WO2019082719A1 - Autonomous cleaning device and method for identifying expansion area - Google Patents

Autonomous cleaning device and method for identifying expansion area

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Publication number
WO2019082719A1
WO2019082719A1 PCT/JP2018/038388 JP2018038388W WO2019082719A1 WO 2019082719 A1 WO2019082719 A1 WO 2019082719A1 JP 2018038388 W JP2018038388 W JP 2018038388W WO 2019082719 A1 WO2019082719 A1 WO 2019082719A1
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WO
WIPO (PCT)
Prior art keywords
map
area
extended
unit
information
Prior art date
Application number
PCT/JP2018/038388
Other languages
French (fr)
Japanese (ja)
Inventor
前田　茂則
浅井　幸治
克重 天野
智典 中村
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201880067612.9A priority Critical patent/CN111225592B/en
Publication of WO2019082719A1 publication Critical patent/WO2019082719A1/en

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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

Definitions

  • the present invention relates to an autonomous traveling cleaner that generates a map based on travel results for an area where an autonomous traveling cleaner autonomously travels and cleans, and an extended area identification method.
  • the autonomous traveling cleaner of patent document 1 acquires information from various sensors, such as odometry information, a camera, and a ranging sensor, while cleaning first. Next, using the acquired information, the relative position of the user is estimated based on the movement of the user and the positional relationship with the surroundings, and the position in the room is grasped. And based on the information regarding the position which was grasped
  • the autonomous vacuum cleaner can not know whether the environment in the cleaning area has suddenly changed or has been moved to another cleaning area. Therefore, with the configuration of the autonomous traveling vacuum cleaner, there is a possibility that an accurate map can not be generated.
  • the sudden change in the environment corresponds to, for example, the opening of a closed door, the elimination of a carpet which could not be overcome, a major change of the position of the charging stand, and the like.
  • the present invention provides an autonomous traveling cleaner capable of generating a map corresponding to a change in cleaning area based on a map of a newly generated traveling area, and an extended area identification method.
  • the autonomous traveling cleaner which is an example of the present invention is an autonomous traveling cleaner which travels and cleans autonomously, and travels a new map based on the position of the reference member installed in the cleaning area as the reference position. It has a map generation unit that generates based on it. Furthermore, the autonomous traveling vacuum cleaner determines that the expanded area determination unit determines that there is an expanded area which is an area expanded from the cumulative map, when the new map is out of the cumulative map in which the previously created map is accumulated. Prepare. Then, when the new map is generated based on the traveling results in the automatic mode, and the extension area determination unit determines that the extension area is present, the extension information including information indicating that the extension area is present is notified And a notification unit.
  • An extension area identification method is an extension area identification method in an autonomous traveling vacuum cleaner that travels and cleans autonomously, and uses the position of a reference member installed in the cleaning area as a reference position.
  • the map generation unit generates the new map based on the travel record.
  • the extension area determination unit determines that there is an extension area, which is an area extended from the accumulation map, when the new map protrudes from the accumulation map in which the previously created map is accumulated. . Then, when the new map is generated based on the traveling results in the automatic mode, and the extension area determination unit determines that the extension area is present, the extension information including information indicating that the extension area is present is notified The department informs the user.
  • FIG. 1 is a plan view showing the appearance of the autonomous traveling vacuum cleaner according to the first embodiment.
  • FIG. 2 is a bottom view showing the appearance of the autonomous traveling cleaner.
  • FIG. 3 is a perspective view showing the appearance of the autonomous traveling cleaner.
  • FIG. 4 is a block diagram showing a functional unit related to map creation of the control unit in the embodiment together with a terminal device.
  • FIG. 5 is a view showing an example of the cleaning area in the embodiment.
  • FIG. 6 is a view showing an example of a new map created in the embodiment.
  • FIG. 7 is a diagram showing an example of a cumulative map in the embodiment.
  • FIG. 8 is a diagram showing an example of the terminal device in the embodiment.
  • FIG. 9 is a flow chart showing an extended area identifying method according to the second embodiment.
  • FIG. 10 is a diagram showing an example of a new map created in the embodiment.
  • FIG. 11 is a diagram in which the new map and the cumulative map in the embodiment are superimposed at the reference position.
  • Embodiment 1 Hereinafter, the configuration of the autonomous traveling vacuum cleaner according to Embodiment 1 will be described with reference to FIGS. 1 to 3.
  • FIG. 1 is a plan view showing the appearance of the autonomous traveling vacuum cleaner according to the first embodiment.
  • FIG. 2 is a bottom view showing the appearance of the autonomous traveling cleaner.
  • FIG. 3 is a perspective view showing the appearance of the autonomous traveling cleaner.
  • the autonomous running cleaner 100 in Embodiment 1 travels autonomously on the cleaning area 180 (see FIG. 5) which is a target area for cleaning of the floor surface etc. in the home, and the dust existing in the cleaning area 180 It is a robot type vacuum cleaner that sucks.
  • the autonomous traveling cleaner 100 etc. whose plane shape is a triangle of a roulette are illustrated.
  • the autonomous traveling cleaner 100 includes a body 120, a drive unit 130, a cleaning unit 140, a suction unit 150, a control unit 170, and various sensors described later. It consists of The body 120 mounts various components of the autonomous traveling cleaner 100.
  • the drive unit 130 moves the body 120 in the cleaning area.
  • the cleaning unit 140 collects waste present in the cleaning area.
  • the suction unit 150 sucks the waste collected by the cleaning unit 140 into the inside of the body 120.
  • the control unit 170 controls the drive unit 130, the cleaning unit 140, the suction unit 150, and the like.
  • the body 120 constitutes a housing that accommodates the drive unit 130, the control unit 170, and the like.
  • the body 120 includes a lower body and an upper body, and the upper body is configured to be removable from the lower body.
  • the body 120 has a bumper provided at an outer peripheral portion thereof so as to be displaceable relative to the body 120. Further, as shown in FIG. 2, the body 120 has a suction port 121 for sucking the dust into the inside of the body 120.
  • the drive unit 130 causes the autonomous traveling cleaner 100 to travel in the cleaning area based on an instruction from the control unit 170.
  • one drive unit 130 is disposed on each of the left side and the right side with respect to the center in the width direction of the body 120 in a plan view.
  • the number of drive units 130 is not limited to two, and may be one or three or more.
  • the drive unit 130 includes a wheel traveling on the cleaning surface, a traveling motor for applying torque to the wheel, a housing accommodating the traveling motor, and the like.
  • the wheel is accommodated in a recess formed on the lower surface of the body 120 and is rotatably attached to the body 120.
  • the autonomous traveling cleaner 100 is configured by an opposing two-wheel drive system including the caster 179 as an auxiliary wheel. By independently controlling the rotation of the two wheels, the autonomous traveling cleaner 100 can freely travel such as going straight, receding, rotating left, and rotating right.
  • the cleaning unit 140 constitutes a unit for sucking in the dust from the suction port 121.
  • the cleaning unit 140 includes a main brush disposed in the suction port 121, a brush drive motor for rotating the main brush, and the like.
  • the suction unit 150 is disposed inside the body 120.
  • the suction unit 150 includes a fan case, an electric fan disposed inside the fan case, and the like.
  • the electric fan sucks the air inside the trash can unit 151 and discharges the air to the outside of the body 120. As a result, the waste is sucked from the suction port 121 and accommodated in the trash can unit 151.
  • the autonomous traveling cleaner 100 exemplifies, for example, an obstacle sensor 173, a distance measurement sensor 174, a collision sensor (not shown), a camera 175, a floor surface sensor 176, and an acceleration sensor (shown below). It includes various sensors such as an angular velocity sensor (not shown) and the like (not shown).
  • the obstacle sensor 173 is a sensor that detects an obstacle present in front of the body 120.
  • an ultrasonic sensor is used as the obstacle sensor 173.
  • the obstacle sensor 173 includes a transmitting unit 171, a receiving unit 172, and the like.
  • the transmitting unit 171 is disposed at the center of the front of the body 120 and transmits an ultrasonic wave toward the front.
  • the receiving unit 172 is disposed on both sides of the transmitting unit 171, and receives the ultrasonic waves transmitted from the transmitting unit 171. That is, the obstacle sensor 173 receives the reflected wave of the ultrasonic wave transmitted from the transmission unit 171 and reflected by the obstacle and returned by the reception unit 172. Thereby, the obstacle sensor 173 detects the distance and the position to the obstacle.
  • the distance measurement sensor 174 is a sensor that detects the distance between the body 120 and an object such as an obstacle present around the body 120.
  • the distance measurement sensor 174 is configured of, for example, an infrared sensor having a light emitting unit and a light receiving unit. That is, the distance measuring sensor 174 measures the distance to the obstacle based on the elapsed time from when the light emitted from the light emitting unit to the infrared light reflected by the obstacle returns and is received by the light receiving unit.
  • the distance measurement sensor 174 is disposed, for example, on the front top on the right side and in the front top on the left side.
  • the distance measuring sensor 174 on the right side outputs light (infrared) toward the front right of the body 120
  • the distance measuring sensor 174 on the left side outputs light (infrared) toward the front left of the body 120.
  • the collision sensor is, for example, a switch contact displacement sensor, and is provided on a bumper disposed around the body 120.
  • the switch contact displacement sensor is turned on by the obstacle coming into contact with the bumper and the bumper being pushed against the body 120. Thus, the collision sensor detects contact with an obstacle.
  • the camera 175 is a device for capturing an image of the entire circumference of the upper space of the body 120.
  • the image captured by the camera 175 is processed by an image recognition processing unit (not shown). By this processing, the current position of the autonomous traveling cleaner 100 can be grasped from the position of the feature point in the image.
  • the floor surface sensor 176 is disposed at a plurality of locations on the bottom surface of the body 120, and detects whether or not, for example, a floor surface, which is the cleaning area 180 (see FIG. 5), exists.
  • the floor surface sensor 176 is formed of, for example, an infrared sensor having a light emitting unit and a light receiving unit. That is, when the light (infrared rays) emitted from the light emitting unit returns and is received by the light receiving unit, the floor sensor 176 detects “floor present”. On the other hand, when the receiving unit receives only light having a threshold value or less, the floor sensor 176 detects “floor no”.
  • the drive unit 130 further comprises an encoder.
  • the encoder detects each rotation angle of a pair of wheels rotated by the traveling motor. Based on the information from the encoder, the traveling amount, the turning angle, the speed, the acceleration, the angular velocity, etc. of the autonomous traveling cleaner 100 are calculated.
  • the acceleration sensor detects an acceleration when the autonomous traveling cleaner 100 travels.
  • the angular velocity sensor detects an angular velocity or the like when the autonomous traveling cleaner 100 turns.
  • the information detected by the acceleration sensor and the angular velocity sensor is used, for example, as information for correcting an error caused by the idle rotation of the wheel.
  • the dust amount sensor 177 includes, for example, a light emitting element and a light receiving element. That is, the dust amount sensor 177 detects and outputs the amount of light emitted from the light emitting element by the light receiving element. At this time, based on the output information, the control unit (not shown) correlates the amount of light received with the amount of dust. Specifically, the control unit determines that the amount of dust decreases as the amount of light received decreases. Then, the control unit generates dust amount information indicating that.
  • the obstacle sensor 173, the distance measurement sensor 174, the collision sensor, the camera 175, the floor surface sensor 176, the encoder, the dust amount sensor 177, and the like described above are examples of sensors. Therefore, the autonomous traveling cleaner 100 does not have to include all the sensors. Moreover, the autonomous running cleaner 100 may be equipped with a sensor of a form different from the above.
  • FIG. 4 is a block diagram showing each functional unit of control unit 170 of autonomous traveling cleaner 100 in the first embodiment.
  • the control unit 170 controls the drive unit 130 so that the autonomous traveling cleaner 100 travels autonomously to execute the cleaning.
  • the control unit 170 configures a unit that generates a map of a traveling area from traveling results based on the information obtained from the various sensors while the autonomous traveling cleaner 100 autonomously travels.
  • the control unit 170 includes a map generation unit 181, a storage device 200, a map comparison unit 182, an extended area determination unit 183, a dust amount statistics unit 184, a notification unit 186 and the like.
  • the control unit 170 of the autonomous traveling cleaner 100 further includes a movement information acquisition unit 185, a map processing unit 187, and the like.
  • the map generation unit 181 is a processing unit that generates a map using travel performance which is a set of self positions at a plurality of locations during cleaning obtained by the self position estimation technique based on information from various sensors. That is, the map generation unit 181 generates a new map 201 (see FIG. 6) with the position of the reference member 189 installed in the cleaning area 180 shown in FIG. 5 as a reference position, based on the travel results.
  • the cleaning area 180 is an area where the autonomous traveling cleaner 100 can travel. That is, generally, the cleaning area 180 is approximated by, for example, the shape of the floor of a room, as shown in FIG.
  • the cleaning area 180 may change significantly.
  • the cleaning area 180 changes significantly in the opening of the partition which was closed until now, the opening of the door 199, the removal of the sofa and the table, and the like.
  • the cleaning area 180 changes slightly and frequently, such as changing the position of a chair or a trash can.
  • the reference member 189 corresponds to a member such as a device serving as a reference position when the autonomous traveling cleaner 100 travels autonomously. Therefore, the reference member 189 is disposed in the cleaning area 180.
  • the reference member 189 is not particularly limited, for example, a charging stand or the like for charging a battery provided to the autonomous traveling cleaner 100 with the supplied electric power is the reference member 189.
  • the reference member 189 may be a characteristic portion extracted from an image captured by a camera 175 or the like included in the autonomous traveling vacuum cleaner 100.
  • traveling results refer to, for example, autonomous traveling from when autonomous traveling cleaner 100 starts traveling with reference member 189 as a starting point based on a traveling program, for example, until cleaning ends as cleaning of the entire cleaning area 180 is completed. It is a locus of vacuum cleaner 100. That is, the travel record does not necessarily have to be the track that cleaned the entire cleaning area 180.
  • the map generation unit 181 indicates the outline of the area actually traveled and the reference position 202 which is the position where the reference member 189 shown in FIG. 6 is arranged, based on the traveling results in the cleaning area 180 shown in FIG. Information is generated as a new map 201. Then, the generated new map 201 is stored in the storage device 200 of the control unit 170.
  • the map generation unit 181 is an island corresponding to the region 180A of FIG. 5 as shown in FIG. A new map 201 is generated that includes information indicating the outline of the region 201A and the position of the region 201A.
  • the new map 201 generated by the map generation unit 181 is realized as, for example, two-dimensional array data.
  • the map generation unit 181 divides the traveling result of the autonomous traveling cleaner 100 into, for example, quadrilaterals having a predetermined size such as 10 cm by 10 cm. Then, the map generation unit 181 regards each square as an element area of the array constituting the new map 201, and stores the array area in the storage device 200 as array data.
  • the specific data format to be stored is not particularly limited.
  • the value of each element area includes, for example, the certainty (probability) of being the floor surface of the cleaning area according to the number of times of traveling, the type of floor surface, and the like.
  • information of the dust amount based on the detection of the dust amount sensor 177 is further held in the storage device 200 as additional information.
  • the map comparison unit 182 is a processing unit that extracts non-overlapping portions of the cumulative map 301 (see FIG. 7) and the new map 201 (see FIG. 6) as a difference area. That is, the map comparison unit 182 superimposes the new map 201 on the accumulated map 301, which is the map generated by the map generation unit 181 in the past, in agreement with the reference position 202 which is the position of the reference member 189. Then, the map comparison unit 182 extracts a non-overlapping portion as a difference area.
  • the extension area determination unit 183 is a processing unit that determines an area extended from the accumulation map 301 as an extension area. That is, the extension area determination unit 183 determines, as an extension area, a difference area which is not present in the cumulative map 301 among the difference areas extracted by the map comparison unit 182.
  • the area of the difference area is determined to be the expanded area which is the first threshold (for example, 1 m ⁇ 1 m) or more and the expanded area.
  • the first threshold for example, 1 m ⁇ 1 m
  • a difference area or the like due to the movement of the trash can, which is less than the first threshold is excluded from the determination of the extension area. This makes it possible to detect large changes such as movement to another cleaning area or sudden change of the environment in the cleaning area.
  • the dust amount statistics unit 184 is a processing unit that statistically processes the dust amount information obtained from the dust amount sensor 177. That is, when the dust amount statistics unit 184 uses one element obtained by dividing the new map 201 and the cumulative map 301 vertically and horizontally at the same position as the element area, the dust amount information is statistically determined in the element area where the positions coincide. To process. Specifically, for example, in each element area, the dust amount statistics unit 184 first adds “1” to the cumulative number indicating the number of new maps 201 used for updating so far. Next, the dust amount statistics unit 184 adds new dust amount information to the accumulated dust amount information. Then, the dust amount statistics unit 184 divides the added "sum” by the cumulative number of sheets to obtain a "quotient". Thereby, the dust amount statistics unit 184 calculates the average value of the dust amount information based on the obtained "quotient".
  • the processing method in the dust amount statistics unit 184 is different for the extension area determined by the extension area determination unit 183. This will be described later.
  • the notification unit 186 is a processing unit that notifies the user of extension information including information indicating the presence of the extension area. As described above, first, the map generation unit 181 generates the new map 201 based on the travel results in the automatic mode. Then, when the extension area determination unit 183 determines that the extension area exists in the new map 201, the notification unit 186 notifies the user of extension information including information indicating the extension area.
  • the above-described automatic mode is a mode in which the autonomous traveling cleaner 100 is autonomously traveled from the reference member 189 as a starting point to clean the cleaning area 180 as wide as possible. Therefore, the automatic mode is different from the designation mode in which only the designated designated area is autonomously cleaned based on the accumulation map 301 or the like.
  • the notification unit 186 displays the image of the new map 201 as the extended information on, for example, the terminal device 400 (see FIG. 4) possessed by the user.
  • the notification unit 186 also notifies extended information in which dust information indicating the amount of dust in each element area is superimposed on image information indicating the new map 201. Specifically, as shown on the screen of the terminal device 400 in FIG. 4, the portion with a large amount of dust is displayed in dark color, for example.
  • the movement information acquisition unit 185 is a processing unit that acquires movement information, which is information indicating whether the reference member 189 has been moved within the cleaning area 180, transmitted from the user who confirmed the extension information with the terminal device 400. is there.
  • the movement information acquisition unit 185 displays a screen asking the user's terminal device 400 whether or not the reference member 189, that is, the charging stand has been largely moved, as shown in FIG. Let Then, the movement information acquisition unit 185 acquires a reply selected by the user as movement information in response to the reply from the terminal device 400.
  • the map processing unit 187 is a processing unit that generates a new map to which the extension area is added, based on the movement information acquired by the movement information acquisition unit 185. Specifically, when the movement information indicates that the reference member 189 has moved largely, the map processing unit 187 generates the new map 201 including the extended area as a map different from the cumulative map 301. On the other hand, when indicating that the reference member 189 has not moved, the map processing unit 187 generates a new map to which the extension area is added.
  • the entire new map is treated as a single history map without being associated with the cumulative map 301.
  • the dust amount statistics unit 184 does not statistically process the acquired dust amount information.
  • the map processing unit 187 performs a process of adding the new map 201 generated by the map generation unit 181 shown in FIG. 6 to the cumulative map 301.
  • the control unit 170 includes the storage device 200 as described above.
  • the storage device 200 causes the map generation unit 181 to hold the accumulated map 301 in which the maps generated before the generation of the new map 201 is accumulated.
  • the cumulative map 301 stored in the storage device 200 is associated with a cumulative floor probability that can be calculated from the frequency of the floor that has been added to the map so far.
  • the type of the storage device 200 is not particularly limited, and examples thereof include a hard disk and a flash memory.
  • the autonomous traveling cleaner 100 may hold the new map 201 generated by the map generation unit 181 as a history map based on the traveling results, except in the automatic mode.
  • the history map not be associated with the cumulative map 301 and that the dust amount statistics unit 184 not statistically process the acquired dust amount information. Thereby, the distribution of the dust amount can be calculated statistically on the cumulative map regardless of the dust amount information when cleaning different places.
  • FIG. 9 is a flow chart showing an extended area identifying method according to the second embodiment.
  • the following state will be described as an example.
  • the user moves the charging stand, which is the reference member 189, to the opposite room separated by the door 199.
  • the autonomous traveling cleaner 100 is cleaned in the automatic mode. That is, the extended area identification method in the above state will be described.
  • the user first sets the autonomous traveling cleaner 100 to the automatic mode and starts cleaning (step S501).
  • the autonomous traveling cleaner 100 cleans the inside of the cleaning area 180 in the automatic mode, and the cleaning is completed.
  • the map generation unit 181 of the autonomous traveling vacuum cleaner 100 uses the new map 201 which newly sets the position of the reference member 189 installed in the cleaning area 180 as the reference position 202 shown in FIG. It generates based on (step S502).
  • FIG. 10 is a diagram showing the new map 201 generated by the map generation unit 181.
  • the autonomous traveling cleaner 100 acquires dust amount information from the dust amount sensor 177 during cleaning, and associates the acquired dust amount information with the new map 201 for each element area.
  • the map comparison unit 182 matches the reference position 202, and superimposes the cumulative map 301 and the new map 201 generated by the map generation unit 181. Then, the map comparison unit 182 extracts a non-overlapping portion as a difference area (step S503).
  • the extension area determination unit 183 determines whether there is an extension area (step S504). That is, the extension area determination unit 183 determines the presence of the extension area based on whether or not a predetermined condition such as a predetermined area or more is satisfied in the difference area protruding from the accumulation map 301 (step S504). At this time, when the difference area does not satisfy the predetermined condition (No in step S504), the new map 201 is added to the accumulation map 301 to perform accumulation processing (step S505). In this case, dust amount information may be statistically processed for each element area. This makes it possible to extract and present to the user a place where a large amount of dust tends to be obtained each time cleaning is performed. Furthermore, it is possible to control to give priority to the presented place for cleaning.
  • the notification unit 186 indicates that the user has an extended area. Broadcast extended information including information indicating (step S506).
  • the notification method is not particularly limited.
  • the image indicating the new map 201 may be transmitted as the extended information to the terminal device 400 in which the wireless communication is established in advance with the autonomous traveling cleaner 100. Thus, the user is notified of the presence of the extended area.
  • the user who confirmed the extended information by the terminal device 400 uses movement information (see FIG. 8) which is information indicating whether or not the charging stand which is the reference member 189 is moved, using the terminal device 400 or the like. Send. Accordingly, the movement information acquisition unit 185 of the autonomous traveling cleaner 100 acquires the movement information transmitted by the user (step S507).
  • the map processing unit 187 determines whether or not the reference member 189 is moved based on the information acquired by the movement information acquisition unit 185 (step S508). At this time, when the reference member 189 is not moved (No in step S508), a new map 201 obtained by adding the expansion area to the accumulation map 301 is generated (step S509). On the other hand, when the acquired information indicates the movement of the reference member 189 (Yes in step S508), the map processing unit 187 generates a portion corresponding to the extension area as another map (step S510).
  • step S508 and step S509 are stored in the storage device 200 (step S511). Then, the operation of extended area identification is ended.
  • the autonomous traveling cleaner 100 of the first and second embodiments and the extended area identification method using the autonomous traveling cleaner 100 first, the autonomous traveling cleaner 100 itself can not understand The movement of the non-reference member 189 is predicted with the presence of an extended area different from the cumulative map 301. Then, the movement of the reference member 189 is confirmed with the user via the terminal device 400 or the like. Thereby, the presence or absence of the movement of the reference member 189 can be confirmed. As a result, an appropriate map can be newly generated based on each condition. That is, the autonomous traveling vacuum cleaner 100 which can respond flexibly to the change of the environment in the cleaning area is obtained.
  • the configuration other than the map generation unit 181 described in the first and second embodiments may be configured on a computer (computer) connected to the autonomous traveling cleaner 100 such as a server via a network.
  • the above configuration can be regarded as a vacuum cleaner system provided with the autonomous traveling vacuum cleaner 100.
  • the new map 201 generated by the map generation unit 181 is transmitted to the computer through the network, and the cumulative map 301 stored by the computer is updated.
  • the user may be able to confirm the cleaning result or specify the area to be cleaned by the autonomous traveling cleaner 100 based on the cumulative map 301 received from the computer.
  • an input unit may be provided in the autonomous traveling cleaner 100 itself, and the user may input movement information using the input unit of the autonomous traveling cleaner 100.
  • the present invention can be used for so-called robot cleaning which autonomously travels and cleans in a home, a factory, a large-scale facility, and the like.

Abstract

The present invention is provided with: a map generation unit (181) for generating a new map in which the position of a reference member installed in a cleaning area serves as a reference position; an expansion area determination unit (183) which determines that an expansion area is present when the new map protrudes from an accumulation of maps; and an informing unit (186) for informing a user of expansion information that includes information indicating the presence of the expansion area when the new map is generated on the basis of a travel record in an automatic mode and it is determined that the expansion area is present. Accordingly, the present invention provides the autonomous cleaning device capable of generating the map that corresponds to the change in the cleaning area.

Description

自律走行掃除機、および、拡張エリア識別方法Autonomous traveling vacuum cleaner and extended area identification method
　本発明は、自律走行掃除機が自律走行して掃除したエリアについて、走行実績に基づきマップを生成する自律走行掃除機、および、拡張エリア識別方法に関する。 The present invention relates to an autonomous traveling cleaner that generates a map based on travel results for an area where an autonomous traveling cleaner autonomously travels and cleans, and an extended area identification method.
　近年、掃除中の自己位置推定結果に基づいて、走行エリアのマップを作成し、そのマップを元に、次回、掃除すべきエリアを指定することを可能とする自律走行掃除機が開示されている。（例えば、特許文献１参照）。 In recent years, based on the self-position estimation result under cleaning, a map of a running area is created, and based on the map, an autonomous running cleaner that makes it possible to specify an area to be cleaned next time is disclosed. . (See, for example, Patent Document 1).
　特許文献１の自律走行掃除機は、まず、掃除をしながらオドメトリ情報やカメラ、測距センサなどの各種センサからの情報を取得する。つぎに、取得した情報を用いて、自己の動きや周囲との位置関係を元に、自己のいる相対位置を推定し、部屋の中のどの位置にいるかを把握する。そして、把握した位置に関する情報を元に、次に掃除すべき掃除領域を自在に選択させるマップを作成するように構成される。 The autonomous traveling cleaner of patent document 1 acquires information from various sensors, such as odometry information, a camera, and a ranging sensor, while cleaning first. Next, using the acquired information, the relative position of the user is estimated based on the movement of the user and the positional relationship with the surroundings, and the position in the room is grasped. And based on the information regarding the position which was grasped | ascertained, it is comprised so that the map on which the cleaning area | region which should be cleaned next can be selected freely is created.
　しかし、カメラなどの外部情報を取得するセンサを用いない場合、掃除開始時点でマップ上のどの位置にいるかを判断することは不可能である。そこで、不使用時には、充電台で充電しながら待機していることが多いことを利用して、充電台を起点として掃除履歴を記録し、その情報を元に、マップを生成する自律走行掃除機が考えられている（例えば、特許文献２参照）。 However, without using a sensor that acquires external information, such as a camera, it is impossible to determine which position on the map at the start of cleaning. Therefore, when not in use, the autonomous traveling cleaner that records the cleaning history starting from the charging stand and generates a map based on the information by using the fact that the user often stands by while charging in the charging stand. Are considered (see, for example, Patent Document 2).
　しかしながら、掃除エリア内の環境が急に変化する場合、自律走行掃除機は、掃除エリア内の環境が急変したのか、別の掃除エリアに移動させられたかを把握することができない。そのため、上記自律走行掃除機の構成では、正確なマップを生成できない虞がある。 However, when the environment in the cleaning area suddenly changes, the autonomous vacuum cleaner can not know whether the environment in the cleaning area has suddenly changed or has been moved to another cleaning area. Therefore, with the configuration of the autonomous traveling vacuum cleaner, there is a possibility that an accurate map can not be generated.
　なお、環境の急な変化とは、例えば閉ざされていたドアの開放、乗り越えることができなかったカーペットの排除や、充電台の位置の大きな変更などが相当する。 The sudden change in the environment corresponds to, for example, the opening of a closed door, the elimination of a carpet which could not be overcome, a major change of the position of the charging stand, and the like.
特開２００２－０８５３０５号公報JP, 2002-085305, A 特開２００６－１１０３２２号公報JP, 2006-110322, A
　本発明は、新しく生成した走行エリアのマップを元に、掃除エリアの変化に対応したマップを生成することができる自律走行掃除機、および、拡張エリア識別方法を提供する。 The present invention provides an autonomous traveling cleaner capable of generating a map corresponding to a change in cleaning area based on a map of a newly generated traveling area, and an extended area identification method.
　本発明の一例である自律走行掃除機は、自律的に走行して掃除を行う自律走行掃除機であって、掃除エリアに設置された基準部材の位置を基準位置とした新マップを走行実績に基づき生成するマップ生成部を備える。さらに、自律走行掃除機は、新マップが、既に作成されたマップが累積された累積マップからはみ出している場合、累積マップから拡張されたエリアである拡張エリアが存在すると判定する拡張エリア判定部を備える。そして、新マップが自動モードにおける走行実績に基づいて、生成され、かつ、拡張エリア判定部で、拡張エリアが存在すると判定された場合、拡張エリアが存在することを示す情報を含む拡張情報を報知する報知部と、を備える。 The autonomous traveling cleaner which is an example of the present invention is an autonomous traveling cleaner which travels and cleans autonomously, and travels a new map based on the position of the reference member installed in the cleaning area as the reference position. It has a map generation unit that generates based on it. Furthermore, the autonomous traveling vacuum cleaner determines that the expanded area determination unit determines that there is an expanded area which is an area expanded from the cumulative map, when the new map is out of the cumulative map in which the previously created map is accumulated. Prepare. Then, when the new map is generated based on the traveling results in the automatic mode, and the extension area determination unit determines that the extension area is present, the extension information including information indicating that the extension area is present is notified And a notification unit.
　本発明の他の一例である拡張エリア識別方法は、自律的に走行して掃除を行う自律走行掃除機における拡張エリア識別方法であって、掃除エリアに設置された基準部材の位置を基準位置とした新マップを走行実績に基づきマップ生成部が生成する。さらに、拡張エリア識別方法は、新マップが、既に作成されたマップが累積された累積マップからはみ出している場合、累積マップから拡張されたエリアである拡張エリアが存在すると拡張エリア判定部が判定する。そして、新マップが自動モードにおける走行実績に基づいて、生成され、かつ、拡張エリア判定部で、拡張エリアが存在すると判定された場合、拡張エリアが存在することを示す情報を含む拡張情報を報知部が使用者に報知する。 An extension area identification method according to another embodiment of the present invention is an extension area identification method in an autonomous traveling vacuum cleaner that travels and cleans autonomously, and uses the position of a reference member installed in the cleaning area as a reference position. The map generation unit generates the new map based on the travel record. Furthermore, in the extension area identification method, the extension area determination unit determines that there is an extension area, which is an area extended from the accumulation map, when the new map protrudes from the accumulation map in which the previously created map is accumulated. . Then, when the new map is generated based on the traveling results in the automatic mode, and the extension area determination unit determines that the extension area is present, the extension information including information indicating that the extension area is present is notified The department informs the user.
　これらにより、掃除エリアの変化に対応して、柔軟にマップを生成できる。 By these, it is possible to flexibly generate the map in response to the change of the cleaning area.
図１は、実施の形態１における自律走行掃除機の外観を示す平面図である。FIG. 1 is a plan view showing the appearance of the autonomous traveling vacuum cleaner according to the first embodiment. 図２は、同自律走行掃除機の外観を示す底面図である。FIG. 2 is a bottom view showing the appearance of the autonomous traveling cleaner. 図３は、同自律走行掃除機の外観を示す斜視図である。FIG. 3 is a perspective view showing the appearance of the autonomous traveling cleaner. 図４は、同実施の形態における制御ユニットのマップ作成に関する機能部を端末装置と共に示すブロック図である。FIG. 4 is a block diagram showing a functional unit related to map creation of the control unit in the embodiment together with a terminal device. 図５は、同実施の形態における掃除エリアの一例を示す図である。FIG. 5 is a view showing an example of the cleaning area in the embodiment. 図６は、同実施の形態における作成された新マップの一例を示す図である。FIG. 6 is a view showing an example of a new map created in the embodiment. 図７は、同実施の形態における累積マップの一例を示す図である。FIG. 7 is a diagram showing an example of a cumulative map in the embodiment. 図８は、同実施の形態における端末装置の一例を示す図である。FIG. 8 is a diagram showing an example of the terminal device in the embodiment. 図９は、実施の形態２における拡張エリア識別方法を示すフローチャートである。FIG. 9 is a flow chart showing an extended area identifying method according to the second embodiment. 図１０は、同実施の形態における作成された新マップの一例を示す図である。FIG. 10 is a diagram showing an example of a new map created in the embodiment. 図１１は、同実施の形態における新マップと累積マップとを基準位置で重ね合わせた図である。FIG. 11 is a diagram in which the new map and the cumulative map in the embodiment are superimposed at the reference position.
　以下に、本発明における自律走行掃除機の実施の形態について、図面を参照しつながら説明する。なお、以下の実施の形態は、本発明における自律走行掃除機の一例を示したものに過ぎない。従って、本発明は、以下の実施の形態を参考に請求の範囲の文言によって範囲が画定されるものであり、以下の実施の形態のみに限定されるものではない。よって、以下の実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていない構成要素については、本発明の課題を達成するのに必ずしも必要ではないが、より好ましい形態を構成するものとして説明される。 Hereinafter, an embodiment of an autonomous traveling vacuum cleaner according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the autonomous running cleaner in this invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to only the following embodiments. Therefore, among the components in the following embodiments, components that are not described in the independent claim showing the highest concept of the present invention are not necessarily required to achieve the object of the present invention, It is described as constituting a preferred embodiment.
　また、図面は、本発明を示すために、適宜、強調や省略、比率の調整を行った模式的な図であり、実際の形状や位置関係、比率とは異なる場合がある。 In addition, the drawings are schematic diagrams in which emphasis, omission, and adjustment of ratios are appropriately performed to illustrate the present invention, and may differ from actual shapes, positional relationships, and ratios.
　（実施の形態１）
　以下、実施の形態１における自律走行掃除機の構成について、図１から図３を用いて、説明する。 Embodiment 1
Hereinafter, the configuration of the autonomous traveling vacuum cleaner according to Embodiment 1 will be described with reference to FIGS. 1 to 3.
　図１は、実施の形態１における自律走行掃除機の外観を示す平面図である。図２は、同自律走行掃除機の外観を示す底面図である。図３は、同自律走行掃除機の外観を示す斜視図である。なお、実施の形態１における自律走行掃除機１００は、家庭内の床面などの清掃の対象領域である掃除エリア１８０（図５参照）を自律的に走行し、掃除エリア１８０に存在するごみを吸引するロボット型の掃除機である。例えば、平面形状がルーローの三角形である自律走行掃除機１００などが例示される。 FIG. 1 is a plan view showing the appearance of the autonomous traveling vacuum cleaner according to the first embodiment. FIG. 2 is a bottom view showing the appearance of the autonomous traveling cleaner. FIG. 3 is a perspective view showing the appearance of the autonomous traveling cleaner. In addition, the autonomous running cleaner 100 in Embodiment 1 travels autonomously on the cleaning area 180 (see FIG. 5) which is a target area for cleaning of the floor surface etc. in the home, and the dust existing in the cleaning area 180 It is a robot type vacuum cleaner that sucks. For example, the autonomous traveling cleaner 100 etc. whose plane shape is a triangle of a roulette are illustrated.
　図１から図３に示すように、本実施の形態の自律走行掃除機１００は、ボディ１２０、駆動ユニット１３０、清掃ユニット１４０、吸引ユニット１５０、制御ユニット１７０、および、後述する各種センサなどを含んで構成される。ボディ１２０は、自律走行掃除機１００の各種の構成要素を搭載する。駆動ユニット１３０は、ボディ１２０を清掃エリア内で移動させる。清掃ユニット１４０は、清掃エリアに存在するごみを集める。吸引ユニット１５０は、清掃ユニット１４０で集めたごみを、ボディ１２０の内部に吸引する。制御ユニット１７０は、駆動ユニット１３０と、清掃ユニット１４０と、吸引ユニット１５０などを制御する。 As shown in FIGS. 1 to 3, the autonomous traveling cleaner 100 according to the present embodiment includes a body 120, a drive unit 130, a cleaning unit 140, a suction unit 150, a control unit 170, and various sensors described later. It consists of The body 120 mounts various components of the autonomous traveling cleaner 100. The drive unit 130 moves the body 120 in the cleaning area. The cleaning unit 140 collects waste present in the cleaning area. The suction unit 150 sucks the waste collected by the cleaning unit 140 into the inside of the body 120. The control unit 170 controls the drive unit 130, the cleaning unit 140, the suction unit 150, and the like.
　ボディ１２０は、駆動ユニット１３０、制御ユニット１７０などを収容する筐体を構成する。ボディ１２０は、下部ボディと上部ボディを含み、下部ボディに対し、上部ボディが取り外し可能に構成される。ボディ１２０は、外周部に、ボディ１２０に対して変位可能に設けられるバンパを有する。また、図２に示すように、ボディ１２０は、ごみをボディ１２０の内部に吸引するための吸込口１２１を有する。 The body 120 constitutes a housing that accommodates the drive unit 130, the control unit 170, and the like. The body 120 includes a lower body and an upper body, and the upper body is configured to be removable from the lower body. The body 120 has a bumper provided at an outer peripheral portion thereof so as to be displaceable relative to the body 120. Further, as shown in FIG. 2, the body 120 has a suction port 121 for sucking the dust into the inside of the body 120.
　駆動ユニット１３０は、制御ユニット１７０からの指示に基づいて、自律走行掃除機１００を清掃エリア内で走行させる。本実施の形態においては、駆動ユニット１３０は、ボディ１２０の平面視における幅方向の中心に対して、左側および右側にそれぞれ１つずつ配置される。なお、駆動ユニット１３０の数は、２つに限られず、１つでもよく、また３つ以上でもよい。 The drive unit 130 causes the autonomous traveling cleaner 100 to travel in the cleaning area based on an instruction from the control unit 170. In the present embodiment, one drive unit 130 is disposed on each of the left side and the right side with respect to the center in the width direction of the body 120 in a plan view. The number of drive units 130 is not limited to two, and may be one or three or more.
　駆動ユニット１３０は、清掃面上を走行するホイール、ホイールにトルクを与える走行用モータ、および、走行用モータを収容するハウジングなどを含む。ホイールは、ボディ１２０の下面に形成される凹部に収容され、ボディ１２０に対して回転可能に取り付けられる。 The drive unit 130 includes a wheel traveling on the cleaning surface, a traveling motor for applying torque to the wheel, a housing accommodating the traveling motor, and the like. The wheel is accommodated in a recess formed on the lower surface of the body 120 and is rotatably attached to the body 120.
　また、自律走行掃除機１００は、キャスター１７９を補助輪として備える対向二輪型の駆動方式で構成される。２つのホイールの回転を独立して制御することにより、自律走行掃除機１００は、直進、後退、左回転、右回転など、自在な走行が可能となる。 In addition, the autonomous traveling cleaner 100 is configured by an opposing two-wheel drive system including the caster 179 as an auxiliary wheel. By independently controlling the rotation of the two wheels, the autonomous traveling cleaner 100 can freely travel such as going straight, receding, rotating left, and rotating right.
　清掃ユニット１４０は、吸込口１２１からごみを吸い込ませるためのユニットを構成する。清掃ユニット１４０は、吸込口１２１内に配置されるメインブラシ、メインブラシを回転させるブラシ駆動モータなどを含む。 The cleaning unit 140 constitutes a unit for sucking in the dust from the suction port 121. The cleaning unit 140 includes a main brush disposed in the suction port 121, a brush drive motor for rotating the main brush, and the like.
　吸引ユニット１５０は、ボディ１２０の内部に配置される。吸引ユニット１５０は、ファンケース、および、ファンケースの内部に配置される電動ファンなどを含む。電動ファンは、ごみ箱ユニット１５１の内部の空気を吸引し、ボディ１２０の外方に空気を吐出させる。これにより、ごみが、吸込口１２１から吸い込まれ、ごみ箱ユニット１５１内に収容される。 The suction unit 150 is disposed inside the body 120. The suction unit 150 includes a fan case, an electric fan disposed inside the fan case, and the like. The electric fan sucks the air inside the trash can unit 151 and discharges the air to the outside of the body 120. As a result, the waste is sucked from the suction port 121 and accommodated in the trash can unit 151.
　また、自律走行掃除機１００は、上述したように、以下に例示する、例えば障害物センサ１７３、測距センサ１７４、衝突センサ（図示せず）、カメラ１７５、床面センサ１７６、加速度センサ（図示せず）、角速度センサ（図示せず）などの各種センサを備える。 In addition, as described above, the autonomous traveling cleaner 100 exemplifies, for example, an obstacle sensor 173, a distance measurement sensor 174, a collision sensor (not shown), a camera 175, a floor surface sensor 176, and an acceleration sensor (shown below). It includes various sensors such as an angular velocity sensor (not shown) and the like (not shown).
　障害物センサ１７３は、ボディ１２０の前方に存在する障害物を検出するセンサである。本実施の形態の場合、障害物センサ１７３として、例えば超音波センサが用いられる。障害物センサ１７３は、発信部１７１、受信部１７２などを有する。発信部１７１は、ボディ１２０の前方の中央に配置され、前方に向けて、超音波を発信する。受信部１７２は、発信部１７１の両側に配置され、発信部１７１から発信された超音波を受信する。つまり、障害物センサ１７３は、発信部１７１から発信され、障害物により反射して戻ってくる超音波の反射波を受信部１７２で受信する。これにより、障害物センサ１７３は、障害物との距離や位置を検出する。 The obstacle sensor 173 is a sensor that detects an obstacle present in front of the body 120. In the case of the present embodiment, for example, an ultrasonic sensor is used as the obstacle sensor 173. The obstacle sensor 173 includes a transmitting unit 171, a receiving unit 172, and the like. The transmitting unit 171 is disposed at the center of the front of the body 120 and transmits an ultrasonic wave toward the front. The receiving unit 172 is disposed on both sides of the transmitting unit 171, and receives the ultrasonic waves transmitted from the transmitting unit 171. That is, the obstacle sensor 173 receives the reflected wave of the ultrasonic wave transmitted from the transmission unit 171 and reflected by the obstacle and returned by the reception unit 172. Thereby, the obstacle sensor 173 detects the distance and the position to the obstacle.
　測距センサ１７４は、ボディ１２０の周囲に存在する障害物などの物体とボディ１２０との距離を検出するセンサである。本実施の形態の場合、測距センサ１７４は、例えば発光部および受光部を有する赤外線センサで構成される。つまり、測距センサ１７４は、発光部から放射され、障害物で反射した赤外線が戻って受光部で受光されるまでの経過時間に基づいて、障害物との距離を測定する。 The distance measurement sensor 174 is a sensor that detects the distance between the body 120 and an object such as an obstacle present around the body 120. In the case of the present embodiment, the distance measurement sensor 174 is configured of, for example, an infrared sensor having a light emitting unit and a light receiving unit. That is, the distance measuring sensor 174 measures the distance to the obstacle based on the elapsed time from when the light emitted from the light emitting unit to the infrared light reflected by the obstacle returns and is received by the light receiving unit.
　具体的には、測距センサ１７４は、例えば右側の前方頂部、および、左側の前方頂部に配置される。右側の測距センサ１７４は、ボディ１２０の右斜め前方に向けて光（赤外線）を出力し、左側の測距センサ１７４は、ボディ１２０の左斜め前方に向けて光（赤外線）を出力する。この構成により、自律走行掃除機１００の旋回時において、測距センサ１７４は、ボディ１２０の輪郭と最も接近した周囲の物体と、ボディ１２０との距離を検出する。 Specifically, the distance measurement sensor 174 is disposed, for example, on the front top on the right side and in the front top on the left side. The distance measuring sensor 174 on the right side outputs light (infrared) toward the front right of the body 120, and the distance measuring sensor 174 on the left side outputs light (infrared) toward the front left of the body 120. With this configuration, when the autonomous traveling cleaner 100 turns, the distance measurement sensor 174 detects the distance between the body 120 and an object in the vicinity closest to the contour of the body 120.
　衝突センサは、例えばスイッチ接触変位センサで構成され、ボディ１２０の周囲に配設されるバンパに設けられる。スイッチ接触変位センサは、障害物がバンパと接触して、バンパがボディ１２０に対して押し込まれることにより、オンされる。これにより、衝突センサは、障害物との接触を検知する。 The collision sensor is, for example, a switch contact displacement sensor, and is provided on a bumper disposed around the body 120. The switch contact displacement sensor is turned on by the obstacle coming into contact with the bumper and the bumper being pushed against the body 120. Thus, the collision sensor detects contact with an obstacle.
　カメラ１７５は、ボディ１２０の上部空間の全周画像を撮像する装置である。カメラ１７５で撮像された画像は、画像認識処理部（図示せず）で処理される。この処理により、画像内の特徴点の位置から自律走行掃除機１００の現在位置が把握できる。 The camera 175 is a device for capturing an image of the entire circumference of the upper space of the body 120. The image captured by the camera 175 is processed by an image recognition processing unit (not shown). By this processing, the current position of the autonomous traveling cleaner 100 can be grasped from the position of the feature point in the image.
　床面センサ１７６は、ボディ１２０の底面の複数箇所に配置され、掃除エリア１８０（図５参照）である、例えば床面が、存在するか否かを検出する。本実施の形態の場合、床面センサ１７６は、例えば発光部および受光部を有する赤外線センサで構成される。つまり、床面センサ１７６は、発光部から放射した光（赤外線）が戻って受光部で受信される場合、「床面有り」として検出する。一方、床面センサ１７６は、受信部が閾値以下の光しか受信しない場合、「床面無し」として検出する。 The floor surface sensor 176 is disposed at a plurality of locations on the bottom surface of the body 120, and detects whether or not, for example, a floor surface, which is the cleaning area 180 (see FIG. 5), exists. In the case of the present embodiment, the floor surface sensor 176 is formed of, for example, an infrared sensor having a light emitting unit and a light receiving unit. That is, when the light (infrared rays) emitted from the light emitting unit returns and is received by the light receiving unit, the floor sensor 176 detects “floor present”. On the other hand, when the receiving unit receives only light having a threshold value or less, the floor sensor 176 detects “floor no”.
　駆動ユニット１３０は、さらに、エンコーダを備える。エンコーダは、走行用モータによって回転する一対のホイールのそれぞれの回転角を検出する。エンコーダからの情報により、自律走行掃除機１００の走行量、旋回角度、速度、加速度、角速度などが算出される。 The drive unit 130 further comprises an encoder. The encoder detects each rotation angle of a pair of wheels rotated by the traveling motor. Based on the information from the encoder, the traveling amount, the turning angle, the speed, the acceleration, the angular velocity, etc. of the autonomous traveling cleaner 100 are calculated.
　加速度センサは、自律走行掃除機１００が走行する際の加速度を検出する。角速度センサは、自律走行掃除機１００が旋回する際の角速度などが検出する。加速度センサおよび角速度センサにより検出された情報は、例えばホイールの空回りによって発生する誤差を修正するための情報などに用いられる。 The acceleration sensor detects an acceleration when the autonomous traveling cleaner 100 travels. The angular velocity sensor detects an angular velocity or the like when the autonomous traveling cleaner 100 turns. The information detected by the acceleration sensor and the angular velocity sensor is used, for example, as information for correcting an error caused by the idle rotation of the wheel.
　塵埃量センサ１７７は、例えば発光素子と受光素子などから構成される。つまり、塵埃量センサ１７７は、受光素子が発光素子から放射された光の量を検出して出力する。このとき、出力された情報に基づいて、制御部（図示せず）は、受光した光の量と塵埃量とを対応させる。具体的には、制御部は、受光される光の量が少なくなるほど塵埃量が多いと判断する。そして、制御部は、その旨を示す塵埃量情報を生成する。 The dust amount sensor 177 includes, for example, a light emitting element and a light receiving element. That is, the dust amount sensor 177 detects and outputs the amount of light emitted from the light emitting element by the light receiving element. At this time, based on the output information, the control unit (not shown) correlates the amount of light received with the amount of dust. Specifically, the control unit determines that the amount of dust decreases as the amount of light received decreases. Then, the control unit generates dust amount information indicating that.
　なお、以上で説明した障害物センサ１７３、測距センサ１７４、衝突センサ、カメラ１７５、床面センサ１７６、エンコーダ、塵埃量センサ１７７などは、センサの例示である。そのため、自律走行掃除機１００は、全てのセンサを備える必要はない。また、自律走行掃除機１００は、上記と異なる形態のセンサを備えてもよい。 The obstacle sensor 173, the distance measurement sensor 174, the collision sensor, the camera 175, the floor surface sensor 176, the encoder, the dust amount sensor 177, and the like described above are examples of sensors. Therefore, the autonomous traveling cleaner 100 does not have to include all the sensors. Moreover, the autonomous running cleaner 100 may be equipped with a sensor of a form different from the above.
　つぎに、制御ユニット１７０の各機能部について、図４を用いて、説明する。 Next, each functional unit of the control unit 170 will be described using FIG.
　図４は、実施の形態１における自律走行掃除機１００の制御ユニット１７０の各機能部を示すブロック図である。 FIG. 4 is a block diagram showing each functional unit of control unit 170 of autonomous traveling cleaner 100 in the first embodiment.
　制御ユニット１７０は、自律走行掃除機１００を自律的走行させて掃除を実行するように、駆動ユニット１３０を制御する。また、制御ユニット１７０は、自律走行掃除機１００の自律走行中に、上記各種センサから得られた情報に基づいて、走行実績から走行エリアのマップを生成するユニットを構成する。 The control unit 170 controls the drive unit 130 so that the autonomous traveling cleaner 100 travels autonomously to execute the cleaning. In addition, the control unit 170 configures a unit that generates a map of a traveling area from traveling results based on the information obtained from the various sensors while the autonomous traveling cleaner 100 autonomously travels.
　具体的には、制御ユニット１７０は、図４に示すように、マップ生成部１８１、記憶装置２００、マップ比較部１８２、拡張エリア判定部１８３、塵埃量統計部１８４、報知部１８６などを含む。本実施の形態の場合、自律走行掃除機１００の制御ユニット１７０は、さらに、移動情報取得部１８５、マップ処理部１８７などを含む。 Specifically, as shown in FIG. 4, the control unit 170 includes a map generation unit 181, a storage device 200, a map comparison unit 182, an extended area determination unit 183, a dust amount statistics unit 184, a notification unit 186 and the like. In the case of the present embodiment, the control unit 170 of the autonomous traveling cleaner 100 further includes a movement information acquisition unit 185, a map processing unit 187, and the like.
　マップ生成部１８１は、各種センサからの情報に基づいて、自己位置推定技術により得られる掃除中の複数箇所における自己位置の集合である走行実績を用いて、マップを生成する処理部である。つまり、マップ生成部１８１は、図５に示す掃除エリア１８０に設置された基準部材１８９の位置を基準位置とした新マップ２０１（図６参照）を、走行実績に基づいて、生成する。ここで、掃除エリア１８０とは、自律走行掃除機１００が走行可能な領域である。つまり、一般的には、掃除エリア１８０は、図５に示すように、例えば部屋の床面の形状で近似される。 The map generation unit 181 is a processing unit that generates a map using travel performance which is a set of self positions at a plurality of locations during cleaning obtained by the self position estimation technique based on information from various sensors. That is, the map generation unit 181 generates a new map 201 (see FIG. 6) with the position of the reference member 189 installed in the cleaning area 180 shown in FIG. 5 as a reference position, based on the travel results. Here, the cleaning area 180 is an area where the autonomous traveling cleaner 100 can travel. That is, generally, the cleaning area 180 is approximated by, for example, the shape of the floor of a room, as shown in FIG.
　しかし、掃除エリア１８０が大幅に変化する場合がある。例えば、今まで閉ざされていたパーティションの開放、扉１９９の開放、ソファーとテーブルの撤去などにおいて、掃除エリア１８０が大幅に変化する。さらに、椅子やごみ箱の位置の変更など、掃除エリア１８０が小幅かつ頻繁に変化する場合などがある。 However, the cleaning area 180 may change significantly. For example, the cleaning area 180 changes significantly in the opening of the partition which was closed until now, the opening of the door 199, the removal of the sofa and the table, and the like. Furthermore, there are cases where the cleaning area 180 changes slightly and frequently, such as changing the position of a chair or a trash can.
　このとき、基準部材１８９は、自律走行掃除機１００が自律的に走行する際の基準位置となる装置などの部材が対応する。そのため、基準部材１８９は、掃除エリア１８０内に配置される。基準部材１８９は、特に限定されないが、例えば供給される電力により自律走行掃除機１００が備えるバッテリーを充電する充電台などが、基準部材１８９となる。なお、基準部材１８９は、自律走行掃除機１００が備えるカメラ１７５などにより撮像された画像から抽出された特徴的な部分が基準部材１８９となる場合もある。 At this time, the reference member 189 corresponds to a member such as a device serving as a reference position when the autonomous traveling cleaner 100 travels autonomously. Therefore, the reference member 189 is disposed in the cleaning area 180. Although the reference member 189 is not particularly limited, for example, a charging stand or the like for charging a battery provided to the autonomous traveling cleaner 100 with the supplied electric power is the reference member 189. Note that, in some cases, the reference member 189 may be a characteristic portion extracted from an image captured by a camera 175 or the like included in the autonomous traveling vacuum cleaner 100.
　また、走行実績とは、例えば走行プログラムに基づいて、自律走行掃除機１００が基準部材１８９を起点として走行を開始してから、例えば掃除エリア１８０全体を清掃したとして清掃を終了するまでの自律走行掃除機１００の軌跡である。つまり、走行実績は、必ずしも、掃除エリア１８０全体を清掃した軌跡でなくてもよい。 In addition, traveling results refer to, for example, autonomous traveling from when autonomous traveling cleaner 100 starts traveling with reference member 189 as a starting point based on a traveling program, for example, until cleaning ends as cleaning of the entire cleaning area 180 is completed. It is a locus of vacuum cleaner 100. That is, the travel record does not necessarily have to be the track that cleaned the entire cleaning area 180.
　マップ生成部１８１は、図５に示す掃除エリア１８０内の走行実績に基づいて、実際に走行した領域の外形と、図６に示す基準部材１８９が配置されていた位置である基準位置２０２を示す情報を、新マップ２０１として生成する。そして、生成した新マップ２０１を、制御ユニット１７０の記憶装置２００に保存する。 The map generation unit 181 indicates the outline of the area actually traveled and the reference position 202 which is the position where the reference member 189 shown in FIG. 6 is arranged, based on the traveling results in the cleaning area 180 shown in FIG. Information is generated as a new map 201. Then, the generated new map 201 is stored in the storage device 200 of the control unit 170.
　このとき、マップ生成部１８１は、図５に示すように、掃除エリア１８０内に走行不可能な島状の領域１８０Ａが存在する場合、図６に示すように、図５の領域１８０Ａ相当する島状の領域２０１Ａの外形およびその位置を示す情報を含む、新マップ２０１を生成する。 At this time, as shown in FIG. 5, when there is an island region 180A which can not be run within the cleaning area 180, the map generation unit 181 is an island corresponding to the region 180A of FIG. 5 as shown in FIG. A new map 201 is generated that includes information indicating the outline of the region 201A and the position of the region 201A.
　本実施の形態の場合、マップ生成部１８１が生成する新マップ２０１は、例えば２次元の配列データとして実現される。具体的には、マップ生成部１８１は、自律走行掃除機１００の走行結果を、例えば縦横１０ｃｍなどの所定の大きさの、例えば四角形に分割する。そして、マップ生成部１８１は、各四角形が新マップ２０１を構成する配列の要素エリアであると見做し、配列データとして、記憶装置２００に格納する。なお、記憶される、具体的なデータ形式は、特に限定されない。各要素エリアの値としては、例えば走行回数などによる掃除エリアの床面である確からしさ（確率）や、床面の種別などがある。また、本実施の形態の場合、さらに、塵埃量センサ１７７の検出に基づく塵埃量の情報が、追加情報として、記憶装置２００に保持される。 In the case of the present embodiment, the new map 201 generated by the map generation unit 181 is realized as, for example, two-dimensional array data. Specifically, the map generation unit 181 divides the traveling result of the autonomous traveling cleaner 100 into, for example, quadrilaterals having a predetermined size such as 10 cm by 10 cm. Then, the map generation unit 181 regards each square as an element area of the array constituting the new map 201, and stores the array area in the storage device 200 as array data. The specific data format to be stored is not particularly limited. The value of each element area includes, for example, the certainty (probability) of being the floor surface of the cleaning area according to the number of times of traveling, the type of floor surface, and the like. Further, in the case of the present embodiment, information of the dust amount based on the detection of the dust amount sensor 177 is further held in the storage device 200 as additional information.
　マップ比較部１８２は、累積マップ３０１（図７参照）と、新マップ２０１（図６参照）との、重なり合わない部分を、差異エリアとして抽出する処理部である。つまり、マップ比較部１８２は、マップ生成部１８１が過去に生成したマップを累積した累積マップ３０１に対して、新マップ２０１を、基準部材１８９の位置である基準位置２０２に一致させて重ね合わせる。そして、マップ比較部１８２は、重なり合わない部分を差異エリアとして抽出する。 The map comparison unit 182 is a processing unit that extracts non-overlapping portions of the cumulative map 301 (see FIG. 7) and the new map 201 (see FIG. 6) as a difference area. That is, the map comparison unit 182 superimposes the new map 201 on the accumulated map 301, which is the map generated by the map generation unit 181 in the past, in agreement with the reference position 202 which is the position of the reference member 189. Then, the map comparison unit 182 extracts a non-overlapping portion as a difference area.
　拡張エリア判定部１８３は、累積マップ３０１から拡張されたエリアを拡張エリアとして判定する処理部である。つまり、拡張エリア判定部１８３は、マップ比較部１８２が抽出した差異エリアのうち、累積マップ３０１には存在していなかった差異エリアを、拡張エリアとして判定する。なお、本実施の形態の場合、例えば差異エリアの面積が、第一閾値（例えば１ｍ×１ｍ）以上で、かつ、拡張されたエリアを、拡張エリアとして判定される。これにより、第一閾値未満の、例えばごみ箱の移動による差異エリアなどは、拡張エリアの判定から除外される。これにより、別の掃除エリアへの移動や、掃除エリア内の環境の急変などの、大きな変化の検出が可能となる。 The extension area determination unit 183 is a processing unit that determines an area extended from the accumulation map 301 as an extension area. That is, the extension area determination unit 183 determines, as an extension area, a difference area which is not present in the cumulative map 301 among the difference areas extracted by the map comparison unit 182. In the case of the present embodiment, for example, the area of the difference area is determined to be the expanded area which is the first threshold (for example, 1 m × 1 m) or more and the expanded area. Thereby, for example, a difference area or the like due to the movement of the trash can, which is less than the first threshold, is excluded from the determination of the extension area. This makes it possible to detect large changes such as movement to another cleaning area or sudden change of the environment in the cleaning area.
　塵埃量統計部１８４は、塵埃量センサ１７７から得られた塵埃量情報を統計的に処理する処理部である。つまり、塵埃量統計部１８４は、新マップ２０１と累積マップ３０１とを、同じ位置で縦横に分割した１要素を要素エリアとした場合、位置が一致する要素エリアにおいて、塵埃量情報を統計的に処理する。具体的には、例えば塵埃量統計部１８４は、各要素エリアにおいて、まず、今まで更新に使用した新マップ２０１の数を示す累積枚数に「１」を加算する。つぎに、塵埃量統計部１８４は、累積されている塵埃量情報に、新たな塵埃量情報を加算する。そして、塵埃量統計部１８４は、加算された「和」を、累積枚数で除算して、「商」を求める。これにより、塵埃量統計部１８４は、得られた「商」に基づいて、塵埃量情報の平均値を算出する。 The dust amount statistics unit 184 is a processing unit that statistically processes the dust amount information obtained from the dust amount sensor 177. That is, when the dust amount statistics unit 184 uses one element obtained by dividing the new map 201 and the cumulative map 301 vertically and horizontally at the same position as the element area, the dust amount information is statistically determined in the element area where the positions coincide. To process. Specifically, for example, in each element area, the dust amount statistics unit 184 first adds “1” to the cumulative number indicating the number of new maps 201 used for updating so far. Next, the dust amount statistics unit 184 adds new dust amount information to the accumulated dust amount information. Then, the dust amount statistics unit 184 divides the added "sum" by the cumulative number of sheets to obtain a "quotient". Thereby, the dust amount statistics unit 184 calculates the average value of the dust amount information based on the obtained "quotient".
　なお、拡張エリア判定部１８３で判定された拡張エリアについては、塵埃量統計部１８４における処理方法が異なる。これについては、後述する。 The processing method in the dust amount statistics unit 184 is different for the extension area determined by the extension area determination unit 183. This will be described later.
　報知部１８６は、拡張エリアの存在を示す情報を含む拡張情報を、使用者に報知する処理部である。上述したように、まず、自動モードにおける走行実績に基づいて、マップ生成部１８１は、新マップ２０１を生成する。そして、拡張エリア判定部１８３が、新マップ２０１に拡張エリアが存在すると判定した場合、拡張エリアを示す情報を含む拡張情報を、報知部１８６は、使用者に報知する。 The notification unit 186 is a processing unit that notifies the user of extension information including information indicating the presence of the extension area. As described above, first, the map generation unit 181 generates the new map 201 based on the travel results in the automatic mode. Then, when the extension area determination unit 183 determines that the extension area exists in the new map 201, the notification unit 186 notifies the user of extension information including information indicating the extension area.
　なお、上記自動モードとは、基準部材１８９を起点として、自律走行掃除機１００を自律的に走行させ、掃除エリア１８０をできるだけ広範囲に掃除させるモードである。そのため、自動モードは、累積マップ３０１などに基づいて、指定された指定範囲のみを自律的に掃除する、指定モードとは異なる。 The above-described automatic mode is a mode in which the autonomous traveling cleaner 100 is autonomously traveled from the reference member 189 as a starting point to clean the cleaning area 180 as wide as possible. Therefore, the automatic mode is different from the designation mode in which only the designated designated area is autonomously cleaned based on the accumulation map 301 or the like.
　そして、本実施の形態では、上記条件が整った場合、報知部１８６は、使用者が所持している、例えば端末装置４００（図４参照）などに、拡張情報として新マップ２０１の画像を表示させる。さらに、報知部１８６は、新マップ２０１を示す画像情報に、各要素エリアの塵埃量を示す塵埃情報を重畳した拡張情報も、報知する。具体的には、図４の端末装置４００の画面に示すように、塵埃量が多い部分は、例えば濃い色で表示させる。 Then, in the present embodiment, when the above condition is satisfied, the notification unit 186 displays the image of the new map 201 as the extended information on, for example, the terminal device 400 (see FIG. 4) possessed by the user. Let Furthermore, the notification unit 186 also notifies extended information in which dust information indicating the amount of dust in each element area is superimposed on image information indicating the new map 201. Specifically, as shown on the screen of the terminal device 400 in FIG. 4, the portion with a large amount of dust is displayed in dark color, for example.
　移動情報取得部１８５は、端末装置４００で拡張情報を確認した使用者から送信される、掃除エリア１８０内で基準部材１８９を移動したか否かを示す情報である移動情報を取得する処理部である。本実施の形態の場合、移動情報取得部１８５は、使用者の端末装置４００に、図８に示すような、基準部材１８９、すなわち充電台を大きく移動させたか否かを、問いあわせる画面を表示させる。そして、移動情報取得部１８５は、端末装置４００からの返信により、使用者が選択した回答を、移動情報として取得する。 The movement information acquisition unit 185 is a processing unit that acquires movement information, which is information indicating whether the reference member 189 has been moved within the cleaning area 180, transmitted from the user who confirmed the extension information with the terminal device 400. is there. In the case of the present embodiment, the movement information acquisition unit 185 displays a screen asking the user's terminal device 400 whether or not the reference member 189, that is, the charging stand has been largely moved, as shown in FIG. Let Then, the movement information acquisition unit 185 acquires a reply selected by the user as movement information in response to the reply from the terminal device 400.
　マップ処理部１８７は、移動情報取得部１８５が取得した移動情報に基づいて、拡張エリアを加えた新マップを生成する処理部である。具体的には、移動情報が、基準部材１８９が大きく移動したことを示す場合、マップ処理部１８７は、拡張エリアを含む新マップ２０１を、累積マップ３０１とは別マップとして生成する。一方、基準部材１８９が移動していないことを示す場合、マップ処理部１８７は、拡張エリアを加えた新マップを生成する。 The map processing unit 187 is a processing unit that generates a new map to which the extension area is added, based on the movement information acquired by the movement information acquisition unit 185. Specifically, when the movement information indicates that the reference member 189 has moved largely, the map processing unit 187 generates the new map 201 including the extended area as a map different from the cumulative map 301. On the other hand, when indicating that the reference member 189 has not moved, the map processing unit 187 generates a new map to which the extension area is added.
　なお、拡張エリアを含む新マップ２０１を、累積マップ３０１とは別マップとして生成した場合、新マップ全体を累積マップ３０１と関連付けることなく単独の履歴マップとして扱う。この場合、新マップの塵埃量情報は、累積マップとは関連しない別の場所の情報であるため、塵埃量統計部１８４は、取得した塵埃量情報を統計的に処理しない。 When the new map 201 including the extended area is generated as a map different from the cumulative map 301, the entire new map is treated as a single history map without being associated with the cumulative map 301. In this case, since the dust amount information of the new map is information of another place not related to the cumulative map, the dust amount statistics unit 184 does not statistically process the acquired dust amount information.
　本実施の形態の例の場合、図５に示すように、基準部材１８９は移動されず、隣の部屋に通じる扉１９９が開放された状態である。そのため、マップ処理部１８７は、図６に示すマップ生成部１８１で生成された新マップ２０１を、累積マップ３０１に追加する処理を行う。 In the case of the example of the present embodiment, as shown in FIG. 5, the reference member 189 is not moved, and the door 199 leading to the next room is in the open state. Therefore, the map processing unit 187 performs a process of adding the new map 201 generated by the map generation unit 181 shown in FIG. 6 to the cumulative map 301.
　制御ユニット１７０は、上述したように、記憶装置２００を備える。記憶装置２００は、マップ生成部１８１で、新マップ２０１を生成する以前に生成したマップが累積された累積マップ３０１を保持する。そして、記憶装置２００に保存される累積マップ３０１には、これまでに追加されたマップで床面であった頻度などから算出できる累積床面確率が、紐付けられている。なお、記憶装置２００の種類は、特に限定されないが、例えばハードディスク、フラッシュメモリなどが例示される。 The control unit 170 includes the storage device 200 as described above. The storage device 200 causes the map generation unit 181 to hold the accumulated map 301 in which the maps generated before the generation of the new map 201 is accumulated. The cumulative map 301 stored in the storage device 200 is associated with a cumulative floor probability that can be calculated from the frequency of the floor that has been added to the map so far. The type of the storage device 200 is not particularly limited, and examples thereof include a hard disk and a flash memory.
　また、自律走行掃除機１００は、自動モード以外の場合において、走行実績に基づいて、マップ生成部１８１で生成した新マップ２０１を、履歴マップとして保持してもよい。この場合、拡張エリア判定部１８３が、新マップ２０１に拡張エリアが存在すると判定した場合、基準部材１８９が移動されている可能性が高い。そのため、履歴マップは累積マップ３０１と関連付けることなく、また、塵埃量統計部１８４は取得した塵埃量情報を統計的に処理しないようにすることが好ましい。これにより、異なる場所を掃除したときの塵埃量情報によらず、累積マップ上で統計的に塵埃量の分布を算出できる。 In addition, the autonomous traveling cleaner 100 may hold the new map 201 generated by the map generation unit 181 as a history map based on the traveling results, except in the automatic mode. In this case, when the extension area determination unit 183 determines that the extension area exists in the new map 201, the possibility that the reference member 189 is moved is high. Therefore, it is preferable that the history map not be associated with the cumulative map 301 and that the dust amount statistics unit 184 not statistically process the acquired dust amount information. Thereby, the distribution of the dust amount can be calculated statistically on the cumulative map regardless of the dust amount information when cleaning different places.
　（実施の形態２）
　以下に、拡張エリア識別方法について、図９を用いて、説明する。 Second Embodiment
Hereinafter, the extension area identification method will be described with reference to FIG.
　図９は、実施の形態２における拡張エリア識別方法を示すフローチャートである。 FIG. 9 is a flow chart showing an extended area identifying method according to the second embodiment.
　なお、実施の形態２では、以下の状態を例に説明する。まず、使用者が基準部材１８９である充電台を、扉１９９を隔てた反対側の部屋に移動させる。扉１９９を閉ざした状態で、自律走行掃除機１００を自動モードで掃除させる。つまり、上記状態における拡張エリア識別方法について、説明する。 In the second embodiment, the following state will be described as an example. First, the user moves the charging stand, which is the reference member 189, to the opposite room separated by the door 199. With the door 199 closed, the autonomous traveling cleaner 100 is cleaned in the automatic mode. That is, the extended area identification method in the above state will be described.
　図９に示すように、使用者は、まず、自律走行掃除機１００を自動モードに設定し、掃除を開始する（ステップＳ５０１）。これにより、自律走行掃除機１００は、自動モードで、掃除エリア１８０内を清掃し、掃除が完了する。 As shown in FIG. 9, the user first sets the autonomous traveling cleaner 100 to the automatic mode and starts cleaning (step S501). Thus, the autonomous traveling cleaner 100 cleans the inside of the cleaning area 180 in the automatic mode, and the cleaning is completed.
　掃除終了後、自律走行掃除機１００のマップ生成部１８１は、図１０に示す、掃除エリア１８０に設置された基準部材１８９の位置を、新たに基準位置２０２とした新マップ２０１を、走行実績に基づいて、生成する（ステップＳ５０２）。ここで、図１０は、マップ生成部１８１により生成される新マップ２０１を示す図である。このとき、自律走行掃除機１００は、掃除中に塵埃量センサ１７７から塵埃量情報を取得し、要素エリア毎に、取得した塵埃量情報を新マップ２０１に関連付ける。 After cleaning is completed, the map generation unit 181 of the autonomous traveling vacuum cleaner 100 uses the new map 201 which newly sets the position of the reference member 189 installed in the cleaning area 180 as the reference position 202 shown in FIG. It generates based on (step S502). Here, FIG. 10 is a diagram showing the new map 201 generated by the map generation unit 181. As shown in FIG. At this time, the autonomous traveling cleaner 100 acquires dust amount information from the dust amount sensor 177 during cleaning, and associates the acquired dust amount information with the new map 201 for each element area.
　つぎに、マップ比較部１８２は、図１１に示すように、基準位置２０２を一致させて、累積マップ３０１と、マップ生成部１８１で生成された新マップ２０１とを、重ね合わせる。そして、マップ比較部１８２は、重なり合わない部分を、差異エリアとして抽出する（ステップＳ５０３）。 Next, as shown in FIG. 11, the map comparison unit 182 matches the reference position 202, and superimposes the cumulative map 301 and the new map 201 generated by the map generation unit 181. Then, the map comparison unit 182 extracts a non-overlapping portion as a difference area (step S503).
　つぎに、拡張エリア判定部１８３は、拡張エリアが存在するか否かを判定する（ステップＳ５０４）。つまり、拡張エリア判定部１８３は、累積マップ３０１からはみ出している差異エリアで、さらに、所定の面積以上などの所定の条件を満たしているか否かに基づいて、拡張エリアの存在を判定する（ステップＳ５０４）。このとき、差異エリアが所定の条件を満たしていない場合（ステップＳ５０４のＮｏ）、累積マップ３０１に新マップ２０１を追加して累積処理を行う（ステップＳ５０５）。この場合、要素エリア毎に、塵埃量情報を統計的に処理してもよい。これにより、掃除するたびに多くの塵埃量が得られる傾向のある場所を抽出して、使用者に提示できる。さらに、提示した場所を優先して、掃除するように制御することが可能となる。 Next, the extension area determination unit 183 determines whether there is an extension area (step S504). That is, the extension area determination unit 183 determines the presence of the extension area based on whether or not a predetermined condition such as a predetermined area or more is satisfied in the difference area protruding from the accumulation map 301 (step S504). At this time, when the difference area does not satisfy the predetermined condition (No in step S504), the new map 201 is added to the accumulation map 301 to perform accumulation processing (step S505). In this case, dust amount information may be statistically processed for each element area. This makes it possible to extract and present to the user a place where a large amount of dust tends to be obtained each time cleaning is performed. Furthermore, it is possible to control to give priority to the presented place for cleaning.
　一方、差異エリアが、所定の条件を満たし、累積マップ３０１からはみ出している拡張エリアが存在すると判断された場合（ステップＳ５０４のＹｅｓ）、報知部１８６は、使用者に、拡張エリアが存在することを示す情報を含む拡張情報を報知する（ステップＳ５０６）。この場合、報知方法は、特に限定されない。例えば、自律走行掃除機１００との間で事前に無線通信が確立されている端末装置４００に、新マップ２０１を示す画像を拡張情報として送信するように構成としてもよい。これにより、使用者に拡張エリアの存在が報知される。 On the other hand, when it is determined that the difference area satisfies the predetermined condition and there is an extended area extending from the accumulation map 301 (Yes in step S504), the notification unit 186 indicates that the user has an extended area. Broadcast extended information including information indicating (step S506). In this case, the notification method is not particularly limited. For example, the image indicating the new map 201 may be transmitted as the extended information to the terminal device 400 in which the wireless communication is established in advance with the autonomous traveling cleaner 100. Thus, the user is notified of the presence of the extended area.
　つぎに、端末装置４００で拡張情報を確認した使用者は、基準部材１８９である充電台を移動させたか否かを示す情報である移動情報（図８参照）を、端末装置４００などを用いて送信する。これにより、自律走行掃除機１００の移動情報取得部１８５は、使用者が送信した移動情報を取得する（ステップＳ５０７）。 Next, the user who confirmed the extended information by the terminal device 400 uses movement information (see FIG. 8) which is information indicating whether or not the charging stand which is the reference member 189 is moved, using the terminal device 400 or the like. Send. Accordingly, the movement information acquisition unit 185 of the autonomous traveling cleaner 100 acquires the movement information transmitted by the user (step S507).
　つぎに、マップ処理部１８７は、移動情報取得部１８５が取得した情報により、基準部材１８９を移動しているか否かを判定する（ステップＳ５０８）。このとき、基準部材１８９を移動していない場合（ステップＳ５０８のＮｏ）、累積マップ３０１に拡張エリアを加えた新マップ２０１を生成する（ステップＳ５０９）。一方、取得した情報が基準部材１８９の移動を示す場合（ステップＳ５０８のＹｅｓ）、マップ処理部１８７は、拡張エリアに対応する部分を別マップとして生成する（ステップＳ５１０）。 Next, the map processing unit 187 determines whether or not the reference member 189 is moved based on the information acquired by the movement information acquisition unit 185 (step S508). At this time, when the reference member 189 is not moved (No in step S508), a new map 201 obtained by adding the expansion area to the accumulation map 301 is generated (step S509). On the other hand, when the acquired information indicates the movement of the reference member 189 (Yes in step S508), the map processing unit 187 generates a portion corresponding to the extension area as another map (step S510).
　つぎに、ステップＳ５０８およびステップＳ５０９のそれぞれで得られた結果を、記憶装置２００に保存する（ステップＳ５１１）。そして、拡張エリア識別の動作を終了する。 Next, the results obtained in step S508 and step S509 are stored in the storage device 200 (step S511). Then, the operation of extended area identification is ended.
　以上で説明したように、実施の形態１、２の自律走行掃除機１００、および、自律走行掃除機１００を用いた拡張エリア識別方法によれば、まず、自律走行掃除機１００自体では把握しきれない基準部材１８９の移動を、累積マップ３０１とは異なる拡張エリアの存在で予測する。そして、基準部材１８９の移動を、端末装置４００などを介して、使用者に確認を取る。これにより、基準部材１８９の移動の有無を確認できる。その結果、各条件に基づいて適切なマップを、新たに生成することが可能となる。つまり、掃除エリア内の環境の変化に、柔軟に対応できる自律走行掃除機１００が得られる。 As described above, according to the autonomous traveling cleaner 100 of the first and second embodiments and the extended area identification method using the autonomous traveling cleaner 100, first, the autonomous traveling cleaner 100 itself can not understand The movement of the non-reference member 189 is predicted with the presence of an extended area different from the cumulative map 301. Then, the movement of the reference member 189 is confirmed with the user via the terminal device 400 or the like. Thereby, the presence or absence of the movement of the reference member 189 can be confirmed. As a result, an appropriate map can be newly generated based on each condition. That is, the autonomous traveling vacuum cleaner 100 which can respond flexibly to the change of the environment in the cleaning area is obtained.
　なお、本発明は、上記実施の形態に限定されるものではない。例えば、本明細書において記載した構成要素を任意に組み合わせて、また、構成要素のいくつかを除外して実現される別の実施の形態を本発明の実施の形態としてもよい。また、上記実施の形態に対して本発明の主旨、すなわち、請求の範囲に記載される文言が示す意味を逸脱しない範囲で当業者が思いつく各種変形を施して得られる変形例も本発明に含まれる。 The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be used as an embodiment of the present invention. Further, modifications obtained by applying various modifications to those skilled in the art without departing from the spirit of the present invention, that is, the meaning indicated by the language described in the claims, are also included in the present invention. Be
　例えば、本実施の形態１、２で説明した、マップ生成部１８１以外の構成については、サーバなどの自律走行掃除機１００とネットワークを介して接続された計算機（コンピュータ）上に構成してもよい。この場合、上記構成は、自律走行掃除機１００を備えた掃除機システムと見做すことができる。このとき、マップ生成部１８１で生成された新マップ２０１は、ネットワークを通じて計算機に送信され、計算機が保存している累積マップ３０１が更新される。 For example, the configuration other than the map generation unit 181 described in the first and second embodiments may be configured on a computer (computer) connected to the autonomous traveling cleaner 100 such as a server via a network. . In this case, the above configuration can be regarded as a vacuum cleaner system provided with the autonomous traveling vacuum cleaner 100. At this time, the new map 201 generated by the map generation unit 181 is transmitted to the computer through the network, and the cumulative map 301 stored by the computer is updated.
　さらに、使用者がスマートフォン等の端末装置４００上で、計算機から受信した累積マップ３０１に基づいて、掃除結果の確認や、自律走行掃除機１００が掃除するエリアの指定が可能にしてもよい。 Furthermore, on the terminal device 400 such as a smartphone, the user may be able to confirm the cleaning result or specify the area to be cleaned by the autonomous traveling cleaner 100 based on the cumulative map 301 received from the computer.
　また、本実施の形態１、２では、使用者が端末装置４００を介して入力した情報に基づいて、移動情報を出力する構成を例に説明したが、これに限られない。例えば、自律走行掃除機１００自体に入力部を設けて、使用者が自律走行掃除機１００の入力部を用いて移動情報を入力する構成としてもよい。 In the first and second embodiments, the configuration in which the movement information is output based on the information input by the user via the terminal device 400 has been described as an example, but the present invention is not limited thereto. For example, an input unit may be provided in the autonomous traveling cleaner 100 itself, and the user may input movement information using the input unit of the autonomous traveling cleaner 100.
　本発明は、家庭内、工場内、大規模施設内などにおいて、自律的に走行し掃除を行う、いわゆるロボット掃除に利用可能である。 INDUSTRIAL APPLICABILITY The present invention can be used for so-called robot cleaning which autonomously travels and cleans in a home, a factory, a large-scale facility, and the like.
　１００　　自律走行掃除機
　１２０　　ボディ
　１２１　　吸込口
　１３０　　駆動ユニット
　１４０　　清掃ユニット
　１５０　　吸引ユニット
　１５１　　ごみ箱ユニット
　１７０　　制御ユニット
　１７１　　発信部
　１７２　　受信部
　１７３　　障害物センサ
　１７４　　測距センサ
　１７５　　カメラ
　１７６　　床面センサ
　１７７　　塵埃量センサ
　１７９　　キャスター
　１８０　　掃除エリア
　１８０Ａ，２０１Ａ　　領域
　１８１　　マップ生成部
　１８２　　マップ比較部
　１８３　　拡張エリア判定部
　１８４　　塵埃量統計部
　１８５　　移動情報取得部
　１８６　　報知部
　１８７　　マップ処理部
　１８９　　基準部材
　１９９　　扉
　２００　　記憶装置
　２０１　　新マップ
　２０２　　基準位置
　３０１　　累積マップ
　４００　　端末装置 DESCRIPTION OF SYMBOLS 100 autonomous running cleaner 120 body 121 suction port 130 drive unit 140 cleaning unit 150 suction unit 151 recycle bin unit 170 control unit 171 transmission part 172 reception part 173 obstacle sensor 174 distance measurement sensor 175 camera 176 floor sensor 177 dust amount sensor 179 Caster 180 cleaning area 180A, 201A area 181 map generation unit 182 map comparison unit 183 extended area determination unit 184 dust amount statistics unit 185 movement information acquisition unit 186 notification unit 187 map processing unit 189 reference member 199 door 200 storage device 201 new map 202 Reference position 301 Cumulative map 400 Terminal device

Claims (6)

  1. 自律的に走行して掃除を行う自律走行掃除機であって、
    掃除エリアに設置された基準部材の位置を基準位置とした新マップを走行実績に基づいて生成するマップ生成部と、
    前記新マップが、既に作成されたマップが累積された累積マップから、はみ出している場合、前記累積マップから拡張されたエリアである拡張エリアが存在するか否かを判定する拡張エリア判定部と、
    前記新マップが自動モードにおける走行実績に基づいて生成され、かつ、前記拡張エリア判定部で、前記拡張エリアが存在すると判定された場合、前記拡張エリアが存在することを示す情報を含む拡張情報を使用者に報知する報知部と、を備える、
    自律走行掃除機。     It is an autonomous traveling vacuum cleaner that travels and cleans autonomously,
    A map generation unit that generates a new map based on the traveling results with the position of the reference member installed in the cleaning area as the reference position;
    An extended area determination unit that determines whether there is an extended area, which is an area extended from the cumulative map, when the new map protrudes from the cumulative map in which the previously created map is accumulated;
    When the new map is generated based on the traveling results in the automatic mode, and the extended area determination unit determines that the extended area is present, extended information including information indicating that the extended area is present And a notification unit for notifying a user
    Autonomous vacuum cleaner.
  2. 前記拡張情報を確認した前記使用者からの前記基準部材を移動したか否かを示す情報である移動情報を取得する移動情報取得部と、
    前記移動情報が移動したことを示す場合、前記拡張エリアに対応する部分を別マップとして生成し、移動していないことを示す場合、前記累積マップに前記拡張エリアを加えた前記新マップを生成するマップ処理部と、を備える、
    請求項１に記載の自律走行掃除機。     A movement information acquisition unit that acquires movement information that is information indicating whether or not the reference member has been moved from the user who has confirmed the extended information;
    When the movement information indicates movement, a portion corresponding to the extended area is generated as another map, and when it is indicated that the movement is not moved, the new area is generated by adding the extended area to the cumulative map. And a map processing unit,
    The autonomous running cleaner according to claim 1.
  3. 　前記新マップを複数に分割した１要素を要素エリアとした場合、それぞれの前記要素エリアの塵埃量を測定する塵埃量センサを備え、
    前記報知部は、少なくとも前記新マップを示す画像情報に、それぞれの前記要素エリアの塵埃量を示す塵埃情報を重畳した前記拡張情報を報知する、
    請求項１または請求項２のいずれか１項に記載の自律走行掃除機。     When one element obtained by dividing the new map into a plurality of elements is used as an element area, a dust amount sensor for measuring the amount of dust in each element area is provided,
    The notification unit notifies the extended information in which dust information indicating the amount of dust in each of the element areas is superimposed on at least image information indicating the new map.
    The autonomous running cleaner according to any one of claims 1 or 2.
  4. 過去の走行実績を含む前記走行実績に基づいて、それぞれの前記要素エリアの塵埃量を統計的に処理して得られる統計塵埃量を算出する塵埃量統計部を備え、
    前記報知部は、前記累積マップを示す画像情報に、それぞれの要素エリアの前記統計塵埃量を重畳した累積情報を報知する、
    請求項１から請求項３のいずれか１項に記載の自律走行掃除機。     A dust amount statistics unit that calculates a statistical dust amount obtained by statistically processing the dust amount of each of the element areas based on the travel results including past travel results;
    The notification unit notifies accumulated information in which the statistical dust amount of each element area is superimposed on image information indicating the accumulated map.
    The autonomous running cleaner according to any one of claims 1 to 3.
  5. 自律的に走行して掃除を行う自律走行掃除機における拡張エリア識別方法であって、
    掃除エリアに設置された基準部材の位置を基準位置とした新マップを走行実績に基づいてマップ生成部が生成し、
    前記新マップが、既に作成されたマップが累積された累積マップから、はみ出している場合、前記累積マップから拡張されたエリアである拡張エリアが存在するか否かを拡張エリア判定部が判定し、
    前記新マップが自動モードにおける走行実績に基づいて生成され、かつ、前記拡張エリア判定部で、前記拡張エリアが存在すると判定された場合、前記拡張エリアが存在することを示す情報を含む拡張情報を報知部が使用者に報知する、
    拡張エリア識別方法。     It is an extended area identification method in an autonomous running vacuum cleaner which runs and cleanses autonomously,
    The map generation unit generates a new map with the position of the reference member installed in the cleaning area as the reference position, based on the travel results,
    When the new map protrudes from the accumulated map in which the already created map is accumulated, the expanded area determination unit determines whether there is an expanded area which is an area expanded from the accumulated map,
    When the new map is generated based on the traveling results in the automatic mode, and the extended area determination unit determines that the extended area is present, extended information including information indicating that the extended area is present The notification unit notifies the user,
    Extended area identification method.
  6. 前記拡張情報を確認した使用者からの前記基準部材を移動したか否かを示す情報である移動情報を移動情報取得部が取得し、
    前記移動情報が移動したことを示す場合、前記拡張エリアに対応する部分を別マップとしてマップ処理部が生成し、移動していないことを示す場合、前記累積マップに前記拡張エリアを加えた前記新マップをマップ処理部が生成する、
    請求項５に記載の拡張エリア識別方法。     The movement information acquisition unit acquires movement information which is information indicating whether or not the reference member has been moved from the user who confirmed the extended information,
    When the movement information indicates movement, the map processing unit generates the part corresponding to the extended area as another map, and when indicating that the movement is not moved, the new area obtained by adding the expanded area to the cumulative map The map processing unit generates a map,
    The extended area identification method according to claim 5.
PCT/JP2018/038388 2017-10-27 2018-10-16 Autonomous cleaning device and method for identifying expansion area WO2019082719A1 (en)

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