JP6864433B2 - 電気掃除機 - Google Patents
電気掃除機 Download PDFInfo
- Publication number
- JP6864433B2 JP6864433B2 JP2016016414A JP2016016414A JP6864433B2 JP 6864433 B2 JP6864433 B2 JP 6864433B2 JP 2016016414 A JP2016016414 A JP 2016016414A JP 2016016414 A JP2016016414 A JP 2016016414A JP 6864433 B2 JP6864433 B2 JP 6864433B2
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- body case
- cleaning area
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000004140 cleaning Methods 0.000 claims description 145
- 238000003384 imaging method Methods 0.000 claims description 27
- 238000000605 extraction Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 description 17
- 239000000428 dust Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 7
- 239000000284 extract Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000003708 edge detection Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Description
20 本体ケース
22 掃除部
27 制御手段
34 駆動輪
51a,51b 撮像手段としてのカメラ
76 障害物検出手段としての障害物センサ
77 抽出手段
CA 掃除領域
M マップ
RT 走行ルート
Claims (5)
- 本体ケースと、
この本体ケースを走行可能とする駆動輪と、
被掃除面を掃除する掃除部と、
撮像手段を有し、該撮像手段により撮像された画像から生成された距離画像中の物体のうち深度が閾値以下のものを障害物として検出する障害物検出手段と、
前記距離画像から前記本体ケースの周辺の特徴点を抽出する抽出手段と、
前記駆動輪の駆動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、
前記制御手段は、掃除の開始時に、前記抽出手段により抽出した特徴点と、予め記憶された掃除領域に対応する特徴点とを比較することで、現在の掃除領域が予め記憶された掃除領域と一致しているかどうかを判定し、一致する場合、前記現在の掃除領域を前記予め記憶された掃除領域とすることを特定し、一致しない場合、前記駆動輪の駆動を制御することで前記本体ケースを走行させつつ前記障害物検出手段により障害物を検出することにより前記本体ケースが走行可能な領域と障害物とを認識して前記現在の掃除領域に対応したマップまたは走行ルートを生成し記憶させることで、前記現在の掃除領域を予め記憶されていない新たな掃除領域とすることを特定する
ことを特徴とした電気掃除機。 - 制御手段は、現在の掃除領域が予め記憶された掃除領域であることを特定すると、前記予め記憶された掃除領域のマップに基づいて駆動輪の駆動を制御して本体ケースを走行させる
ことを特徴とした請求項1記載の電気掃除機。 - 制御手段は、抽出手段により抽出した特徴点と予め記憶された掃除領域と特徴点との類似率が所定未満の場合に、現在の掃除領域が前記予め記憶された掃除領域と一致していないと判定し、駆動輪の駆動を制御することで本体ケースを走行させつつ障害物検出手段により障害物を検出することで前記本体ケースが走行可能な領域と障害物とを認識して掃除領域に対応したマップを生成し記憶させる
ことを特徴とした請求項2記載の電気掃除機。 - 制御手段は、現在の掃除領域が予め記憶された掃除領域であることを特定すると、前記予め記憶された掃除領域に対応する走行ルートに基づいて駆動輪の駆動を制御して本体ケースを走行させる
ことを特徴とした請求項1記載の電気掃除機。 - 制御手段は、抽出手段により抽出した特徴点と予め記憶された掃除領域の特徴点との類似率が所定未満の場合に、現在の掃除領域が前記予め記憶された掃除領域と一致していないと判定し、駆動輪の駆動を制御することで本体ケースを走行させつつ障害物検出手段により障害物を検出することで前記本体ケースが走行可能な領域と障害物とを認識して掃除領域に対応した走行ルートを生成し記憶させる
ことを特徴とした請求項4記載の電気掃除機。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016016414A JP6864433B2 (ja) | 2016-01-29 | 2016-01-29 | 電気掃除機 |
CN201680011927.2A CN107405035B (zh) | 2016-01-29 | 2016-12-14 | 电动扫除机 |
US16/073,696 US20190038099A1 (en) | 2016-01-29 | 2016-12-14 | Vacuum cleaner |
EP16888174.6A EP3409176A4 (en) | 2016-01-29 | 2016-12-14 | ELECTRICAL VACUUM |
PCT/JP2016/087307 WO2017130590A1 (ja) | 2016-01-29 | 2016-12-14 | 電気掃除機 |
TW106100095A TWI726031B (zh) | 2016-01-29 | 2017-01-04 | 電動掃除機 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016016414A JP6864433B2 (ja) | 2016-01-29 | 2016-01-29 | 電気掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017131556A JP2017131556A (ja) | 2017-08-03 |
JP6864433B2 true JP6864433B2 (ja) | 2021-04-28 |
Family
ID=59397998
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016016414A Active JP6864433B2 (ja) | 2016-01-29 | 2016-01-29 | 電気掃除機 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190038099A1 (ja) |
EP (1) | EP3409176A4 (ja) |
JP (1) | JP6864433B2 (ja) |
CN (1) | CN107405035B (ja) |
TW (1) | TWI726031B (ja) |
WO (1) | WO2017130590A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3878338B1 (en) | 2016-05-20 | 2023-09-06 | LG Electronics Inc. | Robot cleaner |
US10398276B2 (en) | 2016-05-20 | 2019-09-03 | Lg Electronics Inc. | Autonomous cleaner |
JP6827758B2 (ja) | 2016-10-12 | 2021-02-10 | 東芝映像ソリューション株式会社 | 移動式アシスト装置及び移動式アシスト方法 |
TWI664946B (zh) * | 2017-08-07 | 2019-07-11 | 燕成祥 | 清潔機器人之噴氣清潔結構 |
US10513037B2 (en) * | 2017-12-15 | 2019-12-24 | Ankobot (Shanghai) Smart Technologies Co., Ltd. | Control method and system, and mobile robot using the same |
WO2019195483A1 (en) | 2018-04-03 | 2019-10-10 | Sharkninja Operating Llc | Time of flight sensor arrangement for robot navigation and methods of localization using same |
CN111418269B (zh) * | 2018-04-11 | 2022-06-03 | 海信视像科技股份有限公司 | 移动式辅助装置及移动式辅助方法 |
KR20210042537A (ko) * | 2019-10-10 | 2021-04-20 | 엘지전자 주식회사 | 대면적의 공간에서 로컬 영역별로 위치를 추정하는 방법 및 이를 구현하는 로봇과 클라우드 서버 |
CN111150331A (zh) * | 2019-12-31 | 2020-05-15 | 江苏美的清洁电器股份有限公司 | 信息处理方法、装置、移动清洁设备及计算机可读存储介质 |
CN113413100A (zh) * | 2021-05-28 | 2021-09-21 | 温州市职业中等专业学校 | 基于影像分析的自动清扫机器人 |
Family Cites Families (15)
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JPH0820253B2 (ja) * | 1986-11-27 | 1996-03-04 | 神鋼電機株式会社 | 移動ロボツトにおける位置検出方法 |
JPS63213005A (ja) * | 1987-03-02 | 1988-09-05 | Hitachi Ltd | 移動体誘導方法 |
JPH0953939A (ja) * | 1995-08-18 | 1997-02-25 | Fujitsu Ltd | 自走車の自己位置測定装置および自己位置測定方法 |
JP4672175B2 (ja) * | 2000-05-26 | 2011-04-20 | 本田技研工業株式会社 | 位置検出装置、位置検出方法、及び位置検出プログラム |
JP2002085305A (ja) * | 2000-09-12 | 2002-03-26 | Toshiba Tec Corp | ロボットクリーナ及びロボットクリーナシステム |
EP1510896B1 (en) * | 2002-05-31 | 2016-03-09 | Fujitsu Limited | Remotely-operated robot, and robot self position identifying method |
JP4243594B2 (ja) * | 2005-01-31 | 2009-03-25 | パナソニック電工株式会社 | 清掃ロボット |
KR101677634B1 (ko) * | 2010-07-12 | 2016-11-18 | 엘지전자 주식회사 | 로봇 청소기 및 이의 제어 방법 |
KR20120044768A (ko) * | 2010-10-28 | 2012-05-08 | 엘지전자 주식회사 | 로봇 청소기 및 이의 제어 방법 |
KR20130089554A (ko) * | 2012-02-02 | 2013-08-12 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어 방법 |
JP5898022B2 (ja) * | 2012-09-18 | 2016-04-06 | シャープ株式会社 | 自走式機器 |
JP2014200449A (ja) * | 2013-04-04 | 2014-10-27 | シャープ株式会社 | 自走式掃除機 |
KR102093177B1 (ko) * | 2013-10-31 | 2020-03-25 | 엘지전자 주식회사 | 이동 로봇 및 그 동작방법 |
JP2015225450A (ja) * | 2014-05-27 | 2015-12-14 | 村田機械株式会社 | 自律走行車、及び自律走行車における物体認識方法 |
CN104820428B (zh) * | 2015-04-20 | 2017-11-07 | 余江 | 一种无人机的记忆型航迹再现方法及其装置 |
-
2016
- 2016-01-29 JP JP2016016414A patent/JP6864433B2/ja active Active
- 2016-12-14 CN CN201680011927.2A patent/CN107405035B/zh active Active
- 2016-12-14 EP EP16888174.6A patent/EP3409176A4/en not_active Withdrawn
- 2016-12-14 US US16/073,696 patent/US20190038099A1/en not_active Abandoned
- 2016-12-14 WO PCT/JP2016/087307 patent/WO2017130590A1/ja active Application Filing
-
2017
- 2017-01-04 TW TW106100095A patent/TWI726031B/zh active
Also Published As
Publication number | Publication date |
---|---|
TW201726045A (zh) | 2017-08-01 |
WO2017130590A1 (ja) | 2017-08-03 |
EP3409176A4 (en) | 2019-08-28 |
US20190038099A1 (en) | 2019-02-07 |
TWI726031B (zh) | 2021-05-01 |
CN107405035A (zh) | 2017-11-28 |
CN107405035B (zh) | 2021-02-09 |
JP2017131556A (ja) | 2017-08-03 |
EP3409176A1 (en) | 2018-12-05 |
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