JP2020052601A - Autonomous travel cleaner and control method - Google Patents

Abstract

To provide an autonomous travel cleaner and the like that can calculate a distance from a picked up object with high accuracy.SOLUTION: An autonomous travel cleaner 100 comprises an image processing unit 130 calculating a pixel position of the nearest neighbor pixel that is a pixel corresponding to a position nearest to the autonomous travel cleaner 100 in an object included in an image that an imaging unit 120 generates, a position calculation unit 140 that calculates a distance from the autonomous travel cleaner 100 to the object based on the pixel position of the nearest neighbor pixel and calculates a position of the object on a floor map 191 based on the calculated distance and a moving direction of the autonomous travel cleaner 100, and a correction unit 150 correcting the distance that the position calculation unit 140 has calculated based on height information 192 if it is determined that a height of the autonomous travel cleaner 100 from a floor is different from a height of the object from the floor.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous traveling vacuum cleaner that autonomously travels and cleans a floor and a method of controlling the autonomous traveling vacuum cleaner.

  2. Description of the Related Art In recent years, autonomous traveling cleaners that autonomously travel and clean have been provided. Further, there has been proposed an apparatus that recognizes an object located around the apparatus using information from a camera, calculates a positional relationship between the apparatus and the object, and operates based on the calculation result (Patent Reference 1).

  Patent Literature 1 discloses a technique in which an environment obtained by a self-propelled robot is calculated by analyzing an image obtained by a camera, and the self-propelled robot travels based on the calculation result.

Japanese Patent No. 3215616

  When the autonomous traveling cleaner recognizes the object around the self-propelled cleaner, for example, it cleans the periphery of the object so as not to hit the object. Therefore, in order to clean a wide area around the target, it is necessary to approach the target and perform cleaning. For that purpose, the autonomous traveling cleaner needs to calculate the distance to the target with high accuracy.

  The present invention provides an autonomous traveling vacuum cleaner or the like that can accurately calculate the distance to a captured object.

  An autonomous traveling vacuum cleaner according to an aspect of the present invention is an autonomous traveling vacuum cleaner that autonomously travels and cleans a floor, indicates a floor plan, the autonomous traveling vacuum cleaner can get over, and A floor map including area information indicating a climbable area having a different height from the floor; a storage unit storing height information indicating a height of the climbable area; and the autonomous traveling cleaner in the floor map. And an acquisition unit that acquires the traveling direction of the autonomous traveling vacuum cleaner, and an imaging unit that is arranged in the autonomous traveling vacuum cleaner and generates an image by photographing the traveling direction front of the autonomous traveling vacuum cleaner. An image processing unit that calculates a pixel position of a closest pixel that is a pixel corresponding to a position closest to the autonomous traveling cleaner in a first object included in the image generated by the imaging unit; A distance from the autonomous traveling cleaner to the first object is calculated based on a pixel position of a closest pixel, and the calculated distance, and the distance in the floor map based on a traveling direction of the autonomous traveling cleaner. A position calculating unit that calculates the position of one object; and the autonomous traveling cleaner and the first object based on the position and height information of the autonomous traveling cleaner and the first object. Determining whether the height from the floor is different, and determining that the height of the autonomous traveling vacuum cleaner and the first object from the floor are different, the position calculator based on the height information; And a traveling control unit that controls traveling of the autonomous traveling cleaner based on the distance corrected by the correcting unit.

  Further, a control method according to an aspect of the present invention is a control method of an autonomous traveling vacuum cleaner that autonomously travels and cleans a floor, and indicates a floor plan, in which the autonomous traveling vacuum cleaner can get over. A floor map including area information indicating a crossable area having a different height from the floor, and a reference step of referring to a storage unit for storing height information indicating the height of the crossable area; An acquisition step of acquiring a position of the autonomous traveling cleaner on the floor map, and an advancing direction of the autonomous traveling cleaner; and arranging the autonomous traveling cleaner and photographing a forward direction of the autonomous traveling cleaner. An image capturing step of generating an image at, and a pixel corresponding to a location closest to the autonomous traveling cleaner in the first object included in the image generated in the image capturing step. An image processing step of calculating a pixel position of a nearest pixel, calculating a distance from the autonomous traveling cleaner to the first object based on the pixel position of the nearest pixel, the calculated distance, and A position calculating step of calculating a position of the first object on the floor map based on a traveling direction of the autonomous traveling cleaner; and a position and the height information of each of the autonomous traveling cleaner and the first object. And determining whether the height of the autonomous traveling vacuum cleaner and the first object from the floor is different based on the height of the autonomous traveling vacuum cleaner and the first object. When it is determined, the correction step of correcting the distance calculated in the position calculation step based on the height information, the travel of the autonomous traveling cleaner based on the distance corrected in the correction step Includes a traveling control step of controlling, the.

  According to the autonomous traveling vacuum cleaner or the like of one embodiment of the present invention, the distance to the photographed target object can be calculated with high accuracy.

FIG. 1 is a top view showing the appearance of the autonomous traveling vacuum cleaner according to the embodiment. FIG. 2 is a bottom view showing the appearance of the autonomous traveling cleaner according to the embodiment. FIG. 3 is a block diagram showing a characteristic functional configuration of the autonomous traveling vacuum cleaner according to the embodiment. FIG. 4 is a flowchart illustrating an example of a processing procedure of an operation of the autonomous traveling vacuum cleaner according to the embodiment. FIG. 5 is a schematic diagram illustrating an example of the operation of the autonomous traveling cleaner according to the embodiment. FIG. 6 is a diagram illustrating an example of an image obtained by photographing by the autonomous traveling vacuum cleaner according to the embodiment illustrated in FIG. 5. FIG. 7 is a diagram for describing parameters used when the autonomous traveling vacuum cleaner according to the embodiment calculates a distance to an object. FIG. 8 is a flowchart illustrating an example of a processing procedure in which the autonomous traveling cleaner according to the embodiment specifies the position of a target object.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each of the embodiments described below shows a specific example of the present invention. Therefore, the numerical values, shapes, materials, constituent elements, arrangement and connection forms of the constituent elements, the steps and the order of the steps, and the like shown in the following embodiments are merely examples, and do not limit the present invention. Therefore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concept of the present invention are described as arbitrary components.

  In addition, each drawing is a schematic diagram, and is not necessarily strictly illustrated. In each drawing, the same components are denoted by the same reference numerals.

  In the following embodiments, an expression indicating a direction is used. For example, the orthogonal direction means not only completely orthogonal, but also substantially orthogonal, that is, including an angle difference of, for example, about several percent. The same applies to expressions using other directions.

  In the following description, a description will be given of comparing heights such as “different heights”. The “height” indicates a distance from the reference floor surface to the autonomous traveling cleaner 100 or the bottom of the object in the normal direction of the floor surface.

(Embodiment)
[Constitution]
First, a configuration of an autonomous traveling cleaner according to an embodiment will be described with reference to FIGS.

  FIG. 1 is a top view showing the appearance of the autonomous traveling cleaner 100 according to the embodiment. FIG. 2 is a bottom view illustrating an appearance of the autonomous traveling cleaner 100 according to the embodiment.

  The autonomous traveling vacuum cleaner 100 according to the embodiment is a robot-type vacuum cleaner that autonomously travels on a floor such as a house and sucks dust on the floor.

  The autonomous traveling vacuum cleaner 100 includes a body 220 on which various components are mounted, a drive unit 230 for moving the body 220, a cleaning unit 240 for collecting refuse existing on the floor, and suction of refuse into the body 220. A suction unit 250, a drive unit 230, a control unit 270 for controlling the cleaning unit 240 and the suction unit 250, and various sensors including a camera 275.

  The body 220 is a housing that houses the drive unit 230, the control unit 270, and the like, and has a configuration in which the upper part can be removed from the lower part. A bumper that can be displaced with respect to the body 220 is attached to an outer peripheral portion of the body 220. Further, as shown in FIG. 2, the body 220 is provided with a suction port 221 for sucking dust into the body 220.

  Drive unit 230 causes autonomous traveling cleaner 100 to travel based on an instruction from control unit 270. In the present embodiment, one drive unit 230 is disposed on each of the left and right sides with respect to the center of the body 220 in the width direction in plan view. Note that the number of drive units 230 is not limited to two, and may be one or three or more.

  The drive unit 230 includes a wheel that travels on the floor, a traveling motor that applies torque to the wheel, and a housing that houses the traveling motor. The wheel is housed in a concave portion formed on the lower surface of the body 220, and is mounted so as to be rotatable with respect to the body 220. Further, the driving unit 230 may include a sensor for detecting odometry information used for calculating the traveling direction of the autonomous traveling cleaner 100. In this specification, the traveling direction of the autonomous traveling vacuum cleaner 100, that is, the direction in which the autonomous traveling vacuum cleaner 100 travels, means not only the direction in which the vehicle is actually traveling, but also the direction in which it will travel.

  The drive system of the autonomous traveling vacuum cleaner 100 according to the present embodiment is an opposed two-wheel type equipped with casters 279 as auxiliary wheels, and controls the rotation of the two wheels independently to go straight, retreat, and turn left. , The autonomous traveling cleaner 100 can be freely driven, such as turning right.

  The cleaning unit 240 is a unit for sucking dust from the suction port 221, and includes a main brush disposed in the suction port 221, a brush driving motor for rotating the main brush, and the like.

  The suction unit 250 is arranged inside the body 220, and has a fan case and an electric fan arranged inside the fan case. The electric fan sucks the dust inside the dust box unit 251 by sucking the air inside the dust box unit 251 and discharging the air to the outside of the body 220, so that the dust is stored in the dust box unit 251.

  The control unit 270 is arranged inside the body 220, and has a memory and a CPU (Central Processing Unit) that executes a control program stored in the memory.

  The camera 275 is a device that generates an image by photographing the front of the autonomous traveling cleaner 100 in the traveling direction. In the present embodiment, camera 275 is a monocular camera. In addition, the autonomous traveling cleaner 100 calculates the distance to a low-profile object such as a carpet that cannot be detected by the obstacle sensor 273, the distance measuring sensor 274, or the like, by processing an image captured by the camera 275.

  Note that the camera 275 may capture, for example, an entire circumference image of the upper space of the body 220. The autonomous traveling vacuum cleaner 100 may process the image captured by the camera 275 by an image processing unit, and grasp the current position of the autonomous traveling vacuum cleaner 100 from the position of a feature point in the image.

  In addition, examples of the various sensors included in the autonomous traveling cleaner 100 include the following sensors.

  The obstacle sensor 273 is a sensor that detects an obstacle, such as a surrounding wall or furniture, existing in front of the body 220 and that hinders traveling. In the present embodiment, an ultrasonic sensor is used as the obstacle sensor 273. The obstacle sensor 273 has a transmitting unit 271 disposed in the center in front of the body 220 and receiving units 272 disposed on both sides of the transmitting unit 271, and is transmitted from the transmitting unit 271 and reflected by the obstacle. The receiving unit 272 receives the returned ultrasonic waves, thereby detecting the distance and position of the obstacle.

  The distance measurement sensor 274 detects the distance between the body 220 and an object such as an obstacle existing around the body 220. In the present embodiment, the distance measuring sensor 274 is an infrared sensor having a light-emitting unit and a light-receiving unit, and measures a distance based on the time until infrared light emitted from the light-emitting unit is reflected by an obstacle and returned. I do. The distance measuring sensors 274 are arranged, for example, at the right front top and the left front top, respectively. The right distance measurement sensor 274 outputs light toward the diagonally right front of the body 220. Further, the left distance measurement sensor 274 outputs light toward the diagonally left front of the body 220. With such a configuration, when the autonomous traveling cleaner 100 turns, the distance measurement sensor 274 detects the distance between the body 220 and the surrounding object closest to the contour of the body 220.

  Floor sensors 276 are arranged at a plurality of locations on the bottom surface of body 220 and detect the state of the floor. In the present embodiment, the floor sensor 276 is an infrared sensor having a light-emitting unit and a light-receiving unit, and based on the amount of infrared light emitted from the light-emitting unit and reflected by the floor and returned, for example, Detect floor condition such as wet floor.

  The dust amount sensor 277 includes, for example, a light emitting element and a light receiving element, and the light receiving element detects and outputs the amount of light emitted from the light emitting element. The amount of received light is made to correspond to the amount of dust based on the output information. Specifically, it is determined that the dust amount increases as the light amount decreases, and dust amount information indicating that fact is generated.

  The above-described obstacle sensor 273, distance measurement sensor 274, collision sensor, floor surface sensor 276, and dust amount sensor 277 are examples, and the autonomous traveling cleaner 100 may not include all sensors. Further, the autonomous traveling vacuum cleaner 100 may include a sensor different from the above.

  For example, the autonomous traveling cleaner 100 may further include a collision sensor, an encoder, an acceleration sensor, and an angular velocity sensor.

  The collision sensor is a switch contact displacement sensor that is turned on when a bumper attached around the body 220 comes into contact with an obstacle and is pushed into the body 220.

  The encoder is provided in the drive unit 230 and detects each rotation angle of a pair of wheels rotated by the traveling motor. Based on the information from the encoder, the travel distance, turning angle, speed, acceleration, angular velocity, and the like of the autonomous traveling cleaner 100 can be calculated.

  The acceleration sensor detects acceleration when the autonomous traveling cleaner 100 travels.

  The angular velocity sensor detects an angular velocity when the autonomous traveling cleaner 100 turns.

  Information detected by the acceleration sensor and the angular velocity sensor is used as information for correcting an error caused by idling of the wheel.

  FIG. 3 is a block diagram showing a characteristic functional configuration of the autonomous traveling vacuum cleaner 100 according to the embodiment.

  The autonomous traveling cleaner 100 functionally includes an acquisition unit 110, an imaging unit 120, an image processing unit 130, a position calculation unit 140, a correction unit 150, a travel control unit 160, a travel unit 161; A cleaning control unit 170, a battery 180, and a storage unit 190 are provided.

  The acquisition unit 110 acquires the position and the traveling direction of the autonomous traveling cleaner 100 in the floor map 191 indicating the floor plan of the floor on which the autonomous traveling cleaner 100 travels. The method by which the acquisition unit 110 acquires the position and the traveling direction of the autonomous traveling vacuum cleaner 100 is not particularly limited. The acquisition unit 110 may, for example, acquire the position and the traveling direction of the autonomous traveling cleaner 100 based on the odometry information acquired from the driving unit 230, or when the autonomous traveling cleaner 100 includes an acceleration sensor, The position and the traveling direction of the autonomous traveling cleaner 100 may be acquired based on information acquired from the acceleration sensor. In the present embodiment, the acquisition unit 110 is realized by the control unit 270.

  In addition, the floor map 191 includes area information indicating an area where the autonomous traveling vacuum cleaner 100 can get over, and which can be overridden at a different height from the floor.

  The floor map 191 may be created by the autonomous traveling vacuum cleaner 100 or may be acquired from an external communication device or the like. In addition, the autonomous traveling vacuum cleaner 100 may include a communication interface (not shown) such as a communication adapter for communicating with an external communication device or the like. When the autonomous traveling cleaner 100 creates the floor map 191, the autonomous traveling cleaner 100 may further include a map generation unit (not shown).

  The map generation unit generates self-position information at a plurality of locations obtained by a self-position estimation technique based on information acquired from various sensors included in the autonomous traveling cleaner 100 while the autonomous traveling cleaner 100 is traveling, during cleaning, and the like. Department. In the present embodiment, for example, the map generation unit generates the floor map 191 based on various sensors including the camera 275 and the like and information acquired from the various sensors, and the autonomous traveling cleaner 100 in the generated floor map 191. Is realized by the control unit 270 which is a processing unit for calculating the position. The acquisition unit 110 acquires the position of the autonomous traveling vacuum cleaner 100 on the floor map 191 by acquiring the self-position information generated by the map generation unit, for example. In addition, the map generation unit generates a floor map using the traveling results that are a set of self-location information, and causes the storage unit 190 to store the floor map. The floor map 191 is, for example, an environmental map or the like obtained by SLAM (Simultaneous Localization and Mapping).

  The imaging unit 120 is arranged in the autonomous traveling vacuum cleaner 100, and generates an image by photographing the front of the autonomous traveling vacuum cleaner 100 in the traveling direction. Specifically, the imaging unit 120 captures an image of the front of the autonomous traveling cleaner 100 in the traveling direction, so that the plane perpendicular to the traveling direction is perpendicular to the plane of the floor on which the autonomous traveling cleaner 100 travels. A camera that generates an image of a plane. Specifically, the imaging unit 120 generates an image composed of a plurality of pixels arranged in a matrix by photographing the front of the autonomous traveling cleaner 100 in the traveling direction. The imaging unit 120 is realized by the camera 275 shown in FIG.

  The image processing unit 130 is configured to perform, for the first object included in the image generated by the imaging unit 120 on the floor (first object) positioned on the floor, a second object in the traveling direction of the autonomous traveling cleaner 100. The pixel position of the closest pixel, which is the pixel corresponding to the location of the object closest to the autonomous traveling cleaner 100, is calculated. Specifically, the image processing unit 130 calculates a circumscribed rectangle of the first object included in the image including one side parallel to the virtual reference axis associated with the floor map 191, and calculates the circumscribed rectangle of the first circumscribed rectangle. The pixel position of the closest pixel that is a pixel that is in contact with one side parallel to the reference axis and that corresponds to a position closest to the autonomous traveling cleaner 100 in the first object in the traveling direction of the autonomous traveling cleaner 100 is calculate. In the present embodiment, the image processing unit 130 is realized by the control unit 270.

  The position calculator 140 calculates the distance from the autonomous traveling cleaner 100 to the first object based on the pixel position of the nearest pixel calculated by the image processor 130, and calculates the calculated distance and the autonomous traveling cleaner 100. Is a processing unit that calculates the position of the first target on the floor map 191 based on the traveling direction of the first object. In the present embodiment, position calculating section 140 is realized by control unit 270.

  The correction unit 150 determines whether the heights of the autonomous traveling vacuum cleaner 100 and the first object from the floor are different from each other based on the position and the height information 192 of the autonomous traveling vacuum cleaner 100 and the first object. When it is determined that the heights of the autonomous traveling vacuum cleaner 100 and the first object from the floor are different from each other, the distance calculated by the position calculation unit 140 based on the height information 192 is corrected. Specifically, based on the position and height information 192 of each of the autonomous traveling vacuum cleaner 100 and the first object, the correction unit 150 may determine the height of the autonomous traveling vacuum cleaner 100 from the floor surface (for example, the bottom surface of the body 220). ) And the distance from the floor surface to the bottom of the first object (for example, the bottom surface of the first object) are determined, and whether the autonomous traveling vacuum cleaner 100 and the floor of the first object are different is determined. If it is determined that the heights from are different, the distance calculated by the position calculation unit 140 is corrected based on the height information 192. For example, the correction unit 150 determines whether the respective positions of the autonomous traveling cleaner 100 and the first object are located in the overridable area, and determines whether the autonomous traveling cleaner 100 and the first object are overridable. , And the other is not located in the overridable area, the distance calculated by the position calculation unit 140 based on the height information 192 is corrected. The height information 192 is information indicating the height of the overridable area, specifically, the height from the floor in the overridable area, and is stored in the storage unit 190.

  The difference in height from the floor means that the reference floor has a different height from the floor surface. For example, on a floor on which the autonomous traveling vacuum cleaner 100 travels, there is a step on which the autonomous traveling vacuum cleaner 100 can get over, and when there are floor surfaces of different heights on the floor, the height from the floor surface of the reference floor becomes higher. The storage unit 190 also stores floor surfaces of different floors as surmountable areas.

  For example, the overridable area is an area where an object (second object) over which the autonomous traveling vacuum cleaner 100 can get over is arranged on the floor. The second object is an object that the autonomous traveling vacuum cleaner 100 can get over, for example, a low-profile carpet or the like. The storage unit 190 stores, for example, the thickness for the type of the second object, for example, the width from the floor to the upper surface of the second object as the height information 192. In this case, the image processing unit 130 specifies the type of the second object from the image generated by the imaging unit 120, for example. The correction unit 150 corrects the distance calculated by the position calculation unit 140 based on the thickness for the type of the second object specified by the image processing unit 130, for example.

  Further, for example, the image processing unit 130 calculates the outer edge of the second object included in the image generated by the imaging unit 120, and places the first object included in the image inside the calculated outer edge of the second object. It is determined whether or not the nearest pixel is located. In this case, if the position calculation unit 140 determines that the closest pixel of the first object included in the image is located inside the outer edge of the second object calculated by the image processing unit 130, It is determined that the object is located on the second object. On the other hand, when the correction unit 150 determines that the closest pixel of the first object included in the image is not located inside the outer edge of the second object calculated by the image processing unit 130, the first object Is determined not to be located on the second object. In the present embodiment, the correction unit 150 is realized by the control unit 270. A specific processing procedure of the correction of the distance between the autonomous traveling vacuum cleaner 100 and the first object performed by the correction unit 150 will be described later.

  The traveling control unit 160 controls the traveling direction and the like of the autonomous traveling cleaner 100 by controlling the traveling unit 161 based on the position of the autonomous traveling cleaner 100 calculated from information detected by various sensors, for example. It is a processing unit. The traveling unit 161 is a motor or the like for moving the autonomous traveling cleaner 100 under the control of the traveling control unit 160. The traveling control unit 160 controls traveling of the autonomous traveling cleaner 100 based on the distance obtained by correcting the distance between the autonomous traveling cleaner 100 and the first object calculated by the position calculator 140 by the correction unit 150, for example. I do. The traveling control unit 160 and the traveling unit 161 are realized by, for example, the drive unit 230.

  The cleaning control unit 170 controls cleaning of the floor, such as sucking in dust. In the present embodiment, the cleaning control unit 170 is realized by the cleaning unit 240, the suction unit 250, and the trash box unit 251.

  The travel control unit 160 and the cleaning control unit 170 correct the distance calculated by the position calculation unit 140 or the correction unit 150 when the image processing unit 130 detects the first object on the floor, for example. Based on the distance, the control of the traveling unit 161, the suction unit 250, and the like is performed.

  Battery 180 is a battery that is electrically connected to an electronic device included in autonomous traveling cleaner 100 and supplies power to the electronic device.

  The storage unit 190 is a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory) in which control programs executed by various processing units are stored. The storage unit 190 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like.

  Further, the storage unit 190 stores a floor map 191 which is information indicating a floor plan, and height information 192 which indicates the height of a transitable area included in the floor map. Specifically, the storage unit 190 indicates the floor plan, the floor map 191 including area information indicating the area where the autonomous traveling vacuum cleaner 100 can get over, and the area where the floor and the height can be overridden, and Height information 192 indicating the height of the overridable area is stored.

[motion]
Subsequently, the operation of the autonomous traveling cleaner 100 will be described with reference to FIGS.

  FIG. 4 is a flowchart for describing an example of a processing procedure of the operation of the autonomous traveling vacuum cleaner 100 according to the embodiment.

  First, the autonomous traveling vacuum cleaner 100 creates a floor map 191 including area information indicating an area where the vehicle can get over while moving on the floor, and stores the created floor map 191 in the storage unit 190 (step S101). As described above, the floor map 191 may be acquired from, for example, an external communication device or the like. Further, the height information 192 is, for example, a value in which the autonomous traveling vacuum cleaner 100 detects the height in the overcoming area using a floor sensor 276 or the like that measures a distance from the floor surface while moving on the floor. Or may be obtained from an external communication device or the like.

  Next, the acquisition unit 110 acquires the traveling direction of the autonomous traveling cleaner 100 with respect to the floor and the position of the autonomous traveling cleaner 100 on the floor map 191 (step S102). In step S102, the acquisition unit 110 acquires, for example, the traveling direction of the autonomous traveling cleaner 100 based on the odometry information acquired from the drive unit 230, and acquires the self-position information generated by the map generation unit. Thus, the position of the autonomous traveling vacuum cleaner 100 on the floor map 191 is obtained.

  Next, the imaging unit 120 generates an image including a plurality of pixels on a plane orthogonal to the traveling direction by photographing the front of the autonomous traveling cleaner 100 in the traveling direction (step S103). Specifically, in step S103, the autonomous traveling cleaner 100 generates an image including a plurality of pixels on a plane orthogonal to the traveling direction by photographing the front of the autonomous traveling cleaner 100 in the traveling direction by the imaging unit 120. Meanwhile, the traveling control unit 160 controls the traveling and the cleaning control unit 170 performs the cleaning control to clean the floor. The image generated in step S103 includes, for example, a plurality of pixels arranged in a matrix.

  Next, the image processing unit 130 performs image processing on the image generated by the imaging unit 120, and determines whether or not the image includes the first target (Step S104). Here, the first target is, for example, an article arranged on a floor. More specifically, the first target is a predetermined low-profile object that cannot be detected by various sensors such as the obstacle sensor 273 and the distance measuring sensor 274, for example. The image processing unit 130 identifies the type of the first target by identifying the first target included in the image by using, for example, deep learning.

  When the image processing unit 130 determines that the first object is not included in the image generated by the imaging unit 120 (No in step S104), the autonomous traveling vacuum cleaner 100 returns to step S102, and returns to step S102. The position and the traveling direction of the autonomous traveling vacuum cleaner 100 are acquired, and the image capturing unit 120 travels on the floor to clean while photographing the front of the autonomous traveling vacuum cleaner 100 in the traveling direction.

  On the other hand, when the image processing unit 130 determines that the first object is included in the image generated by the imaging unit 120 (Yes in step S104), the autonomous traveling cleaner in the first object included in the image is used. The pixel position of the closest pixel, which is the pixel corresponding to the location closest to 100, is calculated (step S105). The image processing unit 130 calculates, for example, the circumscribed rectangle of the first object included in the image including one side parallel to the virtual reference axis associated with the floor map 191 and sets the circumscribed rectangle as the reference axis of the calculated circumscribed rectangle. The pixel position of the closest pixel that is a pixel that is in contact with one parallel side and that corresponds to a portion of the first object that is closest to the autonomous traveling cleaner 100 in the traveling direction of the autonomous traveling cleaner 100 is calculated.

  Next, the position calculation unit 140 calculates the distance from the autonomous traveling cleaner 100 to the first object from the pixel position of the nearest pixel calculated by the image processing unit 130 in step S105, and calculates the calculated distance and the autonomous distance. The position of the first target on the floor map 191 is calculated from the traveling direction of the traveling cleaner 100 and the floor map 191 (step S106).

  Next, the correction unit 150 determines whether the position of each of the autonomous traveling cleaner 100 and the first object is located in the area where the autonomous traveling cleaner 100 and the first object can be overtaken. It is determined whether they are located at different heights on the floor (step S107).

  The correction unit 150 determines that one of the autonomous traveling cleaner 100 and the first object is located in the overridable area and the other is not located in the overridable area, that is, the autonomous traveling cleaner 100 and the first object. When it is determined that are located at different heights on the floor (Yes in step S107), the distance between the autonomous traveling vacuum cleaner 100 calculated by the position calculation unit 140 based on the height information 192 and the first object is determined. Correct the distance.

  On the other hand, the correction unit 150 determines that both the autonomous traveling cleaner 100 and the first object are located in the overridable area, or determines that neither is located in the overridable area, that is, the autonomous traveling cleaner. When it is determined that 100 and the first object are located at the same height on the floor (No in step S107), the distance between the autonomous traveling cleaner 100 and the first object calculated by the position calculator 140. Do not correct.

  Next, the autonomous traveling vacuum cleaner 100 (for example, at least one of the traveling control unit 160 and the cleaning control unit 170) calculates the distance corrected by the correction unit 150 in step S108 or the distance calculated by the position calculation unit 140 in step S106. Is controlled based on the control (step S109).

  As described above, the autonomous traveling vacuum cleaner 100 stores the floor map 191 including the area information indicating the traversable area having a different height from the floor, and the height information 192 indicating the height of the traversable area. , The distance to the first object photographed by the imaging unit 120 is calculated, and control such as running is performed.

[Distance calculation method]
Subsequently, the details of a specific calculation method of the distance to the target performed by the autonomous traveling cleaner 100 will be described.

  FIG. 5 is a schematic diagram showing an example of the operation of the autonomous traveling vacuum cleaner 100 according to the embodiment. Specifically, FIG. 5 is a schematic diagram when the floor 400 is viewed from above. FIG. 6 is a diagram showing an example of an image 300 obtained by the autonomous traveling cleaner 100 according to the embodiment shown in FIG. Note that FIGS. 5 and 6 show an example in which the second target object 420 is arranged in the overcoming area. Further, the first object 410 is arranged on the second object 420. In FIGS. 5 and 6, the second object 420 is hatched for explanation. It is also assumed that the direction of the dashed-line arrow shown in FIG. 5 is the traveling direction of the autonomous traveling cleaner 100. Further, regarding the first object, the first object located in the real space is referred to as a first object 410, and the first object included in the image 300 generated by the imaging unit 120 is referred to as a first object 411. I do. Further, regarding the second object, the second object located in the real space is referred to as a second object 420, and the second object included in the image 300 generated by the imaging unit 120 is referred to as a second object 421. I do.

  As shown in FIG. 5, it is assumed that the autonomous traveling cleaner 100 is traveling in the traveling direction indicated by the dashed arrow. In this case, it is assumed that the imaging unit 120 generates an image 300 shown in FIG. 6 by photographing the front of the autonomous traveling cleaner 100 in the traveling direction. The image processing unit 130 calculates a pixel position of a nearest pixel 302 which is a pixel corresponding to a position closest to the autonomous traveling cleaner 100 in the image 300. The image processing unit 130 calculates, for example, a circumscribed rectangle of the first object 411 included in the image 300, and determines the lower end of the first object 411 included in the image 300 that is in contact with the lower side of the circumscribed rectangle with the nearest pixel. It is calculated as the pixel position 302. The position calculation unit 140 calculates a distance V1 from the closest pixel 302 to the lower end of the image 300 from the pixel position of the closest pixel 302 and a predetermined number of pixels of the image 300, for example, and calculates the calculated distance V1. The distance from the autonomous traveling vacuum cleaner 100 to the second object 420 is calculated based on. Further, the position calculation unit 140 calculates the position of the first object 410 in the floor map 191 based on the calculated distance from the autonomous traveling cleaner 100 to the second object 420 and the traveling direction of the autonomous traveling cleaner. For example, coordinates are calculated.

  When the pixel position of the closest pixel 302 is shifted to the left or right from the center in the horizontal direction of the image 300, the position calculation unit 140 calculates the position of the closest pixel 302 in the floor map 191 based on the pixel position of the closest pixel 302. The position of the first object 410 may be calculated.

  In addition, the image processing unit 130 defines a reference axis associated with the floor map 191 for the image generated by the imaging unit 120. The reference axis is a reference axis in the image 300 corresponding to a direction parallel to the plane of the floor map 191. In the present embodiment, the reference axis is the horizontal direction of the image 300, that is, the horizontal direction of the plurality of pixels. Defined in parallel.

  For example, the autonomous traveling cleaner 100 includes the autonomous traveling cleaner 100 and the first object in the traveling direction with respect to the position of the pixel included in the image generated by the imaging unit 120 photographing the front of the autonomous traveling cleaner 100 in the traveling direction. Correlation information indicating the distance to the object 410 is stored in the storage unit 190 in advance. Accordingly, the position calculation unit 140 calculates the distance from the autonomous traveling cleaner 100 to the first object 410 from the pixel position of the closest pixel 302 included in the image 300 by the image processing unit 130.

  Specifically, the height d of the imaging unit 120 mounted on the autonomous traveling vacuum cleaner 100 shown in FIG. 7, the focal length f of the imaging unit 120, the shooting angle θ, and the vertical arrangement of a plurality of pixels in the image 300 Direction, in other words, the total number h of pixels in the direction orthogonal to the reference axis, the number y of images from the pixel position of the closest pixel 302 to the image center in the vertical direction of a plurality of pixels in the image 300, and correlation information. , The distance from the autonomous traveling vacuum cleaner 100 to the first object 410 is calculated.

  Specifically, the distance L from the autonomous traveling vacuum cleaner 100 calculated by the position calculation unit 140 to the first object 410 is calculated from the following equation (1).

  L = (d / y) × f Equation (1)

  The focal length f is calculated from the following equation (2).

  f = (h / 2) × 1 / tan (θ / 2) Equation (2)

  From the above equations (1) and (2), the position calculator 140 calculates the distance from the autonomous traveling cleaner 100 to the first object 410.

  When the height of the autonomous traveling vacuum cleaner 100 and the first object 410 from the floor 400 are located at the same height, the above calculation method accurately determines the distance from the autonomous traveling vacuum cleaner 100 to the first object 410. Can be calculated. However, when the autonomous traveling vacuum cleaner 100 and the first object 410 are located at different heights from the floor 400, for example, the autonomous traveling vacuum cleaner 100 is located on the floor 400 and the first object When the object 410 is located on the second object 420 having a thickness of Δd arranged on the floor 400, the position calculation unit 140 accurately calculates the distance from the autonomous traveling vacuum cleaner 100 to the first object 410. Can not. For example, as shown in FIG. 7, the position calculating unit 140 calculates not the distance Z but the distance Z1 from the formulas (1) and (2) for the distance from the autonomous traveling vacuum cleaner 100 to the first object 410. Will be done.

  Thus, for example, when the first object 410 is located at a position higher than the floor 400 than the autonomous traveling vacuum cleaner 100, the position calculation unit 140 determines that the first object 410 The distance to 410 is calculated to be larger than the distance to be calculated. Further, for example, when the first object 410 is located at a position lower than the floor 400 than the autonomous traveling vacuum cleaner 100, the position calculation unit 140 determines from the autonomous traveling cleaner 100 to the first object 410. Is calculated to be smaller than the distance to be calculated.

  Therefore, when the autonomous traveling vacuum cleaner 100 and the first object 410 are located at different heights, the correction unit 150 corrects the distance Z1 calculated by the position calculation unit 140. Specifically, for example, when the first target object 410 is located at a position higher in height from the floor 400 than the autonomous traveling vacuum cleaner 100, the correction unit 150 decreases the distance calculated by the position calculation unit 140. Is corrected by a predetermined distance. Further, for example, when the first object 410 is located at a position lower than the floor 400 than the autonomous traveling cleaner 100, the first object 410 is calculated by a predetermined distance so as to increase the distance calculated by the position calculator 140. I do.

  Specifically, the correction value ΔZ at which the correction unit 150 corrects the distance Z1 is calculated from the following equation (3).

  ΔZ = h / 2y × tan (θ / 2) Equation (3)

  Further, the correcting unit 150 calculates the corrected distance Z2 by correcting the distance Z1 calculated by the position calculating unit 140 from the following equation (4). Here, for example, when the first target object 410 is located higher than the autonomous traveling cleaner 100, the correction unit 150 calculates the correction distance Z2 from the following equation (4).

  Z2 = Z1−ΔZ × Δd Equation (4)

  In addition, for example, when the first object 410 is located at a position lower than the floor 400 than the autonomous traveling vacuum cleaner 100, the correction unit 150 calculates the correction distance Z2 from the following equation (5). .

  Z2 = Z1 + ΔZ × Δd Equation (5)

  Note that Δd indicates a difference in height from the floor 400 where the autonomous traveling vacuum cleaner 100 and the first object 410 are located. For example, Δd is the thickness of the second object 420, and is a value included in the height information 192 stored in the storage unit 190. The correction unit 150 determines Δd based on the height information 192 stored in the storage unit 190, and calculates the correction distance Z2 from Expression (5).

  Further, for example, when the storage unit 190 stores the thickness for the type of the second object 420 as the height information 192, the correction unit 150 determines the value of Δd based on the type of the second object 420. I do. The image processing unit 130 specifies the type of the second object 420 from the image 300 generated by the imaging unit 120, for example. The image processing unit 130 identifies the type of the second object 420 by identifying the second object 421 included in the image 300 by using, for example, deep learning. The correction unit 150 determines Δd based on the thickness for the type of the second target object 420 specified by the image processing unit 130, and calculates the correction distance Z2.

[Modification]
Note that the position calculation unit 140 determines that the first object 410 is located on the second object 420 based on the positional relationship between the first object 411 and the second object 421 included in the image 300 generated by the imaging unit 120. It may be determined whether or not it is performed.

  FIG. 8 is a flowchart illustrating an example of a processing procedure in which the autonomous traveling vacuum cleaner 100 according to the embodiment specifies the position of the first target object 410. In FIG. 8, the processing procedure up to step S105 shown in FIG. 4 is the same as the processing procedure after step S107, and therefore the description is omitted.

  After step S105 shown in FIG. 4, the image processing unit 130 calculates the outer edge of the second object 421 included in the image 300 generated by the imaging unit 120 (step S201).

  Next, the image processing unit 130 determines whether or not the closest pixel 302 of the first object 411 included in the image 300 is located inside the outer edge of the second object 421 calculated in step S201. (Step S202).

  The position calculation unit 140 determines that the closest pixel 302 of the first object 411 included in the image 300 is located inside the outer edge of the second object 421 calculated by the image processing unit 130 (step It is determined that the first target object 410 is located on the second target object 420 (Yes in S202) (step S205).

  On the other hand, when the position calculation unit 140 determines that the closest pixel 302 of the first object 411 included in the image 300 is not located inside the outer edge of the second object 421 calculated by the image processing unit 130 (No in step S202), it is determined that the first object 410 is not located on the second object 420 (step S204).

  Subsequent to step S204 or step S205, the position calculation unit 140 determines from the pixel position of the closest pixel 302 calculated by the image processing unit 130 in step S105 shown in FIG. Is calculated (step S205).

  By doing so, the position calculation unit 140 can accurately calculate whether the first object 410 is located on the second object 420.

  Note that the outer edge of the second object 421 calculated in step S201 may be a part. For example, when the second object 421 is reflected on the entire upper side of the image 300 generated by the image capturing unit 120, the image processing unit 130 determines whether the lower side of the second object 421 included in the image 300 A region surrounded by the upper side, left side, and right side of 300 is determined to be inside the outer edge of the second object 421.

[Effects]
As described above, the autonomous traveling vacuum cleaner 100 according to the present embodiment is an autonomous traveling vacuum cleaner 100 that autonomously travels and cleans the floor 400, and shows the floor plan of the floor 400. A storage unit 190 for storing a floor map 191 including area information indicating a crossable area having a height different from that of the floor 400, and a height information 192 indicating a height of the crossable area. An acquisition unit 110 that acquires the position of the autonomous traveling cleaner 100 on the floor map 191 and the traveling direction of the autonomous traveling cleaner 100, and is arranged on the autonomous traveling cleaner 100, and photographs the front of the traveling direction of the autonomous traveling cleaner 100. And an autonomous traveling sweep of the first object 411 included in the image 300 generated by the imaging unit 120. The image processing unit 130 that calculates the pixel position of the closest pixel 302 that is the pixel corresponding to the location closest to the vacuum cleaner 100; And a position calculating unit 140 that calculates the position of the first object 410 on the floor map 191 based on the calculated distance Z1 and the traveling direction of the autonomous traveling cleaner 100; And whether the heights of the autonomous traveling vacuum cleaner 100 and the first object 410 from the floor 400 are different based on the position and the height information 192 of each of the first object 410 and the autonomous traveling cleaner. If it is determined that the heights of the first object 100 and the first object 410 from the floor 400 are different, the distance Z1 calculated by the position calculation unit 140 based on the height information 192 is corrected. That includes a correction unit 150, based on the distance correction section 150 is corrected (corrected distance Z2), and the travel control unit 160 which controls the running of the autonomous cleaner 100, a.

  According to such a configuration, even when the height of the autonomous traveling cleaner 100 and the first object 410 from the floor 400 are different, the autonomous traveling cleaner 100 performs autonomous image processing without performing complicated image processing. The distance from the traveling cleaner 100 to the first object 410 can be accurately corrected. That is, according to the autonomous traveling cleaner 100, the distance between the autonomous traveling cleaner 100 and the first object 410 can be calculated with higher accuracy than before based on the image 300 generated by the imaging unit 120. .

  In addition, for example, a second object 420 that the autonomous traveling cleaner 100 can get over on the floor 400 is arranged in the overtaking area. The storage unit 190 stores, for example, the thickness for the type of the second object 420 as the height information 192. For example, the image processing unit 130 further specifies the type of the second object 420 from the image 300 generated by the imaging unit 120. The correction unit 150 corrects the distance Z1 calculated by the position calculation unit 140 based on the thickness for the type of the second object 420 specified by the image processing unit 130, for example.

  According to such a configuration, the correction unit 150 can correct the distance between the autonomous traveling cleaner 100 and the first object 410 according to the thickness of the second object 420. Therefore, the correction unit 150 can correct the distance between the autonomous traveling cleaner 100 and the first object 410 with higher accuracy.

  Further, for example, the image processing unit 130 calculates the outer edge of the second object 421 included in the image 300 generated by the imaging unit 120, and is included in the image 300 inside the calculated outer edge of the second object 421. It is determined whether or not the closest pixel 302 of the first object 411 is located. For example, when the position calculating unit 140 determines that the nearest pixel 302 of the first object 411 included in the image 300 is located inside the outer edge of the second object 421 calculated by the image processing unit 130. , It is determined that the first object 410 is located on the second object 420. Further, for example, the position calculation unit 140 determines that the nearest pixel 302 of the first object 411 included in the image 300 is not located inside the outer edge of the second object 421 calculated by the image processing unit 130. In this case, it is determined that the first object 410 is not located on the second object 420.

  According to such a configuration, the correction unit 150 can more accurately determine whether the first target object 410 is located on the second target object 420. Therefore, the correction unit 150 can correct the distance between the autonomous traveling cleaner 100 and the first object 410 with higher accuracy.

  In addition, the control method of the autonomous traveling cleaner 100 according to the present embodiment is a control method of the autonomous traveling cleaner 100 that autonomously travels and cleans the floor 400, and indicates a floor plan of the floor 400, A storage unit that stores a floor map 191 that includes area information indicating a possible area where the vacuum cleaner 100 can get over and has a different height from the floor 400 and a height information 192 that indicates the height of the possible area. A reference step of referring to 190; an acquisition step of acquiring the position of the autonomous traveling cleaner 100 on the floor map 191 and a traveling direction of the autonomous traveling cleaner 100; An image capturing step of generating an image 300 by capturing an image of the front in the traveling direction of 100; An image processing step of calculating a pixel position of a nearest pixel 302 which is a pixel corresponding to a position of the object 411 closest to the autonomous traveling cleaner 100; and an autonomous traveling cleaner 100 based on the pixel position of the nearest pixel 302. And a position calculating step of calculating a position of the first object 410 on the floor map 191 based on the calculated distance Z1 and the traveling direction of the autonomous traveling cleaner 100. Based on the position and height information 192 of the autonomous traveling vacuum cleaner 100 and the first object, it is determined whether the height of the autonomous traveling vacuum cleaner 100 and the first object 410 from the floor 400 is different. If it is determined that the heights of the autonomous traveling vacuum cleaner 100 and the first object 410 from the floor are different, the position calculation step is performed based on the height information 192. A correction step of correcting the distance Z1 that issued, based on the distances corrected by the correction step (corrected distance Z2), comprising a traveling control step of controlling the traveling of the autonomous cleaner 100, a.

  According to such a method, even when the height of the autonomous traveling vacuum cleaner 100 and the first object 410 are different, from the autonomous traveling vacuum cleaner 100 to the first object 410 without performing complicated image processing. Can be accurately corrected. That is, according to the control method according to the present embodiment, it is possible to more accurately calculate the distance between autonomous traveling vacuum cleaner 100 and first object 410 based on image 300 generated by imaging section 120. .

(Other embodiments)
As described above, the autonomous traveling vacuum cleaner and the control method according to the present invention have been described based on the above embodiments, but the present invention is not limited to the above embodiments.

  For example, in the above embodiment, it has been described that the processing units such as the acquisition unit 110, the image processing unit 130, the position calculation unit 140, and the correction unit 150 are configured by the CPU and the control program. However, the configuration of these processing units is not limited to this. These processing units may be realized in hardware by a dedicated electronic circuit.

  In the above-described embodiment, all or some of the components of the processing unit such as the image processing unit 130, the position calculation unit 140, and the correction unit 150 may be configured by dedicated hardware. It may be realized by executing a suitable software program. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a HDD (Hard Disk Drive) or a semiconductor memory. Good.

  Further, the components of the processing unit may be configured by one or a plurality of electronic circuits. Each of the one or more electronic circuits may be a general-purpose circuit or a dedicated circuit.

  One or a plurality of electronic circuits may include, for example, a semiconductor device, an integrated circuit (IC), or a large scale integration (LSI). The IC or LSI may be integrated on one chip, or may be integrated on a plurality of chips. Here, the term is referred to as an IC or an LSI, but the term is changed depending on the degree of integration, and may be referred to as a system LSI, a VLSI (very large scale integration), or a ULSI (ultra large scale integration). An FPGA (Field Programmable Gate Array) programmed after manufacturing the LSI can be used for the same purpose.

  Further, general or specific aspects of the present invention may be realized by a system, an apparatus, a method, an integrated circuit, or a computer program. Alternatively, it may be realized by a non-transitory computer-readable recording medium such as an optical disk, an HDD, or a semiconductor memory in which the computer program is stored. Further, the present invention may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

  In addition, a form obtained by performing various modifications that can be conceived by those skilled in the art to each embodiment, and a combination of components and functions in each embodiment without departing from the spirit of the present invention are realized. Embodiments are also included in the present invention.

  INDUSTRIAL APPLICABILITY The present invention is applicable to an autonomous traveling vacuum cleaner for automatically cleaning a floor such as a house.

REFERENCE SIGNS LIST 100 autonomous traveling cleaner 110 acquisition unit 120 imaging unit 130 image processing unit 140 position calculation unit 150 correction unit 160 traveling control unit 161 traveling unit 170 cleaning control unit 180 battery 190 storage unit 191 floor map 192 height information 220 body 221 suction port 230 Drive unit 240 Cleaning unit 250 Suction unit 251 Recycle bin unit 270 Control unit 271 Transmitting unit 272 Receiving unit 273 Obstacle sensor 274 Distance measuring sensor 275 Camera 276 Floor surface sensor 277 Dust amount sensor 279 Caster 300 Image 302 Closest pixel 400 Floor 410 , 411 First object 420, 421 Second object

Claims (4)

An autonomous traveling vacuum cleaner that autonomously runs and cleans the floor,
The floor map indicates the floor plan, the autonomous traveling vacuum cleaner is capable of overcoming, and a floor map including area information indicating an overcoming area having a different height from the floor, and a height of the overcoming area. A storage unit for storing height information;
An acquisition unit that acquires a position of the autonomous traveling cleaner in the floor map, and a traveling direction of the autonomous traveling cleaner;
An imaging unit that is arranged in the autonomous traveling vacuum cleaner and generates an image by photographing a forward direction of the autonomous traveling vacuum cleaner,
An image processing unit that calculates a pixel position of a closest pixel that is a pixel corresponding to a position closest to the autonomous traveling cleaner in the first object included in the image generated by the imaging unit;
The distance from the autonomous traveling cleaner to the first object is calculated based on the pixel position of the closest pixel, and the calculated distance, and the direction in the floor map based on the traveling direction of the autonomous traveling cleaner. A position calculation unit that calculates the position of the first object;
Based on the position and the height information of the autonomous traveling vacuum cleaner and the first object, it is determined whether the height of the autonomous traveling vacuum cleaner and the first object from the floor is different. A correction unit that corrects the distance calculated by the position calculation unit based on the height information when it is determined that the heights of the autonomous traveling vacuum cleaner and the first object from the floor are different;
A traveling control unit that controls traveling of the autonomous traveling cleaner based on the distance corrected by the correction unit. In the overcoming area, a second object that the autonomous traveling vacuum cleaner can overcome is arranged on the floor,
The storage unit stores a thickness for the type of the second object as the height information,
The image processing unit further specifies the type of the second object from the image generated by the imaging unit,
The autonomous traveling cleaner according to claim 1, wherein the correction unit corrects the distance calculated by the position calculation unit based on a thickness for the type of the second object specified by the image processing unit. The image processing unit calculates an outer edge of the second object included in the image generated by the imaging unit, and calculates the first object included in the image inside the calculated outer edge of the second object. Determining whether the closest pixel of the object is located,
The position calculation unit,
When it is determined that the nearest pixel of the first object included in the image is located inside the outer edge of the second object calculated by the image processing unit, the first object is It is determined that it is located on the second object,
If it is determined that the nearest pixel of the first object included in the image is not located inside the outer edge of the second object calculated by the image processing unit, the first object is The autonomous traveling cleaner according to claim 2, wherein it is determined that the cleaner is not located on the second object. An autonomous traveling vacuum cleaner control method for autonomously traveling and cleaning a floor,
The floor map indicates the floor plan, the autonomous traveling vacuum cleaner is capable of overcoming, and a floor map including area information indicating an overcoming area having a different height from the floor, and a height of the overcoming area. A reference step of referring to a storage unit that stores height information;
An acquisition step of acquiring a position of the autonomous traveling cleaner in the floor map, and an advancing direction of the autonomous traveling cleaner;
An imaging step that is arranged in the autonomous traveling vacuum cleaner and generates an image by photographing the front in the traveling direction of the autonomous traveling vacuum cleaner,
An image processing step of calculating a pixel position of a closest pixel which is a pixel corresponding to a position closest to the autonomous traveling cleaner in the first object included in the image generated in the imaging step;
The distance from the autonomous traveling cleaner to the first object is calculated based on the pixel position of the closest pixel, and the calculated distance, and the direction in the floor map based on the traveling direction of the autonomous traveling cleaner. A position calculating step of calculating a position of the first object;
Based on the position and the height information of the autonomous traveling vacuum cleaner and the first object, it is determined whether the height of the autonomous traveling vacuum cleaner and the first object from the floor is different. A correction step of correcting the distance calculated in the position calculation step based on the height information, when it is determined that the height of the autonomous traveling vacuum cleaner and the first object from the floor are different,
A travel control step of controlling travel of the autonomous traveling cleaner based on the distance corrected in the correction step.

Images