WO2013108665A1

WO2013108665A1 - Self-propelled electronic device, terminal device, and operating system

Info

Publication number: WO2013108665A1
Application number: PCT/JP2013/050107
Authority: WO
Inventors: 雅倫坪井; 松本　正士; 実雄阪本
Original assignee: シャープ株式会社
Priority date: 2012-01-17
Filing date: 2013-01-08
Publication date: 2013-07-25
Also published as: JP6109477B2; CN104053390B; CN104053390A; TWI597041B; JP2013146314A; TW201338743A

Abstract

The self-propelled vacuum cleaner (1) of the present invention stores the following in an operation history storage unit (571): a set comprising the date and time of measurement of the remaining battery power and a message indicating a summary of the remaining battery power; a set comprising the date and the time when a still image was taken and a message indicating that the still image was taken; a set comprising the date and time when operation was started and a message indicating that operation was started; and a set comprising the date and time of a collision and a message indicating a summary of the collision state. In addition, the sets stored in the operation history storage unit (571) are transmitted to a terminal device (200) in response to a request from the terminal device (200).

Description

Self-propelled electronic device, terminal device, and operation system

The present invention relates to a self-propelled electronic device that operates in accordance with an operation from a terminal device.

In recent years, robotic vacuum cleaners that perform automatic cleaning have begun to spread as household support robots for general households.

Patent Document 1 discloses a vacuum cleaner that cleans a house in response to an operation instruction given from a communication terminal via a communication network. “The vacuum cleaner robot is in a standby state (non-operating state). It has a function to store information on its operating state as device information such as normal operation, falling down, how much battery is remaining, etc. The vacuum cleaner robot transmits this device information to the mobile phone. Is done. "

Japanese Patent Publication “JP 2005-118354 A (published May 12, 2005)”

In the technique disclosed in Patent Document 1, although the user of the mobile phone can confirm information on the current operating state of the vacuum cleaner robot, there is little information that can be confirmed, and the user is familiar with the vacuum cleaner robot. It cannot be said that there is a mechanism that can be confirmed.

The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a self-propelled electronic device that provides messages representing various information obtained as an operation result of the own device to the outside. It is in.

In order to solve the above problems, a self-propelled electronic device according to one aspect of the present invention is a self-propelled electronic device that operates according to an operation from a terminal device, and represents information obtained by the operation. Storage means for storing the message in the storage unit in association with the date and time when the information was obtained, and the above-mentioned date and time stored in the storage unit in response to a request from the terminal device Transmitting means for transmitting the message to the terminal device.

In order to solve the above problems, a terminal device according to an aspect of the present invention is a terminal device that operates a self-propelled electronic device that operates according to an operation from the self-device, and the self-propelled electronic device Holds a message representing information obtained by operating together with the date and time when the information was obtained, and obtains the message together with the date and time from the self-propelled electronic device, and the obtaining means Display control means for arranging the messages acquired by the above in order of the date and time acquired together with the messages and displaying them on the display unit.

In order to solve the above problem, an operation system according to an aspect of the present invention includes an operation system including a terminal device including a display unit and a self-propelled electronic device that operates according to an operation from the terminal device. A storage means for storing a message representing information obtained by operating the self-propelled electronic device in a storage unit in association with a date and time when the information is obtained; And display control means for displaying the messages associated with the date and time on the display unit in order of the date and time.

According to one aspect of the present invention, the history can be confirmed by allowing the user of the terminal device to browse the message displayed on the display unit.

Note that if the message is set using a familiar expression, the user can check the history with familiarity with the self-propelled electronic device.

It is a mimetic diagram showing the composition of the operation system concerning one embodiment of the present invention. It is a perspective view of the self-propelled cleaner included in the operation system. It is side surface sectional drawing of the said self-propelled cleaner. It is a bottom view of the self-propelled cleaner. It is a figure which shows an example of the operation panel of the said self-propelled cleaner. It is side surface sectional drawing of the said self-propelled cleaner, and has shown the case where the cover part of a main body housing | casing is opened and a dust collecting part is taken out. It is a perspective view of the charging stand which charges the said self-propelled cleaner. It is a block diagram which shows the functional structure of the said self-propelled cleaner. It is a block diagram which shows the detailed structure of the memory | storage part and control part of the said self-propelled cleaner. It is a figure which shows an example of matching with the message showing the battery remaining amount of the battery of the said self-propelled cleaner, and the outline | summary of a battery remaining amount. It is a figure which shows an example of matching with the message showing the outline | summary of the collision frequency and the collision condition of the said self-propelled cleaner. It is a schematic diagram which shows an example of the data memorize | stored in the operation history memory | storage part contained in the memory | storage part of the said self-propelled cleaner. It is a figure which shows an example of matching with the message showing the travel distance of the said self-propelled cleaner, and a travel distance. It is a figure which shows an example of matching with the message showing the odor measured by the self-propelled cleaner and the odor. It is a schematic diagram which shows an example of the data memorize | stored in the last operation | movement log | history memory | storage part contained in the memory | storage part of the said self-propelled cleaner. It is a schematic diagram which shows an example of the data memorize | stored in the progress information storage part contained in the memory | storage part of the said self-propelled cleaner. It is a schematic diagram which shows an example of the data memorize | stored in the driving reservation information storage part contained in the memory | storage part of the said self-propelled cleaner. It is a schematic diagram which shows an example of the data memorize | stored in the message reservation information storage part contained in the memory | storage part of the said self-propelled cleaner. (A) is a schematic diagram which shows an example of the data memorize | stored in the speech reservation information storage part contained in the memory | storage part of the said self-propelled cleaner. (B) is a schematic diagram which shows the kind of message memorize | stored in the said utterance reservation information storage part. It is a schematic diagram which shows an example of the data memorize | stored in the setting information storage part contained in the memory | storage part of the said self-propelled cleaner. It is a block diagram which shows the structure of the memory | storage part and control part of a terminal device contained in the said operation system. It is a schematic diagram which shows an example of the home screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the calendar screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the screen which expanded and displayed the still image currently displayed on the said calendar screen. It is a schematic diagram which shows an example of the observation screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the driving | running screen displayed on the said terminal device. (B) is a schematic diagram which shows an example at the time of displaying the said driving | operation screen on a horizontal screen. (A) is a schematic diagram which shows an example of the screen during feedback displayed on the said terminal device. (B) is a schematic diagram which shows an example of the successful return screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the temporary interruption screen displayed on the said terminal device. (D) is a schematic diagram showing an example of a submenu pop-up displayed on the operation screen. (A) is a schematic diagram which shows an example of the reservation setting screen when nothing is reserved displayed on the said terminal device. (B) is a schematic diagram which shows an example of the reservation setting screen displayed when it is already reserved displayed on the said terminal device. (A) is a schematic diagram which shows an example of the driving day selection screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the driving day selection screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the message message registration / date-time setting screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the screen during recording displayed on the said terminal device. (C) is a schematic diagram which shows an example of the message reproduction | regeneration screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the reading date setting screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the message selection screen displayed on the said terminal device. It is a schematic diagram which shows an example of the battery status display screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the screen during feedback displayed on the said terminal device. (B) is a schematic diagram which shows an example of the successful return screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the charge state screen displayed on the said terminal device. (D) is a schematic diagram which shows an example of the charge completion screen displayed on the said terminal device. (E) is a schematic diagram which shows another example of the charge completion screen displayed on the said terminal device. It is a schematic diagram which shows an example of the various setting screens displayed on the said terminal device. It is a schematic diagram which shows an example of the spot setting screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the language / character / character setting screen displayed on the terminal device. (B) is a schematic diagram which shows an example of the character setting screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the language setting screen displayed on the said terminal device. (D) is a schematic diagram which shows an example of the character setting screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the website information screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the website new registration screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the login screen displayed on the said terminal device. (D) is a schematic diagram which shows an example of the screen after login displayed on the said terminal device. It is a schematic diagram which shows an example of the birthday setting screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the radio | wireless communication setting screen displayed on the said terminal device. (B) is a schematic diagram which shows another example of the radio | wireless communication setting screen displayed on the said terminal device. (C) is a schematic diagram which shows another example of the radio | wireless communication setting screen displayed on the said terminal device. It is a schematic diagram which shows an example of the setting initialization screen displayed on the said terminal device. It is a schematic diagram which shows an example of the help screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help screen displayed on the said terminal device. It is a schematic diagram which shows an example of the help detailed screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help detailed screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help detailed screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help detailed screen displayed on the said terminal device. It is a schematic diagram which shows another example of the help detailed screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the pairing start screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the communication partner search screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the name setting screen displayed on the said terminal device. (D) is a schematic diagram which shows an example of the pairing completion screen displayed on the said terminal device. (E) is a schematic diagram which shows an example of the initial setting screen displayed on the said terminal device. (F) is a schematic diagram which shows an example of the imaging | photography screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the communication partner search screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the login screen displayed on the said terminal device. (A) is a schematic diagram which shows an example of the communication disconnection screen displayed on the said terminal device. (B) is a schematic diagram which shows an example of the communication partner search screen displayed on the said terminal device. (C) is a schematic diagram which shows an example of the search result screen displayed on the said terminal device. It is a perspective view of the self-propelled air cleaner which is an application example of the self-propelled electronic device concerning the present invention. It is side surface sectional drawing of the said self-propelled air cleaner. It is a perspective view at the time of removing the intake port of the self-propelled air cleaner.

An embodiment in which the self-propelled electronic device according to the present invention is applied to a self-propelled cleaner that collects dust and cleans while self-propelling will be described with reference to FIGS. 1 to 44. Street.

(System overview)
First, the configuration of an operation system 900 according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram showing the configuration of the operation system 900. As illustrated, the operation system 900 includes a self-propelled cleaner (self-propelled electronic device) 1 and a terminal device 200 that operates the self-propelled cleaner 1 and acquires various types of information from the self-propelled cleaner 1. And.

In the present embodiment, the self-propelled cleaner 1 will be described as an example of the device operated by the terminal device 200, but the device operated by the terminal device 200 is not limited to the self-propelled cleaner, Any device may be used as long as it is an operation-controlled device that receives an operation signal transmitted by the device 200. Moreover, it is not limited to the apparatus which has the structure which self-propells, The apparatus which does not have a structure which self-propells may be sufficient.

The terminal device 200 is any device that has a function of transmitting an operation signal to operate the self-propelled cleaner 1 and outputting various information acquired from the self-propelled cleaner 1. May be. In the present embodiment, a smartphone will be described as an example of the terminal device 200, but a tablet terminal, a mobile phone, a PDA (Personal Digital Assistance), a notebook computer, a portable game machine, or the like may be used.

The self-propelled cleaner 1 and the terminal device 200 are connected via a communication network 300 so that bidirectional communication is possible. In this embodiment, since it is assumed that the self-propelled cleaner 1 is remotely controlled by the terminal device 200, the terminal device 200 and the self-propelled cleaner 1 are WiFi (registered trademark), Bluetooth (registered trademark), It is preferable to connect by a radio wave system such as ZigBee (registered trademark). In the present embodiment, description will be made assuming that the connection is made by WiFi.

In addition, although it is possible to operate a plurality of self-propelled cleaners 1 from one terminal device 200, self-propelled cleaner 1 does not accept operations from a plurality of terminal devices 200 at the same time. And

In the following description, the fact that the self-propelled cleaner 1 performs cleaning is referred to as “driving”. In addition, the automatic operation of the self-propelled cleaner 1 may be referred to as “Osanpo”. In addition, the peripheral state of the self-propelled cleaner 1 (specifically, the surrounding image, the peripheral odor, the ambient temperature) is caused to be acquired by the self-propelled cleaner 1, and the acquired state is displayed on the terminal. Confirmation by the apparatus 200 may be referred to as “observation” or “kansaitsu”.

(Appearance structure of self-propelled vacuum cleaner)
As shown in FIG. 2, the self-propelled cleaner 1 includes a self-propelled cleaner 1 main body having an outer frame formed by a main body housing 2 having a circular shape in plan view, and a battery as shown in FIGS. (Secondary battery) 14 is a device that has a drive wheel 29 driven by a power supply source and collects (cleans) dust while traveling on its own.

As shown in FIG. 2, on the upper surface of the main body housing 2, an operation panel 50 for inputting instructions to the self-propelled cleaner 1, an LED (Light Emitting Diode) lamp 51, a photographing unit 56, described later. A lid portion 3 is provided that opens and closes when the dust collecting portion 30 is taken in and out. In addition, in this embodiment, although the main body housing | casing 2 is set as the shape where the upper surface and bottom face comprise a circle, it is not limited to this shape.

In the present embodiment, the LED lamp 51 is provided around the upper surface of the main body housing 2, and the lighting color and lighting pattern change according to the state of the self-propelled cleaner 1 as described later. It is like that. A lamp other than the LED may be provided. Moreover, you may provide an LED lamp in the vicinity of the exhaust port 7 provided in the upper surface of the main body.

The operation panel 50 includes an operation switch (operation unit) that receives input of various instructions, data such as characters and numbers, and a display (display unit) that displays various information to be presented to the user. Is provided. The operation panel 50 may be provided as a touch panel. The operation panel 50 may be provided with a display LED.

FIG. 5 shows an example of the operation panel 50. The operation panel 50 shown in FIG. 5 operates a “start / stop button” 501 for instructing start and stop of cleaning, a “mode selection button” 502 for selecting a cleaning mode, and operating the current time and the self-propelled cleaner 1. A “timer set button” 505 provided to set the reservation time, a time display unit 504 for displaying the current time and the reservation time, a garbage disposal lamp 506 that is turned on when it is detected that the dust collecting container 31 described later is full, Is provided. Further, the operation panel 50 displays a “battery mark” 503 indicating the amount of charge of the battery 14. These are merely examples, and the operation panel 50 may include an operation unit and a display unit that realize functions other than these.

The photographing unit 56 photographs a moving image and a still image, and includes an optical lens, a color filter, a CCD (Charge Coupled Device) that is a light receiving element, and the like.

As shown in FIGS. 3 and 4, a pair of drive wheels 29 that protrude from the bottom surface and rotate about a horizontal rotation shaft 29 a are disposed on the bottom surface of the main body housing 2. The rotation shaft 29 a of the drive wheel 29 is disposed on the center line (center axis) C of the main body housing 2. When both wheels of the drive wheel 29 rotate in the same direction, the self-propelled cleaner 1 advances and retreats, and when rotated in the reverse direction, the self-propelled cleaner 1 rotates around the center line C of the main body housing 2. When the drive wheel 29 is driven by the battery 14, the self-propelled cleaner 1 is self-propelled. Below, the front in the advancing direction when the self-propelled cleaner 1 performs self-propelled cleaning is referred to as the front and the rear as the rear. Moreover, the movement along the traveling direction when performing cleaning is called forward, and the movement along the direction opposite to the traveling direction when performing cleaning is called backward. Also. In the peripheral surface (side surface) of the main body housing 2, a surface facing the traveling direction when cleaning is referred to as a front surface, and a surface located on the opposite side of the front surface is referred to as a back surface. The back surface is a surface that faces the traveling direction when the vehicle moves backward.

During cleaning, when the main body housing 2 reaches the periphery of the cleaning area or when it collides with an obstacle on the course, the drive wheel 29 is stopped. Then, both wheels of the drive wheel 29 are rotated in opposite directions, and the main body of the self-propelled cleaner 1 is rotated around the center line C of the main body housing 2 to change its direction and turn. Accordingly, the self-propelled cleaner 1 can be self-propelled over the entire desired cleaning area and can be self-propelled while avoiding obstacles. Note that the self-propelled cleaner 1 may be moved backward by reversing both wheels of the drive wheels 29 with respect to forward movement.

A suction port 6 is provided in front of the bottom surface of the main body housing 2. The suction port 6 is formed so as to face the floor surface F by an open surface of a recess 8 that is recessed in the bottom surface of the main body housing 2. A rotating brush 9 that rotates on a horizontal rotating shaft is disposed in the recess 8, and a side brush 10 that rotates on a vertical rotating shaft is disposed on both sides of the recess 8.

Furthermore, a roller-shaped front wheel 27 is provided on the bottom surface of the main body housing 2 in front of the suction port 6. Further, a rear wheel 26 made of a free wheel is provided at the rear end (rear end) of the bottom surface of the main body housing 2. In the self-propelled cleaner 1, the weight is distributed in the front-rear direction with respect to the drive wheel 29 disposed in the center of the main body housing 2, and the front wheel 27 is separated from the floor surface F so that the rotary brush 9, the drive wheel 29, and the rear wheel are separated. 26 is grounded on the floor F and cleaning is performed. For this reason, dust in front of the course can be guided to the suction port 6 without being blocked by the front wheel 27. The front wheel 27 contacts the step appearing on the course so that the self-propelled cleaner 1 can easily get over the step.

In addition, a bumper 5 is provided around the main body casing 2 to buffer shocks and vibrations to the main body of the self-propelled cleaner 1. When the self-propelled cleaner 1 detects that the bumper 5 has come into contact with an obstacle during traveling, the traveling direction is changed and the traveling is continued.

A charging terminal 4 for charging the battery 14 is exposed at the rear end of the peripheral surface of the main body casing 2. In the present embodiment, two charging terminals 4 are provided above and below the rear end of the peripheral surface of the main body housing 2, but one or three or more charging terminals 4 may be provided. The self-propelled cleaner 1 returns to the place where the charging stand 40 is installed after cleaning or when the charge amount falls below a predetermined value. Then, the battery 14 is charged by bringing the charging terminal 4 into contact with the power supply terminal 41 provided on the charging stand 40. The rear surface of the charging base 40 connected to the commercial power supply (the surface not facing the peripheral surface of the main body housing 2) is usually installed along the side wall S in the room. The charging stand 40 will be described later.

The battery 14 is a power supply source for the entire self-propelled cleaner 1. The battery 14 is desirably a large capacity rechargeable battery that can be repeatedly charged and discharged. For example, a lead battery, a nickel metal hydride battery, a lithium ion battery, or a capacitor may be used.

A dust collection unit 30 for collecting dust is disposed in the main body casing 2. The dust collection unit 30 is disposed above the rotation shaft 29 a of the drive wheel 29 and is housed in a dust collection chamber 39 provided in the main body housing 2. Since the dust collecting unit 30 is disposed above the rotating shaft 29a of the drive wheel 29, the weight balance of the main body housing 2 is maintained even if the weight increases due to dust collection. The dust collection chamber 39 is composed of an isolation chamber whose four peripheral surfaces and bottom are covered, and is formed to extend in the axial direction of the rotary brush 9 so as to partition the inside of the main body housing 2. Each wall surface of the dust collection chamber 39 is closed except for the front wall extending in the axial direction of the rotating brush 9. The front wall of the dust collection chamber 39 is provided with a first intake passage 11 communicating with the recess 8 and a second intake passage 12 disposed above the recess 8 and communicating with the motor unit 20.

As shown in FIG. 6, the dust collecting unit 30 can be inserted into and removed from the main body housing 2 by opening the lid portion 3 of the main body housing 2. The dust collection unit 30 is formed by attaching an upper cover 32 having a filter 33 to the upper part of a bottomed dust collection container 31. The upper cover 32 is locked to the dust collecting container 31 by a movable locking part 32a, and opens and closes the upper surface of the dust collecting container 31 by operating the locking part 32a. Thereby, the dust accumulated in the dust collecting container 31 can be discarded.

On the peripheral surface of the dust collecting container 31, an inflow path 34 that opens to the front end of the inlet 34 a and communicates with the first intake path 11 is provided. Further, an inflow portion 34 b that guides the airflow downward by bending is provided in the dust collecting container 31 continuously to the inflow passage 34. On the peripheral surface of the upper cover 32, an outflow path 35 that opens to the front end and opens to the second intake path 12 is provided.

A packing (not shown) in close contact with the front wall of the dust collecting chamber 39 is provided around the inlet 34a and the outlet 35a. Thereby, the inside of the dust collection chamber 39 in which the dust collection unit 30 is accommodated is sealed. The opening surface of the inflow port 34a, the opening surface of the outflow port 35a, and the front wall of the dust collecting chamber 39 are formed in an inclined surface, and deterioration of the packing due to sliding when the dust collecting unit 30 is put in and out can be prevented.

A control board 15 is disposed on the upper rear side of the dust collection chamber 39 in the main body housing 2. The control board 15 is provided with a later-described control unit 52 that controls each part of the self-propelled cleaner 1 and a later-described storage unit 57 that stores various data. A detachable battery 14 is disposed in the lower part of the rear of the dust collection chamber 39. The battery 14 is charged from the charging stand 40 via the charging terminal 4 and supplies power to the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, the electric blower 22, and the like.

In the self-propelled cleaner 1 having the above-described configuration, when a cleaning operation is instructed, electric power is supplied from the battery 14, and the electric blower 22, an ion generator 62, a driving wheel 29, a rotating brush 9, and a side brush described later are supplied. 10 is driven. As a result, the self-propelled cleaner 1 causes the rotating brush 9, the drive wheel 29 and the rear wheel 26 to come into contact with the floor surface F to self-travel in a predetermined cleaning area, and includes dust on the floor surface F from the suction port 6. Airflow is inhaled. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 9 and guided into the recess 8. Further, the dust on the side of the suction port 6 is guided to the suction port 6 by the rotation of the side brush 10.

The airflow sucked from the suction port 6 flows backward through the first air intake passage 11 as shown by an arrow A1 in FIG. 3, and flows into the dust collecting unit 30 through the inflow port 34a. The airflow that has flowed into the dust collector 30 collects dust by the filter 33 and flows out of the dust collector 30 through the outlet 35a. Thereby, dust is collected and accumulated in the dust collecting container 31. The airflow flowing out from the dust collection unit 30 flows forward through the second intake passage 12 as indicated by an arrow A2 and flows into the electric blower 22 of the motor unit 20.

The airflow that has passed through the electric blower 22 is exhausted upward and rearward as indicated by an arrow A3 from the exhaust port 7 provided on the upper surface of the main body housing 2. Note that an ion generator (not shown) is provided in the vicinity of the electric blower 22, and an airflow containing ions is exhausted from the exhaust port 7.

As described above, the room is cleaned and ions contained in the exhaust gas of the self-propelled self-propelled cleaner 1 are distributed into the room to be sterilized and deodorized in the room. At this time, since the air is exhausted upward from the exhaust port 7, it is possible to prevent the dust on the floor surface F from being rolled up and improve the cleanliness of the room.

A part of the airflow including ions flowing through the second intake passage 12 may be guided to the recess 8. If comprised in this way, ion will be contained in the airflow guide | induced to the 1st intake path 11 from the suction inlet 6. FIG. Thereby, sterilization and deodorization of the dust collection container 31 and the filter 33 of the dust collection part 30 can be performed.

The charging stand 40 is a device for charging the battery 14 of the self-propelled cleaner 1, and the charging stand 40 includes therein a charging circuit for controlling charging of the battery 14.

As shown in FIG. 7, on the front surface of the charging stand 40 (the surface facing the peripheral surface of the main body housing 2), the self-propelled cleaner is located at a position where it can contact the charging terminal 4 of the self-propelled cleaner 1. The same number of power supply terminals 41 as the one charging terminal 4 are provided. The power supply terminal 41 protrudes from the front surface of the charging stand 40 in a state where it is not in contact with anything, and can be pushed back until the front end surface of the power supply terminal 41 and the front surface of the charging stand 40 become substantially flat. . When the charging terminal 4 of the self-propelled cleaner 1 is in contact (electrically connected) with the power supply terminal 41 of the charging base 40 and is pushed until the front end surface of the power supply terminal 41 becomes substantially flat with the front surface of the charging base 40. The electric current from the commercial power source connected to the charging stand 40 flows through the self-propelled cleaner 1 in conduction with the contact. In this state, the battery 14 can be charged.

Further, the charging stand 40 is configured to transmit a feedback signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41. When the self-propelled cleaner 1 detects the end of cleaning or the charge amount of the battery 14 falls below a predetermined value, the self-propelled cleaner 1 detects the feedback signal emitted from the charging base 40 and the charging base 40 is installed. Return home automatically. Here, the end of cleaning may be detected, for example, by detecting that the self-propelled cleaner 1 has moved a certain distance or a certain time has passed, or by detecting the cleaning state of the cleaning area with a sensor or the like. Good. Alternatively, the self-propelled cleaner 1 receives an instruction prompting the user to return to the charging stand 40 such as a cleaning end instruction or an interruption instruction from the operation panel 50 or a remote control device described later or a terminal device connected by wireless communication. It may be done.

In this embodiment, an infrared signal is transmitted as a feedback signal indicating the installation location of the charging base 40 and the position of the power supply terminal 41, but a signal other than the infrared signal may be transmitted. The feedback signal is always transmitted if the charging stand 40 is connected to a commercial power source and the self-propelled cleaner 1 is away from the charging stand 40.

In the present embodiment, the self-propelled cleaner 1 detects the return signal, moves forward (in other words, moves the front face in the direction of travel), and returns to the vicinity of the place where the charging stand 40 is installed. It stops and turns around the center line C of the main body housing 2 until the charging terminal 4 comes to a position facing the power supply terminal 41. Thereafter, the main body housing 2 starts retreating (in other words, the rear surface is moved in the traveling direction). In the self-propelled cleaner 1, after the charging terminal 4 comes into contact with the power supply terminal 41, the self-propelled cleaner 1 is further retracted so that the front end surface of the power supply terminal 41 in contact with the charging terminal 4 and the front surface of the charging stand 40 are substantially flat. When it reaches a position (position where the pushing back of the power supply terminal 41 stops, docking position), the power supply from the power supply terminal 41 is detected and the backward movement is stopped. Charging is performed in this stopped state. In addition, the process regarding the return of the self-propelled cleaner 1 and the docking of the charging terminal 4 and the power supply terminal 41 (the docking of the self-propelled cleaner 1 and the charging stand 40) can use a known technique.

For docking between the charging terminal 4 and the power supply terminal 41, for example, a rear sensor is installed on the back surface (rear end) of the main body housing 2, and the self-propelled cleaner 1 is moved backward while detecting a return signal with the rear sensor. Can be done. When the rear sensor no longer detects the feedback signal, the self-propelled cleaner 1 is rotated forward (clockwise) or reversely (counterclockwise) by a small amount around the center line C of the main body housing 2 to return the feedback signal. After detecting, move backwards. In this way, the positions of the charging terminal 4 and the power feeding terminal 41 can be aligned by retracting the main body housing 2 while always detecting the feedback signal.

Note that both the rear sensor and the charging terminal 4 are preferably provided on a line parallel to the rotation shaft 29 a of the drive wheel 29. If provided in this way, the rear sensor moves backward while maintaining detection of the feedback signal from the charging stand 40, and the charging terminal 4 can be appropriately connected to the power feeding terminal 41.

Moreover, the self-propelled cleaner 1 can drive the electric blower 22 and the ion generating device in a state where the charging terminal 4 and the power feeding terminal 41 are connected by setting, that is, while the battery 14 is being charged and after the charging is completed. It may be configured as follows. If comprised in this way, the airflow containing ion will be discharge | released upwards and backwards from the exhaust port 7 during charge and after completion | finish of charge. Since the charging terminal 4 is provided at the rear end of the main body housing 2, the airflow including ions flows in the direction of the charging stand 40. Here, when the back surface of the charging stand 40 is installed along the indoor side wall S, the airflow including ions rises along the side wall S. The airflow circulates along the indoor ceiling wall and the opposite side wall. Accordingly, the ions are spread throughout the room, and the sterilizing effect and the deodorizing effect can be improved.

In addition, the self-propelled cleaner 1 is provided with an environment detection unit that detects the state of the surrounding environment. Based on the state of the surrounding environment detected by the environment detection unit, the self-propelled cleaner 1 stays at a specific location for a certain period of time, and the exhaust port 7 It may be configured to release an air stream containing ions from.

In this embodiment, the self-propelled cleaner 1 can be operated from the terminal device 200 connected via the communication network 300 as described above, in addition to the operation panel 50 provided in the self-machine. Furthermore, the self-propelled cleaner 1 may include a voice input unit 63 as will be described later, and may be configured to allow voice input operations.

Moreover, the self-propelled cleaner 1 includes a sound output unit 64 as described later, and is configured to output sound data stored in the self-propelled cleaner 1.

In addition, the self-propelled cleaner 1 is provided with various sensors, and is configured to avoid obstacles and to be able to self-propel without falling off the steps or stairs. Examples of such sensors include a cliff sensor (step detection sensor), an obstacle detection sensor, a human sensor, a CCD (Charge-Coupled Device) camera, and the like. These are merely examples and need not all be provided. The cliff sensor and the human sensor can be configured by, for example, an infrared sensor, and the obstacle detection sensor can be configured by, for example, an ultrasonic sensor.

Moreover, the self-propelled cleaner 1 includes a temperature measurement unit and an odor measurement unit as will be described later, and is controlled to perform cleaning, ion emission, and the like according to each measurement result. Furthermore, the self-propelled cleaner 1 includes, for example, an acceleration sensor, a distance detection sensor, an angle sensor, and the like, and the operation during cleaning may be controlled.

In the present embodiment, the self-propelled cleaner 1 is described as a suction-type cleaner, but the self-propelled cleaner 1 can be applied to, for example, a mop-type cleaner. Self-propelled cleaner 1 may be not only for home use but also for business use.

In the present embodiment, the self-propelled cleaner 1 includes the ion generator 62, but it is not always necessary.

(Functional configuration of self-propelled vacuum cleaner)
Next, the functional configuration of the self-propelled cleaner 1 will be described. As shown in FIG. 8, the self-propelled cleaner 1 includes a control unit 52, a communication unit 53, an operation panel 50, an LED lamp lighting unit 54, an LED lamp 51, a voltage detection unit 55, a charging terminal 4, a battery 14, and photographing. Unit 56, storage unit 57, travel drive unit 58, rotary brush drive unit 59, rotary brush 9, side brush drive unit 60, side brush 10, drive wheel 29, blower 61, ion generator 62, voice input unit 63, An audio output unit 64, a level difference detection unit 65, an odor measurement unit 66, a temperature measurement unit 67, and a collision detection unit 68 are provided. Description of the previously described members is omitted.

Based on the program and data stored in the storage unit 57, the data input from the previous operation panel 50, the program and data received from the external device, etc., the control unit 52 includes each program in the self-propelled cleaner 1. This block controls and controls the block.

The communication unit 53 is a block that transmits and receives data to and from the external device and the terminal device 200. A control signal for controlling the self-propelled cleaner 1 is received from the terminal device 200. Further, data stored in the self-propelled cleaner 1 and data measurable by the self-propelled cleaner 1 are transmitted to the terminal device 200. The communication unit 53 also receives a feedback signal from the charging stand 40.

The LED lamp lighting unit 54 is a block that supplies driving current to the LED lamp 51 and controls the lighting of the LED lamp 51. The LED lamp lighting unit 54 changes the lighting color and lighting pattern in accordance with the state of the self-propelled cleaner 1. For example, cleaning mode for cleaning, charging mode for charging, ion generation without cleaning (ion generation will be described later), emergency mode for emergency , The color and lighting pattern may be changed.

The voltage detection unit 55 is a block that detects the voltage of the battery 14, and obtains the charge amount of the battery 14 from the detected voltage. The charging terminal 4 is electrically connected to the battery 14.

The storage unit 57 includes (1) a control program executed by the control unit 52 of the self-propelled cleaner 1, (2) an OS program executed by the control unit 52, and (3) the control unit 52 of the self-propelled cleaner 1 And (4) various data to be read when the application program is executed. Alternatively, (5) the control unit 52 stores data and calculation results used for calculations in the course of executing various functions. For example, the above data (1) to (4) include ROM (read only memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), HDD (Hard Disc Drive), etc. It is stored in a non-volatile storage device. For example, the data (5) is stored in a volatile storage device such as a RAM (Random Access Memory).

Further, the storage unit 57 stores various condition settings relating to the operation of the self-propelled cleaner 1 received from the terminal device 200 via the operation panel 50 or the communication unit 53. Furthermore, the storage unit 57 may store a travel map around the installation location of the self-propelled cleaner 1. The travel map is information related to travel such as the travel route and travel speed of the self-propelled cleaner 1 or information related to the area to be cleaned. The travel map may be set in advance by the user and stored in the storage unit 57, or the self-propelled cleaner 1 itself may be automatically recorded.

The traveling drive unit 58 includes a motor driver, a drive wheel motor, and the like, and is a block that determines the rotation direction, the rotation angle, and the like based on a control signal from the control unit 52 and drives the drive wheels 29.

The rotary brush drive unit 59 includes a motor driver, a rotary brush motor, and the like, and is a block that determines the number of rotations and the like based on a control signal from the control unit 52 and drives the rotary brush 9.

The side brush drive unit 60 includes a motor driver, a side brush motor, and the like, and is a block that determines the number of rotations and the like based on a control signal from the control unit 52 and drives the side brush 10.

The blower 61 corresponds to the motor unit 20 described above, and includes the electric blower 22 and the like, and is a device that performs intake and exhaust from the inside of the main body housing 2.

The ion generation device 62 is a device that generates ions when driven under the control of the control unit 52. In the present embodiment, the ion generator 62 is assumed to be a plasma cluster ion (registered trademark) generator. Therefore, the ion generator 62 is provided with a plasma cluster ion generating element, and the plasma cluster ion generating element includes a positive ion generating unit that generates positive ions and a negative ion generating unit that generates negative ions. Yes. Such an ion generating element is disclosed in detail in Japanese Patent Application Laid-Open No. 2002-58731 filed earlier by the present applicant.

The ions generated from the ion generator 62 are discharged to the outside of the main body housing 2 by the blower 61. The self-propelled cleaner 1 can execute the cleaning operation and the ion generation operation at the same time under the control of the control unit 52, and can also execute the cleaning operation and the ion generation operation independently. It is.

The voice input unit 63 is a voice input device such as a microphone, and inputs voice to the self-propelled cleaner 1 from the outside.

The audio output unit 64 is an audio output device such as a speaker, and outputs audio to the outside in accordance with audio data stored in the storage unit 57 or audio data acquired from the outside.

The level difference detection unit 65 is a sensor that detects a level difference on the traveling surface of the self-propelled cleaner 1, and includes, for example, a cliff sensor.

The odor measuring unit 66 is an odor sensor that measures the odor around the self-propelled cleaner 1, and includes, for example, a gas sensor.

The temperature measuring unit 67 is a temperature sensor that measures the air temperature around the self-propelled cleaner 1, and includes, for example, a thermistor.

The collision detection unit 68 is a contact sensor that detects that the bumper 5 has collided with an obstacle.

Next, detailed configurations of the storage unit 57 and the control unit 52 will be described with reference to FIGS.

(Detailed configuration of the storage unit of the self-propelled cleaner)
As shown in FIG. 9, the storage unit 57 includes an operation history storage unit (storage unit) 571, a previous operation history storage unit 572, a progress information storage unit 573, a driving reservation information storage unit 574, a message reservation information storage unit 575, a utterance. A reservation information storage unit 576 and a setting information storage unit 577 are included.

The operation history storage unit 571 stores information related to the current operation of the self-propelled cleaner 1. Typical examples of information to be stored are (H1) information relating to photographing by the photographing unit 56, (H2) information relating to start of operation, (H3) information relating to measurement of the remaining battery level of the battery 14, and (H4) relating to collision with an obstacle. Information, but not limited to these.

In the present embodiment, when storing the above (H1), the operation history storage unit 571 stores the shooting date and time, a message indicating that shooting has been performed, and the shot still image in association with each other.

In the present embodiment, when the above (H2) is stored, the operation history storage unit 571 stores the operation start date and time and a message indicating that the operation is started in association with each other.

In the present embodiment, when the above (H3) is stored, the operation history storage unit 571 stores the measurement date and time of the remaining battery level and a message indicating the outline of the remaining battery level in association with each other. The message indicating the outline of the remaining battery level is set in association with the remaining battery level as in the example shown in FIG. The message may be set in advance in the self-propelled cleaner 1 or may be set by the user.

Note that the operation history storage unit 571 may be configured to store the battery remaining amount itself in place of or in addition to the message indicating the outline of the remaining battery amount.

In the present embodiment, when the above (H4) is stored, the operation history storage unit 571 stores the collision date and time and a message representing the outline of the collision situation in association with each other. The message representing the outline of the collision situation is set in association with the number of collisions as in the example shown in FIG. The message may be set in advance in the self-propelled cleaner 1 or may be set by the user.

Note that the operation history storage unit 571 may be configured to store the number of collisions in place of or in addition to the message representing the outline of the collision situation.

An example of data stored in the operation history storage unit 571 will be described with reference to FIG. FIG. 12 is a schematic diagram illustrating an example of data stored in the operation history storage unit 571.

In the example shown in the figure, data D11 is stored as an example of the above (H1). Note that “Taro” in the message “Taro took a picture!” Indicating that the image has been taken is the name of the self-propelled cleaner 1 stored in the setting information storage unit 577.

Further, data D13 and D15 are stored as an example of the above (H2). Further, as an example of the above (H3), data D12 is stored. Data D14 and D16 are stored as an example of (H4).

Next, the previous operation history storage unit 572 will be described. The previous operation history storage unit 572 stores information related to the operation when the self-propelled cleaner 1 is operated last time. Typical examples of information to be stored are (J1) the date and time of the previous operation start, (J2) information related to the measurement of the remaining amount of the battery 14 at the end of the previous operation, and (J3) information related to the collision with the obstacle during the previous operation , (J4) information related to travel during the previous operation, (J5) information related to measurement by the temperature measurement unit 67 during the previous operation, and (J6) information related to measurement by the odor measurement unit 66 during the previous operation. Is not to be done.

In the present embodiment, when the above (J2) is stored, the previous operation history storage unit 572 stores a message representing an outline of the remaining battery level. Note that the previous operation history storage unit 572 may be configured to store the remaining battery capacity itself instead of or in addition to the message representing the outline of the remaining battery capacity.

Further, when the above (J3) is stored in the present embodiment, the previous operation history storage unit 572 stores a message representing an outline of the collision situation. Note that the previous operation history storage unit 572 may be configured to store the number of collisions themselves instead of or in addition to the message representing the outline of the collision situation.

Further, when the above (J4) is stored in the present embodiment, the previous operation history storage unit 572 stores a message representing the travel distance during the previous operation. The message representing the travel distance is set in association with the travel distance as in the example shown in FIG. The message may be set in advance in the self-propelled cleaner 1 or may be set by the user. The previous operation history storage unit 572 may be configured to store the travel distance itself instead of or in addition to the message indicating the travel distance.

Further, when the above (J5) is stored in the present embodiment, the previous operation history storage unit 572 stores the temperature measured by the temperature measurement unit 67 during the previous operation. Note that the previous operation history storage unit 572 may be configured to store a message indicating temperature instead of or in addition to the temperature.

Further, when (J6) is stored in the present embodiment, the previous operation history storage unit 572 stores a message representing the odor measured by the odor measurement unit 66 during the previous operation. The message representing the odor is set in association with the value (voltage calculation value) detected by the odor measurement unit 66 as in the example shown in FIG. The reference value 1 and the reference value 2 shown in FIG. 14 are appropriately determined according to the values set in the sensitivity setting of the odor measuring unit 66. When the value detected by the odor measuring unit 66 takes a value of 0 or more and 1 or less, for example, the reference value 1 is 0 and the reference value 2 is 0.5. That is, when the value detected by the odor measuring unit 66 is 0, the message “It was a very good odor” is associated, and the value detected by the odor measuring unit 66 is greater than 0 and 0.5. If the value is less than 0.5, the message “It was a good smell” is associated, and if the value detected by the odor measuring unit 66 is 0.5 or more, the message “It was not a good smell” is associated. It has been. However, this association is merely an example.
The message may be set in advance in the self-propelled cleaner 1 or may be set by the user. The previous operation history storage unit 572 may be configured to store the odor value itself instead of or in addition to the message indicating the odor.

An example of data stored in the previous operation history storage unit 572 will be described with reference to FIG. FIG. 15 is a schematic diagram illustrating an example of data stored in the previous operation history storage unit 572.

In the example shown in the figure, data D21 is stored as an example of the above (J1). Further, as an example of the above (J2), data D22 is stored. Data D23 is stored as an example of the above (J3). Further, data D24 is stored as an example of the above (J4). Data D25 is stored as an example of the above (J5). Data D26 is stored as an example of the above (J6).

Next, the progress information storage unit 573 will be described. The progress information storage unit 573 stores information for obtaining various kinds of progress information. Typical examples of information to be stored are (L1) the day when the main power source of the self-propelled cleaner 1 is first turned on and activated, (L2) the total travel distance of the self-propelled cleaner 1 up to the present time, (L3) Although it is the day when the dust collection part 30 was removed last time, it is not limited to these.

The above (L1) can be regarded as the day when the self-propelled cleaner 1 meets the user. Therefore, the elapsed days from the date of encounter can be calculated using (L1).

Further, the above (L3) can be regarded as the day when the dust collected in the dust collecting unit 30 last time was discarded. Therefore, the number of days that have passed since the dust was discarded last time can be calculated using (L3) above.

The elapsed days from the previous operation date can be calculated from the above (J1) stored in the previous operation history storage unit 572, but the previous operation date is stored in the progress information storage unit 573. There may be.

An example of data stored in the progress information storage unit 573 will be described with reference to FIG. FIG. 16 is a schematic diagram illustrating an example of data stored in the progress information storage unit 573.

In the example shown in the figure, data D31 is stored as an example of the above (L1). Further, as an example of the above (L2), data D32 is stored. Further, as an example of the above (P3), data D33 is stored.

Next, the driving reservation information storage unit 574 will be described. The driving reservation information storage unit 574 stores the driving start reserved time of the self-propelled cleaner 1 for each day of the week. The data stored in the driving reservation information storage unit 574 is updated by a reservation management unit 5213 described later.

An example of data stored in the driving reservation information storage unit 574 will be described with reference to FIG. FIG. 17 is a schematic diagram illustrating an example of data stored in the driving reservation information storage unit 574. In the example shown in the figure, it is stored that the scheduled operation start time for Sunday, Tuesday, Thursday, and Saturday is 10:00. In the example shown in the figure, the operation start reservation time is not set on Monday, Wednesday, and Friday, so the operation is not executed.

Next, the message reservation information storage unit 575 will be described. The message reservation information storage unit 575 stores the voice input by the user at the terminal device 200 and transmitted to the self-propelled cleaner 1 in association with the output reservation date and time from the voice output unit 64. Note that the data stored in the message reservation information storage unit 575 is updated by the reservation management unit 5213.

An example of data stored in the message reservation information storage unit 575 will be described with reference to FIG. FIG. 18 is a schematic diagram illustrating an example of data stored in the operation history storage unit 571. In the example shown in the figure, it is stored that the voice data indicated by the file name “voicesample.wav” is output from the voice output unit 64 at 10:47 on December 12, 2011.

Next, the utterance reservation information storage unit 576 will be described. The utterance reservation information storage unit 576 stores a voice message preset in the self-propelled cleaner 1 in association with the output reservation date and time from the voice output unit 64. Note that the data stored in the utterance reservation information storage unit 576 is updated by the reservation management unit 5213.

An example of data stored in the utterance reservation information storage unit 576 will be described with reference to FIG. FIG. 19A is a schematic diagram illustrating an example of data stored in the utterance reservation information storage unit 576. In the example shown in the figure, it is stored that the voice message “Thank you” is output from the voice output unit 64 at 10:47 on December 15, 2011. Note that, as in the example shown in FIG. 19B, one or more types of voice messages are preset in the self-propelled cleaner 1.

Next, the setting information storage unit 577 will be described. The setting information storage unit 577 stores various setting information of the self-propelled cleaner 1.

Typical examples of information to be stored are (N1) the name of the self-propelled cleaner 1, (N2) the operating range in the spot 2 mode described later (for example, 2m / 3m / 4m), (N3) the self-propelled cleaner 1 character (eg, pig / cat / smile / red polka dot / shibafu / none), (N4) language used when the self-propelled vacuum cleaner 1 speaks (eg, standard Japanese / Kansai dialect / (English / Chinese), (N5) Personality of self-propelled vacuum cleaner 1 (for example, emotion type with long emotional duration (also expressed as “Kibikibi”) / moderate type with normal emotional duration (“tantan” ) / Tolerance type with short duration of emotion (also referred to as “loose”)), (N6) presence / absence of operation sound of operation panel 50, and (N7) user's birthday, but not limited thereto Is not to be done. FIG. 20 is a schematic diagram illustrating an example of data stored in the setting information storage unit 577. In the example shown in FIG. 20, data D31 to D37 are stored as an example of the above (N1) to (N7). Various types of information stored in the setting information storage unit 577 can be set by the user. The setting method will be described later.

(Detailed configuration of the control part of the self-propelled vacuum cleaner)
Next, the control unit 52 will be described in detail. As shown in FIG. 9, the control unit 52 includes a command processing unit 5201, a battery remaining amount measurement unit (storage unit) 5202, an imaging control unit (storage unit) 5203, an operation management unit (storage unit) 5204, and a travel control unit 5205. , Feedback control unit 5206, collision management unit (storage means) 5207, odor management unit 5208, temperature management unit 5209, attachment / detachment management unit 5210, ion generation control unit 5211, data acquisition unit (transmission unit) 5212, reservation management unit 5213, A setting information management unit 5214 and a connection processing unit 5215 are included.

The command processing unit 5201 analyzes a command included in data received from the terminal device 200 via the communication unit 53, and causes each unit of the self-propelled cleaner 1 to execute processing according to the command.

Next, the battery remaining amount measuring unit 5202 measures the remaining amount of the battery 14. When the command received by the command processing unit 5201 includes an acquisition request for the remaining battery level of the battery 14, the remaining battery level measurement unit 5202 measures the remaining battery level of the battery 14 via the voltage detection unit 55. At the same time, the measured remaining battery level is transmitted to the terminal device 200.

Furthermore, the remaining battery level measuring unit 5202 measures the remaining battery level of the battery 14 during the operation of the self-propelled cleaner 1. Each time the measured remaining battery level reaches a predetermined reference value, a message indicating the outline of the remaining battery level and the date and time when the remaining battery level is measured are associated with each other and stored in the operation history storage unit 571.

Further, the remaining battery level measuring unit 5202 measures the remaining battery level of the battery 14 at the end of the operation of the self-propelled cleaner 1, and a message indicating an outline of the measured remaining battery level is stored in the previous operation history storage unit 572. Store.

Next, the shooting control unit 5203 controls the shooting unit 56 to execute shooting. When the command received by the command processing unit 5201 includes an instruction to shoot a still image around the self-propelled cleaner 1, the shooting control unit 5203 drives the shooting unit 56 and the travel drive unit 58 to drive itself. A still image around the traveling vacuum cleaner 1 is taken. Specifically, the self-propelled vacuum cleaner 1 is rotated 90 degrees around the center line C, and a total of four still images of front, rear, left and right are sequentially photographed. Then, the captured four still images are stored in the operation history storage unit 571 in association with a message indicating that the shooting has been performed and the shooting date and time.

When the command received by the command processing unit 5201 includes a moving image shooting instruction, the shooting control unit 5203 drives the shooting unit 56 to take a moving image and displays the moving image as a terminal device. 200 is streamed.

Further, when the command processing unit 5201 receives a command including a still image shooting instruction during the operation of the self-propelled cleaner 1, the shooting control unit 5203 causes the shooting unit 56 to take a still image, and The still image is transmitted to the terminal device 200.

Next, the operation management unit 5204 gives instructions to each unit related to the operation according to the start, temporary suspension, restart, and end of the operation of the self-propelled cleaner 1. Then, when the self-propelled cleaner 1 starts operation, the message indicating that the operation is started and the operation start date and time are associated with each other and stored in the operation history storage unit 571. In addition, the operation start date and time is stored in the previous operation history storage unit 572.

In addition, when the self-propelled cleaner 1 finishes the operation, the operation management unit 5204 instructs the feedback control unit 5206 so that the self-propelled cleaner 1 returns to the charging stand 40.

Further, when the return processing to the charging stand 40 is completed, a message indicating an outline of the travel distance in the current driving is stored in the previous operation history storage unit 572, and the total travel distance so far is stored as the progress information storage unit 573. To store. The travel distance can be measured using the encoder of the travel drive unit 58.

Next, when the command received by the command processing unit 5201 includes an instruction of the traveling direction of the self-propelled cleaner 1, the traveling control unit 5205 changes the traveling direction according to the instruction. 58 is controlled.

Next, when the command received by the command processing unit 5201 includes a return instruction to the charging stand 40 of the self-propelled cleaner 1, the feedback control unit 5206 travels so as to return to the charging stand 40. The drive unit 58 is controlled. Similarly, when there is a return instruction from the operation management unit 5204, the traveling drive unit 58 is controlled so as to return to the charging stand 40. In addition, when the return process to the charging stand 40 is completed, the success or failure of the return is transmitted to the terminal device 200.

The battery 14 is charged when returning to the charging stand 40. When the charging of the battery 14 is completed, the ion generation control unit 5211 may drive the ion generator 62 to generate ions.

Next, the collision management unit 5207 counts the number of times the self-propelled cleaner 1 has collided with an obstacle. Specifically, the collision management unit 5207 counts the number of collisions each time a collision is detected by the collision detection unit 68 during the operation of the self-propelled cleaner 1. Each time the counted number of collisions reaches a predetermined reference value, the message representing the outline of the collision situation and the date and time are stored in the operation history storage unit 571 in association with each other.

Furthermore, when the operation of the self-propelled cleaner 1 ends, the collision management unit 5207 stores a message representing the outline of the collision situation in the previous operation history storage unit 572 according to the number of collisions counted in the operation.

The collision management unit 5207 resets the counted number of collisions to an initial value (usually “0”) after the operation of the self-propelled cleaner 1 is completed.

Next, when the command received by the command processing unit 5201 includes an acquisition request for the odor around the self-propelled cleaner 1, the odor management unit 5208 measures the odor to the odor measurement unit 66. Instruct. Then, the measured odor value and a message representing the odor are transmitted to the terminal device 200.

Further, the odor management unit 5208 instructs the odor measurement unit 66 to measure the odor during the operation of the self-propelled cleaner 1, and displays a message indicating the odor having the highest value among the measured values. When the operation of the vacuum cleaner 1 is completed, it is stored in the previous operation history storage unit 572.

Next, when the command received by the command processing unit 5201 includes an acquisition request for the temperature around the self-propelled cleaner 1, the temperature management unit 5209 measures the temperature with respect to the temperature measurement unit 67. Instruct. Then, the measured temperature is transmitted to the terminal device 200.

Furthermore, the temperature management unit 5209 instructs the temperature measurement unit 67 to measure the temperature during the operation of the self-propelled cleaner 1, and the highest temperature is measured. Stored in the previous operation history storage unit 572 at the end of operation.

Next, the attachment / detachment management unit 5210 detects the attachment / detachment state of the dust collection unit 30. When it is detected that the dust collection unit 30 is removed, the detected date is stored in the progress information storage unit 573 as the date when the dust collection unit 30 was removed last time.

Next, the reservation management unit 5213 manages the driving reservation information storage unit 574, the message reservation information storage unit 575, and the utterance reservation information storage unit 576.

First, the reservation management unit 5213 instructs the operation management unit 5204 to start operation of the self-propelled cleaner 1 when the operation start reservation date and time stored in the operation reservation information storage unit 574 is reached.

Also, the reservation management unit 5213 causes the voice output unit 64 to output the voice stored in the message reservation information storage unit 575 when the reservation date and time stored in the message reservation information storage unit 575 is reached.

The reservation management unit 5213 causes the voice output unit 64 to output the voice message stored in the utterance reservation information storage unit 576 when the reservation date and time stored in the utterance reservation information storage unit 576 is reached.

Furthermore, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the driving reservation information storage unit 574, the reservation management unit 5213 follows the acquisition request and the driving reservation information storage unit 574. Is acquired, and the acquired data is transmitted to the terminal device 200. Similarly, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the message reservation information storage unit 575, the reservation management unit 5213 determines that the message reservation information storage unit is in accordance with the acquisition request. The data stored in 575 is acquired, and the acquired data is transmitted to the terminal device 200. Similarly, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the utterance reservation information storage unit 576, the reservation management unit 5213 determines that the utterance reservation information storage unit is in accordance with the acquisition request. The data stored in 576 is acquired, and the acquired data is transmitted to the terminal device 200.

On the other hand, when the command received by the command processing unit 5201 includes a data storage request to the driving reservation information storage unit 574, the reservation management unit 5213 receives the data received by the command processing unit 5201 according to the storage request. Stored in the driving reservation information storage unit 574. Similarly, when the command received by the command processing unit 5201 includes a request to store data in the message reservation information storage unit 575, the reservation management unit 5213 receives the data received by the command processing unit 5201 according to the storage request. Is stored in the message reservation information storage unit 575. Similarly, when the command received by the command processing unit 5201 includes a data storage request to the utterance reservation information storage unit 576, the reservation management unit 5213 receives the data received by the command processing unit 5201 according to the storage request. Is stored in the utterance reservation information storage unit 576.

Next, the setting information management unit 5214 manages the setting information storage unit 577. When the command received by the command processing unit 5201 includes an acquisition request for data stored in the setting information storage unit 577, the setting information management unit 5214 is stored in the setting information storage unit 577 according to the acquisition request. The acquired data is acquired, and the acquired data is transmitted to the terminal device 200. On the other hand, when the command received by the command processing unit 5201 includes a data storage request to the setting information storage unit 577, the setting information management unit 5214 displays the data received by the command processing unit 5201 as the setting information storage unit. 577 is stored.

Next, the ion generation controller 5211 controls the ion generator 62. When the command received by the command processing unit 5201 includes an instruction to switch the driving and stopping of the ion generating device 62, the driving and stopping of the ion generating device 62 are switched.

Next, the data acquisition unit 5212 transmits the data stored in the operation history storage unit 571, the previous operation history storage unit 572, and the progress information storage unit 573 to the terminal device 200 via the communication unit 53. is there.

Specifically, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the operation history storage unit 571, the command is stored in the operation history storage unit 571 according to the acquisition request. Data is acquired and the acquired data is transmitted to the terminal device 200.

In addition, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the previous operation history storage unit 572, the data acquisition unit 5212 performs the previous operation history storage unit 572 according to the acquisition request. Is acquired, and the acquired data is transmitted to the terminal device 200.

In addition, when the command received by the command processing unit 5201 includes an acquisition request for data stored in the progress information storage unit 573, the data acquisition unit 5212 stores the data in the progress information storage unit 573 according to the acquisition request. The acquired data is acquired, and the acquired data is transmitted to the terminal device 200.

The connection processing unit 5215 performs various processes related to the connection with the terminal device 200. Specifically, wireless communication setting processing, wireless communication ON / OFF processing, pairing processing with the terminal device 200, and login / logout processing from the terminal device 200 are performed.

(Configuration of terminal device)
Next, the configuration of the terminal device 200 will be described with reference to FIG. FIG. 21 is a block diagram illustrating a configuration of the terminal device 200.

As shown in the figure, the terminal device 200 includes a control unit 201, a storage unit 202, a communication unit 203, and an input / output panel (display unit) 204. Furthermore, an audio input unit 205, an audio output unit 206, an imaging unit 207, and an acceleration sensor 208 may be provided.

The control unit 201 controls each block in the terminal device 200 based on programs and data stored in the storage unit 202, data input from the input / output panel 204, programs and data received from an external device, and the like. Control block. A detailed configuration of the control unit 201 will be described later.

The storage unit 202 stores various programs executed by the control unit 201, various data used and created when executing the various programs, various data input to the terminal device 200, and the like. A nonvolatile memory device such as a flash memory, an EPROM, an EEPROM (registered trademark), an HDD, or a volatile memory device such as a RAM is used.

In the present embodiment, the storage unit 202 inputs / outputs various modules for operating the self-propelled cleaner 1 and data transmitted / received to / from the self-propelled cleaner 1 through the input / output panel 204. An application (hereinafter referred to as an operation application) including various modules for storing the information is stored. The operation application may be stored in advance in the storage unit 202 at the time of shipment of the terminal device 200, or a server device of a company that provides the self-propelled cleaner 1 or a company that provides an operation application. It may be obtained from the server device.

The communication unit 203 is a block that transmits and receives data to and from an external device including the self-propelled cleaner 1 via the communication network 300. In particular, the communication unit 203 transmits an operation signal for operating the self-propelled cleaner 1 to the self-propelled cleaner 1, data stored in the self-propelled cleaner 1, and the self-propelled cleaner. The data acquired in 1 is received from the self-propelled cleaner 1.

The input / output panel 204 is a touch panel in which an input function and a display function are integrated. The input / output panel 204 accepts input of various data through operations such as a user's finger contact and a stylus, and displays various data. . Instead of the input / output panel 204, an input unit having an input function and a display unit having a display function may be provided.

The voice input unit 205 is a voice input device such as a microphone, and inputs voice to the terminal device 200 from the outside.

The audio output unit 206 is an audio output device such as a speaker, and outputs audio to the outside in accordance with audio data stored in the storage unit 202 or audio data acquired from the outside.

The imaging unit 207 captures a moving image and a still image, and includes an optical lens, a color filter, a CCD (Charge Coupled Device) that is a light receiving element, and the like.

The acceleration sensor 208 detects the tilt of the terminal device 200.

(Example of screen displayed on input / output panel 204)
Next, an example of each screen displayed on the input / output panel 204 when the control unit 201 executes the operation application will be described with reference to FIGS. The screen described here and various information displayed on the screen are merely examples, and the present invention is not limited to these.

In addition, each screen displayed on the input / output panel 204 by executing the operation application and various information displayed on the screen may be appropriately changed according to the model of the self-propelled cleaner 1. . In addition, in the model which is not provided with the odor measurement part 66, the information regarding an odor is not displayed.

(Home Screen)
First, the home screen 400 will be described with reference to FIG. FIG. 22 is a schematic diagram illustrating an example of the home screen 400.

After the operation application is started and the login to the self-propelled cleaner 1 is completed, the home screen 400 which is the main screen of the operation application is displayed on the input / output panel 204.

As shown in the figure, the home screen 400 includes a ticker display area 401, a history display area 402, a current status display area 403, a menu button display area 404, and a setting button display area 405.

The ticker display area 401 is an area for displaying the previous operation history of the self-propelled cleaner 1, and specifically displays data acquired from the previous operation history storage unit 572 of the self-propelled cleaner 1. When the data stored in the previous operation history storage unit 572 is the above-described (J1) to (J6), the ticker display area 401 displays the previous operation date and time, the remaining battery level of the battery 14 at the end of the previous operation. A message indicating an overview, a message indicating an overview of the collision status of the bumper 5 with an obstacle during the previous operation, a message indicating an overview of the mileage during the previous operation, the temperature measured by the temperature measuring unit 67 during the previous operation, and the previous operation A message (for example, “good odor” or the like) indicating the outline of the odor measured by the odor measuring unit 66 is sometimes displayed.

Next, the history display area 402 is an area for displaying various progress information. Specifically, in the history display area 402, first, based on the date when the main power of the self-propelled cleaner 1 was first turned on, acquired from the progress information storage unit 573 of the self-propelled cleaner 1, The number of days elapsed from the day when the self-propelled cleaner 1 and the user meet is displayed (402a). Further, based on the previous operation date acquired from the previous operation history storage unit 572, the number of days elapsed since the previous operation is displayed (402b). In addition, the total travel distance of the self-propelled cleaner 1 acquired from the progress information storage unit 573 is displayed (402c). Further, based on the date when the dust collecting unit 30 was removed last time acquired from the progress information storage unit 573, the number of days elapsed since the last time the dust was discarded is displayed (402d).

Next, a still image of the self-propelled cleaner 1 is displayed in the current status display area 403 (403a). Further, the name of the self-propelled cleaner 1 acquired from the setting information storage unit 577 of the self-propelled cleaner 1 is displayed (403b). In addition, the temperature measured by the temperature measuring unit 67 of the self-propelled cleaner 1 is displayed (403c). Moreover, the message showing the outline of the odor measured by the odor measuring unit 66 of the self-propelled cleaner 1 is displayed (403d).

The still image of the self-propelled cleaner 1 displayed in the current status display area 403 is taken by the photographing unit 207 and stored in the storage unit 202. However, the current status display area 403 is tapped. It is also possible to take a picture again. In addition, when the still image of the self-propelled cleaner 1 is not photographed, a message indicating that there is no still image (“No 等 Photo” or the like) is displayed instead of the still image.

Next, in the menu button display area 404, an observation start button 404a, an operation start button 404b, an album button 404c, and an ion operation switching button 404d are displayed.

When the observation start button 404a is tapped, the screen transitions to an observation screen 420 described later. When the operation start button 404b is tapped, a transition is made to an operation screen 430 described later. When the album button 404c is tapped, a transition is made to a calendar screen 410 described later. When the ion operation switching button 404d is tapped, a command including switching between driving and stopping of the ion generator 62 is transmitted to the self-propelled cleaner 1.

In the setting button display area 405, a reservation setting button 405a, a battery status button 405b, a home screen button 405c, various setting buttons 405d, and a help button 405e are displayed.

When the reservation setting button 405a is tapped, a transition is made to a reservation setting screen 440 described later. When the battery status button 405b is tapped, a transition is made to a battery status display screen 450 described later. When the home screen button 405c is tapped, the screen transitions to the home screen 400. Note that when the home screen button 405c is tapped while the home screen 400 is displayed, only the effect indicating the tapping is executed, and the screen does not transition. When the various setting buttons 405d are tapped, a transition is made to various setting screens 460 described later. When the help button 405e is tapped, the screen transitions to the help screen 470.

The battery status button 405b displays an image corresponding to the remaining battery level of the battery 14. Further, when the remaining battery level of the battery 14 falls below a predetermined value, an image with a batch “!” Is displayed. The image display of the battery status button 405b is the same in the following screens.

Furthermore, a calendar display button 406 may be displayed on the home screen 400. When calendar display button 406 is tapped, transition to calendar screen 410 is made. That is, the calendar display button 406 and the album button 404c have the same function.

(Calendar screen)
Next, the calendar screen 410 will be described with reference to FIG. FIG. 23A is a schematic diagram showing an example of the calendar screen 410. The calendar screen 410 is a screen that displays an operation history of the self-propelled cleaner 1. The calendar screen 410 includes a title display area 411, an album display area 412, and a setting button display area 405.

In the title display area 411, a button 414 for returning to the home screen 400 is displayed together with the title of the calendar screen 410. When the button 414 is tapped, the screen transitions to the home screen 400.

The album display area 412 is an area in which data acquired from the operation history storage unit 571 of the self-propelled cleaner 1 is displayed in chronological order (on the timeline) in order of operation date and time. The album display area 412 can be scrolled in the time axis direction by flicking in the vertical direction.

Further, when information related to shooting is displayed in the album display area 412, a shot still image 413 is also displayed. When the still image 413 is tapped, the still image is enlarged and displayed as shown in an enlarged display screen 415 shown in FIG.

It should be noted that a button for returning to the calendar screen 410 is displayed on the enlarged display screen 415, and when the button is tapped, the screen returns to the calendar screen 410 of the transition source. The enlarged display screen 415 includes a setting button display area 405.

In the setting button display area 405 of the calendar screen 410 and the setting button display area 405 of the enlarged display screen 415, the same buttons as those displayed in the setting button display area 405 of the home screen 400 are displayed.

(Observation screen)
Next, the observation screen 420 will be described with reference to FIG. FIG. 24 is a schematic diagram showing an example of the observation screen 420. The observation screen 420 is a screen for acquiring and displaying the result of observation by the self-propelled cleaner 1. The observation screen 420 includes a captured image display area 421, an indicator display area 422, a temperature / odor display area 423, and a setting button display area 405.

In the photographed image display area 421, a still image around the self-propelled cleaner 1 photographed by the photographing unit 56 of the self-propelled cleaner 1 is displayed. When the observation starts, the self-propelled cleaner 1 drives the photographing unit 56 and the traveling drive unit 58 to rotate 90 degrees around the center line C, and sequentially captures a total of four still images on the front, rear, left and right. To do. For this reason, the captured image display area 421 displays a captured still image every time one still image is captured.

When all four still images are displayed, a message indicating that the shooting has been completed (for example, “Take it!”) Is notified. Thereafter, the screen automatically changes to the home screen 400. This message may be displayed in the observation screen 420 or may be output from the audio output unit 206 of the terminal device 200 as audio.

In the captured image display area 421, a button 424 for returning to the home screen 400 is displayed, and when the button 424 is tapped, the screen transitions to the home screen 400.

In the indicator display area 422, the odor measured by the odor measuring unit 66 of the self-propelled cleaner 1 during the observation is displayed as an image simulating the indicator.

In the temperature / odor display area 423, the temperature measured by the temperature measuring unit 67 of the self-propelled cleaner 1 during the observation and the odor measured by the odor measuring unit 66 of the self-propelled cleaner 1 are displayed. Is displayed (for example, “good smell”).

In the setting button display area 405 of the observation screen 420, the same buttons as those displayed in the setting button display area 405 of the home screen 400 are displayed.

Note that the character image 425 of the self-propelled cleaner 1 is superimposed on the observation screen 420. The character image 425 is the back of the character selected on the character setting screen 462d described later. Displaying the back of the character indicates to the user that the captured still image is captured by the self-propelled cleaner 1.

(Operation screen)
Next, with reference to FIGS. 25 and 26, the operation screen 430 and each screen that transitions from the operation screen 430 will be described. FIG. 25A is a schematic diagram illustrating an example of the operation screen 430. The operation screen 430 is a screen for displaying a moving image photographed during the operation of the self-propelled cleaner 1 in real time and giving instructions executable during the operation. The operation screen 430 includes an image display area 431, an operation menu display area 432, and a setting button display area 405.

The image display area 431 is an area for displaying a moving image shot and streamed by the shooting unit 56 of the self-propelled cleaner 1. In the image display area 431, a shutter button 433 and a microphone button 434 are further displayed.

When the shutter button 433 is tapped, a command including an instruction to shoot a still image is sent to the self-propelled cleaner 1 by the shooting unit 56. Then, the captured still image is acquired from the self-propelled cleaner 1 and stored in the storage unit 202.

When microphone button 434 is tapped, terminal device 200 performs a self-propelled cleaning with a command including an instruction to output the voice input from voice input unit 205 from voice output unit 64 of self-propelled cleaner 1. While transmitting to the machine 1, the audio | voice input from the audio | voice input part 205 is transmitted to the self-propelled cleaner 1.

In the operation menu display area 432, an operation end button 432a, an operation suspension button 432b, a screen vertical / horizontal switching button 432c, and an operation menu button 432d are displayed. The operation suspension button 432b is displayed only during operation.

When the operation end button 432a is tapped, a command including an instruction to end the operation and return to the charging stand 40 is transmitted to the self-propelled cleaner 1. In addition, before transmission, the terminal device 200 may display a confirmation alert for confirming to the user whether or not the operation may be terminated and the charging base 40 may be returned.

Then, while the self-propelled cleaner 1 is returning to the charging stand 40, the screen changes to the returning screen 437 shown in FIG. Further, when the return to the charging stand 40 is successful, the screen changes to a return success screen 438 shown in FIG. 26B, and displays that the return is successful. Thereafter, the screen automatically changes to the home screen 400. In addition, when the return fails, a message to that effect is displayed and the screen automatically changes to the home screen 400.

When the operation suspension button 432b is tapped, a command including an instruction to suspend operation is transmitted to the self-propelled cleaner 1. During the temporary suspension, the screen transits to a temporary suspension screen 439 shown in FIG. 26C, and displays that the suspension is in progress. When the operation restart button 439a on the temporary suspension screen 439 is tapped, a command including an instruction to resume the temporarily suspended operation is transmitted to the self-propelled cleaner 1, and the operation screen 430 is changed.

When the screen vertical / horizontal switching button 432c is tapped, the control unit 201 switches between the vertical screen display illustrated in FIG. 25A and the horizontal screen display illustrated in FIG. On the horizontal screen operation screen 430, an image showing up, down, left, and right arrows 435 is superimposed and displayed in the screen. When the arrow 435 is tapped, a command including an instruction of the traveling direction of the self-propelled cleaner 1 is transmitted to the self-propelled cleaner 1. In addition, the structure which instruct | indicates a advancing direction by inclining the terminal device 200 may be sufficient. In this case, the inclination of the terminal device 200 is detected by the acceleration sensor 208.

When the operation menu button 432d is tapped, a sub menu 436 shown in FIG.

When the menu 436a displayed in the submenu 436 is tapped, a command including the above (G16) is transmitted to the self-propelled cleaner 1, and as a result, the self-propelled cleaner 1 stops traveling and generates ions. Ions are generated from the device 62.

When the menu 436b displayed in the sub menu 436 is tapped, a command including the above (G17) is transmitted to the self-propelled cleaner 1, and as a result, the self-propelled cleaner 1 is operated in the wall-side mode.

When the menu 436c displayed in the sub menu 436 is tapped, a command including the above (G19) is transmitted to the self-propelled cleaner 1, and as a result, the self-propelled cleaner 1 is operated in the spot 1 mode. .

When the menu 436d displayed in the submenu 436 is tapped, a command including the above (G20) is transmitted to the self-propelled cleaner 1, and as a result, the self-propelled cleaner 1 is operated in the spot 2 mode. .

When the menu 436e displayed in the submenu 436 is tapped, the terminal device 200 accesses a website such as SNS (Social Networking Service). For example, the user accesses the Facebook (registered trademark) site.

In addition, the character image 425 of the self-propelled cleaner 1 is superimposed on the operation screen 430 as in the observation screen 420. By displaying the back of the character, the user is shown that the captured moving image is captured by the self-propelled cleaner 1.

In the setting button display area 405 of the operation screen 430, the same buttons as those displayed in the setting button display area 405 of the home screen 400 are displayed.

(Reservation setting screen)
Next, with reference to FIGS. 27 to 30, the reservation setting screen 440 and each screen that changes from the reservation setting screen 440 will be described. FIG. 27 is a schematic diagram showing an example of the reservation setting screen 440. The reservation setting screen 440 is a screen for reserving the operation of the self-propelled cleaner 1. The reservation setting screen 440 includes a title display area 441, a reservation menu area 442, and a setting button display area 405.

In the title display area 441, the title of the reservation setting screen 440 is displayed. In the reservation menu area 442, three types of reservation menus are displayed.

Osanpo reservation menu 442a is a menu for making reservations for operation start times according to days of the week. The oden reservation menu 442b is a menu for the user to record the voice in the self-propelled cleaner 1 and to make a reservation for the output date and time of the recorded voice. The read-up reservation menu 442c is a menu for the user to select a voice message registered in advance in the self-propelled cleaner 1, and to make a reservation for the output date and time of the selected voice message.

Note that FIG. 27A shows a reservation setting screen 440 when nothing has been reserved yet. On the other hand, FIG. 27B shows a reservation setting screen 440 in the case where a reservation has already been made. As shown in (b) of FIG. 27, in the case where a reservation has already been made, the number of reservations is displayed in the walking reservation menu 442a. The number of reservations is the total number of records stored in the operation reservation information storage unit 574 of the self-propelled cleaner 1. In addition, the reservation date and time is displayed in the reservation menu 442b. The reservation date and time is the output reservation date and time stored in the message reservation information storage unit 575 of the self-propelled cleaner 1. In addition, a reservation date and a voice message are displayed in the reading reservation menu 442c. The reservation date and time and the voice message are the output reservation date and time and the voice message stored in the utterance reservation information storage unit 576 of the self-propelled cleaner 1.

When the walk reservation menu 442a is tapped, the operation day selection screen 443 is displayed. Further, when the telephone reservation menu 442b is tapped, a message message registration / date / time setting screen 445 is displayed. When the reading schedule menu 442c is tapped, the screen changes to a reading date setting screen 448.

Next, the screen transition when the walking reservation menu 442a is tapped will be described with reference to FIG. When the walk reservation menu 442a is tapped, a transition is made to a driving day selection screen 443 shown in FIG. FIG. 28A is a schematic diagram illustrating an example of a driving day selection screen 443. On the driving day selection screen 443, it is possible to select a driving reservation time for each day of the week. In addition, when already reserved, the data memorize | stored in the driving reservation information storage part 574 of the self-propelled cleaner 1 are displayed. In the example shown in the figure, a reservation is made at 10:00 on Sundays, Tuesdays, and Thursdays, and a message that there is no reservation on Mondays, Wednesdays, and Fridays ("no walking") is displayed.

When the day of the week column is tapped on the driving day selection screen 443, a transition is made to the driving time selection screen 444 shown in FIG. FIG. 28B is a schematic diagram illustrating an example of the operation time selection screen 444. The operation time selection screen 444 is a screen for setting an operation reservation time. When the Save button 444a is tapped, a reservation at the selected time is set. When the Cancel button 444b is tapped, a confirmation alert for confirming whether or not to cancel the reservation is displayed, and then the reservation is canceled.

In addition, the self-propelled cleaner 1 starts driving when the driving reservation time for the day of the week set on the driving day selection screen 443 and the driving time selection screen 444 is reached.

Next, referring to FIG. 29, the screen transition when the oden reservation menu 442b is tapped will be described. When the telephone reservation menu 442b is tapped, a message message registration / date / time setting screen 445 shown in FIG. FIG. 29A is a schematic diagram showing an example of a message message registration / date / time setting screen 445. On the message message registration / date and time setting screen 445, voice recording and voice output reservation date and time are set. In addition, when already reserved, the data memorize | stored in the message reservation information storage part 575 of the self-propelled cleaner 1 are displayed.

When the microphone button 445a is tapped, a transition is made to a recording screen 446 shown in FIG. 29B, and voice recording is started. When the microphone button 445a is tapped on the recording screen 446, recording ends. When the play button 445b is tapped on the message message registration / date and time setting screen 445, the message playback screen 447 shown in FIG. 29C is displayed, and the recorded voice is played back.

When the Save button 445c is tapped on the message message registration / date / time setting screen 445, the reservation at the selected date / time is executed. When the Cancel button 445d is tapped, a confirmation alert for confirming whether or not to cancel the reservation is displayed, and then the reservation is canceled.

The self-propelled cleaner 1 outputs the recorded voice when the voice output reservation date and time set on the message message registration / date and time setting screen 445 is reached.

Next, the screen transition when the read-up reservation menu 442c is tapped will be described with reference to FIG. When the reading schedule menu 442c is tapped, the screen changes to a reading date setting screen 448 shown in FIG. FIG. 30A is a schematic diagram illustrating an example of the reading date setting screen 448. On the reading date setting screen 448, a voice message is selected and a voice message output reserved date is set. In addition, when already reserved, the data memorize | stored in the utterance reservation information storage part 576 of the self-propelled cleaner 1 are displayed. When message button 448a is tapped, a transition is made to message selection screen 449 shown in FIG. On the message selection screen 449, a pre-registered voice message can be selected. In the example shown in the figure, five types of voice messages are displayed so as to be selectable.

When the save button 448b is tapped on the read date and time setting screen 448, the reservation at the selected date and time is executed. When the Cancel button 448c is tapped, a confirmation alert for confirming whether or not to cancel the reservation is displayed, and the reservation is canceled.

The self-propelled vacuum cleaner 1 outputs the voice selected on the message selection screen 449 when the voice output reservation date and time set on the read-up date and time setting screen 448 is reached. At this time, the selected message may be output as voice as it is, or alternatively, the message may be output as it is heard from the user. For example, if "I love you" is selected on the message selection screen 449, "Dad says" I love you "" as if I heard from the user (in this case, Dad) You may output a voice as you read.

(Battery status display screen)
Next, the battery status display screen 450 will be described with reference to FIGS. 31 and 32. FIG. FIG. 31 is a schematic diagram showing an example of the battery status display screen 450. The battery status display screen 450 includes a ticker display area 401, a status display area 451, a character image display area 452, a battery remaining amount display area 453, a return button 454, and a setting button display area 405.

In the ticker display area 401, the same information as the information displayed in the ticker display area 401 of the home screen 400 is displayed.

In the status display area 451, text data registered in the storage unit 202 in advance according to the remaining battery level of the battery 14 acquired from the self-propelled cleaner 1 is displayed. For example, when the remaining amount of the battery 14 is 100%, text data indicating that the battery 14 is fully charged (“full of stomach”) is displayed, and when the remaining amount of the battery 14 is 50% or more and less than 100%, the remaining amount is sufficient. Text data ("I'm still fine") is displayed, and if the remaining capacity of the battery 14 is less than 50%, the text data ("I want to go home") is displayed Is displayed.

In the character image display area 452, a character image of the self-propelled cleaner 1 registered in the storage unit 202 corresponding to the remaining battery level of the battery 14 acquired from the self-propelled cleaner 1 is displayed.

In the battery remaining amount display area 453, the remaining amount of the battery 14 acquired from the self-propelled cleaner 1 is displayed together with the percentage display using an image simulating the battery capacity.

When the return button 454 is tapped, a confirmation alert for confirming whether or not the user can return to the charging stand 40 is displayed, and an instruction to return to the charging stand 40 is given. While transmitting to the machine 1, the screen transitions to the returning screen 455.

In the setting button display area 405 of the battery status display screen 450, the same buttons as those displayed in the setting button display area 405 of the home screen 400 are displayed.

Next, the screen transition when the return button 454 is tapped will be described with reference to FIG. First, FIG. 32A is a schematic diagram showing an example of the returning screen 455. On the returning screen 455, text data indicating that the user is returning (“Returning home”) is displayed in the ticker display area 401. In addition, when the remaining amount of the battery 14 is exhausted while the returning screen 455 is displayed, a transition is made to a disconnection screen 495 described later, and logoff from the self-propelled cleaner 1 is executed.

When a message indicating that it was not possible to return to the charging stand 40 is received from the self-propelled cleaner 1 while the returning screen 455 is being displayed, a message indicating that is displayed, and then the home screen 400 is displayed.

On the other hand, when a message indicating that the user has returned to the charging base 40 is received from the self-propelled cleaner 1 while the returning screen 455 is being displayed, the screen transitions to a successful return screen 456 shown in FIG. On the return success screen 456, text data indicating that the return was successful (“returned to a safe dock!”) Is displayed in the ticker display area 401 and the status display area 451. And it changes to the charging state screen 457 shown to (c) of FIG.

On the charging state screen 457, text data indicating that charging is in progress (“tenden”) is displayed in the ticker display area 401, and is displayed in the character image display area 452 and the remaining battery charge display area 453. Is replaced with an image indicating that charging is in progress. Note that the image 457a is an image of a nose lantern. Then, when the charging of the battery 14 is completed, a transition is made to a charging completion screen 458 shown in FIG.

On the charging completion screen 458, text data indicating that charging is complete (“full”) is displayed in the ticker display area 401, and text data indicating that charging is complete (“full of stomach”) is displayed in the status display area 451. ) Is displayed. In addition, the images displayed in the character image display area 452 and the battery remaining amount display area 453 are replaced with images indicating that the charging is completed.

In the case where the self-propelled cleaner 1 includes the ion generating device 62, when the ion generating device 62 generates ions when the charging of the battery 14 is completed, FIG. As shown, an image 459 showing ion generation is displayed.

(Various setting screens)
Next, the various setting screens 460 and the screens that transition from the various setting screens 460 will be described with reference to FIGS.

FIG. 33 is a schematic diagram illustrating an example of various setting screens 460. Various setting screens 460 include name display area 460a, spot 2 setting menu 460b, language / character / character setting menu 460c, website setting menu 460d, birthday setting menu 460f, wireless communication menu 460g, initialization area 460h, and A setting button display area 405 is included.

In the name display area 460a, the name of the self-propelled cleaner 1 discovered by the search is displayed. When a plurality of searches are performed, one of them is displayed in the name display area 460a, but the other can be selected by tapping the name display area 460a.

Next, when the spot 2 setting menu 460b is tapped, a transition is made to the spot setting screen 461 shown in FIG. On the spot setting screen 461, the operation range in the spot 2 mode registered in the setting information storage unit 577 is displayed and the input of the operation range is accepted. In order to store the operation range input on the spot setting screen 461 in the setting information storage unit 577 of the self-propelled cleaner 1, a command including a data storage request to the setting information storage unit 577 is a self-propelled type. Sent to the vacuum cleaner 1.

Next, when the language / character / character setting menu 460c on the various setting screens 460 is tapped, the language / character / character setting screen 462 shown in FIG. On the language / character / character setting screen 462, a character menu 462a, a language menu 462b, and a personality menu 462c are displayed.

When the character menu 462a is tapped, a transition is made to the character setting screen 462d shown in FIG. In the character setting screen 462d, the character of the self-propelled cleaner 1 registered in the setting information storage unit 577 is displayed and the selection of the character is accepted. In addition, a character image corresponding to the selected character is displayed. Note that the character image of the character selected here is displayed in the character image display area 452, the observation screen 420, and the operation screen 430 of the battery state display screen 450. In order to store the character selected on the character setting screen 462d in the setting information storage unit 577 of the self-propelled cleaner 1, a command including a data storage request to the setting information storage unit 577 is issued. Sent to the machine 1.

When the language menu 462b is tapped, the language setting screen 462e shown in FIG. On the language setting screen 462e, a language registered in the setting information storage unit 577 when the self-propelled cleaner 1 speaks is displayed, and selection of the language is accepted. In order to store the language selected on the language setting screen 462e in the setting information storage unit 577 of the self-propelled cleaner 1, a command including a data storage request to the setting information storage unit 577 is issued. Sent to the machine 1.

When the personality menu 462c is tapped, a transition is made to the personality setting screen 462f shown in FIG. In the personality setting screen 462f, the personality of the self-propelled cleaner 1 registered in the setting information storage unit 577 is displayed and the selection of the personality is accepted. In order to store the personality selected on the personality setting screen 462f in the setting information storage unit 577 of the self-propelled cleaner 1, a command including a data storage request to the setting information storage unit 577 is used. Sent to the machine 1.

It should be noted that each screen displayed on the input / output panel 204 of the terminal device 200 and various information displayed on the screen (for example, an album) according to the language, character, and personality set on the language / character / character setting screen 462 The information displayed in the display area 412) The sound quality and pitch of the sound output from the sound output unit 63 of the self-propelled cleaner 1 may be changed. Furthermore, the structure which the operation | movement etc. which self-propelled (vacuum) cleaner 1 performs are changed may be sufficient.

Next, when the website setting menu 460d on the various setting screen 460 is tapped, if there is no account for the website, the website information screen 463a shown in FIG. Then, a transition is made to the Web site new registration screen 463b shown in FIG. On the Web site new registration screen 463b, user information such as a password is input. On the other hand, when the user has an account for the website, the screen transits to the login screen 463c shown in FIG. 36C via the website information screen 463a shown in FIG. When login is performed on the login screen 463c, the screen changes to a post-login screen 463d shown in FIG.

Next, the presence / absence of operation sound of the operation panel 50 registered in the setting information storage unit 577 is displayed in the key operation sound switching setting menu 460e of the various setting screens 460. Then, by flicking the key operation sound switching setting menu 460e to the left and right, the presence / absence of the operation sound of the operation panel 50 can be selected. In order to store the presence / absence of the operation sound of the operation panel 50 selected in the key operation sound switching setting menu 460e in the setting information storage unit 577 of the self-propelled cleaner 1, the data stored in the setting information storage unit 577 is stored. A command including a storage request is transmitted to the self-propelled cleaner 1.

Next, when the birthday setting menu 460f on the various setting screens 460 is tapped, the screen transits to the birthday setting screen 464 shown in FIG. On the birthday setting screen 464, the birthday of the user registered in the setting information storage unit 577 is displayed and the input of the birthday is accepted. In order to store the user's birthday input on the birthday setting screen 464 in the setting information storage unit 577 of the self-propelled cleaner 1, a command including a data storage request to the setting information storage unit 577 is provided. It is transmitted to the self-propelled cleaner 1.

Next, when the wireless communication menu 460g on the various setting screens 460 is tapped, a pairing establishment process between the self-propelled cleaner 1 and the terminal device 200 is executed, and during execution, (a) in FIG. Transition is sequentially made to the wireless communication setting screen 465 shown in (b) of FIG. 38 and (c) of FIG.

Next, when the initialization area 460h of the various setting screen 460 is tapped, the screen transitions to the setting initialization screen 466 shown in FIG. Note that the setting initialization screen 466 only displays that initialization is performed by the self-propelled cleaner 1.

It should be noted that the same setting button display area 405 as the home screen 400 is displayed on the various setting screens 460 and the respective screens transitioned from the various setting screens 460.

(Help screen)
Next, the help screen 470 will be described with reference to FIGS. 40A to 40C and FIGS. 41A to 41E. 40A to 40C and FIGS. 41A to 41E are schematic diagrams illustrating an example of the help screen 470. FIG.

The help screen 470 displays how to use the operation application, and the page is switched by flicking in the horizontal direction (see FIGS. 40A to 40C). Further, when a button 471 for displaying a detailed description is displayed, when the button 471 is tapped, a transition is made to a help detailed screen 472 for displaying the detailed description (see FIGS. 41A to 41E). On the help detail screen 472, the display content is scrolled by flicking in the vertical direction.

(Screen at initial startup)
Next, with reference to FIG. 42, a screen transition when the operation application is activated for the first time will be described.

When the operation application is started for the first time, first, pairing with the self-propelled cleaner 1 is performed as shown in the screens shown in FIGS.

When the pairing start button 480a is tapped on the pairing start screen 480 shown in FIG. 42A, the communication partner search screen 481 shown in FIG. 1 search is started.

Then, when the self-propelled cleaner 1 is found, the input of the name of the self-propelled cleaner 1 is accepted on the name setting screen 482 shown in FIG.

In addition, the structure which receives the input of the name of the self-propelled cleaner 1 by the audio | voice input with respect to the terminal device 200 may be sufficient. At this time, when the input sound is output from the sound output unit 64, the sound may be output after converting the sound quality and the pitch. In this way, the sound different from the sound quality and pitch of the sound input by the user is output from the self-propelled cleaner 1, so that the user can hear it as the sound of the self-propelled cleaner 1 itself.

Next, when a name is input to the name input area 482a, a command including a transmission request for the name is transmitted to the self-propelled cleaner 1, and then a pairing process is executed. When the pairing process is executed, the connection password is received from the self-propelled cleaner 1 and registered in the storage unit 202. When the pairing process is completed, the screen transitions to a pairing completion screen 483 shown in FIG.

Subsequently, the screen shifts to an initial setting screen 484 shown in FIG. On the initial setting screen 484, a still image of the self-propelled cleaner 1 is taken, and the language, character, and character of the self-propelled cleaner 1 are initially set.

When the button 484a is tapped on the initial setting screen 484, the photographing unit 207 is driven, and a photographing screen 485 shown in (f) of FIG. 42 is displayed. When the button 485 a is tapped on the shooting screen 485, the still image shot by the shooting unit 207 is stored in the storage unit 202.

When the button 484b is tapped on the initial setting screen 484, the language / character / character setting screen 462 is transitioned to, and the selection of the language, character, and personality of the self-propelled cleaner 1 is accepted.

(Startup screen)
Next, a screen when the operation application is activated in a state where the terminal device 200 and the self-propelled cleaner 1 have been paired will be described with reference to FIG.

When the operation application is activated in the terminal device 200, the search for the self-propelled cleaner 1 is started on the communication partner search screen 490 shown in FIG. And when self-propelled cleaner 1 is discovered, it changes to login screen 491 shown in (b) of Drawing 43, and the name of self-propelled cleaner 1 discovered is displayed. When the name of the self-propelled cleaner 1 is selected, a login process to the self-propelled cleaner 1 is executed. Then, when the login is completed, when logging in for the first time, the screen transitions to the help screen 470. On the other hand, if it is the second and subsequent logins, the screen transitions to the home screen 400.

(Logout screen)
Next, a screen when logging out of the self-propelled cleaner 1 will be described with reference to FIG. The logout is executed when another terminal device 200 logs in to the self-propelled cleaner 1 and when communication with the self-propelled cleaner 1 is disconnected.

First, as shown in FIG. 44A, a communication disconnection screen 495 indicating that communication has been disconnected is displayed. Then, while searching for the communicable self-propelled cleaner 1, a communication partner search screen 496 shown in FIG. 44B is displayed. And when self-propelled cleaner 1 is discovered, it changes to search result screen 497 shown in (c) of Drawing 44. When the name of the self-propelled cleaner 1 displayed on the search result screen 497 is selected, a login process is executed.

(Detailed configuration of control unit of terminal device)
Next, a detailed configuration of the control unit 201 will be described. As shown in FIG. 21, the control unit 201 includes a home screen control unit 211, a calendar screen control unit (acquisition unit, display control unit) 212, an observation screen control unit 213, an operation screen control unit 214, a reservation screen control unit 215, a battery. A status display screen control unit 216, various setting screen control units 217, a help screen control unit 218, and a connection processing unit 219 are configured. Each of these units is configured in the control unit 201 by executing an operation application.

The home screen control unit 211 generates the home screen 400 and outputs it to the input / output panel 204. In order to generate the home screen 400, the home screen control unit 211 transmits a command including at least the following (G1) to (G6) to the self-propelled cleaner 1 via the communication unit 203, and self-propelled cleaning. Data is acquired from the machine 1.

(G1) Acquisition request for data stored in previous operation history storage unit 572, (G2) Acquisition request for data stored in progress information storage unit 573, (G3) Stored in setting information storage unit 577 Request for acquisition of name of self-propelled cleaner 1, (G4) Request for acquisition of temperature around self-propelled cleaner 1, (G5) Request for acquisition of odor around self-propelled cleaner 1, (G6) Battery 14 battery remaining amount acquisition request.

In addition, since the data acquired by said (G4)-(G6) changes from time to time, it is preferable to instruct self-propelled cleaner 1 to acquire every predetermined period or every change.

The home screen control unit 211 displays the ticker display area 401 of the home screen 400 using the data acquired by (G1). Further, the history display area 402 of the home screen 400 is displayed using the data acquired in (G2). The current status display area 403 of the home screen 400 is displayed using the data acquired in the above (G3) to (G5). Further, the battery status button 405b on the home screen 400 is displayed using the remaining battery level acquired in (G6).

In addition, when the home screen control unit 211 receives a tap operation of the observation start button 404 a provided on the home screen 400, the home screen control unit 211 calls the observation screen control unit 213 to transition to the observation screen 420.

In addition, when the home screen control unit 211 receives a tap operation of the operation start button 404b provided on the home screen 400, the home screen control unit 211 calls the operation screen control unit 214 to transition to the operation screen 430.

Further, when the home screen control unit 211 receives a tap operation of the album button 404 c provided on the home screen 400, the home screen control unit 211 calls the calendar screen control unit 212 to transition to the calendar screen 410.

When home screen control unit 211 receives a tap operation of ion operation switching button 404d provided on home screen 400, home screen control unit 211 receives a command including switching between driving and stopping of ion generator 62 of self-propelled cleaner 1. And transmitted to the self-propelled cleaner 1 via the communication unit 203.

Next, the calendar screen control unit 212 generates the calendar screen 410 and outputs it to the input / output panel 204. In order to generate the calendar screen 410, the calendar screen control unit 212 transmits a command including at least the following (G7) to the self-propelled cleaner 1 via the communication unit 203, and data is transmitted from the self-propelled cleaner 1. To get.

(G7) Request for acquisition of data stored in the operation history storage unit 571.

Note that the calendar screen control unit 212 displays the album display area 412 of the calendar screen 410 using the data acquired in (G7) above.

Further, the calendar screen control unit 212 scrolls the album display area 412 in the time axis direction when a vertical flick operation is received in the album display area 412.

Further, when a still image displayed in the album display area 412 of the calendar screen 410 is tapped, the calendar screen control unit 212 displays an enlarged display screen 415 in which the still image is enlarged on the input / output panel 204.

Next, the observation screen control unit 213 generates the observation screen 420 and outputs it to the input / output panel 204. In order to generate the observation screen 420, the observation screen control unit 213 transmits a command including the above (G4), the above (G5), and the following (G8) to the self-propelled cleaner 1 via the communication unit 203. The data is acquired from the self-propelled cleaner 1.

(G8) Instruction to shoot still images around the self-propelled cleaner 1.

Note that the observation screen control unit 213 displays the indicator display area 422 and the temperature / odor display area 423 of the observation screen 420 using the data acquired by (G4) and (G5). Further, the still image acquired by (G8) is displayed in the captured image display area 421 of the observation screen 420.

Next, the operation screen control unit 214 generates the operation screen 430 and outputs it to the input / output panel 204. In order to generate the operation screen 430, the operation screen control unit 214 first transmits a command including the following (G9) and (G10) to the self-propelled cleaner 1 via the communication unit 203, and self-propelled cleaning. While operating the machine 1, data is acquired from the self-propelled cleaner 1.

(G9) Operation start instruction, (G10) Instruction to shoot a moving image by the imaging unit 56.

The operation screen control unit 214 displays the moving image acquired by the above (G10) in the image display area 431 of the operation screen 430.

Then, after the operation is started, a command including any of the following (G11) to (G20) is transmitted to the self-propelled cleaner 1 via the communication unit 203 in response to the tap operation of each button on the operation screen 430. Then, the self-propelled cleaner 1 is operated and data is acquired from the self-propelled cleaner 1.

(G11) An instruction to shoot a still image at the photographing unit 56, (G12) An instruction to output the voice input from the voice input unit 205 from the voice output unit 64, (G13) The operation is terminated, and the charging stand An instruction to return to 40, (G14) an instruction to suspend the operation, (G15) an instruction to resume the operation, and (G16) an instruction to suspend and generate ions from the ion generator 62 (G17) An instruction to drive near the wall (denoted as a wall-side mode), (G18) An instruction to operate in a predetermined circular area (denoted as a spot 1 mode), and (G19) different from the spot 1 mode An instruction to drive in a circular area of size (denoted as spot 2 mode), and (G20) an instruction of traveling direction.

Furthermore, when the menu 436e is tapped on the operation screen 430, the operation screen control unit 214 accesses a website such as SNS. For example, access to Facebook site.

Next, the reservation screen control unit 215 generates screens that transition from the reservation setting screen 440 and the reservation setting screen 440 and outputs them to the input / output panel 204. The reservation screen control unit 215 generates a reservation setting screen 440 and a command including the following (G22) to (G24) via the communication unit 203 in order to generate each screen that transitions from the reservation setting screen 440. The data is transmitted to the machine 1 and data is acquired from the self-propelled cleaner 1.

(G22) Data acquisition request stored in driving reservation information storage unit 574, (G23) Data acquisition request stored in message reservation information storage unit 575, (G24) Voice reservation information storage unit 576 Request to retrieve data.

In addition, the reservation screen control unit 215 displays the walk reservation menu 442a and the operation day selection screen 443 of the reservation setting screen 440 using the data acquired by (G22). Also, using the data acquired in (G23) above, the reservation menu screen 440 of the reservation setting screen 440 and the message message registration / date / time setting screen 445 are displayed. In addition, using the data acquired in (G24) above, the reading reservation menu 442c and the reading date and time setting screen 448 of the reservation setting screen 440 are displayed.

In addition, the reservation screen control unit 215 receives the data input on the operation day selection screen 443, message message registration / date / time setting screen 445, and read-up date / time setting screen 448 as the driving reservation information storage unit 574, message reservation, and so on. A command including a request to be stored in the information storage unit 575 and the utterance reservation information storage unit 576 is transmitted to the self-propelled cleaner 1 via the communication unit 203, and data is stored in the self-propelled cleaner 1.

Next, the battery state display screen control unit 216 generates screens that transition from the battery state display screen 450 and the battery state display screen 450 and outputs the screens to the input / output panel 204. The battery state display screen control unit 216 sends a command including the above (G1) and (G6) to the battery state display screen 450 and each of the transitions from the battery state display screen 450 via the communication unit 203. The data is transmitted to the self-propelled cleaner 1 and data is acquired from the self-propelled cleaner 1.

The battery state display screen control unit 216 displays the ticker display area 401 of the battery state display screen 450 using the data acquired by (G1). Further, a status display area 451, a character image display area 452, and a remaining battery level display area 453 of the battery status display screen 450 are displayed using the data acquired in (G6).

Further, the battery status display screen control unit 216, when a feedback button 454 provided on the battery status display screen 450 is tapped, sends a command including a feedback instruction to the charging stand 40 via the communication unit 203. In addition to transmitting to the machine 1, a returning screen 455 is generated and output to the input / output panel 204.

The battery status display screen control unit 216 generates a feedback success screen 456 and outputs it to the input / output panel 204 when the self-propelled cleaner 1 returns to the charging stand 40. When the self-propelled cleaner 1 is being charged at the charging stand 40, the charging state screen 457 is generated and output to the input / output panel 204. When charging of the self-propelled cleaner 1 is completed, a charging completion screen 458 is generated and output to the input / output panel 204.

Next, the various setting screen control unit 217 generates various screens that transition from the various setting screens 460 and the various setting screens 460 and outputs the screens to the input / output panel 204. The various setting screen control unit 217 generates a command including the following (G25) to the self-propelled cleaner 1 via the communication unit 203 in order to generate the various setting screens 460 and each screen that transitions from the various setting screens 460. Send and get various data.

(G25) Acquisition request for data stored in setting information storage unit 577.

In addition, the various setting screen control unit 217 stores a command including the following (G26) in order to store in the setting information storage unit 577 the data input on the various setting screens 460 and the respective screens transitioning from the various setting screens 460. And transmitted to the self-propelled cleaner 1 via the communication unit 203.

(G26) A request to store data in the setting information storage unit 577.

Next, the help screen control unit 218 generates the help screen 470 and outputs it to the input / output panel 204. The help screen control unit 218 acquires data for displaying how to use the operation application stored in the storage unit 202 in order to generate the help screen 470.

Next, the connection processing unit 219 performs various processes related to the connection with the self-propelled cleaner 1. Specifically, wireless communication setting processing, wireless communication ON / OFF processing, pairing processing with the self-propelled cleaner 1, and login / logout processing to the self-propelled cleaner 1 are performed.

[Modification]
In the above description, the configuration in which various messages are stored in association with the date and time in the operation history storage unit 571 and the previous operation history storage unit 572 of the self-propelled cleaner 1 has been described. However, the configuration is not limited to this configuration, and a configuration in which a message is managed by the terminal device 200 may be used. In this case, information obtained by the operation of the self-propelled cleaner 1 is transmitted to the terminal device 200 as it is, and the terminal device 200 associates the information with the message.

[Application examples of self-propelled electronic devices]
The self-propelled electronic device according to the present invention includes a self-propelled air cleaner (self-propelled electronic device) 110, a self-propelled humidifier, and a self-propelled dehumidifier in addition to the self-propelled cleaner 1 described above. Etc. A device to which the self-propelled electronic device according to the present invention is applied can perform two-way communication with the terminal device 200 and operates according to an operation from the terminal device 200. A message representing information obtained by the operation is stored in the storage unit in association with the date and time when the information was obtained, and stored in the storage unit in response to a request from the terminal device 200. The message associated with the date and time is transmitted to the terminal device 200.

The fact that the self-propelled air purifier 110 performs air cleaning is denoted as “operation”, and the fact that the self-propelled air purifier 110 automatically operates is denoted as “walk”, and the self-propelled air To allow the self-propelled air purifier 110 to acquire the situation around the cleaner 110 (the surrounding image, the surrounding odor, and the ambient temperature), and to check the acquired situation on the terminal device 200, It shall be written as “observation” or “kansai”. In this case, the configuration of the self-propelled air cleaner 110 is the same as the self-propelled cleaner 1 described above except that it has an air purifying function instead of the cleaning function. The control part 520 and the memory | storage part 570 are respectively equivalent to the control part 52 and the memory | storage part 27 with which the self-propelled cleaner 1 is provided.

An example of the external configuration of the self-propelled air cleaner 110 will be described as follows. Members having the same functions as those described in the self-propelled cleaner 1 are denoted by the same reference numerals, and the description thereof will be omitted unless otherwise specified.

45 and 46 show a perspective view and a side sectional view of the self-propelled air cleaner 110 of the present embodiment, respectively.

As shown in FIG. 45, the self-propelled air cleaner 110 includes a self-propelled air cleaner 110 main body having an outer frame formed of a main body housing 120 having a circular shape in plan view, and a battery ( (Secondary battery) 14 has a drive wheel (not shown) that is driven using a power supply source, and is a device that purifies air while traveling on its own. The self-propelled air cleaner 110 rotationally drives the rotary fan 104 by a motor to generate an air flow, and the air sucked from the air inlet 101 passes through the internal filter 105 and is generated by the ion generator 62. Ions are mixed and exhausted from the exhaust port 102. The white arrows in FIG. 46 indicate the air flow when the rotary fan 104 is rotated.

45, an intake port 103 is provided on the upper surface of the main body casing 120. As shown in FIG. The intake port 103 covers a part of the upper surface of the main body housing 120, and the self-propelled air cleaner 110 is stopped so that foreign matter, dust, dust, or the like does not enter the intake port 101. In the state, the intake port 103 is lowered downward to a position where the intake port 101 is blocked. FIG. 46 shows a state where the apparatus is operating and the intake port is moving upward. When the intake port 103 is moving upward, air can be taken in. When the intake port 103 is removed from the main body casing 120, the self-propelled air cleaner 110 is in the state shown in FIG. However, the intake port 103 cannot be normally removed. Although not shown, an operation panel for inputting instructions to the self-propelled air cleaner 110 is provided on the upper surface of the main body casing 120.

The filter 105 collects dust, dust and the like of air sucked from the air inlet 101. The filter 105 is attached to the main body housing 120 by a filter holding member 107. As the filter 105, for example, a known filter such as a HEPA (High Efficiency Particulate Air) filter or an activated carbon filter can be used.

The ion generator 62 is the same as the ion generator 62 described in the first embodiment, and is also assumed to be a plasma cluster ion generator in this embodiment. The ion generator 62 is provided in the vicinity of the rotary fan 104 as shown in FIG. Positive ions and negative ions generated by the ion generator 62 are mixed into the air that has passed through the filter 105, sucked into the airflow generated by the rotation of the rotary fan 104, and discharged from the exhaust port 102. It is discharged from the exhaust port 102. The released positive ions and negative ions can remove airborne bacteria in the air and purify the air.

The ion generation amount of the ion generator 62 is controlled by the control unit 520 described later. Control unit 520 may change the amount of ions generated in ion generator 62 in accordance with the operating state of self-propelled air cleaner 110. For example, a self-propelled air purifier 110 is provided with an odor sensor, and in an environment where the odor is higher than a set value, the ratio of the amount of positive ions and negative ions generated is changed from that during normal operation to generate negative ions. May be increased. Negative ions are more effective for eliminating and removing odors. Therefore, in an environment where the odor sensed by the odor sensor is higher than the set value, the ion generation amount from the ion generator 62 is switched so that the negative ion generation amount increases, and the air flow containing more negative ions is free-running. Odor can be effectively removed by generating from the air cleaner 110. These are examples, and for example, in an environment where the odor is higher than a set value, the generation amount of both ions may be switched so as to increase compared to that during normal operation.

46 shows the flow of ions generated from the ion generator 62. The dotted lines in FIG. Air containing ions generated from the ion generator 62 is discharged from the suction port 106, sucked into the airflow generated by the rotation of the rotary fan 104, and discharged from the exhaust port 102. In FIG. 12, the traveling direction of the self-propelled air cleaner 110 is from the right to the left as shown by the arrow X. Accordingly, the self-propelled air cleaner 110 sucks air from the rear side with respect to the traveling direction and discharges air to the front side.

It should be noted that the ion generator 62 need not always generate ions while the self-propelled air cleaner 110 is traveling. The self-propelled air cleaner 110 may be provided with a mode for stopping the generation of ions, or may be provided with a plurality of modes having different ion generation amounts.

Also, a control board 150 is disposed in the main body casing 120. The control board 150 is provided with a control unit 520 that controls each unit of the self-propelled air cleaner 110 and a storage unit 570 that stores various data. The control unit 520 performs various operations of the self-propelled air cleaner 110 based on the program and data stored in the storage unit 570, and further, the program and data input from the operation panel 50 and the terminal device 200 connected by wireless communication. Control.

Further, a charging terminal 4 for charging the battery 14 is provided at the rear end of the peripheral surface (side surface) of the main body housing 120. The self-propelled air cleaner 110 returns to the place where the charging stand 40 (see FIG. 7) having the power supply terminal 41 is installed after the air cleaning or when the charge amount of the battery 14 falls below a predetermined value. About return of self-propelled air cleaner 110, the same processing as self-propelled cleaner 1 is performed.

In the self-propelled air purifier 110, when an operation is instructed under the control of the control unit 520, the electric power from the battery 14 is supplied, and the rotary fan 104, the ion generator 62, and the driving wheels are driven, The traveling air cleaner 110 cleans the air while traveling on its own.

In addition, when one terminal device 200 performs pairing with the self-propelled cleaner 1 and the self-propelled air cleaner 110, both of these devices can be operated with the single terminal device 200. It should be noted that both devices can be easily distinguished by assigning different names for each device during pairing. In this case, each screen displayed on the input / output panel 204 of the terminal device 200 and various information displayed on the screen are appropriately changed according to the self-propelled cleaner 1 and the self-propelled air cleaner 110. The

[Realization of control unit]
Finally, the control unit 52 of the self-propelled cleaner 1, the control unit 520 of the self-propelled air cleaner 110, and the control unit 201 of the terminal device 200 are respectively formed on an integrated circuit (IC chip). It may be configured as hardware by a circuit, or may be realized by software using a CPU as follows.

That is, the self-propelled cleaner 1, the self-propelled air cleaner 110, and the terminal device 200 each have a CPU (central processing unit) that executes a command of a control program that realizes each function, and a ROM ( read only memory), RAM (random access 展開 memory) for expanding the program, and a storage device (recording medium) such as a memory for storing the program and various data. The object of the present invention is to provide program codes (execution format program, intermediate code program) of control programs for the self-propelled cleaner 1, the self-propelled air cleaner 110, and the terminal device 200, which are software for realizing the functions described above. , Source program) is recorded on the computer so that the computer-readable recording medium is supplied to the self-propelled cleaner 1, the self-propelled air cleaner 110, and the terminal device 200, and the computer (or CPU or MPU) records the recording medium. This can also be achieved by reading and executing the program code recorded in the above.

Examples of the recording medium include tapes such as magnetic tapes and cassette tapes, magnetic disks such as floppy (registered trademark) disks / hard disks, and disks including optical disks such as CD-ROM / MO / MD / DVD / CD-R. IC cards (including memory cards) / optical cards, etc., semiconductor memories such as mask ROM / EPROM / EEPROM (registered trademark) / flash ROM, logic circuits such as PLD (Programmable logic device), etc. Can be used.

Alternatively, the self-propelled cleaner 1, the self-propelled air cleaner 110, and the terminal device 200 may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited. For example, the Internet, intranet, extranet, LAN, ISDN, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication. A net or the like is available. Also, the transmission medium constituting the communication network is not particularly limited. For example, even in the case of wired such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, ADSL line, etc., infrared rays such as IrDA and remote control, Bluetooth ( It can also be used for wireless such as registered trademark), IEEE 802.11 wireless, HDR (High Data Rate), NFC (Near Field Communication), DLNA (Digital Living Network Alliance), mobile phone network, satellite line, terrestrial digital network, etc. . The present invention can also be realized in the form of a computer data signal embedded in a carrier wave in which the program code is embodied by electronic transmission.

The present invention is not limited to the above-described embodiment, and various modifications can be made. That is, embodiments obtained by combining technical means appropriately changed within the scope not departing from the gist of the present invention are also included in the technical scope of the present invention.

In order to solve the above problems, a self-propelled electronic device according to the present invention is a self-propelled electronic device that operates according to an operation from a terminal device, and a message representing information obtained by operating, Storage means for storing the information in association with the date and time when the information was obtained, and the message stored in the storage unit and associated with the date and time in response to a request from the terminal device, And transmitting means for transmitting to the terminal device.

Therefore, in the terminal device, a message representing information obtained by operating the self-propelled electronic device can be acquired together with the date and time. Therefore, there is an effect that the user of the terminal device can check the history of the information by browsing the message.

In order to solve the above-described problem, the terminal device according to the present invention is a terminal device that operates a self-propelled electronic device that operates according to an operation from the self-device, and the self-propelled electronic device operates. Holding the message representing the information obtained by the date and time when the information was obtained, obtaining means for obtaining the message together with the date and time from the self-propelled electronic device, and the message obtained by the obtaining means. And a display control means for displaying them on the display unit in order of date and time acquired together with the message.

Therefore, in the terminal device, there is an effect that the history of information obtained by operating the self-propelled electronic device can be displayed on the display unit in time series. Therefore, it is possible to make the user confirm the history by browsing the message displayed on the display unit.

In order to solve the above problems, an operation system according to the present invention is an operation system including a terminal device including a display unit, and a self-propelled electronic device that operates according to an operation from the terminal device. Storage means for storing in the storage unit a message representing information obtained by operating the self-propelled electronic device in association with the date and time when the information was obtained, and the date and time stored in the storage unit Display control means for arranging the messages associated with each other in order of the date and time and displaying the messages on the display unit.

The self-propelled electronic device and the terminal device may be realized by a computer. In this case, the self-propelled electronic device and the terminal device are realized by a computer by operating the computer as each of the means. The control program for the self-propelled electronic device and the terminal device, and the computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

The present invention can be applied to a self-propelled electronic device that operates in accordance with an instruction from a terminal device. In particular, the present invention can be suitably applied to a self-propelled cleaner, a self-propelled air cleaner, and a terminal device that operates these.

1 Self-propelled vacuum cleaner (self-propelled electronic equipment)
52 control unit 57 storage unit 110 self-propelled air cleaner (self-propelled electronic device)
200 Terminal Device 201 Control Unit 202 Storage Unit 204 Input / Output Panel (Display Unit)
212 Calendar screen control unit (acquisition means, display control means)
213 Observation screen control unit 214 Operation screen control unit 215 Reserved screen control unit 216 Battery status display screen control unit 217 Various setting screen control units 218 Help screen control unit 219 Connection processing unit 520 Control unit 570 Storage unit 571 Operation history storage unit (storage) Part)
572 Previous operation history storage unit 573 Progress information storage unit 574 Driving reservation information storage unit 575 Message reservation information storage unit 576 Speaking reservation information storage unit 577 Setting information storage unit 900 Operation system 5201 Command processing unit 5202 Battery remaining amount measurement unit (storage means) )
5203 Shooting control unit (storage means)
5204 Operation management unit (storage means)
5205 Travel control unit 5206 Return control unit 5207 Collision management unit (storage means)
5208 Odor management unit 5209 Temperature management unit 5210 Attachment / detachment management unit 5211 Ion generation control unit 5212 Data acquisition unit (transmission means)
5213 Reservation management unit 5214 Setting information management unit 5215 Connection processing unit

Claims

A self-propelled electronic device that operates according to an operation from a terminal device,
Storage means for storing a message representing information obtained by operating in a storage unit in association with the date and time when the information was obtained;
A self-propelled electronic device comprising: a transmission unit that transmits the message stored in the storage unit and associated with the date and time to the terminal device in response to a request from the terminal device machine.
A terminal device for operating a self-propelled electronic device that operates according to an operation from the own device,
The self-propelled electronic device holds a message representing information obtained by operating together with the date and time when the information was obtained,
Acquisition means for acquiring the message together with the date and time from the self-propelled electronic device;
A display apparatus comprising: a display control unit configured to display the message acquired by the acquisition unit in a sequence of the date and time acquired together with the message and display on the display unit.
An operation system including a terminal device including a display unit and a self-propelled electronic device that operates according to an operation from the terminal device,
Storage means for storing a message representing information obtained by operating the self-propelled electronic device in a storage unit in association with the date and time when the information was obtained;
An operation system comprising: display control means for displaying the messages stored in the storage unit and associated with the date and time in order of the date and time on the display unit.