JP2019030738A - Self-propelled vacuum cleaner and program for self-propelled vacuum cleaner - Google Patents

Abstract

To perform control on whether a movement is performed based on a determination result by determining whether a liquid exists inside when a cleaned object detected during a cleaning operation is a container.SOLUTION: A self-propelled vacuum cleaner includes: detection means for detecting a cleaned object during a cleaning operation while performing autonomous traveling; determination means for determining whether a cleaned object detected by the detection means can be moved; movement means capable of moving a cleaned object to a different position; and movement control means for controlling the movement means on the basis of a determination result of the determination means so as to control performance of a movement of a cleaned object. The detection means has a function of discriminating whether a detected cleaned object is a container. The determination means includes liquid presence/absence determination means for determining whether a liquid exists inside a container when it is discriminated that the detected cleaned object is a container. The movement control means controls performance of a movement of a cleaned object on the basis of a determination result of the liquid presence/absence determination means.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a self-propelled electric vacuum cleaner and a program for the self-propelled electric vacuum cleaner.

  2. Description of the Related Art In recent years, a self-propelled electric vacuum cleaner that includes a rechargeable battery as a power source and a traveling drive unit that performs autonomous traveling (hereinafter referred to as self-propelled) and performs a cleaning operation while self-propelled is known ing. Conventionally, in this type of self-propelled electric vacuum cleaner, even if there is an obstacle in the cleaning area such as the room to be cleaned, A technique has been proposed that allows the self-propelled cleaning operation to be performed without hindrance.

  For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2011-233149) provides a cleaning map created during cleaning or traveling, and includes a robot cleaner that provides a monitoring image of a specific position or region, thereby cleaning the robot. A technique for controlling a robot cleaner to move to a specific position or region on a map or to clean the corresponding region is disclosed.

  Patent Document 2 (Japanese Patent Application Laid-Open No. 2004-33340) discloses room map data in which obstacles in a room are registered, attribute data in which attributes of obstacles are stored, and a cleaning route in which cleaning routes are stored. And a vacuum cleaner that can perform a cleaning operation without hindrance by performing self-propelled movement avoiding registered obstacles. And in patent document 2, it is equipped with the obstacle detection sensor which detects an obstacle, and when cleaning and the obstacle which is not registered are encountered, cleaning route is rebuilt and cleaning is restarted. It is disclosed that the cleaning operation can be performed while avoiding the unregistered obstacle.

JP 2011-233149 A JP 2004-33340 A

  However, Patent Document 1 does not disclose any coping method when an object that does not exist in the cleaning map appears.

  On the other hand, in Patent Document 2, when an object that does not exist (not registered) appears in the cleaning map, the cleaning route is reconstructed so as to avoid the object and run, so there is an object that does not exist in the cleaning map. It is possible to deal with when it appears.

  However, in the technique of Patent Document 2, since the cleaning route that avoids an object that does not exist in the cleaning map is reconstructed, the area that is not cleaned increases due to the object that does not exist in the cleaning map. was there.

  Therefore, it may be possible to move objects that do not exist on the cleaning map before starting cleaning or during the cleaning operation, but by moving these objects from their original positions, the user There is an inconvenience that the location of the object is unknown.

  In view of the above, the present invention can greatly reduce the area that is not cleaned even if an obstacle or an object that does not exist on the cleaning map appears during the cleaning operation, and can be used after the cleaning is completed. It is an object of the present invention to provide a self-propelled electric vacuum cleaner that can prevent an inconvenience that a person cannot know the location of those objects.

In order to solve the above problems, the invention of claim 1
A traveling drive unit for autonomous traveling;
In the cleaning operation while autonomously running, a detection means for detecting a non-cleaning object,
Determination means for determining whether or not the non-cleaning object detected by the detection means can be moved;
Moving means capable of moving the non-cleaning object to another position;
Movement control means for controlling the movement means based on the determination result of the determination means, and performing execution control of movement of the non-cleaning object;
With
The detection means has a function of determining whether or not the detected non-cleaning object is a container,
The determination means includes liquid presence / absence determination means for determining whether or not liquid is contained in the container when the detection means determines that the detected non-cleaning object is a container,
The movement control means provides execution control of the movement of the non-cleaning object according to the determination result of the liquid presence / absence determination means of the determination means.

  In the self-propelled electric vacuum cleaner according to the first aspect of the present invention, when a non-cleaning object is detected during a cleaning operation while self-propelled, it is determined whether to move the non-cleaning object. When it is determined that the object can be moved, the moving means moves the non-cleaning object to another place and performs the cleaning operation.

  And in the self-propelled electric vacuum cleaner of the invention of claim 1, the detection means further has a function of determining whether or not the detected non-cleaning object is a container, and the determination means comprises: When the detection means determines that the detected non-cleaning object is a container, the detection means includes a liquid presence / absence determination means for determining whether or not liquid is contained in the container. The movement control means controls the execution of the movement of the non-cleaning object according to the determination result of the liquid presence / absence determination means of the determination means.

  As a result, when the non-cleaning object is a container and liquid is contained, even if the non-cleaning object is a non-cleaning object, the movement can be avoided, and the liquid in the container is spilled due to the movement. This can be prevented.

  According to the self-propelled electric vacuum cleaner according to the present invention, when the non-cleaning object detected during the cleaning operation is a container, it is determined whether or not liquid is contained, and whether or not to move is controlled based on the determination result. Therefore, it is possible to prevent the liquid in the container from being spilled by movement, which is very convenient.

It is a figure which shows the structural example of the mechanism part of embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure which shows the structural example of the mechanism part of embodiment of the self-propelled electric vacuum cleaner by this invention. It is a block diagram which shows the electrical structural example in embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure used in order to demonstrate the principal part of the structural example of embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example in embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example in embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure which shows a part of flowchart for demonstrating the process operation example in embodiment of the self-propelled electric vacuum cleaner by this invention. It is a figure which shows the structural example of the mechanism part of the self-propelled vacuum cleaner which comprises other embodiment of the self-propelled vacuum cleaner by this invention. It is a figure which shows the structural example of the mechanism part of the self-propelled vacuum cleaner which comprises other embodiment of the self-propelled vacuum cleaner by this invention. It is a figure used in order to demonstrate the principal part of the structural example of other embodiment of the self-propelled electric vacuum cleaner by this invention.

  An embodiment of a self-propelled electric vacuum cleaner according to the present invention will be described with reference to the drawings.

  A self-propelled vacuum cleaner of this embodiment includes a self-propelled vacuum cleaner, and a cleaning support server device (hereinafter simply referred to as a server device) connected to the self-propelled vacuum cleaner through a wireless communication path. Consists of. In the embodiment described below, for example, a Bluetooth (registered trademark) short-range wireless communication path is used as the wireless communication path. The wireless communication path is not limited to this, and a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) or other wireless communication means may be used. The server device can be composed of, for example, a personal computer, or can be composed of a high-function mobile phone terminal called a so-called smartphone. In this example, the server device is a personal computer.

[Outline of processing of self-propelled electric vacuum cleaner of this embodiment]
The self-propelled vacuum cleaner that constitutes the self-propelled electric vacuum cleaner of this embodiment has a traveling drive unit for performing self-propelling, and a traveling direction and other directions during a cleaning operation while self-propelled. An image pickup unit for photographing, a moving unit for moving an uncleaned object during the cleaning operation, a control unit for controlling the traveling drive unit and the moving unit, and wirelessly transmitting captured image information captured by the image pickup unit to the server device And wireless communication means for receiving transmission information from the server device.

  On the other hand, the server device uses the captured image information sent from the vacuum cleaner to detect a non-cleaning object during the cleaning operation while the vacuum cleaner is self-propelled, and the detection unit A determination means for determining whether or not the detected non-cleaning object can be moved, and a determination result by the determination means is transmitted to the vacuum cleaner, and the captured image information is received from the vacuum cleaner. A wireless communication unit.

  Then, the self-propelled vacuum cleaner captures the traveling direction and other directions by the imaging unit during the cleaning operation while self-propelled, and sends the captured image information to the server device through the wireless communication path.

  The server device analyzes the received captured image information and executes a process for detecting the non-cleaning target. And when a non-cleaning target object is detected, a server apparatus judges whether the detected non-cleaning target object is movable, and transmits the judgment result to a vacuum cleaner through a wireless communication path.

  When the vacuum cleaner analyzes the determination result received from the server device and determines that a movable non-cleaning object is detected, the vacuum cleaner moves the non-cleaning object using the moving means. Thus, the electric vacuum cleaner performs a cleaning operation while the movable non-cleaning object moves to another place.

  As will be described later, in this embodiment, the movement may be performed by pushing and moving the non-cleaning object, grasping with a manipulator described later, and grasping and lifting (pickup). That is, the manipulator of this example has both functions of a means for gripping and lifting a non-cleaning object. The vacuum cleaner of this example has a function as means for gripping a non-cleaning object by a manipulator and moving it as it is, and a function as means for gripping and lifting and moving a non-cleaning object by a manipulator.

  Further, in this embodiment, the electric vacuum cleaner includes a cleaning map prepared in advance, and performs a cleaning operation while self-propelled in a cleaning area based on the cleaning map. In this embodiment, the electric vacuum cleaner moves the movable non-cleaning object to a predetermined location that is predetermined from the cleaning map and does not interfere with the cleaning operation while self-propelled. . And after cleaning operation | movement is complete | finished, it has the function to return the non-cleaning target object which has moved to the predetermined place to the original position.

[Mechanical configuration example of self-propelled vacuum cleaner]
FIG.1 and FIG.2 is a figure for demonstrating the external appearance structure of the self-propelled electric vacuum cleaner 10 which comprises the self-propelled electric vacuum cleaner of this embodiment. 1A is a view of the self-propelled electric vacuum cleaner 10 of this example as viewed from the upper surface 10a side, and FIG. 1B is a side view of the self-propelled electric vacuum cleaner 10 of this example. It is the figure seen from the direction. FIG. 2A is a view of the self-propelled electric vacuum cleaner 10 of this example as viewed from the bottom surface 10b side including the suction port 11, and FIG. 2B is a self-propelled electric vacuum cleaner of this example. It is the figure which looked at the machine 10 from the front advancing direction at the time of cleaning operation. 1A, 1B, and 2A, an arrow AR indicates a traveling direction (forward direction) during the cleaning operation of the self-propelled electric vacuum cleaner 10.

  As shown in FIG.1 and FIG.2, the self-propelled electric vacuum cleaner 10 of this example is provided with the substantially rectangular flat board-shaped housing | casing. As shown in FIG. 1A, for example, a touch-type operation button group 12 is provided on the upper surface 10a of the electric vacuum cleaner 10, and a receiving unit 13 for a remote controller is provided. The touch-type operation button group 12 includes, for example, a start / stop button for driving start and stop of the electric vacuum cleaner, a mode for determining whether to turn on a mode for performing a cleaning operation while moving a non-cleaning target A button, a charging button for controlling charging start and stop, and the like are provided.

  The touch-type operation button group 12 includes, for example, an LCD (Liquid Crystal Display) and a touch panel, and the LCD can perform predetermined display such as charging. ing. The receiver 13 for remote control can start driving, stop driving, and control the mode of the vacuum cleaner in this example upon receiving, for example, an infrared remote control signal from a remote control transmitter (not shown).

  Moreover, the suction port 11 is provided in the bottom face 10b of this vacuum cleaner 10, as shown to FIG. 2 (A). And as shown with a dotted line in FIG.2 (B), in the housing | casing of the vacuum cleaner 10, it communicates with the suction inlet 11, and collects the non-cleaning objects other than the suctioned cleaning object and the cleaning object. A dust collection chamber 14 is provided. Although not shown in FIGS. 1 and 2, a suction drive unit for sucking a cleaning object into the dust collection chamber 14 is provided in the housing of the electric vacuum cleaner 10.

  And the vacuum cleaner 10 of this embodiment is provided with the flexible brush 15 and the rolling brush 16 in the suction inlet 11, as shown to FIG. 2 (A). And the roller 17 is provided in the approximate center ahead of the advancing direction at the time of cleaning operation | movement with respect to the position of the suction inlet 11 of the bottom face 10b of the housing | casing of the vacuum cleaner 10. FIG. The roller 17 is attached so as to be rotatable in a plane in which the axial direction of the rotation shaft is parallel to the bottom surface 10b. For this reason, the axial center direction of the rotating shaft of the roller 17 can be directed not only in a direction orthogonal to the arrow AR but also in an arbitrary direction. Further, on both sides of the suction port 11 on the bottom surface 10b, wheels (wheels) 18 and 19 that are rotationally driven by a traveling drive unit (not shown in FIG. 2) are provided.

  When the wheels 18 and 19 are driven and rotated by the travel drive unit, the vacuum cleaner 10 is self-propelled. However, as described above, the roller 17 can rotate with any direction as the rotation axis direction. The vacuum cleaner 10 not only travels straight in the direction of the arrow AR, but can also rotate and travel and move in an arbitrary direction intersecting the arrow AR. Further, the electric vacuum cleaner 10 can also travel backward in the direction opposite to the arrow AR by controlling the rotation direction of the wheels by the travel drive unit.

  And in this embodiment, the vacuum cleaner 10 is provided with an imaging part. That is, the camera 21 is provided on the side surface of the housing in front of the roller 17 of the vacuum cleaner 10 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 10b. In this embodiment, an oblique direction, which is a direction intersecting the direction indicated by the arrow AR, is set as an imaging direction (optical axis direction) at a substantially corner portion of the side surface of the housing where the camera 21 is provided. Cameras 22 and 23 are provided. As with the camera 21, the optical axis direction of the cameras 22 and 23 may be such that the shooting direction (optical axis direction) is substantially parallel to the bottom surface 10b, but in this example, It is attached slightly upward. Further, a camera 24 is provided on the side surface of the housing behind the roller 17 of the vacuum cleaner 10 so that the photographing direction (optical axis direction) is substantially parallel to the bottom surface 10b.

  The camera 21 captures the front of the self-propelled electric vacuum cleaner 10 in the traveling direction at a predetermined angle of view. In addition, the cameras 22 and 23 capture an oblique right direction and an oblique left direction of the traveling direction with a predetermined angle of view. Further, the camera 24 captures the rear side of the traveling direction of the self-propelled electric vacuum cleaner 10 with a predetermined angle of view.

  In this embodiment, when a non-cleaning object is recognized, the images of the cameras 21 to 24 are associated with identification information (non-cleaning object ID) of the recognized non-cleaning object as an image of the position. Try to remember. And the vacuum cleaner 10 sends the picked-up image information which provided non-cleaning target object ID to a server apparatus.

  The above cameras 21 to 24 include, for example, a CCD image sensor, a CMOS image sensor, and an imaging lens.

  The vacuum cleaner 10 includes moving means that is controlled according to the determination result by the moving possibility determination means. In this embodiment, the moving means is constituted by a manipulator 30 having a so-called magic hand.

  In this example, as shown in FIGS. 1 and 2, the manipulator 30 is provided on the right side surface in the traveling direction of the electric vacuum cleaner 10. The manipulator 30 includes an expansion / contraction sliding link mechanism unit 31, a rotation link mechanism unit 32, and a magic hand unit 33.

  The expansion / contraction sliding link mechanism 31 is formed by coupling an expansion / contraction sliding link 31b to an expansion / contraction sliding base 31a, and is expanded / contracted by an expansion / contraction sliding drive (not shown) provided in the expansion / contraction sliding base 31a. The sliding link portion 31 b is configured to be able to expand and contract in a direction along the side surface of the housing of the electric vacuum cleaner 10. The telescopic sliding drive unit provided in the telescopic sliding base 31a is controlled by a control signal from a control unit provided in the vacuum cleaner 10, for example, a microcomputer, as will be described later, and the telescopic sliding link. The part 31b is controlled to expand and contract along the side surface of the housing of the vacuum cleaner 10.

  The rotation link mechanism 32 includes a rotation base 32a and a rotation arm 32b. The rotation base 32 a is provided to be coupled to the tip of the telescopic sliding link part 31 b of the telescopic sliding link mechanism part 31. The turning arm portion 32b is attached to the turning base portion 32a so as to turn around the turning base portion 32a. And the rotation drive part (illustration omitted) provided in the rotation base 32a is controlled by the control signal from the control part with which the vacuum cleaner 10 is provided, and the rotation arm part 32b is the vacuum cleaner 10's. In the plane along the side surface of the housing, the rotation is controlled so that the rotation base 32a is the rotation center.

  The magic hand portion 33 includes a connection / coupling portion 33a, a connection arm portion 33b, and a grip portion 33c. The connecting and coupling part 33 a is coupled to the tip of the turning arm part 32 b of the turning link mechanism part 32. The connecting arm portion 33b is connected to the connecting and connecting portion 33a in such a manner that the connecting arm portion 33b itself can rotate about its axial direction. The grip part 33c is attached to the tip of the connecting arm part 33b.

  The gripping portion 33c is obtained by attaching two arc-shaped gripping arms 331 and 332 to the driving fulcrum portion 333 so as to face each other. In the initial state, the gripping arms 331 and 332 are in a state in which their tips are opposed to each other by a predetermined distance as shown in FIG. In the magic hand portion 33 of this example, the grip arms 331 and 332 have the same mechanism as that of the well-known magic hand, with the driving fulcrum portion 333 as the driving fulcrum, as shown by the arrow HL in FIG. The tip of the arm is driven so as to approach the object so that the substance can be gripped.

  In this example, the connecting and coupling part 33a is provided with a grip arm driving part (not shown). This gripping arm drive unit operates to apply a tensile force toward the coupling coupling portion 33a to the driving fulcrum portion 333 and the gripping arms 331 and 332 of the gripping portion 33c via the coupling arm portion 33b. With this pulling force, the gripping arms 331 and 332 are driven with the driving fulcrum portion 333 as a driving fulcrum so that the tips of the arms approach each other as indicated by an arrow HL. That is, the grip arms 331 and 332 operate to grip a non-cleaning target. And the grip arm drive part provided in the connection coupling part 33a is controlled by the control signal from the control part with which the vacuum cleaner 10 is provided, and is controlled so that the grip operation of the grip arms 331 and 332 can be performed. .

  Further, the coupling / coupling portion 33a is also provided with a mechanism for controlling the rotation of the coupling arm portion 33b around the axial center direction, and the direction of the surface including the two gripping arms 331 and 332 is always electric, for example. Control to maintain a state parallel to the upper surface 10a of the housing of the vacuum cleaner 10 or a state in which the direction of the surface including the two gripping arms 331 and 332 is orthogonal to the upper surface 10a of the housing of the vacuum cleaner 10 It can be controlled to become.

  The manipulator 30 configured as described above receives the control signal from the control unit of the vacuum cleaner 10 and grips the detected non-cleaning object, The position of the rotation base portion 32a of the rotation link mechanism portion 32 is slid and moved, and the rotation arm portion 32b of the rotation link mechanism portion 32 is moved to the position of the connecting and coupling portion 33a of the magic hand portion 33. It is rotated so that it is in the vicinity of the position. And the control part of the vacuum cleaner 10 controls the two grip arms 331 and 332 of the magic hand part 33 to positions where the non-cleaning object can be gripped, coupled with the travel control of the vacuum cleaner 10. At that position, the non-cleaning object is gripped by the gripping arms 331 and 332. In this control, the control unit causes the travel drive unit 122 to travel and control the position while also referring to the captured image information of the cameras 21 to 24.

[Description of Electrical Configuration Example of Self-Propelled Vacuum Cleaning Device of Embodiment]
FIG. 3 is a diagram showing an electrical circuit configuration of the vacuum cleaner 10 of the self-propelled vacuum cleaner of this embodiment and the server device 40 wirelessly connected to the vacuum cleaner 10 via the wireless communication path 50. is there.

[Circuit configuration example of the vacuum cleaner 10]
First, a circuit configuration example of the vacuum cleaner 10 will be described.

  As shown in FIG. 3, the vacuum cleaner 10 has a suction control unit 102, a travel control unit 103, and a manipulator control through a system bus 100 with respect to a control unit 101 having a microcomputer as shown in FIG. 3. Unit 104, operation unit 105, wireless communication unit 106, transmission image information generation unit 107, reception information analysis unit 108, cleaning area map data storage unit 109, cleaning area self-position detection unit 110, The cleaning object detection unit 111, the position image storage unit 112, the control signal generation unit 113, and the cameras 21 to 24 are connected.

  A suction drive unit 121 is connected to the suction control unit 102, and a travel drive unit 122 is connected to the travel control unit 103. The suction drive unit 121 is for sucking a cleaning object from the suction port 11. The traveling drive unit 122 rotates the wheels 18 and 19 so that the electric vacuum cleaner 10 is self-propelled.

  When receiving a cleaning start instruction input through the operation unit 105, the control unit 101 supplies a drive start control signal to the suction drive unit 121 and the travel drive unit 122 through the suction control unit 102 and the travel control unit 103. Is started, and an automatic cleaning operation is started while the electric vacuum cleaner 10 is self-propelled. Further, when receiving a cleaning stop instruction input through the operation unit 105, the control unit 101 supplies a drive stop control signal to the suction drive unit 121 and the travel drive unit 122 through the suction control unit 102 and the travel control unit 103. The driving of the suction drive unit 121 and the travel drive unit 122 is stopped, and the automatic cleaning operation by the electric vacuum cleaner 10 is stopped.

  Furthermore, in this embodiment, when the control unit 101 receives control instruction information from the server device 40 through the wireless communication unit 106 based on the cleaning support program stored in the built-in memory, the control instruction information Is generated and supplied to the suction drive unit 121 and the travel drive unit 122 through the suction control unit 102 and the travel control unit 103 to control the drive.

  The manipulator control unit 104 includes a rotation driving unit provided in the above-described rotation base 32a, an expansion / contraction sliding drive provided in the expansion / contraction sliding base 31a, and a gripping arm provided in the coupling / coupling unit 33a. Each of the drive units is connected to each other independently, and is configured to be driven and controlled independently of each other.

  When the control unit 101 receives an instruction to move the non-cleaning object detected during the cleaning operation from the server device 40, the control unit 101 moves according to the movement mode indicated by the movement instruction based on the cleaning support program described above. Process. For example, when the movement instruction is an instruction to pick up and move the detected non-cleaning object, the control unit 101 controls the manipulator 30 to perform the pickup operation based on the cleaning support program. Is supplied to the manipulator 30 through the manipulator control unit 104.

  The operation unit 105 includes the touch-type operation button group 12 and the remote-control receiving unit 13 described above. Instruction input information based on a press operation of any one of the touch-type operation button groups 12 or a remote-control use unit. The instruction input information from the remote control transmitter received by the receiving unit 13 is supplied to the control unit 101 through the system bus 100. The control unit 101 executes processing according to the instruction input information.

  In this embodiment, illumination units 21L, 22L, 23L, and 24L made of LEDs, for example, are added to the cameras 21, 22, 23, and 24, respectively. The control unit 101 supplies a camera control signal to each of the cameras 21, 22, 23, and 24, and controls the start and stop of imaging of each of the cameras 21, 22, 23, and 24. Each of the cameras 21, 22, 23, and 24 receives imaging start control and supplies a captured image to the system bus 100 in the imaging operation state.

  Lighting of the illumination units 21L, 22L, 23L, and 24L is controlled by the control unit 101. In this case, the control unit 101 measures the brightness of the captured images (such as the average value of the brightness of the captured images) from the cameras 21, 22, 23, and 24 by software processing, and the brightness of the captured images is predetermined. At the following time, the control unit 101 controls the lighting units 21L, 22L, 23L, and 24L to light up. Note that the control unit 101 may always control the lighting units 21L, 22L, 23L, and 24L to be lit when the cameras 21, 22, 23, and 24 are in the imaging operation state.

  The transmission image information generation unit 107 generates transmission image information of captured image information from each of the cameras 21 to 24 while the vacuum cleaner 10 is performing a cleaning operation. In this case, the transmission image information generation unit 107 adds camera identification information (camera ID) indicating which of the cameras 21 to 24 is captured image information to the captured image information from each of the cameras 21 to 24. . In addition, the transmission image information generation unit 107 appropriately performs encoding processing such as data compression on the captured image information from each of the cameras 21 to 24 to generate transmission image information, and transmits the transmission image information through the wireless communication unit 106. To.

  The wireless communication unit 106 transmits and receives information to and from the server device 40 through the wireless communication path 50. As described above, in this embodiment, the wireless communication unit 106 has a function of short-range wireless communication based on the Bluetooth (registered trademark) standard. The wireless communication unit 106 transmits the transmission image information generated by the transmission image information generation unit 107 to the server device 40 through the wireless communication path 50, and a control instruction transmitted through the server device 40 through the wireless communication path 50 The information is transferred to the reception information analysis unit 108.

  The reception information analysis unit 108 analyzes the control instruction information sent through the server device 40 and determines whether or not movement is possible. If movement is possible, the movement information is determined, and the determination result is generated as a control signal. Supplied to the unit 113.

  The vacuum cleaner 10 of this embodiment includes a cleaning area map data storage unit 109. The cleaning area map data storage unit 109 stores, for example, cleaning area data recognized in advance when the electric vacuum cleaner 10 travels and travel route data of the electric vacuum cleaner 10 in the recognized cleaning area. Yes. The travel route is created starting from a specific position in the stored cleaning area as a home point. As a method for creating the cleaning area map and a method for creating the travel route, for example, Japanese Patent Laid-Open No. 2005-205028, the above-mentioned Patent Literatures 1 and 2, and further, Japanese Patent Laid-Open No. 8-16241, A known technique described in Japanese Patent Application Publication No. 9-222852 can be used. A predetermined position that does not interfere with cleaning for moving the non-cleaning object is set in advance in the cleaning area map, and is set in advance by referring to the cleaning area map when moving by the moving means. The movement process to the position which does not interfere with cleaning is performed.

  The in-cleaning area self-position detecting unit 110 detects the self-position when performing a cleaning operation while self-running. The self-position detection unit 110 in the cleaning area detects a moving direction and a travel distance using, for example, a moving direction detecting unit using a geomagnetic sensor and an acceleration detecting unit such as a gyroscope, and determines the above-mentioned home point. As a starting point, the own position in the cleaning area is detected based on how much it has moved in which direction.

  The non-cleaning object detection unit 111 determines whether or not the size of the captured images from the cameras 21 to 24 is larger than a preset size, and when light is applied like a precious metal It has a function of determining whether or not the intensity of the reflected light is greater than or equal to a predetermined value and recognizing whether the reflected light is a non-cleaning target other than the cleaning target. Moreover, in the non-cleaning target object detection part 111, about the picked-up image from each of the cameras 21-24, it is comprised so that only the thing which exists in the floor surface of cleaning object may be made into a detection target. This is because an object other than the floor does not affect the suction drive and the travel drive in the cleaning operation. The non-cleaning object detection unit 111 does not need to have a function of recognizing an image compared with a registered image.

  In this embodiment, when the non-cleaning object detection unit 111 detects a non-cleaning object, the control unit 101 controls the traveling control unit 103 to temporarily stop traveling and control from the server device 40. Wait for reception of instruction information. Then, when the control instruction information from the server device 40 is a movement instruction, a movement processing operation to a predetermined position that does not interfere with the cleaning is performed according to the movement instruction, and then the cleaning operation is resumed. When the control instruction information from the server device 40 is an avoidance instruction to be described later, the control unit 101 resumes the cleaning operation from the temporarily stopped state, but the detected non-detection incorporated in the cleaning support program. A control operation is performed so that the vehicle travels while avoiding the cleaning object.

  When the control instruction information from the server device 40 is a movement instruction, the position image storage unit 112 stores the position information of the position at which the position is temporarily stopped, and the captured images of the cameras 21 to 24 correspond to the position information. Store information. Furthermore, when the non-cleaning object movement process is performed, the captured image information before and after that is stored. In this case, a mark may be given to a place where the moved non-cleaning object exists in the captured image after the movement process of the non-cleaning object is completed. In this way, when the non-cleaning object is returned to the original position after the cleaning is completed, the original position can be easily detected.

  The control signal generation unit 113 generates a control signal for the travel drive unit 122 and the manipulator 30 based on the instruction control including the movement availability and the movement mode from the reception information analysis unit 108. You may make it produce | generate together with the control signal which pauses the suction drive of the suction drive part 121, or reduces suction force.

  In this embodiment, the control signal generation unit 113 does not generate a control signal based only on instruction control including whether or not to move from the reception information analysis unit 108 and the movement mode, but in the cleaning area own position detection unit 110. It is also considered which position of the cleaning area stored in the cleaning area map data storage unit 109 is the detected self-position that is temporarily stopped. That is, for example, when the control signal generation unit 113 is “possible” to move from the reception information analysis unit 108 and the movement mode is “push”, the own position is the corner position of the cleaning area. However, the control signal generates a control signal that causes the non-cleaning target to travel while traveling, even though the possibility of movement is “possible”.

  In the circuit configuration of the vacuum cleaner 10 shown in FIG. 3, the suction control unit 102, the travel control unit 103, the transmission image information generation unit 107, the reception information analysis unit 108, the non-cleaning object detection unit 111, the control signal generation The unit 113 can be realized as a software function by a microcomputer constituting the control unit 101.

[Circuit Configuration Example of Server Device 40]
Next, a circuit configuration example of the server device 40 will be described. As described above, the server device 40 is configured by a personal computer in this example.

  As described above, the server device 40 has a function of performing image recognition processing of the non-cleaning object on the captured image information from each of the cameras 21 to 24 sent from the vacuum cleaner 10 and recognizes it. Means for determining whether or not the non-cleaning object can be moved by the vacuum cleaner 10 is provided. The configuration of the server device 40 shown in FIG. 3 shows only the configuration of the image recognition processing function unit and the mobility determination unit for the non-cleaning object for convenience.

  That is, the server device 40 is connected to the wireless communication path 50 and communicates with the vacuum cleaner 10, a captured image storage unit 402, an image recognition unit 403, an image registration memory 404, and a control An instruction information generation unit 405 is provided. In this embodiment, the image recognition unit 403 and the control instruction information generation unit 405 include a function of a determination unit that determines whether or not the image-recognized non-cleaning object can be moved by the vacuum cleaner 10.

  The captured image storage unit 402 decodes and separates each of the captured image information of the cameras 21 to 24 from the transmission image information sent from the vacuum cleaner 10 received through the communication interface 401, and the image recognition unit 403 Is temporarily stored for image recognition. The captured image storage unit 402 supplies the temporarily stored captured image information of the cameras 21, 22, 23, and 24 to the image recognition unit 403 for image recognition.

  The image recognition unit 403 recognizes and detects a non-cleaning object other than the cleaning object from the captured image information from each of the cameras 21, 22, 23, and 24. In this case, the image recognizing unit 403 performs pattern matching on the captured image information from each of the cameras 21 to 24 with the image stored in the image registration memory 404, and matches the two or a predetermined value of both. By detecting similarity at a similarity level or higher, non-cleaning objects other than the cleaning object are recognized.

  When recognizing a non-cleaning object, the image recognition unit 403 supplies information on the non-cleaning object ID stored in the image registration memory 404 to the control instruction information generation unit 405 as a recognition result. As will be described later, in this embodiment, in the image registration memory 404, in addition to the correspondence information between the image information of the non-cleaning object and the non-cleaning object ID, a vacuum cleaner is provided according to each non-cleaning object. 10, information on the possibility of movement as to whether or not movement is possible, and information on how to move and how to move when movement is not possible (avoidance in this example) are registered. The control instruction information generation unit 405 refers to the image registration memory 404 based on the recognition result non-cleaning object ID, determines the possibility of movement, and generates control instruction information to be transmitted to the vacuum cleaner 10.

  In the image registration memory 404, captured image information of an object assumed as a non-cleaning object other than the cleaning object is registered and stored in advance. The information stored in the image registration memory 404 may be downloaded and acquired from, for example, a website operated by the manufacturer of the vacuum cleaner 10, or the user of the vacuum cleaner 10 may perform non-cleaning. The object may be imaged with a camera and registered together with other predetermined registration information.

  In this case, the image registration memory 404 stores a plurality of pieces of image information taken by the cameras 21 to 24 as registered image information for one non-cleaning object. In addition, for each piece of image information captured by each of the cameras 21 to 24, image information from a plurality of imaging directions such as from the front, from the back, from the left side, from the right side, and the like is stored in the image registration memory 404. Has been. The registered image information of these non-cleaning objects is stored in the image registration memory 404 in association with the identification information (non-cleaning object ID) given to each non-cleaning object.

  In the image registration memory 404, information on whether or not the registered non-cleaning object can be moved by the electric vacuum cleaner 10 is stored in association with the non-cleaning object ID. Further, when the registered non-cleaning object can be moved by the electric vacuum cleaner 10, information on the movement mode (pickup or pressing in this example) is stored as information for instruction control. Moreover, when the registered non-cleaning target object cannot be moved by the vacuum cleaner 10, the information of the instruction | indication control which makes it run avoiding the said non-cleaning target object is memorize | stored.

  In order to allow the user to register an image of an object to be recognized as a non-cleaning object other than the object to be cleaned by the electric vacuum cleaner 10, and to store the image in the image registration memory 404. The self-propelled electric vacuum cleaner has a function of registering a captured image of a non-cleaning target other than the cleaning target by the user. The registered function of the captured image of the non-cleaning object is installed in the server device 40 as a function of the cleaning support program in the server device 40. When the user selects the registration function of the captured image of the non-cleaning object, the registration procedure of the registration image of the non-cleaning object is displayed on the display screen of the display unit of the server device 40 by a message or animation. The user can perform registration processing of the registered image of the non-cleaning object while watching the message and animation of the registration procedure on the display screen.

  For example, on the display screen, first, a screen that prompts the camera 21, 22, 23, 24 to take an image of the non-cleaning object to be registered is displayed. Then, for each of the cameras 21 to 24, an instruction on the positional relationship between the camera and the subject is given, and the camera 21 is prompted to take an image. When the user takes an image with the cameras 21, 22, 23, and 24 according to the registration procedure displayed on the display screen, they are stored in the image registration memory 404 in association with the assigned non-cleaning object ID. The Next, on the display screen, an instruction for prompting the user to input the name of the non-cleaning object is displayed, and when the name of the non-cleaning object registered by the user is input, the input text character information Is stored in the image registration memory 404 in association with the non-cleaning object ID of the registered non-cleaning object.

  After that, information on whether or not to move when the registered non-cleaning object is recognized and an instruction to set input for instruction control are displayed on the display screen, and the user inputs and instructs accordingly Then, in the image registration memory 404, the information indicating whether the movement is possible and the instruction control information are stored in association with the registered image of the non-cleaning object and the non-cleaning object ID.

  The above description is the registration process of the image of the non-cleaning object using the cameras 21 to 24 included in the electric vacuum cleaner 10. However, the registration process of the image of the non-cleaning object is not limited to the method of imaging the non-cleaning object using the cameras 21 to 24 included in the electric vacuum cleaner 10 as described above. For example, a non-cleaning object is imaged with a predetermined camera and stored in a storage medium such as a USB memory or an SD card, and the stored image is stored through a predetermined interface means such as a USB interface or an SD card interface. You can also register.

  FIG. 4 shows an example of non-cleaning object information stored in the image registration memory 404. In the example of FIG. 4, the image registration memory 404 includes a non-cleaning object name, registered images V01, V02, V03,..., Information on whether movement is possible, and instruction control information. It is stored in association with the ID. In this embodiment, in the instruction control, “pickup” and “push” are stored as movement modes, and “avoidance” is registered as instruction control when movement is impossible.

  As described above, each of the registered images V01, V02, V03,... Includes image information of a plurality of captured images, and is held as one set in association with the non-cleaning object ID.

  In this embodiment, the control instruction information generation unit 405 is configured such that the non-cleaning target is a bottle or a glass even if the information on “Moveability” is stored in the image registration memory 404. Thus, when attention information is added such as “OK (content confirmation)”, the liquid image can be detected by analyzing the captured image information and detecting a boundary in the liquid storage space of the bottle or glass. After determining whether or not the liquid remains in the storage space, final control instruction information is generated. That is, for example, when it is determined that a predetermined amount or more of liquid remains in the captured image of the bin, the control instruction information is set to “avoid” even if the “movement possibility” information is “movement possible”. Like that. In addition to bottles and glasses, for transparent and translucent containers that may contain liquids such as PET bottles, soy sauce holders, vases, etc., the same process for determining whether or not to move and for movement control based on the determination result do.

  In addition, since it is possible to determine whether the bottle is opened, not opened, or closed by image recognition, even if there is liquid in the bottle, it should be movable when it is not opened or closed. Can do.

  In the case of an opaque container such as a hot water bottle or a paper pack, it cannot be determined whether or not the liquid is in the container depending on the image recognition of the captured image. Therefore, in the case of the above-described embodiment, in principle, when an opaque container is recognized by image recognition, an avoidance operation is performed as immovable.

  However, for example, if a camera is attached to the tips of the gripping arms 331 and 332 of the magic hand portion 33 of the manipulator 30 and photographing is performed so as to look into an opaque container such as a water bath, liquid remains in the container. Therefore, when it is confirmed from the determination result that no liquid remains, even the opaque container can be made movable.

  In the case of a paper pack, for example, a weight sensor is attached to the magic hand 33, and the weight of the paper pack is measured by the weight sensor by holding the paper pack with the grip arms 331 and 332 and lifting it. To do. Then, by comparing the weight when the paper pack is empty and the weight of the paper pack as measured by the weight sensor, it can be determined whether or not the liquid is contained therein. Therefore, when it is confirmed from the determination result that no liquid remains, even a container such as an opaque paper pack can be moved.

  Whether a moisture sensor is attached to the gripping arms 331 and 332 of the magic hand unit 33, and the humidity sensor is immersed in the liquid in the container or close to the liquid to measure the humidity. If it is determined that the liquid does not remain, it is possible to move even the opaque paper pack or the like.

[Description of processing during cleaning operation in embodiment]
In this embodiment, the user performs a cleaning start instruction operation through the operation unit 105 of the vacuum cleaner 10. Then, the processing operation described below is executed in the vacuum cleaner 10 and the server device 40.

  FIG.5 and FIG.6 is a flowchart for demonstrating the example of the flow of processing operation in the vacuum cleaner 10 at this time. FIG. 7 is a flowchart for explaining an example of the flow of processing operations of the server device 40.

  First, with reference to FIG.5 and FIG.6, the processing operation of the vacuum cleaner 10 is demonstrated. In the following description, the control unit 101 functions as the suction control unit 102, the travel control unit 103, the transmission image information generation unit 107, the reception information analysis unit 108, the non-cleaning object detection unit 111, and the control signal generation unit 113. Is executed as a software function.

  The control unit 101 determines whether or not a cleaning start instruction operation has been performed, and waits for a cleaning start instruction operation to be performed (step S101). When it is determined in step S101 that the cleaning start instruction operation has been performed, the control unit 101 starts driving the suction driving unit 121 and the travel driving unit 122 and instructs each of the cameras 21 to 24 to start image capturing. To do. Further, a communication path with the server device 40 is generated by the wireless communication unit 106 (step S102).

  And the control part 101 collects the captured image from each of the cameras 21-24 in cleaning operation, produces | generates transmission image information, and prepares to transmit to the server apparatus 40 (step S103).

  Next, the control part 101 performs the process which detects the non-cleaning target object other than the cleaning target object based on a magnitude | size and a brightness | luminance as mentioned above about the captured image from each of the cameras 21-24 (step S104). ). Then, the control unit 101 determines whether or not the presence of a non-cleaning target other than the cleaning target is detected (step S105), and determines that the presence of the non-cleaning target is not detected, the control unit 101 Returns the processing to step S103, and repeats the processing after step S103.

  When it is determined in step S105 that the presence of the non-cleaning target is detected, a temporary stop instruction signal is supplied to the travel drive unit 122 through the travel control unit 103 to temporarily stop the cleaning operation, and in step S103. The transmission image information prepared in step S is transmitted to the server device 40 (step S106). At this time, in this embodiment, the control unit 101 controls the suction driving unit 121 through the suction control unit 102 to reduce the suction force and reduce the power consumption. Note that the suction drive unit 121 need not be controlled.

  Next, the control unit 101 determines whether control instruction information from the server device 40 has been received (step S107). When it is determined in step S107 that the control instruction information from the server device 40 has been received, the control unit 101 detects the received control instruction information and the self-detection in the cleaning area detected by the self-position detection unit 110 in the cleaning area. A control signal is generated based on the position and information on the cleaning area in the cleaning area map data storage unit 109 (step S108).

  That is, in step S108, the following processing is performed. When the control instruction information is “avoid”, a control signal for performing the “avoid” process is generated. When the control instruction information is movement and the movement mode is “pickup”, a control signal for performing movement processing of the “pickup” is generated. This control signal includes a control signal for the manipulator 30 and a control signal for the travel drive unit 122. Further, when the control instruction information is movement and the movement mode is “push”, it is determined whether or not the own position in the cleaning area is located at the corner of the cleaning area of the cleaning area map data storage unit 109. If not, a control signal for performing a “push” movement process is generated. This control signal is a control signal for the travel drive unit 122. However, when a non-cleaning object is grasped and pushed by the manipulator 30, a control signal supplied to the manipulator 30 is included. If the non-cleaning object is located at the corner, a control signal for performing the “avoidance” process is generated without performing the “push” movement process. This control signal is a control signal for the travel drive unit 122.

  Following step S108, the control unit 101 determines whether the control signal relates to a movement process or an avoidance process (step S109). When it is determined in this step S109 that the process is related to the movement process, the control unit 101 determines whether or not the movement mode is “pickup” (step S121 in FIG. 6).

  In this step S121, when it is determined that the movement mode is not “pickup” but “push”, the control unit 101 pushes the detected non-cleaning object and, as described above, in the cleaning area, the cleaning is performed. It moves to a predetermined position such as a predetermined corner that does not get in the way (step S122). In this “push” movement process, as described above, a “push” operation may be performed on the main body of the vacuum cleaner 10 while a part of the non-cleaning object is gripped by the manipulator 30, or The “push” operation may be performed only by the machine 10 main body. Note that when performing the “push” operation, the control unit 101 refers to the captured images of the cameras 21 to 24 and moves them while checking other non-cleaning objects.

  After moving the non-cleaning object to a predetermined position that does not interfere with the cleaning by this “push” movement process, the control unit 101 controls the traveling drive unit 122 to resume the self-running for cleaning. The cleaning operation is resumed (step S123). At this time, when the suction force of the suction drive unit 121 is reduced, a process for controlling the suction drive unit 121 to return to the suction force during the cleaning operation is also performed. In step S123, the transmission of the captured image information to the server device 40 is stopped.

  Next, when it is determined in step S121 that the movement mode is “pickup”, the control unit 101 displays the captured images of the cameras 21 to 24 before the movement of the “pickup” at the current position. The information is associated with the information and is also associated with the non-cleaning object ID and stored in the position image storage unit 112 (step S124).

  Next, the control unit 101 executes a “pickup” movement process (step S125). That is, the control signal at this time is a control signal for controlling the manipulator 30 and also for controlling the traveling drive unit 122 so that the gripping arms 331 and 332 of the magic hand unit 33 grip the non-cleaning object. These control signals are also included. In other words, the control unit 101 controls the telescopic sliding drive unit of the telescopic sliding link mechanism unit 31 of the manipulator 30 and is suitable for gripping the non-cleaning object with the length of the telescopic sliding link unit 31b. Extend and retract to position. And the control part 101 controls the rotation drive part of the rotation link mechanism part 32 of the manipulator 30, and the position of the magic hand part 33 becomes a position suitable for holding a non-cleaning target object. The rotating arm portion 32b is rotated. Then, the grip arm driving unit of the magic hand unit 33 is controlled so as to grip the non-cleaning target.

  And the control part 101 memorize | stores the image which put the mark in the position where the non-cleaning target object existed in the captured image of the cameras 21-24 in the said position in which the non-cleaning target object does not exist after pick-up. Store in the unit 112 (step S126).

  Next, the control unit 101 controls the traveling drive unit 122 so that the picked-up non-cleaning object can be picked up again in order to return it to the original position and does not interfere with cleaning. At that position, the gripping arms 331 and 332 release the gripping of the non-cleaning target and move the non-cleaning target to a predetermined position (step S127). Next, the control part 101 advances a process to step S123, controls the driving | running | working drive part 122, returns to the driving | running | working state at the time of cleaning, and restarts cleaning operation | movement.

  Following step S123, the control unit 101 determines whether or not there has been a cleaning operation stop instruction through the operation unit 105, for example, a cleaning stop instruction has been received from the remote control transmitter (step S128). When it is determined in this step S128 that the cleaning operation stop instruction has not been received, the control unit 101 determines whether or not the end of cleaning has been detected based on whether or not all cleaning in the cleaning range has been completed (step S128). S129) When the end of cleaning is not detected, the process returns to step S103, the transmission image information is generated, and the cleaning operation is continued while being wirelessly transmitted to the server device 40.

  When it is determined in step S128 that the cleaning operation stop instruction has been received, the control unit 101 picks up the pick-up position of the picked-up non-cleaning object stored in the position image storage unit 112 and the images before and after the pick-up. Using the image, a process of returning the picked-up non-cleaning object to the original position is performed (step S130). That is, the electric vacuum cleaner 10 is moved to the position where the picked-up non-cleaning object is moved, the non-cleaning object is picked up, and then moved to the original position, and the grip arm 331 of the magic hand unit 33 is moved. , 332 is released and repositioned to the original position. At this time, the original position can be easily confirmed by relying on the mark given to the captured image.

  When the process of returning all the non-cleaning objects that have been picked up and moved back to their original positions is completed, the control unit 101 stops driving the suction drive unit 121 and the travel drive unit 122, and each of the cameras 21 to 24. Is instructed to stop image capturing. Further, the communication path with the server device 40 is disconnected (step S131). In step S131, the processing routine ends.

  Even when the end of cleaning is detected in step S129, the control unit 101 advances the process to step S130, performs the process of returning the picked-up non-cleaning object to the original position, and then advances to step S131 to perform suction driving. The driving of the unit 121 and the travel driving unit 122 is stopped, the camera 21 to 24 are instructed to stop capturing images, and the communication path with the server device 40 is disconnected.

  In this embodiment, since the server apparatus 40 performs image recognition of a non-cleaning object by a matching process by comparison with image information stored in the image registration memory 404, the vacuum cleaner 10 detects the non-cleaning object. In such a case, the server device 40 may not recognize the image of the non-cleaning object. In this embodiment, considering this point, the following is performed.

  That is, when the control instruction information from the server device 40 is not received in step S107 in FIG. 5, the control unit 101 determines whether or not a predetermined time has elapsed since the travel was temporarily stopped (step S107). S110). When it is determined in step S110 that the predetermined time has not elapsed, the control unit 101 returns the process to step S107, and repeats the processes after step S107.

  Further, when it is determined in step S110 that the predetermined time has elapsed, the control unit 101 controls the traveling drive unit 122 to release the temporary stop of the self-running for cleaning and avoid the detected non-cleaning object. The cleaning operation is restarted by performing the cleaning on the moving route to be performed (step S111).

  As a travel drive control mode of the travel drive unit 122 when avoiding the non-cleaning object at this time, referring to the captured images of the cameras 21 to 24, for example, "Running drive right turn", "Travel drive left turn", or "Travel drive forward", "Travel drive reverse", "Running drive stop and turn right", "Running drive stop and turn left" Travel drive control is performed. When traveling control is performed so as to avoid the non-cleaning object, the suction drive control of the suction drive unit 121 may or may not be performed together. When the avoidance operation is completed, when the control is performed to reduce the suction force of the suction drive unit 121, the suction drive unit 121 is controlled to return to the suction force during the cleaning operation. Then, after step S110, the control unit 101 advances the processing to step S128, and repeats the processing after step S128 described above.

  Further, when it is determined in step S109 in FIG. 5 that the process is related to the avoidance process, the control unit 101 advances the process to step S111 and controls the traveling drive unit 122 as described above to perform self-cleaning. The process of resuming the cleaning operation is performed by canceling the suspension of the running and performing the cleaning on the moving route that avoids the detected non-cleaning object.

  The process at the time of the cleaning operation in the electric vacuum cleaner 10 is thus completed.

  Next, the processing operation of the server device 40 will be described with reference to FIG.

  First, the server device 40 determines whether or not a communication path generation request has been received from the vacuum cleaner 10 (step S201). When it is determined that a communication path generation request has been received, the server apparatus 40 passes through the wireless communication path 50. A communication path with the vacuum cleaner 10 is generated (step S202).

  Next, the server device 40 determines whether or not the captured image information sent from the vacuum cleaner 10 has been received through the generated wireless communication path (step S203), and waits for reception of the captured image information. And when it determines with having received the captured image information from the vacuum cleaner 10 by this step S203, the server apparatus 40 isolate | separates and acquires the captured image information from each of the cameras 21-24, and the cameras 21-1 are obtained. The image recognition processing is executed by comparison by pattern matching between the captured image from each of the images 24 and the image of the non-cleaning target object stored in the image registration memory 404 (step S204). And the server apparatus 40 discriminate | determines whether the non-cleaning target object was recognized as a result of the image recognition in step S204 (step S205).

  When it is determined in step S205 that the non-cleaning object is recognized as a result of the image recognition, the server device 40 refers to the image registration memory 404, and the recognized non-cleaning object is detected by the electric vacuum cleaner 10. It is determined whether or not movement is possible (step S206). When it is determined in this step S206 that it is movable, the image registration memory 404 is further referred to, and the control instruction information is generated with reference to the image stored in the captured image storage unit 402, and the electric cleaning is performed. It transmits to the machine 10 (step S207). That is, for a liquid container such as a bottle or a glass, whether or not liquid is contained is determined based on the captured image even when the container is movable. And when there is a liquid in the bottle or glass, there is a risk of spilling the liquid in the case where the movement process fails, so the server device 40 determines that it is an avoidance process, and that A control instruction signal for instructing is generated. In other cases, in this embodiment, the server device 40 generates a control instruction signal in accordance with information stored in the image registration memory 404.

  It is discriminate | determined after step S207 whether the communication path disconnection of the server apparatus 40 and the vacuum cleaner 10 was detected (step S209). If it is detected in step S209 that the communication path has been disconnected, this processing routine ends. If the communication path disconnection is not detected in step S209, the process returns to step S203, and the processes after step S203 are repeated.

  When it is determined in step S205 that the non-cleaning object is not recognized, the server device 40 proceeds to step S209, and repeats the above-described steps after step S209.

  If it is determined in step S206 that the movement is impossible as a result of referring to the image registration memory 404, the server device 40 generates a control instruction signal for instructing an avoidance process and transmits the control instruction signal to the electric vacuum cleaner 10 ( Step S208). And the server apparatus 40 advances a process to step S209, and repeats the process after this step S209 mentioned above.

[Effect of the embodiment]
As described above, in the self-propelled electric vacuum cleaner of the above-described embodiment, when a non-cleaning object is detected during the cleaning operation, is the non-cleaning object movable by the vacuum cleaner 10? If it is determined whether or not movement is possible, the movement can be executed to remove it from the cleaning area, and a cleaning operation can be performed. Therefore, even if there is a non-cleaning object that has been an obstacle to cleaning in the cleaning area, cleaning can be performed without setting the area as an uncleaned area. That is, it becomes possible to clean up to an area that could not be cleaned conventionally, and the cleaning area can be expanded.

  Moreover, in the above-described embodiment, the non-cleaning target object is moved to a place where it does not interfere with cleaning, so that cleaning can be performed smoothly.

  In the above-described embodiment, the non-cleaning object that has been moved is returned to the original position after the cleaning is completed, so that the user can move the non-cleaning object by moving the non-cleaning object. There is no inconvenience that the location of the object is unknown.

  Further, in the above-described embodiment, even if the detected non-cleaning object is movable, if movement is hindered, such as when liquid is contained, it is determined from the captured image and moved. Therefore, it is possible to prevent a situation in which liquid is spilled and dirty during movement.

  Further, in the above-described embodiment, even if the detected non-cleaning object is movable, depending on the designated movement mode such as “push” the detected location, the position of the device itself and the cleaning area map If it can be determined that the movement is impossible from the above, it is determined not to move, so there is an effect that no unnecessary processing is performed.

[Modification of the above embodiment]
5 and 6 described above, only when the non-cleaning target object is detected by the non-cleaning target object detection unit 111 of the vacuum cleaner 10, the captured image information is supplied to the server device. However, the captured image information may always be transmitted to the server device during the cleaning operation. When the captured image information is constantly transmitted from the electric vacuum cleaner 10 to the server device during the cleaning operation, the server device also performs detection processing of the non-cleaning object by image recognition. By transmitting the detection output of the object to the vacuum cleaner 10, the non-cleaning object detection unit 111 may not be provided in the vacuum cleaner 10.

  Moreover, in the self-propelled electric vacuum cleaner of the above-mentioned embodiment, when the self-propelled electric vacuum cleaner 10 recognizes the presence of the non-cleaning object, the traveling by the traveling drive unit is temporarily stopped and the cleaning operation is stopped. However, instead of stopping traveling, the vehicle decelerates and continues the cleaning operation, waits for the arrival of control instruction information from the server device 40, performs a movement process based on the received control instruction information, and moves. After the processing operation is completed, the cleaning operation can be performed at the original speed. Further, the moving process can be performed while continuing the cleaning operation at a constant speed without decelerating. In addition, you may make it control temporary stop, deceleration, and constant speed with a traveling drive part according to the kind of non-cleaning target object.

  In addition, when a non-cleaning object is recognized using an image during the cleaning operation, the traveling control unit is controlled by the traveling control unit to temporarily stop or decelerate the traveling, and then the vicinity of the recognized non-cleaning object Thus, the electric vacuum cleaner may be driven and controlled in the front / rear and left / right directions, and images may be taken by the camera from various directions. In that case, it is possible to increase the detection accuracy of the non-cleaning object and the determination accuracy of the movability by recognizing the image using a plurality of captured images from various directions.

  Similarly, when the position of the vacuum cleaner is controlled to move the non-cleaning object to a position where the non-cleaning object can be easily grasped by the magic hand portion 33 of the manipulator 30, the captured image of the camera is confirmed. Then, the travel control unit is controlled by the travel control unit, and the electric vacuum cleaner is travel-controlled to front, rear, left and right in the vicinity of the recognized non-cleaning object.

  Further, in the above-described embodiment, for the process of returning the moved non-cleaning object, the self position in the cleaning area where the movement process is performed is detected, and the original position is imaged in association with the self position. Although the image is stored, the vacuum cleaner 10 may install (drop) a self-transmitting marker at a position where the movement process is executed. In this case, the marker transmits a transmission signal composed of radio waves, light, ultrasonic waves, or the like. This transmission signal includes identification information for identifying each marker. The vacuum cleaner 10 stores the identification information of the moved non-cleaning object and the identification information of the marker correspondingly, receives a transmission signal from the marker, and moves to the position of the marker, A process of returning to the original position of the moved non-cleaning object and returning the corresponding non-cleaning object can be performed.

  In the above description, the detected non-cleaning object is moved to a place that does not interfere with cleaning in the cleaning area, but the moving place may be the upper surface 10a of the electric vacuum cleaner 10. In that case, a basket-like storage box is provided on the upper surface 10 a of the vacuum cleaner 10.

  In the above-described embodiment, the server device is described as a personal computer. However, instead of the personal computer, a high-function mobile phone terminal called a so-called smartphone or a pad-type mobile computer can be used.

  In the above-described embodiment, when the detected non-cleaning object is not movable, only the operation for avoiding the non-cleaning object is performed. For example, an object may be displayed on the display screen of the server device 40 and inquired whether to register it as a non-cleaning object to be resident in the cleaning area.

  In that case, if the user inputs an instruction to register the non-cleaning object in response to the inquiry, the server device 40 sends a message to that effect to the vacuum cleaner 10 through the wireless communication path 50. The vacuum cleaner 10 refers to the position image storage unit 112 based on the identification information of the non-cleaning object, detects the position, and sets the non-cleaning to the corresponding position in the cleaning area of the cleaning area map data storage unit 109. Remember the object.

  In this way, an object that is a non-movable object that cannot be moved and is intended to be resident in the cleaning area can be easily registered and stored in the cleaning area map data storage unit 109. However, in that case, the position image storage unit 112 needs to store not only the moved non-cleaning object but also the detected positions of all detected non-cleaning objects.

[Other Embodiments]
In the above-described embodiment, the moving means is configured as a manipulator using a magic hand, and grips and picks up a non-cleaning object or grips and pushes it. However, the magic hand is an example, and the configuration of the tip of the manipulator is not limited to the shape of a gripping arm, and may be a shape of pliers, tongs, chopsticks, or the like. Further, the moving means is not limited to a means for pushing a non-cleaning object, a means for grasping, and a means for grasping and lifting. For example, a pulling means, a scooping means (crawling means and lifting means), a gas blowing means, a right-and-left paying means, a hooking means, a sticking means, a means for attracting and moving by a magnet, and the like can be used.

  FIG. 8 shows an example of a vacuum cleaner provided with a scooping means. The vacuum cleaner 10A in the example of FIG. 8 is the same as the above-described vacuum cleaner 10 except for the moving means. Therefore, in FIG. 8, the same parts as those of the vacuum cleaner 10 shown in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 8A is a view of the self-propelled electric vacuum cleaner 10A of this example as viewed from the upper surface 10a side, and FIG. 8B is a side view of the self-propelled electric vacuum cleaner 10A of this example. It is the figure seen from the direction.

  The vacuum cleaner 10 </ b> A of this example includes a configuration of a scooping unit as a moving unit that is controlled according to a determination result by the determination unit of the movement possibility. In this specification, this scooping means is referred to as a scooping device section.

  That is, the scooping device 60 in this example includes holding arm mechanism portions 61L and 61R provided on the left and right side portions of the vacuum cleaner 10A, and a shovel mechanism portion held by the left and right holding arm mechanism portions 61L and 61R. 62.

  As shown in FIGS. 8A and 8B, the left and right holding arm mechanism parts 61L and 61R are composed of telescopic sliding link mechanism parts 63L and 63R and rotating link mechanism parts 64L and 64R, respectively.

  FIGS. 9A and 9B are views for explaining a state in which the scooping device 60 as the moving means in this example is driven, and each of the self-propelled vacuum cleaners 10A in this example. These are the figure seen from the upper surface 10a side in the state which driven the scooping-up apparatus part 60, and the figure seen from the side surface direction.

  Each of the telescopic sliding link mechanism parts 63L and 63R is obtained by coupling the telescopic sliding link parts 63Lb and 63Rb to the telescopic sliding base parts 63La and 63Ra, respectively, and the telescopic sliding base parts 63La and 63Ra provided in the telescopic sliding base parts 63La and 63Ra. Each of the expansion / contraction sliding link portions 63Lb and 63Rb can be expanded and contracted in a direction along the side surface of the housing of the electric vacuum cleaner 10A by a sliding drive unit (not shown). And the expansion / contraction sliding drive part provided in the expansion / contraction sliding base parts 63La and 63Ra is controlled by the control signal from the control part 101 with which the vacuum cleaner 10A is equipped, and the expansion / contraction sliding link parts 63Lb and 63Rb are vacuum cleaners. It is controlled to expand and contract along the side surface of the housing of 10A.

  Each of the rotation link mechanism parts 64L and 64R includes a rotation base part 64La and 64Ra and a rotation arm part 64Lb and 64Rb. The rotation base portions 64La and 64Ra are connected to the distal ends of the telescopic slide link portions 63Lb and 63Rb of the telescopic slide link mechanism portions 63L and 63R. The rotation arm portions 64Lb and 64Rb are attached to the rotation base portions 64La and 64Ra so as to rotate around the rotation base portions 64La and 64Ra. And the rotation drive part provided in rotation base part 64La and 64Ra is controlled by the control signal from the control part with which the vacuum cleaner 10 is provided, and the rotation arm parts 64Lb and 64Rb are the housings of the vacuum cleaner 10A. In the plane along the side surface of the body, the rotation is controlled so as to rotate about the rotation bases 64La and 64Ra as the rotation center.

  The shovel mechanism 62 includes a shovel 62a and a holding arm 62b. The left and right ends of the holding arm portion 62b are coupled to the distal ends of the rotation arm portions 64Lb and 64Rb of the rotation link mechanism portions 64L and 64R. And the shovel part 62a is attached with respect to the holding arm part 62b so that rotation is possible centering | focusing on the axial center position of the holding arm part 62b.

  The scooping device unit 60 configured as described above receives the control signal from the control unit 101 of the vacuum cleaner 10 and controls the expansion / contraction sliding link mechanism unit 63L and the rotation link mechanism unit 64L, thereby shoveling the shovel. As shown in FIGS. 9A and 9B, the part 62a is disposed in the forward traveling direction of the vacuum cleaner 10A (the direction indicated by the arrow AR in FIGS. 8 and 9). Then, the non-cleaning object is scooped up by the shovel portion 62a by the travel control of the travel drive unit 122 by the control of the control unit 101 and the expansion / contraction sliding drive control of the expansion / contraction sliding link mechanism unit 63L, and then the rotation link mechanism The shovel portion 62a can be returned to the state shown in FIG. 8A by lifting the non-cleaning object scooped up on the shovel portion 62a by the portion 64L.

  In the case of this example, the non-cleaning object to be scooped up is, for example, as shown in FIG. 10, as a valuable item such as a sealed letter / postcard, precious metal (jewel), banknote, memory card, key, etc. The scooped-up non-cleaning object can be held in the shovel portion 62a without returning to the original position in the cleaning area even after the cleaning operation is completed. Also, books, magazines, newspapers, documents, etc. are heavy or bulky, so after scooping up on the shovel part 62a, do not hold it on the shovel part 62a and move it to a predetermined place that does not interfere with the cleaning operation. Can be.

  In the present invention, as other moving means, in addition to the scooping means as described above, as described above, means for blowing gas can be used. The gas blowing means can be configured by separately installing air blowing means, but can be configured by exhaust means during the cleaning operation of the self-propelled electric vacuum cleaner without providing new means. . When this exhaust means is used, the traveling drive unit 122 controls the rotation of the electric vacuum cleaner 10 so that the exhaust outlet of the exhaust means is directed toward the non-cleaning target. In addition, the non-cleaning target object used in this case may be a lightweight one such as a plastic bag, a plastic bag, or tissue paper, and the vacuum cleaner may be configured to be able to inject exhaust strongly.

  Further, the means for moving left and right as the moving means is in a state where, for example, a brush-like member is separated from the cleaning surface during the cleaning operation, and is slightly pressed against the cleaning surface when performing the left and right operation. To attach to the vacuum cleaner. Then, for example, a small non-cleaning object is moved left and right by the brush constituting the means for left and right movement.

  Next, the hooking means can be configured to provide hook means instead of the gripping arm of the above-described magic hand portion 33 of the manipulator, for example. In the case of this hooking means, the position of the handle such as a plastic bag, a plastic bag, a paper bag, etc. is confirmed by the captured image of the camera, and the handle part is hooked by the hook means as it is or is picked up. Can be moved.

  In this case, by judging whether the shopping bag, the plastic bag, the paper bag, etc. are empty or the contents are contained, for example, from the captured image of the camera, and when it is determined that it is empty, it is Hook and move. However, paper bags and the like are opaque and it is difficult to confirm whether the contents are contained. In consideration of this, the paper bag may be initially determined to be unmovable.For example, from the captured image, the shape itself such as the unevenness of the shopping bag, plastic bag, paper bag, etc. Based on whether the contents are contained or not, or by touching a paper bag to judge whether the contents are contained by a tactile sensor, or by hooking with a hooking means, the weight is measured with a weight sensor. It may be determined whether or not the contents are contained.

  Next, the adhesion means can be configured to provide means for adhering a non-cleaning object with an adhesive, for example, instead of the grip arm of the magic hand portion 33 of the manipulator described above. Non-cleaning objects when this adhesive means is used as a moving means are relatively light, such as plastic bags, plastic bags, DM (direct mail), newspaper advertisements, leaflets, etc., depending on the adhesive strength of the adhesive. Is done.

  Next, as a magnet means to be attracted and moved by a magnet, a permanent magnet such as a small neodymium magnet or a ferrite magnet is provided on the surface opposite to the cleaning surface of the housing of the vacuum cleaner, and in the same position, A configuration is possible in which an electromagnet having a coil wound around a core is disposed. When using a means of attracting and moving with a magnet, a self-propelled vacuum cleaner can be used to perform the cleaning operation while attracting and removing metal screws, nails, pins, clips, etc. from the cleaning area. it can.

In the case of household vacuum cleaners that include non-cleaning objects such as magnetic cards (cash cards and credit cards with magnetic stripes), watches, mobile phone terminals, video tapes, music cassette tapes, etc. The former configuration using permanent magnets is not preferable. In a cleaning area where non-cleaning objects are expected to contain these magnetically affected objects, the coil is operated by passing current only when a magnetically attractable non-cleaning object is detected. Use an electromagnet.
Also, in the case of a commercial vacuum cleaner that performs cleaning work in a manufacturing factory where non-cleaning objects such as iron scraps, screws, bolts, and nails are likely to have fallen to the floor, there is concern about the effects of magnetism. Instead, a strong neodymium magnet may be used.

  In addition, as a moving means with which a vacuum cleaner is provided, it cannot be overemphasized that not only the case where one of the various means mentioned above is used but you may make it combine two or more moving means.

  In the above-described embodiment, the non-cleaning object detection unit is configured to recognize the image information captured by the imaging unit using the CCD image sensor or the CMOS image sensor. Other sensors such as a photoelectric sensor, an infrared sensor, an ultrasonic sensor, a tactile sensor, a biosensor, an odor sensor, a metal detection sensor, a capacitance sensor, a magnetic sensor, a temperature sensor, a humidity sensor, and a weight sensor may be used. Good. Moreover, you may make it perform recognition (detection) of a non-cleaning target object by using an imaging part and the above-mentioned sensor together. In addition, image sensors, photoelectric sensors, infrared sensors, ultrasonic sensors, tactile sensors, biosensors, odor sensors, metal detection sensors, capacitance sensors, magnetic sensors, temperature sensors, humidity sensors, weight sensors, etc. It may be used to detect a non-cleaning object.

  In the above-described embodiment, the self-propelled vacuum cleaner and the server device are connected through a wireless communication path such as a short-range wireless communication system. However, you may make it comprise the self-propelled electric vacuum cleaner of this invention using a self-propelled electric vacuum cleaner and the server (cloud) on the internet.

Moreover, the self-propelled electric vacuum cleaner of this invention can be comprised only with the said self-propelled electric vacuum cleaner because a self-propelled electric vacuum cleaner also has the function of the server apparatus 40. In that case, the non-cleaning object detection unit 111 in the example of FIG. 1 can be omitted, and the image recognition unit can be configured to have the function of the non-cleaning object detection unit 111.
[Other Embodiments or Modifications]
In addition, although the above description was mainly demonstrated supposing the household vacuum cleaner, it can be applied also to the business vacuum cleaner used in a factory, a store, a restaurant, etc. Needless to say.

  The preferred embodiments of the present invention have been described in detail above with reference to the drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present invention can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that it belongs to the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Self-propelled vacuum cleaner, 11 ... Suction port, 14 ... Dust collection chamber, 21-24 ... Camera, 30 ... Manipulator, 40 ... Server apparatus, 50 ... Wireless communication path, 101 ... Control part, 121 ... Suction Drive unit 122... Travel drive unit 403 image recognition unit 404 image registration memory

Claims (18)

A traveling drive unit for autonomous traveling;
In the cleaning operation while autonomously running, a detection means for detecting a non-cleaning object,
Determination means for determining whether or not the non-cleaning object detected by the detection means can be moved;
Moving means capable of moving the non-cleaning object to another position;
Movement control means for controlling the movement means based on the determination result of the determination means, and performing execution control of movement of the non-cleaning object;
With
The detection means has a function of determining whether or not the detected non-cleaning object is a container,
The determination means includes liquid presence / absence determination means for determining whether or not liquid is contained in the container when the detection means determines that the detected non-cleaning object is a container,
The said movement control means controls execution of the movement of the said non-cleaning target object based on the determination result of the said liquid presence determination means of the said determination means. The self-propelled electric cleaning apparatus characterized by the above-mentioned. An imaging unit for imaging at least the direction of the autonomous traveling during the cleaning operation;
Image recognition means for recognizing a captured image from the imaging unit;
With
The detection means detects a non-cleaning object based on the image recognition result during the cleaning operation while performing the autonomous running, and the detection means detects the non-cleaning object based on the image recognition result. It is discriminate | determined whether a non-cleaning target object is a container. The self-propelled electric vacuum cleaner of Claim 1 characterized by the above-mentioned. An imaging unit for imaging at least the direction of the autonomous traveling during the cleaning operation;
A storage unit that stores image information of the non-cleaning object in association with identification information of the non-cleaning object;
With
In the storage unit, when the non-cleaning target is a container, attention information associated with image information of the non-cleaning target is urged to confirm whether or not liquid is contained in the container. Remembered,
The detection means detects the non-cleaning object based on a captured image from the imaging unit and image information stored in the storage unit, and also includes the caution information in the image information of the non-cleaning object. The self-propelled according to claim 1 or 2, wherein a liquid is contained in the container of the detected non-cleaning object when the is stored in association with each other. Type vacuum cleaner. The movement control means controls the movement of the non-cleaning object when the liquid presence / absence determination means of the determination means determines that no liquid is contained in the container. The self-propelled electric vacuum cleaner according to any one of claims 1 to 3. The movement control means controls to avoid movement of the non-cleaning object when the liquid presence / absence determination means of the determination means determines that liquid is contained in the container. The self-propelled electric vacuum cleaner according to any one of claims 1 to 4. Even when the movement control means determines that the liquid is contained in the container by the liquid presence / absence determination means of the determination means, if the container is unopened or closed, the non-cleaning target It controls so that a movement of an object may be performed. The self-propelled electric vacuum cleaner in any one of Claims 1-5 characterized by the above-mentioned. When the liquid presence / absence determining means cannot determine whether or not liquid is contained in the container, control is performed so as to avoid the movement of the non-cleaning object. The self-propelled electric vacuum cleaner according to any one of 6. The self-propelled electric vacuum cleaner according to claim 7, wherein the container is an opaque container. The liquid presence / absence judging means of the judging means includes container photographing means for photographing so as to look into from the liquid inlet of the container, and whether or not liquid is contained in the container based on the captured image of the container photographing means. The self-propelled electric vacuum cleaner according to any one of claims 1 to 8, characterized by: The liquid presence / absence determining means of the determining means includes measuring means for measuring the weight of the container. From the weight when the container is empty and the weight measured by the measuring means, liquid enters the container. It is judged whether it exists. The self-propelled electric vacuum cleaner in any one of Claims 1-8 characterized by the above-mentioned. The liquid presence / absence determining means of the determining means includes a humidity sensor, and the humidity sensor is immersed in the liquid in the container or is brought close to the liquid in the container to measure the humidity. It is judged whether or not is contained. The automatic driving vehicle according to any one of claims 1 to 8, wherein The moving means is one of a means for scooping the non-cleaning object, a pushing means, a gripping means, a pulling means, a lifting means, a gas blowing means, a paying means, a hooking means, a sticking means, and a magnet adsorbing means. It consists of one or two or more. The self-propelled electric vacuum cleaner according to any one of claims 1 to 11, wherein The self-propelled electric vacuum cleaner according to any one of claims 1 to 12, wherein the moving means includes gripping means for gripping the container. The self-propelled electric vacuum cleaner according to claim 13, wherein the gripping means is a magic hand having at least two gripping arms. The self-propelled electric vacuum cleaner according to claim 13 or 14, wherein the gripping means includes the liquid presence / absence determining means. The self-propelled electric vacuum cleaner according to any one of claims 13 to 15, wherein the gripping means includes one or more of a camera, a weight sensor, and a humidity sensor. An imaging unit for photographing the non-cleaning object;
The liquid presence / absence determining means analyzes a captured image from the imaging unit and determines whether or not the container contains liquid depending on whether or not the boundary of the liquid storage space of the container can be detected. The self-propelled electric vacuum cleaner according to any one of claims 1 to 16. A computer having a self-propelled electric vacuum cleaner comprising a traveling drive unit for autonomous traveling and a moving means capable of moving a non-cleaning object to another position,
Detection means for detecting the non-cleaning object during the cleaning operation while autonomously traveling,
Determining means for determining whether or not the non-cleaning object detected by the detecting means can be moved;
A movement control means for controlling the movement means based on the determination result of the determination means to control the movement of the non-cleaning object;
A program for a self-propelled electric vacuum cleaner to function as
The detection means has a function of determining whether or not the detected non-cleaning object is a container,
The determination means includes liquid presence / absence determination means for determining whether or not liquid is contained in the container when the detection means determines that the detected non-cleaning object is a container,
The program for a self-propelled electric cleaning apparatus, wherein the movement control means controls execution of movement of the non-cleaning object according to a determination result of the liquid presence / absence determination means of the determination means.

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