JP6831210B2 - 電気掃除機 - Google Patents
電気掃除機 Download PDFInfo
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- JP6831210B2 JP6831210B2 JP2016215460A JP2016215460A JP6831210B2 JP 6831210 B2 JP6831210 B2 JP 6831210B2 JP 2016215460 A JP2016215460 A JP 2016215460A JP 2016215460 A JP2016215460 A JP 2016215460A JP 6831210 B2 JP6831210 B2 JP 6831210B2
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- 238000013507 mapping Methods 0.000 claims description 55
- 238000004364 calculation method Methods 0.000 claims description 31
- 238000003384 imaging method Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 description 74
- 238000012545 processing Methods 0.000 description 32
- 239000000428 dust Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 238000003702 image correction Methods 0.000 description 7
- 238000005286 illumination Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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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
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
- A47L9/28—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
- A47L9/2852—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
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- A47L2201/02—Docking stations; Docking operations
-
- 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
Description
15 ネットワーク
16 サーバ
17 表示端末である外部装置
20 本体ケース
23 情報送信手段としてのデータ通信手段
26 制御手段
34 駆動部としての駆動輪
51 撮像手段としてのカメラ
61 記憶手段としてのメモリ
63 距離算出手段
65 自己位置推定手段
66 マッピング手段
66a 第1のマッピング手段
66b 第2のマッピング手段
68 未掃除箇所推定手段
M 地図
Claims (12)
- 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、
前記本体ケースに配置され、前記本体ケースの走行方向側を撮像する撮像手段と、
この撮像手段によって撮像した画像に基づいて前記走行方向側に位置する物体までの距離を算出する距離算出手段と、
前記撮像手段によって撮像した画像に基づいて前記本体ケースの位置を算出する自己位置推定手段と、
これら距離算出手段および自己位置推定手段の算出結果に基づいて走行場所の地図を三次元データにより作成するマッピング手段と、
このマッピング手段により作成された地図の三次元データ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、
前記マッピング手段は、
所定位置で前記撮像手段により撮像された画像から前記距離算出手段および前記自己位置推定手段の算出結果から取得された物体の二次元配置位置データに基づき、前記制御手段が前記本体ケースを走行させる走行ルートを設定するための前記走行場所の二次元の簡易的な地図を作成する第1のマッピング手段と、
前記走行ルートに沿って前記本体ケースが走行しているときに前記撮像手段により撮像された画像から前記距離算出手段および前記自己位置推定手段の算出結果から取得された物体の高さデータを含む三次元データを前記簡易的な地図に追加反映させる第2のマッピング手段とを備えている
ことを特徴とした電気掃除機。 - 第1のマッピング手段は、制御手段が本体ケースを所定位置で旋回させるように駆動部の動作を制御して撮像手段により撮像した画像に基づいて、簡易的な地図を作成する
ことを特徴とした請求項1記載の電気掃除機。 - 地図のデータを記憶する記憶手段を具備している
ことを特徴とした請求項1または2記載の電気掃除機。 - 表示端末に対してネットワークを介して地図のデータを送信するデータ通信手段を具備している
ことを特徴とした請求項1ないし3いずれか一記載の電気掃除機。 - データ通信手段は、ネットワークに接続されているサーバに対して前記ネットワークを介して地図のデータを送受信する
ことを特徴とした請求項4記載の電気掃除機。 - 地図のデータは、三次元データと、本体ケースの走行軌跡データとを備えている
ことを特徴とした請求項1ないし5いずれか一記載の電気掃除機。 - 三次元データと本体ケースの走行軌跡データとに基づき、掃除できなかった場所を推定する未掃除箇所推定手段を具備している
ことを特徴とした請求項6記載の電気掃除機。 - 撮像手段は、未掃除箇所推定手段により推定された場所の画像を撮像する
ことを特徴とした請求項7記載の電気掃除機。 - 未掃除箇所推定手段による推定結果を通信によりネットワークに送信する情報送信手段を具備している
ことを特徴とした請求項7または8記載の電気掃除機。 - 制御手段は、外部装置から送信される制御コマンドに基づいて本体ケースを走行させるように駆動部の動作を制御する
ことを特徴とした請求項1ないし9いずれか一記載の電気掃除機。 - 制御コマンドは、地図上において移動させたい場所に制御手段が本体ケースを走行させるように駆動部の動作を制御するための走行制御情報を含む
ことを特徴とした請求項10記載の電気掃除機。 - 制御コマンドは、地図上において制御手段が本体ケースを進入させたくない場所へと走行させないように駆動部の動作を制御するための走行制御情報を含む
ことを特徴とした請求項10または11記載の電気掃除機。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016215460A JP6831210B2 (ja) | 2016-11-02 | 2016-11-02 | 電気掃除機 |
GB1906013.6A GB2569926A (en) | 2016-11-02 | 2017-06-07 | Electric vacuum cleaner |
US16/346,657 US11119484B2 (en) | 2016-11-02 | 2017-06-07 | Vacuum cleaner and travel control method thereof |
PCT/JP2017/021204 WO2018083831A1 (ja) | 2016-11-02 | 2017-06-07 | 電気掃除機 |
CN201780064391.5A CN109843139B (zh) | 2016-11-02 | 2017-06-07 | 电动吸尘器 |
TW106122153A TWI664948B (zh) | 2016-11-02 | 2017-07-03 | Electric sweeper |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016215460A JP6831210B2 (ja) | 2016-11-02 | 2016-11-02 | 電気掃除機 |
Publications (2)
Publication Number | Publication Date |
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JP2018068896A JP2018068896A (ja) | 2018-05-10 |
JP6831210B2 true JP6831210B2 (ja) | 2021-02-17 |
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ID=62075979
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016215460A Active JP6831210B2 (ja) | 2016-11-02 | 2016-11-02 | 電気掃除機 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11119484B2 (ja) |
JP (1) | JP6831210B2 (ja) |
CN (1) | CN109843139B (ja) |
GB (1) | GB2569926A (ja) |
TW (1) | TWI664948B (ja) |
WO (1) | WO2018083831A1 (ja) |
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JP6685755B2 (ja) * | 2016-02-16 | 2020-04-22 | 東芝ライフスタイル株式会社 | 自律走行体 |
JP7058067B2 (ja) | 2016-02-16 | 2022-04-21 | 東芝ライフスタイル株式会社 | 自律走行体 |
CN106020201B (zh) * | 2016-07-13 | 2019-02-01 | 广东奥讯智能设备技术有限公司 | 移动机器人3d导航定位系统及导航定位方法 |
JP6831213B2 (ja) * | 2016-11-09 | 2021-02-17 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP2018196511A (ja) * | 2017-05-23 | 2018-12-13 | 東芝ライフスタイル株式会社 | 電気掃除装置 |
JP6814095B2 (ja) * | 2017-05-23 | 2021-01-13 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP6944274B2 (ja) * | 2017-05-23 | 2021-10-06 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP7174505B2 (ja) * | 2017-05-23 | 2022-11-17 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP7007108B2 (ja) * | 2017-05-23 | 2022-01-24 | 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 |
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TWI664948B (zh) | 2019-07-11 |
CN109843139B (zh) | 2021-01-29 |
TW201817360A (zh) | 2018-05-16 |
US11119484B2 (en) | 2021-09-14 |
US20200064838A1 (en) | 2020-02-27 |
GB2569926A (en) | 2019-07-03 |
CN109843139A (zh) | 2019-06-04 |
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