (front-rear and left-right directions) according to the force acting by the collision with the obstacle such as the wall.

  The bumper frame 2a can be formed into a substantially cylindrical shape with no bottom as described above, but a part thereof is formed in a flat plate shape. The bumper frame 2a includes a flat plate portion 2ap, an extended portion 2aa located on the lower end side and extending outward, and an edge fixing portion provided on the outer end of the extended portion 2aa and extending vertically. 2ab. A stereo camera 20 described later is provided on the flat plate portion 2ap.

  The bumper edge 2b is provided on the lower end side of the bumper 2, for example, and protrudes outward from the bumper frame 2a and the bumper shade 2c. The bumper edge 2b is attached to the edge fixing part 2ab.

  The bumper edge 2b is formed of a softer material than the bumper frame 2a, the bumper shade 2c, and the main body case 1, and for example, a resin material such as an elastomer can be employed. Thereby, even if the autonomously traveling vacuum cleaner S collides with furniture or the like, the furniture or the like can be prevented from being damaged.

  The bumper shade 2c is made of resin or glass that transmits light. Of the bumper shade 2c, at least the vicinity of the front distance measuring sensor 21 to be described later is formed of a material having an infrared transmittance greater than the transmittance of visible light and ultraviolet light, preferably a material that transmits only infrared light, For example, it is made of resin or glass. Thereby, a possibility that ultraviolet rays or visible light may enter the light receiving unit and erroneously recognize the distance to the obstacle can be reduced. Further, since the bumper shade 2c is located on the inner peripheral side with respect to the bumper edge 2b, when the autonomously traveling cleaner S comes into contact with an obstacle or the like, the bumper edge 2b is located before the bumper shade 2c. Easy to touch. For this reason, it can suppress that a bumper shade 2c is damaged.

  Such a bumper 2 is urged outward with respect to the main body case 1 by a pair of left and right bumper springs. When the acting force when colliding with an obstacle via the bumper 2 acts on the bumper spring, the bumper spring is deformed so as to fall inward in a plan view, and the bumper 2 body case is urged outward. 1 is allowed to move inward. When the bumper 2 moves away from the obstacle and loses its acting force, the bumper 2 returns to its original position by the biasing force of the bumper spring. Various specific embodiments of the bumper spring can be adopted.

  The movement of the bumper 2 (that is, contact with an obstacle) is detected by a bumper sensor 19 fixed to the lower case 1s. As the bumper sensor 19, for example, a photocoupler can be adopted. When the bumper 2 moves backward, the sensor light of the photocoupler is blocked, and a detection signal corresponding to a change caused by the blocking is output to the control device 10. The control device 10 controls the drive wheels 3 and 4 to move the autonomously traveling cleaner S backward, and then changes the traveling direction to keep it away from the obstacle.

(Front ranging sensor 21)
The forward distance measuring sensor 21 illustrated in FIG. 4 is an infrared sensor that detects a distance to an obstacle. In the present embodiment, the front distance measuring sensor 21 is provided at a total of five locations (one location is not shown), one at the front and two at the left and right sides. The front distance measuring sensor 21 has a light emitting unit that emits infrared light and a light receiving unit that receives reflected light that is reflected by the infrared light reflected by an obstacle. The distance to the obstacle is calculated based on the reflected light detected by the light receiving unit. Specifically, the distance to the obstacle is calculated based on the position where the reflected light is received, the time until the reflected light is received, the amount of reflected light, the intensity, and the like. These five front distance measuring sensors 21 are fixed to the bumper frame 2a between the bumper shade 2c and the bumper frame 2a.

  A part of the front distance measuring sensor 21 is located between cameras 20a and 20b described later.

(Stereo camera 20)
The stereo camera 20 is a device that calculates the distance of an object photographed from the difference in imaging between the two cameras 20a and 20b. When the positions of the objects in the imaging by the respective cameras 20a and 20b are greatly different, the objects are close to the stereo camera 20, and conversely, when the positions of the objects in the imaging are almost the same, the objects are stereo cameras. It is determined that the position is far from 20. This calculation is performed by the control device 10.

  The stereo camera 20 is fixed to the bumper 2, and is preferably located between the bumper shade 2c and the bumper frame 2a and fixed to the bumper frame 2a. In the present embodiment, the cameras 20a and 20b are located on the center side of the autonomous traveling cleaner S main body in the left-right direction.

  The cameras 20a and 20b are located at substantially the same height from the floor surface Y. Further, the two cameras 20a and 20b are positioned forward by a substantially equal distance from a virtual axis that connects the rotation axes of the drive wheels 3 and 4. Furthermore, the optical axes (shooting directions) of the cameras 20a and 20b are substantially perpendicular to the virtual axis that connects the rotation axes of the drive wheels 3 and 4, and are directed to the front of the main body. That is, the optical axes of the two cameras 20a and 20b are substantially parallel to the normal traveling direction of the autonomous traveling cleaner S, and the optical axes of the two cameras 20a and 20b are substantially parallel to each other. With such an arrangement, the positions of the two cameras 20a and 20b are greatly shifted only in the left-right direction, and the amount of shift in the left-right direction of the object captured in the imaging of the two cameras 20a, 20b is increased. Can be converted into a distance from the stereo camera 20 by proportional calculation, and the processing performed by the control device 10 can be simplified as compared with the case where the optical axis of the camera is not parallel.

  The cameras 20a and 20b are fixed substantially symmetrically with respect to the center position of the left and right width of the autonomous traveling cleaner S main body. Thereby, the obstruction etc. which adjoin to the autonomous running type vacuum cleaner S can be observed substantially equally in the left-right direction.

(Relationship between bumper 2 and stereo camera 20)
The front of the stereo camera 20 is covered with a bumper shade 2c. Thereby, it is possible to suppress the liquid such as water from being applied to the stereo camera 20. Even in the case where the bumper shade 2c is provided, at least the vicinity of the stereo camera 20 in the bumper shade 2c is made of a material that transmits visible light, for example, resin or glass, in order to suppress the occurrence of displacement or difficulty in imaging. Has been.

  The stereo camera 20 tends to decrease the accuracy of distance measurement when the orientations of the cameras 20a and 20b and the positions of the cameras 20a and 20b are shifted from each other. By supporting the bumper 2 with an impact such as contact with an obstacle by a bumper spring, it is possible to suppress a deviation in the orientation and position of the cameras 20a and 20b.

  Moreover, although the stereo camera 20 is image | photographed via the bumper shade 2c, it is not necessarily made with the uniform thickness to such an extent that the influence which the bumper shade 2c has at the time of imaging can be disregarded. When the thickness of the bumper shade 2c has a position dependency in the bumper shade 2c and the dependency is not negligible, the bumper with respect to one or both of the cameras 20a and 20b due to contact with an obstacle or the like. When the position of the shade 2c is relatively displaced, the front thickness of each of the cameras 20a and 20b varies, so that the refractive index on the optical axis changes. Thereby, imaging is distorted and an error occurs in the measurement distance.

  If the thickness of the bumper shade 2c on the optical axis of the cameras 20a and 20b does not change during autonomous running, an erroneous result may not be reflected in the calculated distance by processing such as ignoring the part where the distortion occurs. Is possible. However, when the relative position of the bumper shade 2c and the stereo camera 20 is shifted during autonomous traveling, and the thickness of the bumper shade 2c on the optical axis varies, an error occurs in the calculated distance. In order to prevent this phenomenon, it is desirable to fix the stereo camera 20 to the bumper 2 so that the relative position between the bumper shade 2c and the stereo camera 20 does not shift as in the present embodiment. That is, it is preferable that a member of the bumper 2 to which the stereo camera 20 is attached and the bumper shade 2c are integrally moved to suppress relative movement. Note that a monocular camera may be fixed to the bumper 2 instead of the stereo camera 20.

  Further, when the bumper shade 2c in the vicinity of the camera 20a or the camera 20b is scratched, a portion hidden by the imaging due to the scratch occurs, and an error occurs in the measurement distance. If the position of the hidden portion does not move with respect to the image pickup during autonomous traveling, it is possible to prevent an erroneous result from being reflected in the calculated distance by processing such as ignoring the hidden portion. In order to suppress erroneous detection, it is desirable to fix the stereo camera 20 to the bumper 2 so that the scratches on the bumper shade 2c and the relative position of the stereo camera 20 do not shift during autonomous traveling.

  The stereo camera 20 is installed in a direction in which the autonomously traveling vacuum cleaner S mainly travels (forward), and determines whether there are obstacles (such as walls, chair legs, steps such as stairs, sills, etc.) in front. In order to accurately determine the presence or absence of a step on the floor surface Y, it is preferable that the floor surface Y is captured by the two cameras 20a and 20b. For this reason, it is desirable to arrange the optical axes of the two cameras 20a and 20b so as to be substantially parallel or obliquely downward with respect to the floor surface.

  Further, in order to compare and confirm the distance calculated by imaging and the actual distance with high accuracy, it is desirable that at least a part of the bumper 2 or a part of the side brushes 8a and 8b is imaged by the two cameras 20a and 20b. Thereby, since the distance between the bumper 2 and the side brushes 8a and 8b and the two cameras 20a and 20b is known, a system for calculating the distance between the obstacle and the autonomously traveling cleaner S using this distance information. Can be improved. In addition, it is preferable that the front-end | tip part is imaged among the side brushes 8a and 8b.

  It is desirable that the cameras 20a and 20b be provided at the center of the bumper 2 in the height direction or above the center so that the bumper edge 2b does not occupy a large proportion of the imaging range. Further, the front end of the side brush 8a and / or the side brush 8b should reach the outside of the bumper edge 2b in the top view of the autonomous traveling cleaner S so that the front ends of the side brushes 8a and 8b can be imaged. Is preferred.

  By connecting the information captured by the stereo camera 20 in time series, the control device 10 allows the autonomous traveling type cleaner S for the state of the outside world (the area to be cleaned) (where an obstacle is, etc.) and the area to be cleaned. You can know your position. Based on this information, if you approach a step such as a wall, staircase, or a threshold that is lower than bumper 2 but cannot be climbed, turn around and move away from the spot, or if you approach a chair leg Can be cleaned and the path to be cleaned can be determined and modified.

  In order to perform such traveling control, the cameras 20a and 20b should recognize a wide range of situations, and preferably have a wide-angle viewing angle of 60 degrees or more. Furthermore, a camera equipped with a fisheye lens with a wide viewing angle may be used.

(Calibration (calibration))
Even with the stereo camera 20 fixed so that the positions and orientations of the cameras 20a and 20b do not deviate as much as possible, it is assumed that the cameras 20a and 20b are gradually shifted as the autonomous traveling is repeated. When the positions of the cameras 20a and 20b are shifted and an error occurs in the measurement distance, calibration is required. This calibration does not adjust the position of the stereo camera 20 itself, but corrects a coefficient or the like when converting the imaging information by the control device 10.

  FIG. 6 is a perspective view of the charging stand 30 of the autonomous traveling cleaner S, and FIG. 7 is a diagram showing a state when the autonomous traveling cleaner S is calibrated. It is the figure which looked at the state connected with 30 from the left side. In the present embodiment, the charging stand 30 will be described as an example of a base to which an autonomous traveling cleaner S as an example of an electric device is connected. However, the base does not necessarily have a charging function for the electric device. It suffices if a feedback signal can be generated so that the electrical device is connected to the base in a state where the positional relationship between the imaging unit of the electrical device and a reference point described later is substantially predetermined.

  The autonomously traveling vacuum cleaner S has a connecting portion 31 with the charging base 30 on the bottom surface. The charging stand 30 is substantially L-shaped when viewed from the side, and includes a charging stand body 30a with a built-in electronic board and installed on the floor Y, and located behind the charging stand body 30a and more than the charging stand body 30a. It has the adjustment board 30b extended toward upper direction, the charging stand terminal part 30c extended in the front direction from the charging stand body 30a, and the transmission part 30e which emits a return signal.

  A geometric pattern 30d is drawn on a surface of the adjustment plate 30b on the charging base body 30a side.

  When viewed from above, the charging base body 30a has a substantially arcuate front edge, and in a state where the autonomous traveling cleaner S is connected to the charging base 30, it has a shape along the front edge of the bumper edge 2b. . That is, the bumper edge 2b and the charging base body 30a are in a shape relationship in which the front edges of the bumper edge 2b and the charging base body 30a can substantially contact each other in a wide range. Accordingly, when the autonomous traveling cleaner S is connected to the charging stand 30, it is possible to guide the orientation of the autonomous traveling cleaner S relative to the charging stand 30 to be substantially constant. In order to effectively perform such guidance, it is preferable that the front edge of the charging base body 30a and the front edge of the autonomous traveling cleaner S are not substantially linear but curved.

  During charging, the bumper edge 2b of the autonomous traveling cleaner S and the charging base body 30a match, and the charging terminal 31 and the charging base terminal 30c provided on the bottom surface of the autonomous traveling cleaner S are electrically connected. Is done. In these electrical connections, the autonomous traveling cleaner S detects a feedback signal generated by the charging stand 30, and the charging terminal 31 and the charging stand terminal portion 30c are electrically connected using information of the feedback signal. It can be achieved by performing so-called feedback control, which moves until it reaches a predetermined value, by various known methods. The calibration can be performed in a state where the charging terminal 31 and the charging stand terminal unit 30c are electrically connected (connected state). By performing in this state, it is easy to make the positional relationship between the stereo camera 20 and the geometric pattern 30d substantially constant.

  Calibration is performed using the geometric pattern 30d as a reference point. If the distance between the reference point and the two cameras 20a and 20b is too short, the reference point may be out of the viewing angle of the cameras 20a and 20b, and the image may not be captured and calibration may not be performed. The reference point is not limited to the pattern drawn on the surface such as the geometric pattern 30d, and various known points that can be used for the calibration process can be adopted.

  In order for both of the two cameras 20a and 20b to capture the geometric pattern 30d, the surface of the adjustment plate 30b on which the geometric pattern 30d is drawn is located behind the front edge of the charging base body 30a. The stereo camera 20 and the geometric pattern 30d are preferably separated from each other by 20 mm or more in a connected state. For example, when the distance between the stereo cameras 20 is 50 mm, the lateral width of one of the small patterns 30da constituting the geometric pattern 30d is 20 mm, and the viewing angle of one camera is 120 degrees, the stereo camera 20 and the geometric pattern By separating 30d by 20 mm or more, at least one small pattern 30da can be captured by two cameras. In the present embodiment, the small patterns 30da are arranged in the vertical direction and the horizontal direction over the dimension of three small patterns 30da.

  In this way, the stereo camera 20 is calibrated with the autonomous traveling cleaner S positioned in front of the charging stand 30. In the state where the autonomous traveling type cleaner S and the charging stand 30 are connected, the distance from the two cameras 20a, 20b to the reference point is known, and imaging from the two cameras 20a, 20b is based on this known distance. By measuring the deviation, correction factors for conversion calculation from imaging are corrected.

  Further, calibration of the front distance measuring sensor 21 may be performed in the connected state. Since the distance from the front distance measuring sensor 21 in the connected state (particularly the front distance measuring sensor 21 located between the two cameras 20a and 20b) to the adjustment plate 30b is known, the front distance measuring sensor 21 in this state is known. The front distance measuring sensor 21 can be calibrated so that the detected value (detected distance) matches this known value. Thus, since the calibration of the front distance measuring sensor 21 is also possible, it is preferable that the adjustment plate 30b has a dimension that can reach the optical axis of a plurality of or all of the front distance measuring sensors 21. In this case, the adjustment plate 30b is preferably formed of a material having a relatively high reflectance with respect to the wavelength of light or sound output from the front distance measuring sensor 21 (for example, infrared rays). For example, a PSD sensor can be used as the front distance measuring sensor 21.

  Further, based on the detection value of the front distance measuring sensor 21, it is possible to determine whether the calibration of the stereo camera 20 is not executed. For example, when the autonomously traveling vacuum cleaner S does not return vertically to the charging stand 30 (when it does not return vertically to the adjustment plate 30b), the detection value of the front ranging sensor 21 is vertical. The value is different from the case of returning to. In this case, since it is considered that the optical axis of the stereo camera 20 is not perpendicular to the geometric pattern 30d, the calibration can be prevented from being performed. Alternatively, in this case, the main body position is controlled by controlling the drive wheels 3 and 4 so that the detection value of the front distance measuring sensor 21 approaches the detection value when the optical axis of the stereo camera 20 is perpendicular to the geometric pattern 30d. Can then be calibrated.

  It is preferable that the driving wheels 3 and 4 are controlled such that the autonomously traveling cleaner S is turned around and stopped at a place where the detection value of the front distance measuring sensor 21 is substantially minimum. In this way, the distance between the stereo camera 20 and the geometric pattern 30d during calibration can be kept substantially constant.

  In addition, it is desirable that the allowable connection angle (the angle determined to be in the connected state) between the autonomous traveling vacuum cleaner S that performs calibration and the charging stand 30 be within about 10 degrees from the vertical state. For example, the distance between the cameras 20a and 20b is 50 mm, the viewing angle of each camera 20a and 20b is 120 degrees, the distance between the stereo camera 20 and the geometric pattern 30d is 20 mm, and the lateral pixels of the cameras 20a and 20b are 16 pixels. When the pixel is used, the shift in the connection angle between the autonomously traveling cleaner S and the charging stand 30 is set to 10 degrees or less, so that the shift in imaging during calibration falls within one pixel.

  The timing of the calibration is not limited as long as it is connected to the charging stand 30 regardless of whether charging is in progress. For example, it may be performed after completion of charging or before starting charging. If the positions and orientations of the cameras 20a and 20b are shifted to such a degree that they cannot be corrected by calibration, the fact is detected through calibration and notified to the user, for example, by the display panel 17 provided on the upper case 1u side. May be.

<< Embodiment 2 >>
The configuration of the present embodiment can be the same as that of the first embodiment except for the following points. FIG. 8 is a cross-sectional view of the autonomously traveling cleaner S of the present embodiment. The bumper shade 2c is a recess 2ca in which a portion in the vicinity of the optical axis of the stereo camera 20 is recessed inward (toward the center of the main body). Thereby, the damage of the recessed part 2ca etc. can be suppressed.

  FIG. 9 is a perspective view of the autonomous traveling cleaner S of the present embodiment with the bumper shade 2c removed.

  The autonomously traveling cleaner S of the present embodiment is equipped with three cameras 20a, 20b, and 20c as imaging units. Specifically, as compared with the first embodiment, a third camera 20c is provided between the cameras 20a and 20b. The camera 20c is located approximately at the center of the left-right width of the main body. The optical axis (photographing direction) of the camera 20c is substantially perpendicular to the virtual axis connecting the drive wheels 3 and 4, and is directed to the front of the main body. The optical axes of the three cameras 20a, 20b, and 20c are forward and substantially parallel.

  According to the present embodiment, the control device 10 can handle the first stereo camera using the imaging of the camera 20a and the camera 20c, and can measure the distance to the obstacle in the area on the right front of the main body. Moreover, the control apparatus 10 can handle as a 2nd stereo camera using the imaging of the camera 20b and the camera 20c, and can measure the distance to the obstruction of the area | region of the main body left front.

  In this way, the control of capturing the image of the substantially central camera 20c in combination with the camera 20a located on one side with respect to the camera 20c and the position on the other side opposite to the one side with respect to the camera 20c. It is possible to perform control for imaging in combination with the camera 20b.

  Furthermore, the control apparatus 10 can treat as a 3rd stereo camera using the imaging of the camera 20a and the camera 20b, and can measure the distance to the obstruction of the area | region ahead of a main body. The cameras 20a and 20b constituting the third stereo camera have a greater distance between the cameras than the other combinations of stereo cameras described above. For this reason, since the deviation | shift amount of the imaging by each camera becomes large, the distance to an obstacle can be measured more correctly. In this way, since three sets of stereo cameras can be configured using three cameras, the positions of obstacles and the like on the right front, left front, and front distance of the main body are grasped.

  In this way, the three cameras 20a, 20b, and 20c can be used as three sets of stereo cameras, so that the number of cameras to be used can be reduced, and obstacles in a wide range of areas can be used. The distance can be grasped, and obstacles can be avoided more.

In the present embodiment, three cameras have been described as an example, but a plurality of stereo cameras may be configured using a larger number of cameras.
In addition, since the range which can be monitored can be expanded by using a plurality of stereo cameras as in the present embodiment, the front distance measuring sensor 21 can be provided at only one place on each of the left and right side surfaces. Thereby, the cost concerning the front distance measuring sensor 21 can be reduced.

<< Embodiment 3 >>
The configuration of the present embodiment can be the same as that of the first embodiment except for the following points. FIG. 10 is a perspective view of the autonomously traveling cleaner S according to the third embodiment as viewed from the left front. The autonomously traveling vacuum cleaner S of the present embodiment is formed as a hole 2ca in which a portion on the optical axis of the cameras 20a and 20b is a gap. In this manner, by setting the portions on the optical axis of the cameras 20a and 20b in the bumper shade 2c as gaps, it is possible to reduce the influence on imaging while protecting the stereo camera 20 in other portions of the bumper shade 2c. The size of the hole 2ca can be set so that the bumper shade 2c does not cover the optical axes of the cameras 20a and 20b before and after the bumper 2 is moved in consideration of the movable range of the bumper 2.

  The autonomous traveling type vacuum cleaner according to the present invention has been described in detail with the embodiment. Needless to say, the content of the present invention is not limited to the embodiment, and can be appropriately modified and changed without departing from the spirit of the present invention. Moreover, although the autonomous traveling type vacuum cleaner was explained as an example of the electric device, the same effect can be obtained when applied to a moving body that travels or flies on the floor.

1 Body Case 2 Bumper 2a Bumper Frame 2b Bumper Edge 2c Bumper Shade 2ca Holes 3 and 4 Drive Wheel 6 Rotating Brush 8 Side Brush 9 Rechargeable Battery 11 Suction Fan 12 Dust Collection Case 14 Suction Port 20 Stereo Camera 21 Distance Sensor 30 Charging Stand (base)
S autonomous running type vacuum cleaner

Claims (10)

The body,
An imaging unit;
An electric device provided on at least a part of the periphery of the main body and having a bumper movable with respect to the main body,
A part of the bumper is located on the optical axis of the imaging unit,
The electrical apparatus, wherein the imaging unit is movably attached together with the bumper. The bumper includes a bumper frame, and a bumper shade located outside the bumper frame with respect to the main body.
The imaging unit is located between the bumper frame and the bumper shade,
2. The electric device according to claim 1, wherein a portion of the bumper shade on the optical axis of the imaging unit is formed of a material that transmits visible light or is a hole. Having two or more of the imaging units;
The bumper frame has a flat plate portion on a substantially flat plate,
The electrical apparatus according to claim 2, wherein two or more of the imaging units are attached to the flat plate part. A front ranging sensor between the two imaging units;
The portion of the bumper shade on the optical axis of the front distance measuring sensor is formed of a material having an infrared transmittance greater than that of visible light and ultraviolet light. Electrical equipment.   5. The electric device according to claim 3, wherein the bumper shade has a recess in which one or more or all of the portions on the optical axis of the image pickup unit are recessed. Having two or more of the imaging units fixed;
6. The electrical device according to claim 1, wherein one or more of the imaging units include a part of the electrical device in an imaging range. Autonomous traveling type vacuum cleaner as an electric device having a bumper edge located outside the bumper shade with respect to the main body, or a side brush that rotates on a rotation axis substantially perpendicular to the vertical direction,
The autonomous traveling type vacuum cleaner according to claim 6, wherein one or two or more of the imaging units include the bumper edge or the side brush in an imaging range. Having three of the imaging units,
The electric apparatus according to claim 1, wherein the three imaging units are used as three sets of stereo cameras. A base having a reference point and a transmitter that emits a feedback signal;
A system comprising: a connection part that can be electrically connected to the charging base; and the electric device according to any one of claims 1 to 8, comprising two or more imaging parts.
The electric device is in a connection state in which the electric device is connected to the base using the feedback signal, and calibration is executed in the connection state.   The system according to claim 9, wherein the front edge of the electric device has a curved shape along the front edge of the charging stand in a connected state with the charging stand.

Images