WO2016104640A1 - 電気掃除機 - Google Patents
電気掃除機 Download PDFInfo
- Publication number
- WO2016104640A1 WO2016104640A1 PCT/JP2015/086093 JP2015086093W WO2016104640A1 WO 2016104640 A1 WO2016104640 A1 WO 2016104640A1 JP 2015086093 W JP2015086093 W JP 2015086093W WO 2016104640 A1 WO2016104640 A1 WO 2016104640A1
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- WIPO (PCT)
- Prior art keywords
- vacuum cleaner
- image
- body case
- main body
- cameras
- Prior art date
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- 238000004140 cleaning Methods 0.000 claims abstract description 65
- 238000004364 calculation method Methods 0.000 claims description 43
- 238000003384 imaging method Methods 0.000 claims description 34
- 238000005286 illumination Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 19
- 238000012545 processing Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 11
- 239000000428 dust Substances 0.000 description 10
- 238000003860 storage Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
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- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 238000010407 vacuum cleaning Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/579—Depth or shape recovery from multiple images from motion
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- G06T7/70—Determining position or orientation of objects or cameras
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G—PHYSICS
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Definitions
- Embodiment of this invention is related with the vacuum cleaner which can drive
- sensors such as an ultrasonic sensor and an infrared sensor are used for detecting obstacles that hinder travel.
- an ultrasonic sensor for example, when a soft curtain, thin cords, or the like are in the traveling direction, the ultrasonic wave is not properly reflected and detection as an obstacle is not easy.
- an infrared sensor when the object is black or thin cords, the reflected infrared light cannot be properly received, and obstacle detection is easy. Not.
- the problem to be solved by the present invention is to provide a vacuum cleaner with improved obstacle detection accuracy.
- the vacuum cleaner of the embodiment includes a main body case, drive wheels, control means, a cleaning unit, imaging means, and calculation means.
- the drive wheel is allowed to travel in the main body case.
- the control means causes the main body case to autonomously travel by controlling driving of the drive wheels.
- the cleaning unit cleans the surface to be cleaned.
- the image pickup means is arranged so as to be separated from the main body case, and picks up an image of the traveling direction side of the main body case so that the fields of view overlap each other.
- the calculation means calculates the depth of the object from these image pickup means based on the image picked up by these image pickup means.
- FIG. 1 It is a block diagram which shows the internal structure of the vacuum cleaner of 1st Embodiment. It is a perspective view which shows a vacuum cleaner same as the above. It is a top view which shows a vacuum cleaner same as the above from the downward direction. It is explanatory drawing which shows typically the vacuum cleaning system containing a vacuum cleaner same as the above. It is explanatory drawing which shows typically the calculation method of the depth of the object by the calculation means of a vacuum cleaner same as the above. (a) is an explanatory view showing an example of an image taken by one imaging means, (b) is an explanatory view showing an example of an image taken by the other imaging means, (c) is (a) and (b FIG.
- FIG. 6 is an explanatory diagram illustrating an example of a distance image generated based on ().
- (a) is explanatory drawing which shows typically the production
- (b) is explanatory drawing which shows the map produced
- reference numeral 11 denotes a vacuum cleaner.
- the vacuum cleaner 11 is a charging device (charging stand) 12 (not shown) as a base device that serves as a charging base portion of the vacuum cleaner 11. 7 (a)) constitutes an electric cleaning device (electric cleaning system).
- the vacuum cleaner 11 is a so-called self-propelled robot cleaner (cleaning robot) that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface to be cleaned as a traveling surface.
- wired communication or wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark) with a home gateway (router) 14 as a relay means (relay unit) disposed in a cleaning area or the like.
- a general-purpose server 16 By communicating (transmitting / receiving) using communication, a general-purpose server 16 as a data storage means (data storage part) or a general-purpose server as a display means (display part) via an (external) network 15 such as the Internet. Wired or wireless communication with the external device 17 or the like is possible.
- the vacuum cleaner 11 includes a hollow main body case 20, a traveling unit 21 that travels the main body case 20 on a floor surface, a cleaning unit 22 that cleans dust such as the floor surface, and a charging device 12.
- a control means for controlling the communication unit 23 that communicates with an external device the imaging unit 25 that captures an image, the sensor unit 26, the traveling unit 21, the cleaning unit 22, the communication unit 23, the imaging unit 25, and the like
- a control unit (controller) 27 and a secondary battery 28 that supplies power to the traveling unit 21, the cleaning unit 22, the communication unit 23, the imaging unit 25, the sensor unit 26, the control unit 27, and the like are provided.
- the direction along the traveling direction of the vacuum cleaner 11 is defined as the front-rear direction (arrow FR, RR direction shown in FIG. 2), and the left-right direction intersecting (orthogonal) with the front-rear direction (The description will be made assuming that the width direction is the width direction.
- the main body case 20 is formed in a flat columnar shape (disc shape), for example, with synthetic resin or the like. That is, the main body case 20 includes a side surface portion 20a, and an upper surface portion 20b and a lower surface portion 20c that are continuous with the upper and lower portions of the side surface portion 20a, respectively.
- the side surface portion 20a of the main body case 20 is formed by connecting an upper surface portion 20b and a lower surface portion 20c, and is formed in a substantially cylindrical surface shape.
- an imaging unit 25 is disposed on the side surface portion 20a. Yes.
- the upper surface portion 20b and the lower surface portion 20c of the main body case 20 are each formed in a substantially circular shape, and the lower surface portion 20c facing the floor surface has a suction port 31 that is a dust collection port, and an exhaust port 32. Etc. are opened.
- the traveling unit 21 includes a plurality of (a pair of) driving wheels 34 and 34 as driving units, motors 35 and 35 that are driving means (driving bodies) as driving units that drive the driving wheels 34 and 34, and a turning unit.
- the swivel wheel 36 is provided.
- Each drive wheel 34 causes the vacuum cleaner 11 (main body case 20) to travel in the forward and backward directions on the floor (autonomous traveling), that is, for traveling, and rotates not shown along the left-right width direction. It has an axis and is arranged symmetrically in the width direction.
- Each motor 35 is arranged corresponding to each of the driving wheels 34, for example, and can drive each driving wheel 34 independently.
- the swivel wheel 36 is a driven wheel that is positioned at the front and substantially at the center of the lower surface of the main body case 20 in the width direction, and can be swung along the floor surface.
- the cleaning unit 22 is located in the main body case 20, for example, an electric blower 41 that sucks dust together with air from the suction port 31 and exhausts it from the exhaust port 32, and a rotary cleaning body that is rotatably attached to the suction port 31 and scrapes up dust.
- Rotating brush 42 and brush motor 43 that rotationally drives the rotating brush 42
- auxiliary cleaning means as a swivel cleaning unit that is rotatably attached to both sides such as the front side of the body case 20 and scrapes dust
- the electric blower 41, the rotating brush 42 and the brush motor 43, and the side brush 44 and the side brush motor 45 may be provided with at least one of them.
- the communication unit 23 is a wireless LAN device as a wireless communication unit (wireless communication unit) and a vacuum cleaner signal reception unit (a vacuum cleaner signal reception unit) for wireless communication with the external device 17 via the home gateway 14 and the network 15 47, transmitting means (infrared signal) such as an infrared light emitting element for transmitting a wireless signal (infrared signal) to the charging device 12, etc., and a wireless signal (infrared signal) from the charging device 12 or a remote control not shown
- a receiving means (receiving unit) such as a phototransistor is provided.
- the wireless LAN device 47 transmits / receives various information to / from the network 15 via the home gateway 14 from the vacuum cleaner 11, and is built in the main body case 20, for example.
- the imaging unit 25 includes cameras 51 and 52 as (one and the other) imaging means (imaging unit body), and a lamp 53 such as an LED as an illumination unit (illumination unit) that provides illumination to the cameras 51 and 52. It has.
- the cameras 51 and 52 are arranged on both sides of the front portion of the side surface portion 20a of the main body case 20.
- the cameras 51 and 52 have a predetermined angle (equivalent to the left-right direction) with respect to the center line L in the width direction of the vacuum cleaner 11 (main body case 20) on the side surface portion 20a of the main body case 20. (Acute angle) It is arranged at an inclined position.
- these cameras 51 and 52 are arranged substantially symmetrically in the width direction with respect to the main body case 20, and the center positions of these cameras 51 and 52 are in the traveling direction of the vacuum cleaner 11 (main body case 20).
- these cameras 51 and 52 are arranged at substantially equal positions in the vertical direction, that is, at substantially equal height positions. For this reason, these cameras 51 and 52 are set to have substantially the same height from the floor surface with the vacuum cleaner 11 placed on the floor surface. Therefore, the cameras 51 and 52 are arranged to be spaced apart from each other (positions displaced in the left-right direction). Further, these cameras 51 and 52 are arranged in such a manner that a digital image is displayed at a predetermined horizontal angle of view (for example, 105 °) at a predetermined time, for example, every several tens of milliseconds.
- a predetermined horizontal angle of view for example, 105 °
- these cameras 51 and 52 have their respective visual fields V1 and V2 overlapped (FIG. 5), and images P1 and P2 (one and the other) captured by these cameras 51 and 52 (FIG. 6 (a) and In FIG. 6 (b), the imaging region is wrapped in the left-right direction in a region including a front position where the center line L in the width direction of the vacuum cleaner 11 (main body case 20) is extended.
- these cameras 51 and 52 capture an image in the visible light region, for example.
- the images captured by these cameras 51 and 52 can be compressed into a predetermined data format by an image processing circuit (not shown), for example.
- the lamp 53 outputs illumination light when an image is captured by the cameras 51 and 52, and is disposed at an intermediate position between the cameras 51 and 52, that is, a position on the center line L of the side surface portion 20a of the main body case 20.
- the lamp 53 is disposed at a position substantially equal to the cameras 51 and 52 in the vertical direction, that is, at a substantially equal height. Therefore, the lamp 53 is disposed at a substantially central portion in the width direction of the cameras 51 and 52.
- the lamp 53 illuminates light including a visible light region.
- the sensor unit 26 includes, for example, a rotation speed sensor 55 such as an optical encoder that detects the rotation speed of each drive wheel 34 (each motor 35).
- the rotation speed sensor 55 detects the turning angle and travel distance of the electric vacuum cleaner 11 (main body case 20) based on the measured rotation speed of the drive wheel 34 (motor 35). Accordingly, the rotation speed sensor 55 is a position detection sensor that detects the relative position of the vacuum cleaner 11 (main body case 20) from a reference position such as the charging device 12 (FIG. 7A).
- the control unit 27 includes, for example, a CPU that is a control unit main body (control unit main body), a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and a work area that is a work area for data processing by the program
- the microcomputer includes a RAM (not shown) that is an area storage unit that dynamically forms various memory areas.
- the control unit 27 further includes, for example, a memory 61 as a storage unit (storage unit) that stores data of images captured by the cameras 51 and 52, and the cameras 51 and 52 based on images captured by the cameras 51 and 52.
- Depth calculation unit 62 as a calculation unit (calculation unit) for calculating the depth of the object from the map, a map generation unit (map generation unit) for generating a map of the cleaning area based on the depth of the object calculated by the depth calculation unit 62
- the image generation unit 64 as an image generation means (image generation unit) for generating a distance image based on the depth of the object calculated by the depth calculation unit 62
- the depth calculated by the depth calculation unit 62 A determination unit 65 as an obstacle determination unit (obstacle determination unit) for determining an obstacle based on
- the control unit 27 includes a travel control unit 66 that controls operations of the motors 35 and 35 (drive wheels 34 and 34) of the travel unit 21, an electric blower 41, a brush motor 43, and a side brush motor 45 of the cleaning unit 22.
- a cleaning control unit 67 that controls the operation, an imaging control unit 68 that controls the cameras 51 and 52 of the imaging unit 25, an illumination control unit 69 that controls the lamp 53 of the imaging unit 25, and the like are provided. And this control part 27 drives the driving wheels 34 and 34 (motors 35 and 35), for example, the driving mode which makes the vacuum cleaner 11 (main body case 20) autonomously run, and the secondary battery via the charging device 12. There are a charging mode for charging 28 and a standby mode for standby operation.
- the memory 61 is a non-volatile memory such as a flash memory that holds various data stored regardless of whether the electric power of the vacuum cleaner 11 is turned on or off.
- the depth calculation unit 62 uses a known method for calculating the depth of the object O based on the images captured by the cameras 51 and 52 and the distance between the cameras 51 and 52 (FIG. 5). That is, the depth calculation unit 62 applies triangulation, detects pixel dots indicating the same position from each image captured by the cameras 51 and 52, and calculates the vertical and horizontal angles of the pixel dots. From these angles and the distance between the cameras 51 and 52, the depth of the position from the cameras 51 and 52 is calculated. Therefore, the images captured by the cameras 51 and 52 are preferably overlapped (wrapped) as much as possible.
- the image processing unit 63 calculates the distance between the object around the vacuum cleaner 11 (main body case 20) and the vacuum cleaner 11 (main body case 20) from the depth of the object calculated by the depth calculation unit 62, and this distance And the position of the vacuum cleaner 11 (main body case 20) detected by the rotational speed sensor 55 of the sensor unit 26, the cleaning area CA where the vacuum cleaner 11 (main body case 20) is disposed, and the position within the cleaning area CA
- the map M (FIG. 7B) is generated by calculating the positional relationship of the object to be operated.
- the image generation unit 64 generates a distance image indicating the depth of the object calculated by the depth calculation unit 62.
- the distance image is generated by the image generator 64 by converting the depth calculated by the depth calculator 62 into gradations that can be identified by visual recognition, such as brightness or color tone, for each predetermined dot such as one dot of the image. Is displayed.
- the image generation unit 64 is a black and white image having a smaller brightness as the depth is larger, that is, the blacker the distance to the front from the vacuum cleaner 11 (main body case 20), the whiter the distance,
- the determination unit 65 determines whether the object is an obstacle based on the depth of the object calculated by the depth calculation unit 62. That is, the determination unit 65 extracts a portion in a predetermined range, for example, a predetermined rectangular image range A (FIG. 6C) in the distance image P3 from the depth calculated by the depth calculation unit 62, The depth of the object O in the image range A is compared with a set distance D (FIG. 5) which is a preset or variably set threshold, and a depth equal to or smaller than the set distance D (the vacuum cleaner 11 (main body It is determined that the object O located at a distance) from the case 20) is an obstacle.
- the image range A is set according to the vertical and horizontal sizes of the vacuum cleaner 11 (main body case 20). That is, the image range A is set up, down, left, and right in a range where the vacuum cleaner 11 (main body case 20) is in direct contact with the image range A.
- the traveling control unit 66 controls the driving of the motors 35 and 35 by controlling the magnitude and direction of the current flowing through the motors 35 and 35, thereby rotating the motors 35 and 35 forward or backward. By controlling the driving of 35 and 35, the driving of the driving wheels 34 and 34 is controlled.
- the cleaning control unit 67 separately controls the conduction angle of the electric blower 41, the brush motor 43, and the side brush motor 45, whereby the electric blower 41, the brush motor 43 (the rotating brush 42), and the side brush motor The drive of 45 (side brush 44) is controlled.
- a controller may be provided separately for each of the electric blower 41, the brush motor 43, and the side brush motor 45.
- the imaging control unit 68 includes a control circuit that controls the operation of the shutters of the cameras 51 and 52, and controls the cameras 51 and 52 to capture images at predetermined intervals by operating the shutters at predetermined intervals. To do.
- the illumination control unit 69 controls on / off of the lamp 53 through a switch or the like.
- the illumination control unit 69 includes a sensor that detects the brightness around the vacuum cleaner 11. When the brightness detected by the sensor is equal to or lower than a predetermined value, the lamp 53 is turned on. In this case, the lamp 53 is not turned on.
- the secondary battery 28 is electrically connected to, for example, charging terminals 71 and 71 as connection portions exposed on both sides of the rear portion of the lower surface of the main body case 20, and these charging terminals 71 and 71 are connected to the charging device 12 side. Are electrically and mechanically connected to each other to be charged via the charging device 12.
- the home gateway 14 is also called an access point and is installed in a building and connected to the network 15 by, for example, a wired connection.
- the server 16 is a computer (cloud server) connected to the network 15, and can store various data.
- the external device 17 can be wired or wirelessly communicated with the network 15 via the home gateway 14 inside the building, for example, and can be wired or wirelessly communicated with the network 15 outside the building.
- a general-purpose device such as a terminal (tablet PC) 17a and a smartphone (mobile phone) 17b.
- the external device 17 has at least a display function for displaying an image.
- the electric vacuum cleaner is roughly classified into a cleaning operation for cleaning with the electric vacuum cleaner 11 and a charging operation for charging the secondary battery 28 with the charging device 12. Since a known method using a charging circuit such as a constant current circuit built in the charging device 12 is used for the charging operation, only the cleaning operation will be described.
- an imaging operation for imaging a predetermined object by at least one of the cameras 51 and 52 in accordance with a command from the external device 17 or the like may be provided.
- the control unit 27 when the vacuum cleaner 11 reaches a preset cleaning start time or receives a cleaning start command signal transmitted from the remote controller or the external device 17, the control unit 27 is set in the standby mode. The mode is switched to the travel mode, and the control unit 27 (travel control unit 66) drives the motors 35 and 35 (drive wheels 34 and 34) to leave the charging device 12 by a predetermined distance. Next, the vacuum cleaner 11 causes the image processing unit 63 to generate a map of the cleaning area. That is, in the vacuum cleaner 11, the control unit 27 drives the motors 35 and 35 (drive wheels 34 and 34) at the position (by the travel control unit 66) to turn the vacuum cleaner 11 (main body case 20).
- images are captured by the driven cameras 51 and 52 (by the imaging control unit 68) (FIG. 7A), and based on the distance between these images and the cameras 51 and 52, the depth calculation unit 62 The distance between the object (wall, obstacle, etc.) surrounding the cleaning area CA and the vacuum cleaner 11 (main body case 20) is calculated. Then, based on the calculated distance and the relative position from the charging device 12 detected by the rotation speed sensor 55 of the sensor unit 26, that is, the own position, the image processing unit 63 generates a rough outline and layout of the cleaning area CA. Map. For example, as shown in FIG.
- a portion DA that becomes the blind spot of the cameras 51 and 52 may be generated in the generated map M.
- the vacuum cleaner 11 main body case 20
- measure the distance again in the same way, or measure the distance to the object while traveling The map can be completed sequentially.
- this map is stored in, for example, the memory 61 at the time of generation, it may be simply read from the memory 61 after the next cleaning, and does not need to be generated every time cleaning is performed, but is stored in the memory 61.
- the cleaning area CA different from the map may be cleaned or the layout of the object may change even in the same cleaning area CA, it can be generated appropriately according to the user's command or every predetermined period, for example.
- the once generated map may be updated as needed based on the depth measurement of the object during the cleaning operation.
- the vacuum cleaner 11 performs cleaning while autonomously running in the cleaning area CA based on the generated map.
- the front of the traveling direction is imaged by the cameras 51 and 52 driven by the control unit 27 (imaging control unit 68) (step 1). . At least one of these captured images can be stored in the memory 61.
- the depth calculation unit 62 detects the depth of an object and the like, and the image generation unit 64 determines the depth image from this depth. Is generated (step 2). Specifically, for example, when images P1 and P2 as shown in FIGS.
- the depth of the object imaged in the images P1 and P2 is calculated as a depth calculation unit.
- An example of the distance image P3 calculated by 62 and generated by the image generation unit 64 is shown in FIG. This distance image P3 can also be stored in the memory 61, for example.
- the determination unit 65 cuts out a predetermined image range A from the generated distance image P3 (step 3), compares the depth of an object located in the image range A with a predetermined threshold value, and determines the threshold value. It is determined whether there is an object below, in other words, whether there is an object within a predetermined set distance D within the image range A (step 4).
- step 4 If it is determined in step 4 that the distance is not less than the predetermined set distance D, that is, the depth is large, the vehicle continues to travel (step 5) and returns to step 1. On the other hand, if it is determined in step 4 that the distance is not longer than the predetermined setting distance D, in other words, the distance is not more than the predetermined setting distance D, it is determined that the object is an obstacle that obstructs traveling, The routine proceeds to a predetermined avoidance operation routine (step 6).
- the control unit 27 controls the driving of the motors 35 and 35 (drive wheels 34 and 34), and the vacuum cleaner 11 (main body case).
- the vacuum cleaner 11 Stop and turn to change the traveling direction at that position or a position retracted by a predetermined distance. After this avoidance operation routine, the vacuum cleaner 11 proceeds to step 5 and continues running. In this way, the vacuum cleaner 11 (main body case 20) autonomously travels to the corners while avoiding obstacles on the floor surface in the cleaning area CA, and controls the cleaning unit 22 to the control unit 27 (cleaning control unit 67). ) To clean the floor dust. That is, the electric vacuum cleaner 11 performs the next operation that continues, such as continuing the cleaning operation even if an obstacle is detected.
- the image data stored in the memory 61 is wireless when, for example, the vacuum cleaner 11 returns to the charging device 12, at any time during the cleaning operation, every predetermined time, or when there is a request from the external device 17.
- the data is transmitted to the server 16 via the home gateway 14 and the network 15 via the LAN device 47.
- the data that has been transmitted can be erased from the memory 61 or overwritten when new data is stored, so that the capacity of the memory 61 can be used efficiently.
- the server 16 can store image data transmitted from the vacuum cleaner 11 and download the image data in response to a request (access) from the external device 17.
- the external device 17 displays the image downloaded from the server 16.
- the cameras 51 and 52 are arranged at substantially the same position in the vertical direction, that is, at substantially the same height, so that each image captured by the cameras 51 and 52 is in the vertical direction. It overlaps right and left without almost deviating. For this reason, it is possible to secure a wide range where the images overlap each other, improve the efficiency of depth calculation by the depth calculation unit 62, and run the vacuum cleaner 11 (main body case 20) such as a ceiling or floor by the cameras 51 and 52.
- the depth calculation unit 62 Since there is less imaging in the range where it is difficult to become an obstacle at the time of calculation, the depth calculation unit 62 is likely to be an obstacle when driving the vacuum cleaner 11 (main body case 20) Therefore, it is efficient when the determination unit 65 determines an obstacle based on the calculated depth of the object.
- the cameras 51 and 52 capture an image in the visible light region, the captured image has good image quality, can be easily displayed visually by the user without performing complicated image processing, and is visible by the lamp 53. By illuminating the light including the light region, it is possible to reliably capture an image with the cameras 51 and 52 even in a dark place or at night.
- the cameras 51 and 52 are arranged at positions substantially equal to the left and right direction of the main body case 20 (side surface portion 20a), that is, vertically. You can also.
- the cameras 51 and 52 are arranged vertically on the center line L, that is, arranged vertically symmetrically, and the lamp 53 is arranged at an intermediate position between the cameras 51 and 52. As a result, the images picked up by the cameras 51 and 52 overlap vertically without substantially shifting in the left-right direction.
- the cameras 51 and 52 may be infrared cameras that capture images in the infrared region.
- the lamps 53 by illuminating the light including the infrared region with the lamp 53, a stable image can be obtained regardless of day or night, and the surroundings are not brightened even in a dark place or at night. An image can be taken in the dark.
- one of the cameras 51 and 52 may capture an image in the visible light region, and the other may capture an image in the infrared region. In this case, it is possible to easily display an image in the visible light region with good image quality so that the user can visually recognize it.
- the image is displayed on the external device 17 by the control unit 27, the image is displayed on the external device 17 by a dedicated program (application) installed in the external device 17, for example. It is also possible to perform processing as described above, or processing in advance by the control unit 27 or the server 16 and display by a general-purpose program such as a browser of the external device 17. That is, the display control means (display control unit) may be configured to display an image using a program stored in the server 16, a program installed in the external device 17, or the like.
- data such as images temporarily stored in the memory 61 is transmitted to the server 16 and stored in the server 16, but may be stored in the memory 61 as it is or stored in the external device 17. It may be left.
- the images captured by the cameras 51 and 52 and the distance image generated by the image generation unit 64 can be displayed not only on the external device 17 but also on a display unit provided in the vacuum cleaner 11 itself, for example.
- data need not be transmitted from the memory 61 to the server 16 via the home gateway 14 and the network 15, and the configuration and control of the vacuum cleaner 11 can be further simplified.
- a sensor such as a contact sensor for detecting obstacles at a position outside the visual field of the cameras 51 and 52, such as the rear part of the main body case 20, may be provided.
- a step detecting means such as an infrared sensor for detecting a step on the floor may be provided on the lower surface portion 20c of the main body case 20.
- the depth calculation unit 62, the image generation unit 64, the determination unit 65, the cleaning control unit 67, the imaging control unit 68, and the illumination control unit 69 are provided in the control unit 27, respectively. Any two or more may be combined arbitrarily.
- the depth calculation by the depth calculation unit 62 can be used not only at the time of cleaning work but also when the electric vacuum cleaner 11 (main body case 20) is traveling.
- the cameras 51 and 52 that image the traveling direction side of the main body case 20 are arranged apart from the main body case 20 so that their fields of view overlap each other.
- the depth calculation unit 62 By calculating the depth of the object from the cameras 51 and 52 by the depth calculation unit 62 based on the captured image, the physical properties of the object (softness and color, for example) compared to the case of using an infrared sensor or an ultrasonic sensor, for example. Etc.) and the object and its distance can be detected without missing a small object. Therefore, the obstacle detection accuracy can be improved.
- the depth calculation unit 62 calculates the depth of the object based on the images captured by the cameras 51 and 52 and the distance between the cameras 51 and 52, it requires special complicated calculation and processing. The depth of the object can be calculated accurately.
- the center positions of the cameras 51 and 52 substantially coincide with the center position in the width direction intersecting (orthogonal) with the traveling direction of the vacuum cleaner 11 (main body case 20), that is, the cameras 51 and 52 are connected to the vacuum cleaner 11 (main body case).
- the cameras 51 and 52 are arranged on the side surface portion 20a of the main body case 20, it is possible to easily take an image in front of the main body case 20 in the running direction, and the vacuum cleaner 11 (the main body case 20) such as a ceiling or a floor surface.
- the depth of the object that becomes an obstacle to travel of the vacuum cleaner 11 (main body case 20) can be efficiently calculated by the depth calculation unit 62.
- the side surface portion 20a of the main body case 20 is formed into a cylindrical surface, and the cameras 51 and 52 are arranged symmetrically from the center line L on the side surface portion 20a, so that the angle range of images captured by these cameras 51 and 52 can be changed.
- the depth calculation unit 62 can calculate the depth of the object more efficiently.
- a map of the cleaning area is generated by the image processing unit 63, so that the vacuum cleaner 11 (main body case 20) travels in the cleaning area such as during cleaning work. You can drive efficiently based on this map.
- both the cameras 51 and 52 can be illuminated with one lamp 53, and the configuration is simpler than when using a plurality of lamps.
- the direction of the light hit and the direction of the shadow are constant in the images taken by the cameras 51 and 52, it is difficult for disturbance to occur, and the depth calculation of the object based on these images becomes easier.
- the determination unit 65 determines whether the object is an obstacle, and the control unit 27 (running control unit 66) Since the driving of the drive wheels 34, 34 (motors 35, 35) is controlled so as to avoid the determined object, the accuracy of autonomous traveling can be improved, and the cleaning area can be more efficiently cleaned to every corner.
- an obstacle can be easily determined by the determination unit 65 based on the distance image.
- the user can check the position and traveling direction of the vacuum cleaner 11 (main body case 20), or obstruct the travel of the vacuum cleaner 11 (main body case 20). It becomes possible to grasp things. Accordingly, it is possible to prompt the user to voluntarily move or obstruct obstacles that hinder travel of the vacuum cleaner 11 (main body case 20).
- the determination unit 65 determines that an object that is closer than the predetermined distance in the predetermined image range in the distance image generated by the image generation unit 64 is an obstacle, so that the obstacle is detected from the entire distance image. If the image range is set corresponding to the position where the vacuum cleaner 11 (main body case 20) is expected to travel (running predicted position), the other positions can be processed. Even if an obstacle is present, the autonomous running of the vacuum cleaner 11 (main body case 20) is not affected. Therefore, the obstacle that hinders the running can be sufficiently detected only by the processing within this image range. Furthermore, by setting the upper limit of the image range corresponding to the height of the main body case 20, it is possible to detect a gap in the height direction in which the vacuum cleaner 11 (main body case 20) can enter.
- a control method for a vacuum cleaner characterized in that the center position of the camera of the vacuum cleaner substantially coincides with the center position in the width direction intersecting the traveling direction of the main body case.
- the method of controlling the vacuum cleaner characterized in that the camera of the vacuum cleaner is disposed on the side surface of the main body case.
- the method of controlling a vacuum cleaner characterized in that the camera of the vacuum cleaner is arranged at substantially the same position in the vertical direction.
- the method of controlling a vacuum cleaner characterized in that the camera of the vacuum cleaner is arranged at substantially the same position in the left-right direction.
- a control method for a vacuum cleaner characterized in that a map of a cleaning area is generated based on the calculated depth of an object.
- a control method for a vacuum cleaner wherein each camera captures an image of a visible light region in a state where light including a visible light region is illuminated.
- a control method for a vacuum cleaner characterized in that an infrared region image is captured by each camera in a state where light including the infrared region is illuminated.
- a control method for a vacuum cleaner wherein one camera captures an image in the visible light region and the other camera captures an image in the infrared region in a state where light including the infrared region is illuminated.
- a method of controlling a vacuum cleaner characterized by illuminating light at a position between the cameras.
- a control method for a vacuum cleaner characterized by determining whether an object is an obstacle based on the calculated depth of the object and avoiding the object determined as an obstacle.
- a control method for a vacuum cleaner characterized in that the depth of an object is calculated based on an image captured by each camera and the distance between these cameras.
- a method for controlling a vacuum cleaner characterized by generating a distance image based on the calculated depth of the object.
- a method for controlling a vacuum cleaner wherein an object located closer than a predetermined distance in a predetermined image range in the generated distance image is determined as an obstacle.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
Abstract
Description
Claims (14)
- 本体ケースと、
この本体ケースを走行可能とする駆動輪と、
この駆動輪の駆動を制御することで前記本体ケースを自律走行させる制御手段と、
被掃除面を掃除する掃除部と、
前記本体ケースに離間されて配置され、互いに視野が重なるように前記本体ケースの走行方向側を撮像する撮像手段と、
これら撮像手段で撮像された画像に基づいてこれら撮像手段からの物体の深度を計算する計算手段と
を具備したことを特徴とした電気掃除機。 - 撮像手段の中心位置が本体ケースの走行方向と交差する幅方向の中心位置と略一致している
ことを特徴とした請求項1記載の電気掃除機。 - 本体ケースは、側面部を備え、
撮像手段は、前記側面部に配置されている
ことを特徴とした請求項1または2記載の電気掃除機。 - 撮像手段は、上下方向に略等しい位置にそれぞれ配置されている
ことを特徴とした請求項3記載の電気掃除機。 - 撮像手段は、左右方向に略等しい位置にそれぞれ配置されている
ことを特徴とした請求項3記載の電気掃除機。 - 計算手段により計算した物体の深度に基づき、掃除領域のマップを生成するマップ生成手段を具備した
ことを特徴とした請求項1ないし5いずれか一記載の電気掃除機。 - 可視光領域を含む光を照明する照明手段を具備し、
各撮像手段は、可視光領域の画像を撮像する
ことを特徴とした請求項1ないし6いずれか一記載の電気掃除機。 - 赤外領域を含む光を照明する照明手段を具備し、
各撮像手段は、赤外領域の画像を撮像する
ことを特徴とした請求項1ないし6いずれか一記載の電気掃除機。 - 赤外領域を含む光を照明する照明手段を具備し、
一方の撮像手段は、可視光領域の画像を撮像し、
他方の撮像手段は、赤外領域の画像を撮像する
ことを特徴とした請求項1ないし6いずれか一記載の電気掃除機。 - 照明手段は、撮像手段の間に配置されている
ことを特徴とした請求項7ないし9いずれか一記載の電気掃除機。 - 計算手段により計算した物体の深度に基づき、物体が障害物であるかどうかを判定する障害物判定手段を具備し、
制御手段は、障害物判定手段により障害物と判定した物体を回避するように駆動輪の駆動を制御する
ことを特徴とした請求項1ないし10いずれか一記載の電気掃除機。 - 計算手段は、各撮像手段により撮像した画像と、これら撮像手段間の距離に基づいて物体の深度を計算する
ことを特徴とした請求項1ないし11いずれか一記載の電気掃除機。 - 計算手段により計算した物体の深度に基づき距離画像を生成する画像生成手段を具備した
ことを特徴とした請求項1ないし12いずれか一記載の電気掃除機。 - 障害物判定手段は、画像生成手段により生成した距離画像中の所定の画像範囲において、所定距離よりも近くにある物体を障害物と判定する
ことを特徴とした請求項13記載の電気掃除機。
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KR1020167027245A KR101840158B1 (ko) | 2014-12-25 | 2015-12-24 | 전기청소기 |
BR112017011346A BR112017011346A2 (pt) | 2014-12-25 | 2015-12-24 | aspirador de pó |
MYPI2017702124A MY183984A (en) | 2014-12-25 | 2015-12-24 | Vacuum cleaner |
US15/531,316 US10314452B2 (en) | 2014-12-25 | 2015-12-24 | Vacuum cleaner |
EP15873208.1A EP3238593B1 (en) | 2014-12-25 | 2015-12-24 | Vacuum cleaner |
CN201580068701.1A CN107105956B (zh) | 2014-12-25 | 2015-12-24 | 电动吸尘器 |
CA2969202A CA2969202C (en) | 2014-12-25 | 2015-12-24 | Vacuum cleaner |
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JP7042031B2 (ja) | 2017-03-17 | 2022-03-25 | 日立グローバルライフソリューションズ株式会社 | 自律走行型掃除機、及び、自律走行型掃除機と充電台とを有するシステム |
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JP6705636B2 (ja) | 2015-10-14 | 2020-06-03 | 東芝ライフスタイル株式会社 | 電気掃除機 |
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JP2018196622A (ja) * | 2017-05-24 | 2018-12-13 | 株式会社東芝 | 電子機器、方法及びプログラム |
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CN107105956A (zh) | 2017-08-29 |
US10314452B2 (en) | 2019-06-11 |
CA2969202A1 (en) | 2016-06-30 |
CN107105956B (zh) | 2019-08-23 |
EP3238593B1 (en) | 2019-11-27 |
JP6729997B2 (ja) | 2020-07-29 |
JP2016120168A (ja) | 2016-07-07 |
BR112017011346A2 (pt) | 2017-12-26 |
US20170360266A1 (en) | 2017-12-21 |
EP3238593A1 (en) | 2017-11-01 |
EP3238593A4 (en) | 2018-08-15 |
CA2969202C (en) | 2019-09-24 |
MY183984A (en) | 2021-03-17 |
KR101840158B1 (ko) | 2018-03-19 |
KR20160129065A (ko) | 2016-11-08 |
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