WO2019187270A1 - Autonomous travel-type vacuum cleaner and door - Google Patents

Abstract

The present invention comprises: a camera (50) for capturing information on a door; a vacuum cleaner body (Sh) to which the camera (50) is provided; wheels for driving the vacuum cleaner body (Sh); and a control device for controlling the wheels. The vacuum cleaner body (Sh) includes joining parts (60, 70) that can be joined to joint parts attached to the door. On the basis of the type of door captured by the camera (50), the control device operates the wheels by different operations to open the door.

Description

Autonomous vacuum cleaner and door

The present invention relates to an autonomous traveling cleaner that performs cleaning through a door and a door that is compatible with the autonomous traveling cleaner.

In Patent Document 1, an arm portion is provided in a general-purpose moving body, and an engaging portion that engages with a door knob is provided at the tip of the arm portion, and the engaging portion is engaged with the door knob by controlling the arm portion. A door opening and closing robot is described.

JP 2016-59990 A

By the way, an autonomously traveling vacuum cleaner is required to clean the entire cleaning area evenly. In order to sufficiently clean the periphery and the lower part of furniture and the like installed in the cleaning area, a compact size is required.

However, although the robot described in Patent Document 1 can further improve the accuracy of engagement with the door knob in the door opening operation, the configuration having a robot arm (arm portion) is applied to an autonomously traveling vacuum cleaner. However, there is a problem that the size becomes large and the periphery and the lower part of the furniture cannot be sufficiently cleaned.

An object of the present invention is to solve the above-described conventional problems, and can be cleaned by passing through a door, and a compact size autonomous traveling cleaner and a door corresponding to the autonomous traveling cleaner. It is to provide.

The present invention includes an imaging unit that images door information, a cleaner body provided with the imaging unit, a drive unit that drives the cleaner body, and a control unit that controls the drive unit, The vacuum cleaner main body has a joint part that can be joined to the joint part attached to the door, and the control part moves the drive part to the door based on the type of the door imaged by the imaging part. It is characterized by opening the door by operating in different operations according to the type.

According to the present invention, it is possible to provide a door that can be cleaned by passing through the door and that is compatible with the autonomous traveling cleaner and the autonomous traveling cleaner.

It is the perspective view which looked at the autonomous running type vacuum cleaner of a 1st embodiment from the front. It is a bottom view of the autonomous traveling type vacuum cleaner of 1st Embodiment. FIG. 2 is a cross-sectional view taken along the line AA in FIG. It is a perspective view which shows the internal structure which removed the upper case of the autonomous running type vacuum cleaner of 1st Embodiment. It is a top view which shows roughly the principal part of the autonomous running type vacuum cleaner of 1st Embodiment. It is a front view which shows an example of a hinged door. It is a cross-sectional view which shows the to-be-joined part of a door. It is a perspective view which shows the state which the autonomous running type vacuum cleaner has opened the hinged door. It is a perspective view which shows the state which the autonomous running type vacuum cleaner has opened the sliding door. It is a block diagram which shows an autonomous traveling type vacuum cleaner. It is a flowchart which shows operation | movement of an autonomous running type vacuum cleaner. The determination method of opening / closing of a hinged door is shown, (a) is when it is closed, (b) is the case where it is open. A method for determining the opening / closing of the sliding door is shown, in which (a) is closed and (b) is open. It is explanatory drawing of the method of calculating the opening / closing locus | trajectory of a hinged door. It is sectional drawing which shows the operation | movement which opens a hinged door and shows the state before joining. It is sectional drawing which shows the operation | movement which opens a hinged door and shows a joining state. It is sectional drawing which shows the operation | movement which opens a hinged door and shows the open state of a door. It is sectional drawing which shows the operation | movement which opens a hinged door and shows a joining cancellation | release state. It is sectional drawing which shows the operation | movement which opens a hinged door and shows a door passage state. It is sectional drawing which shows the operation | movement which opens a sliding door and shows the state before joining. It is sectional drawing which shows the operation | movement which opens a sliding door and shows a joining state. It is sectional drawing which shows the operation | movement which opens a sliding door and shows the open state of a door. It is sectional drawing which shows the operation | movement which opens a sliding door and shows a joining cancellation | release state. It is sectional drawing which shows the operation | movement which opens a sliding door and shows a door passage state. The top view of the autonomous running type vacuum cleaner of 2nd Embodiment is shown, (a) is before joining, (b) is after joining. It is a top view of the autonomous traveling type vacuum cleaner of 3rd Embodiment. It is a top view of the autonomous traveling type vacuum cleaner of 4th Embodiment. It is a top view of the autonomous traveling type vacuum cleaner of 5th Embodiment. The top view of the autonomous running type vacuum cleaner of 6th Embodiment is shown, (a) is the case of a hinged door, (b) is the case of a sliding door. It is a top view which shows the autonomous running type vacuum cleaner of 7th Embodiment. It is a top view which shows the autonomous running type vacuum cleaner of 8th Embodiment. It is a perspective view which shows the modification of the imaging part of an autonomous running type vacuum cleaner.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. Similar components are denoted by the same reference numerals, and the same description will not be repeated.

(First embodiment)
Drawing 1 is a perspective view which looked at the autonomous running type vacuum cleaner of a 1st embodiment from the front. Note that the direction in which the autonomous traveling type vacuum cleaner S (autonomous traveling type vacuum cleaner) normally travels is the front, the vertical upward direction is the upward direction, and the wheels (drive units) 2 and 3 (see FIG. 2) are opposed to each other. The 2 side is the left side and the wheel 3 side is the right side. In other words, as shown in FIG.

As shown in FIG. 1, the autonomous traveling type vacuum cleaner S is an electric device that automatically cleans while moving autonomously in a predetermined cleaning area (for example, a floor surface Y of a room). The autonomously traveling electric vacuum cleaner S includes a vacuum cleaner main body Sh, wheels (drive units) 2 and 3 (see FIG. 2) for driving the vacuum cleaner main body Sh, and a camera (imaging unit) 50 provided in the vacuum cleaner main body Sh. And the junction parts 60 and 70 provided in the cleaner main body Sh are comprised.

The vacuum cleaner body Sh includes a case 1 that forms an outer shell. The case 1 is formed in a substantially circular shape in plan view, and includes an upper case 1u, a lower case 1s, and a bumper 1b.

The bumper 1b is provided from the front surface of the case 1 to the left and right side surfaces. Further, the bumper 1b is installed so as to be movable in the front-rear direction according to the force acting from the outside when it collides with an obstacle such as a wall. The bumper 1b is urged outward by a pair of left and right bumper springs (not shown).

Further, the autonomous traveling type vacuum cleaner S includes side brushes 7 and 7 provided in front of the lower portion, and a distance measuring sensor 8 (infrared sensor) as an obstacle detection means on the inner side of the side surface. Each side brush 7 is configured to rotate in the α1 direction during cleaning.

FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner according to the first embodiment.
As shown in FIG. 2, the autonomously traveling vacuum cleaner S includes a pair of wheels 2 and 3 and an auxiliary wheel 4. The autonomously traveling vacuum cleaner S includes a rotating brush 5 at the lower rear and a guide brush 6 at the lower center.

Wheels 2 and 3 have rotating shafts in the left-right direction (width direction) and include mechanisms that can be driven independently of each other. Thereby, the autonomous traveling type vacuum cleaner S can be moved forward, backward, and turned by rotating the wheels 2 and 3 themselves. The wheels 2 and 3 are disposed on the center side in the front-rear direction and on the outer side in the left-right direction, and are rotationally driven by wheel units 20 and 30 each composed of a traveling motor M1, M2 (see FIG. 4) and a speed reducer. .

The auxiliary wheel 4 is a driven wheel and is a caster that freely rotates. The auxiliary wheels 4 are provided on the front side in the front-rear direction and the center side in the left-right direction (between the left and right side brushes 7). Moreover, the auxiliary wheel 4 is a wheel for keeping the vacuum cleaner main body Sh at a predetermined height together with the wheels 2 and 3 and moving the autonomously traveling electric vacuum cleaner S smoothly. Further, the auxiliary wheel 4 is driven and rotated by the frictional force generated between the vacuum cleaner body Sh and the floor surface Y (see FIG. 3), and the direction of the auxiliary wheel 4 is rotated 360 ° in the horizontal direction. It is supported by 1s.

The side brush 7 is provided on the front side of the autonomous traveling type vacuum cleaner S and on the outer side in the left-right direction. Further, the side brush 7 is a brush having a vertical direction as a rotation axis, and sweeps an area outside the front of the autonomous traveling vacuum cleaner S from the left and right direction outward to the inside as indicated by an arrow α1. The dust on the floor surface is collected on the central rotating brush 5 side.

The guide brush 6 is provided on the inner side in the left-right direction with respect to the wheels 2 and 3, respectively. The guide brush 6 is a fixed brush that guides dust collected by the side brush 7 so as not to escape from the width of the rotating brush 5 to the outside.

The rotary brush 5 is a brush having a horizontal axis and a horizontal axis as a rotation axis, and is provided behind the wheels 2 and 3 of the autonomous traveling vacuum cleaner S. Further, the positions of the left and right end portions of the rotating brush 5 are inside the wheels 2 and 3 or inside the guide brush 6, respectively.

3 is a cross-sectional view taken along the line AA in FIG.
As shown in FIG. 3, the autonomous traveling vacuum cleaner S includes a rechargeable battery 9, a control device (control unit) 10, a suction fan 11, and a dust collection case 12 inside. The dust collecting case 12 has a suction port 12i formed above the rotary brush 5 as an inlet. The dust collection case 12 has a dust collection filter 13 attached to the outlet.

The rechargeable battery 9 is a secondary battery that can be reused by charging, for example, and is accommodated in the battery accommodating portion 1s6. The rechargeable battery 9 is disposed across the left and right ends of the autonomous traveling vacuum cleaner S.

The electric power from the rechargeable battery 9 is supplied to the control device 10, the motors of the wheels 2 and 3, the various brushes 5 and 7, the suction fan 11 and the like. The autonomously traveling vacuum cleaner S is centrally controlled by the control device 10.

The control device 10 is configured by, for example, a microcomputer and a peripheral circuit mounted on a substrate. The microcomputer reads out a control program stored in a ROM (Read Only Memory), expands it in a RAM (Random Access Memory), and executes various processes by a CPU (Central Processing Unit). The peripheral circuit includes an A / D / D / A converter, driving circuits for various motors, a sensor circuit, a charging circuit for the rechargeable battery 9, and the like.

Further, the control device 10 performs arithmetic processing according to the operation of the operation button bu (see FIG. 1) by the user and a signal input from the distance measuring sensor 8, and signals to various motors, the suction fan 11, and the like. Is output.

The dust collecting case 12 is a container that collects dust sucked from the floor surface Y through the suction port 14 formed in the suction part 1s4. The dust collection case 12 has substantially the same horizontal dimension as the rotating brush 5. The dust collection case 12 is detachably attached to the cleaner body Sh.

The main body of the dust collection case 12 has a lower surface corresponding to the shape of the upper portion of the suction portion 1s4, and is provided with a suction port 12i having substantially the same opening shape facing the suction port 14. The suction port 12i can be provided with a dust sensor (not shown) for detecting dust passing through the suction port 14. The dust sensor can detect the amount of dust passing through the suction port 14 and change the suction force of the suction fan 11 or change the rotation speed of the wheels 2 and 3 accordingly.

FIG. 4 is a perspective view showing the internal configuration of the autonomous traveling vacuum cleaner according to the first embodiment with the upper case removed. FIG. 4 shows a state where the dust collecting case 12 is removed.
As shown in FIG. 4, the suction fan 11 is arranged near the center of the lower case 1s. When the suction fan 11 and the rotating brush motor 5m are driven, dust such as a floor surface is scraped by the rotating brush 5 (see FIG. 3). The dust that has been scraped is introduced into the dust collecting case 12 (see FIG. 3) through the suction port 14 and the suction port 12i (see FIG. 3). The air from which the dust has been removed by the dust collection filter 13 (see FIG. 3) is discharged through the exhaust port 1s5 (see FIG. 2).

The lower case 1s is provided with a traveling motor M1 for driving the wheels 2 and a traveling motor M2 for driving the wheels 3. The wheel 2 is connected to the traveling motor M1 via a speed reduction mechanism (not shown). Further, the wheel 3 is connected to the traveling motor M2 via a reduction mechanism (not shown).

The distance measuring sensors 8 are provided at a total of five locations: a front face 8a, a left face 8b, a right face 8c, a left front face 8d between the front face and the left face, and a right front face 8e between the front face and the right face. . In this embodiment, all five sensors are distance measuring sensors that can measure “distance” in a plurality of stages. In addition to the distance to the obstacle on the side of the cleaner body Sh, the distance to the obstacle in front of the cleaner body Sh It can be measured.

Next, an outline of the operation of the autonomous traveling vacuum cleaner S will be described. The autonomously traveling vacuum cleaner S moves autonomously by the wheels 2 and 3 and the auxiliary wheel 4 (see FIG. 2), and can move forward, backward, turn left and right, turn around the superstition, and the like. The autonomously traveling vacuum cleaner S collects the dust collected by the side brushes 7 and 7 (see FIG. 2) and the guide brushes 6 and 6 (see FIG. 2) and adheres around the rotating brush 5 to the suction mouth 14. Then, the suction force of the suction fan 11 sucks into the dust collecting case 12 (see FIG. 3) from the suction port 12i (see FIG. 3) at the inlet of the dust collecting case 12, and the dust collecting filter 13 at the outlet (see FIG. 3). ) To stay in the dust collecting case 12 (see FIG. 3).

When dust accumulates in the dust collecting case 12, the dust collecting case 12 is removed from the cleaner body Sh (see FIG. 1) together with the dust collecting filter 13 as appropriate, and the dust is discarded.

The autonomously traveling vacuum cleaner S includes a distance measuring sensor 8 and a bumper sensor 15 as obstacle detection means.

The distance measuring sensor 8 is an infrared sensor that measures the distance to an obstacle using infrared rays, for example, and is installed 5 to 15 mm from the surface of the bumper 1b. The distance measuring sensor 8 can detect the distance to the obstacle ahead of the autonomous traveling vacuum cleaner S quantitatively or in two or more stages. The vicinity of the distance measuring sensor 8 of the bumper 1b is formed of resin or glass that transmits infrared rays. The distance measuring sensor 8 detects infrared reflected light from an obstacle, and measures the distance based on the intensity of the reflected light. If the intensity of the reflected light is strong, it is judged as close, and if it is weak, it is judged as far away. That is, the distance from the obstacle is not determined by binary values of 0 and 1, but is a distance measuring sensor that can determine the distance from the obstacle in a plurality of stages (in an analog manner).

Note that visible light, ultraviolet light, or laser may be used as the distance measuring sensor 8. Further, instead of a distance measuring sensor that measures the intensity of infrared light, a type that measures distance by sensing a light receiving position of reflected light or a type that measures distance from the time when reflected light returns may be used.

The bumper sensor 15 is a sensor, for example, a photocoupler, which detects that the bumper 1b (see FIG. 1) has come into contact with an obstacle by retreating the bumper 1b. When an obstacle comes into contact with the bumper 1b, the sensor light is blocked by the backward movement of the bumper 1b. A detection signal corresponding to this change is output to the control device 10. The bumper sensors 15 are provided on the left front side and the right front side, respectively, and can distinguish whether there is an obstacle on the right side, the left side, or the front side of the bumper 1b.

FIG. 5 is a plan view schematically showing the autonomous traveling vacuum cleaner of the first embodiment.
As shown in FIG. 5, the autonomous traveling type vacuum cleaner S includes a camera 50, a hinged door joint 60, and a sliding door joint 70. In FIG. 5, the wheels 2 and 3 are indicated by broken lines.

The camera 50 includes, for example, a single image sensor, and is provided at the front end of the case 1 (the vacuum cleaner body Sh) and at the center in the left-right direction. Moreover, the camera 50 can image a door (a hinged door or a sliding door). In this embodiment, the case where the camera 50 is provided on the upper surface of the cleaner body Sh has been described as an example. However, the camera (imaging unit) is used instead of the front distance measuring sensor 8a (see FIG. 4). Also good.

The joint portion 60 is made of a synthetic resin similar to the case 1 (see FIG. 1), and is integrally formed on the rear end surface of the cleaner body Sh. Moreover, the junction part 60 is formed in substantially L shape in planar view, and protrudes outside from the cleaner main body Sh. Moreover, the junction part 60 has the base part 60a extended toward back from the rear-end surface of the cleaner body Sh, and the extension part 60b extended toward the left direction from the front-end | tip of this base part 60a. Thereby, the clearance gap is formed between the rear-end surface of the cleaner body Sh, and the extension part 60b.

The joint 70 is made of a synthetic resin similar to the case 1 (see FIG. 1), and is integrally formed on the left end surface of the cleaner body Sh. Moreover, the junction part 70 is formed in substantially L shape in planar view, and protrudes outside from the cleaner body Sh. Moreover, the joining part 70 has the base part 70a extended toward the outer side from the left end surface of the cleaner main body Sh, and the extension part 70b extended toward the front from the front-end | tip of this base part 70a. Thereby, the clearance gap is formed between the left side surface of the cleaner main body Sh, and the extension part 70b.

FIG. 6 is a front view of an example of a hinged door.
As shown in FIG. 6, the hinged door 100 has a rectangular plate-like door body 100 s that is elongated in the vertical direction. Corners 100c and 100d are formed at both left and right ends.

Further, a rectangular door frame 111 is provided on the wall 110 to which the hinged door 100 is attached. The door frame 111 is formed with corners 111a, 111b, 111c, and 111d corresponding to the corners 100a, 100b, 100c, and 100d of the hinged door 100.

The hinged door 100 is provided with hinges (hinges) 112 and 112 for attaching to the door frame 111 so as to be freely opened and closed. In addition, the hinged door 100 is provided with a door knob 113 (a handle portion or a grip portion) at the approximate center in the vertical direction on the distal end side. Note that the shape of the door knob 113 is not limited to the round shape (circular in front view) shown in FIG. In addition, in the following description, a hinged door and a sliding door will be described as examples of types of doors.

Also, at the lower end of the hinged door 100, a joined part 120 to which the joined part 60 for the hinged door is connected is provided. In the present embodiment, the bonded portion 120 is provided between the lower end of the door body 100s and the height of the cleaner body Sh (see FIG. 1). In addition, the height of the bonded portion 120 is located below the door knob 113, and is particularly preferably 30 cm or less.

FIG. 7 is a cross-sectional view showing a bonded portion of the door. FIG. 7 shows a state in which the joining portion 60 of the autonomous traveling vacuum cleaner S is joined (engaged) to the joined portion 120.
As shown in FIG. 7, the joined portion 120 has a recessed portion 121 (concave portion) formed on one surface side of the hinged door 100. In addition, in FIG. 7, although the surface of the hollow part 121 is formed in curved shape (curved surface shape), you may form in square shape. Moreover, the to-be-joined part 120 has the joining recessed part 121a in which the joining part 60 is inserted. In addition, the shape (cross-sectional shape) of the joining recessed part 121a should just be a shape in which the joining part 60 is inserted so that advancement / retraction is possible, and can be changed suitably. Also, the shape of the joint 60 can be changed as appropriate according to the shape of the joint recess 121a.

FIG. 8 is a perspective view showing a state where the hinged door is opened by the autonomous traveling vacuum cleaner.
As shown in FIG. 8, the joint portion 60 (see FIG. 5) of the autonomous traveling vacuum cleaner S and the joined portion 120 of the hinged door 100 are joined (engaged), and the autonomous traveling type vacuum cleaner S is turned into a circle. The hinged door 100 can be opened by operating to draw an arcuate trajectory.

FIG. 9 is a perspective view showing a state where the sliding door is opened by the autonomous traveling vacuum cleaner.
As shown in FIG. 9, the sliding door 130 has a rectangular plate-like door body 130s that is elongated in the vertical direction, corners are formed at the left and right ends of the upper end of the door body 130s, and the left and right ends of the lower end of the door body 130s. Corners are formed. The sliding door 130 is provided with a hollow-shaped pulling handle 131 (hand holding portion) for opening and closing with a hand. In addition, although not shown in figure, the to-be-joined part 150 (refer FIG. 13) joined to the junction part 70 (refer FIG. 5) is provided in the lower end of the sliding door 130. FIG. Moreover, in this embodiment, the to-be-joined part 150 is provided between the height dimension of the cleaner main body Sh from the lower end of the door main body 130s. In addition, the height of the bonded portion 150 is located below the handle 131, and is preferably 30 cm or less.

In addition, a rectangular door frame 141 is provided on the wall 140 to which the sliding door 130 is attached. Since this door frame 141 requires a space for the door pocket 142, a space approximately twice the width of the sliding door 130 is required.

In the case of the sliding door 130, the joining part 70 (refer FIG. 5) of the autonomous traveling type vacuum cleaner S and the to-be-joined part 150 (refer FIG. 13) of the sliding door 130 are joined (engaged), and autonomous traveling type electricity is obtained. The sliding door 130 can be opened by operating the cleaner S to draw a linear locus.

FIG. 10 is a block diagram showing an autonomous traveling type vacuum cleaner.
As shown in FIG. 10, the control device 10 is installed on the upper surface side of the cleaner body Sh (see FIG. 1). The control device 10 is electrically connected to the camera 50, the distance measuring sensor 8, and the traveling motors M1 and M2. Moreover, the control apparatus 10 acquires the information regarding the kind of door (the hinged door 100 or the sliding door 130) from the camera 50, and the distance from the ranging sensor 8 to the hinged door 100 (refer FIG. 7), or the sliding door 130 (refer FIG. 8). Get the distance to.

Further, the control device 10 controls the traveling motors M1 and M2 based on the image information captured by the camera 50 and the distance information detected by the distance measuring sensor 8, and advances the autonomous traveling type vacuum cleaner S. Reverse and turn.

FIG. 11 is a flowchart showing the operation of the autonomous traveling vacuum cleaner.
As shown in FIG. 11, in step S100, the control device 10 recognizes the type of the door (the hinged door 100 or the sliding door 130). That is, the camera 50 images the door in front of the door. At this time, the control device 10 recognizes the shape of the door handle from the captured data. If the shape of the handle is round (door knob 113) or lever, the control device 10 recognizes that it is a hinged door 100 (see FIG. 8), and if the shape of the handle 131 is the shape of the pulling door 131 (see FIG. 9). For example). Note that the type of door is not limited to the configuration of recognizing the shape of the handle, but the hinge 112 may be recognized by the camera 50. When the hinge 112 is recognized, the door is recognized as the hinged door 100, and when the hinge 112 is not recognized, the door is recognized as the sliding door 130.
Note that the door type recognition method is not limited to the configuration of processing in the cleaner body Sh as described above, and a communication device that communicates with the server is provided in the cleaner body Sh. The captured door image may be transmitted to the server to recognize the type of door.

In step S110, the control device 10 determines whether or not the door is closed. If it is determined that the door is closed (Yes), the process proceeds to step S120, and if it is determined that the door is open ( No), the process proceeds to step S170.

Here, the determination method of whether the hinged door 100 is closed is demonstrated with reference to FIG. FIG. 12 shows a method for determining the opening / closing of a hinged door, where (a) is closed and (b) is open.
As shown in FIG. 12A, when the hinged door 100 is closed, the corners 100a, 100b, 100c, and 100d that are the characteristic points of the door and the corners 111a and 111b that are the characteristic points of the door frame 111 are displayed. , 111c, 111d all match. The control device 10 determines that the hinged door 100 is closed by capturing this state with the camera 50.

As shown in FIG. 12B, when the hinged door 100 is open, the corners 100b and 100d that are the characteristic points of the door coincide with the corners 111b and 111d of the door frame 111, and the corner 100a. , 100c and the corners 111a, 111c of the door frame 111 do not match. The control device 10 determines that the hinged door 100 is open by capturing this state with the camera 50.

A method for determining whether or not the sliding door 130 is closed will be described with reference to FIG. FIG. 13 shows a method for determining whether a sliding door is opened or closed, where (a) is closed and (b) is open.
As shown in FIG. 13A, when the sliding door 130 is closed, the corner portions 131a and 131b, which are the characteristic points of the door, coincide with the corner portions 141a and 141b of the door frame 141. The control apparatus 10 determines that the sliding door 130 is closed when the state is captured by the camera 50.

As shown in FIG. 13B, when the sliding door 130 is open, the corner portions 131a and 131b, which are the characteristic points of the door, and the corner portions 141a and 141b of the door frame 141 do not coincide with each other. The control device 10 determines that the sliding door 130 is open by capturing this state with the camera 50.

Returning to FIG. 11, in step S120, the control device 10 determines whether or not there is a record (memory) of opening and closing the target door. When it is determined that there is no recording (S120, Yes), the control device 10 proceeds to the process of step S130, and when it is determined that there is a recording (S120, No), the control apparatus 10 proceeds to the process of step S140. Note that the record of opening and closing the target door means that the autonomous traveling type vacuum cleaner S has a map of the house (room) in the memory, and there is a record of opening and closing the door. ing. For example, in the case of any of the type a door at the map position A, the type b door at the map position B, the type c door at the map position C, etc., the door was opened and closed. It is determined that there is a record.

In step S130, the control device 10 calculates the opening / closing locus of the door. The case where the opening / closing locus | trajectory of the hinged door 100 is calculated is demonstrated with reference to FIG. FIG. 14 is an explanatory diagram of a method for calculating the opening / closing locus of the hinged door.
As shown in FIG. 14, the distance sensor 1 detects the distance L <b> 1 between the autonomous traveling vacuum cleaner S and the hinged door 100 in a state where the autonomous traveling vacuum cleaner S is positioned in front of the hinged door 100. . Further, the angle (θ1 + θ2) from the bonded portion 120 to the hinge 112 is detected by the camera 50. In addition, angle (theta) 1 is an angle which the straight line (perpendicular) from the front end of the autonomous traveling type vacuum cleaner S to the hinged door 100 and the straight line from the front end part of the autonomous traveling type vacuum cleaner S to the to-be-joined part 120 form. . The angle θ <b> 2 is an angle formed by a straight line (perpendicular) from the front end of the autonomous traveling type vacuum cleaner S to the hinged door 100 and a straight line from the front end of the autonomous traveling type vacuum cleaner S to the hinge 112. Thereby, the distance W1 from the intersection P of the perpendicular and the hinged door 100 to the joined part 120 can be calculated by L1 · tan θ1. Further, the distance W2 from the intersection point P to the hinge 112 can be calculated by L1 · tan θ2. Therefore, the opening / closing locus (rotation locus) R of the joined portion 120 of the hinged door 100 can be calculated by the radius (W1 + W2) with the hinge 112 as the rotation center. When the door is the sliding door 130, the opening / closing locus is a linear locus.

Returning to FIG. 11, in step S <b> 140, the control device 10 joins the joint portions 60 and 70 with the joint portions 120 and 150 of the door. That is, when the door is the hinged door 100, the joining portion 60 is joined to the joined portion 120 of the hinged door 100. When the door is the sliding door 130, the joint portion 70 is joined to the joined portion 150 of the sliding door 130.

And it progresses to the process of step S150, and the control apparatus 10 is made to drive along the opening-and-closing locus | trajectory which calculated the autonomous traveling type vacuum cleaner S, and opens a door. That is, the control device 10 controls the traveling motors M1 and M2 that drive the wheels 2 and 3 so that the calculated opening / closing locus is obtained. And the control apparatus 10 stops after driving the traveling motors M1 and M2 for a predetermined time. The predetermined time is a time during which an interval (gap) in which the autonomous traveling vacuum cleaner S can pass through the door is formed, and is obtained by a preliminary test.

And it progresses to the process of step S160, and the control apparatus 10 drives the wheel 2 and 3, and after canceling | releases joining with the junction parts 60 and 70 and the to- be-joined parts 120 and 150, it is an autonomous running type in the opened location. Let the vacuum cleaner S pass.

In step S110, if the control device 10 determines that the door is open (No), the process proceeds to step S170. In step S170, the control device 10 determines whether or not the autonomous traveling vacuum cleaner S has passed through the open position, and if it is determined that the vehicle has passed (Yes), the control device 10 ends the process and passes. If it is determined that there is not (No), the process proceeds to step S120.

In addition, when the width | variety which can pass the autonomous running type vacuum cleaner S is not open, the bumper 1b contacts a door (the hinged door 100, the sliding door 130) and a door frame (111,141). By detecting the movement of the bumper 1b at this time by the bumper sensor 15 (see FIG. 4), it is detected that the autonomous traveling vacuum cleaner S cannot pass through the doors (the hinged door 100 and the sliding door 130).

Next, the operation when the autonomous traveling vacuum cleaner S passes through the hinged door will be described with reference to FIGS. 15A to 15E. FIG. 15A is a cross-sectional view showing a state before joining. FIG. 15B is a cross-sectional view showing a joined state. FIG. 15C is a cross-sectional view showing an open state of the door. FIG. 15D is a cross-sectional view illustrating a joint release state. FIG. 15E is a cross-sectional view showing a door passing state.

As shown in FIG. 15A, the autonomous traveling vacuum cleaner S moves to the front of the joint portion 120 of the hinged door 100 using the distance measuring sensor 8 (see FIG. 4) and the camera 50. Further, the autonomous traveling type vacuum cleaner S changes its direction so that the joining portion 60 is on the joined portion 120 side, and moves so that the joined portion 120 is located on the circumference of the joining portion 60. Then, in the state of FIG. 15A, the autonomous traveling vacuum cleaner S makes a super turn in the R1 direction with the rotation center O as a reference. That is, the autonomous traveling type vacuum cleaner S rotates on the spot by simultaneously rotating the wheels 2 and 3 in the direction of moving the wheel 2 forward and the direction of moving the wheel 3 backward.

As shown in FIG. 15B, the autonomous traveling type vacuum cleaner S rotates in the clockwise direction as shown in FIG. Thereby, the joining part 60 and the to-be-joined part 120 join by fitting the joining part 60 in the joining recessed part 121a of the to-be-joined part 120. At this time, the wheels 2 and 3 are oriented perpendicular to the hinged door 100. In addition, you may make it provide switch SW (refer FIG. 7) which cancels | releases the latch of the hinged door 100 when the junction part 60 and the to-be-joined part 120 join in the junction recessed part 121a.

As shown in FIG. 15C, the wheels 2 and 3 are driven so that the autonomously traveling vacuum cleaner S operates on the opening / closing locus (rotation locus) calculated in step S130 of FIG. That is, the control device 10 controls the rotational speed of the wheel 2 to be slower than the rotational speed of the wheel 3. At this time, since the joining part 60 is joined to the joined part 120, the moving door 100 is drawn together so that the hinged door 100 also draws the turning locus R2 with the hinge 112 as the rotation center. Open to. And the autonomous running type vacuum cleaner S stops the drive of the wheels 2 and 3, if the hinged door 100 opens a predetermined angle (a predetermined time passes). And in the state of FIG. 15C, the autonomous running type vacuum cleaner S makes a super turn in the R3 direction with the rotation center O as a reference. That is, the autonomous traveling type vacuum cleaner S rotates on the spot by simultaneously rotating the wheels 2 and 3 so that the wheel 2 moves backward and the wheel 3 moves forward.

As shown in FIG. 15D, the autonomous traveling electric vacuum cleaner S rotates in the counterclockwise direction as shown in the figure by turning the above-mentioned super conviction. Thereby, the joining part 60 comes out of the joining recessed part 121a of the joined part 120, and joining of the joined part 60 and the joined part 120 is released. In addition, the angle which rotates the autonomous traveling type vacuum cleaner S should just be an angle of the grade which the joined state of the junction part 60 and the to-be-joined part 120 is cancelled | released.

As shown in FIG. 15E, the autonomously traveling vacuum cleaner S moves forward from the state of FIG. 15D once and the joint portion 60 comes out of the joined portion 120, and then, as indicated by an arrow R <b> 4, the hinged door 100 and the door frame. It moves so that it may pass between 111. Thereby, the autonomous running type vacuum cleaner S can clean the other side of the door (the hinged door 100).

Next, the case of a sliding door will be described with reference to FIGS. 16A to 16E. FIG. 16A is a cross-sectional view showing a state before joining. FIG. 16B is a cross-sectional view showing a joined state. FIG. 16C is a cross-sectional view showing the door open state. FIG. 16D is a cross-sectional view illustrating a joint release state. FIG. 16E is a cross-sectional view showing a door passing state.

As shown in FIG. 16A, the autonomous traveling vacuum cleaner S uses the distance measuring sensor 8 (see FIG. 4) and the camera 50 to move to the front surface of the joined portion 150 of the sliding door 130, and at the joined portion 70. The direction is changed so as to be on the bonded portion 150 side. In addition, the autonomously traveling vacuum cleaner S moves so that the joining concave portion 152 of the joined portion 150 is positioned on the circumference of the joining portion 70. Then, in the state of FIG. 16A, the autonomous traveling vacuum cleaner S makes a super turn in the R10 direction with the rotation center O as a reference. That is, the autonomous traveling type vacuum cleaner S rotates on the spot by simultaneously rotating the wheels 2 and 3 in the direction of moving the wheel 2 forward and the direction of moving the wheel 3 backward.

As shown in FIG. 16B, the autonomous traveling type vacuum cleaner S rotates in the above-described supercritical position, so that the joint portion 70 rotates in the clockwise direction in the drawing. Thereby, the joining part 70 and the to-be-joined part 150 join by fitting the joining part 70 in the joining recessed part 152 of the to-be-joined part 150. FIG. At this time, the wheels 2 and 3 are oriented parallel to the sliding door 130. And the autonomous running type vacuum cleaner S moves so that the opening-and-closing locus | trajectory R11 may be drawn by driving the wheel 2 and 3 simultaneously with the same rotational speed.

As shown in FIG. 16C, the autonomously traveling vacuum cleaner S stops driving the wheels 2 and 3 when the sliding door 130 is fully opened or opened for a predetermined distance. And in the state of FIG. 16C, the autonomous running type vacuum cleaner S makes a super turn in the R12 direction with the rotation center O as a reference. That is, the autonomous traveling type vacuum cleaner S rotates on the spot by simultaneously rotating the wheels 2 and 3 so that the wheel 2 moves backward and the wheel 3 moves forward.

As shown in FIG. 16D, the autonomous traveling type vacuum cleaner S rotates in the counterclockwise direction shown in the drawing by turning the above-mentioned super conviction. As a result, the joining portion 70 comes out of the joining recess 152 of the joined portion 150 and the joining between the joining portion 70 and the joined portion 150 is released. In addition, the angle which rotates the autonomous traveling type vacuum cleaner S should just be an angle of the grade which the joined state of the junction part 70 and the to-be-joined part 150 is cancelled | released.

As shown in FIG. 16E, the autonomous traveling type vacuum cleaner S reverses the front-rear direction from the state of FIG. 16D so that the direction of the sliding door 130 and the door frame 141 is as indicated by an arrow R13. Move to pass between. Thereby, the autonomous traveling type vacuum cleaner S can clean the other side of the door (sliding door 130).

As described above, the autonomous traveling type vacuum cleaner S of the first embodiment includes the camera 50 that captures information of the door (the hinged door 100 and the sliding door 130), the cleaner body Sh provided with the camera 50, and the cleaner. Wheels 2 and 3 for driving the main body Sh and a control device 10 for controlling the wheels 2 and 3 are provided. The cleaner body Sh has joint portions 60 and 70 that can be joined to the joint portions 120 and 150 attached to the doors (the hinged door 100 and the sliding door 130). The control device 10 opens the door by operating the wheels 2 and 3 in different operations based on the type of door (the hinged door 100 and the sliding door 130) imaged by the camera (see FIGS. 15A to 15E and FIGS. 16A to 16E). ). This makes it possible to clean through the door. Moreover, in 1st Embodiment, the arm provided with the engaging part engaged with the doorknob 113 grade | etc., Becomes unnecessary, and the autonomous traveling type vacuum cleaner S of a compact size is realizable.

Moreover, in 1st Embodiment, the junction parts 60 and 70 are protruded and formed from the cleaner main body Sh. Thereby, the shape of the to- be-joined parts 120 and 150 to which the joining parts 60 and 70 are joined can be made into a concave shape, and it becomes difficult for the person who passes in front of the door to hit the to- be-joined parts 120 and 150.

Further, in the first embodiment, the camera 50 images the shape of the handle (the door knob 113, the pulling handle 131) of the door (the hinged door 100, the sliding door 130). Thereby, the kind of door can be easily recognized.

In the first embodiment, the drive unit includes a pair of wheels 2 and 3 that have a rotation axis in the width direction and can be driven independently of each other (see FIG. 2). Thereby, operations required for cleaning such as forward movement, backward movement, and turning can be performed with the wheels 2 and 3 of a simple mechanism.

In the first embodiment, in the cleaner body Sh provided with the wheels 2 and 3, the cleaner body Sh has a joint portion 60 corresponding to the hinged door 100 (joint door corresponding joint portion) and a joint portion 70 corresponding to the sliding door 130. (Sliding door-compatible joint). Thereby, in the autonomous traveling type vacuum cleaner S provided with the wheels 2 and 3, it can respond to multiple types of doors (the hinged door 100 and the sliding door 130).

Moreover, in 1st Embodiment, the camera 50 is the corner | angular part (111a, 111b) of the corner | angular part (100a, 100b, 100c, 100d, 131a, 131b) of a door (the sliding door 100, the sliding door 130) and the door frame (111,141). , 111c, 111d, 141a, 141b), and the control device 10 recognizes the open / closed state of the door (see FIGS. 12 and 13). Thereby, opening / closing of a door (the hinged door 100, the sliding door 130) can be recognized easily.

Further, in the first embodiment, when there is no record of opening the target door imaged by the camera 50, the control device 10 calculates the opening / closing locus of the door without the record (see Steps S120 in FIG. 11, Yes, S130). ). As a result, when there is a record of opening the target door, it is possible to eliminate the calculation of the opening / closing locus, and therefore it is possible to immediately shift to the opening operation of the autonomous traveling vacuum cleaner S.

In the first embodiment, the vacuum cleaner main body Sh includes the distance measuring sensor 8. The control device 10 opens and closes the open / close locus R based on the distance L from the hinged door 100 detected by the distance measuring sensor 8 and the angle (θ1 + θ2) from the bonded portion 120 imaged by the camera 50 to the hinge 112 of the hinged door 100. Is calculated (see FIG. 14). Thereby, the open / close locus R can be calculated with a simple configuration of the distance measuring sensor 8 and the camera 50.

Moreover, in 1st Embodiment, the to-be-joined part 120 is between the height dimensions of the cleaner body Sh from the lower end of the hinged door 100 (the to-be-joined part 150 is between the height dimensions of the cleaner body Sh from the lower end of the sliding door 130). Is provided. Thereby, it becomes easy to join the joint part provided in the cleaner main body Sh to the joined parts 120 and 150 of the door.

Moreover, the door of this embodiment is provided with the to- be-joined parts 120 and 150 which can be joined to the autonomous running type vacuum cleaner S, and the to- be-joined parts 120 and 150 are provided under the door main bodies 100s and 130s. Thereby, the autonomous running type vacuum cleaner S can be comprised compactly.

(Second Embodiment)
FIG. 17: shows the top view of the autonomous running type vacuum cleaner of 2nd Embodiment, (a) is before joining, (b) is after joining. In addition, about the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted (same also about subsequent embodiment).
As shown in FIG. 17 (a), the autonomously traveling vacuum cleaner S1 includes a joining portion 60A that joins the joined portion 121 of the hinged door 100, and a joining portion 70A that joins the joined portion (not shown) of the sliding door. It is equipped with.

As shown in FIG. 17B, the joining portion 60A has a shape recessed with respect to the cleaner body Sh, and a joining recess 61 into which the joined portion 121 is fitted is formed. In addition, an opening 62 into which the bonded portion 121 can be inserted is formed in the bonding portion 60A. The joining portion 70A has a shape that is recessed with respect to the cleaner body Sh, and has the same shape as the joining portion 60A.

In such an autonomous traveling type vacuum cleaner S1, as shown in FIG. 17A, the wheels 2 and 3 are driven and moved until the joined portion 121 is inserted into the joined portion 60A. Then, with the rotation center O as a reference, the wheels 2 and 3 are driven, and the autonomous traveling vacuum cleaner S1 is turned in the direction of the arrow R20. Accordingly, as shown in FIG. 17B, the joined portion 121 of the hinged door 100 fits into the joining recess 61 of the joined portion 60A, and the joined portion 60A and the joined portion 121 are joined.

In the second embodiment, since the joint 60A is formed to be recessed inside the cleaner body Sh, it is possible to prevent the joint 60A from colliding with furniture or a wall and being damaged.

(Third embodiment)
FIG. 18 is a plan view of the autonomous traveling vacuum cleaner according to the third embodiment.
As shown in FIG. 18, the autonomous traveling vacuum cleaner S <b> 2 includes a joining portion 60 </ b> B that joins the joined portion 120 of the hinged door 100, a joining portion 70 </ b> B that joins the joined portion 150 of the sliding door 130, and the joining portion 60 </ b> B. It is configured to include a joint rotation mechanism 63 that rotates and a joint rotation mechanism 64 that rotates the joint 70B. In addition, about the junction part joined with the to-be-joined part of the sliding door 130, illustration is abbreviate | omitted.

The joint portion 60B has a shaft 63a that rotates with respect to the cleaner body Sh, and is formed in an L shape in plan view. The joint 60B is configured such that the power of the motor 63b is transmitted, and the joint 60B rotates between the retracted state (two-dot chain line) and the protruding state (solid line). In the present embodiment, the joint rotating mechanism 63 is configured by the shaft 63a and the motor 63b.

The joint portion 70B has a shaft 64a that rotates with respect to the cleaner body Sh, and is formed in an L shape in plan view. Further, the joint 70B is configured such that the power of the motor 64b is transmitted, and the joint 70B rotates between a retracted state (solid line) and a protruding state (two-dot chain line). In the present embodiment, the joint rotating mechanism 64 is configured by the shaft 64a and the motor 64b.

When joining the joined part 60B and the joined part 120, the cleaner body Sh is moved so that the joined part 60B and the joined part 120 face each other with the joined part 60B stored. Then, the cleaner main body Sh is moved backward so that the joining portion 60B is positioned to fit in the joined portion 120. Then, the motor 63b is driven so that the joint 60B changes from the retracted state to the protruding state (joined state). Thereby, the joining part 60B fits into the joining recess 121a of the joined part 120, and the joining part 60B and the joined part 120 are joined.

In the third embodiment, the joining portions 60B and 70B have joining portion rotating mechanisms 63 and 64 that operate the joining portions 60B and 70B so as to be able to join the joined portion 120. As described above, the joint portions 60B and 70B are configured to be rotatable with respect to the cleaner body Sh, so that the joint portions 60B and 70B and the joined portion 120 can be connected without rotating the cleaner body Sh. Can be joined.

Also, since the joints 60B and 70B can be stored when cleaning, furniture and walls are hardly damaged. In the third embodiment, the case where the joint portions 60B and 70B can be operated in the housed state and the projecting state has been described as an example, but it is not necessarily required to be in the housed state.

(Fourth embodiment)
FIG. 19 is a plan view of the autonomous traveling vacuum cleaner according to the fourth embodiment.
As shown in FIG. 19, the autonomous traveling type vacuum cleaner S <b> 3 includes a joining portion 60 </ b> C that joins the joined portion 122 of the hinged door 100 and a joining portion 70 </ b> C that joins the joined portion 123 of the sliding door 130. Has been.

The joined part 60C is configured by a magnet that is joined to the joined part 122 via a magnetic force. The bonded portion 122 may be a ferromagnetic body such as an iron plate that can be attracted to the magnet of the bonded portion 60C, or may be a magnet having a polarity different from that of the bonded portion 60C. In addition, it can comprise similarly to the junction part 70C and the junction part 60C. Further, the bonded portion 123 can be configured similarly to the bonded portion 122. Moreover, it is preferable that the magnetic force (adsorptive force) of the joint portions 60C and 70C is configured to be a magnetic force having such a force that the joint is released when the cleaner body Sh is turned. In this way, it takes a force to pull away from the front, but the force can be reduced by pulling away after turning.

In the fourth embodiment, the joining portions 60C and 70C are made of magnets, so that when the joining portion 60C and the joined portion 122 are joined, the joining portion 60C can be operated without causing the cleaner body Sh to operate in a complicated manner. The joined portion 122 can be joined.

(Fifth embodiment)
FIG. 20 is a plan view of the autonomous traveling vacuum cleaner according to the fifth embodiment.
As shown in FIG. 20, the autonomous traveling vacuum cleaner S <b> 4 includes a joining portion 60 </ b> D that joins the joined portion 124 of the hinged door 100 and a joining portion 70 </ b> D that joins the joined portion 125 of the sliding door 130. Has been.

The joint portion 60D is configured by a surface fastener that can be detachably attached. Note that the joint portion 60D may have a hook shape, and the joint portion 123 may have a loop shape, or vice versa. Moreover, it is preferable that the joining force of joining part 60D, 70D is comprised so that joining may be cancelled | released when the cleaner body Sh is turned.

In the fifth embodiment, it is possible to prevent the furniture, the wall, the person, and the like from being damaged by configuring the joint portions 60D and 70D with the hook-and-loop fastener, and it is possible to suppress the vacuum cleaner body Sh from becoming heavy. In the fifth embodiment, when joining the joint 60D and the joint 124, the joint 60D and the joint 124 can be joined without causing the cleaner body Sh to operate in a complicated manner.

(Sixth embodiment)
FIG. 21: shows the top view of the autonomous running type vacuum cleaner of 6th Embodiment, (a) is a case of a hinged door, (b) is a case of a sliding door.
As shown in FIG. 21 (a), the autonomously traveling vacuum cleaner S5 includes a joining portion 60E that joins the joined portion 120 of the hinged door 100, a joining portion turning mechanism 65 that turns the joining portion 60E, A switching mechanism 66 that switches between the position for the hinged door and the position for the sliding door based on the center O of the cleaner body Sh is provided. The joint turning mechanism 65 is configured in the same manner as the joint turning mechanisms 63 and 64 described above.

The switching mechanism 66 includes a base 66a that supports the joint rotation mechanism 65, and a motor 66b that rotates the base 66a with the rotation center O as a reference.

When opening the hinged door 100, the cleaner 66 is moved to the position indicated by the solid line in FIG. 21A by driving the motor 66b. Then, after the vacuum cleaner body Sh is moved backward to a predetermined position, the motor 65b is driven to join the joint 60E and the joint 120. Then, the wheels 2 and 3 are driven, the cleaner body Sh is moved so that the cleaner body Sh draws an arc locus, and the door is opened.

On the other hand, when opening the sliding door 130, the cleaner 66 is moved to a position corresponding to the sliding door 130 shown in FIG. 21B by driving the motor 66b. And the joining part 60E and the to-be-joined part 150 are joined by driving the motor 65b. Then, the wheels 2 and 3 are driven to move the cleaner main body Sh so that the cleaner main body Sh draws a linear locus, and the door is opened.

In the sixth embodiment, when joining the joint 60E and the joined part 120, the joined part 60E and the joined part 120 can be joined without causing the cleaner body Sh to operate in a complicated manner. In the sixth embodiment, the configuration including the motors 65b and 66b is described as an example. However, the configuration may be such that the power of a single motor is switched.

(Seventh embodiment)
FIG. 22 is a plan view illustrating the autonomous traveling vacuum cleaner according to the seventh embodiment.
As shown in FIG. 22, the autonomous traveling vacuum cleaner S6 includes attachment- type joints 60F and 70F that can be attached to and detached from the cleaner body Sh. As a method of attaching the joint portions 60F and 70F to the cleaner body Sh, the attachment portion 60F or 70F may be attached by a magnet, may be attached by uneven fitting, or may be attached by a slide. In addition, the to-be-joined part 124 joined with the junction part 60F may be a detachable structure, and may be fixed to a door.

In the seventh embodiment, by providing the detachable joint 60F to the vacuum cleaner main body Sh, it is possible to attach only necessary portions (for hinged doors only, for sliding doors only). Moreover, when damaged, it can replace | exchange for the new junction parts 60F and 70F. It can also be easily replaced with another type of joint.

(Eighth embodiment)
FIG. 23 is a plan view showing the autonomous traveling vacuum cleaner according to the eighth embodiment.
As shown in FIG. 23, the autonomously traveling electric vacuum cleaner S7 includes a sliding door joint 60G on the left side of the vacuum cleaner body Sh. The joint portion 60G is formed in a straight line shape (bar shape) in a plan view and is formed so as to protrude from the cleaner body Sh.

The to-be-joined part 125 has the recessed part 125a joined to the junction part 60G. The concave portion 125a includes an arc portion 125b formed in accordance with the operation of the super-revolution of the cleaner body Sh, and an abutting portion 125c formed at one end of the arc portion 125b on the door opening direction side. ing.

When opening the sliding door 130, the joining portion 60G is brought into contact with the contact portion 125c of the joined portion 125, and the cleaner body Sh is driven in the direction of the arrow.

Thus, in the eighth embodiment, when the sliding door 130 is opened, it is not necessary to make the hook shape, so the shape of the joint portion 60G can be simplified. Note that a drive mechanism may be provided at the joint 60G so that the joint 60G operates in a housed state housed in the cleaner body Sh and a projecting state projecting from the cleaner body Sh. Thereby, it can prevent that the junction part 60G protrudes at the time of cleaning.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention. For example, in the first embodiment, the joint portions 60 and 70 are convex shapes protruding from the cleaner body Sh, the joint portions 120 and 150 are concave shapes, and in the second embodiment, the joint portions 60A and 70A are concave shapes. The shape and the case where the bonded portion 121 is convex have been described as an example, but both the bonded portion and the bonded portion may be convex.

In the embodiment described above, the autonomous traveling type vacuum cleaners S and S1 to S7 having the wheels 2 and 3 having the rotation shaft in the width direction (left and right direction) have been described as examples. Instead of this, a spherical wheel may be used. As a result, not only forward movement, reverse movement, and turning, but also parallel movement in the left-right direction is possible, and it becomes unnecessary to provide the hinged door joint and the sliding door joint, thereby simplifying the structure of the joint.

Further, in the above-described embodiment, the case where a monocular camera is provided as the camera 50 has been described as an example. However, instead of the camera 50, a stereo camera (compound-eye camera, two imaging units) as illustrated in FIG. 50A (50, 50) may be mounted. Thereby, when calculating the opening / closing locus (rotation locus), the distance from the hinge 112 of the door to the joint 120 can be measured, and the opening / closing locus can be easily calculated.

In the present embodiment, the type of door is recognized, and the doors are opened by controlling the wheels 2 and 3 with different operations according to the type of door. However, only one type of door is supported. There may be. That is, the vacuum cleaner main body Sh, wheels 2 and 3 (drive unit) for driving the vacuum cleaner main body Sh, and a control device 10 (control unit) for controlling the wheels 2 and 3 are provided. It has the junction part 60 which can be joined to the to-be-joined part 120 attached to (the hinged door 100), and the control apparatus 10 operates the wheel 2 and 3 after joining the junction part 60 to the to-be-joined part 120, and is a door ( The hinged door 100) may be configured to open. Even with such a configuration, it is possible to perform cleaning by passing through a door (a hinged door), and it is possible to realize an autonomous traveling type vacuum cleaner S having a compact size.

2, 3 wheels (drive unit)
8 Distance sensor (infrared sensor)
10 Control device (control unit)
50 Camera (imaging part)
50A stereo camera 60, 60A, 60B, 60C, 60D, 60E, 60F joint (joint for hinged door)
60G joint 63, 64 joint drive mechanism 70, 70A, 70B, 70C, 70D joint (joint for sliding door)
100 hinged door
100s Door body 100a, 100b, 100c, 100d Corner portion 111a, 111b, 111c, 111d Corner portion 113 Door knob (hand holding portion)
120, 121, 122, 123, 124, 125, 150 Joined part 130 Sliding door (door)
130s Door body 131 Puller (hand handle)
Sh vacuum cleaner body

Claims (16)

1. An imaging unit for imaging door information;
   A vacuum cleaner body provided with the imaging unit;
   A drive unit for driving the vacuum cleaner body;
   A control unit for controlling the drive unit,
   The vacuum cleaner body has a joint portion that can be joined to a joint portion attached to the door,
   The controller is configured to open the door by operating the drive unit according to a different operation according to the type of the door based on the type of the door imaged by the imaging unit. .
2. 2. The autonomously traveling vacuum cleaner according to claim 1, wherein the joint portion is formed so as to protrude from the vacuum cleaner body.
3. The autonomous traveling type vacuum cleaner according to claim 2, wherein the joining portion has a joining portion driving mechanism that operates the joining portion so as to be joined to the joined portion.
4. 2. The autonomously traveling cleaner according to claim 1, wherein the joint portion is formed to be recessed inside the cleaner body.
5. 2. The autonomously traveling vacuum cleaner according to claim 1, wherein the joint portion is constituted by a magnet.
6. The autonomous traveling type vacuum cleaner according to claim 1, wherein the joint portion is constituted by a hook-and-loop fastener.
7. The autonomous traveling type vacuum cleaner according to claim 1, wherein the joint portion is an attachment type that can be attached to and detached from the cleaner body.
8. The autonomous traveling type vacuum cleaner according to claim 1, wherein the imaging unit images a shape of a handle portion of the door.
9. 2. The autonomous traveling type vacuum cleaner according to claim 1, wherein the driving unit includes a pair of wheels having a rotation axis in a width direction and capable of being driven independently of each other.
10. The autonomous traveling type according to claim 9, wherein the vacuum cleaner body includes a hinged door joint corresponding to the hinged door as the door and a sliding door joint corresponding to the sliding door as the door. Vacuum cleaner.
11. 2. The autonomous traveling type vacuum cleaner according to claim 1, wherein the control unit recognizes an open / closed state of the door from the four corners of the door and the four corners of the door frame captured by the imaging unit.
12. The autonomous traveling type vacuum cleaner according to claim 1, wherein the control unit calculates an opening / closing locus of the door without the memory when there is no memory of opening the target door imaged by the imaging unit.
13. The vacuum cleaner body includes an infrared sensor,
    The control unit calculates the opening / closing locus based on a distance from the door detected by the infrared sensor and an angle from the bonded portion captured by the imaging unit to the hinge of the door. The autonomously traveling vacuum cleaner according to claim 12,
14. The autonomous traveling type vacuum cleaner according to claim 1, wherein the joined portion is provided between a lower end of the door and a height dimension of the cleaner body.
15. The vacuum cleaner body,
    Provided in the vacuum cleaner body,
    A drive unit for driving the vacuum cleaner body;
    A control unit for controlling the drive unit,
    The vacuum cleaner body has a joint portion that can be joined to the joint portion attached to the door,
    The said control part operates the said drive part, and opens the said door after joining the said junction part to the said to-be-joined part, The autonomous traveling type vacuum cleaner characterized by the above-mentioned.
16. A to-be-joined part that can be joined to the joint part provided in the autonomous traveling type vacuum cleaner according to any one of claims 1 to 15,
    The said joined part is provided under the door main body, The door characterized by the above-mentioned.

Images