JP4311355B2 - Self-propelled device and its program - Google Patents

Description

  The present invention relates to a self-propelled device that runs independently and a program thereof.

  Conventionally, a self-propelled cleaner is known as a self-propelled device. This is because the user detects a plurality of positions instructed by the instruction means for inputting the position of the cleaning place, moves to the instructed plurality of positions, performs cleaning, and automatically operates by the operation of the instruction means. It is switched and instructed whether the running type vacuum cleaner performs a follow-up operation, performs a teaching operation for teaching a cleaning position, or performs an execution operation for self-running to perform cleaning (see, for example, Patent Document 1). ).

  And if you want to move the self-propelled vacuum cleaner in the tracking operation, if the operator sets the switch of the instruction means to the tracking operation, while detecting the obstacle present in the traveling direction with the detection means, avoiding the obstacle In order to track the self-propelled cleaner with a certain distance from the indicating means so that the distance from the receiving means located in front of the self-propelled cleaner built in the measuring means to the indicating means is the shortest. Moving.

  When the operator wants to move the teaching operation, the operator sets the switch of the instruction means to the teaching operation. The teaching operation includes a pattern setting mode and a position designation mode, both of which are designated using a button of the instruction means. If the instruction means is the pattern setting mode, it indicates the setting pattern stored in advance, and the user reads a pattern selected from these and transmits it to the control means. In the control means of the self-propelled cleaner, In response to this signal, the selected pattern is set as an operation pattern that moves while cleaning. In the position designation mode, the measuring means is the position taught by the operator, and the position or direction of the light emitting signal or the transmitting signal of the indicating means or the transmitting means that is output every time the switch of the indicating means is pressed, or The instruction means measures the position or direction to be instructed and taught and outputs it to the control signal generation means. The control signal generation means stores the information on the position or direction every time in the temporary storage means, and the input of all teaching positions is completed. Then, an area including all teaching positions is determined and set.

When the operator sets an execution operation with the switch of the instruction means, the operator moves in an area composed of all teaching positions stored in the temporary storage means in a preset pattern, and performs cleaning by controlling the cleaning means. is there.
JP 2002-282179 A

  However, in the conventional configuration, in order to select and specify the operation mode such as the tracking operation, the teaching operation, and the execution operation of the self-propelled cleaner, the pattern setting mode and the position specifying mode are specified in the teaching operation. In addition, there is a problem in that the user has to designate each time with the switch by emitting or transmitting the instruction means toward the self-propelled cleaner. As for guidance to the place to be cleaned, if the tracking operation is difficult to perform, use the teaching operation to specify the start point and end point of the movement instead of the locus that the self-propelled cleaner should move or move Although the position information and the position information that the self-propelled cleaner does not move and the position information that is not performed can be input and instructed as the position to be moved, the position away from the self-propelled cleaner, Until the self-propelled vacuum cleaner can be correctly recognized by the pointing means held in the hand, it must continue to be directed and guided, and the tracking signal and the teaching action must be specified relative to the current position by the control signal generating means. Is generated and output to the control means to perform cleaning, so that there is a problem that it is necessary to designate a position every time cleaning is performed.

  The present invention solves the above-described conventional problems, and allows a user to select and specify whether the self-propelled device performs a follow-up operation or a teaching operation or an execution operation, and is self-propelled. An object of the present invention is to provide a self-propelled device that the device voluntarily follows and its program.

  In order to solve the conventional problems, a self-propelled device and a program therefor according to the present invention include a traveling means, an obstacle detecting means for detecting surrounding obstacles, and a control for controlling the traveling means. Means, an activation means for activating the control means, a timing means for measuring the time since the activation means has been activated, and an obstacle tracking means, the control means comprising: When the activation is started by the activation means, the start of traveling is suspended, and the obstacle is detected from the state in which no obstacle is detected in the direction in which the obstacle detection means should travel until the time counting means measures a predetermined time from the activation. When an object is detected, at least the vehicle starts traveling and follows the obstacle based on the characteristics of the obstacle extracted at the start of traveling by the obstacle tracking unit. In other cases, the time measuring unit times the predetermined time. In is to start traveling.

  In this way, the user can start the self-propelled device and select whether to perform the follow-up operation or teaching operation or execute operation depending on whether it stands in front of the direction to travel. In addition, it is possible to follow up spontaneously without the user continuing to guide the self-propelled device by pulling the hose or continuously swinging the instruction means.

  The self-propelled device and the program thereof according to the present invention can easily select and specify whether the self-propelled device performs the follow-up operation or the teaching operation or the execution operation, and the self-propelled device spontaneously Can follow.

  The first invention is a travel means, an obstacle detection means for detecting surrounding obstacles, a control means for controlling the travel means, and an activation means for activating the control means. And a time-counting means for measuring the time since the start-up means started, and an obstacle follow-up means, and the control means suspends the start of traveling when the start-up means is started. When the obstacle is detected from a state in which no obstacle is detected in the direction in which the obstacle detection means should run until the time measuring means counts a predetermined time from activation, the obstacle tracking means starts at least when the obstacle is detected. The self-propelled device follows the obstacle based on the characteristics of the obstacle extracted at the start of traveling, and at other times the timekeeping means starts traveling when the predetermined time is counted. As a result, the user can start the self-propelled device and select whether to perform the follow-up operation or teaching operation or execute operation depending on whether it stands in front of the direction to travel. In addition, it is possible to follow up spontaneously without the user continuing to guide the self-propelled device by pulling the hose or continuously swinging the instruction means.

  According to a second aspect of the present invention, in particular, in the first aspect of the present invention, the apparatus includes a holding time setting unit, and sets an upper limit of a time during which the time counting unit holds the start of running to be timed after being started by the starting unit. It is possible to deal with a slow-operating user such as an elderly person by starting up the self-propelled device and giving a margin of time to stand in front of the direction to travel.

  The third invention, in particular, in the first or second invention, comprises a second time measuring means for measuring the time when the obstacle detecting means continuously detects the obstacle, and the control means is a time measuring means. At least when the obstacle is detected by the second time measuring means from the state where no obstacle is detected in the direction to be traveled by the obstacle detecting means until the predetermined time is counted. By starting and running at other times, it is possible to cope with the case where the user wants to cancel the start of the follow-up operation.

  The fourth invention is the case where the user wants to cancel the start of the follow-up operation by providing the continuous detection time setting means in the third invention and setting the time to be timed by the second time measuring means. Can be adjusted.

  According to a fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, follow-up target stop detection means for detecting that the follow-up target obstacle is stopped on the spot, and the follow-up target obstacle Has a third time measuring means for measuring the time when the vehicle stops on the spot, and an action defining means for defining an action according to the time when the vehicle stops. By performing the action defined by the action definition means according to the time when the target obstacle is stopped on the spot, the user can simply stop while the self-propelled device is being tracked. You can specify what happens on the spot.

  In particular, the sixth invention is characterized in that, in the fifth invention, the photographing means is provided, and when the obstacle is detected and the traveling is started, photographing is performed at a place defined as the photographing operation by the action defining means, You can easily specify where you want to shoot in the route.

  According to a seventh aspect of the invention, in particular, in the fifth or sixth aspect of the invention, the information means is provided, and when the obstacle is detected and the vehicle starts to travel, the information means operates in a time measured by the third time measuring means. By performing notification at a timing that coincides with the time defined by the defining means, the user can easily designate the operation because the user knows the stop time of the operation to be designated.

  In an eighth aspect of the present invention, in particular, in any one of the first to seventh aspects of the present invention, the travel distance measurement means, the travel direction detection means, the travel distance detected by the travel distance measurement means, and the travel direction detection means. Travel position calculation means for calculating a travel position from the detected travel direction, travel reference position detection means for detecting a reference position of the travel position, travel reference position detected by the travel reference position detection means, and travel position calculation A travel map creating means for creating a travel map of a range to be traveled from the means, and a travel information storage means, and when the obstacle is detected and the travel is started, at least the obstacle tracking locus by the travel map creating means Is stored in the travel information storage means, and when the travel is started without detecting an obstacle, the travel information is stored according to the travel information stored in the travel information storage means. Thus, without inputting a map of the area to be cleaned in advance, the user can automatically create and store a map of the area to be worked on using the following operation to the user as a teaching operation, and repeatedly based on the stored map. But you can do the work. Further, if the self-propelled device is made to follow only the outer periphery of the work range, the inside performs the self-running work in a predetermined pattern, so that the user's follow-up operation can be reduced.

  In particular, the ninth aspect of the invention includes the travel information correction means in the eighth aspect of the invention, and confirms and corrects the travel information stored in the travel information storage means so as to follow and store a rough map and operation. In addition, by making a fine correction later by the user, it is possible to teach a map or an operation that the user wants to teach without trouble.

  Since the tenth invention is a program by causing a computer to execute at least part of the functions of the self-propelled device according to any one of the first to ninth inventions, the electrical / information device It is possible to easily realize at least a part of the information notification device of the present invention by cooperating hardware resources such as a computer and a server. Also, by recording the program on a recording medium or distributing the program using a communication line, the program can be easily distributed / updated and installed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment.

(Embodiment 1)
1 to 3 show a self-propelled device and a program thereof according to Embodiment 1 of the present invention.

  FIG. 1 shows a self-propelled cleaner as an example of a self-propelled device. The main body 101 of the self-propelled device includes a traveling unit 102 having a motor 103 and a driving wheel 104 driven by the motor 103, a cleaning unit 105 serving as a suction unit, and an obstacle detection unit 106 for detecting surrounding obstacles. A control means 107 for controlling the traveling means 102 and the cleaning means 105, an activation means (activation switch) 108 for activating the control means 107, and the activation means 108 is activated (ON). A time counting means 109 for measuring the time from the vehicle, an obstacle tracking means 110 for following the vehicle after detecting an obstacle, a holding time setting means 113 for setting the time to be timed by the time measuring means 109, The second time measuring means 114 that measures the time when the obstacle detecting means 106 continuously detects the obstacle, and the time that the second time measuring means 114 should time are set. Continuous detection time setting means 115 because, and a notification unit 116.

  The obstacle detecting means 106 is a distance measuring sensor (in the present embodiment, the infrared distance measuring sensor is provided at one position in front of the main body 101, one position on the front left, one position on the front right, and one position on the right side. The threshold value for determining an obstacle to follow is 30 cm or less, and which of the distance measurement sensors provided at the three front locations is below the threshold value. Depending on what, the control means 107 determines the approximate direction of the obstacle. In the distance measuring sensor which is the obstacle detecting means 106, the threshold value for determining a front obstacle when self-running and cleaning is 10 cm or less, and the threshold value for determining a side obstacle is 3 cm or less.

  Further, the control means 107 continues from the state in which no obstacle is detected in the direction in which the obstacle detection means 106 should travel until the time measurement means 109 measures a predetermined time from the state in which the second time measurement means 114 continues for a predetermined time or more. When the obstacle is detected, at least the traveling is started, and at other times, the cleaning is started together with the traveling.

  The obstacle tracking unit 110 includes an obstacle feature extraction unit 111 and an obstacle direction instruction unit 112. The obstacle feature extraction unit 111 includes a photographing unit 117 including a camera and an image processing unit 118.

  The holding time setting means 113 sets an upper limit for the time for which the timing means 109 holds the start of running and cleaning that should be timed after the activation means 108 is activated.

  The control means 107 suspends the start of running and cleaning at the time when the activation means 108 is activated, and the direction in which the obstacle detection means 106 should travel until the time measuring means 109 times a predetermined time from the activation. When an obstacle is detected from a state in which no obstacle is detected, at least the vehicle starts to travel and follows the obstacle based on the characteristics of the obstacle extracted at the start of traveling by the obstacle tracking means 110. When the means 109 measures a predetermined time, cleaning is started as the vehicle travels.

  FIG. 3 shows a captured image maximum region 119 of the imaging means 117 and a feature extraction region 120 for extracting features by the image processing unit 118 when following an obstacle. In the present embodiment, the photographing unit 117 is installed in the main body 101 so that the center of the obstacle detection unit 106 installed in front of the obstacle and the center of the captured image maximum region 119 coincide with the center. Yes.

  The operation and action of the self-propelled device configured as described above will be described below with reference to the flowchart of FIG.

  First, when the user turns on the activation means (activation switch) 108, the timing means 109 starts timing, and at the same time, the control means 107 confirms the initial state of the presence or absence of the obstacle with the obstacle detection means 106 (this embodiment) Then, at the time of confirmation for each time, the state is determined using the moving average value of the past five times), and the state is set as the final confirmed state (steps 1 to 3). If the initial state is confirmed, the obstacle detection means 106 confirms the presence or absence of an obstacle again (step 4).

  As a result of checking, when there is an obstacle, if the previous state (the state when checked in the previous step 4) is no obstacle, the second time measuring means 114 starts counting (steps 5 and 6), If there is also an obstacle in the previous state, the time continuously detected as having an obstacle in step 4, that is, the time measured by the second time measuring means 114 is the time set by the continuous detection time setting means 115 ( In this embodiment, it is confirmed whether it is 5 seconds or more, and if it is less than the set time, the process proceeds to step 7. If the time measured by the second time measuring unit 114 is equal to or longer than the set time, the time determined by the second time measuring unit 114 is reset by setting the current confirmed state as an obstacle, and starts counting again (step) 9, step 10). At this time, if there is no obstacle in the previous confirmed state, the obstacle feature extraction unit 111 extracts the feature of the obstacle as the establishment of the condition for starting the follow-up running, and follows up and cleans based on the extracted feature. (Step 12, Step 13). That is, at the time when the condition for starting the follow-up running is satisfied, the obstacle direction instruction unit 112 gives the control means 107 an outline of the obstacle based on the distances detected by the obstacle detection means 106 arranged at three locations ahead. Instructing the direction, the control means 107 controls the traveling means 102 to point the main body 101 in that direction. The photographing unit 117 performs photographing constantly or periodically, and as shown in FIG. 3, the image processing unit 118 distributes the color of the obstacle in the feature extraction region 120 determined in advance for the photographed image (in this embodiment, Saturation) is extracted as a feature of the obstacle, and a color distribution is calculated for an image that is subsequently captured. The obstacle direction instructing unit 112 instructs the control unit 107 on the direction of the obstacle by the moving direction of the color distribution in the captured image maximum area 119. The control unit 107 controls the traveling unit 102 to control the main body 101. In that direction, the distance information from the obstacle detection means 106 is complemented while the distance from the obstacle is kept constant. If there is an obstacle in the previous confirmed state, the process proceeds to step 7.

  As a result of checking in step 4, when there is no obstacle, the final state is determined to be no obstacle, the time measurement of the second time measuring means 114 is reset and the time measurement is stopped (steps 14 and 15). move on.

  In step 7, it is confirmed whether the time since the activation means 108 is turned on, that is, the time measured by the time measuring means 109 is not less than the time set by the hold time setting means 113 (15 seconds in this embodiment). If it is longer than the set time, the self-running cleaning is started in a predetermined running pattern (running along the wall and reciprocating running in this embodiment) (step 8). If it is less than the set time, the process returns to step 4 and the obstacle detection means 106 confirms whether there is an obstacle.

  In order to make it easy for the user to understand the operation, in the present embodiment, the control means 107, at the point of time when the running is started (step 8 or step 13), is notified by the notifying means 116 when the self-running cleaning starts. “When the follow-up is started,” “I will follow up” is notified by voice, but it is also possible to make a distinction based on the number of buzzer sounds.

  In the present embodiment, the detection distance of the distance measuring sensor is used as the obstacle detection unit 106, but the captured image maximum region 119 is used for a plurality of captured images by the image processing unit 118 using the images captured by the imaging unit 117. An obstacle may be detected by detecting a moving object based on a change in luminance of the specific area.

  Further, although cleaning is also performed when following the vehicle, it may be set whether or not cleaning is performed. Further, in the present embodiment, when the condition for starting the follow-up running is satisfied, the obstacle direction indicating unit 112 is controlled by the control means 107 based on the distances detected by the obstacle detecting means 106 arranged at three locations ahead. The control means 107 controls the traveling means 102 to point the main body 101 in the direction, but the imaging means 117 is a camera with a variable imaging direction and controls the camera. You can make it point in that direction.

  Further, in the present embodiment, the obstacle feature extraction unit 111 extracts the obstacle feature as the color distribution in the image processing unit 118, but the contour in the image processing unit 118 may be used. A temperature distribution by a temperature sensor or the like may be used instead of image processing, and the obstacle detection unit 106 also uses a distance measuring sensor, but obstacle detection may be performed by image processing.

  As described above, the travel means 102, the cleaning means 105, the obstacle detection means 106, the control means 107, the activation means 108 for activating the control means 107, and the activation means 108 are turned on. Time measuring means 109 for measuring the time from the vehicle and obstacle follower means 110, and the control means 107 suspends the start of running and cleaning when the starting means 108 is turned on. In the embodiment, when the obstacle is detected from the state where the obstacle is not detected in front of the obstacle detection means 106 until the time is counted 15 seconds), the obstacle tracking means 110 is started at least when the obstacle is detected. To follow the obstacle based on the characteristics of the obstacle extracted at the start of traveling, and otherwise, the timekeeping means 109 keeps cleaning with the traveling at the time when the predetermined time is counted. By was to start, over activated self-propelled equipment, depending on whether standing in front of the running to be the direction, whether to perform the following operation, it is either selected and designated to perform the execution operation. Thus, it is possible to provide a self-propelled device that follows spontaneously without the user pulling the hose or continuously instructing the transmitter (transmitter) to continuously guide the cleaner.

  In addition, a holding time setting unit 113 is provided, and an upper limit (15 seconds in the present embodiment) of the time for which the timing unit 109 holds the start of running and cleaning after the activation by the activation unit 108 is set. Thus, the self-propelled device can be activated and given a margin of time to stand in front of the direction in which it should travel, so that it is possible to cope with a slow user such as an elderly person.

  Furthermore, a second time measuring unit 114 for measuring the time when the obstacle detecting unit 106 continuously detects the obstacle is provided, and the control unit 107 detects the time until the time measuring unit 109 measures a predetermined time. When the obstacle detection means 106 detects an obstacle continuously for a predetermined time (5 seconds in the present embodiment) from the state in which no obstacle is detected in the direction in which the object should travel, the vehicle starts at least traveling. In other cases, it is possible to provide a self-propelled device that can cope with the case where the user wants to cancel the start of the follow-up operation by starting the cleaning with traveling.

  In addition, continuous detection time setting means 115 is provided, and the time (5 seconds in this embodiment) when the obstacle detection means 106 to be timed by the second time measurement means 114 continuously detects the obstacle is set. Thus, it is possible to provide a self-propelled device with a high degree of freedom that can adjust the margin when the user wants to cancel the start of the tracking operation.

(Embodiment 2)
4 and 5 show a self-propelled device and a program thereof according to Embodiment 2 of the present invention. The same elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 4, the main body 124 of the self-propelled device in the present embodiment is for detecting that the obstruction to be followed is stopped on the spot in addition to the configuration of the first embodiment. The tracking target stop detection unit 121, the third timing unit 122 for measuring the time during which the tracking target obstacle is stopped on the spot, and the tracking target stop detection unit 121 are performed on the spot according to the time when the tracking target is stopped. And an action definition means 123 for defining an action. Further, as shown in FIG. 5, the action definition unit 123 has action definition contents defined according to the stop time.

  About the self-propelled apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  The operation of starting follow-up cleaning or starting self-running cleaning and the operation of following-running are the same as in the first embodiment. When the user stops during the tracking cleaning, the processing result from the image processing unit 118 of the obstacle tracking unit 110 and the detection distance of the obstacle detection unit 106 gradually become closer, and according to an instruction issued from the obstacle direction instruction unit 112 The control means 107 gradually decreases until the traveling speed of the traveling means 102 is stopped. The tracking target stop detection unit 121 receives an instruction issued from the obstacle direction instruction unit 112 and that the traveling has stopped from the control unit 107, and detects that the tracking target has stopped. The third timing unit 122 starts timing when the follow-up target stop detection unit 121 detects the stop of the obstacle. The operation defining unit 123 notifies the control unit 107 of the defined operation as a temporary operation performed at the time when each time shown in FIG. 5 has elapsed, and the notifying unit 116, for example, when 3 seconds have elapsed. A voice notification is made asking “Do you want to perform careful cleaning?” If the action that the user wants to perform is shooting, the user further stops even if the notification means 116 notifies "Would you like to perform careful cleaning operation" when 3 seconds have passed, and the notification means when 5 seconds have passed? What is necessary is just to start walking to the place where you want to follow after stopping for 5 seconds or more and less than 10 seconds in front of the main body 124 of the self-propelled device when 116 notifies "Do you want to shoot?" When the user wants to finish the follow-up cleaning, the user stops for 10 seconds or more in front of the main body 124 of the self-propelled device, and when the notification means 116 notifies "Do you want to pause?" 108 may be turned off.

  As described above, in the present embodiment, the tracking target stop detection unit 121 that detects that the tracking target obstacle is stopped on the spot, and the time when the tracking target obstacle is stopped on the spot. A third time measuring means 122 for measuring time and an action defining means 123 for defining an action according to the stop time are provided. When an obstacle is detected and the vehicle starts running, the obstacle to be followed By performing the action defined by the action definition means 123 according to the time stopped, the user can specify the action to be performed on the spot at the stop time just by stopping while the self-propelled device is being followed. can do.

  In addition, when the vehicle is equipped with the photographing means 117 and detects the obstacle and starts traveling, the photographing is performed at the place defined as the photographing operation by the operation defining means 123, so that the place to be monitored in the traveling route, etc. You can easily specify where you want to shoot.

  Furthermore, when the vehicle is provided with the notification unit 116 and the vehicle starts to travel after detecting an obstacle, the notification unit 116 has a timing at which the time measured by the third time measurement unit 122 coincides with the time defined by the operation definition unit 123. By performing the notification, the user can easily specify the operation since the user knows the stop time of the operation to be specified.

(Embodiment 3)
6 and 7 show a self-propelled device and a program thereof according to Embodiment 3 of the present invention. The same elements as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof is omitted.

  As shown in FIG. 6, in addition to the configuration of the second embodiment, the main body 132 of the self-propelled device in the present embodiment detects the traveling direction of the travel distance measuring means 125 and the main body 132 of the self-propelled device. Travel direction detection means 126 composed of a gyro sensor, a travel distance detected by the travel distance measurement means 125 and a travel position detected by the travel direction detection means 126 (in this embodiment, the vertical width of the main body 132) X Traveling position calculation means 127 for calculating the XY cell coordinates with a horizontal width of 1 cell) and travel reference position detection means for detecting the reference position of the traveling position (charging station in the present embodiment) (this embodiment) Then, it is necessary to travel from the trajectory of the travel position calculated by the travel position calculation means 127 and the magnetic detection means 128 for detecting the magnetic tape attached to the charging station. A traveling map creating means 129 for creating a range traveling map, a travel information storage unit 130, and a travel information correcting means 131 for performing check and correct the travel information stored in the travel information storage unit 130.

  FIG. 7 shows an example of a travel locus and travel / operation map of the self-propelled device. In the figure, the obstacle 133 near the running range, the charging station 134 for recognizing the origin that is the reference position of the running position, and the charging station 134 are calculated by the running position calculating means 127 in units of cells indicated by dotted lines. It is instructed by the cell coordinates where the main body 132 is located, that is, the reference position cell coordinates (origin cell coordinates) 135, the travel locus 136 as a result of the main body 132 following the user, and the stop time of the user during the user following. Careful cleaning cell coordinates 137a and 137b and photographing cell coordinates 138a and 138b designated by the stop time of the user who is following the user are shown.

  About the self-propelled apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below using FIG. 6 and FIG.

  First, the operation of starting follow-up cleaning or self-running cleaning, the operation of following-running, and the instruction of the operation to be performed, defined by the stop time of the user during the follow-up running, are the same as those in the second embodiment. It is the same.

  During follow-up cleaning, the travel distance measuring means 125 detects the distance traveled from the number of rotations of the drive wheel 104, and the travel position calculating means 127 is detected by the travel distance and travel direction detecting means 126 detected by the travel distance measuring means 125. The XY cell coordinates currently being traveled are calculated from the detected travel direction with reference to the reference position cell coordinates (origin cell coordinates) 135, and the travel map creating means 129 calculates the cell coordinates of the travel locus 136 calculated by the travel position calculating means 127. Are continuously created, and the cell coordinates are stored in the travel information storage means 130. For the cell coordinates that have been instructed by the user's stop time while traveling, the control means 107 uses the operation information as additional information of the corresponding cell coordinates stored in the travel information storage means 130. Add to and remember. After the follow-up cleaning is completed, the travel information storage means 130 can be displayed and checked as shown in FIG. 7 using the travel information correction means 131, and the cleaning range and the instruction operation can be corrected.

  Next, after that, when the main body 132 performs self-propelled cleaning, the control means 107 recognizes the cleaning range based on the travel information stored in the travel information storage means 130, and first the travel position calculation means In 127, while recognizing the cell coordinates in which the vehicle is traveling, the vehicle travels on the outer periphery so as to travel along the cell coordinates indicated by the travel locus 136 in FIG. Perform the corresponding operation. When the outer periphery traveling is finished, the inside of the outer periphery is cleaned while traveling so as not to leave the outer periphery with a predetermined traveling pattern (reciprocating traveling in the present embodiment).

  In the present embodiment, the travel map and instruction operation stored in the travel information storage means 130 are one pattern, but a plurality of patterns may be stored and used separately for each room. In the present embodiment, a gyro sensor is used as the traveling direction detection means 126. However, the direction may be detected by calculating the angular velocity of the main body 132 from the left and right rotational speeds of the drive wheels 104. Furthermore, in the present embodiment, the travel information storage means 130 stores the operation corresponding to the stop time defined by the operation definition means 123. However, the self-running cleaning is performed by storing the stop time itself. When performing the above, the operation may be defined by the operation defining means 123.

  As described above, the travel position calculating means 125, the travel direction detecting means 126, and the travel position calculating means for calculating the travel position from the travel distance detected by the travel distance measuring means 125 and the travel direction detected by the travel direction detecting means 126. 127, travel reference position detection means 128 for detecting the reference position of the travel position, and a travel map of the range to travel from the travel reference position detected by the travel reference position detection means 128 and the travel position calculation means 127. A travel map creation unit 129 and a travel information storage unit 130 are provided. When an obstacle is detected and travel is started, the travel map created by the travel map creation unit 129 from the obstacle tracking locus and the stop time of the user When the driving operation and the cleaning are started without detecting an obstacle, the instruction operation defined in accordance with the driving information is stored in the driving information storage means 130. By running and cleaning according to the running information stored in the storage means 130, a map of the area to be cleaned and the following operation to be taught as a teaching operation should be performed without inputting a map of the area to be cleaned in advance. It is possible to provide a self-propelled device that automatically creates and stores an action and can perform cleaning as many times as necessary based on the stored map and action. Further, if the self-propelled device is made to follow only the outer periphery of the cleaning range, the inside performs self-running cleaning with a predetermined pattern, so that the user's follow-up operation can be reduced.

  In addition, a travel information correcting unit 131 is provided, and by confirming and correcting the travel information stored in the travel information storage unit 130, a rough map and an operation are memorized so that the user can easily By correcting, it is possible to teach a map or an operation that the user wants to teach without taking time and effort.

(Embodiment 4)
Next, a program for the self-propelled device according to the fourth embodiment of the present invention will be described.

  In the present embodiment, a program for causing a computer to execute at least a part of the functions of the self-propelled device described in any one of the first to third embodiments is provided.

  Note that each means described in the first to third embodiments uses hardware resources such as a CPU (or microcomputer), a RAM, a ROM, a storage / recording device, an electric / information device including an I / O, a computer, a server, and the like. You may implement with the form made to cooperate. In the form of a program, it is possible to easily distribute and update new functions and install them by recording them on a recording medium such as magnetic media or optical media, or distributing them using a communication circuit such as the Internet.

  In each of the above-described first to fourth embodiments, a self-propelled cleaner has been described as an example of a self-propelled device. However, other working robots or monitoring robots that are not specialized for a cleaning function may be used. is there.

  As described above, the self-propelled device and the program thereof according to the present invention can easily select and specify whether the self-propelled device performs a follow-up operation or a teaching operation or an execution operation. Since it can follow voluntarily, it can be applied not only to self-propelled cleaners but also to working robots and surveillance robots.

The block diagram which shows the structure of the self-propelled apparatus in Embodiment 1 of this invention. Flow chart showing the flow of operation of the self-propelled device The figure which shows the image area processed by the image processing part of the self-propelled device The block diagram which shows the structure of the self-propelled apparatus in Embodiment 2 of this invention. The figure which shows an example of the action definition contents defined by the action definition means of the self-propelled device The block diagram which shows the structure of the self-propelled apparatus in Embodiment 3 of this invention. Map diagram showing an example of the travel locus, travel, and operation of the self-propelled device

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Main body 102 Traveling means 106 Obstacle detection means 107 Control means 108 Start-up means 109 Timing means 110 Obstacle tracking means 111 Obstacle feature extraction part 112 Obstacle direction instruction part 113 Holding time setting means 114 Second time measurement means 115 Continuous detection Time setting means 116 Notification means 117 Imaging means 121 Tracking target stop detection means 122 Third timing means 123 Operation definition means 125 Travel distance measurement means 126 Travel direction detection means 127 Travel position calculation means 128 Travel reference position detection means 129 Travel map creation Means 130 Travel information storage means 131 Travel information correction means

Claims (10)

Traveling means, obstacle detecting means for detecting surrounding obstacles, control means for controlling the traveling means, starting means for activating the control means, and the starting means A timing means for timing the time since the start, and an obstacle tracking means, the control means suspends the start of traveling at the time when the activation means is activated, the time measuring means When an obstacle is detected from a state in which no obstacle is detected in the direction to be traveled by the obstacle detection means until the predetermined time is counted from the start, the vehicle starts at least when the obstacle is detected and is extracted at the start of the travel by the obstacle tracking means. A self-propelled device that follows an obstacle based on the characteristics of the obstacle, and starts running when the time measuring means times a predetermined time otherwise. 2. The self-propelled device according to claim 1, further comprising a holding time setting means, wherein an upper limit is set for a time during which the time counting means holds the start of running to be timed after being activated by the activation means. The obstacle detection means includes second timing means for timing the time when the obstacle detection means continuously detects the obstacle, and the control means travels by the obstacle detection means until the timing means times a predetermined time. 3. The vehicle according to claim 1 or 2, wherein the vehicle starts at least when an obstacle is detected continuously for a predetermined time or more by the second timing means from a state in which an obstacle is not detected in a direction to be performed, and starts traveling at other times. The described self-propelled device. The self-propelled device according to claim 3, further comprising continuous detection time setting means, wherein the second time measuring means sets a time to be timed. The tracking target stop detection means for detecting that the tracking target obstacle is stopped on the spot, the third timing means for measuring the time when the tracking target obstacle is stopped on the spot, and stopped. An action defining means for defining an action according to time, and when the obstacle is detected and the vehicle starts to travel, the action defining means defines the action according to the time when the obstacle to be followed stops on the spot. The self-propelled device according to any one of claims 1 to 4, wherein the self-propelled device performs the operation. 6. The self-propelled device according to claim 5, wherein the self-propelled device is provided with a photographing unit, and performs photographing at a place defined as a photographing operation by the operation defining unit when an obstacle is detected and traveling is started. And a notification means that detects when an obstacle is detected and starts traveling, wherein the notification means notifies at a timing at which the time counted by the third timing means coincides with the time defined by the action definition means. Item 7. The self-propelled device according to item 5 or 6. Travel distance measurement means, travel direction detection means, travel position calculation means for calculating a travel position from the travel distance detected by the travel distance measurement means and the travel direction detected by the travel direction detection means, and a reference position of the travel position A travel reference position detection means for detecting the travel reference position, a travel reference position detected by the travel reference position detection means, a travel map creation means for creating a travel map of a range to be traveled from the travel position calculation means, and travel information storage A travel map created from the obstacle tracking locus by the travel map creation means is stored in the travel information storage means without detecting the obstacle. The self-propelled device according to any one of claims 1 to 7, wherein when the vehicle starts to travel, the vehicle travels according to the travel information stored in the travel information storage unit. The self-propelled device according to claim 8, further comprising travel information correcting means for checking and correcting travel information stored in the travel information storage means. The program for making a computer perform at least one part of the function in the self-propelled apparatus of any one of Claims 1-9.

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