Vacuum cleaner

• US 10,314,452 B2
• Filed: 12/24/2015
• Issued: 06/11/2019
• Est. Priority Date: 12/25/2014
• Status: Active Grant

• Current Assignee: Toshiba Lifestyle Products & Services Corporation (Midea Group Co., Ltd)
• Original Assignee: Toshiba Lifestyle Products & Services Corporation (Midea Group Co., Ltd)
• Inventors: Izawa, Hirokazu, Marutani, Yuuki, Watanabe, Kota, Furuta, Kazuhiro
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/531,316
• Publication Number:
  US 20170360266A1
• Time in Patent Office: 1,265 Days
• Field of Search: 701 23, 701 28, 702159, 901 1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A vacuum cleaner includes a main casing, driving wheels, a control unit, a cleaning unit, cameras, and a depth calculation part. The driving wheels enable the main casing to travel. The control unit controls drive of the driving wheels to make the main casing autonomously travel. The cleaning unit cleans a floor surface. The cameras are disposed apart from each other in the main casing to pick up images on a traveling-direction side of the main casing with their fields of view overlapping with each other. The depth calculation part calculates a depth of an object distanced from the cameras based on images picked up by the cameras. The vacuum cleaner has improved obstacle detection precision.

Claims

1. A vacuum cleaner comprising:

a main casing;

a driving wheel for enabling the main casing to travel;

a control unit for controlling drive of the driving wheel to thereby make the main casing autonomously travel,

a cleaning unit for cleaning a cleaning-object surface;

cameras disposed apart from each other in the main casing and serving for picking up images on a traveling-direction side of the main casing with their fields of view overlapping with each other;

a calculator for calculating a depth of an object distanced from the cameras based on images picked up by the cameras;

an image generation pan for generating a distance image based on a depth of an object calculated by the calculator; and

an obstacle discrimination part for discriminating an object located closer than a specified distance within the distance image as an obstacle.

2. The vacuum cleaner in accordance with claim 1, wherein

a center position of the cameras is generally coincident with a center position of a widthwise direction intersecting a traveling direction of the main casing.

3. The vacuum cleaner in accordance with claim 1, wherein

the main casing includes a side surface portion, and

the cameras are disposed in the side surface portion.

4. The vacuum cleaner in accordance with claim 3, wherein

the cameras are disposed at positions, respectively, which are generally equal to each other in an up/down direction.

5. The vacuum cleaner in accordance with claim 3, wherein

the cameras are disposed at positions, respectively, which are generally equal to each other in a left/right direction.

6. The vacuum cleaner in accordance with claim 1, further comprising

a map generation part for generating a map of a cleaning area based on depths of objects calculated by the calculator.

7. The vacuum cleaner in accordance with claim 1, further comprising

a lamp for illuminating light containing a visible light region, wherein

the individual cameras pick up images of the visible light region.

8. The vacuum cleaner in accordance with claim 7, wherein

the lamp is disposed between the cameras.

9. The vacuum cleaner in accordance with claim 1, further comprising

a lamp for illuminating light containing an infrared region, wherein

the individual cameras pick up images of the infrared region.

10. The vacuum cleaner in accordance with claim 1, further comprising

a lamp for illuminating light containing an infrared region, wherein

one of the cameras picks up images of a visible light region, and

an other of the cameras picks up images of the infrared region.

11. The vacuum cleaner in accordance with claim 1,

wherein

the control unit controls drive of the driving wheels so as to avoid an object discriminated as an obstacle by the obstacle discrimination part.

12. The vacuum cleaner in accordance with claim 1, wherein

the calculator calculates a depth of an object based on images picked up by the individual cameras and a distance between the cameras.

13. The vacuum cleaner in accordance with claim 1, wherein

the obstacle discrimination part discriminates, as an obstacle, an object which is located closer than a specified distance in a specified image range in the distance image generated by the image generation part.

14. A control method for a vacuum cleaner in which a main casing having a cleaning unit and a plurality of cameras is enabled to autonomously travel, the method comprising:

picking up, by the plurality of cameras, images on a traveling direction side of the main casing with their fields of view overlapping with each other;

calculating depths of an object distanced from the cameras based on the picked-up images;

generating a distance image based on the calculated depths of an object; and

discriminating an object located closer than a specified distance within the distance image as an obstacle.