JP7134075B2 - Autonomous cleaning device - Google Patents

Description

Embodiments of the present invention relate to autonomous cleaning devices.

Autonomous vacuum cleaners are known that clean the floor surface of a place to be cleaned while autonomously traveling.

Japanese Patent Application Laid-Open No. 2004-275468

When a conventional autonomous vacuum cleaner detects an obstacle by a sensor that detects an obstacle, for example, a bumper sensor, it avoids the obstacle and detours around it to continue cleaning.

As a result, users of conventional autonomous vacuum cleaners have had to clear the floor in advance of potential obstructions such as trash cans, parcels delivered, and magazines.

If these obstacles are left on the floor surface, the conventional autonomous vacuum cleaner avoids and detours around the obstacles to continue cleaning, but leaves behind the obstacles. Sometimes I let you.

Accordingly, the present invention proposes an autonomous cleaning device capable of more reliably cleaning according to obstacles left on the floor surface and reducing uncleaned areas.

In order to solve the above problems, an autonomous cleaning device according to an embodiment of the present invention includes a main body, a moving section for moving the main body, a detection section for detecting an object to be detected around the main body, and the object to be detected. a judgment unit for judging whether or not an object satisfies a predetermined movement target condition; and a force generated by the moving unit to move the object to be detected when the detection object satisfies the movement object condition. and a movement control unit that controls the moving unit, and the movement target condition includes a determination as to whether or not the object can be moved by pressing the main body against the object, The movement control section generates a first movement mode in which normal cleaning is performed except when the detection section detects the object to be detected, and the movement section occurs when the detection object satisfies the movement target condition. and a second movement mode in which the object to be detected is moved by the force applied, and the movement section moves the main body in the first movement mode when determining the movement target condition. Move the body with a speed lower than the speed .

1 is a perspective view of an autonomous cleaning device according to an embodiment of the invention; FIG. 1 is a right side view of an autonomous cleaning device according to an embodiment of the present invention; FIG. 1 is a bottom view of an autonomous cleaning device according to an embodiment of the present invention; FIG. 1 is a block diagram of an autonomous cleaning device according to an embodiment of the invention; FIG. FIG. 2 is a schematic plan view of how the autonomous cleaning device according to the embodiment of the present invention attempts to move an object to be detected; FIG. 4 is a schematic plan view explaining the relationship between the destination and the environment map when the autonomous cleaning device according to the embodiment of the present invention moves the object to be detected.

An embodiment of an autonomous cleaning device according to the present invention will be described with reference to FIGS. 1 to 6. FIG.

1 is a perspective view of an autonomous cleaning device according to an embodiment of the present invention; FIG.

As shown in FIG. 1, an autonomous cleaning device 1 according to this embodiment is a so-called robot cleaner. The autonomous cleaning device 1 consumes power of a secondary battery 3 mounted on a main body 2 to move (run) autonomously. The autonomous cleaning device 1 collects dust while moving around the surface to be cleaned (floor surface) of the area to be cleaned A in the living room (moving the area to be cleaned exhaustively). After the cleaning operation, the autonomous cleaning device 1 returns to the charging stand 5 and waits for the next cleaning operation. The autonomous cleaning device 1 that has returned to the charging stand 5 charges the secondary battery 3 while waiting for the next cleaning operation. Therefore, the autonomous cleaning device 1 saves the user from having to charge the battery, and can respond to sudden cleaning operations requested by the user.

The charging stand 5 can be installed on the surface to be cleaned in the living room. The charging base 5 can smoothly connect or disconnect the autonomous cleaning device 1 . The charging stand 5 is provided with a power cord 6 for conducting power from a commercial AC power source to the secondary battery 3 while the autonomous cleaning device 1 is connected. A power cord 6 is an electric circuit for transmitting power to the secondary battery 3 .

Then, when the obstacle O is left on the surface to be cleaned, the autonomous cleaning device 1 avoids the obstacle O, detours around it, and performs cleaning in a first movement mode (first movement pattern , avoidance movement style) and a second movement style (second movement pattern, rejection movement style) for cleaning the exposed surface to be cleaned by moving the obstacle O are combined to clean the surface to be cleaned.

In the following description, an obstacle O detected by the autonomous cleaning device 1 is called an object O to be detected.

FIG. 2 is a right side view of an autonomous cleaning device according to an embodiment of the present invention;

3 is a bottom view of an autonomous cleaning device according to an embodiment of the present invention; FIG.

As shown in FIGS. 2 and 3 in addition to FIG. , a detection unit 13 for detecting an object O to be detected around the main body 2, the detection unit 13, the moving unit 11, and the cleaning unit 12 are controlled to control the operation of the autonomous cleaning device 1. control unit 15, display unit 16 provided on the top surface of main body 2, moving unit 11, cleaning unit 12, detection unit 13, control unit 15, and display unit 16. and a secondary battery 3 that supplies

The main body 2 has a main body case 21 made of, for example, a synthetic resin, bumpers 22 provided on the side surfaces of the main body case 21, and has a linear shape in a plan view, and is provided at a position that can be pressed against the object O to be detected. A pressing portion 23 is provided.

The main body case 21 is the outer shell of the main body 2 . The body case 21 has a flat columnar shape (disk shape). The main body 2, which is substantially circular in plan view, can keep the turning radius small during turning compared to other shapes.

The bumper 22 is provided on the side surface of the body case 21 .

The pressing portion 23 has a straight portion perpendicular to the traveling direction (forward direction F or backward direction R) in which the body 2 moves the object O to be detected. This straight portion preferably straddles the center line extending in the front-rear direction of the main body 2, and more preferably has a shape that is substantially bisected by the center line. The pressing portion 23 protrudes to the outside of the main body case 21 in plan view. The pressing portion 23 may be integrated with the body case 21 or may be a separate component provided on the body case 21 . The pressing portion 23 may be movable between the inner side and the outer side of the body case 21 in plan view. The pressing portion 23 is moved to the inside of the body case 21 in the first movement mode, and is moved to the outside of the body case 21 in the second movement mode.

The moving part 11 includes a plurality of driving wheels 26, a plurality of electric motors 27 for individually driving the driving wheels 26, and driven wheels 28 supporting the body 2 on the surface to be cleaned together with the driving wheels 26. .

Each drive wheel 26 transmits the force that moves the body 2 to the surface to be cleaned. Each driving wheel 26 rolls around an axle (not shown) extending in the width direction (left-right width direction) of the main body 2 . The plurality of drive wheels 26 includes at least one pair of drive wheels 26 . The axles of the pair of driving wheels 26 are arranged substantially on the same line. Therefore, the autonomous cleaning device 1 can easily move straight and turn. The driving wheel 26 is pressed against the surface to be cleaned by a suspension device (so-called suspension, not shown). The autonomous cleaning device 1 may be provided with an endless track (not shown) instead of the driving wheels 26 .

Each electric motor 27 drives each drive wheel 26 independently. The autonomous cleaning device 1 moves straight (forward or backward) by rotating the left and right drive wheels 26 in the same direction, and turns (turns right or left) by rotating the left and right drive wheels 26 in different directions. times). In addition, the autonomous cleaning device 1 adjusts the forward or backward speed by increasing or decreasing the output of the left and right driving wheels 26, or adjusts the size of the turning radius by varying the output of the left and right driving wheels 26. can do.

The driven wheel 28 is arranged at the substantially central portion in the width direction of the lower portion of the main body 2 and at the rear portion. The driven wheel 28 is a circular rotating body, such as a caster. The driven wheels 28 easily follow the advance, retreat, and turning of the autonomous cleaning device 1 to change direction and stabilize the traveling (movement) of the autonomous cleaning device 1 . The center of gravity of the autonomous cleaning device 1 supported by the drive wheels 26 and the driven wheels 28 is preferably located inside the triangle formed by the pair of drive wheels 26 and driven wheels 28 . In that case, the risk of overturning of the autonomous cleaning device 1 is reduced. In other words, the autonomous cleaning device 1 can move (run) more stably. The driven wheel 28 may be omitted.

The cleaning part 12 cleans dust on the surface to be cleaned directly below the main body 2 and its surroundings. The cleaning unit 12 includes, for example, a suction cleaning unit 31 that generates negative pressure to suck dust, and a wiping unit 32 that wipes or polishes the floor surface below the main body 2 .

The suction cleaning part 31 includes a suction port 34 provided on the bottom surface of the main body 2 , a rotating brush 35 arranged at the suction port 34 , a brush electric motor 36 for rotating the rotating brush 35 , and a rear part of the main body 2 . A dust container 37 and an electric blower 38 housed in the main body 2 and fluidly connected to the dust container 37 are provided.

The suction port 34 sucks dust together with air by the negative pressure generated by the electric blower 38 . The suction port 34 is arranged near the front end of the front, rear, left, and right edges of the main body 2 . The suction port 34 extends in the width direction of the main body 2 . In other words, the opening width of the suction port 34 in the left-right direction is larger than the opening width of the suction port 34 in the front-rear direction. Since the bottom surface of the main body 2 faces the surface to be cleaned during autonomous travel, the suction port 34 easily sucks dust on the surface to be cleaned or dust scraped up from the surface to be cleaned by the rotating brush 35. be able to.

The rotation center line of the rotating brush 35 is oriented in the width direction of the autonomous cleaning device 1 . The rotating brush 35 contacts the surface to be cleaned when the autonomous cleaning device 1 is placed on the surface to be cleaned so as to be able to travel. Therefore, the rotating brush 35 that is rotationally driven scrapes up the dust on the surface to be cleaned. The dust that has been scraped up is efficiently sucked into the suction port 34 .

The brush electric motor 36 rotates the rotating brush 35 forward (to assist the propulsive force of the autonomous cleaning device 1 when moving forward) or reversely (to assist the propulsive force of the autonomous cleaning device 1 when reversing).

The dust container 37 accumulates dust sucked from the suction port 34 by suction negative pressure generated by the electric blower 38 . The dust container 37 includes a filter that filters and collects dust, and inertial separation such as centrifugal separation (cyclone separation) and straight separation (separation method that separates dust and air by the difference in inertial force between straight air and dust). It is a separation device that accumulates dust by The dust container 37 is detachable from the main body 2 and can be opened and closed. The user temporarily removes the dust container 37 from the main body 2 and opens the dust container 37 to easily discard the dust accumulated in the dust container 37, or clean or wash the dust container 37. be able to.

The electric blower 38 is driven by consuming the power of the secondary battery 3 . The electric blower 38 sucks air from the dust container 37 to create suction negative pressure. The negative pressure generated in the dust container 37 acts on the suction port 34 . The main body 2 has an exhaust port (not shown) through which the exhaust (clean air) of the electric blower 38 flows out of the main body 2 .

The wiping part 32 is arranged near the front end of the front, rear, left, and right edges of the main body 2 . The wiping part 32 includes, for example, a wiping sheet 39 made of a fibrous material such as a nonwoven fabric that can be attached to and detached from the bottom surface of the main body 2 . The wiping sheet 39 comes into contact with the surface to be cleaned when the autonomous cleaning device 1 is placed on the surface to be cleaned so that it can travel. The wiping sheet 39 is preferably pressed against the surface to be cleaned with a pressure that does not allow the driving wheels 26 to idle on the surface to be cleaned. An elastic member (not shown) such as foamed resin is provided between the wiping sheet 39 and the bottom surface of the main body 2 . This elastic member presses the wiping sheet 39 against the surface to be cleaned with a uniform pressure.

The detection unit 13 detects an object O to be detected that approaches the main body 2 as the main body 2 moves or an object to be detected O that contacts the main body 2 . The detection unit 13 includes a camera unit 41 provided on the main body 2 for capturing an image I of the surroundings of the autonomous cleaning device 1, and a camera unit 41 provided on the main body 2 so that the main body 2 detects an object other than the autonomous cleaning device 1, that is, an object to be detected. A proximity detection unit 42 that detects an approach to an object O, and a contact detection unit 43 that is provided in the main body 2 and detects that the main body 2 has come into contact with an object other than the autonomous cleaning device 1, that is, the object O to be detected. , contains

The camera unit 41 is provided on the front surface of the main body 2, and photographs the front of the autonomous cleaning device 1, that is, the traveling direction when moving forward. The camera unit 41 is a so-called stereo camera. The images I to be photographed by the camera unit 41 are overlapped in the photographing range including the front position extending from the center line in the width direction of the autonomous cleaning device 1 . The camera unit 41 can obtain information on the depth (separation distance seen from the autonomous cleaning device 1) in the imaging range. An image I including depth information is called a "distance image".

The camera unit 41 may be provided with a lighting device (not shown) such as an LED (Light Emitting Diode) or a light bulb. The illumination device illuminates part or all of the imaging range of the camera unit 41 . The lighting device enables the camera unit 41 to acquire an appropriate image even in a dark place such as a shadow of obstacles such as furniture or in a dark environment such as at night.

Instead of or in addition to the camera unit 41, the autonomous cleaning device 1 may include a distance measuring device 45 that obtains depth information in the imaging range by a principle different from that of a stereo camera.

The proximity detector 42 is, for example, an infrared sensor or an ultrasonic sensor. The proximity detector 42 using an infrared sensor includes a light-emitting element (not shown) that emits infrared rays and a light-receiving element (not shown) that receives light and converts it into an electrical signal. The proximity detection unit 42 emits infrared light from the light emitting element, receives the infrared light reflected by the object O to be detected by the light receiving element, and converts it into electric power. Before the main body 2 comes into contact with the detected object O, it is detected that the detected object O has approached within the distance. The proximity detection unit 42 using an ultrasonic sensor detects the object O to be detected using ultrasonic waves instead of infrared rays.

The contact detection unit 43 is a so-called bumper sensor. The contact detection part 43 is interlocked with the bumper 22 that mitigates the impact on the main body 2 when the moving main body 2 contacts the object O to be detected. The bumper 22 is displaced so as to be pushed toward the inside of the main body 2 when it comes into contact with the object O to be detected. The contact detection unit 43 detects the displacement of the bumper 22 to detect that the main body 2 has come into contact with the object O to be detected. The contact detection unit 43 includes, for example, a microswitch that is turned on and off by displacement of the bumper 22, an infrared sensor that measures the amount of displacement of the bumper 22 without contact, and an ultrasonic sensor.

The display unit 16 notifies the user or a third party around the autonomous cleaning device 1 of appropriate information such as the start of operation by displaying lighting, flashing, or the like, or by displaying characters or graphics. The display unit 16 is, for example, a display provided on the top surface of the main body 2 . Therefore, the user can easily view the information displayed on the display unit 16 while the autonomous cleaning device 1 is placed on the surface to be cleaned. Also, the user can acquire various information presented by the autonomous cleaning device 1 through the information displayed on the display unit 16 .

The secondary battery 3 stores power consumed by each part of the autonomous cleaning device 1 including the moving part 11 , the cleaning part 12 , the detection part 13 and the control part 15 . The secondary battery 3 is, for example, a lithium ion battery, and has a control circuit (not shown) that controls charging and discharging. This control circuit outputs information regarding charging and discharging of the secondary battery 3 to the control unit 15 .

FIG. 4 is a block diagram of an autonomous cleaning device according to an embodiment of the invention.

As shown in FIG. 4 in addition to FIGS. 2 and 3, the autonomous cleaning device 1 according to the present embodiment includes an electric motor 27 of the moving unit 11, a brush electric motor 36 and an electric blower 38 of the suction cleaning unit 31, and a detection unit. 13 , a control unit 15 , a secondary battery 3 , a display unit 16 , and a communication unit 47 .

The communication unit 47 includes a transmission unit 47a including, for example, an infrared light emitting element that transmits an infrared signal to the charging base 5, and a phototransistor, for example, that receives an infrared signal from the charging base 5 or a remote controller (not shown). and a receiving unit 47b.

The camera section 41 is, for example, a digital camera. In other words, the camera unit 41 includes an imaging element 41a (image sensor) that converts a captured image into an electric signal, and an optical system 41b that forms (generates) an image on the imaging element 41a. The imaging element 41a is, for example, a CCD image sensor (Charge-Coupled Device image sensor) or a CMOS image sensor (Complementary metal-oxide-semiconductor image sensor). Therefore, the autonomous cleaning device 1 can immediately handle the digital data of the image I captured by the camera section 41 . That is, the image I photographed by the camera unit 41 is compressed into a predetermined data format, converted into a binary image, or converted into a gray scale by using an image processing circuit (not shown), for example. be able to. The camera unit 41 captures an image in the visible light region, for example. An image in the visible light region has better image quality than, for example, an image in the infrared region, and can easily provide the user with visible information without performing complicated image processing.

The distance measuring device 45 includes a light emitting section 45a that emits light to a range for obtaining depth information, and a light receiving section 45b that receives the reflected light of the light emitted from the light emitting section 45a. The autonomous cleaning device 1 can acquire distance information from the autonomous cleaning device 1 to the object O based on the time difference from when the light emitting unit 45a starts emitting light until the light receiving unit 45b receives the reflected light. The light emitting unit 45a emits, for example, infrared rays or visible light.

The control unit 15 includes, for example, a central processing unit (CPU, not shown), various arithmetic programs executed (processed) by the central processing unit, an auxiliary storage device (for example, read only memory, ROM , not shown), and a main storage device (for example, random access memory, RAM, not shown) in which a program work area is dynamically secured. The auxiliary storage device is preferably rewritable, such as non-volatile memory.

Control unit 15 is electrically connected to electric motor 27 of moving unit 11 , brush electric motor 36 and electric blower 38 of suction cleaning unit 31 , detection unit 13 , secondary battery 3 , display unit 16 , and communication unit 47 . there is The control unit 15 operates the electric motor 27 of the moving unit 11, the brush electric motor 36 and the electric blower 38 of the suction cleaning unit 31, the detection unit 13, It controls the secondary battery 3 and the display unit 16 .

The control unit 15 includes an autonomous movement control unit 52 that controls autonomous movement of the autonomous cleaning device 1 , a detection control unit 53 that controls the operation of the detection unit 13 , and an object O to be detected based on the detection result of the detection unit 13 . A moving object determination unit 55 that determines whether or not a predetermined moving object condition is satisfied, and if the object O satisfies the moving object condition, the object O is moved by the force generated by the moving unit 11. and a second movement control section 56 that controls the movement section 11 so as to control the movement section 11 as follows. The autonomous movement control unit 52, the detection control unit 53, the moving object determination unit 55, and the second movement control unit 56 are arithmetic programs.

The control unit 15 can cooperate with the autonomous movement control unit 52 and the detection control unit 53 to execute the first movement mode. Further, the control unit 15 can cooperate with the autonomous movement control unit 52, the detection control unit 53, the moving object determination unit 55, and the second movement control unit 56 to execute the second movement mode.

The autonomous movement control unit 52 includes a map information storage unit 51 that stores environmental map information (environment map, not shown) of the cleaning location, a movement control unit 58 that controls the operation of the electric motor 27 of the movement unit 11, and a suction cleaning unit. 31 brush electric motor 36 and a cleaning control unit 59 that controls the operation of the electric blower 38 .

The map information storage unit 51 is a set of data constructed in a storage area secured in an auxiliary storage device, and has an appropriate data structure. The map information storage unit 51 is read from the auxiliary storage device into the main storage device for use, and is overwritten in the auxiliary storage device through appropriate updating.

The environment map information is information used for the autonomous movement of the autonomous cleaning device 1, and is information including at least the shape of the area where the autonomous cleaning device 1 can move in the location to be cleaned. The environment map information is constructed, for example, as a collection of 10-centimeter-side rectangles that are orderly arranged. The environment map information may be prepared in advance when the autonomous cleaning device 1 is used, or may be created at the same time as self-position estimation by Simultaneous Localization and Mapping (SLAM). The environment map information may be created and updated in the process of moving along with the cleaning operation. When creating environment map information by SLAM, the autonomous cleaning device 1 should be equipped with various sensors (not shown) such as a camera and an encoder necessary for creating a map, in addition to the detection unit 13. is preferred. The movement control unit 58 creates environment map information based on information obtained from these cameras and sensors.

The control unit 15 can display the environment map information on the display unit 16 . The user can easily check the state of the environment map information created by the autonomous cleaning device 1 from the environment map information displayed on the display unit 16 .

The movement control unit 58 controls autonomous movement of the autonomous cleaning device 1 based on the environmental map information. The movement control unit 58 controls the magnitude and direction of the current flowing through the electric motor 27 to rotate the electric motor 27 forward or backward. The movement control unit 58 controls driving of the driving wheels 26 by rotating the electric motor 27 forward or backward.

Further, the movement control section 58 can avoid the detected object O based on the detection result of the proximity detection section 42 or the contact detection section 43 . That is, when the proximity detection unit 42 detects the object O to be detected, the movement control unit 58 controls the body 2 to avoid approaching, contacting, or colliding with the object O to be detected (obstacle avoidance control). to run. Further, when the proximity detection unit 42 and the contact detection unit 43 detect the object O to be detected, the movement control unit 58 controls the main body 2 to avoid contact and collision with the object O to be detected (obstruction). object avoidance control). When the contact detection unit 43 detects the object O to be detected, for example, the bumper 22 is already in contact with the object O to be detected. A situation in which the detected object O is in contact is allowed as a start condition (trigger event) for obstacle avoidance control.

The movement control section 58 and the second movement control section 56 may be an integral arithmetic program.

The cleaning control unit 59 individually controls the brush motor 36 and the electric blower 38 . The cleaning control unit 59 stops the suction cleaning unit 31 (the brush motor 36 and the electric blower 38) in the second movement mode, that is, when controlling the moving unit 11 to move the object O to be detected. back.

The detection control section 53 controls the operation of the camera section 41 . The detection control unit 53 causes the camera unit 41 to capture an image I at predetermined time intervals. The detection control section 53 stores the image I captured by the camera section 41 in the detection result storage section 61 . The image I photographed by the camera section 41 is secured in the main storage device in the detection result storage section 61 . The detection result storage unit 61 stores the image I captured by the camera unit 41 . The detection result storage unit 61 has a capacity capable of storing a plurality of images I. The detection control unit 53 provides the image I to the moving object determination unit 55 via the detection result storage unit 61 .

The detection result storage unit 61 may store image information representing the image I captured by the camera unit 41 without processing, or may reduce the data size as long as the information necessary for the analysis processing of the image I remains. The processed image information may be stored. The image information stored in the detection result storage unit 61 is, for example, an image obtained by converting the image I captured by the camera unit 41 into a grayscale (hereinafter referred to as the image I as well as the original image I captured by the camera unit 41). call.) For grayscale images, the pixel values of image I match the luminance values. When storing the image I converted to grayscale, the control unit 15 can allocate a smaller amount of memory area (resource) to the detection result storage unit 61 than when storing the original image. is. Further, when the image I converted to grayscale is used for subsequent analysis processing, the control unit 15 can reduce the load on the central processing unit compared to processing the original image. Image processing including grayscaling of the image I may be performed by the camera unit 41 . By executing the image processing in the camera section 41, the load on the central processing unit is reduced.

Further, the detection control unit 53 controls lighting and extinguishing of the lighting device. The illumination device illuminates the image I to facilitate the analysis process and improve accuracy.

Furthermore, the detection control unit 53 stores the detection result of the proximity detection unit 42 , that is, the fact that the object O has approached the main body 2 and the separation distance between the object O and the main body 2 at that time, in the detection result storage unit 61 . Remember.

The detection control unit 53 also stores the detection result of the contact detection unit 43 , that is, the contact of the detected object O with the main body 2 in the detection result storage unit 61 .

The movement object determination unit 55 can measure the width dimension, height dimension, and depth dimension of the object O based on the detection result of the detection unit 13 . Further, the moving object determination unit 55 can recognize the shape of the object O based on the detection result of the detection unit 13 .

The moving object determination unit 55 measures the width, height, and depth dimensions of the detected object O by analyzing a distance image captured by the camera unit 41, for example. Further, the moving object determination unit 55 recognizes the shape (ridgeline) of the object to be detected O and the unevenness of the surface of the object to be detected O by, for example, analyzing the distance image captured by the camera unit 41 . The moving object determining unit 55 determines the distance image captured by the camera unit 41 based on the difference in distance (difference in depth) at each pixel in the area where the object O is estimated to be captured. Surface unevenness can be recognized. Then, the moving object determination unit 55 recognizes the unevenness of the surface of the object O to be detected, and searches for a place suitable for pressing the main body 2 when moving the object O to be detected.

Further, the moving object determination unit 55 can measure the width dimension and the depth dimension of the object O based on the detection result of the proximity detection unit 42 or the contact detection unit 43 . The moving object determination unit 55 can recognize the shape of the object O based on the detection result of the detection unit 13 . Each time the proximity detection unit 42 detects the approach of the object O to be detected, or the contact detection unit 43 detects contact with the object O, the moving object determination unit 55 rotates clockwise around the object O, Alternatively, while moving the main body 2 counterclockwise, the proximity detection unit 42 detects the approach of the object O to be detected, or the contact detection unit 43 repeatedly detects the contact of the object O to detect the width of the object O. Attempts to measure dimensions and depth dimensions, and to recognize shapes. The movement object determination unit 55 stores the moving route of the main body 2 while repeating detection of approach of the object O by the proximity detection unit 42 or detection of contact of the object O by the contact detection unit 43 . Also, by mapping the moving route on the environment map, the width dimension and depth dimension of the detected object O are measured, and the shape is recognized.

Further, when the depth dimension of the object to be detected O cannot be acquired from the detection result of the detection unit 13, the moving object determination part 55 moves around the object to be detected O to determine the depth dimension of the object to be detected O. try to get. For example, if the distance image captured by the camera unit 41 captures the top surface of the object O, the moving object determination unit 55 can acquire the depth dimension of the object O, while the camera unit 41 captures the depth dimension of the object O. If the top surface of the detected object O is not captured in the range image, the depth dimension of the detected object O cannot be obtained. Therefore, when it is impossible to acquire the depth dimension of the detected object O from the distance image captured by the camera unit 41, the moving object determination unit 55 moves around the detected object O to the side of the detected object O, for example. The detection object O is photographed, and acquisition of the depth dimension of the detection object O is attempted.

The movement target condition is a condition for the movement target determination unit 55 to determine whether or not the object to be detected O can be moved. The movement target condition includes that the width dimension of the object to be detected O is equal to or less than a predetermined first judgment reference value (first condition). In addition, the movement target condition includes that the height dimension of the object to be detected O is equal to or less than a predetermined second judgment reference value (second condition). Furthermore, the movement target condition includes that the shape of the object to be detected O satisfies a predetermined criterion shape (third condition). In addition, the movement target condition includes that it can be estimated that the detection object O can actually be moved as a result of controlling the movement unit 11 so as to move the detection object O by the force generated by the movement unit 11 (fourth condition).

The movement target conditions include at least one of these first to fourth conditions. The movement target condition may be a logical sum or a logical product when a plurality of the first to fourth conditions are included.

By the way, it is difficult for the detection unit 13 to detect the weight of the object O to be detected. Therefore, the first condition is based on a first criterion value, for example, twice the width of the main body 2 . It is presumed that the detected object O whose width dimension is larger than the first criterion value has a corresponding weight. Therefore, the second movement control unit 56 determines that the movement target condition is established when the width dimension of the object to be detected O is equal to or less than the predetermined first judgment reference value, and otherwise determines that the movement target condition is satisfied. judge failure.

The second condition is based on a second criterion value, for example, three times the height dimension of the main body 2 . It is presumed that the detected object O whose height dimension is greater than the second judgment reference value falls over when the bottom is pushed by the main body 2 . Therefore, the second movement control unit 56 determines that the movement target condition is established when the height dimension of the object to be detected O is equal to or less than the predetermined second judgment reference value, and otherwise determines that the movement target condition is satisfied. to judge the failure of

The third condition is the criterion shape, for example, a vertical flat portion with a predetermined area or more, a straight portion with a predetermined width or more, and a combination of the height of these flat portions and straight portions (separation distance from the surface to be cleaned). It's the standard. It is presumed that it is difficult to specify the moving direction of the object O that does not satisfy the criterion shape when the main body 2 is pressed to move it, and that it deviates from the moving direction of the autonomous cleaning device 1 . In addition, objects to be detected O that do not satisfy the criterion shape may change their shape when the main body 2 is pressed against them, such as clothing, and may deviate from the moving direction of the autonomous cleaning device 1. It is presumed that it may become entangled in the moving part 11 and become unable to move. Therefore, the second movement control unit 56 determines that the movement target condition is met when the detected object O has a portion that satisfies the predetermined determination reference shape, and otherwise determines that the movement target condition is not met. do.

The fourth condition is a condition different in nature from the first to third conditions. In the first to third conditions, the success or failure of the conditions is determined without contact, whereas in the fourth condition, the main body 2 is actually brought into contact with the object O to determine the success or failure of the conditions.

The fourth condition is, for example, whether or not it is possible to move the object O by pressing the body 2 against the object O to be detected, in other words, whether the drive wheel 26 of the moving part 11 spins idle or is prevented from rotating. It is based on whether it is done or not. Therefore, the second movement control unit 56 determines that the movement target condition is met when the body 2 moves more than a predetermined movement reference distance while the body 2 is pressed against the object O to be detected. In the case of , for example, when the driving wheels 26 are spinning or the rotation is blocked, it is determined that the movement target condition is not met. The movement reference distance is set to a distance, for example, 2 mm to 5 mm, which is extremely small compared to the size of the object O to be detected, such as a magazine, which hinders the cleaning of the surface to be cleaned. For example, an object O having a soft surface but having a weight that makes it difficult for the autonomous cleaning device 1 to move may fail to move the object O even though the fourth condition is satisfied. The success or failure of the fourth condition is a speed smaller than the moving speed when performing normal cleaning (moving speed in the first moving mode) and the moving speed when moving the object O after the moving target condition is satisfied. is preferably determined by

Further, as another type of the fourth condition, the second movement control unit 56, after trying whether or not the object O to be detected can be moved, causes the movement unit 11 to move the object O to be detected. can be controlled. Methods of testing whether or not the object O can be moved include, for example, a method of testing whether or not movement is possible based on changes in the position of the autonomous cleaning device 1 in the cleaning location, and a method of testing whether or not movement is possible based on the position of the autonomous cleaning device 1. There is a method of indirectly testing the propriety of movement based on the detection results of various sensors, instead of directly capturing changes.

There are the following methods for testing whether or not the autonomous cleaning device 1 can be moved based on the change in position of the autonomous cleaning device 1 . First, an attempt is made to move the object O by pressing the main body 2 against the object O to be detected. Then, for example, when the autonomous cleaning device 1 is moving (the position of the autonomous cleaning device 1 is changing) from the self-position estimation based on the image I captured by the camera unit 41, the movement of the detected object O is It can be determined that it is possible. Further, for example, when the relative distance to a surrounding object other than the object to be detected O, such as the wall of a living room, changes using an infrared sensor, it can be determined that the object to be detected O can move. .

There are the following methods for indirectly testing the propriety of movement based on the sensor detection results. First, an attempt is made to move the object O by pressing the main body 2 against the object O to be detected. Then, for example, when the drive wheels 26 of the moving unit 11 are rotating without idling as in the fourth condition, it can be determined that the object O can be moved. Further, for example, by detecting the amount of displacement of the bumper pressed against the detected object O by the bumper sensor, it can be determined that the detected object O can be moved. Specifically, if the bumper is pressed against the detected object O that is difficult to move, the bumper is pushed to the maximum amount of displacement within the movable range. Therefore, when the bumper sensor detects that the bumper has been pushed to the maximum displacement amount, it can be determined that the object O cannot be moved. In addition, it is possible to move the object O to be detected by judging the change in the frictional force (or coefficient of friction) between the object O and the surface to be cleaned (change from static friction to dynamic friction) from the change in the pushing amount of the bumper. can determine whether When the object to be detected O starts to move, the frictional force between the object to be detected O and the surface to be cleaned decreases, and the pushing amount of the bumper decreases. While the object to be detected O is moving, the frictional force between the object to be detected O and the surface to be cleaned is stabilized, and the pushing amount of the bumper is also stabilized. When the bumper sensor detects such a change in the pushing amount of the bumper, it can be determined that the detected object O can be moved.

FIG. 5 is a schematic plan view of the autonomous cleaning device attempting to move the object to be detected according to the embodiment of the present invention.

As shown in FIG. 5, the second movement control unit 56 of the autonomous cleaning device 1 according to the present embodiment sets the movement schedule of the object O to be detected before controlling the movement unit 11 to move the object O to be detected. Pre-clean the location PS. The planned movement place PS may be, for example, a predetermined range PSa centered on the current position of the object O to be detected, or may be limited to a planned destination PSb of the object O to be detected. Further, the scheduled movement place PS may be cleaned only when the detected object O satisfies the movement target condition, or even before it is determined whether or not the detected object O satisfies the movement target condition. good. For example, when moving around the object O to measure the depth dimension of the object O, the area around the object O may be cleaned at the same time as the planned movement location PS. Furthermore, by comprehensively cleaning the surface to be cleaned that can be cleaned without moving the object to be detected O before controlling the moving unit 11 to move the object to be detected O, cleaning of the planned movement location PS can be achieved. You can replace it. Before judging the fourth condition, it is preferable to clean the circumference of the object O to be detected.

Then, the second movement control unit 56 moves the object O to be detected when the object to be detected O satisfies the condition for movement after cleaning the planned movement place PS of the object to be detected O in advance. to control the moving part 11 (second movement mode). In the first to third conditions for non-contact determination, the main body 2 contacts the object O to be detected for the first time when controlling the moving section 11 to move the object O to be detected. In the fourth condition, which is determined by contacting the object O to be detected, the main body 2 controls the moving section 11 so as to move the object O after the object O has moved the movement reference distance or more.

When the detected object O satisfies the movement target condition, the movement control unit 58 causes the main body 2 to approach or contact the detected object O based on the detection result of the proximity detection unit 42 or the contact detection unit 43 . , and collision avoidance control (obstacle avoidance control). That is, in the first to third conditions for non-contact determination, even when the proximity detection unit 42 detects the object O, the movement control unit 58 approaches, touches, and Disable the control to avoid collision (obstacle avoidance control). Further, in the fourth condition in which determination is made by contacting the object O to be detected, the movement control unit 58 determines whether the object O is detected even when the proximity detection unit 42 and the contact detection unit 43 detect the object O to be detected. Invalidate the control (obstacle avoidance control) for avoiding contact and collision with O.

The second movement control unit 56 moves the object O by a predetermined movement amount L when the object O can be moved. This movement amount L is, for example, larger than the dimension in the direction of movement of the object O, and is set to a distance that allows the cleaning unit 12 to reliably clean the surface to be cleaned exposed by the movement of the object O to be detected. This movement amount L may be constant regardless of the object O to be detected or the environment of the cleaning place, or may be constant depending on the properties of the object O to be detected (e.g., width, height, depth, and shape) and the cleaning distance. It may be appropriately changed according to the environment of the place (whether it is close to a wall or not). The moving speed at this time is preferably set to be smaller than the moving speed (moving speed in the first moving mode) for normal cleaning.

For example, the second movement control unit 56 can acquire the depth dimension of the object to be detected O from the detection result of the detection unit 13, and when the object to be detected O can be moved, the object can be moved according to the depth dimension. Move the detection object O. This amount of movement L is larger than the depth dimension of the object O to be detected when the object O is pushed from the front (or back) to move, and the cleaning unit 12 cleans the surface to be cleaned exposed by the movement of the object O to be detected. is set to a distance that can be reliably cleaned. The moving speed at this time is also preferably set to be smaller than the moving speed for normal cleaning.

Further, the second movement control unit 56 controls the moving unit 11 to move the object O to be detected with the cleaning unit 12 brought closer to the object to be detected O, and moves the object O to be detected. The cleaning part 12 according to this embodiment is arranged near the front end of the main body 2 . Therefore, the second movement control unit 56 controls the moving unit 11 so as to move the detection object O in the forward direction with the front end of the main body 2 brought close to the detection object O, and moves the detection object O forward. move. Note that when the cleaning unit 12 is arranged near the rear end of the main body 2 , the second movement control unit 56 reverses the main body 2 to move the object O to be detected in the backward direction of the autonomous cleaning device 1 . and move the object O to be detected.

A determination as to whether or not the detected object O that satisfies the movement target condition is actually movable is made by, for example, whether or not the driving wheels 26 are idle or rotation is blocked, as in the fourth condition. . When the driving wheel 26 is idling or the rotation is blocked, the autonomous cleaning device 1 moves the object O to be detected against the frictional resistance between the object to be detected O and the surface to be cleaned. I can't. Therefore, the second movement control unit 56 judges that it is impossible to actually move the object O to be detected when the drive wheels 26 are spinning or the rotation is blocked. stop moving.

FIG. 6 is a schematic plan view illustrating the relationship between the destination and the environment map when the autonomous cleaning device according to the embodiment of the present invention moves the object to be detected.

As shown in FIG. 6, when the object to be detected O is moved, the second movement control unit 56 of the autonomous cleaning device 1 according to the present embodiment displays the movement source POD of the object to be detected O on the environment map. Identifies the destination POA. The identification here may be, for example, recording the source POD and the destination POA in the data structure of the environmental map information, or recording the source POD and the destination POA in a separate data structure associated with the data structure of the environmental map information. The POD and destination POA may be recorded. The information identified as the movement source POD includes information on the location where the object O was placed before movement and information on the size of the object O in plan view. The information identified as the destination POA includes information on the location where the detected object O is placed after movement and information on the size of the detected object O in plan view.

By the way, in a cleaning place such as a general home, there are places that are not preferable as the destination POA of the object O to be detected. For example, when the object to be detected O is moved in front of the door C of the entrance to the living room, particularly in front of the hinged door that rotates toward the inside of the living room (destination nPOA where it is not preferable to move in FIG. There is a risk that the object to be detected O will be damaged by the movement of the hinged door. In addition, even if the doorway of a living room without a door C or the doorway of a living room with the door C left open, the doorway is blocked by the detected object O because the detected object O is moved. It is conceivable that the cleaning device 1 leaves the living room and cannot move to a corridor or another living room.

Therefore, the autonomous cleaning device 1 identifies the unmovable area MUA or the movable area MEA of the detected object O identified on the environmental map and stores it in the map information storage unit 51 . The identification here may be, for example, recording the unmovable area MUA or the movable area MEA in the data structure of the environmental map information, or separate data associated with the data structure of the environmental map information. The structure may record the immovable area MUA or the movable area MEA. If one of the immovable area MUA and the movable area MEA is identified, the other is identified as the remainder. The unmovable area MUA and the movable area MEA can be identified by the user himself on the environmental map displayed on the display unit 16, or can be identified autonomously by the second movement control unit 56. is also possible.

For example, the user can use the stylus pen on the environment map displayed on the display unit 16 for a place where it is difficult for the autonomous cleaning device 1 to autonomously identify the unmovable area MUA, such as a hinged door that rotates toward the inside of a living room. The immovable area MUA is manually identified using an input device (not shown) such as .

In addition, the second movement control unit 56 identifies the periphery of a sharply narrowed area such as a doorway leading from a room to a hallway, for example, a radius of 1 meter as a movement-impossible area MUA. If the object to be detected O is moved to a location that narrows sharply, such as a doorway leading from a living room to a corridor, it becomes impossible to come and go between the living room and the corridor. Therefore, the second movement control unit 56 autonomously identifies the immovable area MUA in order to ensure the traffic between the living room and the corridor.

Furthermore, the second movement control unit 56 simulates whether or not the surface to be cleaned can be moved comprehensively assuming that the object to be detected O is moved, and moves the surface to be cleaned comprehensively. Locations that may be blocked may be identified as unmovable areas MUA. For example, when the second movement control unit 56 assumes that the object to be detected O is moved to a location that narrows sharply, such as a doorway leading from a living room to a hallway, the doorway is blocked by the object to be detected O. It is simulated whether or not the movement of the surface to be cleaned comprehensively is not hindered, and a place (virtual destination nPOA) where there is a possibility that the entrance/exit may be blocked by the object to be detected O is identified as a non-movable area. Identify as MUA. It is possible that the detected object O deviates from the moving direction of the autonomous cleaning device 1 and cannot be moved as intended. Therefore, the second movement control unit 56 simulates whether or not the surface to be cleaned can be moved comprehensively even while the object to be detected O is being moved, and moves the surface to be cleaned comprehensively. may be identified as an unmovable area MUA moment by moment.

Then, the second movement control unit 56 moves the object O to avoid the immovable area MUA, or moves the object O to the movable area MEA. These movements are controlled by adjusting the movement amount L to move the detection object O within the movable area MEA and adjusting the movement direction so that the detection object O does not enter the unmovable area MUA. and moving the object O to be detected within the movable area MEA. Further, the control of these movements includes adjusting the movement amount L to move the object O into the movable area MEA so that the object O is removed from the non-movable area MUA, and moving the object O into the movable area MEA. to move the detected object O into the movable area MEA.

In addition, the second movement control unit 56 moves the object O to a place with a wider space. In the case shown in FIG. 6, the second movement control unit 56 moves the detected object O toward the center of the room as a large room.

The second movement control unit 56 moves the object O to be covered by the object O because of the relative position between the wall of the living room and the object O to be detected. It may not be possible to expose the entire surface to be cleaned. Therefore, even if it is obvious that the entire surface to be cleaned covered with the object O cannot be exposed even if the object O is moved, the second movement control unit 56 moves the object O to the extent possible. It is preferable to move the object O to clean the exposed surface to be cleaned (corresponding to a part of the surface to be cleaned covered by the object O to be detected).

Then, after the object O to be detected is moved, the cleaning control unit 59 cleans the place exposed by the movement of the object O to be detected.

When the object to be detected O is moved, the second movement control unit 56 returns the object to be detected O to the original location (source POD) before movement after the surface to be cleaned of the source POD is cleaned. Movement 11 may be controlled to return.

Further, when the object O is moved, the second movement control unit 56 may collect the object O to the pickup location identified on the environment map. The identification here may be, for example, recording the pickup location in the data structure of the environmental map information, or recording the pickup location in a separate data structure associated with the data structure of the environmental map information. It can be. The pickup location may be predetermined, such as the corner of the living room, or may be arbitrarily set by the user.

In the autonomous cleaning device 1 according to the present embodiment, the pressing portion 23 of the main body 2 is brought into contact with the detected object O to move the detected object O. Not limited. For example, the autonomous cleaning device 1 may hook the object O to be detected with a claw and pull it away.

As described above, the autonomous cleaning device 1 according to the present embodiment includes the moving object determination unit 55 that determines whether or not the detected object O satisfies the predetermined moving target condition, and the moving target condition for the detected object O. is satisfied, the moving unit 11 is controlled so that the object O is moved by the force generated by the moving unit 11 . For this reason, the autonomous cleaning device 1 can detect an object O that cannot be moved, such as a wall of a living room, or an object O that is estimated to be difficult to move with the driving force generated by the moving unit 11. While avoiding the movement of the object to be detected O placed on the surface to be cleaned as much as possible, the exposed surface to be cleaned can be cleaned to reduce uncleaned areas.

Further, the autonomous cleaning device 1 according to the present embodiment moves the object O to be detected by a predetermined amount of movement L when the object to be detected O can be moved. Therefore, the autonomous cleaning device 1 can remove the detected object O placed on the surface to be cleaned, clean the exposed surface to be cleaned, and reduce uncleaned areas.

Furthermore, the autonomous cleaning device 1 according to the present embodiment moves the object O to be detected by the force generated by the moving unit 11 when the width dimension of the object to be detected O is equal to or less than the predetermined first judgment reference value. The moving unit 11 is controlled as follows. Therefore, the autonomous cleaning device 1 can control the moving part 11 so as to move the detected object O that is estimated to match the shape and size of the main body 2 and the driving force that the moving part 11 can generate. . The autonomous cleaning device 1 controls the moving part 11 so as to move the detected object O, which is presumed to be unsuitable for the shape and size of the main body 2 and the driving force that the moving part 11 can generate. waste of time spent on trials) can be eliminated.

Further, the autonomous cleaning device 1 according to the present embodiment moves the object O to be detected by the force generated by the moving unit 11 when the height dimension of the object to be detected O is equal to or less than the predetermined second judgment reference value. The moving unit 11 is controlled so as to allow Therefore, the autonomous cleaning device 1 can control the moving part 11 so as to move the detected object O that is estimated to match the shape and size of the main body 2 and the driving force that the moving part 11 can generate. . The autonomous cleaning device 1 controls the moving part 11 so as to move the detected object O, which is presumed to be unsuitable for the shape and size of the main body 2 and the driving force that the moving part 11 can generate. waste of time spent on trials) can be eliminated.

Further, the autonomous cleaning device 1 according to the present embodiment moves the object O to be detected by the force generated by the moving part 11 when the shape of the object to be detected O satisfies the predetermined criterion shape. 11 is controlled. Therefore, the autonomous cleaning device 1 can control the moving part 11 so as to move the detected object O that is estimated to match the shape and size of the main body 2 and the driving force that the moving part 11 can generate. . The autonomous cleaning device 1 controls the moving part 11 so as to move the detected object O, which is presumed to be unsuitable for the shape and size of the main body 2 and the driving force that the moving part 11 can generate. wasteful consumption and time spent on trials), and the risk of entanglement in the moving part 11 with an indeterminate object such as clothing can be reduced.

In addition, the autonomous cleaning device 1 according to the present embodiment cleans the planned movement location of the object O to be detected in advance before controlling the moving unit 11 to move the object O to be detected. Therefore, the autonomous cleaning device 1 can reduce cleaning residue that is newly generated as the object O is moved.

Furthermore, the autonomous cleaning device 1 according to the present embodiment cleans the place exposed by the movement of the object O after the object O is moved. In other words, the autonomous cleaning device 1 moves the object O to be detected instead of cleaning the exposed surface to be cleaned while moving the object O to be detected. Later, the place exposed by the movement of the detected object O is cleaned. Therefore, the autonomous cleaning device 1 can clean the exposed surface to be cleaned more reliably.

Further, the autonomous cleaning device 1 according to the present embodiment stops the suction cleaning unit 31 when controlling the moving unit 11 to move the object O to be detected. Therefore, the autonomous cleaning device 1 moves objects O that are inappropriate to be sucked into the suction cleaning unit 31, for example, clothes that accidentally satisfy the movement target condition due to the way they are folded. to avoid being inhaled into the air.

Further, the autonomous cleaning device 1 according to the present embodiment controls the moving unit 11 so as to move the object O with the cleaning unit 12 brought closer to the object O, and moves the object O. Let When the autonomous cleaning device 1 includes the wiping unit 32, the moving unit 11 is controlled to move the object O with the wiping unit 32 brought close to the object O, and the object O is moved. By moving, the amount of movement of the object O to be detected can be suppressed, and power consumption can be suppressed. Further, when the autonomous cleaning device 1 is provided with the suction cleaning unit 31, the moving unit 11 is controlled so as to move the detected object O in a posture in which the suction cleaning unit 31 is brought closer to the detected object O. By moving the detection object O, the area between the detection object O can be reliably cleaned after the detection object O is moved.

Further, the autonomous cleaning device 1 according to the present embodiment can acquire the depth dimension of the object O to be detected from the detection result of the detection unit 13, and when the object O can be moved, the depth dimension Therefore, the autonomous cleaning device 1 can eliminate the waste of moving the object O more than necessary (wasteful consumption of electric power and waste of time spent on trials). can.

Further, when the depth dimension of the detected object O cannot be acquired from the detection result of the detection unit 13, the autonomous cleaning device 1 according to the present embodiment moves around the detected object O to obtain the depth dimension. try to get. Therefore, when the depth dimension of the object O to be detected can be obtained, the autonomous cleaning device 1 moves the object O more than necessary (wasteful consumption of power and waste of time spent on trials). can be eliminated.

Further, the autonomous cleaning device 1 according to the present embodiment moves the object O to avoid the immovable area MUA, or moves the object O to the movable area MEA. Therefore, the autonomous cleaning device 1 can avoid the inconvenience associated with moving the detected object O (the moved detected object O obstructs the opening and closing of the door, etc.).

Further, when the object O is moved, the autonomous cleaning device 1 according to the present embodiment identifies the destination of the object O to be detected on the environment map. Therefore, the autonomous cleaning device 1 moves the object O again, which is a waste of work accompanying the movement of the object O, for example, the object O that has already been moved once to clean the surface to be cleaned at the source of movement. Such waste (wasteful consumption of electric power and wasteful time spent on trials) can be eliminated.

Further, when the object O to be detected is moved, the autonomous cleaning device 1 according to the present embodiment controls the moving part 11 so as to return the object to be detected O to the original position before the movement. Therefore, the autonomous cleaning device 1 can prevent the user from forgetting the existence of the object to be detected O and searching around for it.

Furthermore, the autonomous cleaning apparatus 1 according to the present embodiment collects the objects O to the pickup location identified on the environment map when the objects O are moved. Therefore, it is possible to prevent the user from forgetting the existence of the detected object O and to search around for the detected object O by moving the object O, and to keep the detected object O in order.

Further, the autonomous cleaning device 1 according to this embodiment includes a display section 16 capable of displaying an environmental map. Therefore, the autonomous cleaning device 1 can notify that the detected object O has been moved and the location (destination) to which the detected object O has been moved.

Furthermore, the autonomous cleaning device 1 according to the present embodiment controls the moving part 11 so as to push and move the object O to be detected. Therefore, the autonomous cleaning device 1 can move the detected object O with the main body 2 without using a special device.

Further, the autonomous cleaning device 1 according to the present embodiment has a pressing portion 23 that has a linear shape in a plan view and is provided at a position that can be pressed against the object O to be detected. Therefore, the autonomous cleaning device 1 pushes the detected object O straight in the traveling direction, and can avoid the detected object O deviating in an unintended direction.

Therefore, according to the autonomous cleaning device 1 according to the present embodiment, it is possible to perform cleaning more reliably according to the detected object O (obstacle) left on the surface to be cleaned, thereby reducing uncleaned areas.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Autonomous cleaning apparatus, 2... Main body, 3... Secondary battery, 5... Charging base, 6... Power cord, 11... Moving part, 12... Cleaning part, 13... Detection part, 15... Control part, 16... Display Part 21 Main body case 22 Bumper 23 Pressing part 26 Driving wheel 27 Electric motor 28 Driven wheel 31 Suction cleaning part 32 Wiping cleaning part 34 Suction port 35 Rotation Brush 36 Electric motor for brush 37 Dust container 38 Electric blower 39 Wiping sheet 41 Camera unit 42 Proximity detection unit 43 Contact detection unit 45 Distance measuring device 45a Light emission Part 45b... Light receiving part 47... Communication part 47a... Transmission part 47b... Reception part 51... Map information storage part 52... Autonomous movement control part 53... Detection control part 55... Moving object determination part 56 ... second movement control section, 58 ... movement control section, 59 ... cleaning control section, 61 ... detection result storage section.

Claims (17)

the main body;
a moving part that moves the main body;
a detection unit that detects an object to be detected around the main body;
a determination unit that determines whether or not the detected object satisfies a predetermined movement target condition;
a movement control unit that controls the movement unit to move the object to be detected by the force generated by the movement unit when the object satisfies the movement target condition ;
The movement target condition includes a determination as to whether or not the body can be pressed against the object to be detected to move the object;
The movement control section generates a first movement mode in which normal cleaning is performed except when the detection section detects the object to be detected, and the movement section occurs when the detection object satisfies the movement target condition. controlling the moving unit in both a second movement mode in which the object to be detected is moved by the force applied,
The moving part moves the main body at a speed lower than the speed at which the main body is moved in the first movement mode when determining the movement target condition . 2. The autonomous cleaning device according to claim 1, wherein the speed at which the main body is moved when determining the movement target condition is lower than the speed at which the main body is moved in the second movement mode. further comprising a storage unit that stores an environment map of a cleaning location to be cleaned by the autonomous cleaning device and that stores an immovable area of the detected object identified on the environment map;
In the first movement mode, the movement control section controls the movement section so as to clean the entire cleaning area based on the environment map. 3. The autonomous cleaning device according to claim 1, wherein said moving part is controlled to move said detected object to an area outside the possible area. The movement control unit controls the movement unit so as to move the object to avoid passing through the immovable area when moving the object to an area outside the immovable area. 4. The autonomous cleaning device of claim 3. 5. Autonomy according to any one of claims 1 to 4, wherein said movement control unit cleans in advance a planned movement location of said object before controlling said movement unit to move said object. Mold cleaning device. The determination unit is capable of measuring the height dimension of the detected object based on the result of the detection unit,
The autonomous cleaning device according to any one of claims 1 to 5 , wherein the movement target condition further includes that the height dimension of the object to be detected is equal to or less than a predetermined second judgment reference value. The determination unit is capable of recognizing the shape of the detected object based on the result of the detection unit,
The autonomous cleaning device according to any one of claims 1 to 6 , wherein the movement target condition further includes that the shape of the object to be detected satisfies a predetermined criterion shape. Equipped with a suction cleaning part that generates negative pressure and sucks dust,
The autonomous cleaning according to any one of claims 1 to 7 , wherein the cleaning control unit stops the suction cleaning unit when controlling the moving unit to move the object to be detected. Device. a cleaning unit for cleaning a surface to be cleaned below the main body;
9. The movement control section according to any one of claims 1 to 8 , wherein the movement control section controls the moving section so as to move the object to be detected in a posture in which the cleaning section is brought closer to the object to be detected, and moves the object to be detected. 1. The autonomous cleaning device according to claim 1. The movement control unit is capable of acquiring the depth dimension of the object to be detected from the detection result of the detection unit, and when the object can be moved, the movement control unit moves the object to be detected according to the depth dimension. 10. An autonomous cleaning device according to any one of claims 1 to 9 which moves the . 11. The determination unit according to claim 10 , wherein, when the depth dimension of the object cannot be acquired from the detection result of the detection unit, the judgment unit moves around the object to try to acquire the depth dimension. autonomous cleaning device. 12. The movement control unit according to any one of claims 1 to 11, wherein the movement control unit has an environment map of a cleaning place, and when the object to be detected is moved, the destination of the object to be detected is identified on the environment map. The autonomous cleaning device according to . 13. The autonomous cleaning device according to claim 12 , wherein, when the object to be detected is moved, the movement control unit controls the moving unit so as to return the object to be detected to the original position before movement. 13. The autonomous cleaning device according to claim 12 , wherein when the object is moved, the movement control unit collects the object to a pickup location identified on the environmental map. 15. The autonomous cleaning device according to any one of claims 12 to 14 , further comprising a display capable of displaying said environment map. The autonomous cleaning device according to any one of claims 1 to 15 , wherein the moving part is controlled to push and move the object to be detected. 17. The autonomous cleaning device according to claim 16 , wherein the main body has a linear shape in a plan view and includes a pressing portion provided at a position capable of being pressed against the object to be detected.

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