JP7030007B2 - Autonomous vacuum cleaner - Google Patents

Description

An embodiment of the present invention relates to an autonomous vacuum cleaner.

An automatic cleaning system equipped with an intrusion prevention device and a self-propelled vacuum cleaner is known. The intrusion prevention device outputs ultrasonic waves to form a virtual wall. The self-propelled vacuum cleaner detects a virtual wall and sets a virtual line based on the virtual wall.

And self-propelled vacuum cleaners cannot move across virtual walls and lines. That is, the automatic cleaning system limits the range of movement of the self-propelled vacuum cleaner by arranging an intrusion prevention device. In other words, the automatic cleaning system confine the self-propelled vacuum cleaner within the range of movement set by the intrusion prevention device.

JP-A-2017-064063

Conventional autonomous vacuum cleaners use devices other than their own, such as entry prevention devices, to identify restricted areas. In addition to the entry prevention device, the method of identifying the entry prohibited area is to attach a magnetic tape to specify the virtual line on the floor, or to specify the entry prohibited area on the environmental map memorized by the aircraft. There is a method of identifying in advance.

However, when identifying an entry-prohibited place using an entry-prevention device or magnetic tape, if the entry-prevention device moves to some extent or the magnetic tape deteriorates, the entry-prohibited place Will change unintentionally.

In addition, when identifying the prohibited places on the environmental map in advance, it is necessary to enter the prohibited places once in the process of creating the environmental map, or to specify the prohibited places on the environmental map. It requires a personal computer other than its own, or an information terminal such as a smartphone.

Therefore, the present invention proposes an autonomous electric vacuum cleaner that does not require a device other than the own machine such as an entry prevention device, a magnetic tape, and an information terminal, and can set an entry prohibited place only by the own machine.

In order to solve the above problems, the autonomous vacuum cleaner according to the embodiment of the present invention has a main body that has a moving portion that moves on the surface to be cleaned and can move autonomously, and a main body provided on the main body to take an image. The camera unit, the image storage unit that stores the image taken by the camera unit, and the entry that causes the camera unit to capture an identification image that identifies an entry prohibited place during autonomous movement and stores the image in the image storage unit. The prohibited place indicating unit controls the autonomous movement of the main body, and the current position image captured by the camera unit while the main body is moving is sequentially compared with the identification image stored in the image storage unit. When the current position image and the identification image match or are similar to each other , the camera unit includes an autonomous control unit that suppresses progress beyond the current position and performs an entry prohibition process that changes the direction of travel. It is a stereo camera, and the autonomous control unit determines whether or not the current position image and the identification image match or are similar to each other, and the distance from the main body to the shooting target of the current position image. The determination includes a difference from the distance from the main body to the image capture target of the identification image . Further, the autonomous electric vacuum cleaner according to the embodiment of the present invention includes a main body that has a moving portion that moves on the surface to be cleaned and can move autonomously, and a camera unit that is provided on the main body and captures an image. An image storage unit that stores the image taken by the camera unit, and an entry prohibition location indicating unit that causes the camera unit to capture an identification image that identifies an entry prohibited location during autonomous movement and stores it in the image storage unit. , The autonomous movement of the main body is controlled, and the current position image captured by the camera unit while the main body is moving and the identification image stored in the image storage unit are sequentially compared with the current position image. When the identification image matches or resembles, the autonomous control unit that suppresses the progress beyond the current position and changes the direction of travel, and the light emitting that irradiates the shooting range of the camera unit with light. The image is taken from the main body based on the time difference between the unit, the light receiving unit that receives the reflected light of the light emitted from the light emitting unit, and the time difference between the start of light emission of the light emitting unit and the reception of the reflected light of the light receiving unit. The autonomous control unit includes a distance calculation unit for acquiring distance information to the target, and the autonomous control unit can determine whether or not the current position image and the identification image match or are similar to each other from the main body. The determination includes the difference between the distance between the current position image and the image to be captured and the distance from the main body to the object to be captured by the identification image.

The perspective view of the autonomous vacuum cleaner which concerns on embodiment of this invention. The right side view of the autonomous vacuum cleaner which concerns on embodiment of this invention. Bottom view of the autonomous vacuum cleaner according to the embodiment of the present invention. The plan view of the autonomous vacuum cleaner which concerns on embodiment of this invention. The block diagram of the autonomous vacuum cleaner which concerns on embodiment of this invention. FIG. 3 is a plan view of an example of a cleaning place of an autonomous vacuum cleaner according to an embodiment of the present invention, and an example of setting a no-entry place identified by the cleaning place. FIG. 3 is a plan view of an example of a cleaning place of an autonomous vacuum cleaner according to an embodiment of the present invention, and an example of avoiding an inaccessible place identified by the cleaning place. An example of an identification image that identifies a no-entry place in the autonomous vacuum cleaner according to the embodiment of the present invention. The figure which shows roughly the relationship between the autonomous vacuum cleaner which concerns on embodiment of this invention, a present position image, and an identification image. The figure which shows roughly the relationship between the autonomous vacuum cleaner which concerns on embodiment of this invention, a present position image, and an identification image.

An embodiment of the autonomous vacuum cleaner according to the present invention will be described with reference to FIGS. 1 to 10.

FIG. 1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 1, the autonomous vacuum cleaner 1 according to the present embodiment is a so-called robot cleaner. The autonomous vacuum cleaner 1 consumes the electric power of the secondary battery 3 in the main body case 2 and moves (runs) autonomously. The autonomous vacuum cleaner 1 moves around the cleaned surface (floor surface) of the cleaned area A in the living room (moves comprehensively in the cleaned area) to collect dust. After the cleaning operation, the autonomous vacuum cleaner 1 returns to the charging stand 5 and waits for the next cleaning operation.

Further, the autonomous vacuum cleaner 1 identifies the entry prohibited area B (entry prohibited place) so as to be overlapped with the cleaned area A or separately from the cleaned area A in the living room. The autonomous vacuum cleaner 1 can clean the surface to be cleaned of the area A to be cleaned while executing the process of prohibiting entry to avoid entering the area B. The autonomous vacuum cleaner 1 moves around the cleaned surface (floor surface) of the cleaned area A and the restricted area B without executing the entry prohibition process (covering the cleaned area comprehensively). You can also (move) clean it. That is, the autonomous vacuum cleaner 1 can switch between execution and non-execution of the entry prohibition process in the entry prohibition area B.

The charging stand 5 is installed on the surface to be cleaned in the living room. The charging stand 5 has a shape that allows the autonomous vacuum cleaner 1 to be smoothly connected or disconnected. The charging stand 5 includes a power cord 6 that guides electric power from a commercial AC power source to the secondary battery 3 in a state where the autonomous vacuum cleaner 1 is connected. The power cord 6 is an electric circuit that transmits power to the secondary battery 3. The autonomous vacuum cleaner 1 returns to the charging stand 5 and charges the secondary battery 3 while waiting for the next cleaning operation, thereby saving the trouble of charging by the user and suddenly at the request of the user. Can be used for cleaning operation.

FIG. 2 is a right side view of the autonomous vacuum cleaner according to the embodiment of the present invention.

FIG. 3 is a bottom view of the autonomous vacuum cleaner according to the embodiment of the present invention.

As shown in FIGS. 2 and 3, the autonomous vacuum cleaner 1 according to the present embodiment includes a hollow main body case 2, a rotary brush 11 as a rotary cleaner provided at the bottom of the main body case 2, and a rotary brush. A brush motor 12 for rotationally driving 11 and a dust container 13 provided at the rear of the main body case 2, an electric blower 15 housed in the main body case 2 and fluidly connected to the dust container 13, and a main body case 2. 21 as a moving unit that travels on the floor surface, a camera unit 22 that is provided in the main body case 2 and captures an image I around the autonomous vacuum cleaner 1, and a traveling unit 21 that is controlled and covered. A control unit 23 that autonomously moves the autonomous vacuum cleaner 1 on the cleaning surface, and a secondary battery 3 that stores the electric power consumed by the electric blower 15, the traveling unit 21, the camera unit 22, and the control unit 23. I have.

The main body case 2 is made of, for example, a synthetic resin and has a flat cylindrical shape (disk shape). The main body case 2, which is substantially circular in plan view, can suppress the turning radius at the time of turning smaller than other shapes. The bottom surface of the main body case 2 has a suction port 25 for sucking dust on the surface to be cleaned together with air.

The suction port 25 sucks dust together with air by the negative pressure generated by the electric blower 15. The suction port 25 extends in the width direction of the main body case 2. In other words, the opening width of the suction port 25 in the left-right direction is larger than the opening width of the suction port 25 in the front-rear direction. Since the bottom surface of the main body case 2 faces (faces) the surface to be cleaned during autonomous driving, the suction port 25 provided on the bottom surface of the main body case 2 has dust on the surface to be cleaned or a rotating brush 11 on the surface to be cleaned. The dust that has been scraped up from the surface can be easily sucked in.

The rotary brush 11 is arranged at the suction port 25. The rotation center line of the rotary brush 11 is directed in the width direction of the autonomous vacuum cleaner 1. The rotary brush 11 comes into contact with the surface to be cleaned when the autonomous vacuum cleaner 1 is placed on the surface to be cleaned in a state in which it can travel. Therefore, the autonomous vacuum cleaner 1 can efficiently suck up the dust on the surface to be cleaned and suck it into the suction port 25 by rotationally driving the rotary brush 11 while traveling forward.

The brush motor 12 causes the rotary brush 11 to rotate forward (direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving forward) or reverse rotation (direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving backward).

The dust container 13 accumulates dust sucked from the suction port 25 by the suction negative pressure generated by the electric blower 15. The dust container 13 has an inertial separation such as a filter for filtering and collecting dust, and an inertial separation (separation method for separating dust and air by the difference in inertial force between the straight-moving air and the dust) such as centrifugal separation (cyclone separation) and straight-line separation (separation method for separating the dust and the air by the difference in the inertial force between the straight-moving air and the dust). It is a separation device that accumulates dust. The dust container 13 can be attached to and detached from the main body case 2 and can be opened and closed. The user temporarily removes the dust container 13 from the main body case 2, opens the dust container 13 to easily dispose of the dust accumulated in the dust container 13, and cleans or cleans the dust container 13. can do.

The electric blower 15 consumes and drives the electric power of the secondary battery 3. The electric blower 15 sucks air from the dust container 13 to generate a suction negative pressure. The negative pressure generated in the dust container 13 acts on the suction port 25. The main body case 2 has an exhaust port (not shown) that allows the exhaust (clean air) of the electric blower 15 to flow out to the outside of the main body case 2.

The traveling unit 21 includes at least a pair of drive wheels 26, an electric motor 27 as a plurality of drive units for individually driving each drive wheel 26, and a driven wheel 28 that supports the main body case 2 on the floor together with the drive wheels 26. And have.

The drive wheel 26 moves the main body case 2 on the surface to be cleaned. The drive wheel 26 has an axle (not shown) extending in the width direction (left-right width direction). The axles of the pair of drive wheels 26 are arranged substantially on the same line. Therefore, the autonomous vacuum cleaner 1 can easily go straight and turn. A suction port 25 is arranged between the pair of drive wheels 26. The drive wheel 26 is pressed against the surface to be cleaned by a suspension device (so-called suspension, not shown). The autonomous vacuum cleaner 1 may have an endless track (not shown) instead of the drive wheel 26.

The electric motor 27 drives each drive wheel 26 independently. That is, the autonomous vacuum cleaner 1 rotates straight (forward or backward) by rotating the left and right drive wheels 26 in the same direction, and turns (right turns) by rotating the left and right drive wheels 26 in different directions. , Or turn left). Further, the autonomous vacuum cleaner 1 adjusts the speed of forward movement or backward movement by moving the outputs of the left and right drive wheels 26 up and down, and adjusts the magnitude of the turning radius by differentiating the outputs of the left and right drive wheels 26. Can be done.

The driven wheel 28 is arranged at a substantially central portion in the width direction of the lower portion of the main body case 2 and at the front portion. The driven wheel 28 is a circular rotating body, for example, a caster. The driven wheel 28 easily follows the forward, backward, and turning of the autonomous vacuum cleaner 1 to change its direction, and stabilizes the traveling (movement) of the autonomous vacuum cleaner 1 (main body case 2). The center of gravity of the autonomous vacuum cleaner 1 supported by the axles of the drive wheels 26 and the axles of the driven wheels 28 is preferably arranged inside the triangle formed by the pair of drive wheels 26 and the driven wheels 28. In that case, the autonomous vacuum cleaner 1 (main body case 2) can move (run) stably by reducing the risk of falling. The driving wheel 28 may not be provided.

The autonomous vacuum cleaner 1 includes a main body case 11, a rotating brush 11 and a suction port 25 as a cleaning unit for cleaning a surface to be cleaned such as a floor surface, and a moving unit for moving on the surface to be cleaned. It is provided with a traveling portion 21 and a main body capable of autonomously moving on the surface to be cleaned. This body refers to the part that realizes the general functions of a conventional autonomous vacuum cleaner.

FIG. 4 is a plan view of the autonomous vacuum cleaner according to the embodiment of the present invention.

As shown in FIGS. 1 and 4, the autonomous vacuum cleaner 1 according to the present embodiment receives an input of an instruction to cause the camera unit 22 to capture an identification image Ii that identifies an entry prohibited area B during autonomous movement. Whether to execute the entry prohibition process when the prohibition place instruction input unit 31 and the entry prohibition place deletion input unit 32 for receiving the input of the instruction to erase at least one of the captured identification images Ii are satisfied. It includes an entry prohibition process switching input unit 33 for receiving an input of an instruction for switching the setting of whether or not, and a display unit 35.

The entry prohibition place instruction input unit 31, the entry prohibition place deletion input unit 32, and the entry prohibition process switching input unit 33 are provided on the top surface of the main body case 2. Therefore, the user can easily operate the entry prohibited place instruction input unit 31, the entry prohibited place erasing input unit 32, and the entry prohibition process switching input unit 33 with the autonomous vacuum cleaner 1 placed on the surface to be cleaned. be able to.

The entry prohibition place instruction input unit 31, the entry prohibition place deletion input unit 32, and the entry prohibition process switching input unit 33 are input units for inputting information according to the operation content intended by the user, and are so-called push buttons. .. One push button may be provided according to each of the entry prohibition place instruction input unit 31, the entry prohibition place deletion input unit 32, and the entry prohibition process switching input unit 33, or one push button in common may be provided. May be good. When one common push button is provided, the input content may be used properly according to a predetermined operation mode such as the number of times the button is pressed within a predetermined time and the duration of the pressed state.

In these, the entry prohibition place instruction input unit 31, the entry prohibition place deletion input unit 32, and the entry prohibition process switching input unit 33 have characters on the top of the push button or around the push button so that their functions can be easily identified. A figure is attached.

The display unit 35 notifies the user and a third party around the autonomous vacuum cleaner 1 of appropriate information such as the start of operation by displaying lighting or blinking, or displaying characters or figures. The display unit 35 is, for example, a display provided on the top surface of the main body case 2. Therefore, the user can easily visually check the information displayed on the display unit 35 with the autonomous vacuum cleaner 1 placed on the surface to be cleaned. In addition, the user can acquire various information presented from the autonomous vacuum cleaner 1 through the information displayed on the display unit 35.

FIG. 5 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIGS. 5 in addition to FIGS. 2 to 4, the autonomous vacuum cleaner 1 according to the present embodiment includes a brush electric motor 12, a traveling electric motor 27, an electric blower 15, a camera unit 22, and a control unit 23. , Secondary battery 3, display unit 35, communication unit 36, and sound such as voice and warning sound to the user and a third party around the autonomous vacuum cleaner 1 to start operation as appropriate. The sound output unit 37 for notifying the information of is provided.

The communication unit 36 transmits an infrared signal to the charging stand 5, for example, a transmitting unit including an infrared light emitting element, and a receiving unit including a phototransistor, for example, receiving an infrared signal from the charging stand 5 or a remote controller (not shown). (Not shown) and.

The voice output unit 37 notifies the user and a third party around the autonomous vacuum cleaner 1 of appropriate information such as the start of operation by a sound such as a voice or a warning sound. The audio output unit 37 is, for example, a speaker.

The user of the autonomous vacuum cleaner 1 can easily know the state of the autonomous vacuum cleaner 1 through the sound output from the voice output unit 37 and the visual information displayed on the display unit 35. .. The autonomous vacuum cleaner 1 may include only one of the audio output unit 37 and the display unit 35.

The camera unit 22 is provided in front of the autonomous vacuum cleaner 1 and photographs the front of the autonomous vacuum cleaner 1. The camera unit 22 is, for example, a digital camera. That is, the camera unit 22, that is, the camera unit 42 includes an image pickup element 22a (image sensor) that converts a captured image into an electric signal, and an optical system 22b that forms (generates) an image on the image pickup element 22a. ing. The image sensor 22a is, for example, a CCD image sensor (Charge-Coupled Device image sensor) or a CMOS image sensor (Complementary metallic-axis-semicondector image sensor). Therefore, the autonomous vacuum cleaner 1 can immediately handle the image as digital data. That is, the image taken by the camera unit 22 can be compressed into a predetermined data format, converted into a binary image, or converted into grayscale by using, for example, an image processing circuit (not shown). Can be done. The camera unit 22 captures digital images at predetermined time intervals, for example, every several tens of milliseconds or every few seconds. The camera unit 22 captures, for example, an image in a visible light region. An image in the visible light region has better image quality than, for example, an image in the infrared region, and can easily provide visible information to the user without performing complicated image processing.

The latest image I taken moment by moment by the camera unit 22 while the autonomous vacuum cleaner 1 is moving is called the current position image Ip.

The camera unit 22 may be a stereo camera. That is, the camera unit 22 overlaps the images I to be photographed in the photographing range including the position in front of the autonomous vacuum cleaner 1 extending the center line in the width direction. In this case, the camera unit 22 can obtain information on the depth (distance from the autonomous vacuum cleaner 1) in the shooting range.

The autonomous vacuum cleaner 1 may be provided with a distance measuring device 39 in place of or in addition to the stereo camera to obtain information on the depth in the photographing range by a principle different from that of the stereo camera. The distance measuring device 39 includes a light emitting unit 41 that irradiates the shooting range of the camera unit 22 with light, and a light receiving unit 42 that receives the reflected light of the light emitted from the light emitting unit 41. The autonomous vacuum cleaner 1 can acquire distance information from the autonomous vacuum cleaner 1 to the image I to be captured based on the time difference between the start of light emission of the light emitting unit 41 and the reception of the reflected light of the light receiving unit 42. This distance information is stored in the storage unit. The light emitting unit 41 irradiates, for example, infrared rays or visible light.

Further, the camera unit 22 may be provided with a lighting device (not shown) such as an LED (Light Emitting Diode) or a light bulb. The lighting device illuminates a part or the whole of the shooting range of the camera unit 22. The lighting device enables the camera unit 42 to acquire an appropriate image even in a dark place such as behind an obstacle such as furniture or in a dark environment such as at night.

The control unit 23 is, for example, an auxiliary storage device (for example, Read Only Memory, ROM) that stores a central processing unit (Central Processing Unit, CPU, not shown), various arithmetic programs executed (processed) by the central processing unit, parameters, and the like. , Not shown), and a main storage device (for example, Random access memory, RAM, not shown) in which the work area of the program is dynamically secured. An image storage unit 45 for storing an image I taken by the camera unit 22 is secured in the main storage device. The image storage unit 45 has a capacity capable of storing a plurality of images I. The auxiliary storage device is preferably rewritable, for example, a non-volatile memory.

The control unit 23 is electrically connected to a brush electric motor 12, a traveling electric motor 27, an electric blower 15, a camera unit 22, a communication unit 36, an audio output unit 37, a display unit 35, and a secondary battery 3. .. The control unit 23 includes a brush electric motor 12, a traveling electric motor 27, an electric blower 15, a camera unit 22, a distance measuring device 39, and a communication according to a command received from the charging stand 5 and the remote controller via the communication unit 36. It controls a unit 36, an audio output unit 37, a display unit 35, and a secondary battery 3.

The control unit 23 includes an autonomous control unit 51 that controls the autonomous movement of the autonomous vacuum cleaner 1, a camera control unit 52 that controls the operation of the camera unit 22, and an identification image Ii that identifies a place where entry is prohibited during autonomous movement. Is captured by the camera unit 22 and stored in the image storage unit 45, and the current position image Ip and the identification image Ii are compared with each other to determine the match or similarity between the two images I. It is provided with a part 55.

Further, the control unit 23 is at least one of an entry prohibition process switching unit 56 that switches the setting of whether or not to execute the entry prohibition process when a predetermined condition is satisfied, and an identification image Ii stored by the image storage unit 45. The entry prohibited place erasing unit 57, which can erase the image, is provided.

Further, the control unit 23 acquires the distance information from the main body case 2 to the image capture target of the image I based on the time difference from the start of light emission of the light emitting unit 41 of the distance measuring device 39 to the reception of the reflected light of the light receiving unit 42. The arithmetic unit 58 may be provided.

The autonomous control unit 51 includes a travel control unit 61 that controls the operation of the electric motor 27 of the travel unit 21, and a cleaning control unit 62 that controls the operation of the brush electric motor 12 and the electric blower 15.

The travel control unit 61 controls the magnitude and direction of the current flowing through the electric motor 27 of the travel unit 21 to rotate the electric motor 27 forward or reverse. The travel control unit 61 controls the drive of the drive wheels 26 by rotating the electric motor 27 in the forward direction or in the reverse direction.

Further, the traveling control unit 61 includes a map information storage unit 63 that stores environmental map information (Environment Map, not shown) of the cleaning location.

The map information storage unit 63 is a set of data constructed in a storage area secured in the auxiliary storage device, and has an appropriate data structure. The map information storage unit 63 is read from the auxiliary storage device into the main storage device and used, and is overwritten on the auxiliary storage device after being appropriately updated.

The environmental map information is information used for autonomous traveling of the autonomous vacuum cleaner 1, and is information including the shape of a region where the autonomous vacuum cleaner 1 can travel, at least in a place to be cleaned. The environmental map information may be prepared in advance when using the autonomous vacuum cleaner 1, or may be created at the same time as self-position estimation by Simultaneous Localization and Mapping (SLAM). .. When creating environmental map information with SLAM, the autonomous vacuum cleaner 1 has a camera unit 22 that captures an image in front of the own machine (forward direction), a camera necessary for creating a map, and an encoder. It is preferable to have various sensors (not shown) such as. The environmental map information may be created and updated in the process of movement accompanying the cleaning operation.

The control unit 23 can display the environment map information on the display unit 35. The user can easily confirm the state of the environmental map information created by the autonomous vacuum cleaner 1 from the environmental map information displayed on the display unit 35.

The cleaning control unit 62 individually controls the brush electric motor 12 and the electric blower 15.

The camera control unit 52 controls the operation of the camera unit 22. The camera control unit 52 causes the camera unit 22 to take an image at predetermined time intervals. The camera control unit 52 stores the image I taken by the camera unit 22 in the image storage unit 45. The image information stored in the image storage unit 45 may be the data representing the image I taken by the camera unit 22 as it is, or the data size as long as the information necessary for the image analysis process is left. You may memorize it after processing it so as to reduce. The image information stored in the image storage unit 45 is, for example, an image obtained by converting an image I taken by the camera unit 22 into a gray scale (hereinafter, referred to as an image I like the original image I taken by the camera unit 22). .) May be. In the case of a grayscale image, the pixel value of the image I matches the luminance value. When saving the image I converted to grayscale, the control unit 23 can use a smaller amount of memory area (resource) allocated to the image storage unit 45 as compared with the case of storing the original image. be. Further, when the image I converted to grayscale is used for the subsequent processing, the control unit 23 can reduce the load on the central processing unit as compared with the case of processing the original image.

The image processing including grayscale of the image I executed by the camera control unit 52 may be executed by the camera unit 22. By executing image processing in the camera unit 22, the load on the central processing unit is reduced.

Further, the camera control unit 52 controls turning on and off of the lighting device. The lighting device brightens the image I and facilitates the comparison between the current position image Ip and the identification image Ii.

The no-entry place instruction unit 53 issues an instruction to the camera control unit 52 in response to an external instruction input to the no-entry place instruction input unit 31, and commands the camera unit 65 to take an identification image Ii. It is stored in the image storage unit 45. The image storage unit 45 has a capacity capable of storing a plurality of identification images Ii.

The entry prohibition place determination unit 55 calculates the degree of coincidence between the current position image Ip and the identification image Ii using a known image comparison method, and if the degree of coincidence exceeds a predetermined threshold value, the current position image It is determined that Ip and the identification image Ii match or are similar to each other.

The entry prohibition place determination unit 55 not only directly compares the current position image Ip and the identification image Ii, but also compares the feature points extracted from each image I or the feature amount calculated from the feature points. Then, it may be determined whether the two images I match or are similar. In addition, as a kind of feature quantity, there are feature points and feature lines. The entry prohibition place determination unit 55 extracts feature points of the identification image Ii in advance, calculates the feature amount, and stores the feature points in a storage unit, for example, an image storage unit 45. Further, the entry prohibited place determination unit 55 extracts the feature points of the current position image Ip every moment and calculates the feature amount thereof. Then, the entry prohibition place determination unit 55 compares the feature amount of the identification image Ii with the feature amount of the current position image Ip, and calculates the degree of coincidence between the two images I. Then, when the degree of matching of the feature amounts of both images I exceeds a predetermined threshold value, the entry prohibition place determination unit 55 determines that the current position image Ip and the identification image Ii match or are similar to each other. .. The feature points of both images I may be any feature points that can be extracted by various algorithms such as corners (edges, corners) extracted by edge detection, area expansion of the same color, and the like.

The entry prohibition process switching unit 56 switches between execution and non-execution of the entry prohibition process by the autonomous control unit 51 in response to an external instruction input to the entry prohibition process switching input unit 33. By operating the entry prohibition process switching input unit 33, the user can easily switch between execution and non-execution of the entry prohibition process by the autonomous control unit 51.

The entry prohibited place erasing unit 57 erases the identification image Ii stored in the image storage unit 45 when the entry prohibited place erasing input unit 32 is pushed down. Since the image storage unit 45 can store a plurality of identification images Ii, the entry prohibited place erasing unit 57 selects and erases an arbitrary number of identification images Ii from the plurality of identification images Ii, or all identifications. It is preferable that the images Ii can be erased all at once. In that case, it is preferable that the entry prohibited place erasing input unit 32 individually has a selection input unit 67 and a determination input unit 68. Further, in order to make it possible to select an arbitrary number of identification images Ii from the plurality of identification images Ii, it is preferable that the identification image Ii stored in the image storage unit 45 can be displayed on the display unit 35. The user can select the identification image Ii displayed on the display unit 35 while visually recognizing it, or select the option described as "select all" to surely erase the desired identification image Ii. ..

The secondary battery 3 is a power source of a brush electric motor 12, a traveling electric motor 27, an electric blower 15, a camera unit 22, a distance measuring device 39, a control unit 23, a communication unit 36, an audio output unit 37, and a display unit 35. be. The secondary battery 3 stores electric power supplied to the brush electric motor 12, the traveling electric motor 27, the electric blower 15, the control unit 23, the camera unit 22, the distance measuring device 39, and the communication unit 36. Therefore, the autonomous vacuum cleaner 1 does not require a power cord, and can freely travel autonomously without being restricted by the length of the power cord or the laying route.

The secondary battery 3 is electrically connected to, for example, a charging terminal (not shown) provided on the bottom surface or the back surface of the main body case 2. When the autonomous vacuum cleaner 1 returns to the charging stand 5, the charging terminal is electrically connected to the charging stand 5. Therefore, the autonomous vacuum cleaner 1 can electrically connect the secondary battery 3 to the charging stand 5 without bothering the user, and waits for the next cleaning operation. While the battery is in use, the secondary battery 3 can be charged.

FIG. 6 is a plan view of an example of a cleaning place of an autonomous vacuum cleaner according to an embodiment of the present invention, and an example of setting a no-entry place identified by the cleaning place.

FIG. 7 is a plan view of an example of a cleaning place of an autonomous vacuum cleaner according to an embodiment of the present invention, and an example of avoiding an inaccessible place identified by the cleaning place.

FIG. 8 is an example of an identification image for identifying a no-entry place in the autonomous vacuum cleaner according to the embodiment of the present invention.

As shown in FIG. 6, the user of the autonomous vacuum cleaner 1 according to the present embodiment is prohibited from entering the front of the autonomous vacuum cleaner 1, that is, the shooting direction of the camera unit 65 (solid line arrow F in FIG. 6). The autonomous vacuum cleaner 1 is arranged on the surface to be cleaned (shooting location C in FIG. 6) toward the location B, and the entry prohibited location instruction input unit 31 is operated. Then, the no-entry place B is easily designated.

In the autonomous vacuum cleaner 1, when the entry prohibition place instruction input unit 31 is pushed down, the camera unit 65 captures the identification image Ii (for example, FIG. 8), and the image storage unit 45 stores the identification image Ii. The entry prohibition place determination unit 55 extracts the feature points of the identification image Ii in advance, calculates the feature amount from the feature points, and stores the feature points of the identification image Ii and the feature amount in the image storage unit 45 together with the identification image Ii. Remember.

The star-shaped mark M in FIG. 8 is an abstract representation of the shooting target included in the shooting range. The actual identification image Ii is, for example, a window frame, furniture, a figurine, and these, rather than an image in which it is difficult to capture a feature (feature point) containing only a uniform color floor FL and a uniform color wall W. It is preferable that the image includes a mark M such as a part of the image and is easy to capture the feature.

The entry prohibition place instruction unit 53 may take a plurality of identification images Ii based on one shooting command, that is, one push-down operation of the entry prohibition place instruction input unit 31. For example, the entry prohibition place instruction unit 53 captures a plurality of continuous identification images Ii in the right direction or the left direction of the current position based on one long press operation of the entry prohibition place instruction input unit 31.

The user of the autonomous vacuum cleaner 1 places the autonomous vacuum cleaner 1 at the photographing place C shown by the solid line in FIG. 6, and presses and holds the entry prohibited place instruction input unit 31 for a long time. Then, the entry prohibition place instruction unit 53 captures and stores the identification image Ii (first identification image Ii), turns 90 degrees to the right, and the main body case 2 based on the long press operation of the entry prohibition place instruction input unit 31. Forwarding by a distance equivalent to the width of, turning 90 degrees to the left, shooting and storing the identification image Ii (second identification image Ii), turning 90 degrees to the right, and so on. That is, the entry prohibition place instruction unit 53 captures a plurality of continuous identification images Ii to the right of the current position with reference to the place (current position) where the long press operation of the entry prohibition place instruction input unit 31 is performed. do. In the entry prohibition place instruction unit 53, for example, the entry prohibition place instruction input unit 31 may be re-operated (pushed down again), or a contact sensor (not shown) or a non-contact sensor (not shown) may be used to move the image of the shooting location. When an obstacle, for example, an approach or contact with a wall of a living room is detected during the movement, the imaging of the identification image Ii is terminated.

That is, the autonomous vacuum cleaner 1 according to the present embodiment captures the identification image Ii with the camera unit 65, triggered by the operation of the entry prohibited place instruction input unit 31. This identification image Ii identifies the no-entry place B of the autonomous vacuum cleaner 1. Therefore, the autonomous vacuum cleaner 1 sets the no-entry place B without using an entry prevention device or a magnetic tape, and without identifying the no-entry place B in advance on the environment map stored by the own machine. Can be done.

Eventually, the autonomous vacuum cleaner 1 starts cleaning the cleaned place A by the operation of the user or the timer processing. At this time, the autonomous control unit 51 sequentially compares the current position image Ip taken by the camera unit 22 while the main body case 2 is moving with the identification image Ii stored in the image storage unit 45, and the two images Ii, If the Ips match or are similar, the entry prohibition process is performed to suppress the progress beyond the current position and change the direction of travel. The autonomous control unit 51 sequentially compares the current position image Ip taken by the camera unit 22 while the main body case 2 is moving with the identification image Ii stored in the image storage unit 45, and the two images Ii and Ip match. If this is not the case, the entry prohibition process is suppressed, and the vehicle autonomously moves on a known cleaning operation route r (so-called zigzag travel, reflection travel, etc.).

For example, the autonomous vacuum cleaner 1 travels in a zigzag manner to clean the cleaning place A as shown in FIG. 7. The autonomous vacuum cleaner 1 captures the current position image Ip by the camera unit 65 every moment, and sequentially compares the current position image Ip with the identification image Ii. Eventually, the autonomous vacuum cleaner 1 approaches or reaches the shooting location C of the identification image Ii. Then, since the two images Ii and Ip match or resemble each other, the autonomous vacuum cleaner 1 executes the entry prohibition process.

Therefore, the autonomous vacuum cleaner 1 enters the no-entry place B without using an entry prevention device or a magnetic tape, and without identifying the no-entry place B in advance on the environment map stored by the own machine. It is possible to execute the entry prohibition process.

When the two images Ii and Ip match or are similar to each other, the autonomous control unit 51 reflects the no-entry place B in the environment map information. Specifically, the autonomous control unit 51 adds a mark to the place where the current position image Ip is taken (shooting place C in FIG. 6) on the environmental map information showing the cleaning place in FIG. 6, or the place to be cleaned. Set the boundary line of A. That is, once the two images Ii and Ip match or are similar to each other, the autonomous control unit 51 identifies the inaccessible place B in the environment map information. Therefore, the autonomous control unit 51 does not need to sequentially compare the current position image Ip and the identification image Ii for the identification image Ii corresponding to the identified prohibited place B, and can reduce the processing load.

When a plurality of connected entry-prohibited places B are designated, such as the entry-prohibited place B on the upper right and the entry-prohibited place B on the lower left in FIG. 7, the entry-prohibited place erasing input unit 32 is used. At the time of operation, the identification image may be erased collectively for each of the connected entry prohibited places B. By doing so, it is possible to improve the convenience of the operation of erasing the setting of the no-entry place B.

Further, in the above, it has been described that a plurality of continuous identification images Ii are taken in the right direction or the left direction of the current position based on one long press operation of the entry prohibition place instruction input unit 31. In this way, when the identification image is taken from a plurality of shooting positions in response to one shooting instruction by the user, the traveling unit 21 of the autonomous vacuum cleaner 1 goes straight in the left-right direction in addition to the front-back direction. It is good to have a configuration that allows. By doing so, it is possible to move to the right or left of the current position while maintaining the shooting direction directed by the user, and it is possible to shorten the time required for shooting from a plurality of positions. Any structure may be adopted as the structure for traveling straight in the left-right direction in addition to the front-back direction.

9 and 10 are diagrams schematically showing the relationship between the autonomous vacuum cleaner according to the embodiment of the present invention, the current position image, and the identification image.

In FIG. 9, the distance Lp from the main body case 2 to the shooting target STp of the current position image Ip and the distance distance Li from the main body case 2 to the shooting target STi of the identification image Ii are the same. In FIG. 10, the separation distance Lp from the main body case 2 to the shooting target STp of the current position image Ip and the separation distance Li from the main body case 2 to the shooting target STi of the identification image Ii do not match.

As shown in FIG. 9, the photographing target STi photographed by the identification image Ii of the autonomous vacuum cleaner 1 according to the present embodiment is, for example, an A2 size (420 mm × 594 mm quadrangle) portrait (portrait M). be. It is assumed that the shooting target STp shot on the current position image Ip is also, for example, an A2 size (420 mm × 594 mm quadrangle) portrait (portrait image M), which is exactly the same as the shooting target STi shot on the identification image Ii. do.

In this case (FIG. 9), when determining whether or not the current position image Ip and the identification image Ii match or are similar, the separation distance Lp from the main body case 2 to the imaging target STp of the current position image Ip. And, even if the difference between the main body case 2 and the separation distance Li from the identification image Ii to the shooting target STi is not included in the judgment, the autonomous vacuum cleaner 1 enters at the shooting location C as the user intended. Execute prohibition processing.

On the other hand, as shown in FIG. 10, the photographing target STi photographed on the identification image Ii of the autonomous vacuum cleaner 1 according to the present embodiment is, for example, an A2 size (420 mm × 594 mm quadrangle) portrait (person). Statue). The shooting target STp captured in the current position image Ip is, for example, an L-size (89 mm × 127 mm quadrangle) portrait (human image), which is different in size from the capture target STi captured in the identification image Ii. It is assumed that they are the same picture (same person image).

In this case (FIG. 10), when determining whether or not the current position image Ip and the identification image Ii match or are similar, the separation distance Lp from the main body case 2 to the imaging target STp of the current position image Ip. When the difference between the main body case 2 and the separation distance Li from the identification image Ii to the shooting target STi is not included in the judgment, the autonomous vacuum cleaner 1 is used at the shooting location C against the intention of the user. There is a risk that the entry prohibition process will be executed.

Therefore, when the entry prohibition place determination unit 55 determines whether or not the current position image Ip and the identification image Ii match or are similar, the separation distance from the main body case 2 to the shooting target STp of the current position image Ip. It is preferable to include the difference between Lp and the separation distance Li from the main body case 2 to the image capture target STi of the identification image Ii in the judgment.

That is, as shown in FIG. 9, the entry prohibition place determination unit 55 has the current position image Ip and the identification image Ii coincide with each other, and the distance Lp from the main body case 2 to the shooting target STp of the current position image Ip and the main body. When the separation distance Li from the case 2 to the image capture target STi of the identification image Ii is substantially the same, the entry prohibition process is executed.

On the other hand, in the entry prohibited place determination unit 55, as shown in FIG. 10, the current position image Ip and the identification image Ii match, but the separation distance Lp from the main body case 2 to the shooting target STp of the current position image Ip and the main body. When the separation distance Li from the case 2 to the image capture target STi of the identification image Ii is substantially inconsistent, the execution of the entry prohibition process is suppressed, suppressed, avoided, and avoided and not executed.

The difference between the separation distances Lp and Li is calculated using three-dimensional measurement using a stereo image taken by a stereo camera (camera unit 22) and distance information measured by a distance measuring device 39 and stored in a storage unit. Will be done. That is, the entry prohibition place determination unit 55 directly obtains the difference between the distance distances Lp and Li from the stereo image, and stores the distance information stored in association with the current position image Ip and the identification image Ii in association with each other. Find the difference from the distance information.

As described above, in the autonomous vacuum cleaner 1 according to the present embodiment, the current position image Ip taken by the camera unit 22 and the identification image Ii taken in advance by the camera unit 22 while the main body case 2 is moving. If the two images Ii and Ip match or are similar to each other, the entry prohibition process of suppressing the progress beyond the current position and changing the direction of travel is performed. Therefore, the autonomous vacuum cleaner 1 sets the no-entry place B without using an entry prevention device or a magnetic tape, and without identifying the no-entry place B in advance on the environment map stored by the own machine. However, it is possible to execute the entry prohibition process to the entry prohibition place B.

That is, the camera unit 22 provided in the autonomous vacuum cleaner 1 is connected to the entry prohibited place instruction input unit 31 so that an image can be taken according to the operation of the user. The autonomous vacuum cleaner 1 stores the captured image as an identification image Ii for identifying a no-entry place designated by the user. If the position and orientation of the autonomous vacuum cleaner 1 when this identification image Ii is taken is reproduced during cleaning, the current position image Ip taken at the time of reproduction and the identification image Ii should match. Is. Therefore, when the current position image Ip and the identification image Ii match during the traveling of the autonomous vacuum cleaner 1, the user is prevented from traveling further forward in the room. It is possible to realize a function of not invading the designated intrusion prohibited area B. Even if the current position image Ip and the identification image Ii do not completely match, it is similar to the extent that it can be said that the autonomous vacuum cleaner 1 has reached the boundary between the travelable area and the no-entry area. Therefore, the traveling control that changes the traveling direction of the autonomous vacuum cleaner 1 may be performed.

By the way, the function of prohibiting intrusion into the area designated by the user is generally called a virtual guard or the like. The conventional virtual guard requires a device that emits a predetermined radio wave or the like in the room, and a separate device such as a magnetic tape that indicates a boundary. The autonomous vacuum cleaner 1 according to the present embodiment can grasp the entry prohibited area B designated by the user based on the image taken by the camera unit 22. Therefore, it is not necessary to use other equipment other than the autonomous vacuum cleaner 1. While the entry prohibition is set, it is advisable to notify the user to that effect. By doing so, it is possible to urge the user to temporarily cancel the entry prohibition setting in order to reduce the situation where the area that cannot be cleaned by the autonomous vacuum cleaner 1 occurs for a long period of time. The mode of notification may be displayed or sounded, or may be performed via another information terminal owned by the user.

Further, in the autonomous vacuum cleaner 1 according to the present embodiment, the separation distance Lp from the main body case 2 to the shooting target STp of the current position image Ip and the separation distance Li from the main body case 2 to the shooting target STi of the identification image Ii. The difference from the above is included in the judgment of whether or not the entry prohibition process needs to be executed (whether or not it can be executed). Therefore, in the autonomous vacuum cleaner 1, whether or not the current position is the entry prohibited place B even when the current position image Ip having a size different from that of the identification image Ii that identifies the entry prohibited place B is taken. Can be judged more accurately.

Further, the autonomous vacuum cleaner 1 according to the present embodiment reflects the no-entry place B in the environmental map information when the two images Ii and Ip match or are similar. Therefore, the autonomous vacuum cleaner 1 can stop the sequential comparison between the identified image Ii corresponding to the identified prohibited place B and the current position image Ip, and reduce the processing load.

Further, the autonomous vacuum cleaner 1 according to the present embodiment stores a plurality of identification images Ii. Therefore, the autonomous vacuum cleaner 1 according to the present embodiment can set a wider range of prohibited places B than one image I captured by the camera unit 65.

Further, the autonomous vacuum cleaner 1 according to the present embodiment captures identification images Ii at a plurality of locations based on one imaging command. Therefore, the autonomous vacuum cleaner 1 according to the present embodiment is highly convenient when setting a wide range of no-entry place B than one image I taken by the camera unit 65.

Further, the autonomous vacuum cleaner 1 according to the present embodiment includes an entry prohibition process switching unit 56 for switching execution or non-execution of the entry prohibition process. Therefore, the autonomous vacuum cleaner 1 can turn on and off the entry prohibition process without removing the entry prevention device and the magnetic tape, or erasing the entry prohibition place B identified on the environmental map.

Further, the autonomous vacuum cleaner 1 according to the present embodiment includes an entry prohibited place erasing unit 57 capable of erasing at least one of the identification images Ii. Therefore, the autonomous vacuum cleaner 1 can easily change the no-entry place B according to the intention of the user.

Further, the autonomous vacuum cleaner 1 according to the present embodiment compares the feature points or feature quantities of both images Ip and Ii to determine the coincidence or similarity of both images Ip and Ii. Therefore, the autonomous vacuum cleaner 1 reduces the load of sequential comparison of both images Ii and Ip related to the identified prohibited place B, and the process of determining whether or not they match, that is, the load of the process of prohibiting entry. can. In this case, the autonomous vacuum cleaner 1 according to the present embodiment stores at least one of the feature points and feature amounts of the identification image Ii in addition to or instead of the identification image Ii. Therefore, the autonomous vacuum cleaner 1 can reduce the processing load associated with the feature point extraction of the identification image Ii and the calculation of the feature amount, that is, the load of the entry prohibition process.

Therefore, according to the autonomous vacuum cleaner 1 according to the present embodiment, no device other than the own machine (entry prevention device, magnetic tape, information terminal, etc.) is required, and the entry prohibited place is set only by the own machine. Can be done.

In addition, a sensor for detecting whether or not the autonomous vacuum cleaner 1 is placed on the floor surface is provided, and the user can use the autonomous vacuum cleaner 1 when the autonomous vacuum cleaner 1 is not placed on the floor surface. Even if the entry prohibition place instruction input unit 31 is pressed, the identification image Ii may not be stored. The image taken with the autonomous vacuum cleaner 1 not placed on the floor does not match the image taken while the autonomous vacuum cleaner 1 is running, and based on this, the no-entry place B Is difficult to grasp. Therefore, it is possible to avoid unnecessary computer processing by not storing the image taken when the autonomous vacuum cleaner is not placed on the floor surface as the identification image Ii.

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 embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... Autonomous electric vacuum cleaner, 2 ... Main body case, 3 ... Secondary battery, 5 ... Charging stand, 6 ... Power cord, 11 ... Rotating brush, 12 ... Brush motor, 13 ... Dust container, 15 ... Electric blower, 21 ... Traveling unit, 22 ... Camera unit, 22a ... Imaging element, 22b ... Optical system, 23 ... Control unit, 25 ... Suction port, 26 ... Drive wheel, 27 ... Motor, 28 ... Driven wheel, 31 ... No entry place instruction Input unit, 32 ... No entry place erasure input unit, 33 ... No entry processing switching input unit, 35 ... Display unit, 36 ... Communication unit, 37 ... Audio output unit, 39 ... Distance measuring device, 41 ... Light emitting unit, 42 ... Light receiving unit, 45 ... Image storage unit, 51 ... Autonomous control unit, 52 ... Camera control unit, 53 ... No entry place indication unit, 55 ... No entry place determination unit, 56 ... No entry processing switching unit, 57 ... No entry place Erasing unit, 58 ... distance calculation unit, 61 ... traveling control unit, 62 ... cleaning control unit, 63 ... map information storage unit, 65 ... camera unit, 67 ... selection input unit, 68 ... determination input unit.

Claims (10)

A main body that has a moving part that moves on the surface to be cleaned and can move autonomously,
A camera unit provided in the main body for taking an image,
An image storage unit that stores the image taken by the camera unit, and an image storage unit.
An entry-prohibited place indicator that causes the camera unit to capture an identification image that identifies an entry-prohibited place during autonomous movement and stores it in the image storage unit.
The autonomous movement of the main body is controlled, and the current position image captured by the camera unit while the main body is moving is sequentially compared with the identification image stored in the image storage unit, and the current position image and the above are compared. When it matches or resembles the identification image, it is equipped with an autonomous control unit that suppresses the progress beyond the current position and performs an entry prohibition process that changes the direction of travel .
The camera unit is a stereo camera.
When the autonomous control unit determines whether or not the current position image matches or is similar to the identification image, the distance from the main body to the image to be captured of the current position image and the distance from the main body to the subject are described. An autonomous vacuum cleaner that includes the difference from the distance to the image capture target of the identification image in the above judgment . A main body that has a moving part that moves on the surface to be cleaned and can move autonomously,
A camera unit provided in the main body for taking an image,
An image storage unit that stores the image taken by the camera unit, and an image storage unit.
An entry-prohibited place indicator that causes the camera unit to capture an identification image that identifies an entry-prohibited place during autonomous movement and stores it in the image storage unit.
The autonomous movement of the main body is controlled, and the current position image captured by the camera unit while the main body is moving is sequentially compared with the identification image stored in the image storage unit, and the current position image and the above are compared. When the identification image matches or resembles, the autonomous control unit that suppresses the progress beyond the current position and changes the direction of travel, and the autonomous control unit that performs the entry prohibition process.
A light emitting unit that irradiates the shooting range of the camera unit with light,
A light receiving unit that receives the reflected light of the light emitted from the light emitting unit, and a light receiving unit.
A distance calculation unit for acquiring distance information from the main body to the image capture target based on the time difference between the start of light emission of the light emitting unit and the reception of the reflected light of the light receiving unit is provided.
When the autonomous control unit determines whether or not the current position image matches or is similar to the identification image, the distance from the main body to the image to be captured of the current position image and the distance from the main body to the subject are described. An autonomous vacuum cleaner that includes the difference from the distance to the image capture target of the identification image in the above judgment. Equipped with a map information storage unit that stores the environmental map information of the cleaning place
The autonomous vacuum cleaner according to claim 1 or 2 , wherein the autonomous control unit reflects the prohibited place in the environmental map information when the two images match or are similar. The autonomous vacuum cleaner according to any one of claims 1 to 3 , wherein the image storage unit stores a plurality of the identification images. The autonomous vacuum cleaner according to claim 4 , wherein the no-entry place indicating unit captures the identification images at a plurality of locations based on one imaging command. The autonomous vacuum cleaner according to any one of claims 1 to 5 , further comprising an entry prohibition process switching unit that switches the setting of whether or not to execute the entry prohibition process when a predetermined condition is satisfied. The autonomous vacuum cleaner according to any one of claims 1 to 6 , further comprising an entry prohibited place erasing unit capable of erasing at least one of the identification images stored in the image storage unit. When comparing the current position image and the identification image, the feature points extracted from both images or the feature amount calculated from the feature points are compared to determine the match or similarity between the two images. The autonomous vacuum cleaner according to any one of claims 1 to 7 , further comprising a determination unit. The autonomous vacuum cleaner according to claim 8 , wherein the image storage unit stores at least one of the feature points and the feature amount in addition to or in place of the image. The autonomous vacuum cleaner according to claim 8 or 9 , wherein the feature point is obtained by performing edge detection on the image.

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