JP2009251959A - Commodity search server, search system inside area, commodity search program, commodity search method, and search method inside area - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a commodity search server, a search system within an area, a commodity search program, a commodity search method, and a search method within an area capable of efficiently discriminating the existence of a management object in a specific area, using an automatic travel device. <P>SOLUTION: When a user 108 instructs a search for a key (the management object 109), by operating a cell-phone 111, the automatic travel device 107 receiving a home sketch drawing and a search route within a home 103 from a home server 105 attempts to communicate with an IC tag 112 along the route. When the communication with the management object 109 is conducted, the home server 105 receives this information to disply the position of the management object 109 on the home sketch drawing, and transmits the searched result to the cell-phone 111. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an article search server, an in-area search system, an article search program, an article search method, and an in-area search method used to search for a predetermined article such as a key inside a predetermined area such as a house. In particular, the present invention relates to an article search server, an article search system, an article search program, an article search method, and an article search method that search for articles using short-range communication technology.

  Before going out of your home, you may panic if you don't know where the item you want to take, like a key to the entrance. In such a case, the place where the search target article is likely to be placed is confirmed, but the article may exist in an unexpected place. In such a case, the search is abandoned. Things were also done.

  Therefore, as a first related technique related to the present invention, a wireless tag (RFID: Radio Frequency Identification) is attached to an object to be searched (referred to as a management object in this specification), and a reader / writer of the wireless tag is attached. A proposal has been made to determine the location with a portable terminal to which is attached (for example, see Patent Document 1). In the first related technology, the mobile terminal is equipped with a GPS (Global Positioning System) function, and position information at each time point can be acquired. On the other hand, since the portable terminal also has a wireless tag reader / writer, when communication with a management object registered in advance becomes impossible, the position information at that time is temporarily stored. It is like that. Short-distance communication using a wireless tag is possible within a range of several meters. Therefore, the position information at the time when the mobile terminal becomes unable to communicate with the management object has only an error of several meters from the position information of the management object, and the position of the management object can be estimated. .

  However, in this first related technology, when the mobile terminal is located in a region where the mobile terminal cannot receive GPS radio waves, such as the interior of the building, the position at that location is assumed to be more than a predetermined distance at which communication is impossible. Information cannot be obtained. Therefore, there is a problem that it is impossible to search for an object to be managed indoors or underground.

  Further, even when the first related technology is used and the search for the management target object by GPS is possible, the search target is limited to articles that are always carried with the mobile terminal. However, when considering a mobile phone as a mobile terminal, when a user returns home, the user often sets the battery in a charger for charging. On the other hand, the key as the management object is often placed in a place unrelated to this. For this reason, depending on the user, the location of both of them is often irrelevant before they are carried together. In addition, pets and family members may move them from the place where the management object is placed to another place.

  Therefore, as a second related technique of the present invention, when a wireless tag reader is attached to a self-propelled cleaner and a wireless tag attached to a management target is detected by self-propelled cleaning, the position information is output. It has been proposed (see, for example, Patent Document 2). In the second related technology, since the wireless tag for determining the position information is arranged every other meter in the room, the position information of the detected wireless tag can be determined. In addition, the self-propelled cleaner can detect a management object to which a wireless tag is attached when the self-propelled cleaner is self-propelled in the room as a cleaner. Further, in the second related technique, a wireless tag reader is arranged at the entrance of the room, so that it is determined whether or not the wireless tag attached to the management object is contained in the room.

The second related technique also proposes to search for a management object using a self-propelled robot. In this proposal, a self-propelled robot is instructed to estimate the position of a management object and moved to that location. Further, the area around the place is self-propelled to determine the place where the article to be managed is located and photographed with the built-in camera. Next, the self-propelled robot moves to the place where the search request is issued, and displays the camera image on the display unit while reproducing the search request with a speaker. As a result, the user knows the search result.
JP 2004-287713 A (paragraph 0020, FIG. 1) Japanese Patent Laying-Open No. 2005-056177 (paragraphs 0018 and 0022, FIG. 4)

  As described above, in the second related technology, a search for a management target is performed using a self-propelled cleaner or a self-propelled robot. In the case of the former self-propelled cleaner, it moves all over the floor while sucking dust within the range of the bottom surface of the cleaner. For this reason, when the search target area becomes wide, there is a problem that the time required for the search becomes longer.

  In this regard, in the case of a self-propelled robot, it is moved to the estimated position of the management target according to a user instruction. Therefore, if there is a management object at this estimated position, the search time is shortened. However, in reality, there are many cases where the management target does not exist at the estimated position estimated by the user, and the management target is often found from a place where the self-propelled robot is not instructed. In such a case, the second related technology using a self-propelled robot is not useful.

  Accordingly, an object of the present invention is to provide an article search server, an in-area search system, an article search program, an article search method, and an area that can efficiently determine the location of an object to be managed in a specific area using an automatic traveling device. It is to provide an internal search method.

  In the present invention, (b) a search area setting means for setting a search area for searching for an article attached with a wireless tag, and (b) a wireless tag reader that performs communication with the above-described wireless tag as a possible communication range. A communicable range setting means for setting a communicable range by the distance from the above-described wireless tag reader, and (c) a communicable range set by the communicable range setting means is sequentially moved and set by the search area setting means. A search route setting means for setting a one-stroke search route consisting of a series of points to cover the search area, and (d) the search route set by the search route setting means comprising the above-described wireless tag reader. Search route transmission means for transmitting to the automatic traveling device traveling according to the searched route, and (e) receiving the data at the time of traveling of this automatic traveling device, A travel position determination means for determining a travel position when the line tag reader starts communication with the wireless tag, and (f) a determination result of the travel position determination means as a position where the article is searched for in the search area. The article search server includes search result transmission means for transmitting display data to be displayed to the portable terminal that has requested the article search.

  In the present invention, (b) a search area setting means for setting a search area for searching for an article attached with a wireless tag, and (b) a range in which communication by a wireless tag reader for performing communication with the wireless tag described above is possible. A communicable range setting means for setting the communicable range as a distance from the wireless tag reader, and (c) the search area setting means by sequentially moving the communicable range set by the communicable range setting means. A search route setting means for setting a one-stroke search route consisting of a series of points that cover the search area set in step (d), and (d) the above-described wireless tag reader, which is set by the search route setting means. Automatic traveling means for traveling according to the searched route, (e) traveling position determining means for determining the traveling position of the automatic traveling means, and (f) the above-described wireless tag reader When starting a communication with the wireless tag described above, it is provided the traveling position to the position information transmitting means and the area within the search system to be transmitted as positional information about the article attached with the wireless tag.

  Further, according to the present invention, (b) a search area setting process for setting a search area for searching for an article attached with a wireless tag, and (b) communication with the above-described wireless tag as an article search program. A communicable range setting process for setting a communicable range as a communicable range of the wireless tag reader by the distance from the above-described wireless tag reader, and (c) sequentially moving the communicable range set by the communicable range setting process. A search route setting process for setting a one-stroke search route consisting of a series of points so as to cover the search area set in the search area setting process described above, and (d) set in the search route setting process A search route transmission process for transmitting a search route to an automatic travel device that travels according to the search route with the above-described wireless tag reader; A travel position determination process that receives data during travel of the mobile travel device and determines the travel position when the wireless tag reader starts communication with the wireless tag, and (f) the travel position determination process A search result transmission process for transmitting display data for displaying a discrimination result as a searched position of an article in the above-described search area to a portable terminal that has requested the article search is executed.

  Furthermore, in the present invention, (b) a search area setting step for setting a search area for searching for an article attached with a radio tag, and (b) communication with a radio tag reader that performs communication with the radio tag described above is possible. A communicable range setting step for setting a communicable range as a range by the distance from the wireless tag reader; and (c) the search region setting described above by sequentially moving the communicable range set in the communicable range setting step. A search route setting step for setting a one-stroke search route consisting of a series of points that cover the search region set in step, and (d) the search route set in this search route setting step A search route transmitting step for transmitting to an automatic travel device having a tag reader and traveling according to the search route; and (e) the automatic travel device. The travel position determination step for receiving the travel data and determining the travel position when the wireless tag reader starts communication with the wireless tag, and (f) the determination result of the travel position determination step. The article search method includes a search result transmission step of transmitting display data to be displayed as a searched position of an article in the search area described above to a portable terminal that has requested the article search.

  Further, according to the present invention, (b) a search area setting step for setting a search area for searching for an article attached with a radio tag, and (b) communication with a radio tag reader that performs communication with the radio tag described above is possible. A communicable range setting step for setting a communicable range as a range by the distance from the wireless tag reader; and (c) the search region setting described above by sequentially moving the communicable range set in the communicable range setting step. A search route setting step for setting a one-stroke search route consisting of a series of points that cover the search region set in the step; and (d) a wireless tag reader as described above, which is set by the search route setting means. A travel position determining step for determining a travel position of the automatic travel means that travels according to the searched route; There at the start of communication with the wireless tag described above, is provided the traveling position to the position information transmitting step and an area within the search method to be transmitted as positional information about the article attached with the wireless tag.

  As described above, according to the present invention, the automatic traveling device searches for an article attached with a wireless tag while traveling along a given search route in principle, except when an obstacle is found. To do. Therefore, it is not necessary for the automatic traveling apparatus itself to set a search route based on a sketch, and advanced data processing for setting the search route is unnecessary. In addition, since the search route is calculated based on the set communicable range, the search reliability and the processing time required for the search can be adjusted according to the setting contents of the user.

  Next, an embodiment of the present invention will be described.

  FIG. 1 shows an example of the configuration of a home search system according to an embodiment of the present invention. This home search system 100 is a system for searching for an article registered in advance in one closed space (hereinafter referred to as “home” in this specification) to be managed, such as a condominium or a house.

  In this home search system 100, a home server (article search server) that communicates with various devices in the home 103 partitioned by an inner wall 101 including a window (not shown) and a front door 102 through which people enter and exit. 105 is arranged. In addition, an entrance installation device 106 that detects a wireless tag attached to an object passing through the entrance is disposed near the entrance door 102 and is connected to the home server 105 by wire or wirelessly. On the floor of the home 103, the automatic traveling device 107 is self-propelled. As the automatic traveling device 107, a home robot 107 can be used. However, as long as it has a function of traveling along a given search route and a function of avoiding (detouring) an obstacle, it is of a self-propelled type. It may be a vacuum cleaner. The automatic travel device 107 can communicate with the home server 105. In the figure, the house 103 is shown as one room for the sake of simplicity, but actually, the space surrounded by the inner wall 101 may be further divided into a plurality of rooms.

  In this home search system 100, a management object 109 such as a room key for managing a position in the home 103 by the user 108 is registered in the home server 105 in advance. Each managed object 109 incorporates a reception-only IC (Integrated Circuit) tag (wireless tag) 112 using RFID (Radio Frequency Identification). By using the home search system 100, the user 108 can know the location where the management target 109 exists using the mobile phone 111 that the user 108 possesses.

  FIG. 2 shows an outline of the configuration of the home server. The home server 105 is configured by an information processing device such as a home personal computer, and includes a main control unit 123 including a CPU (Central Processing Unit) 121 and a memory 122 that stores a control program executed by the CPU 121. is doing. In addition, the home server 105 includes an IC tag between the wireless communication unit 125 that performs wireless communication with the entrance installation device 106, the automatic traveling device 107, and the mobile phone 111 illustrated in FIG. An IC tag communication unit 126 that performs communication using a wireless LAN, and a wired communication unit 127 that performs communication with various devices connected by wire.

  Here, the entrance installation device 106 does not necessarily need to communicate with the wireless communication unit 125 wirelessly. For example, if a wired cable is disposed between the two, the entrance installation device 106 can communicate with the wired communication unit 127 by wire. The wireless communication unit 125 includes a short-range wireless communication circuit (not shown) that performs communication in the home 103 and a wireless communication circuit for a portable terminal (not shown) that communicates with a wireless base station (not shown in FIG. 1). In the present embodiment, it is assumed that communication between the home server 105 and the mobile phone 111 can be performed even when the user 108 is in a place other than the home 103. For this reason, the home server 105 performs wireless communication with the mobile phone 111 using a wireless communication circuit for mobile terminals.

  The home server 105 executes a control program (article search program) stored in the memory 122, thereby realizing a home floor plan storage unit 128 as a functional device and a managed object registration unit 129. Of course, each of these units may be configured by hardware. Here, the home floor plan storage unit 128 is used for charging when the automatic travel device 107 shown in FIG. 1 travels in the house 103 while avoiding obstacles, or when the remaining power of the battery as the power source of the own device decreases. A home sketch for going to a place of an outlet (not shown) and charging is stored as electronic floor plan information. Further, the management object registration unit 129 registers the management object 109 having the IC tag 112 shown in FIG. 1 and data related to the existence position and time related thereto. That is, in the home search system 100 shown in FIG. 1, for each managed object 109, presence position information indicating the existing position is registered in the managed object registration unit 129 together with time information when the existing position is confirmed. It has become. Processing such as new registration of the management target 109 and change of registered contents can be performed by the user 108 shown in FIG. 1 communicating with the wireless communication unit 125 of the home server 105 using the mobile phone 111.

  The home server 105 according to the present embodiment includes an operation input unit 130 having various keys and a display unit 131 having a liquid crystal or organic EL (organic electroluminescence) display (not shown). . However, as will be described later, when it is assumed that the user 108 shown in FIG. 1 indirectly operates the home server 105 using the mobile phone 111, the operation input unit 130 and the display unit 131 are displayed. Can be omitted.

  FIG. 3 shows an outline of the configuration of the entrance installation apparatus. The entrance installation apparatus 106 is an apparatus installed at the entrance, and includes a CPU 141 and a main control unit 143 including a memory 142 that stores a control program executed by the CPU 141. Further, the entrance installation device 106 includes a wireless communication unit 145 for wirelessly communicating with the home server 105 shown in FIG. 1, and first and second IC tag detection units that perform IC tag detection at different locations. 146 and 147, and when the first and second IC tag detection units 146 and 147 detect the IC tag of the identification information notified in advance, whether the IC tag has entered the house 103 shown in FIG. , A passing direction discriminating unit 148 for discriminating whether the user has gone out of the house 103 and a registered IC tag information storing unit 149 are provided.

  Here, the first IC tag detection unit 146 is arranged, for example, in the immediate vicinity of the entrance door 102 shown in FIG. Further, the second IC tag detection unit 147 is not shown in FIG. 1, but for example, a connection portion between the entrance soil (not shown) and the corridor as a position advanced about 1 meter from the entrance door 102 toward the center of the house 103. It is arranged at a predetermined height position lower than the height of the person from the floor surface in the vicinity. The passage direction discriminating unit 148 determines whether an object moving with a person passing through the entrance has gone out of the house 103 based on the detection results of the first and second IC tag detection units 146 and 147. On the contrary, it is determined whether or not the user has entered the house 103 from outside and the time when the determination is made (passage time of the entrance).

  The passage direction discriminating unit 148 discriminates the passing direction when the first and second IC tag detecting units 146 and 147 detect radio signals having the same identification information. It can be easily discriminated by observing how it has changed. For example, the first IC tag detection unit 146 on the entrance door 102 side first detects a radio signal output from the IC tag 112 of the management target 109 shown in FIG. 1, and then the second IC tag detection unit 147. Suppose that a radio signal indicating a similar change in signal level is detected after a delay time. In this case, it can be seen that the management object 109 (IC tag 112) has passed from the outside to the home.

  The moving direction of the object at the entrance can be similarly performed by using a plurality of optical sensors. However, when a person moves while the management object 109 is placed in a bag or pocket, the management object 109 itself cannot be determined as an image, and the moving direction cannot be determined. Even when the object to be managed 109 itself is moved and passed through the entrance in a state where the optical sensor can be detected, a plurality of people possess the respective objects to be managed 109 and pack them on the entrance. If some of them move back and forth from the entrance for smoking or the like, it becomes very difficult to distinguish and continuously track the specific management object 109. As a result, it becomes very difficult to determine whether the specific management object 109 has gone out of the entrance or has entered the house 103 from the outside.

  In the present embodiment, it is assumed that an IC tag 112 is attached to the management object 109. Therefore, by checking the IC tag 112 together with the identification information at a plurality of locations around the entrance, it is possible to accurately determine the moving direction at the entrance for each IC tag 112. The determination result of the passing direction determination unit 148 is transmitted from the wireless communication unit 145 to the home server 105 shown in FIG.

  The registered IC tag information storage unit 149 is a memory area for storing identification information of the IC tag 112 registered as a search target in the home search system 100 shown in FIG. This information is stored in the registered IC tag information storage unit 149 from the home server 105 via the wireless communication unit 145.

  FIG. 4 shows an outline of the configuration of the mobile phone possessed by the user. The cellular phone 111 has a main control unit 163 that includes a CPU 161 and a memory 162 that stores a control program executed by the CPU 161. In addition, the mobile phone 111 communicates with the IC tag and the wireless communication unit 165 for wirelessly communicating with the wireless communication unit 125 including the mobile terminal wireless communication circuit of the home server 105 illustrated in FIG. An IC tag communication unit 166, a camera unit 167 that captures still images or moving images, a basic telephone function unit 168 that collects various basic functions for a telephone, and various key switches such as dial keys (not shown) And a display unit 170 having a liquid crystal or organic EL display (not shown).

  That is, the mobile phone 111 used in the home search system 100 of the present embodiment is a normal mobile phone with a camera function. An application program for using the home search system 100 is stored in the memory 162 of the mobile phone 111 and is executed by the CPU 161, so that the management target 109 in a predetermined space such as a home, an office, or a private car is stored. The location can be confirmed.

  FIG. 5 shows an outline of the configuration of the automatic travel device. This will be described with reference to FIG.

  The automatic travel device 107 includes a CPU 171 and a main control unit 173 including a memory 172 that stores a control program executed by the CPU 171. The automatic traveling device 107 also captures a still image or a moving image, and a wireless communication unit 174 for wirelessly communicating with the home server 105 shown in FIG. 1, an IC tag communication unit 175 for communicating with the IC tag, and the like. An image photographing unit 176, an automatic traveling basic function unit 177 that collects general functions as the automatic traveling device 107, a sketch drawing / route storing unit 178 that stores a home sketch and a search route for traveling, and a traveling position of the device A travel position determination unit 179 and a registered IC tag information storage unit 180.

  Here, the IC tag communication unit 175 is used for detecting the IC tag 112 of the management target 109 and a plurality of IC tags for grasping the current position that are fixedly arranged at positions not shown in the house 103. For example, the automatic traveling device 107 can grasp the current position in the home 103 from the relationship between the presence / absence of detection of the IC tag for grasping the current position and the intensity of the detected radio wave. Of course, other information such as the intensity of the radio wave during communication with the home server 105 and the rotation speed and direction of the wheels in the automatic traveling basic function unit 177 can be used as assistance to grasp the current position.

  When the management unit 109 is detected, the image capturing unit 176 performs capturing for confirmation, but when the user 108 requests the capturing of a still image or a moving image at a specific location via the home server 105. Also, this is photographed and transmitted to the mobile phone 111. For example, in the case where there is an obstacle, the automatic traveling apparatus 107 cannot approach, and there is a place where the IC tag 112 cannot be communicated, the location is photographed to determine whether the management target 109 exists. Can do. The image capturing unit 176 is also used to determine whether an obstacle exists on the search route for traveling.

  The floor plan / route storage unit 178 includes obstacles and steps such as walls and furniture when the automatic traveling device 107 travels in the house 103 using the automatic traveling basic function unit 177, and the location of the IC tag for grasping the current position. The home sketch as the map information storing the map information necessary for the travel of the vehicle and the travel search route instructed to detect the management object 109 are stored. When the image capturing unit 176 detects an obstacle on the travel search route, the basic operation for avoiding the automatic travel basic function unit 177 is performed. At this time, the automatic traveling basic function unit 177 tentatively changes the search route so as to cover the communicable range of the management target 109 with the IC tag 112, and then returns to the instructed search route again from the middle to travel. Will continue.

  As will be described later, the search route can be registered as necessary. The travel position determination unit 179 sequentially determines the travel position of the automatic travel device 107 based on information obtained from the IC tag communication unit 175 and the image capturing unit 176. When the management object 109 is detected, the wireless communication unit 174 is used to transmit information indicating the position on the home sketch to the home server 105. The registered IC tag information storage unit 180 is a memory area for storing identification information of the IC tag 112 registered as a search target in the home search system 100. This information is stored in the registered IC tag information storage unit 180 from the home server 105 via the wireless communication unit 174.

  FIG. 6 shows a state of registration processing of the management object by the user's mobile phone. This will be described with reference to FIGS. 1 and 4.

  When an application program related to the home search system 100 stored in the memory 162 of the mobile phone 111 is activated (step S201), a menu screen is displayed on the display unit 170 (step S202). Among these, the user 108 selects a desired item for operating the home search system 100. Here, since the user 108 newly registers a management object, this item is selected. When the item of new registration of the management target is selected (step S203: Y), the wireless communication unit 165 of the mobile phone 111 communicates with the article to be registered as the management target and reads the identification information. (Step S204). For example, as shown in FIG. 1, when the management target 109 is a key, the user 108 puts this in a range where communication is possible (for example, within 2 to 3 meters), and other unregistered items within that range. Do not place the IC tag. When there are a plurality of unregistered IC tags within the communicable range, an alarm sound or display indicating an error may be output from the display unit 170. In the case where an already registered IC tag exists as a management target, since the registration of a new management target is being performed here, the mobile phone 111 reads identification information other than the identification information of the registered IC tag as a registration target. Become.

  If the identification information of the management object is successfully read (step S205: Y), the character input process of the identification name corresponding to the identification information is performed (step S206). If reading of the identification information of the management target has failed (step S205: N), the process returns to step S202. Therefore, the user 108 can take an action such as getting closer to the management object, and can again perform an operation for newly registering the management object. When the user 108 selects another item from the menu screen (step S203: N, step S207: Y), the mobile phone 111 executes processing for the selected item (step S208).

  By the way, in the character input process of step S206, a character or pictograph that can recognize the management target is input from the operation input unit 169 by the user 108. In the case of the present embodiment, for example, characters such as “house key” or “car key” are input. An emoticon representing “house” or “car” may be selected. When the user 108 has a plurality of cars in the kitchen, a character such as “blue car key” that can distinguish the management object is input.

  When the characters corresponding to the identification information are input in this way, a message such as “Please take a picture of the management target” is displayed on the display unit 170, and an image of the management target using the camera unit 167 is displayed. Input is executed (step S209). In the case of this example, the user 108 has the mobile phone 111 near the management object, and takes a picture using the close-up function if necessary.

  The application program of the home search system 100 may also store a program related to photo processing after image capture. An example is an application program in which a management object is placed on a blue-colored cloth and photographed by the camera unit 167, and only the management object is cut out from the blue ground color and used as a registered image. Thereby, it is possible to obtain an image that can clearly distinguish various management objects such as keys, glasses, and commuter pass holders from the background image. Of course, such an application program may not be provided, and an image processed externally using a device such as a personal computer (not shown) may be taken into the mobile phone 111 again.

  When the above processing is performed, the mobile phone 111 displays the identification information of the management target 109 itself temporarily stored in the buffer area of the memory 162, the identification name and image input by the user 108 on the display unit 170, and registers them. Confirmation is made as to whether the content is acceptable (step S210).

  FIG. 7 shows an example of this confirmation screen. An identification name 183 and an image 184 are displayed together with the identification information 182 on the display screen 181 of the display unit 170 in FIG. The user 108 selects the “Yes” button 185 when registering with these combinations, and selects the “No” button 186 when changing the identification name 183 or re-taking the image 184.

  Returning to FIG. 6, the description will be continued. When the user 108 selects the “Yes” button 185 (step S211: Y), the wireless communication unit 165 of the mobile phone 111 has identification information 182 (see FIG. 7) and an identification name 183 (see FIG. 7) as additional information. ) And the image 184 (see FIG. 7) are transmitted as registration information to the home server 105 (step S212). This completes the process of registering one management object 109 (END). If the “NO” button 186 is selected (step S211: N), the process returns to step S206.

  The user 108 can register a plurality of management objects 109 by repeating the operations up to step S212 a plurality of times. Of course, after the process of step S210 or step S212, a question is made as to whether or not there is a management object to be registered next. If there is a management object, the process after step S204 is started to register a plurality of management objects. May be performed sequentially.

  The registration information transmitted to the home server 105 in step S212 is received by the wireless communication unit 125 illustrated in FIG. Then, each piece of identification information is registered in the registration area divided into the units of the user 108 in the management object registration unit 129.

  Although the new registration of the management object has been described above, the identification name 183 (see FIG. 7) and the image 184 (see FIG. 7) of the already registered management object can be changed. In this case, information on the management object 109 that has already been registered is downloaded from the home server 105 to the mobile phone 111 of the user 108, necessary corrections are made, and the contents are uploaded to the home server 105 and overwritten. do it. When deleting registration of a specific management object 109, the list of the management object 109 or all information related to the management object 109 is downloaded from the home server 105 and displayed on the display unit 170 of the mobile phone 111. Deletion may be instructed to the home server 105 using the identification name 183 and the image 184 of the management target 109. Therefore, illustration and description of flowcharts relating to these processes are omitted.

  FIG. 8 shows a state of input processing of a home sketch by the home server. This will be described with reference to FIGS. Note that the home server 105 can be remotely operated by the user 108 with the mobile phone 111 as described above. In this case, the operation input unit 130 and the display unit 131 on the home server side are not necessary. However, when the description is somewhat complicated, communication expenses between the home server 105 and the mobile phone 111 may occur. Therefore, in the present embodiment, a case will be described in which the user 108 uses only the home server 105 to perform home floor plan input processing in the home 103.

  When performing input processing of the home sketch of the home 103, the sketch input mode is selected (step S221: Y). When a mode other than this is selected (N), the processing of the selected mode is executed (step S222).

  When the sketch drawing input mode is selected (step S221: Y), the home search system 100 sets a one-stroke search route that allows the automatic traveling device 107 to travel in the area to be searched for the management target 109. A dedicated home sketch is input, or a process for causing the user 108 to create a home sketch is performed (step S223). The dedicated home floor plan is created by a computer (not shown) by, for example, an architect or interior engineer looking at the actual house 103, and is input as digital data. A home sketch printed out as a drawing can be read by a scanner (not shown). It is also possible to create a home sketch using an application program provided in the home search system 100 itself, or to correct the home sketch based on the digital data or the image data captured by the scanner.

  The floor plan of the home shows the arrangement of obstacles such as walls and steps where the automatic traveling device 107 cannot travel, and furniture. Therefore, even if it is the same premises 103, if there is a midnight when the guard is laid and other time zones when the guard is cleared, at least two home sketches from the viewpoint of traveling of the automatic traveling device 107 are present. is necessary. For these home plans, information on the time zone to be adopted is added.

  When the input or creation of the home sketch is completed in step S223, the communicable distance setting process is performed for how far the automatic travel device 107 can detect the IC tag 112 of the management target 109 (step 223). S224). This depends on the relationship between the frequency used by the IC tag 112 and the characteristics of the obstacle and the wraparound of the radio wave, so that the user 108 can actually communicate the maximum possible communication with the search route of the automatic travel device 107. The communication range is set to be shorter than the distance.

  Generally, when the communicable distance is set as large as possible within the range of the actually communicable distance, the search route is set on the assumption that the automatic traveling apparatus 107 can detect the management target 109 from a farther position. In this case, it is possible to simply set a search route for the automatic traveling device 107 side to operate the entire interior 103. Accordingly, the time required for traveling in the home 103 can be shortened. However, if there is an obstacle that blocks or reduces radio waves between the automatic traveling device 107 and the management target 109, the actual communicable distance may be less than the set value. There is a possibility that 109 may not be detected.

  Therefore, in the present embodiment, the user 108 is allowed to set a communicable area in relation to the IC tag 112 in step S224 for the time being, and in the next step S225, a one-stroke letter that causes the automatic traveling device 107 to travel within the home sketch. Some search routes are created by software on the home server 105 side. Then, a list of each search route and required time is displayed on the display unit 131 so that the user 108 can select a search route that seems to be optimal with an appropriate margin in communication distance. At this stage, there may be a case where it is better to modify the home sketch input or created in step S223 or the search route automatically created based on this. Therefore, it is determined whether correction is necessary for the processing up to now (step S226), and if correction is necessary (Y), it is possible to return to the processing after step S223.

FIG. 9 shows the state of the search route creation process of the automatic travel device for the search area shown in a home sketch. Assume that the communicable distance described in step S224 in FIG. 8 is set to R meters. In this case, it is assumed that a circle 195 having a radius of R meters travels so as to fill the entire search area 196 with the presence of a minimum overlapping area. Here, the automatic travel device 107 advances by the traveling distance D in correspondence with the communication time interval between the IC tag communication unit 175 shown in FIG. 5 and the IC tag 112 shown in FIG. The trajectory described by the centers O ₁ , O ₂ , O ₃ ... Of each circle 195 at this time is the most efficient search route 197 of the automatic travel device 107.

  The search route 197 created in this way avoids this when the obstacle such as furniture that the automatic traveling device 107 cannot travel is shown in the home sketch, and there is no region that is not filled with the circle 195. Is set to Further, if the R meter as the communicable distance is changed within the specification range as the actual communicable distance in the process of step S224 in FIG. 8, the search route 197 is also changed accordingly. Of course.

  When the search route 197 of the automatic travel device 107 is completed through such search route creation processing (step S226: N in FIG. 8), the search route is registered (step S227). Thereafter, in consideration of the case where the home sketch is changed according to the time zone, season, or event, it is determined whether registration of another search route is necessary (step S228). If registration of another search route is required (Y), the process returns to step S223 again, and processing based on another home sketch including the arrangement of obstacles is performed.

  When the creation of the necessary number of search routes 197 related to the automatic travel device 107 is completed in this way (step S228: N), it is checked whether a plurality of search routes are registered (step S229). When one search route is registered (N), information necessary for travel such as the registered home sketch and the search route 197 is transmitted to the automatic travel device 107 (step S230), and the process is terminated (step S230). End). The automatic travel device 107 receives this information and travels in the house 103.

  On the other hand, if a plurality of search routes are set for the automatic travel device 107 in step S229 (Y), whether these are a plurality of search route settings for the same home sketch including the relationship with the obstacle, It is necessary to notify the automatic traveling device 107 whether the plurality of search routes are set corresponding to the difference in the pattern of the home sketch including the relationship with the obstacle depending on conditions such as time and season. Therefore, for the former, the priority order of application of the plurality of search routes is set (step S231). For example, the first search route has a simple search route and can detect the management target 109 most efficiently. The second search route has a complicated search route and is not efficient, but the detection target 109 is detected. Suppose there is no leakage. In this case, by searching first with the first search route, it is possible to increase the possibility of shortening the time required until the management target 109 is detected.

  Regarding the latter, since the home sketch including the obstacle is changed according to other conditions such as time and season, the search route is linked to the condition for changing the home sketch (step S231). . In step S230, information such as a home sketch including these conditions is transmitted to the automatic travel device 107. The automatic traveling device 107 performs movement control using the instructed search route as a search route serving as a reference for the course, and of course, for an unexpected obstacle such as a person appearing during the travel Of course, the direction of travel can be changed in a flexible manner.

  FIG. 10 shows how the entrance installation device is controlled when an IC tag is detected. This will be described with reference to FIGS. 1 and 3.

  The entrance installation device 106 constantly monitors the detection of the IC tag 112 by the first and second IC tag detection units 146 and 147 transmitting radio waves (step S241). However, the entrance installation device 106 performs the detection operation of the first and second IC tag detection units 146 and 147 when the entrance door 102 is locked or when the user 108 sets a time zone during which detection is not performed in advance. Power consumption can be reduced by stopping.

  When either the first or second IC tag detection unit 146, 147 detects the IC tag 112 (step S241: Y), the main control unit 143 is the user stored in the registered IC tag information storage unit 149. It is determined whether it is any of the identification information of the registered management target 109 (step S242). If any of the identification information of the management object 109 registered by the user 108 (Y), the passage direction determination unit 148 uses the detection results of the first and second IC tag detection units 146 and 147 to pass through the entrance. Time and passing direction are discriminated (step S243). The wireless communication unit 145 transmits the determined information to the home server 105 as IC tag passage information (step S244).

  If the identification information of the IC tag 112 that has passed through the entrance is not any of the identification information of the management target 109 (step S242: N), the process returns to step S241 as it is (return). However, depending on the entrance installation device 106, the identification information other than the management target 109 may be processed in step S243 so that a predetermined amount is stored only in a new buffer area in the memory 142. . As a result, in the same way as a surveillance camera (not shown), entry / exit using the front door 102 of a person who attached an IC tag to a personal item is recorded only for recent ones, and family entry / exit records It can also be used as a material for identifying the criminal at the time of theft.

  FIG. 11 shows a state of registration processing by the home server for the management object. This will be described with reference to FIGS. 1, 2, 3 and 5.

  The main control unit 123 of the home server 105 receives registration information regarding the management target 109 from the mobile phone 111 via the wireless communication unit 125 (step S261), or the presence of the management target 109 from the automatic travel device 107. Whether position data is received (step S262) and whether IC tag passage information is received from the entrance installation device 106 (step S263) are monitored.

  When registration information of the management target 109 is received from the mobile phone 111 (step S261: Y), the identification information 182 shown in FIG. 7, the identification name 183 and the image 184 as the additional information are managed. The object is registered in the object registration unit 129 (step S264). At this time, a unit registration area is set for each new identification information 182.

  FIG. 12 conceptually shows, as an example, the registration contents of a predetermined unit registration area in the management object registration unit. In the unit registration area 191, in addition to the identification information 182 shown in FIG. 7 and the identification name 183 and image 184 as additional information, there are existence position / existence time information 192 and passage information / passage date / time information described later. 193 is recorded.

  Returning to FIG. 11, the description will be continued. When the registration of the registration information with respect to the management object registration unit 129 is completed in step S264, the main control unit 123 of the home server 105 reads the identification information 182 (FIG. 12) from the registration information, and uses this as the entrance installation device. 106 and the automatic travel device 107 (step S265). Upon receiving this identification information 182, the entrance installation device 106 stores it in the registered IC tag information storage unit 149 shown in FIG. 3 in order to specify the management target 109. When the automatic traveling device 107 receives the identification information 182, it stores the same in the registered IC tag information storage unit 180 shown in FIG. 5 in order to specify the management object 109.

  On the other hand, when the presence position data of the management target 109 is received from the automatic traveling device 107 (step S262: Y), the detected position of the management target 109 in the house 103 and the detected time (year, month, day, and day) Hour / minute) is registered in the management object registration unit 129 as the existing position / present time information 192 (FIG. 12) (step S266). As an example, the content of “existing position (existing time)” shown in FIG. 12 is registered as the existing position / present time information 192. At this time, the management object registration unit 129 may have previously recorded location data of the same management object 109. In this case, new data is stored in place of the data.

  When the IC tag passage information is received from the entrance installation device 106 (step S263: Y), the time (year / month / day and hour / minute) when the management target 109 passes through the entrance and the passage direction are displayed as the passage information / It registers in the management object registration part 129 as passage date information 193 (FIG. 12) (step S267). As an example, the content of “passing information (passing date / time)” shown in FIG. 12 is registered as passing information / passing date / time information 193. As for this “passing information (passing date and time)”, the new data of the information that enters the house 103 from the entrance and the information that leaves the house 103 is overwritten with the old data. For the management object 109 that has never entered or exited from the entrance, a symbol indicating this ("-" in FIG. 12) is recorded in a corresponding location of the management object registration unit 129.

  In the process of step S266, if the automatic traveling apparatus 107 cannot finally detect the management target 109 registered in the registered IC tag information storage unit 180, it indicates that it cannot be detected and its time (year, month, day). And the last detected time (year / month / day and hour / minute) are directly stored in the management object registration unit 129 as data.

  This is because a specific article that has existed in the house 103 until a certain point in time is compared by comparing the existence position / existence time information 192 and the passage information / passage date / time information 193 shown in FIG. This is because it is possible to decipher progress information such as the fact that it was not present in the house 103 because it was taken out from the entrance at a later time. In addition, when another specific object is brought into the house 103 from the entrance at a certain point in time and the existence is confirmed at a certain place in the house 103 at a later point in time, the detection by the automatic traveling device 107 is performed thereafter. If the entrance installation device 106 does not record that the object has been taken out, it is determined that there is a mistake in the detection operation of the automatic traveling device 107. In this case, for example, an unsearched area is generated in the search range because the automatic travel device 107 temporarily leaves the search route instructed to avoid an obstacle, and management is performed at that location. There is a possibility that the object 109 exists.

  In this case, the automatic traveling device 107 can be moved to a position where it can communicate with the IC tag 112 in the unsearched area, and the presence or absence of the management target 109 can be determined. Alternatively, when the priority of the search route described as the process of step S231 in FIG. 8 is set, the search on the search route with higher accuracy may be started.

  FIG. 13 shows a state of search processing using an automatic traveling device by a home server. It demonstrates with FIGS. 1-5.

  The home server 105 waits for a request to search for the management target 109 (steps S281 and S282). Specifically, when the user 108 uses the mobile phone 111 to make a search request for the management target 109 in the entire area 103 (step S281: Y), the user 108 or the home server 105 internally uses the mobile phone 111. There is a case where a search request for a specific management target 109 is made by designating a specific position 103 (step S282: Y). The case where the latter home server 105 itself issues a request is, as already described, the detection of a specific management target 109 as a result of temporarily detouring a specified search route due to an obstacle. This is a case where the detection of the IC tag 112 of the management target object is attempted from the position after the movement of the obstacle or another position instead of the obstacle when it is not performed.

  When a search request is issued from the mobile phone 111 to the home server 105 (step S281: Y), the main control unit 122 checks the management object registration unit 129, and the management target to be searched specified by the user 108 It is checked whether the item 109 exists in the home 103 (step S283). This depends on whether or not the passage direction determination unit 148 of the entrance installation apparatus 106 sends a report to the home server 105 that “the corresponding managed object 109 is in the house 103 and has not gone outside”. Can be determined. If the corresponding managed object 109 is not in the house 103 or has left the entrance (step S283: N), the wireless communication unit 125 sends a message to the mobile phone 111 that it is not in the house 103. (Step S284), the process ends (END). That is, in this case, a search request is not sent to the automatic travel device 107.

  On the other hand, when the entrance installation device 106 determines that the search target exists in the house 103 in step S283 (Y), the home server 105 designates the management target 109 to be searched and sends a route search request to the automatic travel device. The data is sent to 107 (step S285). At this time, if there are a plurality of search target management objects 109 in the home 103, a plurality of these search targets are specified and a route search request is sent to the automatic travel device 107.

  Thereafter, the home server 105 waits for a search result report to be received from the automatic travel device 107 (step S286), and if received (Y), transmits the result to the mobile phone 111 of the user 108. (Step S287), the series of processing ends (end).

  On the other hand, when a search request at the specific position in step S282 is generated (Y), the home server 105 designates the position where the search is performed in the home 103 and the management target 109 to be searched to specify the specific position. A search request is sent to the automatic travel device 107 (step S288). Thereafter, the processes of step S286 and step S287 are performed.

  As described above, the home server 105 does not unconditionally instruct the automatic traveling device 107 to search when a search request in the home 103 occurs. The home server 105 reduces the burden on the automatic traveling device 107 with reference to the input / output record of the management target 109 in the entrance installation device 106. In step S283, it is determined whether or not all of the management target objects 109 to be searched exist in the home 103. If there are a plurality of search target management objects 109 and some of them are in the house 103, those outside the house are transmitted to the mobile phone 111 in step S284, and the rest are routed to the automatic travel device 107. A search request may be sent out.

  FIG. 14 shows a state of travel processing of the automatic travel device. 1, 2, 5, and 12 will be described.

  Regarding the search from the home server 105, the automatic travel device 107 is either a route search request for performing a search along a search route (step S301) or a specific position search request for performing a search by specifying a location (step S302). Waiting to be sent. When a route search request is received (step S301: Y), the travel of the set search route stored in the sketch / route storage unit 178 is started (step S303). Then, until the IC tag communication unit 175 detects the IC tag 112 (step S304: Y), or the search route is searched after completing the search route (step S304: N, step S305: Y). The travel of the searched route is continued (step S304: N, step S305: N, step S303).

  If any one of the IC tags 112 is detected during the travel of the search route (step S304: Y), the identification information 182 of the management target 109 to be searched this time stored in the registered IC tag information storage unit 180. (Refer to FIG. 7) is checked (if there are a plurality of search targets, one of these identification information 182) (step S306). If it does not match the identification information 182 (N), the IC tag 112 is attached to something other than the management object 109 to be searched this time. Therefore, in this case, the process returns to step S303 to continue traveling on the set search route.

  On the other hand, when the IC tag 112 detected in step S304 matches the management target object 109 to be searched (when there are a plurality of search targets, it matches one of these identification information 182) (step S306). : Y), the location and the detection time (year / month / day and hour / minute) of the management target 109 related to the IC tag 112 in the home 103 are transmitted to the home server 105 together with the identification information 182 (step S307). Then, it is checked whether or not the management object 109 to be searched still remains (step S308), and if it does not exist (N), a series of travel processing is ended (END). However, if the home position at the time of searching for the automatic travel device 107 is fixed, the travel may be stopped after traveling to that position.

  If the search target management object 109 still exists (step S308: Y), the process returns to step S303, and the search for the remaining management target 109 continues. Note that when one target management object 109 is found, the result is transmitted to the home server 105 because the user 108 often wants to know quickly even if the search is in progress. Is considered. Therefore, when there are a plurality of search target management objects 109, the results may be transmitted to the home server 105 after all the results are known.

  When the automatic traveling apparatus 107 finishes traveling on the set search route (step S305: Y), it is determined whether all the management objects 109 requested to be searched have been detected or whether there are still search targets remaining. A determination is made (step S309). If the search target management object 109 does not remain (N), the process ends (END).

  On the other hand, when the search target management object 109 still remains (step S309: Y), it is determined whether or not another set search route exists (step S310). This is processing related to the priority order of application of a plurality of search routes described in step S231 in FIG. If another search route can be set (step S310: Y), the search route is set (step S311), the process proceeds to step S303, and the same processing as described above is performed.

  If there is no other search route (step S310: N), an error report indicating that a part or all of the search target management object 109 could not be detected is sent to the home server 105 (step S312), and automatic The process of the traveling device 107 ends (END). When reporting an error, if it is not possible to accurately travel on the search route set by the obstacle, it is preferable to transmit data regarding the position where the obstacle is detected. This is also useful for specifying the position of the specific position search request described below.

  Next, a case where the specific position search request in step S302 is generated will be described. When the specific position search request is generated (step S302: Y), the automatic travel device 107 moves to the specified specific position (step S313). Then, the IC tag communication unit 175 is operated at that position, the detection result of the IC tag 112 is reported to the home server 105 (step S314), and the process is ended (END). At this time, if the IC tag 112 is detected, as in step S307, the location and detection time (year / month / day and hour / minute) of the management target 109 related to the IC tag 112 in the home 103 are identified together with the identification information 182. It is natural to transmit to the home server 105.

  According to the present embodiment described above, the process of searching for the management target 109 by the traveling of the automatic traveling device 107 is combined with the entry / exit check of the specific area (home 103) of the management target 109 by the entrance installation device 106. Has been. Therefore, it is not necessary for the user to perform a useless search in this specific area (home 103), and the efficiency of the search process can be achieved.

  Moreover, according to this Embodiment, the search route of the automatic traveling apparatus 107 can be set in multiple numbers, and a priority can be set to this. As a result, it is possible to achieve both quick search of the management target 109 in the specific area (home 103) and reliable search results. Further, since the search for the management target 109 is performed by short-range communication using the IC tag 112, the management target 109 present in a place where direct access is not possible, or a place where shooting is not possible due to an obstacle even if radio waves pass However, the management object 109 can be searched. Further, since the search is performed using radio waves, a bright light source such as a searchlight is not required, and the search can be performed without hesitation.

  Furthermore, according to the present embodiment, the current position of the automatic traveling device 107 is determined based on the detection results of a plurality of IC tags for grasping the current position that are fixedly arranged in the specific area (house 103). Unlike using the Global Positioning System, it is possible to accurately grasp the current position even in places where radio waves from communication satellites do not reach.

  Further, according to the present embodiment, when the management object 109 is detected, the image capturing unit 176 of the automatic traveling device 107 can attempt to capture this. Therefore, information other than the information that the IC tag 112 of the management target 109 can communicate can also be obtained. For example, when the management object 109 is a tableware of an animal kept as a pet, whether food remains, or what is the infant wearing the clothing if it is a specific clothing? Visual information can be obtained.

  <Deformability of invention>

  The present invention is not limited to the embodiment described above, and various modifications can be made.

  First, unlike the previous embodiment, the automatic travel device 107 may automatically travel at a set time or time interval. In the previous embodiment, from the viewpoint that the user 108 should acquire the latest data, the search by such periodic automatic traveling is not performed. It is also possible to grasp the detected position and store the data in the home server 105 sequentially. Thereby, the user 108 can receive the report of the content at intervals. Further, when the user 108 needs to search for a specific management target 109, the home server 105 can first move the automatic travel device 107 to a location existing in recent data and perform a search.

  Also, if the home server 105 collects the history of the positions where the respective management objects 109 exist, is it possible to move the position like a pet or a stationary object that remains in one place? Can be determined. As a result, when the user 108 performs a search, setting of a search route for searching the management target 109 can be considered using the determination result.

  Further, in the embodiment, based on the home sketch of the home 103, a range that can be communicated with the IC tag 112 is set and a search route of the automatic traveling device 107 is determined in advance, while another wireless tag is used to determine the position. The determination is made, but the present invention is not limited to this. That is, since the home server 105 knows the home sketch of the home 103 and the search route of the automatic travel device 107, the search result is obtained as a home sketch by obtaining information that the automatic travel device 107 has passed through the search route. Can be displayed above. Regardless of whether or not the position information is acquired, the automatic traveling device 107 or the home server 105 writes the search result on the home sketch and transmits it to the mobile phone 111, so that the user 108 can intuitively manage the object. The place where 109 exists can be known.

  Furthermore, in the embodiment, the user 108 uses the mobile phone 111 to search for the management target 109. However, if the device enables wireless communication and information processing, a PHS (Personal Handyphone System) or the like is used. Of course, other information processing apparatuses may be used.

  Although the automatic traveling device 107 has been described as a robot in the embodiment, it may be a device having other uses such as an automatic traveling type cleaner. In the case of a device having a function of grasping an object such as a humanoid robot, not only the position where the management target 109 exists but also the management target 109 such as a key or a remote controller is not intended. It is also possible to automatically execute the ordering and returning to the desired setting position. As a result, it is possible to reduce the trouble of the user 108 searching for the management target 109.

FIG. 15 shows a house sketch in the house in the modified example of the present invention. In this modification, home sketch is the home 103 ₁ of the first floor, and a home ₁₀₃₂ of the second floor portion. In the vicinity of the entrance door 102, an entrance installation device 106 is arranged as in FIG. 1 of the previous embodiment, and is connected to the home server 105 by wire or wirelessly. In addition, a floor-specific passage detection device 401 is arranged on a staircase and an elevator (not shown) that connect the first floor portion and the second floor portion, and is connected to the home server 105 by wire or wirelessly. A first automatic traveling device 107 ₁ is disposed in the first floor portion 103 ₁ , and a second automatic traveling device 107 ₂ is disposed in the second floor portion 103 ₂ .

  In the in-home search system 100A of this modification, the floor-specific passage detection device 401 can detect the entry / exit of the IC tag 112 in the same manner as the entrance installation device 106. Therefore, the search range of the management target 109 can be limited on a floor basis with reference to the input / output history of the entrance installation device 106 and the floor-specific passage detection device 401.

Depending on the movement capability of the automatic traveling device 107 ₁ or 107 ₂ , these can be completed by one. In addition, when a staircase connecting the first floor portion and the second floor portion is a search target, an IC tag reader whose search target is this portion may be fixedly arranged. The reliability of the search can be improved by fixedly arranging the IC tag reader in a place where the automatic traveling devices 107 ₁ and 107 ₂ are not easily accessible such as a toilet, bathroom, and veranda (not shown).

  Further, in this modification, the floor-specific passage detection device 401 is arranged at the connection place between the first floor part and the second floor part. However, when the same floor is divided into several rooms from the same viewpoint, Or you may arrange | position a passage detection apparatus in the position which partitions off a room and a hallway. By determining which direction the IC tag 112 has moved also in this passage detection device, even if the search range of the management target 109 is wide, the range that actually needs to be searched can be greatly limited. .

1 is a system configuration diagram illustrating an example of a configuration of a home search system according to an embodiment of the present invention. It is a block diagram showing the outline | summary of the structure of the home server of this Embodiment. It is a block diagram showing the outline | summary of the structure of the entrance installation apparatus in this Embodiment. It is a block diagram showing the outline | summary of the structure of the mobile telephone which a user possesses in this Embodiment. It is a block diagram showing the outline | summary of the structure of the automatic traveling apparatus in this Embodiment. It is the flowchart showing the mode of the registration process of the management target object by a mobile telephone in this Embodiment. It is a top view of the display screen which showed an example of the confirmation screen at the time of registration in this Embodiment. It is a flowchart showing the mode of the input process of the house sketch in the house by a home server in this Embodiment. It is the principle figure which showed the mode of the creation process of the search route of the automatic traveling apparatus with respect to a search area | region in this Embodiment. It is a flowchart showing the mode of control of the entrance installation apparatus when an IC tag is detected in the present embodiment. It is a flowchart showing the mode of the registration process by the home server about a management target object in this Embodiment. It is explanatory drawing which represented notionally the registration content of the unit registration area | region with a management target object registration part as an example in this Embodiment. It is a flowchart showing the mode of the search process using the automatic traveling apparatus by a home server in this Embodiment. It is a flowchart showing the mode of the driving | running | working process of an automatic traveling apparatus in this Embodiment. It is a house sketch in the house in the modification of this invention.

Explanation of symbols

100, 100A Home search system 102 Entrance door 103 Home 105 Home server (article search server)
DESCRIPTION OF SYMBOLS 106 Entrance installation apparatus 107 Automatic traveling apparatus 107 ₁ 1st automatic traveling apparatus 107 ₂ 2nd automatic traveling apparatus 108 User 109 Management object 111 Mobile phone 112 IC tag (wireless tag)
121, 141, 161, 171 CPU
122, 142, 162, 172 Memory 125, 145, 165, 174 Wireless communication unit 126, 166, 175 IC tag communication unit 128 Home floor plan storage unit 129 Managed object registration unit 146 First IC tag detection unit 147 Second IC tag detection unit 148 Passing direction determination unit 149, 180 Registered IC tag information storage unit 167 Camera unit 170 Display unit 176 Image capturing unit 178 Sketch drawing / route storage unit 179 Travel position determination unit 191 Unit registration area 197 Search route 401 Pass by floor Detection device

Claims (12)

Search area setting means for setting a search area for searching for an article attached with a wireless tag;
A communicable range setting means for setting a communicable range as a communicable range of a wireless tag reader that communicates with the wireless tag by a distance from the wireless tag reader;
Search route setting for setting a one-stroke search route consisting of a series of points so as to cover the search region set by the search region setting unit by sequentially moving the communicable range set by the communicable range setting unit Means,
Search route transmission means for transmitting the search route set by the search route setting means to an automatic travel device that travels according to the search route with the wireless tag reader;
Travel position determination means for receiving data during travel of the automatic travel device and determining a travel position when the wireless tag reader starts communication with the wireless tag;
Search result transmitting means for transmitting display data for displaying the determination result of the traveling position determining means as the searched position of the article in the search area to the portable terminal that has requested the search for the article. A characteristic article search server. Search area setting means for setting a search area for searching for an article attached with a wireless tag;
A communicable range setting means for setting a communicable range as a communicable range of a wireless tag reader that communicates with the wireless tag by a distance from the wireless tag reader;
Search route setting for setting a one-stroke search route consisting of a series of points so as to cover the search region set by the search region setting unit by sequentially moving the communicable range set by the communicable range setting unit Means,
Automatic traveling means comprising the wireless tag reader and traveling according to the search route set by the search route setting means;
Traveling position determining means for determining the traveling position of the automatic traveling means;
An area search system comprising: position information transmitting means for transmitting the traveling position as position information relating to an article to which the wireless tag is attached when the wireless tag reader starts communication with the wireless tag. . Article entry / exit determination means for determining the entry / exit of the article arranged at a place where the article attached with the wireless tag in the search area enters / exits,
Search object instruction means for designating an article to which a wireless tag is attached and instructing the search;
A search area specific article presence / absence determining means for determining whether or not the article for which the search object instruction means has instructed exists in the search area using the determination result of the article entry / exit determining means;
And a travel instructing means for instructing the automatic travel means to travel when the search area specific article presence / absence determining means determines that there is an article instructed to search in the search area. Item 3. The region search system according to Item 2.   The in-region search system according to claim 2, wherein the search route setting unit sets a search route for each of the communicable ranges with different distances set by the communicable range setting unit.   5. The in-region search system according to claim 4, wherein the search route setting means sets a priority order as a search order for a plurality of search routes traveled by the automatic travel means.   The in-region search system according to claim 2, wherein the search route setting means sets a plurality of search routes in correspondence with a change in a region where the automatic traveling means can travel in the search region.   The automatic travel means avoids this obstacle and temporarily stops from the route when there is an obstacle on the route that prevents progress when traveling on the search route set by the search route setting means. A detour route selection unit that selects a detour route to detour, and when the detour route selection unit selects a detour route, the search area is kept covered as a communicable range set by the communicable range setting unit. A search area cover presence / absence determination means for determining whether the search area cover presence / absence determination means does not cover the search area, and the travel of the automatic travel means at a position covering the area is added to the search route The in-region search system according to claim 2, further comprising search route addition means for performing search.   The search route adding means is configured to specify the search target instruction when the automatic travel means travels to the final point of the route after returning to the original route after the bypass route selecting means selects the bypass route for the obstacle. 8. The in-region search system according to claim 7, wherein a search route is added when the presence of the search object designated by the means is not determined.   4. The intra-area search system according to claim 3, wherein the article entry / exit discrimination means is provided in each area obtained by dividing the search area into a plurality of areas. On the computer,
A search area setting process for setting a search area for searching for an article attached with a wireless tag;
A communicable range setting process for setting a communicable range as a communicable range of a wireless tag reader that communicates with the wireless tag by a distance from the wireless tag reader;
Search route setting for setting a one-stroke search route consisting of a series of points so as to cover the search region set in the search region setting process by sequentially moving the communicable range set in the communicable range setting processing Processing,
A search route transmission process for transmitting the search route set in the search route setting process to an automatic travel device that travels according to the search route with the wireless tag reader;
A traveling position determination process for receiving data during traveling of the automatic traveling device and determining a traveling position when the wireless tag reader starts communication with the wireless tag;
A search result transmission process for transmitting display data for displaying the determination result of the travel position determination process as the searched position of the article in the search area to the mobile terminal that has requested the search for the article. A feature search program. A search area setting step for setting a search area for searching for an article to which a wireless tag is attached;
A communicable range setting step for setting a communicable range as a communicable range of a wireless tag reader that performs communication with the wireless tag by a distance from the wireless tag reader;
Search route setting for setting a one-stroke search route consisting of a series of points so as to cover the search region set in the search region setting step by sequentially moving the communicable range set in the communicable range setting step Steps,
A search route transmission step for transmitting the search route set in the search route setting step to an automatic travel device that travels according to the search route with the wireless tag reader; and
A traveling position determination step of receiving data during traveling of the automatic traveling device and determining a traveling position when the wireless tag reader starts communication with the wireless tag;
A search result transmission step of transmitting display data for displaying the determination result of the travel position determination step as the searched position of the article in the search area to the mobile terminal that has requested the search for the article. An article search method as a feature. A search area setting step for setting a search area for searching for an article to which a wireless tag is attached;
A communicable range setting step for setting a communicable range as a communicable range of a wireless tag reader that performs communication with the wireless tag by a distance from the wireless tag reader;
Search route setting for setting a one-stroke search route consisting of a series of points so as to cover the search region set in the search region setting step by sequentially moving the communicable range set in the communicable range setting step Steps,
A travel position determining step that includes the wireless tag reader and determines a travel position of an automatic travel means that travels according to the search route set by the search route setting means;
A region information search method comprising: a position information transmission step of transmitting the traveling position as position information regarding an article to which the wireless tag is attached when the wireless tag reader starts communication with the wireless tag. .

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