CN111603098A

CN111603098A - Autonomous traveling body device

Info

Publication number: CN111603098A
Application number: CN202010086169.9A
Authority: CN
Inventors: 鹿山俊洋
Original assignee: Toshiba Lifestyle Products and Services Corp
Current assignee: Toshiba Lifestyle Products and Services Corp
Priority date: 2019-02-26
Filing date: 2020-02-11
Publication date: 2020-09-01
Also published as: JP2020140248A; JP7295657B2

Abstract

The present invention relates to an autonomous traveling body device. Provided is an electric dust collector which can automatically move based on proper map data. The electric dust collector (13) is provided with an electric dust collector (11) and a charging device (12). The charging device (12) is provided with a power supply unit (77) and a power supply detection unit. The power supply unit (77) is connected to an external power supply. The power supply detection unit detects whether or not the power supply unit (77) is connected to an external power supply. When the electric vacuum cleaner (11) starts autonomous travel from the charging device (12), the travel control unit (61) changes the map data for autonomous travel after the power detection unit detects that the connection between the power supply unit (77) and the external power supply is disconnected.

Description

Autonomous traveling body device

Technical Field

An embodiment of the present invention relates to an autonomous traveling body device including an autonomous traveling body that performs autonomous traveling based on map data held in a map holding memory.

Background

Conventionally, as such an autonomous traveling body, a so-called autonomous traveling type electric vacuum cleaner (vacuum cleaner robot) is known which autonomously travels on a floor surface as a surface to be cleaned and cleans the floor surface. In general, this electric vacuum cleaner constitutes an electric vacuum cleaner as an autonomous traveling body device together with a charging device for charging a secondary battery as a power source.

In such an electric vacuum cleaner, map information on the shape of the dust collection area, obstacles, and the like is accumulated at the start of or during the dust collection process, and the position of the electric vacuum cleaner itself and the place to be traveled thereafter are estimated, whereby efficient dust collection with less variation can be performed.

In general, since the electric vacuum cleaner is repeatedly used in a single dust collection area or a plurality of dust collection areas in the same house, it is not necessary to update the map data every time the dust collection process is started, but different map data may be necessary, for example, when the electric vacuum cleaner is transported to another room. Thus, it is required to use map data appropriate as needed.

Patent document 1: japanese patent No. 5426603

Disclosure of Invention

An object of the present invention is to provide an autonomous traveling body device capable of autonomous traveling based on appropriate map data.

Means for solving the problems

The autonomous traveling body device of the embodiment has an autonomous traveling body and a base device. The autonomous traveling body is provided with a map holding memory and a traveling control means. The map holding memory holds map data. The travel control unit controls autonomous travel based on the map data held by the map holding memory. The base device includes a connection unit and a detection unit. The connecting part is connected with an external power supply. The detection unit detects whether the connection portion is connected to an external power supply. The travel control means changes the map data for autonomous travel after the detection means detects that the connection between the connection unit and the external power supply is disconnected when the autonomous travel body starts autonomous travel from the base device.

The autonomous traveling body device according to the embodiment includes an autonomous traveling body and a base device. The autonomous traveling body is provided with a map holding memory and a traveling control means. The map holding memory holds map data. The travel control unit controls autonomous travel based on the map data held by the map holding memory. The base device includes a connection unit and a lift sensor. The connecting part is connected with an external power supply. The lift-off sensor detects lift-off. Then, when the autonomous traveling body starts autonomous traveling from the base device, the traveling control means changes the map data for autonomous traveling after the unsteady state in which the lift-up sensor detects the lift-up of the base device.

The autonomous traveling body device of the embodiment includes an autonomous traveling body and a base device. The autonomous traveling body is provided with a map holding memory and a traveling control means. The map holding memory holds map data. The travel control unit controls autonomous travel based on the map data held by the map holding memory. The base device is provided with a connecting part. The connecting part is connected with an external power supply. The travel control means changes the map data for autonomous travel when the autonomous travel body starts autonomous travel from a position different from the base device.

Drawings

Fig. 1 is a perspective view showing an autonomous traveling body apparatus according to a first embodiment.

Fig. 2 is a perspective view showing a return state of the autonomous traveling body device to the base device as described above.

Fig. 3 is a plan view of an autonomous traveling body of the autonomous traveling body apparatus shown from below.

Fig. 4 is a block diagram showing an internal structure of the autonomous traveling body described above.

Fig. 5 is a block diagram showing an internal configuration of the base device of the autonomous traveling body device as described above.

Fig. 6 is an explanatory diagram schematically showing a method of calculating three-dimensional coordinates of an object by a sensor of the autonomous traveling body as described above.

Fig. 7 is a flowchart showing control of the autonomous traveling body apparatus from the start to the end of autonomous traveling of the autonomous traveling body as described above.

Fig. 8 is a block diagram showing an internal structure of an autonomous traveling body of the autonomous traveling body apparatus according to the second embodiment.

Fig. 9 is a block diagram showing an internal structure of a base device of the autonomous traveling body device as described above.

Fig. 10 is a flowchart showing control of the autonomous traveling body from the start to the end of autonomous traveling of the autonomous traveling body apparatus.

Description of the symbols

11 electric vacuum cleaner as autonomous traveling body

12 charging device as base device

13 electric dust collector as autonomous traveling body device

41 surroundings detection sensor as sensor

56 receiver unit as receiver unit

61 travel control unit as travel control means

Map generation unit 64 as drawing means

67 memory as a map holding memory

77 power supply unit as connection unit

78 power supply detection unit as detection unit

79 lift sensor

81 collision prevention signal output unit as transmission means

86 device transmitting part as transmission means

Detailed Description

Hereinafter, the structure of the first embodiment will be described with reference to the drawings.

In fig. 1 and 2, reference numeral 11 denotes an electric vacuum cleaner as an autonomous traveling body, and the electric vacuum cleaner 11 and a charging device (charging stand) 12 as a base device of the electric vacuum cleaner 11 constitute an electric vacuum cleaner (electric vacuum cleaning system) 13 as an autonomous traveling body device. In the present embodiment, the electric vacuum cleaner 11 is a so-called self-propelled robot cleaner (cleaning robot) that performs cleaning of a floor surface while autonomously traveling (self-propelled) on the floor surface, which is a surface to be cleaned as a traveling surface.

The electric vacuum cleaner 11 shown in fig. 1 to 4 includes a hollow main body casing 20. The electric vacuum cleaner 11 also includes a drive wheel 21 as a travel drive unit. The electric vacuum cleaner 11 may further include a dust suction unit 22 for sucking dust. The electric vacuum cleaner 11 further includes a sensor unit 23 as an information acquisition unit. The electric vacuum cleaner 11 includes a communication unit 24 as an information acquisition unit that performs communication via a network, for example, by wire or wireless. The electric vacuum cleaner 11 further includes a control unit 25 as a controller. The electric vacuum cleaner 11 is provided with a secondary battery 26 as a battery for supplying power. The electric vacuum cleaner 11 may further include an input/output unit for inputting/outputting signals to/from an external device or a user. In the following description, a direction along the traveling direction of the electric vacuum cleaner 11 (the main body housing 20) is referred to as a front-rear direction (directions of arrows FR and RR shown in fig. 3), and a left-right direction (a direction on both sides) intersecting (orthogonal to) the front-rear direction is referred to as a width direction.

The main body case 20 is formed of, for example, synthetic resin or the like. The main body case 20 is formed in a flat cylindrical shape (disk shape), for example. Further, the main body case 20 may be provided with a suction port 31 or the like as a dust collection port at a lower portion or the like facing the floor surface.

The drive wheel 21 is a drive wheel for causing the electric vacuum cleaner 11 (main body casing 20) to travel (autonomously travel) on the floor surface in the forward direction and the backward direction. In the present embodiment, the driving wheels 21 are provided in a pair on the left and right of the main body case 20, for example. The drive wheel 21 is driven by a motor 33 as a drive unit. Instead of the drive wheels 21, endless tracks or the like as drive portions may be used.

The motor 33 is disposed corresponding to the drive wheel 21. Thus, in the present embodiment, the motor 33 is provided with, for example, a pair of left and right. Then, the motor 33 can drive each driving wheel 21 independently.

The dust suction unit 22 removes dust on a floor surface, a wall surface, or the like. The dust suction unit 22 has a function of collecting and collecting dust on the floor from the suction port 31 or wiping and cleaning a wall surface, for example. The dust suction unit 22 may include at least one of an electric blower 35 for sucking dust together with air from the suction port 31, a rotary brush 36 as a rotary cleaning member rotatably attached to the suction port 31 to collect dust, a brush motor 37 for rotationally driving the rotary brush 36, and a side brush 38 as an auxiliary dust suction unit (auxiliary dust suction unit) as a rotary cleaning unit rotatably attached to both sides of the front side of the main body case 20 to collect dust, and a side brush motor 39 for driving the side brush 38. The dust suction unit 22 may include a dust collection unit 40 that communicates with the suction port 31 to collect dust. The dust suction unit 22 is not necessarily configured.

The sensor unit 23 senses and detects various information for assisting the travel of the electric vacuum cleaner 11 (main body casing 20). More specifically, the sensor unit 23 senses, for example, the uneven state (step) of the floor surface, a wall or an obstacle that is an obstacle to travel, the amount of dust on the floor surface, and the like. The sensor unit 23 includes a periphery detection sensor 41 as a sensor. The sensor unit 23 may include, for example, an infrared sensor or a dust amount sensor (dust sensor).

The periphery detection sensor 41 detects a condition outside the main body casing 20, for example, a shape of the periphery of the main body casing 20. The periphery detection sensor 41 includes a camera 51 as an imaging means. The periphery detection sensor 41 is provided with a determination unit 52. The periphery detection sensor 41 may include a lamp 53 as a detection support means (detection support unit).

The camera 51 is a digital camera as follows: digital images are captured at predetermined time intervals, for example, at minute time intervals such as several tens of milliseconds, or at several seconds, at a predetermined horizontal angle of view (for example, 105 °), respectively, with respect to the forward direction, which is the traveling direction of the main body casing 20. The number of the cameras 51 may be one or plural. In the present embodiment, the camera 51 is provided in a pair of left and right. That is, the cameras 51 are disposed on the front portion of the main body casing 20 so as to be separated from each other. The imaging ranges (fields of view) of the

cameras

51, 51 overlap each other. Therefore, the imaging regions of the images imaged by these

cameras

51, 51 overlap in the left-right direction. The image picked up by the camera 51 may be, for example, a color image or a monochrome image in the visible light region, or may be an infrared image.

The determination unit 52 is configured to detect the shape (distance, height, and the like of an object) located around the main body casing 20 from the captured image by extracting feature points and the like from the image captured by the camera 51. In other words, the determination unit 52 is configured to determine whether or not the object whose distance from the main body casing 20 is calculated from the image captured by the camera 51 is an obstacle. For example, the determination unit 52 is configured to calculate the distance (depth) and the three-dimensional coordinates of the object (feature point) from the image captured by the camera 51 and the distance between the cameras 51 by a known method. Specifically, the determination unit 52 is configured to detect a pixel point indicating the same position from each of the images G, G captured by the

cameras

51 and 51 by applying triangulation based on the distance f (parallax) between the cameras 51 and the object O (feature point SP) of the image G, G captured by the cameras 51 and the distance l between the

cameras

51 and 51, calculate the vertical, horizontal, and front-rear angles of the pixel point, calculate the distance and height from the camera 51 at the position based on the angles and the distance l between the

cameras

51 and 51, and calculate the three-dimensional coordinates of the object O (feature point SP) (fig. 6). The determination unit 52 is configured to compare the distance of an object imaged in a predetermined image range (for example, an image range set in accordance with the width and height of the main body casing 20) with a set distance that is a preset or variably set threshold value, and determine whether or not the object located at a distance (distance from the electric vacuum cleaner 11 (main body casing 20)) equal to or less than the set distance is an obstacle. The determination unit 52 may have an image correction function of performing primary image processing such as correction of distortion of a lens of an original image captured by the camera 51, removal of noise, contrast adjustment, and alignment of the center of an image. The determination unit 52 may be provided in the control unit 25. When there is one camera 51, the determination unit 52 can calculate the distance from the amount of movement of the coordinates of the object when the electric vacuum cleaner 11 (main body casing 20) is moved.

The lamp 53 illuminates the imaging range of the camera 51 to obtain brightness required for imaging. The lamps 53 are provided corresponding to the cameras 51, for example. The lamp 53 is, for example, an LED.

The communication unit 24 transmits and receives signals to and from the charging device 12, for example. The communication unit 24 includes a transmission unit 55 as transmission means for transmitting a signal to the charging device 12 by infrared communication or wireless communication. The communication unit 24 includes a receiving unit 56 that is a receiving means for receiving a signal from the charging device 12 by infrared communication or wireless communication.

For example, when the electric vacuum cleaner 11 returns to the charging device 12, the transmission unit 55 outputs a request signal (request signal) for requesting the charging device 12 to output a guidance signal for guiding the electric vacuum cleaner 11 to the charging device 12.

The control unit 25 is, for example, a microcomputer including a CPU, a ROM, a RAM, and the like as a control unit main body (control unit main body). The control unit 25 includes a travel control unit 61 as travel control means for driving the drive wheels 21 (motors 33). The controller 25 also includes a dust collection controller 62 as dust collection control means electrically connected to the dust collection unit 22. The control unit 25 includes a sensor connection unit 63 as a sensor control unit electrically connected to the sensor unit 23. The control unit 25 also includes a map generation unit 64 as a drawing means (drawing unit). The control unit 25 includes a communication control unit 65 as a communication control means electrically connected to the communication unit 24. That is, the control unit 25 is electrically connected to the dust suction unit 22, the sensor unit 23, the communication unit 24, and the like. The control unit 25 is electrically connected to the secondary battery 26. The control unit 25 includes a memory 67, which is a nonvolatile map storage memory (storage means) such as a flash memory. The control unit 25 further includes a charge control unit 68 that controls charging of the secondary battery 26.

The travel control unit 61 controls the driving of the motor 33 by controlling the driving of the motor 33, that is, by controlling the magnitude and direction of the current flowing through the motor 33 to rotate the motor 33 in the normal direction or the reverse direction, and controls the driving of the driving wheels 21 by controlling the driving of the motor 33. The travel control unit 61 may be configured to set an optimum travel route based on the map data held in the memory 67. Here, as the created optimal route, there are set: the route along which the vehicle can travel at the shortest travel distance in the map data in the dust cleanable area (the area excluding the area where the vehicle cannot travel such as an obstacle or a step), for example, the route along which the electric vacuum cleaner 11 (main body case 20) travels straight as much as possible (the direction is switched to the least), the route along which the vehicle has less contact with an object that is an obstacle, or the route along which the vehicle can travel the shortest number of times repeatedly at the same location, can be a route along which the vehicle can travel (dust cleaning) efficiently. The travel control unit 61 can also change the travel route at any time based on the obstacle detected by the sensor unit 23 (the periphery detection sensor 41 and the infrared sensor).

The dust suction controller 62 controls the driving of the electric blower 35, the brush motor 37, and the side brush motor 39 (the side brush 38) of the dust suction unit 22 by controlling the driving of the electric blower 35, the brush motor 37, and the side brush motor 39, that is, by controlling the amounts of electric current supplied to the electric blower 35, the brush motor 37, and the side brush motor 39 independently from each other.

The sensor connection portion 63 acquires the detection result of the sensor portion 23 (the periphery detection sensor 41, the infrared sensor, the dust amount sensor). The sensor connection unit 63 may also function as an imaging control unit that controls the operation of the camera 51 (such as shutter operation) and causes the camera 51 to capture images at predetermined time intervals, and an illumination control unit that controls the operation of the lamp 53 (switching of the lamp 53).

The map generation unit 64 creates map data indicating whether or not the vehicle can travel through the dust collection area (travel area) based on the shape (distance and height of an object that becomes an obstacle) around the main body casing 20 detected by the periphery detection sensor 41. Specifically, the map generation unit 64 determines the position of the electric vacuum cleaner 11 and the presence or absence of an object that becomes an obstacle based on the three-dimensional coordinates of the feature points of the object in the image captured by the camera 51, and creates map data describing the positional relationship and height of the object (obstacle) and the like located in the dust suction area in which the electric vacuum cleaner 11 (main body housing 20) is arranged. That is, the map generating unit 64 can use a known SLAM (simultaneous localization and mapping) technique.

Communication control unit 65 controls driving of communication unit 24 to transmit and receive signals to and from charging device 12. The communication control unit 65 includes a transmission control unit 71 that controls the operation of the transmission unit 55. The communication control unit 65 also includes a reception control unit 72 that controls the operation of the reception unit 56. Thus, the electric vacuum cleaner 11 includes the transmission control unit 71. The electric vacuum cleaner 11 further includes a reception control unit 72.

The memory 67 can hold map data created by the map creation unit 64, map data received from an external device via the communication unit 24, and the like.

The charge control unit 68 controls the charging of the secondary battery 26 by the charging device 12. The charging control unit 68 may be provided in the charging device 12.

The travel control unit 61, the dust collection control unit 62, the sensor connection unit 63, the map generation unit 64, the communication control unit 65 (the transmission control unit 71 and the reception control unit 72), the memory 67, and the charging control unit 68 are each integrally provided in the control unit 25 in the present embodiment, but may be provided independently of each other in the electric vacuum cleaner 11, or may be integrally formed by arbitrarily combining at least any of them.

The secondary battery 26 supplies power to the dust suction unit 22, the sensor unit 23, the communication unit 24, the control unit 25, and the like. The secondary battery 26 is electrically connected to a charging terminal 74 (fig. 3) as a connection portion exposed at, for example, a lower portion of the main body case 20, and the charging terminal 74 (fig. 3) is electrically and mechanically connected to the charging device 12 side, whereby charging can be performed via the charging device 12.

In the present embodiment, the charging device 12 shown in fig. 1, 2, and 5 is a base device that serves as a start point or an end point of dust collection (autonomous travel) by the electric vacuum cleaner 11. The charging device 12 includes a case 76 as a device main body. The charging device 12 further includes a power supply unit 77 as a connection unit to be connected to an external power supply. The charging device 12 further includes a power supply detection unit 78 as a detection means. The charging device 12 is provided with a lift sensor 79. The charging device 12 includes a device communication unit 80 as a device-side communication means. The charging device 12 further includes a collision prevention signal output unit 81 as a transmission means. The charging device 12 is also provided with a charging circuit 82 as a charging means for charging the secondary battery 26. The charging device 12 is provided with a charging terminal 83 for charging the secondary battery 26. Then, the charging device 12 includes a device control unit 84 as charging device control means.

The power supply unit 77 receives power from an external power supply, and supplies the power to the lift sensor 79, the device communication unit 80, the charging circuit 82, the device control unit 84, and the like. In the present embodiment, a winding device including a power line for supplying power from an external power source, not shown, such as a commercial ac power source is used as the power supply unit 77.

The power supply detection unit 78 detects whether or not an external power supply is connected to the power supply unit 77. In the present embodiment, the power supply detection unit 78 detects whether or not power is supplied from an external power supply to the power supply unit 77.

The lift sensor 79 detects the lift of the charging device 12 (housing 76). As the lift sensor 79, for example, an acceleration sensor, a gyro sensor, or the like is used.

The device communication unit 80 transmits and receives signals to and from the communication unit 24 of the electric vacuum cleaner 11. Specifically, the device communication unit 80 includes a device transmission unit 86 as a transmission unit (transmission unit). The device communication unit 80 further includes a device receiving unit 87 as a device receiving unit. Thus, the charging device 12 includes the device transmitting unit 86. The charging device 12 further includes a device receiving unit 87.

The device transmitter 86 transmits a signal to the receiver 56 of the electric vacuum cleaner 11 by infrared communication or wireless communication. In the present embodiment, for example, the device transmitting unit 86 outputs a guide signal (guide beacon) for guiding the electric vacuum cleaner 11 (main body housing 20) to the charging device 12.

The device receiving unit 87 receives the signal transmitted from the transmitting unit 55 of the electric vacuum cleaner 11.

The collision prevention signal output unit 81 outputs a collision prevention signal such as an infrared signal to a predetermined range surrounding the charging device 12 (housing 76) during autonomous traveling of the electric vacuum cleaner 11 so as not to cause the electric vacuum cleaner 11 to collide with the charging device 12 (housing 76) during autonomous traveling. That is, when the collision prevention signal is received by the receiver 56 of the electric vacuum cleaner 11, the travel control unit 61 performs travel control so that the electric vacuum cleaner 11 (main body casing 20) does not further approach the charging device 12 side.

The charging circuit 82 uses a known circuit such as a constant current circuit.

The charging terminal 83 is electrically connected to the charging circuit 82, and is mechanically and electrically connected to a charging terminal 74 (fig. 3) of the vacuum cleaner 11 returned to the charging device 12.

The device control unit 84 is, for example, a microcomputer including a CPU, a ROM, a RAM, and the like, which are device control unit bodies (device control unit bodies). The device control unit 84 is electrically connected to the power supply unit 77. The device control unit 84 further includes a device communication control unit 91 serving as a device communication control means electrically connected to the device communication unit 80. The device control unit 84 may further include an output control unit 92 electrically connected to the collision prevention signal output unit 81. Then, the device control unit 84 includes a device memory 93.

The device communication control unit 91 controls the driving of the device communication unit 80, thereby transmitting and receiving signals to and from the charging device 12. The device communication control unit 91 includes a device transmission control unit 95 that controls the operation of the device transmission unit 86. The device communication control unit 91 further includes a device reception control unit 96 that controls the operation of the device reception unit 87. Thus, the charging device 12 includes the device transmission control unit 95. The charging device 12 further includes a device reception control unit 96.

The device transmission control unit 95 is electrically connected to the power supply detection unit 78, the lift sensor 79, and the device memory 93.

The output control unit 92 controls the operation of the collision prevention signal output unit 81. The output control unit 92 is electrically connected to the power supply detection unit 78, the lift sensor 79, and the device memory 93.

The device memory 93 is a nonvolatile memory such as a flash memory. The device memory 93 has a map information holding flag. Further, the device memory 93 has a travel process flag.

The map information holding flag is initialized to FALSE (FALSE) when the power supply detection unit 78 detects connection of the power supply unit 77 to the external power supply or when the lift sensor 79 detects lift of the charging device 12 (the case 76).

The running process flag is initialized to false when the power supply detection unit 78 detects connection of the power supply unit 77 to the external power supply or when the lift sensor 79 detects lift of the charging device 12 (the housing 76), is TRUE (TRUE) when the electric vacuum cleaner 11 starts cleaning (running) from the charging device 12, and is false when the electric vacuum cleaner 11 returns to the charging device 12. That is, the false and true flags in the travel process are alternated according to the detachment of the electric vacuum cleaner 11 from the charging device 12.

The device communication control unit 91 (the device transmission control unit 95 and the device reception control unit 96), the output control unit 92, and the device memory 93 are each configured to be integrally provided in the device control unit 84 in the present embodiment, but may be provided independently of each other in the charging device 12, or may be configured integrally by arbitrarily combining at least any of them.

The external device is a general-purpose device such as a PC (tablet PC), a smartphone (mobile phone), or the like, which is capable of wired or wireless communication with a network via, for example, a home gateway inside a building and wired or wireless communication with the network outside the building. The external device may have a display function of displaying an image.

Next, the operation of the above embodiment will be described.

In general, the electric vacuum cleaner 13 is roughly classified into a vacuum cleaning operation in which the electric vacuum cleaner 11 cleans the dust, and a charging operation in which the charging device charges the secondary battery 26. The charging operation is performed by a known method using the charging circuit 82 built in the charging device 12, and therefore, only the dust-collecting operation will be described. Further, an imaging operation for imaging a predetermined object by the camera 51 in response to a command from an external device or the like may be separately provided.

First, the outline of the start to the end of dust collection (travel) will be described.

When the electric vacuum cleaner 11 starts to perform dust collection (travel) from the charging device 12 and the map data is not stored in the memory 67, the electric vacuum cleaner 11 waits for the map generation unit 64 to create the map data itself and store the map data in the memory 67, or for the map data to be input from an external device or the like and store the map data in the memory 67, and performs dust collection by the dust collection unit 22 while performing autonomous travel based on the new map data. In addition, when the map data is created by the map creating unit 64, the dust can be sucked by the dust suction unit 22 while creating the map data.

When the map data is stored in the memory 67, the travel control unit 61 determines whether to perform travel control by directly using the map data or to perform travel control by changing the map data, and when it is determined that the map data is not changed, the travel control unit 61 directly uses the map data stored in the memory 67, and when it is determined that the map data is changed, the travel control unit 61 changes the map data for travel control, and the electric vacuum cleaner 11 performs autonomous travel based on the map data and performs vacuum cleaning by the vacuum cleaning unit 22.

That is, if the same dust suction area as the previous dust suction is to be cleaned, the travel control can be basically performed using the map data as it is, whereas the map data cannot be used as it is, for example, when the electric dust suction device 13 (the charging device 12) is moved to a dust suction area different from the dust suction area in which the previous dust suction is performed. When the charging device 12 is moved to a different dust suction area, the user usually disconnects the power supply unit 77 of the charging device 12 from the external power supply or lifts the charging device 12, and therefore, in any of these cases, it is highly likely that the charging device 12 will be moved. Therefore, in the present embodiment, the travel control unit 61 determines whether or not to change the map data based on whether or not the power supply detection unit 78 detects that the connection between the external power supply and the power supply unit 77 is temporarily disconnected, or whether or not the lift sensor 79 detects that the charging device 12 is lifted. That is, in the charging device 12, when the power supply detection unit 78 detects that the connection between the external power supply and the power supply unit 77 is temporarily disconnected or when the lift-up sensor 79 detects that the charging device 12 is lifted up, the detection is transmitted to the electric vacuum cleaner 11, and based on the transmitted information, the travel control unit 61 determines whether or not it is necessary to change the map data for travel control. This determination can be performed at any timing after the detection by the power supply detection unit 78 or the lift sensor 79, and may be performed, for example, at the start of cleaning or at the end of cleaning for the next cleaning.

When the electric vacuum cleaner 11 starts cleaning (traveling) from a position different from the charging device 12, the electric vacuum cleaner 11 first tries to return to the charging device 12. When returning to the charging device 12, the transmission control unit 71 of the electric vacuum cleaner 11 controls the operation of the transmission unit 55 to output a request signal, and when the charging device 12 receives the request signal via the device reception unit 87, the device transmission control unit 95 controls the operation of the device transmission unit 86 to output a guidance signal. The electric vacuum cleaner 11 can return to the charging device 12 by traveling while receiving the guidance signal by the receiving unit 56. When the electric vacuum cleaner 11 is connected to the charging device 12, the same control as that for the above-described case of starting cleaning from the charging device 12 is performed.

When the cleaning of the entire cleaning area is completed, the electric vacuum cleaner 11 returns to the charging device 12, and when connected to the charging device 12, the operation shifts to the charging operation of the secondary battery 26.

The above control when dust collection (traveling) is started from the charging device 12 will be described more specifically. The electric vacuum cleaner 11 is configured such that the control unit 25 switches from the standby state to the travel mode (vacuum cleaning mode) at a timing such as when a preset vacuum cleaning start time is reached, when a control command for starting vacuum cleaning transmitted from a remote controller or an external device is received via the input/output unit, or when power is turned on. Next, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) to disengage the electric vacuum cleaner 11 (main body case 20) from the charging device 12.

When the map data of the dust collection area is not stored in the memory 67, the user inputs the map data through an external device, or the travel control unit 61 controls the driving of the driving wheel 21 (motor 33), so that the map data is created by the map creation unit 64 based on the information on the periphery of the electric vacuum cleaner 11 (main body housing 20) acquired by the sensor unit 23 (periphery detection sensor 41) while the main body housing 20 is traveling autonomously. When creating the map data, the dust suction control unit 62 may operate the dust suction unit 22 to perform dust suction.

On the other hand, when the map data of the dust collection area is held in the memory 67, the travel control unit 61 determines whether to use the map data directly or to change the map data, based on whether or not an unsteady state signal indicating an unsteady state is output from the charging device 12 and the unsteady state signal is received by the receiving unit 56. That is, the unsteady state signal is a change instruction signal for instructing the electric vacuum cleaner 11 to change the map data. Here, the non-steady state means: when the power detection unit 78 detects that the connection between the power unit 77 of the charging device 12 and the external power source is disconnected, or when the lift sensor 79 detects that the charging device 12 is lifted. As the unsteady state signal, any signal can be used, but since the transmitted information is only 1 bit, it is possible to use a signal used by the electric vacuum cleaner 11 such as leaving from the charging device 12, autonomously traveling, or returning to the charging device 12, and determine whether or not the signal is unnecessary information at the timing when the signal is received. For example, the unstable state signal may be a collision prevention signal output from the collision prevention signal output unit 81 or a guidance signal output from the device transmission unit 86. That is, the collision prevention signal is normally a signal output from the collision prevention signal output unit 81 after the electric vacuum cleaner 11 starts autonomous traveling, and the guide signal is normally a signal output from the apparatus transmission unit 86 after the apparatus reception unit 87 receives the request signal output from the transmission unit 55 for returning to the charging apparatus 12 after the electric vacuum cleaner 11 ends autonomous traveling, and is unnecessary information that is not normally output at the timing of leaving from the charging apparatus 12, and therefore, when any of these signals is received by the reception unit 56 when the electric vacuum cleaner 11 leaves from the charging apparatus 12, it can be determined that these signals are unstable state signals on the electric vacuum cleaner 11 side (traveling control unit 61).

Here, the output control of the unsteady-state signal will be described in more detail. In these controls, each flag of the device memory 93 of the charging device 12 is used. That is, the map information holding flag is switched according to the traveling process execution flag when the electric vacuum cleaner 11 returns to the charging device 12 using the traveling process in-progress flag and the map information holding flag set in the device memory 93 of the charging device 12, and whether or not to output the unsteady state signal is determined based on the map information holding flag. Specifically, when the electric vacuum cleaner 11 starts to perform dust collection from the charging device 12 and returns to the charging device 12 independently, the transmission control unit 71 of the electric vacuum cleaner 11 controls the transmission unit 55 to transmit the holdable map information signal to the charging device 12. As the map information signal capable of being held, any signal can be used, but since the transmitted information is only required to be 1 bit, it is possible to determine whether or not the information is unnecessary at the timing when the signal is received by using a signal used by the electric vacuum cleaner 11 such as leaving from the charging device 12, autonomously traveling, or returning to the charging device 12. For example, the request signal output from the transmission unit 55 can be used as the map information signal that can be held. That is, the request signal is normally a signal that is output from the charging device 12 in order to return to the charging device 12 when the electric vacuum cleaner 11 finishes cleaning, and is unnecessary information that is not normally output at the timing of connection to the charging device 12, and therefore, when the electric vacuum cleaner 11 is connected to the charging device 12 or when the request signal is received by the device receiving unit 87 at the time of connection, the charging device 12 side can determine that the request signal is a signal capable of holding map information.

Then, when the device reception unit 87 receives a signal (for example, a request signal) capable of holding map information on the charging device 12 side, the running process execution flag of the device memory 93 is referred to. The traveling process execution flag is set to true when the electric vacuum cleaner 11 starts cleaning from the charging device 12, is initialized to false when the power detection unit 78 detects disconnection of the connection between the power supply unit 77 and the external power supply, or is set to false when the lift sensor 79 detects lifting of the charging device 12, and therefore, when the traveling process execution flag is set to true when the device reception unit 87 receives the map information retainable signal, it is assumed that the power supply unit 77 of the charging device 12 and the external power supply are not disconnected during the traveling process, or the charging device 12 is not lifted during the traveling process, and therefore the map information retaining flag of the device memory 93 is switched to true, and otherwise, the map information retaining flag of the device memory 93 is set to false. Then, in the charging device 12, when the map information holding flag of the device memory 93 is false, when the electric vacuum cleaner 11 is detached from the charging device 12 (immediately after detachment) in order to start cleaning, an unsteady state signal (for example, a collision prevention signal or a guidance signal) is output, and when the map information holding flag of the device memory 93 is true, control is performed so that the unsteady state signal is not output.

Then, in the electric vacuum cleaner 11, when the non-steady state signal is received by the receiving unit 56, the travel control unit 61 changes the map data for travel control by performing any one of the following operations: searching for and selecting necessary map data from the map data held in the memory 67, for example, based on the detection of the surroundings by the surroundings detection sensor 41 or the history of use of the map data; the map data held in the memory 67 is discarded, and map data is created by the map creating unit 64 based on new detection by the periphery detecting sensor 41 and held in the memory 67; alternatively, the map data held in the memory 67 may be retained as it is, and the map data may be created by the map creating unit 64 based on the new detection of the periphery detecting sensor 41 and additionally held in the memory 67.

Here, the detection of the surroundings by the surroundings detection sensor 41 may be performed in a state where the electric vacuum cleaner 11 is at the position of the charging device 12, or may be performed by temporarily detaching the electric vacuum cleaner 11 from the charging device 12. In the present embodiment, the determination unit 52 determines whether or not the electric vacuum cleaner 11 or the charging device 12 has been moved by detecting the surrounding situation by the surrounding detection sensor 41 from the image captured by the camera 51, comparing the characteristic points or the like in the captured image with the characteristic points of the dust collection area (travel area) stored in advance in the memory 67 or the like, and the like. Then, when it is determined that the electric vacuum cleaner 11 or the charging device 12 has been moved, it is determined to which dust collection area (travel area) the electric vacuum cleaner has been moved, and if the map data of the corresponding dust collection area (travel area) is stored in the memory 67 in advance, the travel control unit 61 changes the map data to the map data, and if the map data of the corresponding dust collection area (travel area) is not stored in the memory 67, either of the following processes is executed: discarding the map data held in the memory 67 based on the capacity or remaining capacity of the memory 67, creating map data by the map generation unit 64 based on new detection by the periphery detection sensor 41, and holding the map data in the memory 67; alternatively, the map data held in the memory 67 may be left as it is, and the map data may be created by the map creating unit 64 based on the new detection of the periphery detecting sensor 41 and additionally held in the memory 67. On the other hand, when it is determined that the electric vacuum cleaner 11 or the charging device 12 is not moved, the map data may not be changed.

Then, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) based on the map data, thereby causing the main body casing 20 to autonomously travel along the set travel route, and the dust suction control unit 62 operates the dust suction unit 22 to suction the floor surface of the dust suction area. In the dust suction unit 22, for example, the electric blower 35, the brush motor 37 (the rotary brush 36), or the side brush motor 39 (the side brush 38) driven by the control unit 25 (the dust suction control unit 62) collects dust on the floor surface via the suction port 31 into the dust collection unit 40. In the electric vacuum cleaner 11, when the three-dimensional coordinates and the position of an object such as an obstacle not shown in the map data are detected by the periphery detection sensor 41 and the infrared sensor of the sensor unit 23 during autonomous traveling, the map generation unit 64 can reflect the three-dimensional coordinates and the position in the map data and hold the three-dimensional coordinates and the position in the memory 67.

The electric vacuum cleaner 11 (main body case 20) terminates the dust collection operation when the travel path is traveled and the dust collection is terminated, and the travel control unit 61 of the electric vacuum cleaner 11 controls the driving of the drive wheel 21 (motor 33) and returns the electric vacuum cleaner to the charging device 12. In this case, in the electric vacuum cleaner 11, the communication control unit 65 (transmission control unit 71) controls the operation of the communication unit 24 (transmission unit 55) to output a request signal of the return signal, the charging device 12 that receives the request signal via the device communication unit 80 (device reception unit 87) outputs a guidance signal via the device communication unit 80 (device transmission unit 86). In the electric vacuum cleaner 11, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) so that the vehicle travels while receiving the guide signal by the receiving unit 56, thereby gradually approaching the charging device 12, reversing the front-rear direction at a position where the collision prevention signal and the guide signal intersect, and then connecting the vehicle to the charging device 12 (mechanically and electrically connecting the charging terminal 74 and the charging terminal 83). After that, the operation can be shifted to the charging operation at a predetermined timing immediately after the connection or after a predetermined time from the connection.

Next, control from the start of dust collection (travel) to the end of dust collection will be described with reference to a flowchart shown in fig. 7. First, when dust collection (traveling) is started, the electric vacuum cleaner 11 determines whether or not the charging device 12 is connected (step S1). This determination can be made, for example, based on whether or not current can be passed between charging terminal 74 and charging terminal 83. If it is determined in step S1 that the electric vacuum cleaner 11 (main body case 20) is not connected to the charging device 12, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) to return to the charging device 12 autonomously and connect the electric vacuum cleaner (step S2), and the process proceeds to step S3. When it is determined in step S1 that the vehicle is connected to the charging device 12, the travel control unit 61 controls the driving of the drive wheel 21 (motor 33) to disengage the electric vacuum cleaner 11 (main body housing 20) from the charging device 12 (step S3), and the charging device 12 determines whether or not the map information holding flag of the device memory 93 is true (step S4). If it is determined in step S4 that the map information holding flag is not true (false), the charging device 12 (the collision prevention signal output unit 81 or the device transmission unit 86) outputs an unsteady state signal (a collision prevention signal or a guidance signal) (step S5), and the electric vacuum cleaner 11 that has received the unsteady state signal via the reception unit 56 newly creates map data or inputs map data (step S6), and the process proceeds to step S7. When it is determined in step S4 that the map information holding flag is true, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) to perform autonomous travel of the electric vacuum cleaner 11, and the dust suction control unit 62 drives the dust suction unit 22 to perform dust suction (step S7). Then, the electric vacuum cleaner 11 (travel control unit 61) determines whether or not the cleaning is finished (whether or not the travel along the travel route set based on the map data is completed) (step S8). If it is determined in step S8 that the dust collection has not been completed, the process proceeds to step S7. When it is determined in step S8 that the cleaning is completed, the electric vacuum cleaner 11 returns to the charging device 12 and connects thereto, and the transmission control unit 71 controls the operation of the transmission unit 55 and outputs a holdable map signal (request signal) (step S9). Next, when the device reception unit 87 receives the map retainable signal, the charging device 12 determines whether or not the in-progress flag of the device memory 93 is true (step S10). If it is determined in step S10 that the in-travel flag is true, the map information holding flag is true (step S11), and the dust collection process is terminated. If it is determined in step S10 that the in-travel flag is not true (false), the map information holding flag is false (step S12), and the dust collection process is terminated.

As described above, according to the first embodiment, since the charging device 12 outputs the unsteady state signal instructing the travel control unit 61 of the electric vacuum cleaner 11 to change the map data when it is determined that the state is unsteady, and the travel control unit 61 changes the map data for autonomous travel when the unsteady state signal is received by the reception unit 56 in the electric vacuum cleaner 11, the electric vacuum cleaner 11 can autonomously travel based on appropriate map data even when the charging device 12 is moved to a different dust collection area (travel area), for example.

Specifically, by using the in-travel-process flag and the map information holding flag set in the device memory 93 of the charging device 12, the map information holding flag is set true when the in-travel-process execution flag is true when the electric vacuum cleaner 11 returns to the charging device 12, the map information holding flag is set false otherwise, and the unsteady-state signal is output from the charging device 12 only when the map information holding flag is false, it is possible to realize whether or not the map data used by the travel control unit 61 needs to be changed with a simple configuration.

That is, since the unsteady state signal is only a signal for transmitting information of 1 bit indicating a change of the map data, the configurations of the receiving unit 56, the collision-prevention signal output unit 81, the device transmitting unit 86, and the like previously provided in the electric vacuum cleaner 11 and the charging device 12 can be directly used as a configuration for transmitting and receiving the unsteady state signal and the like between the electric vacuum cleaner 11 and the charging device 12, and for example, the electric vacuum cleaner 11 and the charging device 12 do not need to separately have a new IR line and a wireless communication function, and can avoid an increase in manufacturing cost while having a necessary function.

Next, a second embodiment will be described with reference to fig. 8 to 10. Note that the same components and functions as those of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the second embodiment, in the first embodiment, when the unstable state is transmitted from the charging device 12, the travel control unit 61 determines whether or not it is necessary to change the map data for causing the electric vacuum cleaner 11 (main body casing 20) to autonomously travel, based on the transmitted information.

That is, the electric vacuum cleaner 11 includes a volatile or nonvolatile storage memory 98. The holding memory 98 has a return number counter for counting the number of times of return to the charging device 12. Further, the holding memory 98 has a map information holding flag. The return count counter is 0 at the time of manufacturing the electric vacuum cleaner 11 or at the time of turning off the main power supply, and is incremented by 1 each time the electric vacuum cleaner 11 returns to the charging device 12, but is set to 1 when the return count counter reaches a predetermined upper limit value in order to prevent bit overflow. The map information holding flag is initialized to false at the time of manufacturing the electric vacuum cleaner 11 or at the time of turning off the main power supply.

The charging device 12 includes, for example, a volatile device holding memory 99. The device holding memory 99 includes a return number counter for counting the number of times the electric vacuum cleaner 11 returns to the charging device 12. The return count counter is initialized to 0 when the connection of the power supply unit 77 to the external power supply is detected by the power supply detection unit 78 or when the lifting of the charging device 12 (housing 76) is detected by the lifting sensor 79, and is incremented by 1 each time the vacuum cleaner 11 returns to the charging device 12, but is set to 1 when the return count counter reaches a predetermined upper limit value in order to prevent bit overflow. The upper limit value is the same as the upper limit value of the return number counter of the electric vacuum cleaner 11.

Note that, not only when the electric vacuum cleaner 11 starts to perform dust collection (travel) from the charging device 12, but also when dust collection (travel) is started from a position different from the charging device 12, the return count counter may be incremented by 1 when returning to the charging device 12.

Then, the electric vacuum cleaner 11 finishes the dust collection and returns to the charging device 12, and when connected to the charging device 12, the electric vacuum cleaner 11 and the charging device 12 change their own return number counters, and then transmit their own return number counters to each other, and compare their counter values. When the counter values are different from each other, the return number counter is changed to 0, and the map information holding flag in the holding memory 98 of the electric vacuum cleaner 11 is switched to false. That is, the electric vacuum cleaner 11 and the charging device 12 use the return count counter that counts the return count of the electric vacuum cleaner 11 to the charging device 12, which is included in the holding memory 98 and the device holding memory 99, and when the return count counter of the device holding memory 99 becomes 0 when the power supply detection unit 78 detects connection of the power supply unit 77 to the external power supply or when the lift-up sensor 79 detects lifting-up of the charging device 12 (the housing 76), it is determined whether the charging device 12 is in the unstable state based on the coincidence or non-coincidence of the return count counters, and the map information holding flag is switched based on the determination. In other words, since the return counter numbers match each other as long as the charging device 12 is not in the unstable state, the electric vacuum cleaner 11 can know whether the charging device 12 is in the unstable state by transmitting and receiving the return counter numbers to and from each other and determining whether the return counter numbers match or do not match.

When the vacuum cleaner 11 starts to perform vacuum cleaning (travel) from the charging device 12, the map data is newly created if the map information holding flag is false, and the map information holding flag is switched to true if the creation is completed. On the other hand, when the vacuum cleaner 11 starts cleaning (traveling) from the charging device 12, if the map information holding flag is true, the map data is not newly created, and the traveling process is started using the map data stored in the memory.

The control described above is explained below with reference to the flowchart shown in fig. 10. First, when dust collection is started, after the processing of step S1 to step S3 of the flowchart shown in fig. 7, the electric vacuum cleaner 11 determines whether the map information holding flag of the holding memory 98 is true (step S15). If it is determined in step S15 that the map information holding flag is not true (false), the electric vacuum cleaner 11 newly creates map data or inputs map data (step S16), and the process proceeds to step S17. When it is determined in step S15 that the map information holding flag is true, the travel control unit 61 controls the driving of the driving wheel 21 (motor 33) to perform autonomous travel of the electric vacuum cleaner 11, and the dust suction control unit 62 drives the dust suction unit 22 to perform dust suction (step S17). Then, the electric vacuum cleaner 11 (travel control unit 61) determines whether or not the cleaning is finished (whether or not the travel along the travel route set based on the map data is completed) (step S18). If it is determined in step S18 that the dust collection has not been completed, the process proceeds to step S17. When it is determined in step S18 that the cleaning is completed, the electric vacuum cleaner 11 returns to the charging device 12 and is connected thereto, and the return count counter is incremented by 1 (step S19). At this time, when each of the number-of-regressions counters exceeds the upper limit value, each of the number-of-regressions counters is set to 1. Next, the transmission control unit 71 of the electric vacuum cleaner 11 controls the operation of the transmission unit 55, or the device transmission control unit 95 of the charging device 12 controls the operation of the device transmission unit 86, transmits the return number counter value to be received by the device reception unit 87 or the reception unit 56, compares the return number counter values with each other, and determines whether or not the counter values are the same (step S20). If it is determined in step S20 that the counter value is the same, the map information holding flag of the holding memory 98 is maintained true (step S21), and the dust collection process is ended. When it is determined in step S20 that the counter values are not the same or different, the transmission control unit 71 of the electric vacuum cleaner 11 controls the operation of the transmission unit 55, or the device transmission control unit 95 of the charging device 12 controls the operation of the device transmission unit 86, and the reset of the return count counter value is transmitted, so that each return count counter becomes 0, the map information holding flag of the holding memory 98 is switched to false (step S22), and the dust collection process is ended.

In this way, when the information indicating whether the charging device 12 is in the unstable state is received by the receiving unit 56, the travel control unit 61 determines whether or not the map data for causing the electric vacuum cleaner 11 (main body casing 20) to travel autonomously needs to be changed based on the information, and therefore, even when the charging device 12 is moved to a different dust collection area (travel area), for example, the electric vacuum cleaner 11 can travel autonomously based on appropriate map data.

Specifically, the electric vacuum cleaner 11 and the charging device 12 can realize whether or not to change the map data used by the travel control unit 61 by a simple configuration by comparing the regression count counters of the holding memory 98 and the device holding memory 99 that are originally matched with each other, setting the map information holding flag to true when the regression count counters are matched with each other, setting the map information holding flag to false when the regression count counters are not matched with each other, and changing the map data by the travel control unit 61 when the map information holding flag is false.

Although it depends on the value of the regression count counter, in the case of the present embodiment, it is considered that information of about 4 to 8 bits is required to be transmitted and received in order to determine whether or not the map data needs to be changed. In this case, for example, if a communication function such as an IR line, Wi-Fi, or Bluetooth (registered trademark) is provided in advance in the electric vacuum cleaner 11 (the communication unit 24 (the transmission unit 55, the reception unit 56)) or the charging device 12 (the device communication unit 80 (the device transmission unit 86, the device reception unit 87)) in response to a separate product request, it is possible to determine whether or not the map data needs to be changed by including a case where the conditions are complicated, for example, a case where the electric vacuum cleaner 11 is turned on again during the travel process or a case where the electric vacuum cleaner 11 is returned to the charging device 12 by hand after the charging device 12 is moved, while avoiding an increase in the manufacturing cost without providing a separate structure.

In each of the above embodiments, the electric vacuum cleaner 11 may be configured to return to the charging device 12 once or not when autonomous travel is started from a state of being disconnected from the charging device 12, that is, when autonomous travel is started from a position different from the charging device 12, or the travel control unit 61 may change map data for causing the electric vacuum cleaner 11 (main body housing 20) to travel autonomously when autonomous travel is started from a position different from the charging device 12. In this case, for example, when the electric vacuum cleaner 11 is moved to a dust-cleaning area different from the previous dust-cleaning area and starts cleaning, appropriate map data can be created and the electric vacuum cleaner 11 can autonomously travel based on the map data.

The charging device 12 may be configured to include only one of the power supply detection unit 78 and the lift sensor 79.

The charging device 12 may be a charging adapter or the like that is detachably connected to the electric vacuum cleaner 11. In this case, the electric vacuum cleaner 11 does not return to the charging adapter after autonomous traveling, or returns to the vicinity of the charging adapter, and the user connects the charging adapter to the electric vacuum cleaner 11 to charge the secondary battery 26. When dust collection (autonomous travel) is started, for example, the user takes the charging adapter off the electric vacuum cleaner 11 and commands the start thereof, or the connection terminal with the charging adapter is magnetized, and thus the charging adapter is autonomously started according to the command. When the user attaches and detaches the charging adapter, the electric vacuum cleaner 11 can perform the same control as that when the user detaches from the charging device 12 and starts traveling (cleaning) as in the above embodiments by setting, for example, a timing at which the collision prevention signal output from the collision prevention signal output unit 81 by the charging adapter is received by the receiving unit or a timing before a predetermined time elapses from the detachment of the charging adapter as the start of the traveling process. In this case, a plurality of charging adapters may be prepared, and appropriate map data may be selected from the map data held in the memory 67, for example, according to the adapter to which the electric vacuum cleaner 11 is connected. That is, it is also possible to set a unique identification number (ID) for each adapter, hold information for matching the identification number of the adapter with each of the plurality of map data held in the memory 67 in the electric vacuum cleaner 11, and select the map data corresponding to the identification number when the identification number of the connected adapter is acquired. In this case, the vacuum cleaner can be used in an environment in which a plurality of charging adapters are provided in a plurality of dust suction areas, and for example, when the vacuum cleaner 11 is caused to sequentially perform dust suction in a plurality of dust suction areas, dust can be sucked while maintaining map data.

Further, although the electric vacuum cleaner 11 is assumed as the autonomous traveling body, the same can be applied to an autonomous traveling body such as a guarding robot not provided with the dust suction unit 22.

The periphery detection sensor 41 is not limited to the camera, and any sensor such as a non-contact sensor or a contact sensor of infrared rays or ultrasonic waves may be used.

The charging device 12 is provided with the charging circuit 82, but the charging circuit 82 may be provided in the electric vacuum cleaner 11. That is, the base device is not limited to the charging device 12 having the charging function, and may be a base device that serves only as a base point when the electric vacuum cleaner 11 starts autonomous traveling. In the above embodiments, the power supply unit 77 connected to the external power supply is configured to receive power from the external power supply, but a connection unit for relaying only the external power supply may be provided in the base device, and the detection unit may detect whether or not the connection unit is connected to the external power supply.

According to at least one embodiment described above, it is possible to provide the electric dust collector 13: the travel control unit 61 is configured to change map data for autonomous travel of the electric vacuum cleaner 11 (main body casing 20) after the power detection unit 78 detects that the connection between the power supply unit 77 and the external power supply is disconnected when the electric vacuum cleaner 11 starts autonomous travel from the charging device 12, so that the electric vacuum cleaner 11 can autonomously travel based on appropriate map data without unnecessarily changing the map data even when the electric vacuum cleaner 13 is moved to a different dust collection area by, for example, pulling the power supply unit 77 out of a receptacle or the like.

Alternatively, it is possible to provide the electric dust collector 13: the travel control unit 61 is configured to change map data for causing the electric vacuum cleaner 11 (main body housing 20) to travel autonomously after an unsteady state in which the lift-up sensor 79 detects the lift-up of the charging device 12 is reached when the electric vacuum cleaner 11 starts autonomous travel from the charging device 12, so that the electric vacuum cleaner 11 can travel autonomously based on appropriate map data without unnecessarily changing the map data even when the electric vacuum cleaner 13 is moved to a different dust collection area, for example, by carrying the charging device 12.

Further, a map generation unit 64 capable of generating map data based on the detection by the periphery detection sensor 41 is provided, when the map data is changed by the travel control unit 61, the map data held in the memory 67 is discarded, when new map data is created by the map creating unit 64, the minimum necessary map data can be held in the memory 67, the capacity of the memory 67 can be reduced, therefore, it is possible to reduce the size and cost, use appropriate map data for travel control, and, when it is determined that the map data does not need to be changed, the map generation unit 64 does not generate the map data, so that unnecessary map generation processing can be omitted, the electric power of the secondary battery 26, which is limited in terms of the operable time, can be efficiently used for originally desired processing such as movement to a destination or dust collection.

Further, a map generation unit 64 capable of generating map data based on the detection by the periphery detection sensor 41 is provided, when the map data is changed by the travel control unit 61, new map data is created by the map creation unit 64 and added to the map data held in the memory 67, even if new map data is created, the previously held map data remains, and therefore by selecting these map data as needed, this makes it possible to effectively use temporarily created map data, to use appropriate map data for travel control, and, when it is determined that the map data does not need to be changed, the map generation unit 64 does not generate the map data, so that unnecessary map generation processing can be omitted, the electric power of the secondary battery 26, which is limited in terms of the operable time, can be efficiently used for originally desired processing such as movement to a destination or dust collection. In addition, when adding the map data, for example, the metadata (meta data) such as the final use time of the map data may be held so as not to make the capacity of the memory 67 insufficient, and the map data with a low use frequency, the map data with the longest time elapsed from the last use, or the like may be discarded as necessary.

Further, when the travel control unit 61 changes the map data, if appropriate map data is selected from the map data held in the memory 67, it is not necessary to create new map data by the periphery detection sensor 41, the map generation unit 64, and the like, and the appropriate map data can be used for travel control while reducing the cost of the electric vacuum cleaner 11. In addition, even when the map data does not include suitable map data, the map data can be newly created and/or added.

While several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are included in the invention described in the scope of the claims and the equivalent scope thereof.

Claims

1. An autonomous traveling body device is characterized by comprising:

an autonomous traveling body including a map holding memory for holding map data and a travel control means for controlling autonomous travel based on the map data held in the map holding memory; and

a base device having a connection unit connected to an external power supply and a detection unit for detecting whether the connection unit is connected to the external power supply,

the travel control means changes the map data for autonomous travel after an unsteady state in which the detection means detects that the connection between the connection unit and the external power supply is disconnected, when the autonomous travel body starts autonomous travel from the base device.

2. An autonomous traveling body device is characterized by comprising:

a base device having a connection part connected to an external power supply and a lift sensor for detecting lift,

the travel control means changes the map data for autonomous travel after an unsteady state in which the lift sensor detects the lift of the base device is reached when the autonomous travel body starts autonomous travel from the base device.

3. The autonomous traveling body apparatus according to claim 1 or 2,

the base device includes a transmission means for instructing the travel control means to change the map data when it is determined that the base device is in an unstable state,

the autonomous traveling body includes a receiving unit that receives the information indicated by the transmitting unit,

the travel control means changes map data for autonomous travel when the reception means receives information from the transmission means.

4. The autonomous traveling body apparatus according to claim 1 or 2,

the base device includes a transmission unit for transmitting the detection of the unstable state,

the autonomous traveling body includes a receiving unit for receiving the information transmitted by the transmitting unit,

the travel control means determines whether or not the map data for autonomous travel needs to be changed based on the information received from the transmission means by the reception means.

5. The autonomous traveling body apparatus according to any one of claims 1 to 4,

the autonomous traveling body includes:

a sensor that detects an external condition; and

a drawing unit that creates map data based on the detection by the sensor,

when the map data is changed by the travel control means, the map data held in the map holding memory is discarded, and new map data is created by the drawing means.

6. The autonomous traveling body apparatus according to any one of claims 1 to 4,

the autonomous traveling body includes:

a sensor that detects an external condition; and

a drawing unit that creates map data based on the detection by the sensor,

when the map data is changed by the travel control means, new map data is created by the drawing means and added to the map data held in the map holding memory.

7. The autonomous traveling body apparatus according to any one of claims 1 to 4 and 6,

the map holding memory holds map data of a plurality of travel areas,

the autonomous traveling body selects appropriate map data from the map data held in the map holding memory when the map data is changed by the traveling control means.

8. The autonomous traveling body apparatus according to any one of claims 1 to 7,

the device is provided with a plurality of base devices,

the map holding memory holds map data of a plurality of travel areas,

the travel control means selects appropriate map data from the map data held in the map holding memory, based on the base device to which the autonomous traveling body is connected.

9. An autonomous traveling body device is characterized by comprising:

a base device having a connection part connected to an external power source,

the travel control means changes map data for autonomous travel when the autonomous travel body starts autonomous travel from a position different from the base device.