CN110477805A - Including can be along the movable body system of the moving body of ground moving - Google Patents
Including can be along the movable body system of the moving body of ground moving Download PDFInfo
- Publication number
- CN110477805A CN110477805A CN201910144891.0A CN201910144891A CN110477805A CN 110477805 A CN110477805 A CN 110477805A CN 201910144891 A CN201910144891 A CN 201910144891A CN 110477805 A CN110477805 A CN 110477805A
- Authority
- CN
- China
- Prior art keywords
- self
- electric vacuum
- moving
- map
- propelled electric
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
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
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention provides a kind of including can be along the movable body system of multiple moving bodys of ground moving, so that maps processing of the configuration between more self-propelled electric vacuum cleaners of different floors becomes smooth.Moving body has communication unit and height detection portion, it can be referring to the map of the floor where itself, the region that has been subjected to for being able to carry out the update of map or capable of having already passed through moving body is input to map, in the lesser situation of difference of the detected value in the height detection portion of the detected value and other moving bodys in height detection portion, it is judged as other move body postures in same floor, in the biggish situation of difference of the detected value in the height detection portion of the detected value and other moving bodys in height detection portion, it is judged as other move body postures in other floors.
Description
Technical field
The present invention relates to include can be along the movable body system of the moving body of ground moving.
Background technique
Patent document 1 discloses a kind of self-propelled electronic equipment with control unit, control unit selection with by highly examining
The height that survey portion detects traveling map accordingly, controls traveling with map based on selected traveling, wherein height is examined
Survey portion is the baroceptor (claim 1,0044 section) for the height in the place where detecting.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2017-204132 bulletin
Summary of the invention
Subject to be solved by the invention
As baroceptor, it is known that the baroceptor of the atmospheric pressure of the height where measurement sensor, because weather,
The conditions such as season, even identical height atmospheric pressure can also change.Therefore, when being only used alone as described in Patent Document 1, no
It centainly can precisely judge the floor where sensor.In addition, patent document 1 is for including multiple baroceptors
Movable body system does not study specific processing.
A technical solution to solve project
In view of the foregoing, the present invention provides a kind of including that can move system along multiple moving bodys of ground moving
System, it is characterised in that:
The moving body,
With communication unit and height detection portion,
Can referring to the map of the floor where itself,
The region that has been subjected to for being able to carry out the update of the map and/or capable of having already passed through moving body is input to
The map,
Wherein, the height detection portion detected value and other moving bodys height detection portion detected value difference it is smaller
In the case where, be judged as other move body postures in same floor,
In the biggish feelings of difference of the detected value in the height detection portion of the detected value and other moving bodys in the height detection portion
Under condition, it is judged as other move body postures in other floors.
Detailed description of the invention
Fig. 1 is the perspective view of the self-propelled electric vacuum cleaner of embodiments of the present invention.
Fig. 2 is the vertical of the state of the self-propelled electric vacuum cleaner of embodiments of the present invention removed after upper housing and dust-collecting box
Body figure.
Fig. 3 is the ground plan of the self-propelled electric vacuum cleaner of embodiments of the present invention.
Fig. 4 is the Section A-A figure of Fig. 1.
Fig. 5 is to indicate the control device of the self-propelled electric vacuum cleaner of embodiments of the present invention and connect with control device
The structure chart of equipment.
Fig. 6 is the flow chart for indicating the traveling control of the self-propelled electric vacuum cleaner of embodiments of the present invention.
Fig. 7 is the layout of a certain floor where 2 self-propelled electric vacuum cleaners of embodiments of the present invention.
Fig. 8 is that 2 self-propelled electric vacuum cleaners of embodiments of the present invention are raw in the case where same floor is cleaned
At map.
Fig. 9 is to indicate 2 self-propelled electric vacuum cleaners of embodiments of the present invention the case where same floor is cleaned
Under driving trace figure.
Figure 10 is to indicate 2 self-propelled electric vacuum cleaners of embodiments of the present invention the case where same floor is cleaned
Under shared map and purging zone and the not figure of cleanable area.
Figure 11 is to indicate 2 self-propelled electric vacuum cleaners of embodiments of the present invention the case where same floor is cleaned
Under driving trace figure.
Figure 12 is to indicate 2 self-propelled electric vacuum cleaners of embodiments of the present invention the case where same floor is cleaned
Under shared map and purging zone and the not figure of cleanable area.
Figure 13 is to indicate that 2 self-propelled electric vacuum cleaners of display of embodiments of the present invention are cleaned in same floor
In the case of shared map and purging zone and the not figure of the terminal device of cleanable area.
Figure 14 is to indicate that 2 self-propelled electric vacuum cleaners of display of embodiments of the present invention are cleaned in same floor
In the case of shared map and purging zone and the not figure of the terminal device of cleanable area.
Figure 15 is 2 self-propelled electric vacuum cleaners of embodiments of the present invention in the case where different floors is cleaned
Layout.
Figure 16 is 2 self-propelled electric vacuum cleaners of embodiments of the present invention in the case where different floors is cleaned
The map of generation.
Figure 17 is the feelings for indicating 2 self-propelled electric vacuum cleaners of embodiments of the present invention and being cleaned in different floors
The figure of driving trace under condition.
Figure 18 is the feelings for indicating 2 self-propelled electric vacuum cleaners of embodiments of the present invention and being cleaned in different floors
Shared map and purging zone and the not figure of cleanable area under condition.
Figure 19 is the feelings for indicating 2 self-propelled electric vacuum cleaners of embodiments of the present invention and being cleaned in different floors
The figure of driving trace under condition.
Figure 20 is the feelings for indicating 2 self-propelled electric vacuum cleaners of embodiments of the present invention and being cleaned in different floors
Shared map and purging zone and the not figure of cleanable area under condition.
Figure 21 is to indicate that 2 self-propelled electric vacuum cleaners of display of embodiments of the present invention are cleaned in different floors
In the case where shared map and purging zone and the not figure of the terminal device of cleanable area.
Figure 22 is to indicate that 2 self-propelled electric vacuum cleaners of display of embodiments of the present invention are cleaned in different floors
In the case where shared map and purging zone and the not figure of the terminal device of cleanable area.
Figure 23 is the place that 2 self-propelled electric vacuum cleaners can be directly set by user for indicating embodiments of the present invention
Terminal device figure.
Specific embodiment
For embodiments of the present invention, it is described in detail with reference to attached drawing.Wherein, if self-propelled electric vacuum cleaner R (reference
Direction Fig. 1) mainly advanced is front, vertical direction be the opposite direction of top, driving wheel 61 (with reference to Fig. 3) be left and
Right.That is, defining front and back, upper and lower, left and right as shown in Fig. 1 etc..
Various constituent elements of the invention not necessarily need to be independently, allow a constituent element by multiple components
It constitutes, multiple constituent elements are made of a component, a part weight of a part of a certain constituent element and other constituent elements
It is multiple etc..
Fig. 1 is the perspective view of the self-propelled electric vacuum cleaner of present embodiment.Self-propelled electric vacuum cleaner R is in defined cleaning
The dust catcher for automatically moving while being cleaned in region (such as indoor).It includes as upper that self-propelled electric vacuum cleaner R, which has,
The upper housing 91 of wall (and a part of side wall), the lower case 51 as bottom wall (and a part of side wall) and setting fore subtract
The main body 50 that the device 92 that shakes is constituted.In the top surface of self-propelled electric vacuum cleaner R, it is provided with dust-collecting box K and the handle for being removed
93.Display panel 98 on upper housing 91, configured with operation button 97 and for showing cleaning modes etc..
(main body)
Fig. 2 is the solid for removing the state after upper housing 91 and dust-collecting box K of the self-propelled electric vacuum cleaner R of present embodiment
Figure.Lower case 51 is to load travel motor 57, rotating brush motor 21, electric fan that driving force is transmitted to driving wheel 61
81, the shell of control device 95 etc., shape present slim disk-shaped.Self-propelled electric vacuum cleaner R have for other from
Walk wireless communication module 101 that formula electric vacuum cleaner RN communicated, image that surrounding can be imported, for generate self-position and
Environment detecting portion operable (such as the image pickup parts such as video camera and/or laser) 102, the barometer 103 of map.As 103 energy of barometer
Enough using various well known barometers, the barometer 103 of present embodiment has through the atmospheric pressure around measurement barometer 103
Carry out and speculate the function of the height of barometer 103.
Fig. 3 is the ground plan of the self-propelled electric vacuum cleaner R of present embodiment.In lower case 51, it is formed in right and left
2 opposite driving wheels 61, the driving mechanism receiving portion 54 of receiving deceleration mechanism 47 and travel motor 57, side brush installation upwards
Portion 82 and suction inlet portion 10.
Fig. 4 is the line A-A sectional view of Fig. 1.Self-propelled electric vacuum cleaner R has the battery container portion 55 of storage rechargeable battery P.
In addition, damper 92 is configured to correspondingly move in the longitudinal direction with the thrust from external action.After damper 92
It moves back (that is, contact with barrier) and detects that the testing result is input to control by damper sensor (infrared sensor)
Device 95 processed.In addition, formed near at least distance measuring sensor in damper 92 by the resin or glass that penetrate infrared ray,
It formed in the case where it is video camera by the resin or glass that make visible light-transmissive near environment detecting portion operable 102, be sharp
It is formed in the case where light device by the resin or glass that penetrate the wave band of the laser.
(side brush)
Fig. 3 illustrated side brush 40 is to be not easy the corner etc. in room to make rotating brush 5 positioned at the outside of main body 50
The brush of dust guiding suction inlet portion 10 (suction port 17) in the place of arrival, part of it expose under plan view from main body 50.Side
Brush 40 has the 3 beam bristles extended under plan view with 120 ° of spaced radiation shapes, configures in the front or so of lower case 51.
Side brush bracket 41 is arranged near the bottom surface of lower case 51, links with side brush motor 42.Pass through side brush motor
42 drivings, side brush 40 rotate (Xiang the direction of arrow shown in Fig. 3) inwardly, dust are collected to suction port 17.
(electric fan)
Electric fan 81 shown in Fig. 4, which has, is generated the air in dust-collecting box K to outside discharge by rotation driving
Negative pressure sucks the function of dust via suction port 17 (suction inlet portion 10) from ground.
(sensor class)
Fig. 5 is the control device 95 for indicating self-propelled electric vacuum cleaner and the outline structure for the equipment connecting with control device 95
Figure.Damper sensor (detection of obstacles unit) is the sensor for detecting the retrogressing of damper 92.
Distance measuring sensor 96 (detection of obstacles unit) is the infrared sensor for detecting the distance of barrier.Ranging passes
Sensor 96 has the illumination region (not shown) for issuing infrared ray and receives the reflected light that infrared ray is reflected on barrier and returned
Acceptance part (not shown).Based on the reflected light detected with the acceptance part, the distance of barrier is calculated.
Ground is the infrared sensor measured to the distance on ground, setting with distance measuring sensor 94 (ground detection unit)
(Fig. 3 is referred to) at the bottom surface of lower case 51 all around 4.By detecting the biggish grades such as step with ground distance measuring sensor
Difference can prevent self-propelled electric vacuum cleaner R (from step etc.) from falling.
Rotation speed, the rotation angle of travel motor 57 are detected using travel motor pulse output.Based on basis
Travel motor pulse exports the straight of the rotation speed detected, rotation angle, the gear ratio of deceleration mechanism and driving wheel 61
Diameter, control device 95 can be used in movement speed, the moving distance for calculating main body 50.
Rechargeable battery P is, for example, the secondary cell that passes through charging and can recycle, and is housed in (the reference of battery container portion 55
In Fig. 4).The electric power for carrying out self-charging battery P is supplied to each sensor class, each motor, each driving device and control device 95.
(driving device)
Travel motor driving device (left side) (right side) shown in fig. 5 is the inversion for driving the travel motor 57 of left and right sides
Device or the impulse waveform generating device controlled based on PWM, response are carried out the instruction of self-control device 95 and worked.About electronic
Fan drive device, rotating brush motor drive, side brush are also same with motor drive (left side) (right side).This
A little each driving devices are arranged in the control device 95 in main body 50 (with reference to Fig. 2).
(control device)
Control device 95 is, for example, microcomputer (Microcomputer: illustration omitted), reads ROM (Read Only
Memory) in store program and be deployed to RAM (Random Access Memory), by CPU (Central
Processing Unit) execute various processing.
Fig. 6 is in the processing for indicate control device execution about traveling control, generation map and the place for recording operating environment
The flow chart of reason.When issuing the instruction cleaning by the instruction of user or timer, self-propelled electric vacuum cleaner R is used as logical
The wireless communication module 101 in letter portion searches for other the self-propelled electric vacuum cleaner RN (step S1) connecting with same access point.Separately
Outside, for example, if can also obtain other access points predetermined by user (for example, other being arranged in same building object
Access point) information, then these access points are also searched for and whether are connected with other self-propelled electric vacuum cleaner RN.If do not detected
Other self-propelled electric vacuum cleaner R out are then judged as YES individually.In the case where detecting, with other self-propelled electric vacuum cleaner R
It is communicated, (step S2) is compared to the value of respective barometer 103.In present embodiment, if there are 2 self-propelled electricity
Dust catcher 105,106 is illustrated.
If the difference of the value of 2 self-propelled electric vacuum cleaners 105,106 respective barometers 103 is greater than specified value, judge
It is located at different floors for these self-propelled electric vacuum cleaners 105,106.If the difference of the value of barometer 103 is less than specified value,
It is judged as that these self-propelled electric vacuum cleaners 105,106 are located at same floor.Because not according to barometer 103 value it is absolute
Value but judged according to relative value, judge the difference of layer so weather (hyperbar, low pressure) can be less subject to and influence ground.
It is located at the threshold value that different floors is still located at same floor as 2 self-propelled electric vacuum cleaners 105,106 are distinguished
(specified value), the layer depending on building is high (every 1 layer of height), for example, if be resident's inhabitation building then layer height compared with
Mostly 3m degree, there are the differences of 0.35hPa degree for air pressure at this time.In addition, if it is office building, then the high 4.5m degree of layer be more
Common, there are the differences of 0.52hPa degree for air pressure at this time.Accordingly, it is considered to which the target in the producer of self-propelled electric vacuum cleaner R needs
In the case that the person of asking is the user of residential structures, threshold value is set as 0.35hPa degree, is the feelings of office building manager etc.
Under condition, threshold value is set as 0.52hPa degree.It is then detected that being judged as out in the case where draught head more than threshold value and being located at difference
Floor.Alternatively, it is also possible to allowing users to input layer height, or the type of the building used can be inputted and (e.g. occupied
Firmly use or office building).As long as decision threshold as a result, it will be able to precisely speculate that self-propelled electric vacuum cleaner 105,106 is matched
Set layer it is identical or different.In addition, preferably thinking that effective digital is 2 about above-mentioned 0.35 and 0.52.
Firstly, 2 self-propelled electric vacuum cleaners 105,106 described herein as are the case where same floor is cleaned.Fig. 7 be
Addition depicts self-propelled electric vacuum cleaner 105,106 in the layout for a certain layer that 2 self-propelled electric vacuum cleaners 105,106 are arranged in
With the figure of cradle 107,108 and furniture 109, Fig. 8 is the figure for indicating ground Figure 110 of a certain layer.
Layout 104, self-propelled electric vacuum cleaner 105, other self-propelled electric vacuum cleaners 106, self-propelled electricity is depicted in Fig. 7 to inhale
The not cleanable area 109, self-propelled such as the cradle 107 of dirt device 105, the cradle 108 of self-propelled electric vacuum cleaner 106, furniture
Electric vacuum cleaner 105 along wall driving trace 120, self-propelled electric vacuum cleaner 106 along wall driving trace 121.For whether can not
Purging zone, such as the height in the region can be obtained using environment detecting portion operable and gap size, compared with itself size
Compared with or judge whether to be judged with the region that the travelling performance of itself is able to enter.
Self-propelled electric vacuum cleaner 105 and self-propelled electric vacuum cleaner 106 are first begin to along the traveling (step S3) along wall.
At this point, control device 95 for example calculates the movement of self-propelled electric vacuum cleaner R according to travel motor pulse output
Speed, moving distance.The image etc. from environment detecting portion operable 102 is handled simultaneously, extracts the ceiling and furniture in room
Etc. characteristic points, according to multiple characteristic point speculate self-position (step S4).Through this process, self-propelled electric vacuum cleaner 105,
106 at the time of have passed through 1 week around room, complete the generation (step S5) of ground Figure 110.Ground Figure 110 can be by each self-propelled electricity
The control device 95 of dust catcher generates and storage, can also send traveling number to other server by each self-propelled electric vacuum cleaner
According to and generate and store respective ground Figure 110.Ground Figure 110 is suitably merged as described later.
Then, for the self-propelled electric vacuum cleaner 105,106 positioned at same floor, make its shared ground Figure 110 (step generated
Rapid S6,2 :).Specifically, to the map of self-propelled electric vacuum cleaner 105 map generated and the generation of self-propelled electric vacuum cleaner 106
It is compared, finds out common ground, 2 map conflations are thus synthesized into a map.Then it is walked certainly by 2 of same floor
Formula electric vacuum cleaner 105,106 shares the map, speculates self-position on shared map respectively.Map datum can be stored in
Reference is carried out in each or a part of self-propelled electric vacuum cleaner and using communication unit, can also be saved in the server and by respective
It walks formula electric vacuum cleaner and carries out reference using communication unit.
Then, restart to clean (step S7), using damper 92, distance measuring sensor 96 and ground distance measuring sensor
The cleaning (step S8) in room is carried out while 94 evacuation barrier.Simultaneously according to travel motor pulse output and environment measuring
The data in portion 102, thus it is speculated that self-position records purging zone and not cleanable area (step S9) on map.
Fig. 9 indicates the driving trace of self-propelled electric vacuum cleaner 105,106.Depict the traveling of self-propelled electric vacuum cleaner 105
Track 111, self-propelled electric vacuum cleaner 106 driving trace 112.
Because self-propelled electric vacuum cleaner 105,106 is located at same floor, purging zone and can not sweeping area is shared
Domain (step S10).Shared map is shown in FIG. 10.Depict the purging zone 113, no of self-propelled electric vacuum cleaner 105
Cleanable area 114, the purging zone 115 of self-propelled electric vacuum cleaner 106, non-purging zone 116~118.
Figure 13 is the picture for indicating the terminal device 119 of present embodiment and showing on the way in the cleaning of self-propelled electric vacuum cleaner
Figure, Figure 14 is the picture for indicating the terminal device 119 of present embodiment and showing after the completion of the cleaning of self-propelled electric vacuum cleaner
Figure.Terminal device 119 shows the map 1191 (step S11) after merging purging zone and layout.Then, remaining
In the case where non-purging zone (step S12), according to the self-position of each self-propelled electric vacuum cleaner at a distance from non-purging zone
It calculates optimal path (step S13).Specifically, from the closer position of self-position being located at apart from each self-propelled electric vacuum cleaner
Non- purging zone rise continue clean (step S14).Then, if no longer there is non-purging zone (referring to Figure 11), distinguish
It returns cradle (step S15).Because being calculated at a distance from non-purging zone according to the self-position for respectively walking formula electric vacuum cleaner
Optimal path, so not needing to organize into groups non-purging zone again, distributing each self-propelled electric vacuum cleaner purging zone, control dress
Set the processing load mitigation of 95 or server.In addition, for example close to barrier in the purging zone of self-propelled electric vacuum cleaner 105 compared with
It is more, it cleans in time-consuming situation, by the calculating of optimal path, the purging zone of self-propelled electric vacuum cleaner 106 expands automatically
Greatly, finally, it can quickly complete to clean with 2.Then, map shown in Figure 12 and final is shown on terminal device 119
Purging zone.
Then, illustrate 2 self-propelled electric vacuum cleaners the case where mutually different floor is cleaned.Figure 15 is at 2
Addition is retouched in the layout for a certain layer (being 1 layer and 2 layers in present embodiment) that self-propelled electric vacuum cleaner 105,106 is separately positioned on
Drawn the figure of self-propelled electric vacuum cleaner 105,106 and cradle 107,108, Figure 16 be the ground Figure 132 for indicating these a certain layers,
133 figure.
1 layer of 122,2 layers of layout of layout 123, self-propelled electric vacuum cleaner 105, self-propelled electric dust suction are depicted in Figure 15
Device 106, the cradle 107 of self-propelled electric vacuum cleaner 105, the cradle 108 of self-propelled electric vacuum cleaner 106, step etc. can not be clear
Sweep region 126~131, self-propelled electric vacuum cleaner 105 along wall driving trace 124, self-propelled electric vacuum cleaner 106 along wall travel
Track 125.In addition, on the basis of the highest air pressure in the air pressure detected, different buildings is stored in advance in present embodiment
The air pressure of layer.That is, 2 layers of air pressure is for example about " (1 layer in the building of inhabitation on the basis of highest 1 layer of air pressure
Air pressure) -0.35 " hPa.
Self-propelled electric vacuum cleaner 105 and self-propelled electric vacuum cleaner 106 are first begin to along the traveling (step S3) along wall, this
When control device 95 movement speed, the moving distance of self-propelled electric vacuum cleaner R calculated according to travel motor pulse output.Together
When to from video camera 102 image carry out image procossing, the characteristic points such as ceiling and the furniture in room are extracted, according to multiple
Characteristic point speculates self-position (step S4).Through this process, self-propelled electric vacuum cleaner 105,106 have passed through 1 week around room
At the time of, complete ground Figure 132 of the layout of each layer, 133 generation (step S5).
Then, because 2 self-propelled electric vacuum cleaners are in different floors, each control device 95 is not inhaled in self-propelled electricity
The ground Figure 132 generated, 133 are shared between dirt device 105 and self-propelled electric vacuum cleaner 106.Each self-propelled electric vacuum cleaner 105,106 is joined
According to the detected value of respective altimeter, on the basis of highest detected value, according to the difference of the value and the detected value of itself, judgement is certainly
Body configuration floor.Then, self-position (step S6) is speculated on the map of the respective floor of judgement.Then, again
Start clean (step S7), using damper 92, distance measuring sensor 96 and ground distance measuring sensor 94 evacuation barrier simultaneously into
Cleaning (step S8) between having sexual intercourse.Simultaneously according to the image of travel motor pulse output and video camera 102, thus it is speculated that itself position
It sets, purging zone and not cleanable area (step S9) is recorded on each map.
Each self-propelled electric vacuum cleaner 105,106 only can be referring to the map of the floor where itself.Accordingly it is also possible to
By itself map datum can be exchanged with each other in a manner of the map of the floor where itself.What is be managed collectively with server
In the case of this point can simply implement, be preferred.The case where carrying out reference, is stored in respective control device 95 etc.
Under, it can communicate, be taken with the self-propelled electric vacuum cleaner of the map with the floor after judging the floor where itself
Obtain the processing of the data.
Figure 17 indicates the driving trace of self-propelled electric vacuum cleaner 105,106.Self-propelled electric vacuum cleaner is depicted in Figure 17
The driving trace 135 of 105 driving trace 134, self-propelled electric vacuum cleaner 106.
Because self-propelled electric vacuum cleaner 105,106 is located at different floors, not shared purging zone and can not be clear
Sweep region (step S10).Figure 18 indicates not shared map.Depict self-propelled electric vacuum cleaner 105 purging zone 136,
Not cleanable area 126~131, the purging zone 139 of self-propelled electric vacuum cleaner 106, non-purging zone 137,138,140,
141。
Figure 21 is the picture for indicating the terminal device 119 of present embodiment and showing on the way in the cleaning of self-propelled electric vacuum cleaner
Figure, Figure 22 is the picture for indicating the terminal device 119 of present embodiment and showing after the completion of the cleaning of self-propelled electric vacuum cleaner
Figure.
Map and purging zone (step S11) are shown on terminal device 119.The case where remaining non-purging zone
Under (step S12), optimal path (step is calculated at a distance from non-purging zone according to the self-position of each self-propelled electric vacuum cleaner
S13).Specifically, from the non-purging zone for being located at the closer position of self-position apart from each self-propelled electric vacuum cleaner after
It is continuous to clean (step S14).Then, as shown in figure 19, if no longer there is non-purging zone, cradle (step is respectively returned
S15).Then, map and final purging zone (Figure 20) are shown on terminal device 119 (referring to Figure 22).
As previously discussed, the self-propelled electric vacuum cleaner of present embodiment can be located at same in more self-propelled electric vacuum cleaners
In the case where floor, the region of each self-propelled electric vacuum cleaner driving is shown in same map, in the feelings for being located at different floors
Under condition, map is generated by each layer, the region of each self-propelled electric vacuum cleaner driving is shown in the map of each layer.
Figure 23 is the picture that the self-propelled electric vacuum cleaner detected via access point search is shown on terminal device 119
Face.Barometer can not also be set in self-propelled electric vacuum cleaner, but directly set by user like this.In general, user will
Each self-propelled electric vacuum cleaner configures between floors, so which layer the self-propelled electric vacuum cleaner of which platform known to user configures at,
Therefore it is also contemplated that user is made to specify the floor where each dust catcher.This self-propelled electric dust suction configured in same building object
A part of device do not have barometrical situation under can also apply.For user, can specifically inquire respectively each self-propelled
Floor where electric vacuum cleaner, can also only inquire whether more self-propelled electric vacuum cleaners are located at same floor.
The judgement of the floor of present embodiment is not limited to be applied to self-propelled electric vacuum cleaner, can be applied to other electricity and inhales
Dirt device and moving body along ground moving.
Description of symbols
1 sweeps and takes brush
5 rotating brushes
10 suction inlet portions
17 suction ports
40 side brushes
41 side brush brackets
50 main bodys
51 lower cases
54 driving mechanism receiving portions
55 battery container portions
61 driving wheels
71 arms (suspension)
81 electric fans
82 side brush mounting portions
83 auxiliary wheels
84 auxiliary wheel mounting portions
91 upper housings
92 dampers
93 lids
95 control devices
96 sensor classes (detection of obstacles unit)
97 operation buttons
98 display panels
101 wireless communication modules
102 video cameras
103 barometers
The self-propelled electric vacuum cleaner of R
K dust-collecting box
F dust-collecting filter
P rechargeable battery.
Claims (5)
1. a kind of including can be along the movable body system of multiple moving bodys of ground moving, it is characterised in that:
The moving body,
With communication unit and height detection portion,
Can referring to the map of the floor where itself,
Be able to carry out the update of the map and/or moving body can be had already passed through have been subjected to region be input to it is described
Map,
Wherein, the height detection portion detected value and other moving bodys height detection portion detected value the lesser feelings of difference
Under condition, be judged as other move body postures in same floor,
In the biggish situation of difference of the detected value in the height detection portion of the detected value and other moving bodys in the height detection portion,
It is judged as other move body postures in other floors.
2. movable body system as described in claim 1, it is characterised in that:
The update of the map of any floor by be judged as be located at same floor each moving body share, and/or input take office
The map of one floor has been subjected to region by being judged as that each moving body for being located at same floor is shared in same map.
3. movable body system as claimed in claim 1 or 2, it is characterised in that:
Be judged as between the moving body positioned at floor different from each other, not to other side reflect the map update and it is described
By the input in region.
4. movable body system according to any one of claims 1 to 3, it is characterised in that:
User can in the moving body a part of moving body or whole moving body input the floor where the moving body
Information.
5. movable body system as described in any one of claims 1 to 4, it is characterised in that:
It is not small in the difference of the detected value in the height detection portion for the detected value and other moving bodys for being judged as the height detection portion
In the case where less, whether these moving bodys, which are located at information or the respective place of these moving bodys of same floor, is inquired to user
Floor information.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-092695 | 2018-05-14 | ||
| JP2018092695A JP7025990B2 (en) | 2018-05-14 | 2018-05-14 | Mobiles and how to share maps of mobiles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110477805A true CN110477805A (en) | 2019-11-22 |
| CN110477805B CN110477805B (en) | 2021-06-08 |
Family
ID=68545004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910144891.0A Active CN110477805B (en) | 2018-05-14 | 2019-02-27 | Mobile body system including a plurality of mobile bodies movable along ground |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7025990B2 (en) |
| CN (1) | CN110477805B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917916A (en) * | 2021-09-23 | 2022-01-11 | 珠海一微半导体股份有限公司 | Cross-floor transfer device, elevator, mobile robot and robot dispatching system |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114615916B (en) * | 2020-02-27 | 2024-04-12 | 松下知识产权经营株式会社 | Information presentation method, information presentation device, and storage medium |
| JPWO2022201867A1 (en) * | 2021-03-26 | 2022-09-29 | ||
| KR102662265B1 (en) * | 2022-04-06 | 2024-04-30 | 애경케미칼주식회사 | High efficiency removal method of free formaldehyde from amino-formaldehyde resin using ammonia and xylene |
| WO2023233637A1 (en) * | 2022-06-02 | 2023-12-07 | 三菱電機株式会社 | Ozone sterilization system and ozone sterilization method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104395697A (en) * | 2012-06-19 | 2015-03-04 | 高通股份有限公司 | Collaborative navigation techniques for mobile devices |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN105593775A (en) * | 2013-08-06 | 2016-05-18 | 阿尔弗雷德·凯驰两合公司 | Method for operating a floor-cleaning device and floor-cleaning device |
| WO2016180514A1 (en) * | 2015-05-13 | 2016-11-17 | Universität Bielefeld | Floor treatment device and method for the navigation thereof, and group of floor treatment devices and method for the joint navigation of said floor treatment devices |
| CN107198499A (en) * | 2016-03-18 | 2017-09-26 | 松下电器（美国）知识产权公司 | Autonomous device, autonomous method and autonomous system |
| DE102016114593A1 (en) * | 2016-08-05 | 2018-02-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6532279B2 (en) | 2015-04-28 | 2019-06-19 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Movement control method and movement control device |
| JP6724349B2 (en) | 2015-11-30 | 2020-07-15 | カシオ計算機株式会社 | Autonomous mobile device, autonomous mobile method, and program |
| JP6880552B2 (en) | 2016-02-10 | 2021-06-02 | 村田機械株式会社 | Autonomous mobile system |
| JP6757593B2 (en) | 2016-05-11 | 2020-09-23 | シャープ株式会社 | Self-propelled electronic equipment |
| WO2018024897A1 (en) | 2016-08-05 | 2018-02-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
-
2018
- 2018-05-14 JP JP2018092695A patent/JP7025990B2/en active Active
-
2019
- 2019-02-27 CN CN201910144891.0A patent/CN110477805B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104395697A (en) * | 2012-06-19 | 2015-03-04 | 高通股份有限公司 | Collaborative navigation techniques for mobile devices |
| CN105593775A (en) * | 2013-08-06 | 2016-05-18 | 阿尔弗雷德·凯驰两合公司 | Method for operating a floor-cleaning device and floor-cleaning device |
| WO2016180514A1 (en) * | 2015-05-13 | 2016-11-17 | Universität Bielefeld | Floor treatment device and method for the navigation thereof, and group of floor treatment devices and method for the joint navigation of said floor treatment devices |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN107198499A (en) * | 2016-03-18 | 2017-09-26 | 松下电器（美国）知识产权公司 | Autonomous device, autonomous method and autonomous system |
| DE102016114593A1 (en) * | 2016-08-05 | 2018-02-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917916A (en) * | 2021-09-23 | 2022-01-11 | 珠海一微半导体股份有限公司 | Cross-floor transfer device, elevator, mobile robot and robot dispatching system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7025990B2 (en) | 2022-02-25 |
| JP2019198346A (en) | 2019-11-21 |
| CN110477805B (en) | 2021-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110477805A (en) | Including can be along the movable body system of the moving body of ground moving | |
| CN110313867B (en) | Autonomous mobile cleaner, cleaning method for autonomous mobile cleaner, and recording medium | |
| EP3087894B2 (en) | Moving robot and controlling method thereof | |
| TWI671611B (en) | Cleaner and controlling method thereof | |
| US11029700B2 (en) | Mobile robot and control method thereof | |
| CN110313863B (en) | Autonomous mobile cleaning machine, cleaning method for autonomous mobile cleaning machine, and program | |
| EP3533369B1 (en) | Vacuum cleaner and control method therefor | |
| CN113631334B (en) | Mobile robot and method of controlling a plurality of mobile robots | |
| JP6757593B2 (en) | Self-propelled electronic equipment | |
| US11297992B2 (en) | Robot cleaner and method for controlling the same | |
| WO2006026436A2 (en) | Robot cleaner with improved vacuum unit | |
| TWI759760B (en) | Robot cleaner and method for controlling the same | |
| US20220175210A1 (en) | Moving robot and controlling method for the moving robot | |
| EP3795051A1 (en) | Cleaner and method for controlling same | |
| US20220280007A1 (en) | Mobile robot and method of controlling the same | |
| CN113194802B (en) | Robot cleaner and method of operating the same | |
| TW201825869A (en) | Method for the navigation and self-location of an autonomously moving processing device | |
| KR102115192B1 (en) | A robot cleaner and an operation method for the same | |
| EP3788927A1 (en) | Vacuum cleaner and control method therefor | |
| JP2020518062A (en) | Mobile robot and control method thereof | |
| KR102115193B1 (en) | A robot cleaner and an operation method for the same | |
| JP7446170B2 (en) | cleaning system | |
| EP4116044A1 (en) | Mobile robot and control method therefor | |
| KR20240042269A (en) | A robot cleaner system having the charge stations and control method thereof | |
| JP2022163754A (en) | Vacuum cleaner management device and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |