Autonomous vacuum cleaner
First Claim
1. An autonomous vacuum cleaner comprising:
- a cleaning means to clean a floor surface where the cleaner moves;
an obstacle detection sensor to detect an obstacle on the cleaner'"'"'s way and to measure distance to the obstacle;
a moving means with which the cleaner moves autonomously in accordance with an output of the obstacle detection sensor to avoid the obstacle;
a light receiving sensor having a passive-type line sensor to receive light from a floor surface; and
a floor surface distance calculating means which derives distribution of distances to the floor surface within a viewing angle of the light receiving sensor on the basis of correlation between received light intensities on two light receiving areas of the line sensor, wherein the moving means and the cleaning means are controlled on the basis of the distance distribution derived by the floor surface distance calculating means.
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Accused Products
Abstract
An autonomous vacuum cleaner comprises: obstacle detection sensors; moving means; a cleaning means including a power brush, a suction fan and a nozzle for sucking up dust on a floor surface; floor surface sensors each comprising a passive-type CMOS line sensor to receive light from the floor surface for detecting floor surface conditions. It performs cleaning while autonomously moving. Based on received light signals of the floor surface sensors, distance distributions to floor surface areas within the viewing angle of each sensor are derived. Detection of a step on the floor surface and identification of the material of the floor surface (polished floorboard, tatami or carpet) are performed by analyzing spatial frequency in the distance distribution. Based on the identification, cleaning conditions including at least the moving speed, the dust suction force of the suction fan or the brushing strength of the power brush are changed. With simple structure using one same floor sensor, this autonomous vacuum cleaner can detect a step on a floor surface and can more accurately identify the material of the floor surface, thereby enabling meticulous cleaning.
175 Citations
4 Claims
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1. An autonomous vacuum cleaner comprising:
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a cleaning means to clean a floor surface where the cleaner moves;
an obstacle detection sensor to detect an obstacle on the cleaner'"'"'s way and to measure distance to the obstacle;
a moving means with which the cleaner moves autonomously in accordance with an output of the obstacle detection sensor to avoid the obstacle;
a light receiving sensor having a passive-type line sensor to receive light from a floor surface; and
a floor surface distance calculating means which derives distribution of distances to the floor surface within a viewing angle of the light receiving sensor on the basis of correlation between received light intensities on two light receiving areas of the line sensor, wherein the moving means and the cleaning means are controlled on the basis of the distance distribution derived by the floor surface distance calculating means. - View Dependent Claims (2, 3, 4)
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Specification