JP6685755B2 - 自律走行体 - Google Patents
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- JP6685755B2 JP6685755B2 JP2016027304A JP2016027304A JP6685755B2 JP 6685755 B2 JP6685755 B2 JP 6685755B2 JP 2016027304 A JP2016027304 A JP 2016027304A JP 2016027304 A JP2016027304 A JP 2016027304A JP 6685755 B2 JP6685755 B2 JP 6685755B2
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- 238000004140 cleaning Methods 0.000 claims description 102
- 239000000428 dust Substances 0.000 claims description 37
- 239000000463 material Substances 0.000 claims description 23
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 16
- 238000004891 communication Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 12
- 238000000605 extraction Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 10
- 238000005286 illumination Methods 0.000 description 9
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- 230000008569 process Effects 0.000 description 6
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- 230000003749 cleanliness Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
- A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/30—Arrangement of illuminating devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Description
20 本体ケース
22 掃除部
27 制御手段
34 駆動部としての駆動輪
41 電動送風機
51a,51b 撮像手段としてのカメラ
63 距離画像生成手段としての画像生成部
64 形状取得手段である形状取得部
67 マップ生成手段であるマップ生成部
73 自己位置推定手段
75 情報取得手段
MP マップ
RT 走行経路
Claims (13)
- 本体ケースと、
この本体ケースを走行可能とする駆動部と、
領域の情報を記すマップを作成するマップ生成手段と、
自己位置を推定する自己位置推定手段と、
前記本体ケースの外部の情報を取得する情報取得手段と、
被掃除面を掃除する掃除部と、
前記マップ生成手段により作成したマップに基づいて前記駆動部の動作を制御することで前記本体ケースを自律走行させる制御手段とを具備し、
前記情報取得手段は、少なくとも被掃除面の材質を情報として取得し、
前記制御手段は、自律走行時に前記情報取得手段により取得した情報を反映させた前記マップに基づいて前記本体ケースの次回の走行経路を設定するものであって、前記次回の走行経路を、走行開始時の被掃除面の材質と同一の材質の被掃除面を優先的に走行するように設定し、自律走行時に前記マップと相違する物体を検出すると、その物体の周囲に沿って前記本体ケースを走行させる走行経路を暫定的に設定し、この走行経路に沿って前記本体ケースを走行させつつ前記情報取得手段により取得した前記物体の情報に応じて、前記マップに反映させる情報を決定する
ことを特徴とした自律走行体。 - 情報取得手段は、障害物の配置場所を情報として取得する
ことを特徴とした請求項1記載の自律走行体。 - 情報取得手段は、障害物の形状を情報として取得する
ことを特徴とした請求項1または2記載の自律走行体。 - 情報取得手段は、
本体ケースに配置されて互いに離間された複数の撮像手段と、
これら撮像手段によって撮像した画像により、この走行方向側に位置する物体の距離画像を生成する距離画像生成手段と、
この距離画像生成手段で生成した距離画像から、撮像された物体の形状情報を取得することにより障害物の形状を取得する形状取得手段とを備えている
ことを特徴とした請求項3記載の自律走行体。 - 掃除部は、制御手段によりマップと相違する物体の周囲に沿って本体ケースを走行させる走行経路を暫定的に設定したときにも被掃除面を掃除する
ことを特徴とした請求項2ないし4いずれか一記載の自律走行体。 - 制御手段は、走行経路での障害物とのクリアランスを、この障害物に応じて変更する
ことを特徴とした請求項2ないし4いずれか一記載の自律走行体。 - 掃除部は、塵埃を吸い込む電動送風機を具備し、
制御手段は、走行経路での本体ケースの走行速度を、情報取得手段により取得した被掃除面の材質に応じて変更する
ことを特徴とした請求項1ないし6いずれか一記載の自律走行体。 - 情報取得手段は、被掃除面の段差を情報として取得し、
制御手段は、本体ケースが段差を通過するときに少なくとも段差の壁面に対して交差する方向に沿って前記本体ケースを走行させるように走行経路を設定する
ことを特徴とした請求項1ないし7いずれか一記載の自律走行体。 - 情報取得手段は、被掃除面の段差を情報として取得し、
制御手段は、前記情報取得手段により取得した段差の高さが所定値以上であるときには、この段差を乗り越えないように走行経路を設定する
ことを特徴とした請求項1ないし8いずれか一記載の自律走行体。 - 情報取得手段は、被掃除面の段差を情報として取得し、
制御手段は、段差があるところでは高所から掃除を実施するように走行経路を設定する
ことを特徴とした請求項1ないし9いずれか一記載の自律走行体。 - 制御手段は、マップ生成手段により作成されたマップ中の異なる種類の被掃除面の境界に沿って本体ケースを走行させる走行経路を設定する
ことを特徴とした請求項1ないし10いずれか一記載の自律走行体。 - 情報取得手段は、障害物の温度を情報として取得し、
制御手段は、前記情報取得手段により取得した温度が所定以上のときには、本体ケースが所定距離以内に接近しないように走行経路を設定する
ことを特徴とした請求項1ないし11いずれか一記載の自律走行体。 - 情報取得手段は、被掃除面の塵埃量を情報として取得し、
制御手段は、前記情報取得手段が取得した被掃除面の塵埃量が所定以上である状態が所定時間以上継続する場合には、その被掃除面を含む一定の領域内を本体ケースに繰り返し走行させるように走行経路を設定する
ことを特徴とした請求項1ないし12いずれか一記載の自律走行体。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016027304A JP6685755B2 (ja) | 2016-02-16 | 2016-02-16 | 自律走行体 |
CN201680015181.2A CN107407935A (zh) | 2016-02-16 | 2016-12-14 | 自律移动体 |
EP16890673.3A EP3418842A4 (en) | 2016-02-16 | 2016-12-14 | AUTONOMOUS DISPLACEMENT BODY |
US16/077,926 US20190053683A1 (en) | 2016-02-16 | 2016-12-14 | Autonomous traveler |
PCT/JP2016/087312 WO2017141536A1 (ja) | 2016-02-16 | 2016-12-14 | 自律走行体 |
TW106100118A TWI670579B (zh) | 2016-02-16 | 2017-01-04 | 自律移動體 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016027304A JP6685755B2 (ja) | 2016-02-16 | 2016-02-16 | 自律走行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017146742A JP2017146742A (ja) | 2017-08-24 |
JP6685755B2 true JP6685755B2 (ja) | 2020-04-22 |
Family
ID=59625831
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016027304A Expired - Fee Related JP6685755B2 (ja) | 2016-02-16 | 2016-02-16 | 自律走行体 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190053683A1 (ja) |
EP (1) | EP3418842A4 (ja) |
JP (1) | JP6685755B2 (ja) |
CN (1) | CN107407935A (ja) |
TW (1) | TWI670579B (ja) |
WO (1) | WO2017141536A1 (ja) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6831210B2 (ja) * | 2016-11-02 | 2021-02-17 | 東芝ライフスタイル株式会社 | 電気掃除機 |
KR101917701B1 (ko) * | 2017-01-13 | 2018-11-13 | 엘지전자 주식회사 | 청소기 및 그 제어방법 |
JP2019046381A (ja) * | 2017-09-06 | 2019-03-22 | パナソニックIpマネジメント株式会社 | 自律走行掃除機、および、マップ補正方法 |
EP3695766A4 (en) * | 2017-10-13 | 2021-05-05 | Chiba Institute of Technology | SELF-PROPELLED VACUUM CLEANER |
JP2019076658A (ja) * | 2017-10-27 | 2019-05-23 | パナソニックIpマネジメント株式会社 | 自律走行掃除機、および、拡張エリア識別方法 |
CN111212588B (zh) * | 2017-11-16 | 2021-07-13 | 千叶工业大学 | 自走式扫除机 |
JP2019103618A (ja) * | 2017-12-12 | 2019-06-27 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP7075201B2 (ja) * | 2017-12-15 | 2022-05-25 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP2019109845A (ja) * | 2017-12-20 | 2019-07-04 | 東芝ライフスタイル株式会社 | 自律型電気掃除機 |
KR102015030B1 (ko) * | 2018-01-09 | 2019-08-27 | 엘지전자 주식회사 | 이동 로봇 및 이동 로봇의 제어방법 |
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JP2017146742A (ja) | 2017-08-24 |
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TWI670579B (zh) | 2019-09-01 |
EP3418842A4 (en) | 2019-11-20 |
EP3418842A1 (en) | 2018-12-26 |
US20190053683A1 (en) | 2019-02-21 |
TW201730705A (zh) | 2017-09-01 |
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