JP3926209B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled cleaner that autonomously travels in a predetermined area to perform cleaning, and particularly relates to a self-propelled cleaner that includes a plurality of cleaners.
[0002]
[Prior art]
As a conventional self-propelled cleaner, for example, as disclosed in Japanese Examined Patent Publication No. 7-34791, there is a large suction cleaner suitable for cleaning a wide area such as a station premises. Japanese Patent Application Laid-Open No. 11-178765 discloses a small wiping type vacuum cleaner that autonomously travels while wiping the floor surface with a collection sheet. It is suitable for cleaning a narrow and complicated area such as a room.
[0003]
[Problems to be solved by the invention]
However, in the former case, since the main body is large, traveling itself is difficult and the cleaning function cannot be sufficiently exhibited in a narrow and complicated area such as a wall, a complicated narrow space, or a space with a limited height.
[0004]
On the other hand, in the latter case, since the main body is small, it can travel in a wide area and can be cleaned temporarily, but the cleaning operation requires a complicated procedure and a huge amount of time. In addition, complex mechanisms and operations are required so that the vehicle can travel autonomously while recognizing a narrow and complex area. In particular, in order to ensure the operation accuracy, a high-performance position control sensor group and motion control sensor are required. A group is indispensable.
[0005]
Therefore, with any self-propelled cleaner, there is a problem that an area to be cleaned is limited in order to efficiently and sufficiently perform a cleaning function.
[0006]
Then, this invention is made | formed in view of said problem, and it aims at providing the self-propelled cleaner which can be efficiently cleaned corresponding to all the fields.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the self-propelled vacuum cleaner according to the present invention is a first vacuum cleaner that travels autonomously. And the outer shape is smaller than this first vacuum cleaner In the self-propelled cleaner that consists of a second cleaner and cleans a predetermined area, the first cleaner is a distance measuring unit that autonomously travels the predetermined area and measures the area form before cleaning, And the dust detection means for detecting dust accumulated on the area, and the first cleaner in the predetermined area based on the output values from the distance measuring means and the dust detection means. Of the wide central part in charge of cleaning A first region and the second vacuum cleaner Narrow corner for cleaning An area determining unit that determines a dust accumulation area in the first area, a first storage unit that stores information on the first area and the dust accumulation area, And a second storage unit that stores information on the second region sent from the sending unit, and a second storage unit that sends information on the second region. The first vacuum cleaner autonomously travels at least the dust accumulation area based on the information stored in the first storage unit to clean the first area, and the second vacuum cleaner Based on the information stored in the storage unit, the entire region of the second area is autonomously driven and cleaned. That is, when the first cleaner autonomously travels in a predetermined area in advance, the predetermined area is a first area such as a wide central portion where the first cleaner is in charge of cleaning, and the second cleaner is in charge of cleaning. And a dust accumulation area that needs to be cleaned in particular among the first area. The first and second vacuum cleaners share the first and second areas suitable for each in a coordinated manner, and the first cleaner is particularly suitable for the areas other than the dust accumulation area. By simply running without focusing on cleaning, the dust accumulation area is cleaned intensively.
[0008]
Here, in order to configure a practical self-propelled cleaner, the first cleaner includes a suction nozzle that opens toward the predetermined region, and an electric blower that communicates with the suction nozzle. The suction type vacuum cleaner sucks dust from the suction nozzle by suction of an electric blower. The second vacuum cleaner has a rotating shaft protruding outward, and an electrostatic projecting radially from the rotating shaft. It is preferable that the electrostatic attraction type vacuum cleaner includes a brush and a drive motor that drives the rotating shaft, and the electrostatic brush is charged while the drive motor is driven to attract the dust.
[0009]
Further, from the viewpoint of suppressing waste of power consumption, the electric blower stops when the first vacuum cleaner runs autonomously and cleans, and when suction driving is stopped except for the dust accumulation area, and reaches the dust accumulation area. It is preferable to be driven by suction.
[0010]
Further, in order to obtain a practical dust detection means with a simple configuration, the dust detection means is an infrared sensor disposed in the suction nozzle, and the infrared sensor is ejected from the electric blower and the suction nozzle It is good to detect the dust that soared inside.
[0011]
Further, from the viewpoint of obtaining a practical distance measuring means with an inexpensive configuration, the distance measuring means includes a first optical distance measuring sensor and a first ultrasonic distance measurement arranged around the main body of the first cleaner. It may be a distance sensor.
[0012]
Further, when the first and second vacuum cleaners run autonomously and clean, the second optical distance measuring sensor and the second sensor around the main body of the second vacuum cleaner in order to ensure sufficient operation accuracy. And the first and second vacuum cleaners output from the first and second optical distance measuring sensors and the first and second ultrasonic distance measuring sensors, respectively. It is preferable that the vehicle runs autonomously and cleans based on the value.
[0013]
In addition, when the first and second cleaners are autonomously running and cleaning, if the respective positions can be confirmed sequentially, the operation accuracy is further improved. Therefore, the first and second cleaners are assigned autonomously running positions. It is preferable to provide position detecting means for detecting each.
[0014]
In addition, when the first and second vacuum cleaners autonomously clean a predetermined area where an uncertain obstacle exists, if the obstacle interferes with traveling such as a chair, desk or thick magazine If the obstacle is of a level that does not interfere with running, such as paper scraps or thin magazines, it is efficient to drive away without avoiding it. Smooth cleaning operation. In order to achieve this, the first and second vacuum cleaners have first and second CCD cameras having optical axes facing forward, and image data is extracted from the first and second CCD cameras. First and second extraction units, and first and second avoidance determination units for performing obstacle avoidance determination based on the image data extracted by the first and second extraction units, respectively, are provided. The first and second vacuum cleaners may be configured to autonomously run and clean while performing obstacle avoidance determination by the first and second avoidance determination units.
[0015]
Here, so that sufficient avoidance determination can be easily performed, the first and second extraction units extract contour data as the image data, and the first and second avoidance determination units detect the contour data and a reference. It is preferable that the obstacle avoidance determination is performed by collating with the data.
[0016]
Furthermore, from the viewpoint of efficiently processing the image data performed by the first and second extraction units, pixel data in a predetermined range is intermittently extracted from the first and second CCD cameras and digitized, It is preferable that the image data is extracted from the first and second extraction units only when the numerical fluctuation reaches a predetermined value or more.
[0017]
Moreover, in order to achieve the said objective more effectively, the self-propelled (vacuum) cleaner by this invention is the 1st which each independently travels. Vacuum cleaner and smaller outer dimensions than this first vacuum cleaner A second vacuum cleaner and a learning server capable of communicating with the first and second vacuum cleaners, and the first and second vacuum cleaners are configured to clean a predetermined area based on information received from the learning server. In the traveling cleaner, the first cleaner includes a distance measuring unit that autonomously travels in the predetermined area and measures the area form before cleaning, and a dust detection unit that detects dust accumulated on the area. And, based on the output values from the distance measuring means and the dust detecting means, the first cleaner cleans the predetermined area. Of the wide central part in charge of cleaning A first region and the second vacuum cleaner Narrow corner for cleaning An area determining unit that determines a dust accumulation area in the first area, and a sending unit that transmits information on the first and second areas and the dust accumulation area to the learning server. And a first storage unit that stores information transmitted from the learning server, and the second cleaner includes a second storage unit that stores information transmitted from the learning server. The learning server learns a difference from the reference pattern with respect to the information on the first and second areas and the dust accumulation area sent from the sending unit, and learns the learned first area and the dust accumulation area. The information is sent to the first storage unit, the learned second area information is sent to the second storage unit, and the first cleaner is based on the information stored in the first storage unit. Autonomously traveling at least in the dust accumulation region, Clean the area, the second cleaner is designed to clean by autonomous the entire area of the second area based on the second information stored in the storage unit. That is, the learning server verifies the difference with respect to the reference pattern and learns the information on the first and second areas and the dust accumulation area that are clarified by autonomously traveling in a predetermined area in advance by the first cleaner. Based on the learning result, the first and second vacuum cleaners share the first and second regions suitable for each in a coordinated manner and clean them.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing an example of the specifications of the self-propelled cleaner of the present invention, and FIG. 2 is a perspective view schematically showing the appearance of the self-propelled cleaner of the first embodiment.
[0019]
As shown in FIGS. 1 and 2, the self-propelled cleaner of the present embodiment includes a first cleaner 1 that autonomously travels, and a second cleaner that has a smaller outer shape than the first cleaner 1. Machine 2 And cleaning a predetermined area. Here, the first vacuum cleaner 1 is a cyclone suction vacuum cleaner, which has a suction nozzle 31 projecting on the front side of the main body and opening downward, and the suction nozzle 31 includes a suction hose 32 and a dust cup. An electric blower 34 capable of suction / discharge that communicates with the electric fan 33 is provided, and the electric blower 34 is driven by suction in response to a command from the control unit 10 (hereinafter sometimes referred to as “first control unit”). Thus, dust is sucked from the suction nozzle 31 for cleaning.
[0020]
Further, two sides of the main body are provided with two pairs of driving wheels 35 (only the front side is shown in FIG. 2) driven by a command from the first control unit 10, and the circumference of the main body is 360 ° around the circumference. Eight sets of distance measuring means 11 (only the front side and the front side are shown in FIG. 2) for measuring the periphery of eight directions (45 ° pitch) are provided. These distance measuring means 11 are connected to the first control unit 10, and in this embodiment, for the purpose of an inexpensive configuration, an ultrasonic distance sensor (hereinafter referred to as “first ultrasonic distance sensor”). And an optical distance sensor for correcting the output value of the first ultrasonic distance sensor (hereinafter, sometimes referred to as “first optical distance sensor”).
[0021]
An infrared sensor 12 is disposed in the suction nozzle 31, and the infrared sensor 12 soars in the suction nozzle 31 by the discharge of the electric blower 34 that is driven to discharge in response to a command from the first control unit 10. It functions as dust detection means for detecting the degree of dust, that is, detecting dust accumulated on a predetermined area.
[0022]
Moreover, although mentioned later for details, the 1st control part 10 has an area | region determination part which is not shown in figure, a 1st memory | storage part, and a sending part, and the 1st cleaner 1 cleans an area | region determination part. Based on the output values from the distance measurement means 11 (first ultrasonic distance measurement sensor and first optical distance measurement sensor) and the infrared sensor 12 (dust detection means) obtained by autonomously traveling in a predetermined area before. The predetermined region is divided into a first region where the first cleaner 1 can travel and a second region where the second cleaner 2 can travel, and a dust accumulation region existing in the first region. Is determined. Further, the first storage unit stores information on the first region and the dust accumulation region determined by the region determination unit, and the sending unit sends information on the second region to the second cleaner 2. Is.
[0023]
On the other hand, the second cleaner 2 is an electrostatic suction cleaner, and includes a rotating shaft 41 protruding toward the front of the main body and a nylon electrostatic brush 42 protruding radially from the rotating shaft 41. And a drive motor 43 for driving the rotary shaft 41, and the drive motor 43 is driven by a command from the control unit 20 (hereinafter sometimes referred to as “second control unit”), thereby The electric brush 42 is charged while rotating, adsorbs dust and sweeps it out for cleaning.
[0024]
Further, on both sides of the main body, a pair of driving wheels 44 (only the front side is shown in FIG. 2) driven by a command from the second control unit 20 and a driven wheel 45 are provided on the front side, and around the main body. An ultrasonic distance measuring sensor (hereinafter sometimes referred to as a “second ultrasonic distance measuring sensor”) that measures the periphery of three directions (90 ° pitch) of 180 ° forward, and the second Three distance measuring sensors 21 (in FIG. 2, the front side and the second side) are optical distance measuring sensors for correcting the output values of the ultrasonic distance measuring sensors (hereinafter, may be referred to as “second optical distance measuring sensors”). Only the front side is shown). These distance measuring sensors 21 are connected to the second control unit 20.
[0025]
Moreover, although mentioned later for details, the 2nd control part 20 has a 2nd memory | storage part not shown, and this 2nd memory | storage part is sent out from the sending part of the 1st vacuum cleaner 1. FIG. The second area information is received and stored.
[0026]
As shown in FIG. 1, the first cleaner 1 has other gyros, acceleration sensors, CCD cameras, and odor sensors, while the second cleaner 2 has other gyros, acceleration sensors, and CCDs. Each camera is mounted, and details thereof will be described in second to fourth embodiments described later.
[0027]
Based on such a configuration, the actual operation of the first and second vacuum cleaners 1 and 2 will be described below. First, before the actual cleaning operation, the first cleaner 1 travels autonomously through a predetermined area in response to a command from the first controller 10, and the distance measuring means 11 measures the area form, The sensor 12 detects dust accumulated on the area. Next, the area determination unit divides the predetermined area into the first and second areas based on the output values from the distance measuring means 11 and the infrared sensor 12, and determines the dust accumulation area. Thereafter, information on the first region and the dust accumulation region is stored in the first storage unit, and information on the second region is sent out from the sending unit. On the other hand, the second cleaner 2 receives and stores the information of the second area sent from the sending unit in the second storage unit. This completes the pre-operation before the cleaning operation.
[0028]
The first vacuum cleaner 1 autonomously travels at least in the dust accumulation area based on the information stored in the first storage unit to clean the first area, and the second vacuum cleaner 2 Based on the information stored in the storage unit, the entire second region is autonomously run and cleaned. Here, the first and second vacuum cleaners 1 and 2 are stored in the first and second storage units by the first and second control units 10 and 20, respectively, in order to ensure sufficient operation accuracy. The vehicle travels autonomously while sequentially collating the output information with the output values from the first and second optical distance measuring sensors and the first and second ultrasonic distance measuring sensors. Further, in order to suppress the waste of power consumption of the first cleaner 1, when the instruction from the first control unit 10 stops the suction drive of the electric blower 34 except for the dust accumulation area, and reaches the dust accumulation area. It is designed to be driven by suction.
[0029]
Thus, even if the predetermined area to be cleaned is uncertain, each of the first and second vacuum cleaners 1 and 2 can be performed by the first cleaner 1 autonomously traveling in the predetermined area in advance. The first and second areas in charge of cleaning are clarified, and the first and second vacuum cleaners 1 and 2 cooperate with each other in the first and second areas suitable for the clarified areas. Therefore, the cleaning can be performed efficiently in correspondence with all predetermined areas. In addition, the first cleaner 1 can focus on the dust accumulation area, and can perform efficient cleaning with almost no unnecessary traveling.
[0030]
Next, a second embodiment of the present invention will be described. In addition, the description which overlaps with 1st Embodiment is abbreviate | omitted suitably, and is the same also in 3rd-5th embodiment mentioned later. The feature of this embodiment is that when the first and second cleaners 1 and 2 of the first embodiment autonomously travel and clean, the operation accuracy is improved. That is, in this embodiment, as shown in FIG. 1, the gyroscope and the acceleration sensor provided in each of the first and second cleaners 1 and 2 are utilized as position detecting means for detecting the position during autonomous traveling. Thereby, when the 1st, 2nd cleaners 1 and 2 run autonomously and clean, each position can be checked one by one and operation accuracy improves.
[0031]
Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 3 is a flowchart showing an image processing operation in the self-propelled cleaner according to the third embodiment, and FIG. 4 is a flowchart showing a shape recognition operation in the self-propelled cleaner. The feature of this embodiment is efficient and smooth cleaning when the first and second cleaners 1 and 2 of the first embodiment autonomously travel and clean a predetermined area where an uncertain obstacle exists. It is in the point which aimed at operation. That is, in this embodiment, the CCD cameras (see FIG. 1) provided in the first and second cleaners 1 and 2 are used.
[0032]
Specifically, the first vacuum cleaner 1 is provided with a CCD camera having an optical axis facing forward (hereinafter sometimes referred to as “first CCD camera”), and the first control unit. 10 (see FIG. 2), an extraction unit for extracting image data from the first CCD camera (hereinafter sometimes referred to as “first extraction unit”), and the first extraction unit An avoidance determination unit (hereinafter sometimes referred to as “first avoidance determination unit”) that performs obstacle avoidance determination based on image data is provided. On the other hand, a second CCD camera is disposed in the second cleaner 2 as well, and the second control unit 20 (see FIG. 2) similarly corresponds to the second CCD camera. Two extraction units and a second avoidance determination unit are provided.
[0033]
Thereby, even if an uncertain obstacle exists on the predetermined area, the first and second vacuum cleaners 1 and 2 are the first and second avoidance determination units, respectively. If it interferes with traveling, such as a chair, desk, or thick magazine, it should be avoided. On the other hand, if the obstacle does not interfere with traveling, such as paper waste or a thin magazine, remove it. Since the vehicle travels autonomously while performing avoidance determination according to the form of the obstacle, such as traveling as it is without being avoided, it can perform an efficient and smooth cleaning operation.
[0034]
Here, in the present embodiment, the image data processing actually performed by the first and second extraction units is efficiently performed. In other words, not all image data is processed continuously, but image data is processed only when there is an abnormality. Specifically, as shown in FIG. 3, an image is intermittently captured in step # 5, and the image is filtered in step # 10 to extract pixel data within a predetermined range (about 100 points) and digitize. To do. Next, in step # 15, the numerical value is compared with the previously extracted numerical value to determine the fluctuation amount, and in step # 20, whether or not the fluctuation amount is within a predetermined value is recognized. If the fluctuation amount is within a predetermined value, the process returns as True (0: zero), and if it exceeds the predetermined value, the process returns as False (other than 0) (step # 25). Thus, True or False becomes a key signal, and based on the transmission of this key signal, the image data used for avoidance determination can be extracted from the first and second extraction units.
[0035]
Further, in the present embodiment, sufficient avoidance determination is made easy. Specifically, based on the transmission of the key signal, as shown in FIG. 4, the image data of the obstacle is extracted and fetched from the first and second extraction units at step # 50, and the image is obtained at step # 55. The data is filtered to extract the outer shape, that is, contour data, and the contour data is recognized as a feature shape in step # 60. Next, in step # 65, the contour data and reference data such as circles, triangles, and squares set and stored in advance are collated and recognized, and in step # 70, the first and second optical ranging sensors and 1. Refer to the distance to the obstacle based on the output value from the second ultrasonic distance measuring sensor, and determine whether to avoid True or False. If it is determined that the obstacle needs to be avoided, the routine returns as True, and if it is determined that the obstacle is unnecessary, the routine returns as False (step # 75). Thus, sufficient avoidance determination can be performed without performing processing over the entire image data that requires a large memory capacity and time.
[0036]
Next, a fourth embodiment of the present invention will be described. The feature of this embodiment is that when the first and second vacuum cleaners 1 and 2 of the first embodiment autonomously travel, air purification can be efficiently performed together with cleaning. That is, in this embodiment, the gas sensor (refer FIG. 1) provided in the 1st vacuum cleaner 1 is utilized.
[0037]
Specifically, the first vacuum cleaner 1 is provided with a gas sensor that detects the degree of cleanliness of the air around the main body, and this gas sensor is connected to the first control unit 10 (see FIG. 2). Here, the gas sensor includes an alumina substrate, a tin oxide body deposited on the alumina substrate and whose electric resistance changes depending on the degree of cleanliness of the air, a heater for heating the alumina substrate, and a battery for supplying current to the tin oxide body. The specific ones apply.
[0038]
Further, the first cleaner 1 is provided with an air suction opening that communicates with the electric blower 34 via an electromagnetic valve and opens upward, separately from the suction nozzle 31 (see FIG. 2). Thereby, the 1st vacuum cleaner 1 can carry out efficient air cleaning by opening and closing an electromagnetic valve by the command from the 1st control part 10 according to the output value from a gas sensor, running autonomously and cleaning. It becomes like this.
[0039]
Next, a fifth embodiment of the present invention will be described with reference to FIG. FIG. 5 is a diagram showing a system network configuration of the self-propelled cleaner according to the fifth embodiment. The feature of this embodiment is that a system network is constructed as the self-propelled cleaner of the first embodiment, and it can be efficiently and effectively cleaned corresponding to all predetermined areas.
[0040]
As shown in FIG. 5, the system network in the present embodiment is broadly divided into first and second cleaners 1 and 2 and a learning server 50 that can communicate with the first and second cleaners 1 and 2. Specifically, the vacuum cleaner side terminal 51 for waste disposal and power supply wirelessly connected to the first and second vacuum cleaners 1 and 2, and the vacuum cleaner side connected to the vacuum cleaner side terminal 51 A modem 52, a learning server-side modem 53 connected to the cleaner-side modem 52, a dial-up server 54 connected to the learning server-side modem 53 and the learning server 50, and a WEB server connected to the learning server 50 and the Internet 55.
[0041]
Here, regarding the 1st, 2nd vacuum cleaners 1 and 2, a different point from 1st Embodiment is demonstrated. First, the sending target sent from the sending unit is different from the sending destination. That is, in the present embodiment, the sending target is information on the first and second areas and the dust accumulation area clarified by the first cleaner 1 autonomously traveling before cleaning, and the sending destination thereof. Is the vacuum cleaner side terminal 51, that is, the learning server 50. Second, the first and second storage targets stored in the storage unit are different, and in this embodiment, the storage target is information sent from the learning server 50, that is, the cleaner-side terminal 51.
[0042]
The processing operation of the learning server 50 will be described below. The learning server 50 sets and stores a standard reference pattern that serves as a reference for learning, and the difference between the first and second areas and the dust accumulation area sent from the sending unit is different from the reference pattern. The learned first area and dust accumulation area information is sent to the first storage section, and the learned second area information is sent to the second storage section.
[0043]
With such a system network configuration, the learning server 50 verifies the information on the first and second areas and the dust accumulation area clarified by the first cleaner 1 autonomously traveling in advance in a predetermined area. Then, based on the learning result, the first and second vacuum cleaners 1 and 2 perform cleaning by sharing the first and second areas suitable for each in a coordinated manner. Therefore, it can be efficiently and effectively cleaned corresponding to all areas. In addition to the utilization for actual cleaning, this network receives abnormalities of various sensors, remaining battery power from the first and second vacuum cleaners 1 and 2, and the first and second It is also possible to use the WEB server 55 to display on the display device and notify the user that the two vacuum cleaners 1 and 2 are in an inoperable state or run out of battery.
[0044]
In addition, this invention is not limited to said embodiment, A various change is possible in the range which does not deviate from the meaning of this invention. For example, the above embodiments may be appropriately combined so as to meet market requirements.
[0045]
【The invention's effect】
As explained above, according to the present invention, the first vacuum cleaner that travels autonomously. And the outer shape is smaller than this first vacuum cleaner In the self-propelled cleaner that consists of a second cleaner and cleans a predetermined area, the first cleaner is a distance measuring unit that autonomously travels the predetermined area and measures the area form before cleaning, And the dust detection means for detecting dust accumulated on the area, and the first cleaner in the predetermined area based on the output values from the distance measuring means and the dust detection means. Of the wide central part in charge of cleaning A first region and the second vacuum cleaner Narrow corner for cleaning An area determining unit that determines a dust accumulation area in the first area, a first storage unit that stores information on the first area and the dust accumulation area, And a second storage unit that stores information on the second region sent from the sending unit, and a second storage unit that sends information on the second region. The first vacuum cleaner autonomously travels at least the dust accumulation area based on the information stored in the first storage unit to clean the first area, and the second vacuum cleaner Based on the information stored in the storage unit, the entire region of the second area is autonomously driven and cleaned. Accordingly, the first and second vacuum cleaners autonomously run in advance in a predetermined area, thereby clarifying the first and second areas in which the first and second vacuum cleaners are responsible for cleaning. The vacuum cleaner can be efficiently cleaned corresponding to all the areas because each of the first and second areas suitable for each of the clarified parts is coordinated and cleaned. In addition, since the dust accumulation area that needs to be cleaned in the first area is also clarified, the first cleaner can focus on the dust accumulation area, and there is almost no unnecessary traveling and efficiency. Cleaning is possible.
[0046]
Here, the first vacuum cleaner includes a suction nozzle that opens toward the predetermined region, and an electric blower that communicates with the suction nozzle, and sucks dust from the suction nozzle by suction of the electric blower. The second vacuum cleaner includes a rotating shaft protruding outward, an electrostatic brush projecting radially from the rotating shaft, and a drive motor for driving the rotating shaft, When the electrostatic brush is rotated while the electrostatic brush is rotated and is electrostatically attracted to adsorb dust, it is a practical self-propelled cleaner regardless of whether it is for business use or home use.
[0047]
Further, the electric blower is adapted to be sucked and driven when it reaches the dust accumulation area when the first cleaner is autonomously running and cleaning, except for the dust accumulation area. It is possible to suppress waste of power consumption.
[0048]
Further, the dust detection means is an infrared sensor disposed in the suction nozzle, and the infrared sensor detects dust rising in the suction nozzle by discharge of the electric blower. A practical dust detection means can be obtained with a simple configuration.
[0049]
Further, when the distance measuring means is the first optical distance sensor and the first ultrasonic distance sensor disposed around the main body of the first cleaner, the distance measurement means is a practical distance measurement with an inexpensive configuration. Means can be obtained.
[0050]
Further, a second optical distance measuring sensor and a second ultrasonic distance measuring sensor are disposed around the main body of the second cleaner, and the first and second cleaners are respectively connected to the first, When the autonomous running and cleaning are performed based on the output values from the second optical ranging sensor and the first and second ultrasonic ranging sensors, the first and second cleaners autonomously run. When cleaning, it is possible to ensure sufficient operational accuracy.
[0051]
In addition, when the first and second cleaners are provided with position detecting means for detecting the position during autonomous traveling, when the first and second cleaners autonomously travel and clean, the respective positions are sequentially detected. It can be confirmed and the operation accuracy is improved.
[0052]
Further, the first and second vacuum cleaners are provided with first and second CCD cameras having optical axes facing forward, and first and second image data are extracted from the first and second CCD cameras. And first and second avoidance determination units for performing obstacle avoidance determination based on the image data extracted by the first and second extraction units, respectively. When the vacuum cleaner is configured to autonomously travel and clean while performing obstacle avoidance determination by each of the first and second avoidance determination units, a predetermined area where an uncertain obstacle exists is designated as a first area. When the 1st and 2nd vacuum cleaners travel autonomously and perform cleaning, avoidance determination according to the form of the obstacle can be performed, so that an efficient and smooth cleaning operation can be performed.
[0053]
Here, the first and second extraction units extract contour data as the image data, and the first and second avoidance determination units collate the contour data with reference data to determine obstacle avoidance. If this is done, sufficient avoidance determination can be easily performed.
[0054]
Further, pixel data in a predetermined range is intermittently extracted from the first and second CCD cameras and digitized, and only when the numerical fluctuation reaches a predetermined value or more, the images from the first and second extraction units are displayed. When data is extracted, it is possible to process image data performed by the first and second extraction units only when there is an abnormality, which is efficient.
[0055]
In addition, the first to travel autonomously Vacuum cleaner and smaller outer dimensions than this first vacuum cleaner A second vacuum cleaner and a learning server capable of communicating with the first and second vacuum cleaners, and the first and second vacuum cleaners are configured to clean a predetermined area based on information received from the learning server. In the traveling cleaner, the first cleaner includes a distance measuring unit that autonomously travels in the predetermined area and measures the area form before cleaning, and a dust detection unit that detects dust accumulated on the area. And, based on the output values from the distance measuring means and the dust detecting means, the first cleaner cleans the predetermined area. Of the wide central part in charge of cleaning A first region and the second vacuum cleaner Narrow corner for cleaning An area determining unit that determines a dust accumulation area in the first area, and a sending unit that transmits information on the first and second areas and the dust accumulation area to the learning server. And a first storage unit that stores information transmitted from the learning server, and the second cleaner includes a second storage unit that stores information transmitted from the learning server. The learning server learns a difference from the reference pattern with respect to the information on the first and second areas and the dust accumulation area sent from the sending unit, and learns the learned first area and the dust accumulation area. The information is sent to the first storage unit, the learned second area information is sent to the second storage unit, and the first cleaner is based on the information stored in the first storage unit. Autonomously traveling at least in the dust accumulation region, Clean the area, the second cleaner is designed to clean by autonomous the entire area of the second area based on the second information stored in the storage unit. Therefore, the learning server verifies the difference with respect to the reference pattern and learns the information on the first and second areas and the dust accumulation area that are clarified by autonomously traveling in a predetermined area in advance by the first cleaner. Based on the learning results, the first and second vacuum cleaners share the first and second areas suitable for each in a coordinated manner and clean up, so that they can be used in all areas. Can be effectively and effectively cleaned.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of specifications in a self-propelled cleaner according to the present invention.
FIG. 2 is a perspective view schematically showing the external appearance of the self-propelled cleaner according to the first embodiment.
FIG. 3 is a flowchart showing an image processing operation in the self-propelled cleaner according to the third embodiment.
FIG. 4 is a flowchart showing the shape recognition operation in the self-propelled cleaner according to the third embodiment.
FIG. 5 is a diagram showing a system network configuration of a self-propelled cleaner according to a fifth embodiment.
[Explanation of symbols]
1 First vacuum cleaner
2 Second vacuum cleaner
10 First control unit
11 Ranging means (first ultrasonic ranging sensor, optical ranging sensor)
12 Infrared sensor (dust detection means)
20 Second control unit
31 Suction nozzle
32 Suction hose
33 dust cup
34 Electric blower
35 Drive wheels
41 Rotating shaft
42 Electrostatic brush
43 Drive motor
44 Drive wheels
45 driven wheel
50 learning server
51 Vacuum cleaner side terminal
52 Vacuum cleaner side modem
53 Modem on the learning server side
54 Dial-up server
55 WEB server

Claims (11)

In the self-propelled cleaner that consists of a first cleaner that travels autonomously and a second cleaner that is smaller in outer shape than the first cleaner, and that cleans a predetermined area,
The first cleaner includes a distance measuring means for autonomously traveling in the predetermined area before cleaning to measure the area form, and a dust detecting means for detecting dust accumulated on the area,
Based on the output values from the distance measuring means and the dust detecting means, the first area in the wide central area where the first cleaner is responsible for cleaning the predetermined area, and the narrow area where the second cleaner is responsible for cleaning. An area determination unit for determining a dust accumulation area in the first area, and dividing into a second area of the corner ;
A first storage unit for storing information on the first region and the dust accumulation region;
A sending section for sending information of the second area,
The second vacuum cleaner includes a second storage unit that stores information on the second region sent from the sending unit,
The first vacuum cleaner autonomously travels at least in the dust accumulation area based on information stored in the first storage unit to clean the first area, and the second vacuum cleaner A self-propelled cleaner that autonomously travels and cleans the entire area of the second region based on information stored in a storage unit. The first cleaner includes a suction nozzle that opens toward the predetermined region, and an electric blower that communicates with the suction nozzle, and sucks dust from the suction nozzle by suction of the electric blower. And
The second cleaner includes a rotating shaft that protrudes outward, an electrostatic brush that projects radially from the rotating shaft, and a drive motor that drives the rotating shaft. The self-propelled cleaner according to claim 1, wherein the electrostatic brush is an electrostatic adsorption type vacuum cleaner that is charged while adsorbing dust while rotating. 3. The electric blower according to claim 2, wherein when the first vacuum cleaner travels autonomously and cleans, the suction drive is stopped outside the dust accumulation region and is driven when reaching the dust accumulation region. A self-propelled vacuum cleaner as described in 1. The dust detection means is an infrared sensor disposed in the suction nozzle, and the infrared sensor detects dust that has risen in the suction nozzle due to discharge of the electric blower. 3. The self-propelled vacuum cleaner according to 3. The said ranging means is the 1st optical ranging sensor and 1st ultrasonic ranging sensor which were arrange | positioned around the main body of the said 1st vacuum cleaner, The any one of Claims 1-4 characterized by the above-mentioned. A self-propelled vacuum cleaner as described in 1. A second optical distance measuring sensor and a second ultrasonic distance measuring sensor are disposed around the main body of the second cleaner, and the first and second cleaners are respectively connected to the first and second cleaners. The self-propelled cleaner according to claim 5, wherein the self-propelled cleaner performs autonomous cleaning based on output values from the optical distance measuring sensor and the first and second ultrasonic distance measuring sensors. The self-propelled cleaner according to any one of claims 1 to 6, wherein the first and second vacuum cleaners are each provided with position detecting means for detecting a position during autonomous traveling. First and second CCD cameras having optical axes facing forward in the first and second vacuum cleaners, and first and second extractions for extracting image data from the first and second CCD cameras. And first and second avoidance determination units that perform obstacle avoidance determination based on the image data extracted by the first and second extraction units, respectively, and the first and second vacuum cleaners. The self-propelled cleaner according to any one of claims 1 to 7, wherein each of the first and second avoidance determination units performs an autonomous traveling and cleaning while performing an obstacle avoidance determination. . The first and second extraction units extract contour data as the image data, and the first and second avoidance determination units perform obstacle avoidance determination by comparing the contour data with reference data. The self-propelled cleaner according to claim 8. A predetermined range of pixel data is intermittently extracted from the first and second CCD cameras and digitized, and the image data is extracted from the first and second extraction units only when the numerical fluctuation reaches a predetermined value or more. It extracts, The self-propelled cleaner of Claim 8 or 9 characterized by the above-mentioned. Each of the first cleaner and the second cleaner having a smaller outer shape than the first cleaner , and a learning server capable of communicating with the first and second cleaners, the learning server In the self-propelled cleaner in which the first and second cleaners clean a predetermined area based on the received information,
The first cleaner includes a distance measuring means for autonomously traveling in the predetermined area before cleaning to measure the area form, and a dust detecting means for detecting dust accumulated on the area,
Based on the output values from the distance measuring means and the dust detecting means, the first area in the wide central area where the first cleaner is responsible for cleaning the predetermined area, and the narrow area where the second cleaner is responsible for cleaning. An area determination unit for determining a dust accumulation area in the first area, and dividing into a second area of the corner ;
A sending section for sending information on the first and second areas and the dust accumulation area to the learning server;
A first storage unit for storing information transmitted from the learning server,
The second cleaner includes a second storage unit that stores information sent from the learning server,
The learning server learns a difference with respect to a reference pattern with respect to the information on the first and second areas and the dust accumulation area sent from the sending unit, and uses the learned information on the first area and the dust accumulation area as the information. Sending the learned information on the second area to the first storage unit to the second storage unit,
The first vacuum cleaner autonomously travels at least in the dust accumulation area based on information stored in the first storage unit to clean the first area, and the second vacuum cleaner A self-propelled cleaner that autonomously travels and cleans the entire area of the second region based on information stored in a storage unit.

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