JP6684108B2 - Vacuum cleaner - Google Patents

Description

  Embodiments according to the present invention relate to a vacuum cleaner.

  An autonomous electric vacuum cleaner that moves based on movement route information instructed by a user is known.

  When performing a movement based on the movement route information instructed by the user, the conventional autonomous electric vacuum cleaner temporarily returns to a preset reference position and then moves along the movement route indicated in the movement route information. By doing so, the user can easily and accurately move to the destination according to the user's instruction.

JP, 2014-071847, A

  The conventional autonomous vacuum cleaner responds to the user's instruction when the charging base as the reference position is unintentionally moving or the wheels are idle during the movement when moving based on the movement route information. You cannot move or reach the destination.

  Therefore, the present invention proposes an electric vacuum cleaner that can more accurately move along a preset moving route and reach a destination.

In order to solve the above problems, the vacuum cleaner according to the embodiment of the present invention includes a main body unit that moves by combining movement types including forward and backward movements, and an input unit that can individually input the movement types, An operation sequence storage unit that sequentially stores combinations of the operation types input to the input unit; a change in the operation state of the main body unit for each operation type input to the input unit; A detector that detects at least one of the environment in which it is placed, an operation status storage unit that stores the detection result of the detector in association with the combination of the operation types input to the input unit, and the operation order storage unit The main body unit is autonomously moved in accordance with the order of the motion types stored by, and the detection result stored by the operation status storage unit and the detection result of the detector during the autonomous movement. And compare, and a, and an autonomous control unit for correcting the combination of the operation type when the autonomous mobile.

1 is a system configuration diagram showing an operation control system including an electric vacuum cleaner according to an embodiment of the present invention. The block diagram which shows the autonomous type cleaning unit of the electric vacuum cleaner which concerns on embodiment of this invention. The flowchart of the storage operation execution control of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the planned route and actual route of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the obstacle avoidance operation | movement of the vacuum cleaner which concerns on embodiment of this invention. The figure which shows notionally the obstacle avoidance operation | movement of the vacuum cleaner which concerns on embodiment of this invention.

  An embodiment of an electric vacuum cleaner according to the present invention will be described with reference to FIGS. 1 to 11.

  FIG. 1 is a system configuration diagram showing an operation control system including an electric vacuum cleaner according to an embodiment of the present invention.

  As shown in FIG. 1, the electric cleaning device 1 according to the present embodiment is communicatively connected to an operation control system 2.

  First, the operation control system 2 bidirectionally communicates a communication signal including an operation start instruction from the remote operation terminal 6 to the electric cleaning device 1 via the communication network 5. Further, the operation control system 2 bidirectionally communicates a communication signal including an operation start instruction from the indoor terminal 7 to the electric cleaning device 1 via the communication network 5.

  The communication network 5 includes an external network 8, a local communication network 9, a relay communication device 11 for relaying communication between the local communication network 9 and the external network 8, and a server 12 communicatively connected to the external network 8. And, are included.

  The local communication network 9 is a wireless or wired communication network integrated with the relay communication device 11. The electric cleaning device 1 and the premises terminal 7 are communicatively connected to a premises communication network 9.

  The external network 8 includes the Internet 13. The relay communication device 11, the server 12, and the remote control terminal 6 are connected to the Internet 13 via a public telephone network, a mobile telephone network, or the like.

  The server 12 mediates information communication between the electric cleaning device 1 and the remote operation terminal 6.

  The server 12 bidirectionally communicates with many electric cleaning devices 1 via the Internet 13. The server 12 gives an identifier to each of the many electric cleaning devices 1. The user of the electric cleaning device 1 establishes two-way communication between the remote control terminal 6 and the home electric cleaning device 1 by the identifier provided by the server 12.

  The remote control terminal 6 is a device that is connected to the Internet via a public wireless line or a mobile phone line and is capable of bidirectional communication with the server 12. The remote control terminal 6 receives an input of a cleaning operation start instruction, a temporary stop instruction, and a stop instruction of the electric cleaning device 1. In addition, the remote control terminal 6 acquires from the server 12 a communication signal for notifying the state of the electric cleaning device 1 such as driving, temporarily stopping, and stopping, and outputs the communication signal to the screen.

  Next, the electric cleaning device 1 according to the present embodiment includes an autonomous cleaning unit 21 that autonomously travels to clean the living room, and a charging stand 22 that is electrically connected to the autonomous cleaning unit 21 to perform charging. I have it.

  Further, the electric cleaning device 1 may include a marking device 23 that can be installed at any place.

  The autonomous cleaning unit 21 is a so-called robot cleaner, and is a main body unit that moves by combining motion patterns including forward and backward movements. The autonomous cleaning unit 21 autonomously moves over the entire surface to be cleaned in the living room to collect dust, and then returns to the charging stand 22 to wait for the next cleaning operation. The motion type may include turning, turning right, turning left, etc. in addition to forward and backward movements.

  The autonomous cleaning unit 21 according to the present embodiment will be described as a unit that moves by combining forward and backward movements and turning to the left and right. Further, the “combination of motion types” includes not only a combination of two or more motion types, for example, three motion types such as forward movement, turning, and forward movement, but also a case of only one motion type, for example forward movement.

  The autonomous cleaning unit 21 detects the relative position of the charging stand 22 or the marking device 23 by infrared communication. The autonomous cleaning unit 21 is covered with a hollow disk-shaped main body case 25, consumes the electric power of the secondary battery 26 in the main body case 25, and runs autonomously.

  The charging stand 22 is installed on the surface to be cleaned in the living room. The charging stand 22 can connect or disconnect the autonomous cleaning unit 21. The charging stand 22 includes a power cord 27 that guides electric power from the commercial AC power source to the secondary battery 26 when the autonomous cleaning unit 21 is electrically connected. The power cord 27 is an electric line that transmits power to the secondary battery 26.

  The marking device 23 is a device such as a guard for restricting the progress of the autonomous cleaning unit 21 or a photo pointer for designating a shooting location in the autonomous cleaning unit 21 equipped with a camera (not shown). The marking device 23 performs infrared communication with the autonomous cleaning unit 21 to notify the presence of its own device.

  The autonomous cleaning unit 21 also includes a connection determination unit 28 that determines whether or not the main body case 25 is electrically connected to the charging stand 22 and power transmission from the power cord 27 to the secondary battery 26 is possible. ing. The connection determination unit 28 may be a contact type sensor or a non-contact type sensor.

  Next, the autonomous cleaning unit 21 according to the embodiment of the present invention will be described in detail.

  FIG. 2 is a block diagram showing an autonomous cleaning unit of the electric vacuum cleaner according to the embodiment of the present invention.

  As shown in FIG. 2, the autonomous cleaning unit 21 according to the present embodiment includes a hollow disk-shaped main body case 25, a dust container 29 provided at a rear portion of the main body case 25, and dust contained in the main body case 25. The electric blower 31 connected to the container 29, the moving part 32 for moving the main body case 25 on the surface to be cleaned, the driving part 33 for driving the moving part 32, and the driving part 33 are controlled to control the surface to be cleaned. An autonomous control unit 35 that moves the autonomous cleaning unit 21 autonomously, a communication unit 36 that transmits and receives a communication signal including an operation start instruction to and from the relay communication device 11, and an input that receives an instruction input to the autonomous control unit 35. A unit 37, a notification unit 38 that notifies the start and end of the cleaning operation, and the like, and a secondary battery 26 that stores electric power consumed by the electric blower 31, the autonomous control unit 35, and the drive unit 33 are provided.

  Further, the autonomous cleaning unit 21 detects a change in its operating state and / or an environment in which the autonomous cleaning unit 21 is placed, and an obstacle O in the moving direction of the autonomous cleaning unit 21. An obstacle detector 41 for detecting

  The dust container 29 accumulates the dust sucked from the suction port (not shown) on the bottom surface of the main body case 25 by the suction negative pressure generated by the electric blower 31. The dust container 29 is a filter that filters and collects dust, or a separation device that accumulates dust by inertial separation such as centrifugal separation (cyclone separation) or straight-ahead separation.

  The electric blower 31 consumes the electric power of the secondary battery 26 and is driven to generate suction negative pressure.

  The moving unit 32 includes a pair of left and right drive wheels (not shown) arranged on the bottom surface of the body case 25, and a turning wheel (not shown) arranged on the bottom surface of the body case 25.

  The drive unit 33 is a pair of electric motors connected to each of the pair of drive wheels. The drive unit 33 drives the left and right drive wheels independently. The drive unit 33 drives the left and right drive wheels in accordance with the control signal of the autonomous control unit 35 to move the autonomous cleaning unit 21 forward, backward, or turn.

  The communication unit 36 receives communication signals including instructions for the autonomous cleaning unit 21, such as a cleaning operation start instruction, a temporary stop instruction, and a stop instruction, from the relay communication device 11, while operating, temporarily stopped, and stopped. Etc., a communication signal for notifying the state of the autonomous cleaning unit 21 is transmitted.

  In addition, the communication unit 36 establishes a wireless communication line with the relay communication device 11 to receive a communication signal including an instruction to the autonomous cleaning unit 21, while communicating the state of the autonomous cleaning unit 21. Send a signal.

  The input unit 37 may be, for example, a switch provided on the main body case 25, or a remote controller that inputs an instruction by using infrared rays. The input unit 37 includes keys (not shown) with which each motion type can be individually input. For example, the input unit 37 includes a forward key (not shown), a backward key (not shown), and a turn key (not shown), and can instruct or instruct the autonomous cleaning unit 21 about an operation type.

  The notification unit 38 notifies the user or a third party in the vicinity of the autonomous cleaning unit 21 of the start or end of the cleaning operation by sound such as voice or warning sound, or optical display such as lighting or blinking.

  The secondary battery 26 is a power source for the electric blower 31, the drive unit 33, and the autonomous control unit 35, and stores electric power supplied to these.

  The autonomous control unit 35 includes a microprocessor (not shown) and a storage device (not shown) that stores various calculation programs executed by the microprocessor, parameters, and the like. The autonomous control unit 35 is electrically connected to the electric blower 31 and the drive unit 33. The autonomous control unit 35 controls the electric blower 31 and the drive unit 33 according to the instruction content acquired from the input unit 37 and the instruction content acquired from the communication unit 36 to perform cleaning.

  The instruction content executed by the autonomous control unit 35 includes a cleaning operation start instruction, a temporary stop instruction, a cleaning operation restart instruction, a stop instruction, and the like of the electric cleaning device 1. The autonomous control unit 35 acquires these instruction contents from the input unit 37 and the communication unit 36. The instruction to restart the cleaning operation is an instruction to start the operation while the cleaning operation is temporarily stopped.

  In addition, the autonomous control unit 35 associates the operation sequence storage unit 45 that sequentially stores the combinations of the motion patterns input to the input unit 37 with the detector 39 in association with the combination of the motion patterns input to the input unit 37. An operation status storage unit 46 that stores the detection result.

  The operation order storage unit 45 and the operation status storage unit 46 are data structures secured in the storage device of the autonomous control unit 35.

  The autonomous control unit 35 moves according to the motion type input to the input unit 37, and stores the motion order at this time in the motion order storage unit 45. A mode in which the autonomous control unit 35 stores a series of motion sequences in the motion sequence storage unit 45 is called a "motion storage mode". The input unit 37 preferably includes an operation memory mode start / end key (not shown) for instructing the start of the operation memory mode or for instructing the end of the operation memory mode. The user operates the operation memory mode start / end key to start the operation memory mode, and then arbitrarily and sequentially operates the forward key, the backward key, and the turn key, so that the autonomous cleaning unit 21 reaches the destination. Then, the operation storage mode start / end key is operated again to end the operation storage mode. The operation sequence storage unit 45 sequentially stores the operation patterns instructed between the start operation of the operation storage mode start / end key and the end operation of the operation storage mode start / end key. In addition, a route along which the autonomous cleaning unit moves as intended according to the motion type stored in the motion sequence storage unit 45 is referred to as a “planned route”.

  The operation status storage unit 46 stores the detection result of the detector 39 in the operation storage mode, that is, the change in the operation state of the autonomous cleaning unit 21 for each operation type input to the input unit 37, and the autonomous cleaning unit 21. At least one detection result of the environment is stored. That is, the operation status storage unit 46 associates the detection result of the detector 39 with the detection result of the detector 39 in association with the operation pattern instructed between the operation of starting the operation memory mode / end key and the operation of ending the operation memory mode start / end key. Remember.

  Furthermore, the autonomous control unit 35 autonomously moves the autonomous cleaning unit 21 in accordance with the order of the operation types stored in the operation order storage unit 45, and the detection result stored in the operation status storage unit 46 and the detection during autonomous movement. A detection result comparison unit 47 that compares the detection result of the device 39 and a movement route correction unit 48 that corrects a combination of motion types during autonomous movement are provided. The control in which the autonomous control unit 35 autonomously moves the autonomous cleaning unit 21 according to the storage of the operation sequence storage unit 45 is referred to as “memory operation execution control”. In addition, the control that compares the detection result stored in the operation status storage unit 46 with the detection result of the detector 39 during autonomous movement and corrects the combination of operation types during autonomous movement is called "route correction control". The storage operation execution control includes path correction control.

  The detector 39 is, for example, an image sensor that acquires an image of the surroundings, a position sensor that detects a relative positional relationship with the charging stand 22 or the marking device 23, and an accelerometer that detects acceleration acting on the autonomous cleaning unit 21. And / or an angular velocimeter for detecting angular velocity.

  The detector 39 detects at least one of a change in the operation state of the autonomous cleaning unit 21 for each operation type input to the input unit 37 in the operation storage mode and an environment in which the autonomous cleaning unit 21 is placed. Further, the detector 39 detects at least one of a change in the operating state of the autonomous cleaning unit 21 for each operation type executed by the autonomous control unit 35 in the storage operation execution control, and an environment in which the autonomous cleaning unit 21 is placed. To do. The "environment in which the autonomous cleaning unit 21 is placed" is, for example, a surrounding image acquired by an image sensor.

  Specifically, when the detector 39 is an image sensor, the detection result comparison unit 47 compares the image information stored in the operation status storage unit 46 with the image information around the autonomous cleaning unit 21 during autonomous movement. . Here, the image information stored in the operation status storage unit 46 is referred to as a “planned route image”, and the image information captured by the detector 39 during autonomous movement is referred to as an “actual route image”. The detection result comparing unit 47 compares the feature points extracted from the planned route image (for example, the corners of the room or furniture) with the feature points extracted from the actual route image, and the difference (deviation) between the actual route and the planned route. Figure out.

  When the detector 39 is a position sensor, the detection result comparison unit 47 causes the operation status storage unit 46 to store the relative positional relationship with the marking device 23 and the relative position with respect to the marking device 23 during autonomous movement. Compare with the relationship. Here, the positional relationship stored in the operation status storage unit 46 is called “planned route position (relative measurement)”, and the positional relationship detected by the detector 39 during autonomous movement is called “actual route position (relative measurement)”. The detection result comparison unit 47 compares the planned route position (relative measurement) and the actual route position (relative measurement) to grasp the difference (deviation) between the planned route and the actual route.

  Furthermore, when the detector 39 is a combination of an accelerometer and an angular velocity meter, the detection result comparison unit 47 directly outputs the acceleration information and the angular velocity information stored in the operation status storage unit 46 and the acceleration information and the angular velocity information during autonomous movement. Or indirectly match. The detection result comparison unit 47 calculates the acceleration information and the angular velocity information to obtain the position information of the autonomous cleaning unit 21. Here, the position information calculated from the acceleration information and the angular velocity information stored in the operation status storage unit 46 is called “scheduled route position (calculation)”, and calculated from the acceleration information and the angular velocity information detected by the detector 39 during autonomous movement. The position information stored is called “actual route position (calculation)”. The detection result comparison unit 47 checks or compares the planned route position (calculation) and the actual route position (calculation) to grasp the difference (deviation) between the actual route and the planned route.

  The movement route correction unit 48 corrects the combination of motion types during autonomous movement based on the comparison result of the detection result comparison unit 47.

  The obstacle detector 41 uses a laser beam, a visible light, an infrared ray, or an ultrasonic wave to detect a non-contact presence / absence of the obstacle O or a bumper (not shown) provided on the side surface of the main body case 25. It is a micro switch that detects the contact of an obstacle O. Further, the obstacle O may include a step, and the obstacle detector 41 may include a step sensor that detects the step.

  Next, the storage operation execution control of the electric cleaning device 1 according to the embodiment of the present invention will be described.

  FIG. 3 is a flowchart of storage operation execution control of the vacuum cleaner according to the embodiment of the present invention.

  4 to 9 are diagrams conceptually showing a planned route and an actual route of the electric vacuum cleaner according to the embodiment of the present invention.

  FIG. 4 shows a case where the planned route is autonomously moved as planned, that is, the route correction control is not performed.

  FIG. 5 conceptually shows the route correction control in the case where the arrangement of the charging stand 22 has been changed since the operation storage mode was executed.

  FIG. 6 conceptually shows the route correction control when the forward movement distance of the autonomous cleaning unit 21 is insufficient.

  FIG. 7 conceptually shows the route correction control when the forward movement distance of the autonomous cleaning unit 21 exceeds.

  FIG. 8 conceptually shows the route correction control when the turning angle of the autonomous cleaning unit 21 is insufficient.

  FIG. 9 conceptually shows the route correction control when the turning angle of the autonomous cleaning unit 21 exceeds.

  4 to 9, the actual route of the autonomous cleaning unit 21 is indicated by a thin solid line, the planned route is indicated by a broken line, and the movement by the route correction control is indicated by a thick solid line. Moreover, in FIG. 4 to FIG. 9, the autonomous cleaning unit 21 is scheduled to perform a straight-ahead movement A1, a turning movement A2, and a linear movement A3. The homecoming route is omitted.

  As shown in FIGS. 3 and 4, the autonomous control unit 35 of the electric cleaning device 1 according to the present embodiment releases the electrical connection between the autonomous cleaning unit 21 and the charging stand 22 and starts autonomous movement. At this time, the detection result stored in the operation status storage unit 46 is collated with the detection result of the detector 39 during autonomous movement to correct the combination of operation types during autonomous movement.

  In addition, the autonomous control unit 35 collates the detection result stored in the operation status storage unit 46 with the detection result of the detector 39 during autonomous movement after performing a certain operation type during autonomous movement, and during autonomous movement. Correct the combination of motion types in.

  For example, the autonomous control unit 35 collates the detection result stored in the operation status storage unit 46 with the detection result of the detector 39 at the time of autonomous movement after performing a straight-ahead motion at the time of autonomous movement to perform the operation at the time of autonomous movement. Correct the combination of types. In addition, the autonomous control unit 35 collates the detection result stored in the operation status storage unit 46 with the detection result of the detector 39 during autonomous movement after performing the turning motion during autonomous movement, and the operation during autonomous movement. Correct the combination of types.

  Specifically, when the autonomous control unit 35 of the electric cleaning device 1 according to the present embodiment starts the storage operation execution control, it separates from the charging stand 22 (step S1).

  Next, the detection result comparison unit 47 of the autonomous control unit 35 acquires the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement and collates them (step S2).

  The autonomous control unit 35 determines whether or not there is a difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (step S3). When a difference (deviation) occurs between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (Yes in step S3), the autonomous control unit 35 determines the movement route correction unit. The path correction control is executed by 48 (step S4). The determination of Yes in step S3 means that the arrangement of the charging stand 22 has been changed (moved) since the operation storage mode was executed.

  Due to the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement, the movement route correction unit 48 determines the original starting position, that is, the charging stand 22 when the operation storage mode is executed. Is calculated (this is referred to as a "departure scheduled position"), and the vehicle moves to the scheduled departure position (step S4) (FIG. 5). It should be noted that the original location of the charging stand 22, that is, the location of the charging stand 22 when the operation memory mode is performed is indicated by a two-dot chain line.

  On the other hand, the autonomous control unit 35, if there is no difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (No in step S3), step S4. And go to step S5. Note that the No determination in step S3 means that the arrangement of the charging stand 22 has not been changed (moved) since the operation storage mode was executed (FIG. 4).

  Next, the autonomous control unit 35 reads an unexecuted action from the action type stored in the action order storage unit 45 and implements it (step S5). The motion types stored in the motion order storage unit 45 are called in the stored order.

  The detection result comparison unit 47 acquires the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement and collates them (step S6).

  The autonomous control unit 35 determines whether or not there is a difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (step S7). When there is a difference (shift) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (Yes in step S7), the autonomous control unit 35 determines the movement route correction unit. The path correction control is executed by 48 (step S8). Note that the Yes determination in step S7 is performed by determining whether the autonomous cleaning unit 21 reaches the position on the planned route that is reached by performing step S5 due to the wheel idling, passing over an unexpected obstacle, or the like. Is not reached) (see FIG. 6 to FIG. 9).

  The movement path correction unit 48 calculates the expected arrival position based on the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement, and moves to the expected arrival position (step). S8).

  For example, when the motion type executed in step S5 is forward movement, shortage or excess of the movement distance may occur. Therefore, if the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement is insufficient for the movement distance, the movement route correction unit 48 further advances and arrives. Proceed to the planned position (Fig. 6). If the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement exceeds the travel distance, the travel route correction unit 48 will move backward to arrive. Return to the position (Fig. 7).

  Further, when the operation type performed in step S5 is turning, the turning angle may be insufficient or excessive. Therefore, if the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement is insufficient for the turning angle, the movement route correction unit 48 further turns and arrives. Proceed to the planned position (Fig. 8). If the difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement exceeds the turning angle, the movement path correction unit 48 turns in the opposite direction. To return to the planned arrival position (Fig. 9).

  Note that the autonomous control unit 35 compares the detection result stored in the operation status storage unit 46 with the detection result of the detector 39 during autonomous movement during a certain operation type during autonomous movement, and during autonomous movement. It is also possible to correct the combination of motion types in.

  For example, the autonomous control unit 35 compares the detection result stored in the operation status storage unit 46 during a straight-ahead movement during autonomous movement with the detection result of the detector 39 during autonomous movement, and combines action types during autonomous movement. To correct. In addition, the autonomous control unit 35 compares the detection result stored in the operation status storage unit 46 during the turning motion during autonomous movement with the detection result of the detector 39 during autonomous movement, and combines action types during autonomous movement. To correct.

  In this case, the autonomous control unit 35 constantly detects the detection result and the detection result during autonomous movement stored in the operation status storage unit 46 during a certain operation type during autonomous movement (step S5). The detection result of the device 39 is compared (corresponding to step S6), and the combination of motion types during autonomous movement is corrected (corresponding to step S8). Such an immediate route correction control requires a higher processing capacity of the autonomous control unit 35 than the route correction control for each operation type, and also increases the processing load, while improving the reproducibility of the planned route and the user's intention. Realize closer treatment.

  When the autonomous control unit 35 reaches the scheduled arrival position, the autonomous control unit 35 proceeds to step S9.

  On the other hand, the autonomous control unit 35 does not cause a difference (deviation) between the detection result stored in the operation status storage unit 46 and the detection result of the detector 39 during autonomous movement (No in step S7), that is, When it can be determined that the planned route is taken, the process bypasses step S8 and goes directly to step S9.

  Then, the autonomous control unit 35 determines whether or not the motion type stored in the motion order storage unit 45 includes a motion that has not been performed (step S9). When there is an unexecuted operation in the operation type stored in the operation order storage unit 45 (No in step S9), the autonomous control unit 35 returns to step S5 and executes the unexecuted operation stored in the operation order storage unit 45. continue.

  On the other hand, the autonomous control unit 35 causes the autonomous cleaning unit 21 to return to the charging stand 22 when the operation types stored in the operation order storage unit 45 are all performed (Yes at Step S9), that is, the return control. Perform (step S10).

  When the autonomous cleaning unit 21 returns to the charging stand 22, the autonomous control unit 35 notifies the end of the storage operation execution control through the notification unit 38 (step S11), and ends the storage operation execution control. In addition, the autonomous control unit 35 performs the route correction control through the notification unit 38 when the route correction control is performed, that is, when the combination of operation types during autonomous movement is corrected without proceeding according to the planned route. Is notified (step S11).

  Further, the autonomous control unit 35 notifies not only the notification unit 38 but also the communication unit 36 to the remote operation terminal 6 about the completion of the storage operation execution control and the correction of the correction of the combination of the operation types during the autonomous movement. Is performed (step S11).

  Next, an obstacle avoidance operation in the storage operation execution control of the electric cleaning device 1 according to the embodiment of the present invention will be described.

  10 and 11 are views conceptually showing the obstacle avoiding operation of the electric vacuum cleaner according to the embodiment of the present invention.

  10 and 11, the actual route of the autonomous cleaning unit 21 is indicated by a thin solid line, the planned route is indicated by a broken line, and the movement by the route correction control is indicated by a thick solid line. 10 and 11, the autonomous cleaning unit 21 stores the same planned route as that in FIG. The homecoming route is omitted.

  When the obstacle detector 41 detects the obstacle O, the autonomous control unit 35 of the electric cleaning device 1 according to the present embodiment detects the detection result stored in the operation status storage unit 46 and the detector 39 during autonomous movement. The detection result of (1) is compared with the detection result of (3) to correct the combination of motion types during autonomous movement.

  Specifically, the movement route correction unit 48 of the autonomous control unit 35 avoids the obstacle O and continues the motion type being executed (FIG. 10). For example, when the motion type executed in step S5 of FIG. 3 is forward, and the obstacle O exists in the middle of the route, the movement route correction unit 48 avoids the obstacle O and performs the action being executed. Return to the planned route in the type and aim for the expected position of the movement type.

  In addition, the movement route correction unit 48 avoids the obstacle O and shifts to a motion type scheduled for the next time (FIG. 11). For example, when the motion type executed in step S5 of FIG. 3 is forward movement and the obstacle O exists at the expected arrival position, the movement route correction unit 48 determines that the obstacle O is a result of avoiding the obstacle O. It is determined that it is not possible to return to the planned route in the motion type being executed because it interferes with the existence of, and it is judged that the expected position of the motion type cannot be reached, and the expected position in the motion type to be scheduled after that, that is, the forward motion. Aim at the expected arrival position in the turning motion and the forward motion scheduled after.

  In the electric cleaning device 1 according to the present embodiment, the autonomous cleaning unit 21 is autonomously moved according to the order of the operation type stored in the operation order storage unit 45, and the detection result and the autonomous movement stored in the operation status storage unit 46. By comparing the detection result of the detector 39 at the time with the autonomous control unit 35 that corrects the combination of the motion types at the time of autonomous movement, the motion order stored in the motion memory mode or the planned route according to this motion order is compared. It is possible to improve the matching with the actual route in the storage operation execution control. This means that the planned route, which is more robust against accidental environmental changes at the cleaning location, such as the charging base as the reference position is unintentionally moving or the wheels are spinning during the movement. Enables reproduction.

  Further, the electric cleaning device 1 according to the present embodiment performs route correction control by various detection methods such as image information, a positional relationship with the marking device 23, acceleration and angular velocity when the autonomous cleaning unit 21 moves. be able to.

  Further, the electric cleaning device 1 according to the present embodiment releases the electrical connection between the autonomous cleaning unit 21 and the charging stand 22 and detects the detection result stored in the operation status storage unit 46 when starting the autonomous movement. And the detection result of the detector 39 at the time of autonomous movement are compared with each other to correct the combination of operation types at the time of autonomous movement, so that the starting point of the planned route can be corrected.

  Further, the electric cleaning device 1 according to the present embodiment makes it possible to reproduce a more robust planned route by simple control by performing route correction control after a straight-ahead operation or a turning operation during autonomous movement.

  Further, the electric cleaning device 1 according to the present embodiment can improve the reproducibility of the planned route by performing the route correction control during the straight-ahead movement or the turning movement during the autonomous movement.

  Furthermore, in the electric cleaning device 1 according to the present embodiment, when the obstacle detector 41 detects the obstacle O, the detection result stored in the operation status storage unit 46 and the detection of the detector 39 during autonomous movement. By comparing the result with the result and correcting the combination of motion types during autonomous movement, it is possible to avoid the obstacle O that did not exist when the motion memory mode was stored and to proceed along the planned route as much as possible according to the intention of the user. .

  In addition, the electric cleaning device 1 according to the present embodiment includes the communication unit 36 that transmits the correction of the movement route through the wireless communication line when the combination of the operation types during autonomous movement is corrected, and thus the environment of the planned route is reduced. It is possible to inform the user of the presence or absence of a change or abnormality, and prompt the user for the next storage operation execution control to change the environment, remove the above, or reset the planned route.

  Therefore, according to the electric cleaning device 1 according to the present embodiment, it is possible to more accurately move along the preset moving route and reach the destination.

  Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are also included in the invention described in the claims and the scope equivalent thereto.

  DESCRIPTION OF SYMBOLS 1 ... Electric cleaning device, 2 ... Operation control system, 5 ... Communication network, 6 ... Remote operation terminal, 7 ... Premise terminal, 8 ... External network, 9 ... Premise communication network, 11 ... Relay communication equipment, 12 ... Server, 13 ... Internet, 21 ... Autonomous cleaning unit, 22 ... Charging stand, 23 ... Marking device, 25 ... Main body case, 26 ... Secondary battery, 27 ... Power cord, 28 ... Connection determination unit, 29 ... Dust container, 31 ... Electric Blower, 32 ... Moving part, 33 ... Driving part, 35 ... Autonomous control part, 36 ... Communication part, 37 ... Input part, 38 ... Notification part, 39 ... Detector, 41 ... Obstacle detector, 45 ... Operation sequence storage Unit, 46 ... Operation status storage unit, 47 ... Detection result comparison unit, 48 ... Travel route correction unit.

Claims (13)

A main body part that moves by combining movement patterns including forward and backward movements,
An input unit capable of individually inputting the motion type,
An operation sequence storage unit that sequentially stores combinations of the operation types input to the input unit;
For each of the operation types input to the input unit, a detector that detects at least one of the change in the operating state of the main body and the environment in which the main body is placed,
An operation status storage unit that stores a detection result of the detector in association with a combination of the operation types input to the input unit;
The main body unit is autonomously moved according to the order of the operation types stored in the operation order storage unit, and the detection result stored in the operation status storage unit is compared with the detection result of the detector during the autonomous movement. And an autonomous control unit that corrects the combination of the operation types during the autonomous movement. The detector includes an image sensor,
The autonomous control unit compares image information stored in the operation status storage unit with image information around the main body unit during the autonomous movement, and corrects a combination of the motion types during the autonomous movement. The electric vacuum cleaner according to 1. The detector includes a position sensor that detects a relative positional relationship with a marking device that can be installed at any location,
The autonomous control unit compares the relative positional relationship with the marking device stored in the operation status storage unit and the relative positional relationship with the marking device during the autonomous movement, and during the autonomous movement. The vacuum cleaner according to claim 1, wherein the combination of the operation types is corrected. The detector includes an accelerometer and an angular velocity meter,
The autonomous control unit directly or indirectly compares the acceleration information and angular velocity information stored in the operation status storage unit with the acceleration information and angular velocity information during the autonomous movement, and determines the behavior type during the autonomous movement. The vacuum cleaner according to claim 1, wherein the combination is corrected. A charging stand for electrically connecting to the main body for charging is provided,
The autonomous control unit releases the electrical connection between the main body unit and the charging stand, and when starting the autonomous movement, the detection result stored in the operation status storage unit and the detection during the autonomous movement. The electric vacuum cleaner according to any one of claims 1 to 4, which compares a detection result of a container and corrects a combination of the operation types during the autonomous movement. The autonomous control unit compares the detection result stored in the operation status storage unit with the detection result of the detector during the autonomous movement after performing a straight-ahead motion during the autonomous movement, and during the autonomous movement. The electric vacuum cleaner according to any one of claims 1 to 5, wherein the combination of the operation types is corrected. The autonomous control unit compares a detection result stored in the operation status storage unit with a detection result of the detector during the autonomous movement after performing a turning motion during the autonomous movement, and during the autonomous movement. The vacuum cleaner according to any one of claims 1 to 6, wherein the combination of the operation types is corrected. The autonomous control unit compares a detection result stored in the operation status storage unit during a straight-ahead movement during the autonomous movement with a detection result of the detector during the autonomous movement, and the operation type during the autonomous movement. The vacuum cleaner according to any one of claims 1 to 7, which corrects the combination of. The autonomous control unit compares a detection result stored by the operation status storage unit during a turning motion during the autonomous movement with a detection result of the detector during the autonomous movement, and the operation type during the autonomous movement. The electric vacuum cleaner according to claim 1, wherein the combination is corrected. An obstacle detector for detecting an obstacle in the moving direction of the main body is provided,
The autonomous control unit, when the obstacle detector detects the obstacle, compares the detection result stored by the operation status storage unit with the detection result of the detector during the autonomous movement, and The vacuum cleaner according to any one of claims 1 to 9, wherein a combination of the operation types during autonomous movement is corrected. The vacuum cleaner according to claim 10, wherein the autonomous control unit avoids the obstacle and continues the operation type being executed. The vacuum cleaner according to claim 10, wherein the autonomous control unit avoids the obstacle and shifts to an operation type scheduled for the next time onward. The vacuum cleaner according to any one of claims 1 to 12, further comprising: a communication unit that transmits a correction of the movement route through a wireless communication line when the combination of the operation types during the autonomous movement is corrected.

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