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1. GB2576267 - Electric Vacuum cleaner

注意: このテキストは、OCR 処理によってテキスト化されたものです。法的な用途には PDF 版をご利用ください。

[ EN ]
Claims
A vacuum cleaner comprising:
a main body;
a travel driving part conf igured, to allow the main body to travel;
a cleaning unit configured to perform, cleaning;
self-position estimation means configured to perform estimation of a self-position;
mapping means configured to generate a map of a cleaning area on a basis of the estimation of the self-position by the self-position estimation means;
discrimination means configured to discriminate a type of a cleaning-object surface;
setting means configured to set a traveling route on a basis of the map generated by the mapping means and the type of the cleaning-object surface discriminated by the discrimination means; and travel control means configured to control driving of the travel driving part to make the main body autonomously travel along the traveling route set by the setting means.
2. The vacuum cleaner according to claim 1, wherein.
the discrimination means discriminates the type of the cleaning-object surface on a. basis of a specific shape in an image captured by a camera capable of capturing an image of the cleaning-object surface.
The vacuum cleaner according to claim 2, wherein the mapping means stores aposition of the specific shape in the map
4.
The vacuum cleaner according to claim 2 or claim
3, wherein the specific shape is a line.
5. The vacuum cleaner according to claim 4, wherein the travel control means controls the driving of the travel driving part so as to make the main body travel along the line.
6 . The vacuum cleaner according to claim 2 or claim 3,
where in
the spec i fi c shape is a cross point of line s .
7 The vacuum cleaner according to claim 2 or claim 3,
where in
the specific shape is a corner.
8. The vacuum cleaner according to any one of c laim 2 tc
claim 1, wherein the discrimination means discriminates the type of the cleaning-object surface on a basis of a distribution of the s p e c 1 f i c s h a p e s .
9. The vacuum cleaner according to any one of claim 2 to c1a im 7, whe re in the discrimination means discriminates the type of the cleaning-object surface on a basis of a plurality of the specific shapes.
10.
The vacuum cleaner according to any one of claim 2 to claim 9, wherein
4 6 when the discrimination means discriminates the type of the cleaning-object surface as being tatami mat, the setting means sets the traveling route along a mesh direction of the tatami mat, on a basis of arrangement of the tatami mat estimated on the basis of the. distribution of the specific shapes
The vacuum cleaner according to claim 10, wherein the setting means sets the traveling route on the tatami mat on a basis of a width of the line as the specific shape.
The vacuum cleaner according to claim 10 or claim 11, the vacuum cleaner comprising:
a rotary cleaner configured to scrape up dust and dirt on the cleaning-object surface by rotation; and rotation control means configured to control the rotation of the rotary cleaner, wherein the rotation control means reduces a force of the rotation of the rotary cleaner when the traveling route set by the setting means has a part allowing the main body to travel against the mesh direction of the tatami mat.
The vacuum cleaner according to any one of claim 2 to c1a im 12, whe r e i n when the discrimination means discriminates the type of the cleaning-object surface as being flooring, the setting means sets the traveling route along a groove on the basis of the distribution of the specific shapes.
14.
The vacuum cleaner according to any one of claim 2 to claim 13, wh e re i n when the discrimination means discriminates the type of the cleaning-object surface as being rug type, the setting means sets the traveling route allowing the main body to reciprocatively travel in a region of the rug type estimated on the basis of the distribution of the specific shapes.
15.
The vacuum cleaner according to any one of claim 1 to claim 14, the vacuum cleaner comprising:
cleaning control means configured to control the cleaning unit to operate variously depending on the type of the cleaning-object surface discriminated by the discrimination means.
16.
The vacuum cleaner according to any one of claim 1 to claim 15, wherein the self-position estimation means corrects the self-position on a basis of detection of the specific shape.
The vacuum cleaner according to any one of claim 1 to claim 16, the vacuum cleaner comprising:
notification means configured to perform notification of the traveling route or a traveling track.