CN106104400A - Self-propelled electronic equipment - Google Patents

Abstract

A kind of self-propelled electronic equipment, possesses: travelling control portion；Displacement measurement portion, it measures the distance being moved from datum mark；Angle detection, it detects moving direction；Signal communication unit, it receives the wireless signal sending from destination object thing；Range determination portion, it, based on the wireless signal receiving, is measured to the distance of destination object thing；And position determination section, it uses and calculates the relative position from datum mark for the self-propelled electronic equipment from datum mark to the displacement of the measuring point carrying out range determination and the moving direction detecting, utilizes the relative position from datum mark calculating to determine the relative position from datum mark for the destination object thing with the mensuration distance to destination object thing.In addition, use the relative position of determined destination object thing and the position of datum mark, generate the control device map of the existence position of the destination object thing representing configuration in space.

Description

Self-propelled electronic equipment

Technical field

The present invention relates to self-propelled electronic equipment, particularly relate to that there is the control object to configuring in the space of regulation The self-propelled electronic equipment of the function that equipment is controlled.

Background technology

Possess, in utilization, the infrared ray sent for remotely controlling the control object equipment such as television set or air-conditioning The self-propelled electronic equipment of the function of signal.

This self-propelled electronic equipment after moving to infrared signal and can reach the position of control object equipment, output with The corresponding infrared signals of control command such as electric power starting/shutoff.Need to prestore control to determine mobile route right As the allocation position of equipment, user uses the special-purpose software of personal computer or smart phone to make the reference position to regulation The map being set with the relativeness of the allocation position of control object equipment.

Made map is sent to self-propelled electronic equipment, and self-propelled electronic equipment determines to control based on this map The mobile route of object-based device.

In self-propelled suction cleaner, for example prestore the indoor map carrying out dust suction, also prestore as datum mark Cradle position, be arranged at the television set of indoor or the relative position of control object equipment of air-conditioning.

For example in the case of carried out the instruction input of the power supply connecting television set from smart phone, this instruction input life Order is sent to self-propelled suction cleaner.

Self-propelled suction cleaner, when receiving instruction input order, resolves this order, and identifying control object is " television set ", Control content is " power on ".

Afterwards, utilize the map prestoring to confirm the position of the television set as control object, determine self-propelled suction Dirt device is from current location to the mobile route of television set position.

Then, self-propelled suction cleaner starts mobile based on the mobile route being determined, after moving near television set, Output represents the infrared signal of the power supply connecting television set.

Prior art literature

Patent document

Patent document 1: JP 2013-146302 publication

Content of the invention

Problems to be solved by the invention

In the past, self-propelled electronic equipment moved space (room) or control object equipment can be according to utilizing self-propelled electronics The difference of the user of equipment and different, it is therefore desirable to the shape of user oneself input space, size, the position of control object equipment Or title etc. and make map.

Even with the special-purpose software making map, the operation making this map is also fairly cumbersome and time-consuming work Industry.

In addition, for being bad at the user of input operation of personal computer etc., making map is extremely difficult work Industry.Thus, map sometimes also cannot be used to utilize the remote control function of self-propelled electronic equipment.

And, at control object equipment such as the position of cradle of the datum mark changing as relative position, television sets Allocation position or in the case of newly added control object equipment, need user to change map every time.

Therefore, the present invention considers that above-mentioned situation completes, and is easy to determine that configuration is being moved with self-propelled electronic equipment The position of the dynamic control object equipment in space is problem.

For solution to problem

The self-propelled electronic equipment of the present invention is directed towards the self-propelled electronic equipment walked automatically in the position of destination object thing, It is characterized in that possessing: travelling control portion, it controls the rotation of wheel and moves it；Displacement measurement portion, its measurement from The distance that the datum mark of regulation is moved；Angle detection, the direction of its detection movement；Signal communication unit, it receives from above-mentioned The wireless signal that destination object thing sends；Range determination portion, it, based on the above-mentioned wireless signal receiving, is measured to above-mentioned target The distance of object；And position determination section, it uses the measuring point from said reference point to the mensuration having carried out above-mentioned distance The above-mentioned displacement measured and the above-mentioned moving direction detecting to calculate self-propelled electronic equipment from said reference point Relative position, and utilize the above-mentioned relative position from datum mark calculating and by above-mentioned range determination portion determine to target The mensuration distance of object determines the relative position from said reference point for the destination object thing.

Additionally, it is characterised in that in the walking automatically of above-mentioned self-propelled electronic equipment, above-mentioned range determination portion is arbitrarily Multiple measuring point measure from each measuring point to the distance of above-mentioned destination object thing, above-mentioned position determination section calculates self-propelled electronics Equipment, from the relative position of said reference point, will be the center of circle with above-mentioned with the relative position of the above-mentioned each measuring point calculating The relative position of the intersection point that the circumference of multiple circles of the radius that the distance determining is circle is intersected is determined as above-mentioned destination object The position at thing place.

Additionally, it is characterised in that calculate the relative position of above-mentioned self-propelled electronic equipment and be measured to destination object thing The measuring point of distance is the position of more than different 3 on the mobile route of walking automatically, and above-mentioned position determination section will be with respectively The relative position of 1 intersection point that the circumference of the circle of more than 3 centered on the relative position of measuring point is intersected is determined as above-mentioned The position at destination object thing place.

Thus, user is without carrying out the allocation position of oneself survey target object to determine the position of destination object thing Operation, is only automatically walked by self-propelled electronic equipment and is easy to determine the position of destination object thing.

Additionally, it is characterised in that be also equipped with storage part, the above-mentioned destination object thing determining at line position to be entered exists multiple In the case of, the device identifying information being used for distinguishing multiple destination object thing is pre-stored within above-mentioned storage part, by above-mentioned After the decision of the relative position that position determination section has carried out above-mentioned each destination object thing respectively, device location is believed by above-mentioned control unit Breath is stored in above-mentioned storage part, generates control device map based on this device location information, and this device location information is by above-mentioned The information that device identifying information is mapped with the relative position of each destination object thing of above-mentioned decision.

Additionally, it is characterised in that above-mentioned destination object thing is the control object equipment remotely controlling user The neighbouring distance-measuring equipment arranging, above-mentioned distance-measuring equipment possesses the signal communication unit sending above-mentioned wireless signal, and above-mentioned position determines After portion determines the relative position of above-mentioned distance-measuring equipment, the relative position of this distance-measuring equipment is considered as above-mentioned control by above-mentioned control unit The allocation position of object-based device and the control device map that generates the position representing control object equipment place.

Thus, it is not necessary to possess the signal communication unit sending wireless signal to destination object thing, user is only by entering to be about to survey It is arranged at position and the generation control that the operation near destination object thing is easy to determine this destination object thing away from equipment Device map.

Additionally, it is characterised in that above-mentioned destination object thing is the control object equipment that user remotely to control, above-mentioned Control object equipment possesses the signal communication unit sending above-mentioned wireless signal.

Thus, the control object equipment as destination object thing possesses signal communication unit, therefore without in order to determine control The position of object-based device and distance-measuring equipment is arranged near destination object thing, user can be simplified for determining the work of position Industry.

Additionally, it is characterised in that above-mentioned wireless signal is the BLE signal fixed by low-power consumption bluetooth standard, above-mentioned distance The receiving intensity of the BLE signal that determination part receives based on above-mentioned signal communication unit be measured to above-mentioned destination object thing away from From.

Thus, being measured the distance to destination object thing based on the BLE signal receiving, therefore self-propelled electronics sets Being in the distance that can receive BLE signal as long as standby, just can calculate between self-propelled electronic equipment and destination object thing is straight Linear distance.

Additionally, it is characterised in that above-mentioned self-propelled electronic equipment is the self-propelled suction possessing rechargeable battery and dust-absorbing function Dirt device, above-mentioned destination object thing is the distance-measuring equipment of setting near the control object equipment that user remotely to control, Automatically walk at above-mentioned self-propelled suction cleaner and during performing dust-absorbing function, use the mobile route in automatic walking On multiple measuring points determine to the distance of distance-measuring equipment and said determination point from the relative position of said reference point, by Above-mentioned position determination section determines the relative position of above-mentioned distance-measuring equipment.

Thus, self-propelled suction cleaner is being performed the period of dust suction by automatic walking, can determine the position of control object equipment Putting, user is without carrying out the special operation of the position for determining control object equipment.

Additionally, it is characterised in that said reference point is that above-mentioned self-propelled suction cleaner is in order to fill to above-mentioned rechargeable battery Electricity and the cradle that returns position is set.

Additionally, it is characterised in that be stored with in above-mentioned storage part the device location letter with regard to the destination object thing both deposited In the case of being determined the relative position of newly-installed destination object thing in the state of breath by above-mentioned position determination section, will be determined The relative position of destination object thing be appended to the said equipment positional information.

Thus, even if in the case of being provided with new destination object thing, come by carrying out above-mentioned this range determination etc. Determine the relative position of newly-installed destination object thing, also can easily this destination object thing be appended to control device map.

Additionally, it is characterised in that be stored with in above-mentioned storage part the device location letter with regard to the destination object thing both deposited The feelings of the decision of the relative position of the above-mentioned destination object thing both deposited again have been carried out by above-mentioned position determination section in the state of breath Under condition, when the last time that above-mentioned storage part is stored device location information with comprise to determine to obtain by the position that again carries out When the device location information of the relative position of same destination object thing is different, carry out the change of the relative position of this destination object thing Or the process of the position of change datum mark.

Thus, in the case of there occurs change in the position of destination object thing both deposited or the position of datum mark, also can hold Change places the relative position of the destination object thing after resetting change or the position of datum mark.

Invention effect

According to the present invention, use the range determination of destination object thing and use has carried out the measuring point of this range determination Displacement determine destination object thing from benchmark with the relative position from datum mark of this measuring point that moving direction calculates The relative position of point, therefore can be easily determined by being configured with the relative position of destination object thing.

Brief description

Fig. 1 is the composition block diagram of an embodiment of the self-propelled suction cleaner of the present invention.

Fig. 2 is the stereogram of the outline of an embodiment of the self-propelled suction cleaner illustrating the present invention.

Fig. 3 is the rearview of the outline of an embodiment of the self-propelled suction cleaner illustrating the present invention.

Fig. 4 be an embodiment of the range determination of the self-propelled suction cleaner of the present invention and mobile route outline figure.

Fig. 5 is the explanatory diagram of an embodiment of the information of the storage part storage of the present invention.

Fig. 6 be the coordinate of the control device map of the present invention outline figure.

Fig. 7 is the explanatory diagram with the embodiment locating for the walking path of the self-propelled suction cleaner of the present invention.

Fig. 8 is the explanatory diagram of an embodiment of the mensuration distance of the measuring point of the present invention.

Fig. 9 is the explanatory diagram of the mensuration distance of measuring point P1, P2 of the present invention.

Figure 10 is the explanatory diagram of the mensuration distance of 4 measuring points of the present invention.

Figure 11 is the explanatory diagram of the mensuration distance of the distance cradle of the present invention.

Detailed description of the invention

Hereinafter, the embodiment explanation present invention based on diagram.

Additionally, this invention is not limited to this.

Composition ＞ of the self-propelled electronic equipment of ＜

The self-propelled electronic equipment of the present invention is to have to be automatically set to store to set as the control object of destination object thing The function of standby position the electronic equipment automatically walked towards destination object thing.

Hereinafter, the embodiment of self-propelled electronic equipment as the present invention, illustrates possess rechargeable battery and dust-absorbing function The composition of " self-propelled suction cleaner ".In addition, on the basis of one-tenth in the space of the regulation that self-propelled suction cleaner is walked automatically Position configures cradle, and in the case that the surplus of rechargeable battery is reduced to below setting, self-propelled suction cleaner is automatically Return to cradle.

But, as long as the self-propelled suction cleaner of the present invention at least possesses rechargeable battery and has and carry out automatic travelling control And the electronic equipment of the function by the automatic near zone walked and move to control object equipment, it is not limited to self-propelled suction Dirt device.

For example, self-propelled electronic equipment also includes: the self-propelled sky that the air after carrying out air suction and purifying is discharged User is pointed out the function of necessary information or user to be asked by gas purifier, the self-propelled ion generator producing ion, execution The self-propelled robot etc. of the function asked.

Control object equipment is equivalent to the destination object thing that user remotely to control.In addition, it is to receive from certainly walking The control signal of formula electronic equipment output and the electrical equipment that performs the corresponding specific function of control signal receiving with this, example Television set, air-conditioning, air purifier, lighting apparatus etc. in this way.

Figure 1 illustrates the composition block diagram of an embodiment of the self-propelled suction cleaner of the present invention.

In FIG, the self-propelled suction cleaner (hereinafter also referred to dust catcher or cleaner) of the present invention mainly possesses: control unit 11st, rechargeable battery the 12nd, obstacle detection portion the 13rd, angle detection the 14th, signal communication unit the 15th, range determination portion the 16th, position determination section 17th, infrared receiver portion the 18th, travelling control portion the 21st, wheel the 22nd, encoder the 23rd, air entry the 31st, exhaust outlet the 32nd, dust collecting part is the 33rd, defeated Enter portion's the 34th, storage part the 41st, order acceptance division the 51st, control signal sending part 52.

In addition, not shown cradle is fixedly installed on the position of the regulations such as the room carrying out dust suction.By charging Seat is connected with self-propelled suction cleaner 1, and self-propelled suction cleaner 1 accepts the electric power from cradle with cradle in the state of contacting Supply, is charged to the rechargeable battery 12 of self-propelled suction cleaner 1.

In addition, self-propelled suction cleaner 1 is while leaving from cradle and automatically walking while performing dust-absorbing function, and Send control signal in the case of there is request and control object equipment is remotely controlled.

The self-propelled suction cleaner 1 of the present invention is while automatically walking while sucking inclusively on the ground of setting place The air of the dust on face the air after removing dust are discharged thus are carried out the dust-collecting robot of dust suction on the ground.This Bright self-propelled suction cleaner 1 has at the end of dust suction the function independently returning cradle.

Figure 2 illustrates the approximate three-dimensional map of an embodiment of the self-propelled suction cleaner of the present invention.

Figure 3 illustrates the rearview of an embodiment of self-propelled suction cleaner.

In fig. 2, the self-propelled suction cleaner 1 of the present invention possesses discoidal casing 2, inside and outside at this casing 2 It is provided with rotating brush, side brush the 10th, dust collecting part the 33rd, electric blowing machine, include that wheel the 22nd, the signal communication unit of multiple driving wheel is the 15th, red Outside line acceptance division the 18th, other inscapes shown in Fig. 1.

In fig. 2, the part being configured with infrared receiver portion 18 is referred to as front part, will be configured with after driven pulley The part of wheel is referred to as rear portion, will be configured with signal communication unit 15 or the part of dust collecting part 33 is referred to as pars intermedia at box house.

Casing 2 possesses: base plate, for circle when it is overlooked, has air entry 31；Top board 2b, it has at middle body works as Pick and place the cap 3 of either on or off when being accommodated in the dust collecting part 33 of casing 2；And side plate 2c, it is annular when overlooking, the end of along The peripheral part of plate and top board 2b is arranged.In addition, be formed in the soleplate the bottom of pair of driving wheels and trailing wheel in casing 2 to Outside prominent multiple hole portion, has been formed about exhaust outlet 32 on the front part of top board 2b and the border of pars intermedia.Additionally, side plate 2c is front and back divided into two, and side plate is anterior as buffer function.

Self-propelled suction cleaner 1 is rotated forward to same direction by pair of driving wheels and advances, and reversely revolves to same direction Then retreat, rotate to mutually opposite direction and circle round in the state of static.Such as dust catcher 1 reaches suction area The situation of periphery and in the case of there occurs collision with the barrier in forward march, driving wheel stops, making pair of driving wheels Rotate to mutually opposite direction and change direction.Thus, dust catcher 1 in whole setting place or is entirely wished in scope Avoiding obstacles walking automatically on one side.

In addition, self-propelled suction cleaner 1 receives the wireless signal of the signal communication unit injection from not shown cradle, such as In the case that dust suction terminates, in the case that the charge residue of rechargeable battery 12 tails off or have passed through set dust suction It in the case of setting time of timer, is automatically oriented the direction close to cradle and the walking of straight line is repeated and rotation is dynamic Work or the walking of wall limit etc., return to cradle.

But, if there is barrier, then avoiding obstacles is while moving to the direction of cradle.

In addition, infrared receiver portion 18 is received the infrared signal from cradle output, thus carry out to cradle Return is processed and the connection process with cradle.

Hereinafter, each inscape shown in explanatory diagram 1.

The control unit 11 of Fig. 1 is the part of action of each inscape of control dust catcher 1, by mainly include CPU, ROM, The microcomputer of RAM, I/O controller, timer etc. realizes.

CPU makes the organically action of each hardware perform the dust suction of the present invention based on the control program being pre-saved by ROM etc. Function, walking function, control device map systematic function etc..

As described later, controlling device map systematic function is the phase using the destination object thing being determined by position determination section 17 Position to position and the datum mark of regulation generates the position at the destination object thing place representing configuration in the space of regulation The function of control device map.

In the case of self-propelled suction cleaner, said reference point is set to self-propelled suction cleaner to fill rechargeable battery Electricity and the allocation position of cradle that returns.

Rechargeable battery 12 is the part of the supply electric power of each functional imperative to dust catcher 1, is mainly for being applied to inhale The part of the electric power of dirt function and travelling control.Lithium ion battery, Ni-MH battery, NI-G (Ni-Cd) battery etc. is for example used to fill Electricity battery.

It is charged the charging of battery 12 with cradle in the state of dust catcher 1 is connected.

Carry out dust catcher 1 and cradle by making to contact with each other as the charging terminal exposing of mutual connecting portion Connection.

In addition it is also possible to be, possess not shown residual capacity of battery test section, the remaining capacity of detection rechargeable battery (residual capacity of battery), determines whether to return to cradle based on the residual capacity of battery (%) detecting, then returns again to.

Travelling control portion 21 is by the part of the control of the autonomous of self-propelled suction cleaner 1, is that major control is above-mentioned The rotation of wheel 22 mainly makes it carry out straight line moving and spinning movement thus the part that automatically moves.Revolver and right wheel are divided Do not driven by different driving motors.

Driven by making 2 driving wheels (revolver, right wheel) in wheel 22, carry out advance, the retrogressing of dust catcher 1, revolve Turn, the action such as static.

Encoder 23 is respectively arranged on revolver and right wheel, the rotating speed according to wheel or direction of rotation, position of rotation, rotary speed Measure the distance that self-propelled suction cleaner moves from the datum mark of regulation, be equivalent to above-mentioned displacement measurement portion.

Angle detection 14 is so-called gyro sensor, the angle of the direct of travel of detection self-propelled suction cleaner 1.Base In from the signal that gyro sensor 14 exports calculate with become on the basis of direction between angle.Thus, movement is detected Direction.

For example in the case of carrying out the left convolution of 90 degree, check that the state of gyro sensor controls driving Make it from initial angle position left direction 90-degree rotation with motor, and make right wheel and revolver to mutually in the state of static Contrary direction rotates.

In addition, gyro sensor 14 is additionally operable to the fine setting of error or the attitude correcting mobile control in addition.

Obstacle detection portion 13 be detection dust catcher 1 in walking with the contacting or connecing of the barrier such as indoor desk or chair Near part, for example, use feeler or the barrier including microswitch, ultrasonic sensor, infrared distance measuring sensor etc. Hinder thing sensor, be configured at the front portion of the side plate 2C of casing 2.

CPU is based on the position at the signal cognitive disorders thing place exporting from obstacle detection portion 13.And based on the barrier identifying Hinder the positional information of thing, determine to avoid this barrier direction then to be walked.

Infrared receiver portion 18 is the part receiving the infrared signal from cradle output.

Dust collecting part 33 is carried out the part to the dust-absorbing function that indoor rubbish or dust are collected, and mainly possesses and does not schemes Dust collecting container, filter house and the cap covering dust collecting container and filter house showing.

In addition, have the inflow road connecting with air entry 31 and the discharge path connecting with exhaust outlet 32, will be from air entry 31 air sucking import in dust collecting container via flowing into road, by the air after dust via discharge path from exhaust outlet 32 to outside Release.

Air entry 31 and exhaust outlet 32 are to carry out the air-breathing of the air for dust suction and the part of exhaust respectively, are formed at State this position.

Input unit 34 is the part that the action to dust catcher 1 for the user carries out instruction input, presses as guidance panel or operation The tank surface of dust catcher 1 is located at by button.

Or it may be that as input unit 34, arrange RCU independent of main body of dust collector, user presses and is located at this The operation button of RCU thus send infrared ray or radio wave signal, the instruction being carried out action by radio communication is defeated Enter.

It as input unit 34, is provided with power switch, activate switch, main power switch, charge request switch, other switches (operation mode switch, timer switch) etc..

For example in the case of pressing charge request switch in automatic walking, it is judged that return cradle for needs, perform Return process.

The signal communication unit 15 of Fig. 1 is to receive (detection) signal communication unit 102 from distance-measuring equipment 100 described later or conduct The part of the wireless signal that the control object equipment of destination object thing sends.As the element of signal communication unit 15, utilizable energy Receive the general communication equipment of sent wireless signal.

Below in an example, as the wireless signal sending from distance-measuring equipment 100, for example, use by low-power consumption bluetooth The fixed signal of (BLE:Bluetooth (registration mark) Low Energy) standard.Hereinafter this wireless signal is referred to as BLE letter Number.

In the case of sending BLE signal from distance-measuring equipment 100, signal communication unit 15 also uses and can carry out based on BLE's The reception equipment of communication.In the present invention, the receiving intensity of the BLE signal receiving based on signal communication unit 15, is measured to Distance (current location of self-propelled suction cleaner 1 and the distance of distance-measuring equipment) away from equipment 100.

BLE is the new standard of the bluetooth that a kind of communication mode currently as wireless near field communication uses, and utilizes The radio communication of the electric wave of 2.4GHz frequency band.

The maximum communication speed of BLE is 1Mbps, although additionally depends on transmission electric power or antenna performance, but can enter line number m The communication of～tens of m, it is characterised in that save electric power.

In the present invention, signal communication unit 15 is received what the signal communication unit 102 from distance-measuring equipment 100 described later exported BLE signal, thus measures distance L of signal communication unit 102 and signal communication unit 15.The signal communication unit 102 of output BLE signal In addition to can being located at distance-measuring equipment, it is also possible to be located at cradle or each control object equipment 110.

Range determination portion 16 be based on the wireless signal being received by signal communication unit 15 be measured to distance-measuring equipment 100 or The part of distance L as the control object equipment of destination object thing.Specifically, due to the receiving intensity of electric wave and taking advantage of of distance Side is inversely proportional to, thus use the BLE signal being received by signal communication unit 15 receiving intensity that detects BLE signal and calculate from Walk distance L of formula dust catcher 1 and distance-measuring equipment 100.

As long as example by according to from signal communication unit 102 output BLE signal transmission intensity fixed in advance and by The receiving intensity of the BLE signal that signal communication unit 14 receives obtains the attenuation rate of signal, declines with reference to the expression being prepared in advance Lapse rate and the form etc. of the relation of distance, calculate above-mentioned distance L corresponding with attenuation rate.

In addition, sent from signal communication unit 102 to all directions of 360 degree by carrying out studying intensively to antenna pattern etc. BLE signal.

BLE signal diffraction due to diffraction phenomena, therefore, blocking ultrared barrier even if existing, also can receive BLE signal, can measure the distance between both (the 1st, 100).

Position determination section 17 is the part of the relative position determining the control object equipment as destination object thing.In order to certainly This relative position fixed, utilizes self-propelled electronic equipment relative to the relative position of the cradle as datum mark with from self-propelled electricity Subset is to the mensuration distance of destination object thing.

First, calculated from the measuring point of regulation to the control object equipment as destination object thing by range determination portion 16 Measure distance.

Then, the measuring point from the datum mark of regulation to the mensuration having been carried out distance by range determination portion 16 is used (certainly to walk The position of formula electronic equipment) displacement and the moving direction being detected by gyro sensor 14, calculate self-propelled electronics Equipment is from the relative position of datum mark.

Carry out calculating of above-mentioned this mensuration distance and relative position at multiple arbitrary measuring points.

Afterwards, by with the relative position of each measuring point be the center of circle and with the distance that determines (from measuring point to target The distance of object) the relative position of intersection point that intersected by the circumference of multiple circles of the radius of circle is determined as destination object The position at the control object equipment place of thing.

Here, as described later, measuring point is set to the position of more than different 3 on the mobile route automatically walked.

In addition, the circumference of the circle of more than 3 centered on the relative position by this measuring point of more than 3 is intersected The relative position of 1 intersection point is determined as the position at control object equipment place.

Figure 4 illustrates the range determination of the present invention and mobile route outlines figure.

In Fig. 4 (a), cradle the 140th, self-propelled suction cleaner 1 and control object equipment 110 configure as shown in the figure and are growing In square room 150.

It in addition, distance-measuring equipment 100 is easy to the mini-plant of carrying, is arranged at the position at control object equipment 110 place Use.Or also can be built in control object equipment 110.

The position (x0, y0) being arranged at the cradle 140 of the lower-left in room is set to XY coordinate system initial point (0,0) and with On the basis of this position point obtain the current location (x1, y1) of self-propelled suction cleaner 1 and distance-measuring equipment 100 arrange position (x2, Y2) relative position.

Here, detect displacement and shifting respectively based on the signal obtaining from above-mentioned encoder 23 and gyro sensor 14 Dynamic direction, therefore can utilize information (displacement, the movement side of mobile route of current location of walking from cradle 140 To), calculate the current location (x1, y1) of self-propelled suction cleaner 1.

In addition, as described above, signal communication unit 15 is received the BLE signal exporting from distance-measuring equipment 100, thus calculate from The signal communication unit 15 of self-propelled suction cleaner 1 is to mensuration distance L of the signal communication unit 102 of distance-measuring equipment 100.

Only by this 1 position, current location of self-propelled suction cleaner 1, just know that distance-measuring equipment 100 is present in certainly to walk Certain centered on the current location of formula dust catcher 1 and on the circumference of the circle for mensuration distance L for the radius, therefore, it is impossible to uniquely Ground determines the position of the control object equipment 110 being provided with distance-measuring equipment 100.

Therefore, as described later, self-propelled suction cleaner 1 carries out said determination distance at multiple different measuring points in certainly walking The mensuration of L, position determination section 17 calculates the position of 1 intersection point being intersected with the circumference measuring multiple circles that distance L is radius Coordinate (x2, y2).

By what this arranged that position (x2, y2) is determined as distance-measuring equipment 100, the position i.e. configuration of control object equipment 110 is set Position.

The order acceptance division 51 of Fig. 1 is equipment (the such as infra-red remote control receiving the action from control self-propelled suction cleaner 1 The portable terminal device such as device, smart phone) part of control command that exports.As control command, for example, there is self-propelled suction cleaner 1 Start order, cease and desist order, movement directive, the remote control command etc. to control object equipment.

After determining self-propelled suction cleaner by the content resolving the control command being received by order acceptance division 51 Action.

Control signal sending part 52 is the control letter sending for remotely controlling the action of control object equipment 110 Number part.As control signal, for example, using infrared signal, (power supply is opened in the startup of output expression control object equipment 110 Open), stop (power remove), operation start, operating terminate, the signal of pattern change etc..

In the case of using infrared signal, infrared ray has directive property and the scope of arrival is limited, therefore exists Self-propelled suction cleaner 1 is walked automatically behind the vicinity of control object equipment 110, towards the control of control object equipment 110 described later The direction output control signal at signal receiving part 112 place processed.

One enforcement of the control of the mobile route of self-propelled suction cleaner 1 and control object equipment 110 shown in Fig. 4 (b) The explanatory diagram of example.

In Fig. 4 (b), dotted line represents the mobile route of self-propelled suction cleaner 1.Here, illustrate and start row from cradle 140 Walk and move to a case in the path of the vicinity of control object equipment 110.

Here, be set to self-propelled suction cleaner 1 move to from control signal sending part 52 send infrared signal can be controlled The position that the control signal acceptance division 112 of object-based device 110 processed receives.

Self-propelled suction cleaner 1 move to control object equipment 110 near in the case of, static in this position and to control Signal receiving part 112 processed exports above-mentioned this control signal.

Thus, control object equipment 110 performs when receiving control signal and the corresponding work(of control signal receiving Energy.

Storage part 41 is the part storing to realize information needed for the various functions of self-propelled suction cleaner 1 or program, Use storage device, other storage mediums such as semiconductor memory component, hard disk, the SSD such as RAM or ROM.

Main storage in storage part 41 currently locates the 42nd, measuring apparatus distance the 43rd, device identifying information the 44th, equipment The 45th, positional information controls device map the 46th, mobile route 47 etc..

Figure 5 illustrates the explanatory diagram of an embodiment of the information of storage part 41 storage of the present invention.

One embodiment of the mensuration information measuring in self-propelled suction cleaner 1 shown in Fig. 5 (a).Here, illustrate current survey Positioning puts an embodiment of 42 and measuring apparatus distance 43.

The walking path that figure 7 illustrates the self-propelled suction cleaner 1 of the present invention and the explanation of the embodiment locating Figure.

In FIG. 7, it is shown that the cradle being arranged in 1 room, as control object equipment television set (TV) and The position of distance-measuring equipment, the solid line with arrow represents the mobile route of self-propelled suction cleaner, and asterisk represents and is measured to distance-measuring equipment The measuring point of distance.

4 positions pair of currently locate 4 measuring points (P1～P4) of 42 and the asterisk shown in Fig. 7 of Fig. 5 (a) Should.

In the figure 7, the position at cradle place is set to reference position (0,0), the phase contraposition of the position of 4 asterisks is shown Put coordinate.

The position coordinates (120,900) of the 1st measuring point P1 of such as Fig. 7 refer to by cradle (0,0) as benchmark In the case of ,+120cm, the position as+900cm place in the Y direction of the longitudinal axis in the X-direction as transverse axis of XY coordinate system.

2nd measuring point P2 (420,810) represents the position at+810cm place in+420cm in X-direction, Y direction.

The signal from above-mentioned encoder 23 and gyro sensor 14 acquirement can be resolved and move according to self-propelled suction cleaner 1 Distance and moving direction calculate the position coordinates of this measuring point.

In addition, the measuring apparatus distance 43 of Fig. 5 (a) illustrate each measuring point from the current location of self-propelled suction cleaner 1 to The air line distance of distance-measuring equipment 100.

Such as measuring point P1 refers to 600cm。

This air line distance is equivalent to the measuring apparatus distance 43 being calculated by above-mentioned range determination portion 16.

In Fig. 5 (a), this relative position coordinates (currently locate 42) of 4 measuring points (P1～P4) is shown and arrives The measuring apparatus distance 43 of distance-measuring equipment 100, but it is not limited to these 4, as long as the arbitrary measuring point on mobile route is carried out Measure.

In addition, in order to improve the precision that the position to distance-measuring equipment is determined, the quantity of measuring point is preferably tried one's best many.Survey Fixed point at least needs more than 3, as shown in Fig. 5 (a), as long as being measured being sufficient to 3 or 4 measuring points.

Fig. 5 (b) illustrates an embodiment of device identifying information 44.

Device identifying information 44 includes distance-measuring equipment identification information and facility information, represents and is used for distinguishing multiple control object The information (attribute) of equipment 110.

In Fig. 5 (b), the situation for example having 2 distance-measuring equipments is shown, is in the control that position is set of each distance-measuring equipment The title of object-based device is to have set storage in advance.

The identification information for example distinguishing distance-measuring equipment is ID01, refers to be provided with the control object equipment of this distance-measuring equipment Title be television set.

By utilizing this device identifying information 44, the multiple control object equipment being arranged at room can be distinguished clearly Position, can carry out the control of desired control object equipment.

As facility information, in addition to device name, it is possible to use commodity code or identification id.

Fig. 5 (c) illustrates an embodiment of device location information 45.

Device location information 45 is by device identifying information 44 and the multiple destination object things being determined by position determination section 17 The information that is mapped of relative position, behind the relative position determining each destination object thing, be stored in storage part 41.

In addition, when in the state of storage part 41 is stored with regard to device location information 45 of the destination object thing both deposited by In the case that position determination section 17 determines the relative position of newly-installed destination object thing, the phase of the destination object thing of this decision Position is added and is stored in device location information 45.

The configuration map of control control object equipment e.g. as shown in Fig. 4 or Figure 11 for the device map 46 described later, base Generate in this device location information 45.

In Fig. 5 (c), as device location information 45, thus it is shown that include the identification information of distance-measuring equipment, according to benchmark The relative position (X, Y) of the control object equipment 110 that point (cradle) is obtained and the facility information of each control object equipment 110 The information of (device name).

Here, illustrate and utilize 3 distance-measuring equipments (ID01, ID02, ID03) and each distance-measuring equipment is respectively arranged at 3 not With control object equipment and the situation that carries out range determination.

The positional information 45 of 3 control object equipment shown in Fig. 5 (c).

For example on the position being provided with distance-measuring equipment ID01 the relative position of control object equipment of configuration be (X, Y)= (+500 ,+960), represent that the title of this control object equipment is television set.

Calculated the seat in the crosspoint of the circumference of multiple circle by mensuration information (42,43) shown in Fig. 5 (a) for the use Mark, thus obtain this relative position by method described later.

But, in the case that 1 room only exists 1 control object equipment, it is not necessary to preset above-mentioned this set Standby identification information 44.

In the case of in addition, there is multiple control object equipment in 1 room, as long as setting determining each control object Behind standby relative position, as shown in Fig. 5 (c), by attribute (the such as implementor name of the information of this relative position and control object equipment Claim) being mapped carries out storing, not necessarily the identification information of distance-measuring equipment is mapped in advance with device name.

I.e., for example in the case of only 1 distance-measuring equipment 100, first distance-measuring equipment is arranged at multiple control object In place of any one control object equipment in equipment, make self-propelled suction cleaner 1 move, measure the mensuration information of Fig. 5 (a), After determining the relative position of this control object equipment, make the relative position coordinates of this decision and the title pair of control object equipment Should get up to store.

Then, as long as same distance-measuring equipment is relocated onto the position of another control object equipment, measure same Mensuration information, after determining the relative position of this control object equipment, makes the title of this position coordinates and control object equipment It is mapped and carry out storing.

Thus, in order to calculate the relative position of multiple control object equipment, both multiple distance-measuring equipments can be respectively provided with In the position that the position of each control object equipment determines whole control object equipment simultaneously, it is also possible to only use 1 range finding to set Standby, determine that control object sets in order one by one by arranging the position that the position reset of this distance-measuring equipment is each control object equipment Standby position.

Control device map 46 represents the position at destination object thing place in the space of regulation for the configuration.

Figure 6 illustrates control device map 46 coordinate outline figure.

Here, the method to set up of XY coordinate system and the position by cradle 140 place be set to benchmark (0,0) this respect with Identical shown in Fig. 4.

But, the space for convenience and by the room 150 shown in Fig. 4 is shown as the right regions (X ＞ 0, Y ＞ 0) of Fig. 6, But the space moved as self-propelled suction cleaner 1, occasionally there are when watching from datum mark (0,0) the XY coordinate system of Fig. 6 upper left, Lower-left, the region (room) of bottom right.

Thus, it is preferable to as control device map 46, be not only the coordinate space shown in Fig. 4 also by 4 coordinate spaces Generate as object.

By generating the ground of the position representing the control object equipment being configured at 4 coordinate spaces centered on cradle The all devices comprising in this map can be set to control object by figure.

What the mobile route 47 of Fig. 1 stored is the path of the actual movement of self-propelled suction cleaner 1.

This mobile route 47 can be generated according to the information obtaining from encoder 23 and gyro sensor 14.

Alternatively, it is also possible to be, determining that control object equipment this control object oriented behind the relative position of datum mark sets In the case that the instruction of standby movement inputs, use above-mentioned relative position and the self-propelled suction cleaner that calculates according to mobile route from base The information of relative position on schedule, after automatically generating the mobile route of the vicinity going to control object equipment, by this mobile route Also store temporarily.

In addition, be provided with not shown cradle connecting portion in self-propelled suction cleaner 1.

Cradle connecting portion is the terminal for inputting the electric power for making rechargeable battery 12 charge.

Contact by way of the dust catcher connecting portion that makes this cradle connecting portion and be located at cradle 140 is with physics, will The electric power providing from the supply of electric power portion of cradle 140 is fed to rechargeable battery 12 and charges it.Cradle connecting portion is to reveal The state going out the side to dust catcher 1 main body is formed.

And, self-propelled suction cleaner 1 is in addition to possessing above composition, it is also possible to possess other required compositions or work( Energy.

Ultrasonic sensor for example also can be set.Ultrasonic sensor is to the object such as the wall in room or desk Distance detects, including send ultrasonic wave sender and reception from object back wave by ripple device.Ultrasonic wave passes Sensor is mainly used in being measured the distance to barriers such as walls.

Alternatively, it is also possible to be, possess in dust suction or under inactive state, produce the composition (ion generator) of ion, carrying out Degerming or deodorizing (or deodorization).

It alternatively, it is also possible to be, is being provided with the timer switch being set the time performing dust suction process and is carrying out In the case of opening of timer switch (unlatching) operation, proceed by the meter of time set in advance (such as 60 minutes) Number, performs dust suction and processes till have passed through this setting time.

Also it may be that stop dust suction process after have passed through this setting time, cradle is automatically returned.

Composition ＞ of ＜ distance-measuring equipment

In FIG, distance-measuring equipment 100 mainly possesses control unit the 101st, signal communication unit the 102nd, storage part 103.

Distance-measuring equipment 100 can be provided as before in the control of the distance wanted between mensuration and self-propelled suction cleaner 1 The vicinity of the allocation position of object-based device 110, sends BLE signal to measure this distance.Or, it is also possible to it is built in control Object-based device or cradle.

Owing to distance-measuring equipment 100 is arranged near control object equipment, therefore can be regarded as being equivalent to above-mentioned mesh Mark object.

Thus, after position determination section 17 determines the relative position of distance-measuring equipment 100, by the phase contraposition of this distance-measuring equipment Put the allocation position being considered as corresponding control object equipment.

Utilizing the relative position of determined distance-measuring equipment, the control generating the position representing control object equipment place sets Standby ground Figure 46.

In the case of self-propelled suction cleaner, automatically walk and during performing dust-absorbing function, use from The distance to distance-measuring equipment 100 that multiple measuring points on the mobile route of dynamic walking determine and measuring point distance are as base The relative position of cradle on schedule determines the relative position of distance-measuring equipment.

Control unit 101 is to be realized by the microcomputer including CPU, ROM, RAM, I/O controller, timer etc., logical Cross the part of function that the program that ROM etc. stored performs the regulation such as sending function of BLE signal.

Signal communication unit 102 is the part sending wireless signal, particularly, including the BLE for sending BLE signal sends Equipment and antenna etc..

Storage part 103 is the part of the required information such as the transmission of storage BLE signal or program, uses ROM, RAM or sudden strain of a muscle The storage device such as semiconductor memory component, HDD such as deposit.

For example be stored with in storage part 103 the identification information for distinguishing distance-measuring equipment 100.

In the case of using multiple stage distance-measuring equipment 100 at the same time, each distance-measuring equipment is made to preset the different knowledge of storage Other information, makes to comprise each intrinsic identification information from the BLE signal of signal communication unit 102 output, thus can distinguish by believing The BLE signal that signal communication portion 15 receives from which distance-measuring equipment 100 sends.

But, could be used that the hardware such as resistive element or dial-up (DIP) switch at random sets this identification information.

Composition ＞ of ＜ control object equipment

In FIG, control object equipment 110 mainly possesses control unit the 111st, control signal acceptance division the 112nd, function executing unit 113rd, storage part 114.

Alternatively, it is also possible to as the signal communication unit 102 of distance-measuring equipment, possess the composition sending BLE signal.

As described above, control object equipment 110 is destination object thing, its action is to send based on from self-propelled suction cleaner 1 Control signal and be remotely controlled, the e.g. electrical equipment such as television set, air-conditioning.

Control unit 111 will be supplied to function with the corresponding instruction of control signal being received by control signal acceptance division 112 Enforcement division 113, the thus action to control object equipment 110 is controlled.

Control unit 111 can be by including CPU, ROM, RAM, I/O controller, and the microcomputer of timer etc. realizes.

Control signal acceptance division 112 is the control letter receiving control signal sending part 52 output from self-propelled suction cleaner 1 Number part, for example, in the case of control signal is ultrared, use infrared ray photo detector.

Function executing unit 113 is carried out the part of the function that control object equipment 110 is had, according to from control unit The instruction of 111 starts regulated procedure, performs the function based on this instruction.

For example, in the case that control object equipment is television set, connection (unlatching), the cut-out of power supply of power supply is performed The functions such as the switching of (shutoff), channel.

Storage part 114 is the part storing to perform information needed for function or program, uses ROM, RAM, flash memory etc. Semiconductor memory component, HDD etc. store device.

Storage part 114 is for example stored with for identification information (title, the manufacture numbering determining control object equipment Deng).

In addition, also can the equal composition of built-in and above-mentioned distance-measuring equipment 100 in control object equipment 110.I.e., it is possible to To make control object equipment 110 possess the composition for sending BLE signal and program etc. in advance.

In this case, it is not necessary in order to obtain the allocation position of control object equipment, special distance-measuring equipment 100 is set In place of being placed in this control object equipment 110.

Even if also can send, by being set to control object equipment 110 in advance, the signal found range under halted state all the time State, when the allocation position of control object equipment 110 there occurs change, has only been required to be and has carried out regularly cleaning process And make self-propelled suction cleaner 1 automatically walk, just can determine the position after the change of control object equipment 110, and need not be only for Set the position after change and particularly operate or process.

The position decision of ＜ control object equipment processes ＞

Use the clear and decided position determine control object equipment for Fig. 7 to Figure 10 generate the process controlling device map Embodiment.

Here, as it is shown in fig. 7, make self-propelled suction cleaner 1 automatically walk by arbitrary mobile route, more than at least 3 Measuring point survey to the distance wanting to determine set distance-measuring equipment 100 in place of the control object equipment 110 of position Fixed, use what the relative coordinate measuring distance sum measurement point of more than 3 calculated distance-measuring equipment position is set.

In addition, the relative position of the distance-measuring equipment 100 calculating is considered as the relative position of set control object equipment.

Although needing to obtain the position (from the relative position of datum mark (0,0)) of self-propelled suction cleaner 1 range determination point, but Self-propelled suction cleaner 1 is mobile without starting from the cradle as datum mark, and mobile route is without being all the time along setting in advance Fixed path walking.

As long as the relative coordinate relative to datum mark of the current location of self-propelled suction cleaner 1 can be calculated, from arbitrarily Current location start walking and by arbitrary mobile route walking.

(1) setting of distance-measuring equipment

First, at newly configured control object equipment or change the control object equipment etc. of configuration and want to determine its position And make self-propelled suction cleaner 1 store near the control object equipment 110 of this position to arrange distance-measuring equipment 100.

(2) storage of the identification information of distance-measuring equipment

Then, self-propelled suction cleaner 1 is made to store the identification information of this distance-measuring equipment 100.

The identification information of distance-measuring equipment 100 both can be pre-stored within storage part 41, it is also possible to from distance-measuring equipment 100 to certainly Walk formula dust catcher 1 to send the identification information of distance-measuring equipment and be automatically set.

It at this time it is also possible to make identification information itself have implication in advance, is used as unique identifiers.

As long as being set to for example in advance and referring to television set in the case that identification information is zero, in the feelings that identification information is 1 Air-conditioning is referred under condition.

Or, identify that information itself also can be used only as distinguishing the numbering of distance-measuring equipment as general identifier.At this In the case of, as long as user utilizes input unit, use dial-up (DIP) switch etc. manually enter to be about to identification information with corresponding to this range finding The setting that the title (or classification) of the control equipment of equipment is associated.

(3) the automatic walking of self-propelled suction cleaner

Self-propelled suction cleaner 1 is set to the cleaning modes based on automatic walking, mobile while starting clear in room Sweep operation.

Mobile route or translational speed can be arbitrary.

(4) in automatic walking, distance is measured

In the movement of self-propelled suction cleaner 1, receive by measuring point more than at least 3 for the arbitrary timing and set from range finding Carry out from each measuring point to the range determination of distance-measuring equipment 100 for the BLE signals of 100 outputs.

In addition, as described above, utilize the information obtaining from encoder the 23rd, gyro sensor 14, calculate at each measuring point Distance is as the relative position of the cradle of datum mark.

As long as the different position of the measuring point of more than 3, it is not necessary to always identical position, can be random position Put.

It is however also possible to set measuring point accordingly at regular intervals with the speed of movement.Alternatively, it is also possible to whenever shifting Measuring point is set during dynamic certain distance.

For example, in the case that self-propelled suction cleaner is walked along the mobile route shown in Fig. 7, carry out at 4 measuring points Range determination.In addition, also calculate the relative position of measuring point.

One embodiment of the result determining at this 4 measuring points is the mensuration information shown in Fig. 5 (a).

Figure 8 illustrates the self-propelled suction cleaner 1 of the 1st measuring point (120,900) and the position relationship of distance-measuring equipment 100.

Distance 600cm measuring represents the air line distance of measuring point and distance-measuring equipment 100.But, only pass through this 1 mensuration Distance cannot determine the position of distance-measuring equipment 100 uniquely.

As shown in Figure 8, just know that distance-measuring equipment is present in the radius centered on measuring point for measuring distance (600cm) Certain on the circumference of circle.

As described later, this circle is for determining the position of distance-measuring equipment 100.

(5) position of distance-measuring equipment is determined

The explanatory diagram of the mensuration distance of each measuring point is shown in figure 9 and in figure 10.

Fig. 9 (a) illustrates mensuration distance L1 between the 1st measuring point P1 and distance-measuring equipment 100 as Fig. 8.Will be to measure It is set to R1 centered on some P1 and to measure the circle as radius for distance L1.

Mensuration information according to Fig. 5 (a), circle R1 is the circle of radius L1=600cm.

Fig. 9 (b) illustrates mensuration distance L2 between the 2nd measuring point P2 and distance-measuring equipment 100 on the basis of Fig. 9 (a).

Here, R2 will be set to centered on measuring point P2 and to measure the circle as radius for distance L2.

According to Fig. 5 (a), the radius of circle R2 is 360cm.

This 2 circles (R1, R2) are though intersecting with 2 intersection points, but just know that distance-measuring equipment 100 is present on the circumference of 2 circles, Be present in which intersection point or unclear.

Figure 10 (a) illustrates mensuration distance L3 between the 3rd measuring point P3 and distance-measuring equipment 100 on the basis of Fig. 9 (b).

Here, R3 will be set to centered on measuring point P3 and to measure the circle as radius for distance L3.

According to Fig. 5 (a), the radius of circle R3 is 510cm.

As shown in Figure 10 (a), 3 circles (R1, R2, R3) are mutually intersected with multiple intersection points respectively, exist but as long as there are 3 circles This intersection point just can be determined as the position at distance-measuring equipment 100 place by the situation that 1 intersection point intersects.

In Figure 10 (a), 3 circle intersect points positional representation distance-measuring equipments 100 position is set.

The numerical expression representing 3 circles can be utilized in the XY coordinate system of with datum mark as initial point (0,0) to be asked by arithmetical operation Go out the position coordinates in this crosspoint.

Figure 10 (b) also illustrates that the mensuration distance between the 4th measuring point P4 and distance-measuring equipment 100 on the basis of Figure 10 (a) L4。

Here, R4 will be set to centered on measuring point P4 and to measure the circle as radius for distance L4.

According to Fig. 5 (a), the radius of circle R4 is 70cm.

As shown in Figure 10 (b), 4 circles (R1～R4) become the position at distance-measuring equipment 100 place at the point that 1 intersection point intersects Put.

Although utilize 3 circles can determine the position of distance-measuring equipment 100 as shown in Figure 10 (a), but such as Figure 10 (b) institute Show, obtain intersection point by using the circle of more than 3, the precision of the position of distance-measuring equipment 100 can be improved.

That is, by increasing the quantity of measuring point and then the measuring point arranging more than 5, can determine that range finding sets with higher precision Standby 100 position is set.

As described above, obtain distance-measuring equipment by obtaining the intersection point of 3 shown in Figure 10 (a) or Figure 10 (b) or 4 circles The relative coordinate (X, Y) that position is set of 100.

For example, as shown in the device location information 45 of Fig. 5 (c), the identification information of distance-measuring equipment 100 is being set to ID01 When, the coordinate of its relative position is calculated as (500,960) and is stored.If it is right that this distance-measuring equipment 100 is arranged at as control Near the television set of equipment, then the relative coordinate of the allocation position of television set is decided to be the relative seat of distance-measuring equipment 100 Mark (500,960).That is, the relative position of distance-measuring equipment 100 is to store as the allocation position of control object equipment 110.

As shown in Fig. 5 (b), if being preset with device identifying information 44, then in device location information 45, with ID01 pair Should rise be used as facility information storage be television set.

But, in the case that control object equipment only has 1, it is not necessary to preset device identifying information 44, therefore exist Can not storing device information in device location information 45.

Automatically generate control device map 46 based on the device location information 45 so obtained.That is, use is determined The relative position of control object equipment 110 and the position of datum mark, it is right that generation is configured with control in the space (room) of regulation Map as equipment 110.

Alternatively, it is also possible to the position using multiple distance-measuring equipment 100 to carry out multiple control object equipment determines simultaneously.Example As, as shown in Fig. 5 (c), the relative position of multiple control object equipment can be determined accordingly with the relative position of each distance-measuring equipment.

In the case of using multiple distance-measuring equipment 100, self-propelled suction cleaner 1 can only carry out 1 in movement is to room The quantity that the period of secondary cleaning operation automatically carries out with distance-measuring equipment is the position finding of the control object equipment of equal number, Easily can generate, with the comparatively short time, the ground Figure 46 comprising multiple control object equipment.

Thus, user is without in order to determine that the position of control object equipment or generation control device map 46 and oneself is carried out Complicated setting input operation.

(6) the control process to control object equipment

As described above, after the allocation position of control object equipment in storing room, even if user does not enter control In the room at object-based device place, also can by using the portable terminal device etc. oneself held, self-propelled suction cleaner 1 is carried out for Send the input operation of control command to desired control object equipment, thus control this control object equipment.

For example, it is assumed that user has carried out the input operation of power supply for connecting air-conditioning with portable terminal device.This input operation Without carrying out arranging air-conditioned indoor, as long as carrying out in the range of control command shell reaches self-propelled suction cleaner 1.

Thus, the control command comprising to mean to connect the power supply of air-conditioning is sent from portable terminal device to self-propelled suction cleaner 1 The wireless signal of (power-on command).

When the order acceptance division 51 of self-propelled suction cleaner 1 receives this control command, what use storage part 41 was stored sets Standby positional information 45 or control device map 46, determine device to be controlled (air-conditioning) according to the control command receiving, adjust Look into the relative position of the equipment of this determination.

Afterwards, the information of the relative position of control object equipment (air-conditioning) is utilized, in control device map 46, according to certainly The mobile route walking the current location of formula dust catcher 1 self-propelled suction cleaner 1 to the vicinity to control object equipment (air-conditioning) enters Row sets.

Self-propelled suction cleaner 1 starts mobile based on the mobile route of this setting.

Come control object equipment (air-conditioning) near when, the control signal sending part 52 of self-propelled suction cleaner 1 will be with The corresponding control signal of the control command (power on) receiving sends towards the direction of control object equipment (air-conditioning).

The control signal acceptance division 112 of control object equipment (air-conditioning) receives control signal, thus function executing unit 113 Perform and the corresponding function of this control signal (power on).

The summary of ＜ embodiment and other embodiments ＞

(a) first, as described above, there is following embodiment: use 1 distance-measuring equipment 100 to determine to join in 1 room The position of the many motors control object-based device put.(embodiment 1)

In this case, although only prepare 1 distance-measuring equipment, but user needs again to set distance-measuring equipment every time Be placed in place of wanting to carry out the control object equipment of position finding, carry out in order multiple control object equipment position certainly Fixed, the walking automatically of self-propelled suction cleaner 1 is also required to carry out according to the quantity of control object equipment.But, user without in order to Determine the position of control object equipment or make map and carry out the input operation of complexity.

B () is in addition, as described above, there is following embodiment: use multiple stage distance-measuring equipment 100 to believe the identification of distance-measuring equipment Breath is mapped in advance with the facility information of the control object equipment arranging distance-measuring equipment and stores, and thus almost determines simultaneously The position of the many motors control object-based device of configuration in 1 room.(embodiment 2)

In this case, while it is desirable to each distance-measuring equipment is pre-set at respectively corresponding control object equipment, but Only automatically walked 1 time by making self-propelled suction cleaner 1, just can determine the control object of the quantity suitable with the quantity of distance-measuring equipment The position of equipment.

C () also has the embodiment being built in each control object equipment by the composition of distance-measuring equipment.(embodiment 3)

In this case, in the case that self-propelled suction cleaner 1 is positioned at as the position of the cradle of datum mark, i.e. certainly Walk formula dust catcher 1 in the case of be in charging, can confirm that whether each control object equipment is present in and currently stored position phase Same position.

The explanatory diagram of the embodiment of the distance from cradle is measured shown in Figure 11 (a).

The signal communication unit 15 of self-propelled suction cleaner 1 receives the signal from the built-in distance-measuring equipment of each control object equipment The BLE signal of communication unit 102 output, is entered by the distance to the signal communication unit to each control object equipment for the range determination portion 16 Row measures.

As shown in Figure 11 (a), when determining mensuration distance (L 10, L20, L30) of each control object equipment, permissible Think that these distances are roughly equal with the air line distance of the cradle from self-propelled suction cleaner place, therefore, by this mensuration Distance with obtain according to the relative position of the current device location information 45 having been stored in storage part 41 from datum mark Air line distance compares.

Being compared by this, if two distances are consistent, then the position of control object equipment is not changed, relatively make great difference In the case of, can be judged as that the position of control object equipment is different.

Thus, in the case of different from stored position in the current location being judged as control object equipment place, As long as resetting current location by being again carried out the decision process of above-mentioned this position.

In the case that d () there occurs change in the position of the cradle as datum mark, need again to obtain each control right As the relative position of cradle after change for the equipment, again make control device map.(embodiment 4)

The explanatory diagram of embodiment in the case of redeterminating from the distance of cradle shown in Figure 11 (b).

As shown in Figure 11 (b), cradle arrange position there occurs change in the case of, the position of the cradle after change Putting different with datum mark (0,0), therefore, the relative position relation on the basis of cradle of each control object equipment becomes Change.

Accordingly, it would be desirable to the relative position of the cradle after change on the basis of obtaining with datum mark (0,0) itself.

In order to obtain the relative position of cradle, be preferably stored with the configuration bit of control object equipment of more than 3 Put.

For example, in the state of self-propelled suction cleaner 1 is connected to cradle, measure certainly by the method as Figure 11 (a) Walk the distance (L11, L21, L31) between formula dust catcher 1 and the built-in distance-measuring equipment 100 of each control object equipment.

In Figure 11 (b), when the allocation position of each control object equipment does not change, calculate with each control object equipment Distance-measuring equipment 100 relative position centered on and with each crosspoint measuring distance (L11, L21, L31) circle as radius Relative position.

In Figure 11 (b), the position coordinates of the point that the circle of the circle of radius L11, the circle of radius L21 and radius L31 all intersects It is decided to be the position at self-propelled suction cleaner 1 place.

Owing to self-propelled suction cleaner 1 is attached to cradle, therefore the relative position of self-propelled suction cleaner 1 can be considered as The relative position of the cradle after change.

E () is being walked the equipment position with regard to the control object equipment both deposited automatically by making self-propelled suction cleaner 1 In the case that confidence breath 45 is stored in storage part 41, whether the position in order to investigate control object equipment changes, it is also possible to Separating certain period makes its automatic walking, thus the decision of the relative position of the control object equipment again both deposited.(implement Mode 5)

Now, the device location information 45 of the last time being stored at storage part determines with the position comprising by again carrying out In the case that the device location information of the relative position of the same control object equipment obtaining is different, as long as changing this control object The relative position of equipment.

Or, in the case of all occurring in that difference in the relative position of the multiple control object equipment both deposited, there is also and fill The position of electricity seat there occurs the possibility of change, accordingly it is also possible to enter the position change of cradle being about to as datum mark Process.

(f) also it may be that in self-propelled suction cleaner 1 moving process, the measuring points of arbitrary more than 3 carry out with respectively The mensuration of the distance between the distance-measuring equipment of control object equipment, no longer represents stored in the new distance that measures measuring In the case of the relative position of control object equipment, by the method such as sound or display, the allocation position of control object equipment is become Message more or cannot carry out the message informing of normal remotely control to user to control object equipment.(embodiment 6)

In such a case it is possible to be, for normal control object equipment relatively out of alignment, storage part 41 is stored Device location information 45 is deleted, and again re-starts range determination to determine the allocation position of this control object equipment.

For example, in the case of there occurs change in the position detecting 1 control object equipment, as long as by this control object The information deletion of equipment, then updated.

In the case of in addition, there occurs change in the position detecting multiple control object equipment, it is also possible to eliminate all Information, then be updated.

Or, in the case of the elimination instruction that user uses input unit to have input information, as long as being also to eliminate all letters Cease.

Description of reference numerals

11 control units, 12 rechargeable batteries, 13 obstacle detection portions, 14 angle detection, 15 signal communication units, 16 range determination portions, 17 position determination sections, the 18th, infrared receiver portion, 21 travelling control portions, 22 wheels, 23 volumes Code device, 31 air entries, 32 exhaust outlets, 33 dust collecting part, 34 input units, 41 storage parts, 42 currently locate, 43 measuring apparatus distances, 44 device identifying informations, 45 device location information, 46 control device map, 47 move road Footpath, 51 order acceptance divisions, 52 control signal sending parts, 100 distance-measuring equipments, 101 control units, 102 signal communications Portion, 103 storage parts, 110 control object equipment, 111 control units, 112 control signal acceptance divisions, 113 equipment are held Row portion, 114 storage parts, 140 cradles, rooms 150.

Claims (8)

1. a self-propelled electronic equipment, is directed towards the self-propelled electronic equipment walked automatically in the position of destination object thing, and it is special Levy and be, possess:

Travelling control portion, it controls the rotation of wheel and moves it；

Displacement measurement portion, the distance that its measurement is moved from the datum mark of regulation；

Angle detection, the direction of its detection movement；

Signal communication unit, it receives the wireless signal sending from above-mentioned destination object thing；

Range determination portion, it, based on the above-mentioned wireless signal receiving, is measured to the distance of above-mentioned destination object thing；And

Position determination section, it uses above-mentioned from said reference point to the measuring point of the mensuration having carried out above-mentioned distance to measure Displacement calculates the relative position from said reference point for the self-propelled electronic equipment, and profit with the above-mentioned moving direction detecting With the above-mentioned relative position from datum mark calculating and by above-mentioned range determination portion determine to destination object thing mensuration away from From determining the relative position from said reference point for the destination object thing.

2. self-propelled electronic equipment according to claim 1, it is characterised in that

In the walking automatically of above-mentioned self-propelled electronic equipment, above-mentioned range determination portion measures from respectively at arbitrary multiple measuring points Measuring point calculates the phase from said reference point for the self-propelled electronic equipment to the distance of above-mentioned destination object thing, above-mentioned position determination section To position, by the center being circle, relative position be circle with the above-mentioned distance determining half with the above-mentioned each measuring point calculating The relative position of the intersection point that the circumference of multiple circles in footpath is intersected is determined as the position at above-mentioned destination object thing place.

3. self-propelled electronic equipment according to claim 2, it is characterised in that

The measuring point of the relative position the distance being measured to destination object thing that calculate above-mentioned self-propelled electronic equipment is automatic row Position more than different 3 on the mobile route walked,

Intersected 1 of the circumference of the circle by more than 3 centered on the relative position by each measuring point for the above-mentioned position determination section The relative position of intersection point is determined as the position at above-mentioned destination object thing place.

4. the self-propelled electronic equipment according to any one in claims 1 to 3, it is characterised in that

It is also equipped with storage part,

In the case that the above-mentioned destination object thing that line position to be entered determines exists multiple, will be used for distinguishing multiple destination object thing Device identifying information be pre-stored within above-mentioned storage part,

After carried out the decision of relative position of above-mentioned each destination object thing respectively by above-mentioned position determination section,

Device location information is stored in above-mentioned storage part, generates control device map, this equipment based on this device location information Positional information is the information that the relative position by the said equipment identification information and each destination object thing of above-mentioned decision is mapped.

5. the self-propelled electronic equipment according to any one in Claims 1-4, it is characterised in that

Above-mentioned wireless signal is the BLE signal fixed by low-power consumption bluetooth standard, and above-mentioned range determination portion leads to based on above-mentioned signal The receiving intensity of the BLE signal that letter portion receives is to be measured to the distance of above-mentioned destination object thing.

6. self-propelled electronic equipment according to claim 1, it is characterised in that

Above-mentioned self-propelled electronic equipment is the self-propelled suction cleaner possessing rechargeable battery and dust-absorbing function,

Above-mentioned destination object thing is the distance-measuring equipment of setting near the control object equipment that user remotely to control,

Automatically walk at above-mentioned self-propelled suction cleaner and during performing dust-absorbing function, use the movement in automatic walking Multiple measuring points on path determine to the distance of distance-measuring equipment and said determination point from the phase contraposition of said reference point Put,

Determine the relative position of above-mentioned distance-measuring equipment by above-mentioned position determination section.

7. self-propelled electronic equipment according to claim 4, it is characterised in that

Above-mentioned storage part is stored with regard in the state of the device location information of the destination object thing both deposited by above-mentioned position In the case of the decision of the relative position that determination section has carried out the above-mentioned destination object thing both deposited again,

When the last time that above-mentioned storage part is stored device location information with comprise to determine to obtain by the position that again carries out When the device location information of the relative position of same destination object thing is different,

Carry out the change of the relative position of this destination object thing or the process of the position of change datum mark.

8. the self-propelled electronic equipment according to any one in claim 1 to 7, it is characterised in that

Use the relative position of the destination object thing being determined by above-mentioned position determination section and the position of said reference point, generate and represent The control device map of the position at destination object thing place in the space of regulation for the configuration.