JP2013235351A - Self-propelled electronic equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide self-propelled electronic equipment for appropriately photographing surroundings without receiving any damage.SOLUTION: A self-propelled cleaner 1 to which self-propelled electronic equipment is applied includes an obstacle detection part 520 for detecting its approach to or contact with an obstacle. In the case of performing photographing by a photographing part 63, when it is determined that its own machine's approach to or contact with the obstacle has been detected by the obstacle detection part 520, its own machine is made to move in a direction in which it separates from the obstacle, and made to perform photographing while rotating.

Description

  The present invention relates to a self-propelled electronic device including a photographing unit.

  In recent years, self-propelled electronic devices for general households have been developed and spread. As such a self-propelled electronic device, for example, Patent Document 1 discloses a robot cleaner that includes a monitoring camera and transmits a monitoring image to a wireless terminal device. When this robot cleaner is requested by the wireless terminal device for a monitoring image at a specific position, the robot cleaner moves to the specific position and performs shooting.

JP 2011-233149 A (published November 17, 2011)

  However, Patent Document 1 does not discuss a case where there is an obstacle around the camera at a specific position. Therefore, in the technique of Patent Document 1, when there is an obstacle near a specific position, photographing is performed while touching or approaching the obstacle, and the obstacle may be rubbed and damaged. Since a photographing part (camera) is provided on the side of the vacuum cleaner, the damage may become serious. Furthermore, if photographing is performed while touching or approaching an obstacle, in this case, an image of the side of the obstacle is obtained, so that it does not make sense as a monitoring image.

  Accordingly, the present invention has been made in view of the above problems, and an object thereof is to provide a self-propelled electronic device capable of appropriately photographing surroundings without being damaged.

  In order to solve the above problems, a self-propelled electronic device according to the present invention includes a photographing unit that captures an image around the self-device, a travel drive unit that travels and drives the self-device, and a travel operation of the travel drive unit. A self-propelled electronic device including a travel drive control unit that controls an obstacle detection unit that determines whether or not an approach to or contact with an obstacle is detected, and when shooting with the imaging unit When the obstacle detection unit determines that there is an approach or contact detection to the obstacle, the travel drive control unit controls the travel drive unit to move the device in a direction away from the obstacle. After the movement, the photographing is performed while rotating.

  According to the above configuration, when shooting (when shooting), if an approach to or contact with an obstacle is detected, the device is moved in a direction away from the obstacle, and after moving, shooting is performed while rotating. Thus, the self-propelled electronic device can avoid contact with the obstacle by moving away from the obstacle at the time of photographing, and can prevent damage due to contact with the obstacle. Further, by taking a picture while rotating after moving, it is possible to take a picture of a maximum 360 ° range in the horizontal direction, and it is possible to take a wide range of pictures. Therefore, according to the above configuration, it is possible to appropriately capture the surroundings without being damaged.

  Here, when photographing is performed, for example, even when the self-propelled electronic device receives a photographing instruction, a sensor is provided in the self-propelled electronic device, and the sensor reacts ( For example, the sensor output value may be a predetermined value or more. In the latter case, photographing is performed when the sensor reacts. For example, when a human sensor is provided and the human sensor responds, an odor sensor is provided, and an output value of the odor sensor is equal to or higher than a predetermined value.

  In addition to the above configuration, the self-propelled electronic device according to the present invention further includes a feedback detection unit that detects that the device returns to the place where the charger is installed, and the obstacle detection unit includes the feedback detection unit. Based on the detection of the return of the own device of the detection unit, the presence or absence of detection of approach to or contact with an obstacle may be determined.

  According to the above configuration, the presence or absence of detection of approach to or contact with an obstacle is determined based on detection of returning to the place of installation of the charger of the own device (detection of return). Therefore, according to the above configuration, when the return of the own device is detected at the time of shooting, it can be determined that there is an approach to or contact with an obstacle. For this reason, when the return of the device is detected during shooting, the image is taken while rotating after a predetermined amount of movement. Here, the detection of return may be detection of returning from the destination or detection of returning originally.

  The charger is often placed near the wall. Therefore, by detecting the return to the charger at the time of shooting, it is possible to perform shooting while rotating while avoiding the approach or contact with the charger or the wall surface.

  As an example of detection of the return of the own device, detection of energization from a charger can be mentioned. In this case, if the self-propelled electronic device knows the relative position between the charging unit and the imaging unit that accepts charging from the charger, or if the imaging direction of the imaging unit relative to the traveling direction of the own device is known, When energization is detected, the orientation of the photographing unit is also known. Therefore, by setting the direction of the shooting part to face away from the charger, avoid the shadow of the charger, and if the charger is located near the wall, avoid the shadow of the wall, Can be taken properly.

  Of course, the detection of the return of the own device is not limited to the detection of energization. Detection of the return of the own device may be performed, for example, by pressing a micro switch provided in the own device by a part of the charger.

  In addition to the above configuration, the self-propelled electronic device according to the present invention further includes a signal receiving unit that receives a signal from the signal transmission device, and the obstacle detecting unit is a signal strength received by the signal receiving unit. Based on the above, the presence or absence of detection of the approach or contact to the obstacle may be determined.

  According to the above configuration, it is possible to determine the presence or absence of detection of approach or contact with an obstacle based on the intensity of the signal received from the signal transmission device. Here, the signal transmission device may be, for example, a beacon transmission device provided in a charger. If the charger has a beacon transmission device that transmits a feedback signal (beacon) for returning a self-propelled electronic device, using this as the signal transmission device requires extra costs. Can be prevented.

  Further, in the self-propelled electronic device according to the present invention, in addition to the above configuration, the traveling drive control unit may determine the predetermined amount based on the intensity of the signal received by the signal receiving unit.

  According to the above configuration, the predetermined amount is determined based on the intensity of the signal received by the signal receiving unit. Based on the strength of the received signal, it is possible to obtain information on how far the device is from the signal transmission device, and information on the direction in which the signal was received, that is, the relative position of the device to the signal transmission device. Information can be obtained. Thus, since the information on the relative position with respect to the signal transmission device can be acquired, the movement amount and the movement direction can be appropriately determined. Therefore, it is possible to take an image with an appropriate amount (predetermined amount) away from the obstacle in an appropriate direction.

  Moreover, the self-propelled electronic device according to the present invention includes a distance information acquisition unit that acquires information on the distance from the own device to the obstacle in addition to the above configuration, and the obstacle detection unit includes the distance information acquisition unit. Based on the information on the distance to the obstacle obtained by the above, approach or contact with the obstacle may be detected.

  According to the above configuration, the approach or contact with the obstacle is detected based on the information on the distance to the obstacle. Therefore, in the same manner as described above, when shooting, it is possible to perform shooting while rotating while avoiding approaching or contacting an obstacle. As an example of the distance information acquisition unit, there is a distance sensor that measures the distance to an obstacle with ultrasonic waves or infrared rays.

  Further, in the self-propelled electronic device according to the present invention, in addition to the above configuration, the travel drive control unit determines the predetermined amount based on the distance information to the obstacle obtained by the distance information acquisition unit. May be.

  According to the above configuration, the predetermined amount is determined based on the information on the distance to the obstacle. Since the predetermined amount is determined based on the information about the distance to the obstacle, it is possible to take an image with an appropriate amount (predetermined amount) away from the wall surface that is the obstacle.

  Here, the distance information acquisition unit acquires information on the angle between the traveling direction of the own device and the obstacle in addition to the information on the distance from the own device to the obstacle, and the traveling drive control unit receives the obstacle from the own device. Based on the information on the distance to the object and the information on the angle between the traveling direction of the own device and the obstacle, the approach to or contact with the obstacle may be detected. If comprised in this way, since the traveling drive control part can judge the direction and distance with respect to the obstruction of the own apparatus, it can determine a moving amount and a moving direction appropriately.

  The self-propelled electronic device according to the present invention moves the device in a direction away from the obstacle when the approach or contact is detected when the image is taken. Do. Thus, the self-propelled electronic device can avoid contact with the obstacle by moving away from the obstacle at the time of photographing, and can prevent damage due to contact with the obstacle. In addition, by performing imaging while rotating at the moving position, it is possible to capture a range of a maximum of 360 ° in the horizontal direction, and it is possible to perform imaging over a wide range. Therefore, according to the above configuration, it is possible to appropriately capture the surroundings without being damaged.

It is a block diagram which shows the functional structure of the self-propelled cleaner which is one Embodiment of this invention. It is a perspective view of the self-propelled cleaner. It is side surface sectional drawing of the said air cleaner. It is a bottom view of the self-propelled cleaner. It is a flowchart which shows the operation | movement at the time of imaging | photography of the said self-propelled cleaner.

  An embodiment in which the self-propelled electronic device according to the present invention is applied to a self-propelled cleaner that performs self-propelled cleaning will be described as follows with reference to FIGS.

(Appearance structure of self-propelled vacuum cleaner)
FIGS. 2 to 4 show a perspective view, a side sectional view, and a bottom view of the self-propelled cleaner (self-propelled electronic device) 1 of the present embodiment, respectively. As shown in FIG. 2, the self-propelled cleaner 1 has a self-propelled cleaner 1 main body formed of a main body housing 2 whose outer frame is circular in plan view, and a battery (secondary) as shown in FIG. Battery) 14 and a drive wheel 29 driven by a power supply source, and is a device that collects dust (cleans) while running on its own. In the present embodiment, the main body housing 2 has a shape in which the upper surface and the bottom surface form a circle, but is not limited to this shape.

  As shown in FIG. 2, an operation panel 50 for inputting instructions to the self-propelled cleaner 1 is provided on the upper surface of the main body housing 2. The operation panel 50 includes an operation switch (operation unit) that receives input of various instructions, data such as characters and numbers, and a display (display unit) that displays various information to be presented to the user. Is provided. The operation panel 50 may be provided as a touch panel.

  As shown in FIG. 4, a pair of drive wheels 29 that protrude from the bottom surface and rotate around a horizontal rotation shaft 29 a are arranged on the bottom surface of the main body housing 2. The rotation shaft 29 a of the drive wheel 29 is disposed on the center line (center axis) C of the main body housing 2. When both wheels of the drive wheel 29 rotate in the same direction, the self-propelled cleaner 1 advances and retreats. When the wheels rotate in opposite directions, the self-propelled cleaner 1 rotates around the center line C of the main body housing 2. The travel drive unit that drives the drive wheels 29 is battery-driven, and the self-propelled cleaner 1 is self-propelled. During cleaning, when the main housing 2 reaches the periphery of the cleaning area or when it collides with an obstacle on the path, the drive wheels 29 are stopped. Then, both wheels of the drive wheel 29 are rotated in opposite directions, and the main body of the self-propelled cleaner 1 is rotated around the center line C of the main body housing 2 to change its direction and turn. Thereby, while making the self-propelled cleaner 1 self-propelled to the whole desired cleaning area | region, it can be made to self-propelled avoiding an obstruction. Note that the self-propelled cleaner 1 may be moved backward by reversing both wheels of the drive wheels 29 with respect to forward movement.

  Further, a roller-shaped front wheel 27 is provided in front of the bottom surface of the main body housing 2. In addition, a rear wheel 26 made of a free wheel is provided at the rear (rear end) of the bottom surface of the main body housing 2. In the self-propelled cleaner 1, the weight is distributed in the front-rear direction to the drive wheel 29 disposed in the center of the main body housing 2, the front wheel 27 is separated from the floor surface F, and the rear wheel 26 is grounded to the floor surface F. And self-run. The front wheel 27 contacts the step appearing on the course so that the self-propelled cleaner 1 can easily get over the step.

  The self-propelled cleaner 1 is self-propelled when the driving wheel 29 is driven by the traveling drive unit to which electric power is supplied from the battery 14. Hereinafter, the front in the traveling direction when the self-propelled cleaner 1 is self-propelled is referred to as the front, and the rear is referred to as the rear. In addition, on the peripheral surface (side surface) of the main body housing 2, a surface facing the front in the traveling direction is referred to as a front surface, and a surface facing the rear (a surface located on the side opposite to the front surface) is referred to as a back surface. The photographing unit 63 is provided on the front surface of the peripheral surface (side surface) of the main body housing 2, and the charging terminal 4 is provided on the back surface.

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

  Further, the main body housing 2 is provided with a photographing unit 63 for photographing a surrounding image. The photographing unit 63 includes an optical lens, a color filter, a CCD (Charge Coupled Device) that is a light receiving element, and the like. The image captured by the imaging unit 63 may be a moving image or a still image. In the present embodiment, the photographing unit 63 is provided on the front surface of the peripheral surface of the main body housing 2, but the position where the photographing unit 63 is provided is not limited. It is preferable to be provided on the peripheral surface of the main body housing 2 because the own device can rotate in the horizontal direction so that a maximum 360 ° range can be imaged. In addition, a plurality of photographing units may be provided.

  Moreover, the bumper 5 is provided in the surrounding surface of the main body housing | casing 2, and the impact and vibration to the self-propelled cleaner 1 main body are buffered. When the self-propelled cleaner 1 detects that the bumper 5 has come into contact with an obstacle during traveling, the traveling direction is changed and the traveling is continued. Here, for example, by providing a micro switch inside the bumper 5, it is possible to detect that the bumper 5 is in contact with an obstacle.

  A control board 15 and a detachable battery 14 are disposed in the main body housing 2. The control board 15 is provided with a control unit 52 for controlling each part of the self-propelled cleaner 1 and a storage unit 57 to be described later for storing various data. The battery 14 is a power supply source for the entire self-propelled cleaner 1. The battery 14 is desirably a large capacity rechargeable battery that can be repeatedly charged and discharged. For example, a lead battery, a nickel metal hydride battery, a lithium ion battery, or a capacitor may be used.

  A charging terminal 4 that charges the battery 14 is exposed at the rear end of the peripheral surface of the main body housing 2. The self-propelled cleaner 1 returns to the place where the charger 40 is installed after cleaning or when the charge amount falls below a predetermined value. Then, the battery 14 is charged by contacting the charging terminal 4 to the power supply terminal 41 provided in the charger 40.

  The charger 40 is a device for charging the battery 14 of the self-propelled cleaner 1, and the charger 40 includes a charging circuit for controlling charging of the battery 14 and the like. The same number as the charging terminal 4 of the self-propelled cleaner 1 is located on the front surface of the charger 40 (the surface facing the peripheral surface of the main body housing 2) at a position where it can come into contact with the charging terminal 4 of the self-propelled cleaner 1. The power supply terminal 41 is provided. The power supply terminal 41 protrudes from the front surface of the charger 40 when it is not in contact with anything, and can be pushed back until the front end surface of the power supply terminal 41 and the front surface of the charger 40 are almost flat. . When the charging terminal 4 of the self-propelled cleaner 1 is in contact (electrical connection) with the power supply terminal 41 of the charger 40 and is pushed until the front end surface of the power supply terminal 41 is substantially flat with the front surface of the charger 40, The electric current from the commercial power source connected to the charger 40 through the contact flows through the self-propelled cleaner 1. In this state, the battery 14 can be charged. The back surface of the charger 40 connected to the commercial power supply (the surface not facing the peripheral surface of the main body housing 200) is usually installed along the side wall S in the room.

  The charger 40 is configured to transmit a feedback signal (beacon) indicating the installation location of the charger 40 and the position of the power supply terminal 41. The self-propelled cleaner 1 detects the feedback signal emitted from the charger 40 when the end of cleaning is detected or the charge amount of the battery 14 falls below a predetermined value, and the charger 40 is installed. Return automatically to where you are. Here, detection of the end of cleaning is performed, for example, by detecting that the self-propelled cleaner 1 has moved a certain distance or a certain time has passed, or by detecting the air state in the traveling region with a sensor or the like. Also good. Alternatively, the self-propelled cleaner 1 receives an instruction for prompting feedback to the charger 40 such as an instruction to end cleaning or an instruction to interrupt from the operation panel 50 or a remote control device or a terminal device connected by wireless communication. , May be done.

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

  The airflow sucked from the suction port 6 provided on the bottom surface of the main body housing 2 flows rearward through the first intake passage 11 as indicated by an arrow A1 in FIG. Flow into. The airflow that has flowed into the dust collecting unit 30 collects dust by the filter 33 and flows out from the dust collecting unit 30 through the outflow path 35. Thereby, dust is collected and accumulated in the dust collecting container 31. The airflow flowing out from the dust collection unit 30 flows forward through the second intake passage 12 as indicated by an arrow A2 and flows into the electric blower 22 of the motor unit 20.

  The airflow that has passed through the electric blower 22 is exhausted upward and rearward as indicated by an arrow A3 from an exhaust port 7 provided on the upper surface of the main body housing 2. In addition, the ion generator may be provided in the vicinity of the electric blower 22. If an ion generator is provided, the air flow containing ions can be exhausted from the exhaust port 7 and, when cleaning or running, disinfecting and deodorizing can be performed by spreading the ions contained in the exhaust to the cleaning area. Can do. Since the exhaust is performed upward from the exhaust port 7, it is possible to prevent the dust on the floor surface F from being rolled up and improve the cleanliness of the room.

  Furthermore, when the ion generator is provided, it may be configured such that a part of the airflow including ions is guided to the recess 8. If comprised in this way, ion will be contained in the airflow guide | induced to the 1st intake path 11 from the suction inlet 6. FIG. Thereby, sterilization and deodorization of the dust collection container 31 and the filter 33 of the dust collection part 30 can be performed.

  The self-propelled cleaner 1 is configured to be capable of bidirectional communication with a terminal device (not shown) such as a smartphone, a mobile phone, or a tablet terminal connected by wireless communication. It is possible to operate the self-propelled cleaner 1 from a terminal device connected by wireless communication, and conversely, data obtained by the self-propelled cleaner 1 (for example, data of a photographed image) is stored in the terminal device. It is also possible to transmit. The data obtained by the self-propelled cleaner 1 may be transmitted to an external server device, and the terminal device may be configured to acquire the data from the server device. A known technique can be used for these communication methods.

  In addition to the operation panel 50 and the terminal device, the self-propelled cleaner 1 may be configured to be operable by a remote control device that performs infrared communication, or may be configured to be operable by voice. .

  Moreover, the self-propelled cleaner 1 includes various sensors, and is configured to avoid obstacles and to be able to self-propel without falling from steps or stairs. Examples of such sensors include a cliff sensor (step detection sensor), a distance sensor (obstacle detection sensor), a human sensor, and a CCD camera. These are merely examples and need not all be provided. The cliff sensor and the human sensor can be configured by, for example, an infrared sensor, and the distance sensor can be configured by, for example, an ultrasonic sensor. Furthermore, the self-propelled cleaner 1 includes, for example, an odor sensor, a temperature sensor, a dust sensor, a voice acquisition unit, and the like, and may be configured such that the operation is controlled according to the sensing result.

(Functional configuration of self-propelled vacuum cleaner)
Next, the functional configuration of the self-propelled cleaner 1 will be described. As shown in FIG. 1, the self-propelled cleaner 1 includes a control unit 52, a data communication unit 53, an operation panel 50, a voltage detection unit 55, a charging terminal 4, a battery 14, an energization detection unit (feedback detection unit) 56, Storage unit 57, photographing unit 63, travel drive unit 58, drive wheel 29, rotary brush drive unit 59, rotary brush 9, side brush drive unit 60, side brush 10, motor unit 20, and distance sensor (distance information acquisition unit) 64). Description of the members described above is omitted.

  The control unit 52 performs self-propelled cleaning based on the program and data stored in the storage unit 57, and further, the program and data input from the operation panel 50, the terminal device connected by the wireless communication described above, or the remote controller. It is a block that controls various operations of each block of the machine 1.

  The data communication unit 53 is a block that transmits / receives data to / from an external device. A control signal or the like for controlling the self-propelled cleaner 1 is received from the remote controller or the terminal device connected by wireless communication. Further, data stored in the storage unit 57 of the self-propelled cleaner 1 and the self-propelled cleaner 1 can be acquired (for example, photographing, measurement, sensing) with respect to the terminal device connected by wireless communication. Data (for example, photographed image data) is transmitted. The data communication unit 53 also includes a beacon receiving unit (signal receiving unit) 530 that receives a feedback signal (beacon) from the charger 40.

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

  The energization detection unit 56 is a block that detects energization from the charger 40 to the battery 14. Here, the energization detection unit 56 is an example of a feedback detection unit that detects that the self-propelled cleaner 1 has returned to the charger 40. For example, the detection of the return of the self-propelled cleaner 1 may be performed by pressing a micro switch provided in the self-propelled cleaner 1 by a part of the charger 40.

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

  The storage unit 57 further stores data acquired (for example, photographing, measurement, sensing) by the self-propelled cleaner 1. Further, the storage unit 57 stores a movement amount table 570 that is data for determining a movement amount at the time of “observation” described later.

  The storage unit 57 stores various condition settings relating to the operation of the self-propelled cleaner 1 received from the remote control device or the terminal device via the operation panel 50 or the data communication unit 53. Furthermore, the storage unit 57 may store a travel map around the installation location of the self-propelled cleaner 1. The travel map is map information including information related to travel such as the travel route and travel speed of the self-propelled cleaner 1, or information related to the travel area. The travel map may be created in advance by the user and stored in the storage unit 57, or the travel map may be created or updated by the self-propelled cleaner 1 while traveling. A conventionally known technique may be used for creating the travel map.

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

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

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

  As described above, the motor unit 20 includes the electric blower 22 and the like, and performs intake to the inside of the main body housing 2 and exhaust from the inside.

  The distance sensor 64 is a block that measures a distance from an obstacle or a wall surface. As the distance sensor 64, an ultrasonic sensor or an infrared sensor can be used.

  Furthermore, the control unit 52 of the self-propelled cleaner 1 includes an obstacle detection unit 520 that determines detection of approach or contact with an obstacle, a travel drive control unit 521 that controls the travel operation of the travel drive unit 58, An imaging control unit 522 that controls the imaging unit 63. Then, as shown in FIG. 5, the self-propelled cleaner 1 determines whether the obstacle detection unit 520 has detected an approach to or contact with an obstacle when photographing with the photographing unit 63 (S <b> 1). If it is determined that there is a detection (YES in S1), the traveling drive control unit 521 controls the traveling drive unit 58 to move the aircraft in a direction away from the obstacle (S2), and then rotates after the movement. Shooting is performed (S3).

  As described above, the self-propelled cleaner 1 can avoid contact with an obstacle by moving away from the obstacle when taking a picture (during shooting), and prevents damage due to contact with the obstacle. be able to. In addition, by performing imaging while rotating, it is possible to capture a range of up to 360 ° in the horizontal direction, and it is possible to perform imaging over a wide range. Therefore, the self-propelled cleaner 1 can appropriately capture the surroundings without being damaged.

  Here, when photographing, for example, even when the self-propelled cleaner 1 receives a photographing instruction from the operation panel 50, the communication terminal described above, or a remote controller, the self-propelled cleaner 1 This may be the case when the provided sensor reacts (for example, when the sensor output value becomes a predetermined value or more). In the latter case, photographing is performed when the sensor reacts. For example, when a human sensor is provided and the human sensor responds, an odor sensor is provided, and an output value of the odor sensor is equal to or higher than a predetermined value.

  Further, the predetermined amount in movement may be a predetermined amount, for example, or an amount determined according to the positional relationship when information on the positional relationship with the obstacle is obtained. May be.

  Further, the movement after the approach to the obstacle or the detection of the contact may be forward or backward. Alternatively, when the movement of the self-propelled cleaner 1 is based on the premise that the front side of the self-propelled cleaner 1 is not approaching or touching the obstacle, a predetermined angle at which the front surface of the own machine is separated from the obstacle, for example, the rear surface is the obstacle If it is configured to move in advance (in this case, forward) after rotating in advance, the obstacle can be appropriately avoided. When the self-propelled cleaner 1 can acquire information on the direction (or direction) of the obstacle when the forward direction is set to 0 °, the rotation angle before the movement associated with the information on the direction of the obstacle Is stored in the storage unit 57 as a table, the front face of the own device can be appropriately directed in a direction away from the obstacle.

  Here, even when forward movement is assumed, if it is known that the back of the aircraft is facing an obstacle, it is not necessary to perform rotation before movement.

  In addition, the movement after the approach to an obstacle or the detection of a contact is not limited to the above, and the self-propelled cleaner 1 may be configured to be movable in a direction away from the obstacle.

  Hereinafter, photographing while rotating is referred to as “observation”. In this embodiment, in the “observation”, the self-propelled cleaner 1 is rotated in the front direction (0 °), 90 °, 180 °, and 270 ° toward the traveling direction of the self-propelled cleaner 1, and this rotation is performed. It is assumed that shooting is performed at the position. Therefore, four captured images are obtained by one “observation”. These are merely examples, and “observation” is not limited to the above processing. When the self-propelled cleaner 1 receives an “observation” instruction from the terminal device connected by the wireless communication previously issued by the data communication unit 53, the obstacle detection unit 520 determines whether or not the obstacle has been approached or detected. If the obstacle detection unit 520 determines that there is a detection, the own device is moved by a predetermined amount and “observation” is executed. If there is no detection, “observation” is performed on the spot. The photographed image obtained by this “observation” is transmitted to the terminal device or server device that issued the “observation” instruction. Transmission of the captured image to the outside can be performed using a known technique. Further, the photographed image may be stored in the storage unit 57 of the self-propelled cleaner 1 so that it can be taken out as appropriate.

(Detection of contact or approach to an obstacle and movement of a predetermined amount)
Next, detection of contact or approach to an obstacle and a predetermined amount of movement will be described using specific examples (a) to (c).

  (A) The obstacle detection unit 520 determines the presence or absence of detection of approach to or contact with an obstacle based on detection of return of the self-propelled cleaner 1 by the return detection unit. When the return detection unit detects the return of its own device, the obstacle detection unit 520 can determine that there is detection of approach or contact with the obstacle. Therefore, when the data communication unit 53 receives the “observation” instruction and the feedback detection unit detects the return of the own device, the self-propelled cleaner 1 is controlled by the travel drive control unit 521 and the imaging control unit 522. Performs “observation” after moving a predetermined amount. Here, the detection of return may be detection of returning from the destination or detection of returning originally. The predetermined amount of movement is determined in advance, for example, 50 cm in the forward direction. However, it may be provided to be changeable.

  The charger 40 is often arranged near the wall surface. Therefore, at the time of “observation”, by detecting the return to the charger 40, it is possible to “observe” while avoiding approach or contact with the charger 40 or the wall surface.

  As an example of detection of feedback by the feedback detection unit, detection of energization from the charger 40 by the energization detection unit 56 may be mentioned. In this case, when the self-propelled cleaner 1 knows the relative position between the charging terminal (charging unit) 4 that receives charging from the charger 40 and the photographing unit 63, or the photographing unit with respect to the traveling direction of the own device. If the shooting direction of 63 is known, when the energization is detected, the direction of the shooting unit 63 is also known. Therefore, by directing the photographing unit 63 in the opposite direction to the charger 40, when the charger 40 is located near the wall surface, avoid the wall surface shadow. The surroundings can be photographed appropriately.

  In the present embodiment, the self-propelled cleaner 1 faces the back to the charger 40 during charging (see FIG. 3), and therefore, when the charger 40 is disposed near the wall surface, the self-propelled cleaner 1 moves forward as a movement. If “observation” is executed after that, damage due to contact with the wall surface during “observation” can be prevented.

  (B) The obstacle detection unit 520 determines whether or not an approach to or contact with an obstacle is detected based on the intensity of the signal received from the signal transmission device. Since the charger 40 includes a beacon transmission device that transmits a feedback signal (beacon), using this as a signal transmission device can prevent extra costs. In this case, based on the intensity of the beacon from the charger 40 received by the beacon receiving unit 530, it is possible to determine whether or not an approach to or contact with an obstacle is detected.

  Furthermore, the traveling drive control unit 521 may determine a predetermined amount of movement based on the strength of the beacon received by the beacon receiving unit 530. From the strength of the received beacon, it is possible to obtain information indicating how far the device is from the charger 40 and information on the direction in which the beacon is received. That is, the information of the relative position with respect to the charger 40 of the own device can be obtained. Therefore, if the self-propelled cleaner 1 further knows the relative position between the beacon receiving unit 530 and the imaging unit 63, when the beacon is received from the charger 40, the direction in which the imaging unit 63 is facing is known. That is, the detection of the signal from the charger 40 detects that the beacon receiving unit 530 is moving toward the charger 40, and information on the direction in which the imaging unit 63 faces from the relative position between the beacon receiving unit 530 and the imaging unit 63. Can be obtained.

  Therefore, it is known that the self-propelled cleaner 1 has the charger 40 installed near the wall, and at the time of photographing, detecting the beacon from the charger 40 and detecting the intensity, for example, the charger 40 When the information of the relative position that it is directly in front of a position close to (for example, within 30 cm) (position of approximately 0 ° in the traveling direction) is obtained, the self-propelled vacuum cleaner 1 is rotated 180 ° and then 50 cm from this position. By moving forward, it is possible to perform “observation” while avoiding collision with the wall surface. Here, in the present embodiment, the rotation before the movement is performed because the self-propelled cleaner 1 is assumed to move forward, and when the self-propelled cleaner 1 is directly in front of the charger 40, it can be moved forward as it is. For example, the battery 40 collides with the battery charger 40 and is therefore separated from the battery charger 40.

  Note that a movement amount table 570 in which a relative position (distance, direction, or direction) with respect to a signal transmission source is associated with a movement amount is stored in the storage unit 57, and the travel drive control unit 521 stores the movement amount table 570. Based on the above, a predetermined amount of movement may be determined. In this case, the angle for rotating the self-propelled cleaner 1 according to the direction at the relative position may be determined in advance, and the angle for rotating according to the relative position may be stored in the movement amount table 570.

In addition, you may perform movement other than having illustrated and demonstrated here. For example, as described above, the self-propelled cleaner 1 may be moved backward by a predetermined distance (for example, 50 cm) when approaching the charger 40 and measuring the relative position thereof.
(C) The obstacle detection unit 520 detects the approach or contact with the obstacle based on the distance information obtained by the distance sensor 64. Here, the obstacle is a wall surface. Therefore, similarly to the above (a) and (b), it is possible to perform “observation” while avoiding approaching or contacting the wall surface.

  Further, in this case, the traveling drive control unit 521 determines a predetermined amount of movement based on the information on the distance to the wall surface obtained by the distance sensor 64. Since the predetermined amount is determined based on the information on the distance to the wall surface, it is possible to take an image with an appropriate amount (predetermined amount) away from the wall surface that is an obstacle. This determination may be performed using, for example, the movement amount table 570 in which the distance to the wall surface and the movement amount are associated with each other and stored in the storage unit 57.

  Further, the distance sensor 64 may acquire, for example, information on the angle formed by the traveling direction of the own machine and the wall surface as position information in addition to the information on the distance to the wall surface. In this case, in the movement amount table 570, the movement amount and the movement direction may be associated with information on the distance from the own device to the wall surface and information on the angle between the traveling direction of the own device and the wall surface.

  In the above description, the obstacle is described as a wall surface. However, the present invention is not limited to the wall surface, and may be a table, a desk, a leg such as a chair, a television stand, a telephone stand, a chiffon, a sofa, or the like.

  Moreover, the self-propelled cleaner 1 may be configured as follows. Self-propelled cleaner 1 prescribes a specific position in the above-mentioned travel map, and memorizes it in storage part 57 beforehand. When the data communication unit 53 receives the “observation” instruction, it acquires coordinate information that is information on the current location in the travel region of the self-propelled cleaner 1. Then, based on the specific position of the travel map and the acquired coordinate information, the own machine is moved to the specific position, and “observation” is executed at the specific position.

  The coordinate information can be acquired as follows. When the self-propelled vacuum cleaner 1 is made to remember the travel route once and self-propelled along the travel route, coordinate information is acquired from the rotational speed and rotation angle of the drive wheels 29. Alternatively, the video of the traveling area is stored as a video map, and compared with the surrounding image currently captured, coordinate information that is information on the current location is acquired. Such acquisition of coordinate information is not limited to the above-described processing, and other known techniques can be used. Also, a known technique can be used for the process of moving the own device to the specific position based on the specific position and the acquired coordinate information.

  Furthermore, the self-propelled cleaner 1 may be configured as follows. When the data communication unit 53 receives an “observation” instruction, the imaging unit 63 captures a surrounding image. Then, it is determined whether the identifier is included in the captured image. Here, the identifier may be, for example, a specific mark attached to a wall or an object in the traveling area of the self-propelled cleaner 1. When an identifier is included in the captured image, movement is performed based on the identifier, and “observation” is executed.

  When the self-propelled cleaner 1 stores the reference image to be compared with the identifier image in the storage unit 57 in advance, the size of the reference image is compared with the size of the photographed identifier image, The distortion of the image of the photographed identifier with respect to the reference image is detected, the distance between the self-propelled cleaner 1 and the identifier, and the angle between the self-propelled cleaner 1 and the identifier, that is, the self-propelled cleaner Information on the relative position with respect to the identifier of 1 is acquired. Note that a known technique can be used as a method of obtaining the relative position information by comparing the photographed image with the reference image. Then, based on the acquired information on the relative position, the travel drive control unit 521 travels to a position where the size and distortion of the identifier image captured by the image capturing unit 63 with respect to the reference image fall within an allowable range. The drive unit 58 is controlled. By setting a position that falls within this allowable range as a user's desired position, the self-propelled cleaner 1 can be moved to the user's desired position.

  Here, the self-propelled cleaner 1 determines the direction of movement based on the relative position with the identifier and self-runs. During this self-run, the image of the identifier is taken by the photographing unit 63 and compared with the reference image. Then, it is confirmed whether the size and distortion with respect to the reference image are within the allowable range, and when the image of the identifier that falls within the allowable range is acquired, the operation is stopped. Can move.

  For example, by sticking a mark seal as an identifier to the trash can, it can be moved to the vicinity of the trash can. And "observation" becomes possible near this trash can.

  Alternatively, information indicating a specific position may be included in the identifier, and the self-propelled cleaner 1 may be moved to the specific position. As for the movement to the specific position, as described above, the coordinate information that is the information on the current location of the own device is acquired, and the movement is performed in comparison with the specific position.

  Furthermore, the self-propelled cleaner 1 may be configured to perform “observation” according to information of a sensing result by a sensor provided in the self-propelled device. For example, when an odor sensor is provided, “observation” may be performed when the output value of the odor sensor is equal to or greater than a set value. Similarly, when the temperature sensor is provided, when the temperature detected by the temperature sensor is equal to or higher than the set value, when the microphone (sound acquisition unit) is provided, the volume acquired by the microphone is In the case of a set value or more, or in the case where a dust sensor is provided, “observation” may be performed when the acquired level of dirt is more than the set value. These sensors are merely examples, and “observation” may be executed in accordance with the sensing results of other sensors.

  In this way, when the self-propelled cleaner 1 is configured to perform “observation” according to the sensing result of the sensor, when there is a change (failure or the like) in the cleaning area during cleaning or traveling. “Observation” can be executed, and the user can confirm the change at the terminal device communicating with the self-propelled cleaner 1.

(Other application examples of self-propelled electronic devices)
In the present embodiment, the self-propelled cleaner 1 is described as a suction-type cleaner. However, the self-propelled cleaner 1 can be applied to, for example, a mop type or a brush type cleaner. it can. Self-propelled cleaner 1 may be not only for home use but also for business use. Moreover, the self-propelled cleaner 1 may or may not include an ion generator.

  In the above description, the main body of the self-propelled cleaner 1 is caused to travel by the drive wheels 29. However, for example, it may be a walking leg, that is, the object driven by the travel drive unit 58 is the self-propelled cleaner. As long as 1 can be self-propelled, it may have any shape.

  Of course, besides the self-propelled cleaner, the self-propelled electronic device of the present invention can be applied to various electronic devices that have a photographing unit and are self-propelled. You may apply the self-propelled electronic device of this invention to a self-propelled air cleaner, for example. Such a self-propelled air cleaner is basically configured to have the air cleaning function without the cleaning function of the self-propelled cleaner 1 described above. Such a self-propelled air cleaner may or may not include an ion generator.

  Further, the self-propelled ion emission device may be applied to a self-propelled waxing device that waxes the floor, a self-propelled humidifier, a dehumidifier, or the like.

(Program and recording medium)
The control unit 52 of the self-propelled cleaner 1 described above may be configured by hardware logic, or may be realized by software using a CPU as follows.

  That is, the self-propelled cleaner 1 includes a central processing unit (CPU) that executes instructions of a control program that implements each function, a read only memory (ROM) that stores the program, and a random access memory (RAM) that expands the program. memory), a storage device (recording medium) such as a memory for storing the program and various data. The object of the present invention is to record the program code (execution format program, intermediate code program, source program) of each control program of the self-propelled cleaner 1 which is software for realizing the above-described functions so as to be readable by a computer. This can also be achieved by supplying the recording medium to the self-propelled cleaner 1, and the computer (or CPU or MPU) reading and executing the program code recorded on the recording medium.

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

  Moreover, the self-propelled cleaner 1 may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited. For example, the Internet, intranet, extranet, LAN, ISDN, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication. A net or the like is available. Further, the transmission medium constituting the communication network is not particularly limited. For example, even in the case of wired such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, ADSL line, etc., infrared rays such as IrDA and remote control, Bluetooth ( (Registered trademark), IEEE802.11 radio, HDR (High Data Rate), NFC (Near Field Communication), DLNA (Digital Living Network Alliance), mobile phone network, satellite line, terrestrial digital network, etc. . The present invention can also be realized in the form of a computer data signal embedded in a carrier wave in which the program code is embodied by electronic transmission.

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

  The present invention can be applied to various self-propelled electronic devices including a photographing unit. For example, it can be used for a self-propelled cleaner.

1 Self-propelled vacuum cleaner (self-propelled electronic equipment)
2 Main body housing 4 Charging terminal 5 Bumper 14 Battery 15 Control board 20 Motor unit 29 Driving wheel 40 Charger 41 Power supply terminal 52 Control unit 53 Data communication unit 55 Voltage detection unit 56 Current detection unit (feedback detection unit)
57 storage unit 58 travel drive unit 63 imaging unit 64 distance sensor (distance information acquisition unit)
520 Obstacle detection unit 521 Travel drive control unit 522 Shooting control unit 530 Beacon receiving unit (signal receiving unit)
570 Travel distance table C Center line (center axis)

Claims (6)

In a self-propelled electronic device provided with a photographing unit that captures an image of the surroundings of the own device, a travel drive unit that travels and drives the own device, and a travel drive control unit that controls the travel operation of the travel drive unit,
It has an obstacle detection unit that determines the presence or absence of detection of approach to or contact with an obstacle,
When shooting with the shooting unit, when the obstacle detection unit determines that there is an approach to or contact with an obstacle,
The travel drive control unit controls the travel drive unit to move the device by a predetermined amount in a direction away from the obstacle,
A self-propelled electronic device characterized in that, after the movement, photographing is performed while rotating. Provided with a return detection unit that detects that the device is returning to the charger installation location,
2. The self-propelled electronic device according to claim 1, wherein the obstacle detection unit determines presence or absence of detection of approach or contact to the obstacle based on detection of return of the own device of the feedback detection unit. machine. A signal receiving unit for receiving a signal from the signal transmission device;
The self-propelled type according to claim 1 or 2, wherein the obstacle detection unit determines whether or not an approach to an obstacle or a contact is detected based on the intensity of a signal received by the signal reception unit. Electronics.   The self-propelled electronic device according to claim 3, wherein the traveling drive control unit determines the predetermined amount based on the intensity of the signal received by the signal receiving unit. It has a distance information acquisition unit that acquires information on the distance from its own device to the obstacle,
The obstacle detection unit determines whether or not an approach to an obstacle or a contact is detected based on information on a distance to the obstacle obtained by the distance information acquisition unit. 5. The self-propelled electronic device according to any one of 4 above.   The self-propelled electronic device according to claim 5, wherein the travel drive control unit determines the predetermined amount based on information on a distance to the obstacle obtained by the distance information acquisition unit.

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