JP2013246588A - Function execution device, spatial information utilization system, function execution method, control program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve user convenience by taking action against an object recognized in real space.SOLUTION: In a function execution device, while the function execution device is moving in real space by itself, an object which the function execution device reaches during the movement by itself is recognized with an object recognition unit 50, and with respect to the reached object or around the reached object, an action associated with the recognized object is executed with an action execution unit 51.

Description

  The present invention relates to a function execution device, a space information utilization system, a function execution method, a control program, and a recording medium for using a virtual space imitating a real space.

  Conventionally, a technique for generating a virtual space imitating a real space has been applied to various information processing apparatuses.

  For example, Patent Document 1 discloses a system for remotely controlling home appliances connected to a home network by displaying a GUI (for example, a virtual room) related to the home appliances on the screen of a portable user terminal. Yes. More specifically, the portable user terminal obtains detailed information of each home appliance from the home server, grasps items that can be controlled from the portable user terminal, and includes a control panel for controlling each home appliance. indicate.

  Patent Document 2 discloses a control system for controlling home devices in a real space by a personal computer. In this control system, a virtual room in which pictures or photographs of household devices that can be controlled by a personal computer are displayed on the display of the personal computer. When the home device displayed on the display is operated, the home device in the real space can be controlled from the personal computer.

  In Patent Document 3, when a mobile robot having temporary map information related to the arrangement of an object detects that there is an inaccurate part in the temporary map information, the object corresponding to the inaccurate part is measured. It is disclosed that the temporary map information is corrected based on the measurement result.

  In Patent Document 4, the name of a target object is acquired from the user through a dialogue with the user, and when it is determined that the object is new, the characteristics of the object are learned, and the learning result and the acquired result are acquired. A learning device that newly stores the object name in association with the object name is disclosed.

JP 2004-135051 A (published April 30, 2004) JP 2003-085356 (March 20, 2003) JP 2003-345438 A (released on December 5, 2003) JP 2007-021719 A (published on February 1, 2007)

  According to the techniques of Patent Documents 1 to 3, the user can intuitively grasp the controlled device that can be controlled from the communication terminal device (for example, a personal computer) at hand by using the operation tool realized in the virtual room. It is.

  However, in the techniques of Patent Documents 1 to 3, an object (an object existing in real space) on which an operation tool realized by this technique acts is an object (controlled device) that can communicate with a communication terminal device at hand. There is a problem that it is limited to. For example, some action cannot be performed on an object that cannot communicate with the communication terminal device.

  Also, it is impossible to control the physical environment of any object, not limited to equipment, using only a communication terminal device from a remote location.

  Patent Document 4 is an invention that learns the characteristics of a target object through dialogue with a user. Therefore, just learning an object does not mean that some action is performed on the object.

  This problem is not a problem that arises only when it is desired to remotely control a non-communication object. The above problem is similarly caused when it is desired to perform any action on any object recognized in real space.

  The present invention has been made in view of the above-described problems, and its purpose is to execute a function capable of improving user convenience by taking action on an object recognized in real space. An apparatus, a spatial information utilization system, a function execution method, a control program, and a recording medium are realized.

  In order to solve the above problems, the function execution device of the present invention is a function execution device that self-runs in real space and acts on the real space. An object recognizing unit that recognizes an object that has arrived while running, and an action executing unit that performs an action on the object that the function execution device has reached, wherein the object recognizing unit includes each object existing in the real space Referring to the spatial information storage unit that stores the object information indicating the characteristics of the object, the object information stored in the spatial information storage unit is similar to the feature of the object that the function execution device has reached during self-running The object is recognized by specifying object information to be performed, and the action executing means executes an action associated with the specified object information.

  According to the above configuration, when the function execution device reaches an object during self-running, the function execution device can execute an optimum action related to the object. That is, the function execution device can go to the object instead of the user and act on the object or the periphery of the object.

  As a result, regardless of whether or not the user is present in the real space, the user can take action on the object recognized in the real space, and the convenience of the user can be improved. Play.

  In the function execution device of the present invention, the function execution device further executes a basic function while running in real space, and the action execution means includes the object information specified by the object recognition means. The associated action may be executed on an object that is reached when the function execution device is running while executing the basic function.

  According to the above configuration, the function execution device first runs in the real space in order to execute the basic function. The function execution device self-propels and collides with an object, comes directly under the object, or comes directly above the object, and reaches any object installed in the real space during the self-run.

  The object recognizing means recognizes what the object is if the function execution device reaches an object in the real space during self-running. The object recognition means recognizes the actual object by specifying which of the objects registered in the spatial information storage unit is the actual object reached by the function execution device. More specifically, object information indicating the characteristics of the object is registered in the space information storage unit for each object installed in the real space. Spatial information corresponding to the real space is constituted by a set of object information of each object existing in the real space. The object recognition means specifies object information similar to the feature of the actual object that the function execution device has reached during self-running from the spatial information storage unit. That is, the object recognizing means recognizes that the object having the specified object information is the actual object that the function execution apparatus has reached while it is running.

  Subsequently, the action execution means executes an action on an actual object that the function execution device has reached while running. The action execution means executes the action in addition to executing the basic function while the function execution device is running. The action to be executed is predetermined for each object. Specifically, in the spatial information storage unit, an action is associated with each object information of each object. The action execution means is an object recognized by the object recognition means, that is, an actual object that the function execution device has reached for an action associated with object information identified as having similar characteristics to the actual object. Run against.

  As described above, the function execution device self-runs and executes the basic function, and when it reaches the object during the self-run, the function execution device executes the optimum action corresponding to the object on the object. Can do. That is, the function execution device goes to the object instead of the user and acts on the object.

  As described above, the function execution device according to the present invention recognizes an object that is accidentally stopped while executing a basic function (for example, cleaning), and recognizes the object. The appropriate action can be executed.

  As a result, regardless of whether or not the user is present in the real space, the user can take action on the object recognized in the real space, and the convenience of the user can be improved. Play.

  The function execution device of the present invention further includes an execution result registration unit that registers an action execution result indicating a result of execution of the action by the action execution unit in the spatial information storage unit in association with the specified object information. May be.

  According to the above configuration, the user can browse the object information and the action execution result of each object by accessing the spatial information storage unit using the function execution device or other communication terminal device.

  As a result of the action executed by the function execution apparatus, the user can easily confirm immediately or at any timing what has happened to the real space or each object existing in the real space. As a result, user convenience can be further improved.

  Each object information stored in the spatial information storage unit is further associated with an additional scenario that specifies an additional action and its execution condition.In the function execution device of the present invention, the action execution means includes: It is preferable to execute the additional action when the action execution result satisfies the execution condition.

  According to the above configuration, the action executing means first executes the first action corresponding to the actual object reached by the function execution device in the above-described procedure. Accordingly, the execution result registration means obtains the action execution result. Further, the action execution means refers to an additional scenario associated with the object (object information). If the obtained action execution result is applicable to the execution condition specified in the additional scenario, the action execution means executes the additional action specified in the additional scenario.

  In this way, not only can a predetermined action be executed on an object, but also the execution / non-execution of an additional action can be dynamically controlled according to the situation in the real space at that time. It becomes possible.

  In the additional scenario, a target object that is an execution target of the additional action is specified, and the function execution device of the present invention further specifies the target object when the action execution unit executes the additional action. It is preferable to include a travel control means for controlling the travel drive unit of the function execution device so as to reach.

  According to the above configuration, the traveling drive unit that has been driven for the purpose of executing the basic function is temporarily switched to be driven for the purpose of reaching the target object of the additional action. It becomes possible.

  The action execution means can execute the action by measuring a physical state of an object reached by the function execution device or a surrounding environment of the object via a sensor.

  This allows the function execution device to measure the physical state of the object. The user can obtain information on the measurement result and know the physical state of the object in the same way as in the real space without being in the real space.

  The action execution means can execute the action by remotely operating the object reached by the function execution device or acquiring the logical state of the object via the short-range wireless communication unit.

  As a result, the user can cause the function execution device to check the logical state of the object (the state on the software of the device), change the setting, or perform a remote operation. That is, even if the user is not in the real space, the user can operate an object (device or the like) in the real space in the same manner as when the user is in the real space. The function execution device of the present invention can also be applied to an object (device) that cannot be remotely controlled by a user from a communication terminal device via a communication network.

  The action execution means can execute the action by changing the physical quantity of the object reached by the function execution device or the surrounding environment of the object.

  As a result, the user can change the physical quantity of the real space to the function execution device so that the physical execution can be performed for each object in the real space and the real space, as in the real space without being in the real space. It is possible to influence.

  The function execution device of the present invention executes a new object newly existing in the real space when the object information is newly registered in the space information storage unit with respect to the new object. Action specifying means for associating the action to be performed with the object information of the new object, and for each object specifying information for specifying the identity of the object, an object specifying item that associates an action group that can be executed on the object is an object specifying item The action registering means is stored in the storage unit, and can select an action that can be executed on the new object from the object specifying item and associate the action with the object information of the new object.

  As a result, when a new object is installed in the real space and the object information is newly registered in the space information storage unit for the new object, the action is associated with the object so that an appropriate action is executed. It is possible to keep.

  The function execution device of the present invention described above, the spatial information storage unit that stores the object information of each object that is referred to by the function execution device and that exists in the real space where the function execution device self-runs, and the spatial information A spatial information utilization system constructed by a spatial information utilization apparatus that creates a virtual space corresponding to the real space using the object information stored in the storage unit also falls within the scope of the present invention.

  In the spatial information utilization system, the spatial information utilization device includes information acquisition means for acquiring object information of each object existing in the real space from the spatial information storage unit, and each of the information acquisition means acquired by the information acquisition means. It is preferable to include a virtual space creating unit that creates a virtual space corresponding to the real space based on the object information.

  According to the above configuration, the space information utilization device can use the virtual space created by the virtual space creation means as a user interface for performing an operation for causing the function execution device to execute an action. Using the virtual space displayed on the space information utilization device, the user can control the function execution device acting on the real space with an intuitive operation.

  In the spatial information utilization system, the virtual space creation means displays information representing at least one of an action and an action execution result associated with each object information in the spatial information storage unit together with a graphic of the object. It is preferable to arrange in the virtual space.

  According to the above configuration, not only the feature of the object but also the action associated with the object and the action execution result are displayed in the virtual space used as the user interface. Using the virtual space displayed on the space information utilization device, the user can control the function execution device acting on the real space with an intuitive operation, and easily view the execution result from the virtual space. It becomes possible to do.

  In order to solve the above problems, the function execution method of the present invention is a function execution method by a function execution device that self-runs in real space and acts on the real space. An object recognition step for recognizing an object that the function execution device has reached during self-running, and an action execution step for executing an action on the object that the function execution device has reached. With reference to a spatial information storage unit that stores object information indicating the characteristics of each object existing in space, the function execution device arrives during self-running from the object information stored in the spatial information storage unit The object is recognized by specifying object information similar to the feature of the object, and in the action execution step, an action associated with the specified object information is executed. It is characterized in.

  The function execution device may be realized by a computer. In this case, the function execution device control program for causing the function execution device to be realized by the computer by causing the computer to operate as each of the means, and A computer-readable recording medium on which it is recorded also falls within the scope of the present invention.

  In order to solve the above problems, the function execution device of the present invention is a function execution device that self-runs in real space and acts on the real space. An object recognizing unit that recognizes an object that has arrived while running, and an action executing unit that performs an action on the object that the function execution device has reached, wherein the object recognizing unit includes each object existing in the real space Referring to the spatial information storage unit that stores the object information indicating the characteristics of the object, the object information stored in the spatial information storage unit is similar to the feature of the object that the function execution device has reached during self-running The object is recognized by specifying object information to be performed, and the action executing means executes an action associated with the specified object information.

  In order to solve the above problems, the function execution method of the present invention is a function execution method by a function execution device that self-runs in real space and acts on the real space, and among the objects existing in the real space, An object recognition step for recognizing an object that the function execution device has reached during self-running, and an action execution step for executing an action on the object that the function execution device has reached. With reference to a spatial information storage unit that stores object information indicating the characteristics of each object existing in space, the function execution device arrives during self-running from the object information stored in the spatial information storage unit The object is recognized by specifying object information similar to the feature of the object, and in the action execution step, an action associated with the specified object information is executed. It is characterized in.

  As a result, the user's convenience can be improved by taking action on the object recognized in the real space.

It is a block diagram which shows the principal part structure of the self-propelled cleaner as a function execution apparatus in one Embodiment of this invention. It is a figure which shows the outline | summary of the virtual room utilization system of this invention. It is a perspective view of the self-propelled cleaner. It is a bottom view of the self-propelled cleaner. It is a block diagram which shows typically the hardware constitutions of the said self-propelled cleaner. It is a block diagram which shows the principal part structure of the communication terminal device as a spatial information utilization apparatus in one Embodiment of this invention. It is a figure which shows the data structure and specific example of the spatial information of real space RS memorize | stored in the spatial information storage part in the said virtual room utilization system. It is a figure which shows the coordinate system of real space RS defined by spatial information. It is a figure which shows the data structure and specific example of the object specific item memorize | stored in the object specific item memory | storage part in the said virtual room utilization system. It is a figure which shows the data structure of action management information memorize | stored in the action memory | storage part in the said virtual room utilization system, and a specific example. It is a figure which shows an example of the display form of virtual space VS which the virtual space creation part of the communication terminal device created. It is a figure which shows the other data structure and specific example of the spatial information of real space RS memorize | stored in the spatial information storage part in the said virtual room utilization system. It is a flowchart which shows the flow of the process which concerns on the action execution function of a self-propelled cleaner. It is a flowchart which shows the flow of the process which concerns on the additional action execution function of a self-propelled cleaner.

Embodiment 1
An embodiment of the present invention will be described below with reference to FIGS.

  In the embodiment described below, an example in which the function execution device of the present invention is mounted on a self-propelled device will be described as an example. Although a self-propelled apparatus is not limited to this, For example, it is a vacuum cleaner (henceforth, self-propelled cleaner). A virtual room utilization system will also be described. The function execution device of the present invention constructs the virtual room utilization system of the present invention in cooperation with other devices described later. According to the virtual room utilization system of the present invention, a virtual room (virtual room) is created using the spatial information generated by the self-propelled cleaner (function execution device), or the created virtual room is used by the user. It is possible to present it. Furthermore, according to the virtual room utilization system of the present invention, it is possible to cause the self-propelled cleaner 1 to execute an action on any object existing in the real space using the virtual room as an operation tool. .

  In the following drawings, the same or corresponding parts are denoted by the same reference numerals, and description thereof will not be repeated. In addition, dimensional relationships such as length, size, and width, and shapes in the drawings are appropriately changed for clarity and simplification of the drawings, and do not represent actual dimensions and shapes.

[Outline of virtual room usage system]
FIG. 2 is a diagram showing an outline of the virtual room utilization system 100 of the present invention.

  The virtual room utilization system 100 includes at least a function execution device, a spatial information utilization device, a spatial information storage unit, an object specific item storage unit, and an action storage unit.

  The function execution device is a device that executes an action on every object existing in the real space RS while executing a basic function in the real space RS. The basic function refers to the original main function of the function execution device when the function for executing the action is a sub function. As shown in FIG. 2, in the present embodiment, the function execution device of the present invention is realized as a self-propelled cleaner (self-propelled device) 1. That is, here, the basic functions of the self-propelled cleaner 1 are a cleaning function and a self-propelled function. However, the function execution device is not limited to a self-propelled cleaner, and can be realized by any device as long as it has a basic function and a function for executing an action different from the basic function. Good.

  In addition, although the function execution apparatus is not essential, it is preferable to have the structure which self-runs. This is because, regardless of where the object is placed in the real space RS, it is possible to execute an action at a close distance to any object.

  The function execution device may further include a function of collecting information on the real space RS and generating spatial information about the real space RS.

  The data structure of the spatial information will be described later.

  The spatial information storage unit 2 is for accumulating the spatial information generated by the self-propelled cleaner 1.

  The object specifying item storage unit 6 stores an object specifying item having information on all objects assumed to exist in the real space RS.

  An action storage unit 7 (described in FIG. 1) not shown in FIG. 2 stores action management information that specifically defines several types of actions that the self-propelled cleaner 1 executes.

  The spatial information utilization device is a device that performs information processing using the spatial information stored in the spatial information storage unit 2. As shown in FIG. 2, in this embodiment, the spatial information utilization apparatus of this invention is implement | achieved as the communication terminal device 3 which the user U has, for example. More specifically, the communication terminal device 3 is, for example, a tablet terminal, a smartphone, a mobile phone, a PDA (Personal Digital Assistant), a notebook computer, a portable game machine, an electronic notebook, an electronic book reader, a digital camera, or the like. . However, the communication terminal device 3 is not limited to the above, and may be realized by any device as long as it has a function of connecting to the spatial information storage unit 2 and acquiring information. Further, the spatial information utilization device does not have to be a portable electronic device, and may be realized by a desktop personal computer.

  In the present embodiment, the communication terminal device 3 as the spatial information utilization device processes the spatial information about the real space RS accumulated in the spatial information storage unit 2 to create a virtual space VS, and The display unit has a function of displaying the virtual space VS and presenting it to the user U. FIG. 6 shows a functional block diagram showing the main configuration of the communication terminal apparatus 3. As shown in FIG. The functional configuration of the communication terminal device 3 will be described in detail later. The real space RS is, for example, the home or room of the user U, and the virtual space VS is a virtual room imitating the user's home or room.

  When the virtual room utilization system 100 is constructed only for the user U, the self-propelled cleaner 1, the spatial information stored in the spatial information storage unit 2, and the communication terminal device 3 (user U) Are in a one-to-one relationship with each other. Accordingly, since it is not necessary to associate and manage the correspondence between the spatial information and the communication terminal device 3 (user), the spatial information storage unit 2 may be built in the communication terminal device 3.

  In this case, the self-propelled cleaner 1 and the communication terminal device 3 are connected via the communication network 5 so that bidirectional communication is possible. The spatial information generated based on the information collected by the self-propelled cleaner 1 is transmitted directly to the communication terminal device 3 via the communication network 5. It is also assumed that the user U stays in the real space RS and is near the self-propelled cleaner 1. Therefore, the self-propelled cleaner 1 and the communication terminal device 3 may be connected by a wireless radio wave system such as WiFi (registered trademark), Bluetooth (registered trademark), or ZigBee (registered trademark).

  Or it is assumed that the user U carries out the communication terminal device 3 and goes out. Therefore, the self-propelled cleaner 1 and the communication terminal device 3 can communicate with each other via the Internet, a mobile phone network, or the like.

  When the virtual room usage system 100 is constructed for a large number of users, the spatial information must be stored for each user in the spatial information storage unit 2. Each user provides the self-propelled cleaner 1 owned by each user in the respective real space RS (home). And each self-propelled cleaner 1 will generate space information in real space RS of each user.

  In this case, the virtual room utilization system 100 is preferably provided with an information management server 4 for managing the spatial information stored in the spatial information storage unit 2. The information management server 4 may include the spatial information storage unit 2.

  The information management server 4 associates the spatial information transmitted from the self-propelled cleaner 1 with the corresponding user and accumulates it in the spatial information storage unit 2 according to which user's self-propelled cleaner 1. In addition, the information management server 4 receives a request from the communication terminal device 3 and returns the spatial information or the result of processing the spatial information to the communication terminal device 3. The information management server 4 supplies spatial information associated with the user to the communication terminal device 3 depending on which user the communication terminal device 3 is.

  As described above, according to the virtual room utilization system 100, the user U can obtain the spatial information of the real space RS using the self-propelled cleaner 1, and the real space RS is obtained using the obtained spatial information. The corresponding virtual space VS can be displayed on the communication terminal device 3. Furthermore, the communication terminal device 3 can provide the user U with the virtual space VS as an operation tool. By operating the virtual space VS on the communication terminal device 3, the user U can cause the self-propelled cleaner 1 to perform an action on any object installed in the real space RS.

  The self-propelled cleaner 1 may be operable from a communication terminal device 3 connected via a communication network 5 in addition to an operation panel 12 described later provided in the self-propelled device.

  Below, how self-propelled cleaner 1 of the present invention performs an action on an object in real space RS using spatial information while executing a basic function (cleaning function). This will be described in more detail.

[Hardware configuration of self-propelled vacuum cleaner-cleaning function]
The hardware configuration of the self-propelled cleaner 1 will be described with reference to FIGS. FIG. 3 is a perspective view of the self-propelled cleaner 1. FIG. 4 is a bottom view of the self-propelled cleaner 1. FIG. 5 is a block diagram schematically showing a hardware configuration of the self-propelled cleaner 1.

  First, the hardware configuration for realizing the basic functions of the self-propelled cleaner 1 as a cleaner will be described. However, the following description is not intended to limit the configuration of the function execution device of the present invention.

  As shown in FIG. 3, the self-propelled cleaner 1 includes a self-propelled cleaner 1 main body having an outer frame formed of a main body housing 102 having a circular shape in plan view, and a battery as shown in FIGS. 4 and 5. 20 is a device that has a drive wheel 16 that is driven using an electric power supply source 20 and collects (cleans) dust while traveling on its own.

  As shown in FIG. 3, on the upper surface of the main body housing 102, an operation panel 12 for inputting instructions to the self-propelled cleaner 1, an LED (Light Emitting Diode) lamp 18, a photographing unit 32, a collector A lid portion 103 that opens and closes when the dust portion 130 is taken in and out is provided. In the present embodiment, the main body housing 102 has a shape in which the upper surface and the bottom surface are circular, but is not limited to this shape.

  In this embodiment, the LED lamp 18 is provided around the upper surface of the main body housing 102, and the color and lighting pattern to be changed change according to the state of the self-propelled cleaner 1, as will be described later. It is like that. A lamp other than the LED may be provided. Further, the LED lamp may be provided in the vicinity of the exhaust port 107 provided on the upper surface of the main body.

  The operation panel 12 includes an operation switch (input unit) that receives input of various instructions, data such as characters and numbers, and a display (display unit) that displays various information presented to the user. Is provided. The operation panel 12 may be provided as a touch panel. Further, the operation panel 12 may be provided with a display LED.

  The operation panel 12 includes, for example, a button for instructing start and stop of cleaning, a timer set button for making an operation reservation for the self-propelled cleaner 1, a time display area for displaying the current time and reservation time, and a dust collection container (not shown). It is equipped with a garbage disposal lamp to let you know when it is full. The operation panel 12 may further include an area for displaying a battery mark indicating the amount of charge of the battery 20, an area for displaying image data captured by the imaging unit 32, an area for displaying a message for the user, and the like. . These are merely examples, and the operation panel 12 may include an input unit and a display unit that realize functions other than these.

  The imaging unit 32 captures a moving image and a still image, and includes an optical lens, a color filter, a CCD (Charge Coupled Device) that is a light receiving element, a CMOS (Complementary Metal-Oxide-Semiconductor), or the like.

  As shown in FIG. 4, a pair of drive wheels 16 that protrude from the bottom surface and rotate about a horizontal rotation shaft 16 a are disposed on the bottom surface of the main body housing 102. When both wheels of the drive wheel 16 rotate in the same direction, the self-propelled cleaner 1 moves forward and backward. When both wheels rotate in opposite directions, the self-propelled cleaner 1 can turn around the center of the main body housing 102 and change its direction. Accordingly, the self-propelled cleaner 1 can be self-propelled over the entire desired cleaning area and can be self-propelled while avoiding obstacles.

  When the driving wheel 16 is driven by the battery 20, the self-propelled cleaner 1 is self-propelled.

  A suction port 106 is provided in front of the bottom surface of the main body housing 102. The suction port 106 is formed so as to face the floor surface by an open surface of a recess provided in the bottom surface of the main body housing 102. A rotating brush 23 that rotates on a horizontal rotating shaft is disposed in the recess, and a side brush 25 that rotates on a vertical rotating shaft is disposed on both sides of the recess.

  Further, a roller-shaped front wheel 127 is provided on the bottom surface of the main body housing 102 in front of the suction port 106. A rear wheel 126 made up of a free wheel is provided at the rear end (rear end) of the bottom surface of the main body housing 102. In the self-propelled cleaner 1, the weight is distributed in the front-rear direction with respect to the driving wheel 16 disposed at the center of the main body housing 102, and the front wheel 127 is separated from the floor surface so that the rotating brush 23, the driving wheel 16 and the rear wheel 126 are separated. Is grounded on the floor and cleaned. For this reason, dust in front of the course can be guided to the suction port 106 without being blocked by the front wheel 127. The front wheel 127 is in contact with a step appearing on the course so that the self-propelled cleaner 1 can easily get over the step.

  Moreover, as shown in FIG. 3, the bumper 105 is provided around the main body housing | casing 102, 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 105 has come into contact with an obstacle during traveling, the self-propelled cleaner 1 can change the traveling direction and continue traveling. In the present embodiment, when it is detected that the bumper 105 is in contact with an obstacle, the self-propelled cleaner 1 recognizes the identity of the obstacle (object) and executes it on the object. The specific action to be taken can be performed.

  A charging terminal 21 that charges the battery 20 is exposed at the rear end of the peripheral surface of the main body housing 102. The self-propelled cleaner 1 returns to the place where the charging stand is installed after cleaning or when the charge amount falls below a predetermined value. Then, the battery 20 is charged by bringing the charging terminal 21 into contact with the power supply terminal provided on the charging stand.

  The battery 20 is a power supply source for the entire self-propelled cleaner 1. The battery 20 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.

  Although not shown, a control board is arranged in the main body housing 102. The control board is provided with a later-described control unit 10 that controls each part of the self-propelled cleaner 1, a later-described storage unit 13 that stores various data, and the like. In addition, a detachable battery 20 is disposed in the main body housing 102. The battery 20 is charged from a charging stand via a charging terminal 21 and supplies power to each part such as the control board, the drive wheel 16, the rotating brush 23, and the side brush 25.

  In the self-propelled cleaner 1 having the above configuration, when a cleaning operation is instructed, electric power from the battery 20 is supplied, and an electric blower (not shown), an ion generator 27 (described later), a drive wheel 16, a rotating brush 23, and a side are supplied. The brush 25 is driven. As a result, the self-propelled cleaner 1 self-propels in a predetermined cleaning area so that the rotating brush 23, the driving wheel 16 and the rear wheel 126 are in contact with the floor surface, and includes dust on the floor surface from the suction port 106. Air can be sucked in for cleaning.

  The airflow sucked from the suction port 106 and passed through the electric blower is exhausted upward and rearward from an exhaust port 107 provided on the upper surface of the main body housing 102. In addition, the ion generator 27 is provided in the vicinity of the electric blower, and an airflow containing ions may be exhausted from the exhaust port 107.

  As described above, the room is cleaned, and ions contained in the exhaust of the self-propelled self-propelled cleaner 1 are spread throughout the room to be sterilized and deodorized in the room.

  Furthermore, the self-propelled cleaner 1 is provided with a sensor unit 30 that perceives the state of the surrounding environment (that is, the real space RS) and collects information about the real space RS. The sensor unit 30 includes one or more sensors. The sensor unit 30 will be described in detail later with reference to FIG.

[Hardware configuration of self-propelled vacuum cleaner]
Next, an example of a hardware configuration for the self-propelled cleaner 1 to realize the basic function and the function as the function execution device of the present invention will be described with reference to FIG. However, the block diagram shown in FIG. 5 shows only one embodiment of the hardware configuration as the function execution device, and the configuration of the function execution device of the present invention is not limited to this.

  As shown in FIG. 5, the self-propelled cleaner 1 includes at least a control unit 10, a communication unit 11, a storage unit 13, a travel drive unit 15, a drive wheel 16, and a sensor unit 30 as the function execution device of the present invention. It is the composition which is. The self-propelled cleaner 1 preferably further includes an operation panel 12 and an audio output unit 14. Note that the self-propelled cleaner 1 has, for example, an LED lamp lighting unit 17, an LED lamp 18, a voltage detection unit 19, a battery 20, a charging terminal 21, a rotation, in order to realize the basic functions inherent to the vacuum cleaner. You may provide various parts with which the cleaner is equipped normally, such as the brush drive part 22, the rotation brush 23, the side brush drive part 24, the side brush 25, the air blower 26, and the ion generator 27. Description of the previously described members is omitted.

  Based on the program and data stored in the storage unit 13, the data input from the previous operation panel 12, the program and data received from the external device, the control unit 10 This block controls and controls the block.

  The communication unit 11 is a block that transmits / receives data to / from the communication terminal device 3, the spatial information storage unit 2, or other external devices via the communication network 5. The communication unit 11 acquires, from the spatial information storage unit 2, spatial information that is referred to when the self-propelled cleaner 1 recognizes an object. Conversely, the communication unit 11 may transmit the spatial information generated by the self-propelled cleaner 1 to the spatial information storage unit 2. Further, a control signal for controlling the self-propelled cleaner 1 may be received from the communication terminal device 3. The communication unit 11 may directly transmit data stored in the self-propelled cleaner 1 or data measurable by the self-propelled cleaner 1 to the communication terminal device 3. The communication unit 11 may also receive a feedback signal from the charging stand. The self-propelled cleaner 1 that has received the feedback signal returns to the place where the charging stand is installed in the real space RS and docks with the charging stand. Thereby, the battery 20 is charged.

  In the present embodiment, the communication unit 11 further includes a short-range wireless communication unit. In this case, the communication unit 11 as a short-range wireless communication unit performs short-range wireless communication with an object (device) installed in the real space RS wirelessly. The communication unit 11 is not particularly limited, and realizes a short-range wireless communication technology of any one of infrared communication such as IrDA, IrSS, Bluetooth (registered trademark) communication, ZigBee (registered trademark) communication, and a non-contact type IC card. Or a plurality of these techniques may be realized.

  The storage unit 13 includes (1) a control program executed by the control unit 10 of the self-propelled cleaner 1, (2) an OS program executed by the control unit 10, and (3) the control unit 10 includes the self-propelled cleaner 1. And (4) various data to be read when the application program is executed. Alternatively, (5) the control unit 10 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). Which storage device is used to store which data is realized by which storage device may be appropriately determined based on the purpose of use, convenience, cost, physical restrictions, etc. of the self-propelled cleaner 1. .

  In the present embodiment, the storage unit 13 stores sensing information related to the surrounding environment in the real space RS acquired by various sensors of the sensor unit 30. Further, the storage unit 13 may store various information received from the communication terminal device 3 via the operation panel 12 or the communication unit 11. For example, as various information, information related to the identity of the object newly detected by the self-propelled cleaner 1 in the real space RS or various condition settings related to the operation of the self-propelled cleaner 1 is stored. The storage unit 13 may store a travel map around the installation location of the self-propelled cleaner 1. The travel map is information related to travel such as the travel route and travel speed of the self-propelled cleaner 1 or information related to the area to be cleaned. The travel map may be set in advance by the user and stored in the storage unit 13, or the self-propelled cleaner 1 itself may be automatically recorded.

  The audio output unit 14 is an audio output device such as a speaker, and outputs audio to the outside in accordance with audio data stored in the storage unit 13 or audio data acquired from the outside. For example, when the self-propelled cleaner 1 detects a new object in the real space RS, the voice output unit 14 outputs a voice that alerts the user U.

  The traveling drive unit 15 includes a motor driver, a drive wheel motor, and the like, and is a block that drives the drive wheels 16 by determining a rotation direction, a rotation angle, and the like based on a control signal from the control unit 10.

  The sensor unit 30 perceives various states of the surrounding environment of the real space RS and states of various objects existing in the real space RS.

  Although self-propelled cleaner 1 is not limited to this as a component which functions as sensor part 30, voice input part 31, photographing part 32, ranging part 33, level difference detection part 34, odor measurement part 35, temperature A measurement unit 36 and a collision detection unit 37 are provided. These are merely examples, and the self-propelled cleaner 1 need not include all of them. In the present embodiment, the sensor unit 30 may further include a humidity measurement unit (sensor) (not shown).

  The voice input unit 31 is a voice input device such as a microphone, and inputs voice to the self-propelled cleaner 1 from the outside. For example, the voice input unit 31 can collect sound emitted from an object installed in the real space RS.

  The distance measuring unit 33 is a sensor that measures the distance between the detected object and the self-propelled cleaner 1. As an example, the distance measuring unit 33 may be realized by an infrared emitting diode as a light emitting element and a position detecting element (PSD) as a light receiving element. The light emitted from the light emitting element of the distance measuring unit 33 is reflected when it hits the object to be measured, and is received by the light receiving element of the distance measuring unit 33. As a result, the distance measuring unit 33 can evaluate and calculate the reflected light, convert it to a distance, and output it.

  The level difference detection unit 34 is a sensor that detects a level difference on the traveling surface of the self-propelled cleaner 1, and is realized by, for example, a photoelectric sensor or a displacement sensor.

  The odor measuring unit 35 measures the odor around the self-propelled cleaner 1 and quantifies the intensity of the odor. For example, it is realized by an odor sensor, a gas sensor, or the like.

  The temperature measurement unit 36 is a temperature sensor that measures the temperature around the self-propelled cleaner 1, and is realized by, for example, a thermistor.

  The collision detection unit 37 is a contact sensor that detects that the bumper 105 has collided with an object such as an obstacle.

  As described above, the sensor unit 30 is used by the function execution device (self-propelled cleaner 1) of the present invention to detect the state of the real space RS and collect information. The information collected in this way is particularly useful for the self-propelled cleaner 1 to identify what the object is set at the currently reached position. However, the present invention is not limited to this, and the sensor unit 30 is configured to be able to self-propelled without falling from a step or stairs by avoiding an obstacle when the self-propelled cleaner 1 performs cleaning. May be.

  The LED lamp lighting unit 17 is a block that supplies driving current to the LED lamp 18 and controls lighting of the LED lamp 18. The LED lamp lighting unit 17 changes the lighting color and lighting pattern in accordance with the state of the self-propelled cleaner 1. For example, the color and lighting pattern change depending on the cleaning mode in which cleaning is being performed, the charging mode in which charging is being performed, the ion generation mode in which ions are generated without cleaning, and the emergency mode in which an emergency has occurred You may let them.

  The voltage detector 19 is a block that detects the voltage of the battery 20, and obtains the charge amount of the battery 20 from the detected voltage. A charging terminal 21 is electrically connected to the battery 20.

  The rotating brush drive unit 22 includes a motor driver, a rotating brush motor, and the like, and is a block that determines the number of rotations based on a control signal from the control unit 10 and drives the rotating brush 23.

  The side brush drive unit 24 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 10 and drives the side brush 25.

  The blower device 26 is a device that includes the above-described electric blower and the like, and performs intake and exhaust from the inside of the main body housing 102.

  The ion generator 27 is an apparatus that generates ions when driven under the control of the control unit 10. In the present embodiment, the ion generator 27 is a plasma cluster ion (registered trademark) generator. Therefore, the ion generator 27 is provided with a plasma cluster ion generation element, and the plasma cluster ion generation element includes a positive ion generation unit that generates positive ions and a negative ion generation unit that generates negative ions. Yes. Such an ion generating element is disclosed in detail in Japanese Patent Application Laid-Open No. 2002-58731 filed earlier by the present applicant.

  Ions generated from the ion generator 27 are discharged to the outside of the main body housing 102 by the blower 26. Note that the control of the control unit 10 allows the self-propelled cleaner 1 to execute the cleaning operation and the ion generation operation at the same time, and can also execute the cleaning operation and the ion generation operation independently. It is.

[Functional configuration of self-propelled vacuum cleaner]
Next, the functional configuration for realizing the function of the self-propelled cleaner 1 as the function execution device of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a main configuration of a self-propelled cleaner 1 as a function execution device according to an embodiment of the present invention.

  The control unit 10 that performs overall control of each unit included in the self-propelled cleaner 1 includes at least an object recognition unit 50 and an action execution unit 51 as functional blocks. Furthermore, although it is not essential, the control unit 10 preferably includes a travel control unit 45, an execution result registration unit 52, and an action registration unit 53 as functional blocks. In addition, the control part 10 is provided with the basic function execution part (not shown) which controls each part for implement | achieving the basic function (cleaning function) shown in FIG.

  Each functional block of the control unit 10 described above is stored in a storage device (storage unit 13) in which a central processing unit (CPU) is realized by a read only memory (ROM), a non-volatile random access memory (NVRAM), or the like. The program can be realized by reading the program into a RAM (random access memory) and executing the program.

  The object recognition unit 50 of the control unit 10 recognizes an object perceived by the sensor unit 30 or the communication unit 11. The self-propelled cleaner 1 stops near any object installed in the real space RS while self-propelled in any place of the real space RS in order to perform a basic function (here, a cleaning function). . The sensor unit 30 or the communication unit 11 can perceive the presence of the object when the self-propelled cleaner 1 stops near the object. In the following description, the self-propelled cleaner 1 that stops near the object is referred to as “the self-propelled cleaner 1 reaches the object”. Here, the distance between the self-propelled cleaner 1 and the object when the self-propelled cleaner 1 “arrives” at the object is not specifically limited. When the self-propelled cleaner 1 approaches the object up to a distance where the sensor unit 30 can perceive the object, the self-propelled cleaner 1 approaches the object up to a distance where the communication unit 11 can perform short-range wireless communication with the object. When the self-propelled cleaner 1 approaches the object to the distance that the action executed by the action execution unit 51 of the self-propelled cleaner 1 acts on the object, the fact that the self-propelled cleaner 1 has reached the object. it can.

  Based on the information acquired by the sensor unit 30 or the communication unit 11, the object recognition unit 50 identifies which of the objects installed in the real space RS is the place where the own device has reached. To do. Specifically, the object recognition unit 50 identifies an object perceived by the sensor unit 30 or the communication unit 11 from the objects registered in the spatial information storage unit 2.

  Specifically, the communication unit 11 as a short-range wireless communication unit detects an object by communicating with an object that also has a short-range wireless communication function. The object recognizing unit 50 is self-propelled at any object among the objects registered in the spatial information of the spatial information storage unit 2 based on the object information (IP address or the like) detected by the communication unit 11. It recognizes whether the vacuum cleaner 1 has reached.

  Alternatively, the object recognition unit 50 processes the sensing information acquired by the sensor unit 30 to analyze the characteristics of the object, and recognizes which of the registered objects the sensed object is.

  Specifically, when the collision detection unit 37 detects a collision, the imaging unit 32 captures the collision direction. The object recognizing unit 50 analyzes the captured image obtained by capturing the object and is compared with the object image of the object registered in the spatial information storage unit 2 to obtain the self-propelled cleaner 1. Can be recognized.

  The action execution unit 51 executes an action on the object recognized by the object recognition unit 50. The spatial information stored in the spatial information storage unit 2 includes information on each object installed in the real space RS, that is, a plurality of object records. The object record may store all information related to the object in association with the object specifying information such as the object name and the IP address. In the present embodiment, each object is associated with an action to be executed by the self-propelled cleaner 1 that acts on the object. The action execution unit 51 executes an action associated with the object recognized by the object recognition unit 50 on the object. A specific example of the action will be described later.

  According to the above configuration, when the self-propelled cleaner 1 reaches the object, the sensor unit 30 or the communication unit 11 perceives the presence of the object. The object recognition unit 50 recognizes which of the perceived objects is an object (known object) registered in the spatial information. The action execution unit 51 reads the action associated with the recognized object with reference to the spatial information, and executes the action on the perceived object.

  As a result, the self-propelled cleaner 1 executes a cleaning function while self-propelled, and when it reaches a specific known object, executes an action associated with the object on the object. be able to.

  If the spatial information for creating the virtual space is used in this way, the self-propelled cleaner 1 performs the basic function and is unique to each object recognized in the real space RS. Can perform actions. The user only uses the self-propelled cleaner 1 as usual so as to execute the basic function, and a separate operation for causing an action is not required. As a result, a function execution device (self-propelled cleaner 1) that can improve the convenience of the user by using the virtual space as an operation tool and taking action on an object recognized in the real space. Can be realized. Further, even if the user is not present in the real space RS, the user can take an action on the object installed in the real space RS using the self-propelled cleaner 1 operating in the real space RS. It becomes.

  Furthermore, the control unit 10 preferably includes an execution result registration unit 52.

  The execution result registration unit 52 registers the execution result of the action executed by the action execution unit 51 in the spatial information of the spatial information storage unit 2. When the action execution unit 51 executes an action on the perceived object (the object reached by the self-propelled cleaner 1), the object causes some reaction or some information is provided from the object. The execution result registration unit 52 registers the information obtained from the object after the action is executed by the action execution unit 51 in the spatial information as the execution result. The execution result registration unit 52 stores the execution result in the object record corresponding to the reached object.

  Thereby, it is possible for all devices that refer to the spatial information to understand what action is performed on which object installed in the real space RS and what execution result is obtained.

  Further, when the action execution unit 51 periodically executes the same action on the same object at different dates and times, the execution result registration unit 52 accumulates the execution results in time series, and statistically processes them. (Table, graph, average value, maximum value, minimum value, etc.) may be registered in the spatial information storage unit 2 as an action execution result.

  The control unit 10 may further include an action registration unit 53.

  The action registration unit 53 registers the newly registered object when an unregistered object is registered in the space information of the real space RS, that is, when a new object record is created. , To select and associate actions. The action registration unit 53 refers to the object specifying item stored in the object specifying item storage unit 6 and selects an action that matches the identity of the newly registered object. Then, the selected action is associated with the object information of the new object. Specifically, the action registration unit 53 stores the action ID of the selected action in the object record of the new object.

  Accordingly, even when an object in the real space RS is newly registered in the space information, it is possible to manage the object in association with an appropriate action without forcing the user to perform complicated operations.

  In addition, although registration of a new object record may be performed by a user operating the communication terminal device 3, the self-propelled cleaner 1 detects an unknown object and newly registers this in the spatial information. It is preferable to do. The self-propelled cleaner 1 analyzes the characteristics of the object based on the sensing information acquired from the sensor unit 30, and refers to the object specifying item including known information of various objects based on the characteristics, Identify the identity of. Finally, the self-propelled cleaner 1 can newly register an object record by associating the object specifying information of the object whose identity has been specified with various other information obtained regarding the object.

  The traveling control unit 45 controls the traveling drive unit 15 of the self-propelled cleaner 1 to cause the self-propelled cleaner 1 to self-propell. The travel control unit 45 generates travel information related to the self-propelled cleaner 1. The travel information may be information indicating how much distance the self-propelled cleaner 1 has moved in which direction from the charging stand, or when there is a predetermined travel route, It may be information indicating which part of the travel route the self-propelled cleaner 1 is traveling in which direction.

  Further, the traveling control unit 45 dynamically changes the destination of the self-propelled cleaner 1 triggered by the action executing unit 51 executing (doing) the action or obtaining the execution result of the action. May be. That is, the travel control unit 45 can control the travel route of the self-propelled cleaner 1 according to the action executed by the action execution unit 51.

  As described above, the self-propelled cleaner 1 performs an action using the spatial information. Furthermore, the self-propelled cleaner 1 can also feed back the execution result of the action to the spatial information. The user can take a desired action on a desired object by using the self-propelled cleaner 1 and the spatial information, and can easily obtain an execution result of the action. What makes these possible is the communication terminal device 3 as a spatial information utilization device possessed by the user. The communication terminal device 3 realizes the above by communicating with the self-propelled cleaner 1 and the spatial information storage unit 2.

[Functional configuration of communication terminal device]
Next, a configuration for realizing the function of the communication terminal device 3 as the spatial information utilization device of the present invention will be described with reference to FIG. FIG. 6 is a block diagram showing a main configuration of the communication terminal device 3 as a spatial information utilization device in an embodiment of the present invention.

  As illustrated in FIG. 6, the communication terminal device 3 includes a control unit 310, a communication unit 311, an operation panel 312, and a storage unit 313. These units perform the same functions as the control unit 10, the communication unit 11, the operation panel 12, and the storage unit 13 in the self-propelled cleaner 1 in the communication terminal device 3. In the communication terminal device 3, the operation panel 12 is provided as a touch panel. The operation panel 12 includes an input unit 120 that receives user operations and a display unit 121 that displays various types of information processed by the communication terminal device 3. It is comprised by.

  The control unit 310 includes an action acquisition unit 75, a GUI screen creation unit 71, an action setting unit 76, a space information acquisition unit 73, and a virtual space creation unit 74 as functional blocks.

  The action acquisition unit 75 acquires a list of all actions associated with a newly registered object.

  The GUI screen creation unit 71 creates a GUI screen for allowing the user to select a necessary action from the action list. Further, the GUI screen creation unit 71 may create a GUI screen for allowing the user to set options when the options can be set for the selected action.

  The action setting unit 76 reflects the setting content of the user in the spatial information storage unit 2 based on the content input from the input unit 120 on the GUI screen.

  The spatial information acquisition unit 73 acquires the spatial information recorded in the spatial information storage unit 2.

  The virtual space creation unit 74 creates a virtual space VS based on the space information acquired by the space information acquisition unit 73.

  According to the said structure, the user can select the action which self-propelled cleaner 1 wants to perform with respect to each object which exists in real space RS by operating the communication terminal device 3. FIG.

  Further, according to the above configuration, the virtual space creation unit 74 can create a virtual space VS by adding an action associated with each object (its object information) or an execution result of the action. Therefore, the user can check the display unit 121 on which the virtual space VS is displayed, and can easily obtain the action set for each object and the execution result thereof.

  Below, the function implement | achieved by the self-propelled cleaner 1 and the communication terminal device 3 which construct | assemble the virtual room utilization system 100 is demonstrated in detail, referring a specific example.

[1-Associating an action with a newly registered object]
FIG. 7 is a diagram illustrating a data structure and a specific example of the spatial information of the real space RS stored in the spatial information storage unit 2. FIG. 8 is a diagram showing a coordinate system of the real space RS defined by the spatial information. In FIG. 7, the spatial information is shown in a table format data structure as an example, and the data structure of the spatial information is not intended to be limited to the table format. Hereinafter, the same applies to other figures for explaining the data structure.

  The spatial information shown in FIG. 7 is spatial information corresponding to the real space RS shown in FIGS. 2 and 8 and includes information on each object existing in the real space RS. The spatial information is used to be recognized for recognizing an object reached by the self-propelled cleaner 1 or to be used for creating the virtual space VS by the communication terminal device 3.

  Spatial information is composed of a plurality of object records storing information of each object. Although not shown, in the present embodiment, the spatial information includes information defining a coordinate system corresponding to the real space RS. In the example illustrated in FIG. 8, a three-dimensional coordinate system is defined in which the lower left innermost part of the cuboid of the real space RS is the origin ((X, Y, Z) = (0, 0, 0)). For example, the size of the real space RS is defined as, for example, width (X axis) 1000 × depth (Y axis) 500 × height (Z axis) 600. The size numbers need not be actual sizes. Therefore, no unit is shown in the numbers.

  In the present embodiment, the spatial information is broadly divided into information related to the object itself, such as the characteristics of the object, and information related to the action performed by the self-propelled cleaner 1 for the object. The former is called object information, and the latter is called action information.

  First, as a specific example of the object information, as illustrated in FIG. 7, the spatial information includes an object ID, object specifying information, position coordinates, size information, orientation information, and an object image column. As a specific example of the action information, the spatial information includes an action and an action execution result column.

  The data structure of the spatial information described above is an example, and the present invention is not limited to this. However, the spatial information has at least a column of the position coordinates of the object in order to plot the object arranged in the real space RS at a corresponding position in the coordinate system defined above. The spatial information includes at least a column of object specifying information for storing a name for specifying the identity of the object. In the example shown in FIG. 7, the spatial information includes the position coordinates of each object in the position coordinate column in association with the object ID and object identification information columns.

  Further, the spatial information preferably has a column of size information for storing size information of each object.

  Furthermore, it is preferable that the spatial information has a column of orientation information for storing the orientation information of each object.

  Furthermore, the spatial information preferably includes an object image column for storing an image of each object (or an image storage destination address). The object image may be a 2D image that represents the object in a plane, a 2D image that represents the object in a three-dimensional manner, or a 3D image in which the object can be displayed in three dimensions. May be. The object image can be retrieved and acquired from the outside by the self-propelled cleaner 1, the communication terminal device 3, or the information management server 4 via the communication network 5, for example. Alternatively, it is conceivable that the object recognition unit 50 cuts out an object by image processing from the captured image acquired by the imaging unit 32 to obtain an image of the object. Alternatively, in the object specifying item storage unit 6, a fixed image may be stored in advance in association with each name (object category, object name, or object model).

  In this way, when a new object is installed in the real space RS, an object record for the object is created and registered in the spatial information shown in FIG. In the present embodiment, first, for a new object, object information, that is, “object ID”, “object identification information”, “position coordinates”, “size information”, “direction information”, and “object image”. And stored in a newly created object record. The method for storing object information in the object record is not particularly limited. For example, based on sensing information sensed by various sensors of the sensor unit 30 of the self-propelled cleaner 1, the self-propelled cleaner 1 may generate and register various object information included in the object record. . Alternatively, the user may manually input various object information into the object record.

  Further, the spatial information in the spatial information storage unit 2 of the present invention has action information, that is, an “action” column and an “action execution result” column.

  In the “action” column, information on actions to be executed by the self-propelled cleaner 1 for the object is stored. In the example shown in FIG. 7, an action ID for specifying an action is stored. The action registration unit 53 of the self-propelled cleaner 1 selects an action to be associated with the newly registered object, and stores the action ID of the action in the “action” column in the object record of the object. Thereby, when the arrived object is recognized, the action execution unit 51 can specify an action to be executed on the object based on the action ID stored in the object record of the recognized object. it can.

  More specifically, the action registration unit 53 can associate an action with a new object by the following method.

  FIG. 9 is a diagram illustrating a data structure and a specific example of the object specifying item stored in the object specifying item storage unit 6.

  The object specifying item has at least one column for storing object specifying information for specifying the object, and this object specifying information is used as a name representing the identity of the object. In the example shown in FIG. 9, the object specifying item has, for example, three columns for each classification scale in order to divide the scale for classifying the object into three stages of a large classification, a medium classification, and a small classification.

  In the “object category” column corresponding to the large classification, a name for roughly classifying the object is stored. For example, televisions, air conditioners, refrigerators, air purifiers, electric fans, and the like arranged in the real space RS are collectively classified as “home appliances”.

  In the “object name” column corresponding to the middle classification, names for classifying the objects are stored. In this embodiment, this column stores general names of all objects. For example, “television”, “air conditioner” for household appliances, “sofa”, “table” for furniture, “foliage plants”, “artificial flowers”, etc. for interiors.

  As described above, the object specifying item only needs to have at least one of the classification columns. However, as shown in FIG. 9, when the object specifying item has a plurality of classification columns corresponding to several classification levels, the name most familiar to the user is used, or the spatial information utilization device is used. The use of a more detailed name according to the function of the communication terminal device 3 and the use of the name selectively according to the classification scale are highly convenient.

  Furthermore, the object specifying item in the object specifying item storage unit 6 of the present invention has a column of “action ID”.

  In the column of “Action ID”, actions that can be executed by the self-propelled cleaner 1 are stored in association with the object. For example, in the example illustrated in FIG. 9, when the object is “TV”, the action ID of AC001, AC002, AC004, AC006, AC011, AC012, AC013, and AC014 is used for “TV” regardless of the model. It turns out that self-propelled cleaner 1 can perform each specified action.

  The action registration unit 53 refers to the object specifying item shown in FIG. 9 and extracts an action that can be actually associated with the object based on what the newly registered object is. For example, as illustrated in FIG. 7, when a new object record having the object ID “0005” and the object identification information “humidifier” is newly registered, the action registration unit 53 performs the object identification illustrated in FIG. 9. The action ID associated with the object identification information “humidifier” is extracted with reference to the item. In the example illustrated in FIG. 9, the action registration unit 53 extracts AC001, AC002, AC003, AC004, AC005, AC006, AC013, and AC014. The action registration unit 53 may register all or some of the extracted action IDs in the spatial information of FIG. For example, only AC001, AC002, AC004 selected by the user may be associated with the object (“humidifier”).

  As a method for allowing the user to select only a desired action from a plurality of actions, the following can be considered.

  The action registration unit 53 refers to the object specifying item in FIG. 9 and extracts action IDs of all actions applicable to the newly registered object. This is transmitted to the communication terminal device 3 via the communication unit 11.

  The action acquisition unit 75 of the communication terminal device 3 acquires an action ID from the action registration unit 53 and supplies the list of action IDs to the GUI screen creation unit 71. The GUI screen creation unit 71 displays a list of actions applicable to the new object on the display unit 121 in a state where the user can select a desired action.

  When the user selects a desired action from the GUI screen displayed on the display unit 121, the action setting unit 76 accepts the user's selection via the input unit 120 and assigns the action ID selected by the user to the communication unit 311. Is transmitted to the self-propelled cleaner 1 via.

  The action registration unit 53 of the self-propelled cleaner 1 can store only the action ID received from the action setting unit 76 in association with the newly registered object.

  Further, although not shown, action execution timing may be defined in the spatial information. Basically, the action execution timing is when the self-propelled cleaner 1 reaches the object during cleaning. However, since the self-propelled cleaner 1 circulates around the real space RS in one cleaning, the same object is visited many times in a short period of time. Even if the same action is executed each time, it does not make sense, and there is a possibility that a useless action is repeatedly executed at meaningless timing. Therefore, when the self-propelled cleaner 1 arrives at the object, (1) it must be executed every time, (2) it is executed after 10 minutes or more from the previous time, (3) it is executed after 1 hour or more from the previous time, As such, an option may be provided for action execution timing. Then, the user selects a desired execution timing from these options. In this case, in the spatial information of FIG. 7, a column for defining action execution timing is further provided, and the action execution timing selected by the user is registered by the action registration unit 53. Further, the user may be able to set whether to save the execution result. In this way, even for the same action, the action can be customized for a specific object of a specific user.

  Thus, the action registration unit 53 associates the action with the newly registered object. Even if the user does not perform the operation, it is possible to easily define the action to be performed by the self-propelled cleaner 1 when the object arrives only by specifying the timing or specifying the storage format.

[2-Perform actions on objects that stop by cleaning]
As described above, when the action registration unit 53 associates an action with each object in the spatial information, the self-propelled cleaner 1 executes the associated action on the object when it reaches the object. It becomes possible to do.

  While self-propelled cleaner 1 performs a cleaning function (basic function) and self-propells, it reaches an object installed in real space RS. For example, it is assumed that the self-propelled cleaner 1 collides with the television and the collision detection unit 37 detects the collision. The object recognition unit 50 compares the captured image captured at the time of collision detection with each object image registered in the spatial information of FIG. 7 and determines that “0004.jpg” is similar to the captured image. And In this case, the object recognition unit 50 can recognize that the collision, that is, the reached object is “television”. Alternatively, the communication unit 11 can perform near field communication with an object, and receives object specifying information such as an object name or an IP address from the object. The object recognition unit 50 may recognize that the object is “TV” having the object ID “0004” based on the received object name or IP address. If the presence of an object is perceived, but an object with matching characteristics is not registered in the spatial information in the spatial information storage unit 2, the object recognition unit 50 does not recognize the object and executes the action. The unit 51 does not execute the action. And the cleaning and self-propelled by self-propelled cleaner 1 are continued.

  The action execution unit 51 selects the action associated with the object “television” by referring to the spatial information because the arrived object is recognized as “television”. In the example illustrated in FIG. 7, the action execution unit 51 can determine that the action to be performed on “TV” is the action with the action ID “AC011”.

  The specific content of each action specified by the action ID is managed by action management information stored in the action storage unit 7, for example.

  FIG. 10 is a diagram showing a data structure and a specific example of action management information stored in the action storage unit 7.

  The action management information has at least a column of “execution content” indicating the content of the action in association with the action ID. In the previous example, the action ID “AC011” is specified in association with “TV”. Therefore, the action execution unit 51 executes the action “check the power on / off state of the object (device)” corresponding to “AC011” when it reaches “TV”.

  When the action execution timing is specified together with “AC011” in the object record of “TV” in the spatial information, the action execution unit 51 executes the action according to the timing.

  As shown in FIG. 10, for example, the action is to measure the physical state of the object reached by the self-propelled cleaner 1 or the surrounding environment of the object (such as AC001 to AC007) via the sensor unit 30. . Thereby, self-propelled cleaner 1 can be made to measure the physical state of an object. The user can obtain the information of the measurement result and know the physical state of the object in the same way as when in the real space RS without being in the real space RS.

  Alternatively, for example, the action is to remotely operate an object reached by the function execution device or acquire a logical state of the object via the communication unit 11 as a short-range wireless communication unit (AC011). ~ AC015 etc.). This allows the user to have the self-propelled cleaner 1 check the logical state of the object (the state on the software of the device), change the setting, or remotely control the self-propelled cleaner 1 without being in the real space RS. It becomes possible to do. That is, even if the user is not in the real space RS, the user can operate the object in the real space RS in the same manner as when the user is in the real space RS. The self-propelled cleaner 1 of the present invention can also be applied to an object (device) that cannot be remotely controlled by the user from the communication terminal device 3 via the communication network 5.

  Alternatively, for example, the action is to change the physical quantity of the object reached by the self-propelled cleaner 1 or the surrounding environment of the object (AC008 to AC010). As a result, the user can change the physical quantity of the real space RS to the self-propelled cleaner 1 so that the real space RS and the real space are the same as when they are in the real space RS without being in the real space RS. It is possible to influence each object in the RS.

  Note that the action is not limited to the example shown in FIG. For example, an action of “photographing an object different from the object from the arrival position when the object arrives”, an action of “communicating with the object and acquiring the temperature inside the object (for example, in the refrigerator)”, “ “Change the set temperature of an object (air conditioner, refrigerator)”, “Change the volume of an object (TV, recording / playback device)”, “View / record on an object (TV, recording / playback device) The action of “schedule” may be defined as an action executed together with the basic function.

[3- Register the execution result of the action in the spatial information]
When the action is executed on the object by the action execution unit 51 when the object arrives, the execution result registration unit 52 uses the result obtained after the action is executed as the action execution result, and the object record of the object Register with.

  Here, as shown in FIG. 10, the action management information preferably has a column of “execution result storage format” that defines in what format the action execution result is stored. For example, when the action “AC001: Measure the humidity of an object or around the object” is executed, the execution result registration unit 52 displays the output value of the humidity acquired by the humidity measurement unit as an action execution result. 7 space information.

  As illustrated in FIG. 7, the spatial information further includes a column of “action execution result”.

  In the “action execution result” column, information on the execution result obtained after the self-propelled cleaner 1 actually executes an action on the object is stored. As shown in FIG. 7, the execution result is stored in various formats such as a flag, a numerical value, a character string, a graph, and a table. For example, the execution result registration unit 52 registers an action execution log (“014 humidifier.csv” in FIG. 7) including the humidity output value and the measurement date as the execution result of the action “AC001” in association with the object. To do.

[4-Display information related to actions of each object in virtual space]
The spatial information acquisition unit 73 acquires spatial information that is a source of the virtual space to be displayed on the display unit 121 of the communication terminal device 3. The spatial information acquisition unit 73 transmits the terminal ID or user ID of the communication terminal device 3 to the information management server 4 that manages the spatial information storage unit 2, and the spatial information corresponding to the room of the user U of the communication terminal device 3 Request. Then, the spatial information returned from the information management server 4 is supplied to the virtual space creation unit 74.

  The virtual space creation unit 74 creates a virtual space to be displayed on the display unit 121 of the communication terminal device 3. Based on the object record (object identification information, position coordinates, size information, orientation information, and object image) registered in the spatial information stored in the spatial information storage unit 2, the virtual space creation unit 74 A virtual space VS is created by placing a figure representing an object in the coordinate system.

  The display form of the virtual space VS created by the virtual space creating unit 74 is not particularly limited. Various display forms are conceivable depending on what information the spatial information acquisition unit 73 acquires from the spatial information storage unit 2 about the object.

  FIG. 11 is a diagram illustrating a specific example of a display form of the virtual space VS created by the virtual space creating unit 74 of the communication terminal device 3. FIG. 11 illustrates a state in which the virtual space VS is displayed on the display unit 121 of the communication terminal device 3.

  The display form of the virtual space VS shown in FIG. 11 is a three-dimensional representation of the real space RS when the virtual space VS is viewed obliquely from above, and each object is represented by a corresponding object image.

  The virtual space creation unit 74 plots the cuboid virtual space VS on the coordinate system (FIG. 8) formed by the XYZ axes corresponding to the real space RS. Then, the virtual space creation unit 74 refers to the spatial information stored in the spatial information storage unit 2 and arranges the object images of the respective objects based on the three-dimensional position coordinates. Furthermore, in the example illustrated in FIG. 11, the virtual space creation unit 74 refers to the size information of each object and adjusts the size of the object image. Further, the virtual space creation unit 74 refers to the orientation information of each object, and selects an object image in which the object actually installed in the orientation looks the same as when viewed from the above diagonally (or Edit the object image so that it looks the same). Furthermore, as illustrated in FIG. 11, the virtual space creation unit 74 may add a graphic representing the wind output by the object to the graphic of the object as a graphic representing the orientation of the object.

  Thus, by editing the shape and color of the figure of the object using the orientation information, the virtual space VS having a display form closer to the real space RS can be displayed. As a result, it is possible to realize a user interface that allows the user U to operate his / her room more intuitively.

  In the present embodiment, it is preferable that the virtual space creation unit 74 further reflects the action information (action and action execution result) associated with each object in the virtual space VS in the space information.

  FIG. 11 shows an example of a display form in which actions and action execution results are displayed in association with objects. In the example illustrated in FIG. 11, the virtual space creation unit 74 provides a speech bubble and displays the action associated with the object and the action execution result in the speech bubble. The balloon 110 and the balloon 111 are figures for displaying the action of the object “air conditioner” and the object “sofa” and the action execution result, respectively.

  As shown in FIG. 7, since two actions are associated with “air conditioner”, each action and each action execution result are reflected in the balloon 110. The virtual space creation unit 74 creates <actions> for the speech bubbles 110 and 111 based on the action ID stored in the “action” column of the space information. The virtual space creation unit 74 creates <display> based on the execution result stored in the “action execution result” column of the space information. Furthermore, the virtual space creation unit 74 provides link information in <display> and converts the action execution log stored in the “action execution result” column (a graph in which measured values are arranged in chronological order, into a text log) It is preferable to be able to browse things.

  Furthermore, when the balloons cannot be displayed for all objects at once due to the size limit of the display unit 121, the virtual space creating unit 74 may display the balloons reduced for each object. For example, the reduced balloon 112 and the balloon 113 have a role of notifying the user that an action and an action execution result are associated with the object “television” and the object “humidifier”, respectively. For example, when the speech bubble 112 and the speech bubble 113 are touched by the user, the speech bubble 110 and the speech bubble 113 are maximized like the speech bubbles 110 and 111, and the action and the action execution result are displayed in detail.

  Further, the virtual space creation unit 74 displays only the figure of an object to which information such as an action is added by blinking, increasing the transparency, or displaying the figure in a three-dimensional manner. You may vary the way. Further, when the self-propelled cleaner 1 fails to execute the action, the virtual space creation unit 74 turns only the figure of the object in which the action has failed so that the error has occurred at a glance. It is preferable to display in another color. Furthermore, the virtual space creation unit 74 devise how to display the object graphic so that the change can be visually recognized when a change in the state of the object is detected as a result of executing the action on the object. Can do.

  According to the above configuration, the user can easily confirm the action executed on each object using the virtual space VS displayed on the communication terminal device 3. Furthermore, the user can easily confirm the execution result when the action is executed.

[Variation 1-Perform additional action]
FIG. 12 is a diagram illustrating another example of the spatial information of the real space RS stored in the spatial information storage unit 2.

  The spatial information shown in FIG. 12 is different from the spatial information shown in FIG. 7 in that the action information further includes an “additional scenario” column and an “additional action execution result” column.

  The “additional scenario” column stores additional scenarios that specify additional actions to be executed by the self-propelled vacuum cleaner 1, execution conditions for the additional actions, and target objects to be executed by the additional actions. It is.

  The “additional action execution result” column stores a result obtained after the additional action specified in the “additional scenario” column is executed.

  The additional action is an action that the self-propelled cleaner 1 additionally executes when the execution result meets a predetermined condition according to the execution result obtained after the action of the present embodiment is executed. Point to. The execution target of the additional action is not limited to the execution target of the action performed for the first time, but may be another object.

  For example, in the example shown in FIG. 12, when the self-propelled cleaner 1 reaches the object “sofa”, the action “AC001” of measuring humidity is executed. In the spatial information, an additional scenario is associated with the object “sofa”. An example of the additional scenario will be specifically described as follows. First, in the additional scenario, the execution condition of the additional action is specified as “when the execution result (that is, humidity) of the first action“ AC001 ”is less than a predetermined threshold (for example, 30% humidity)”. The target object to be subjected to the additional action is specified as “object“ humidifier ”with object ID“ 0005 ”.” Then, the additional action is specified as “AC012: power on the device”.

  That is, according to such an additional scenario, when the self-propelled cleaner 1 reaches the vicinity of the sofa during cleaning, the action execution unit 51 first measures humidity at the location via the humidity measurement unit. To do. This is the first action. Then, when the obtained humidity is less than 30%, the action execution unit 51 executes an additional action for the object “humidifier”, that is, an additional action of turning on the humidifier. In this case, the self-propelled cleaner 1 moves to a range where the humidifier can be controlled using short-range wireless communication means (communication unit 11) such as infrared communication, and communicates with the humidifier via the communication unit 11. Then, operate the humidifier.

  According to the above configuration, it is possible to set a more complicated action scenario for the self-propelled cleaner 1 and cause the self-propelled cleaner 1 to execute a plurality of actions in succession, which is convenient for the user. Improves.

  Note that the content specified in the column of the additional scenario is determined by, for example, customizing several templates prepared in advance and registering them in association with object information of a desired object.

[Modification 2—Controlling the driving route]
When the self-propelled cleaner 1 executes a scheduled cleaning function and starts self-propelled, the floor surface is changed as much as possible while changing the traveling direction according to the arrangement of the object, for example, using a known technique. It is possible to clean by running all over.

  When the self-propelled cleaner 1 of the present invention needs to perform an additional action according to the execution result of the action during the execution of the cleaning function, the travel control unit 45 controls the travel drive unit 15 to add The travel route may be determined so as to stop at an object that is an action execution target.

  This will be described using the previous example. It is assumed that the self-propelled cleaner 1 is self-propelled while executing the cleaning function and happens to reach the sofa. At the arrival position (near the sofa), the self-propelled cleaner 1 performs the first action of measuring humidity. Here, if the humidity is equal to or higher than a predetermined threshold (for example, 30% or higher), the self-propelled cleaner 1 returns to the normal cleaning function when the first action is completed. On the other hand, if the humidity is less than the predetermined threshold, the self-propelled cleaner 1 must perform an additional action. Therefore, it is preferable that the traveling control unit 45 controls the traveling route so that the self-propelled cleaner 1 reaches the position where the additional action can be performed by controlling the traveling driving unit 15. For example, the self-propelled cleaner 1 searches for an execution target object of the additional action using the communication unit 11 or the sensor unit 30. For example, the self-propelled cleaner 1 may grasp the positional relationship between the humidifier and the own device by the photographing unit 32 acquiring a photographed image of the humidifier. Or the communication part 11 may communicate with a humidifier, and the self-propelled cleaner 1 may grasp | ascertain the positional relationship of a humidifier and a self-machine. When the execution target object is detected in this way, the traveling control unit 45 controls the traveling route of the self-propelled cleaner 1 so that the self-propelled cleaner 1 approaches the direction. In addition, while the travel route is controlled, the self-propelled cleaner 1 can execute the cleaning function which is the original function. After the additional action is completed, the self-propelled cleaner 1 Return to the normal cleaning (self-running) function. That is, the self-propelled cleaner 1 can execute an additional action in addition to the first action while executing the basic function.

[Process flow]
FIG. 13 is a flowchart showing the flow of processing related to the action execution function of the self-propelled cleaner 1.

  When a trigger for starting the basic function (cleaning function) of the self-propelled cleaner 1 (for example, when the scheduled cleaning time is reached) occurs (YES in S101), the self-propelled cleaner 1 uses the real space RS. Self-propelled and performs a cleaning function (S102). At this time, each part of the sensor unit 30 of the self-propelled cleaner 1 senses the surrounding environment in the real space RS. The obtained sensing information is supplied to the object recognition unit 50. S102 ends when a trigger to end the cleaning function occurs (NO in S103).

  If the presence of an object is perceived by the sensor unit 30 or the communication unit 11 while S102 continues and the self-propelled cleaner 1 is cleaning (self-propelled) (YES in S104), the object recognition unit 50 Recognizes the object reached by itself (S105).

  If the perceived object is an object not registered in the spatial information and authentication fails (NO in S106), self-propelled cleaner 1 returns to normal cleaning and continues self-propelled. On the other hand, if the object recognition unit 50 can recognize that the object is any object registered in the spatial information, the recognition is successful (YES in S106). In this case, the action execution unit 51 executes the action specified by the action ID associated with the recognized object on the object perceived in S104 (S107). Subsequently, the execution result registration unit 52 registers the action execution result in association with the object record of the object (S108).

  Here, in the spatial information, if an additional scenario (additional action) is not associated with the object (NO in S109), the normal cleaning is resumed and the self-run is continued. On the other hand, when the additional scenario is associated, the action execution unit 51 refers to the additional action execution condition defined in the column of the additional scenario of the spatial information. Then, when it is determined that the execution result of the first action obtained in S108 does not apply to the additional action execution condition (NO in S110), normal cleaning is resumed and the self-run is continued.

  On the other hand, when the action execution unit 51 determines that the action execution result in S108 is applicable to the additional action execution condition (YES in S110), the action execution unit 51 executes the additional action according to the content defined in the additional scenario column. (S111). Subsequently, the execution result registration unit 52 registers the additional action execution result in the object record of the object (S112). And self-propelled cleaner 1 returns to normal cleaning, and continues self-propelled.

  In the action execution function executed by the function execution device of the present invention, S109 to S112 may be omitted.

  FIG. 14 is a flowchart showing the flow of processing related to the additional action execution function shown in S111 of FIG.

  The action execution unit 51 searches for a target object as an execution target of the additional action specified in the additional scenario column (S201). For example, the photographing unit 32 may photograph the surroundings, or the communication unit 11 may perform near field communication with surrounding objects. Furthermore, the traveling control unit 45 may control the traveling drive unit 15 to cause the self-propelled cleaner 1 to self-run while searching (S202). If the search and self-running are within a predetermined time, the object recognition unit 50 continues until the target object is recognized (the self-propelled cleaner 1 reaches the target object) (NO in S203, NO in S206). ). Here, when the predetermined time has passed without reaching the target object (NO in S203, YES in S206), the action execution unit 51 registers an action execution result indicating that the additional action cannot be executed as an execution result. It outputs to the part 52 (S205), and an additional action execution process is complete | finished.

  When the object recognition unit 50 determines that the target object has been reached (YES in S203), the action execution unit 51 executes the additional action specified in the column for the additional scenario at the target object arrival position ( S204). The action execution unit 51 outputs the action execution result obtained after S204 to the execution result registration unit 52 (S205), and ends the additional action execution process.

  According to the above method, the self-propelled cleaner 1 can execute an action on each object that has stopped by the basic function.

  In the above-described embodiment, the self-propelled cleaner 1 as the function execution device, the communication terminal device 3 and the information management server 4 as the space information utilization device, and the other virtual room utilization system 100 constituting the virtual room utilization system 100 are provided. Various devices that can be included, and various storage units such as the spatial information storage unit 2, the object specific item storage unit 6, and the action storage unit 7 may be realized by cloud computing.

  In addition, “system” or “device” as used herein refers to a logical collection of a plurality of functional modules or a plurality of devices that realize a specific function, and includes various devices, various storage units, and It does not matter whether various functional modules are in a single housing.

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

[Example of software implementation]
Finally, each block of the self-propelled cleaner 1 and the communication terminal device 3, in particular, the object recognition unit 50, the action execution unit 51, the execution result registration unit 52, the action registration unit 53 and the travel control unit 45, and the action acquisition The unit 75, the GUI screen creation unit 71, the action setting unit 76, the space information acquisition unit 73, and the virtual space creation unit 74 may be configured by hardware logic, or realized by software using a CPU as follows. May be.

  That is, the self-propelled cleaner 1 and the communication terminal device 3 develop a CPU (central processing unit) that executes instructions of a control program that realizes each function, a ROM (read only memory) that stores the program, and the program. A random access memory (RAM), and a storage device (recording medium) such as a memory for storing the program and various data. The object of the present invention is to provide a program code (execution format program, intermediate code program, source program) of a control program of the self-propelled cleaner 1 (or communication terminal device 3), which is software that realizes the functions described above. Is supplied to the self-propelled cleaner 1 (or communication terminal device 3), and the computer (or CPU or MPU) reads and executes the program code recorded on the recording medium. Can also be achieved.

  Examples of the recording medium include a tape system such as a magnetic tape and a cassette tape, a magnetic disk such as a floppy (registered trademark) disk / hard disk, and an optical disk such as a CD-ROM / MO / MD / DVD / CD-R. Card system such as IC card, IC card (including memory card) / optical card, or semiconductor memory system such as mask ROM / EPROM / EEPROM / flash ROM.

  Moreover, the self-propelled cleaner 1 and the communication terminal device 3 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), 802.11 wireless, HDR (High Data Rate), mobile phone network, satellite line, terrestrial digital network, and the like can also be used. 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 function execution device of the present invention can be applied to any information processing device that senses the real space and executes the basic function. Preferably, the function execution device self-runs in the real space and whether or not an object in the real space exists. It is applied to a self-propelled device that senses (for example, a self-propelled cleaner). Furthermore, the spatial information generated by the function execution device of the present invention is preferably used for the spatial information utilization device to create a virtual space corresponding to the real space. Therefore, the function execution device of the present invention is preferably applied to a spatial information utilization system together with the spatial information utilization device.

1 Self-propelled vacuum cleaner (function execution device)
2 Spatial information storage unit 3 Communication terminal device (spatial information utilization device)
4 Information management server (spatial information utilization device)
5 Communication Network 6 Object Specific Item Storage Unit 7 Action Storage Unit 10 Control Unit 11 Communication Unit (Near Field Communication Unit)
DESCRIPTION OF SYMBOLS 12 Operation panel 13 Memory | storage part 14 Voice output part 15 Travel drive part 16 Drive wheel 16a Rotating shaft 17 LED lamp lighting part 18 LED lamp 19 Voltage detection part 20 Battery 21 Charging terminal 22 Rotary brush drive part 23 Rotary brush 24 Side brush drive part 25 Side brush 26 Blower 27 Ion generator 30 Sensor part (sensor)
31 Voice input unit (sensor)
32 Image sensor (sensor)
33 Ranging section (sensor)
34 Step detector (sensor)
35 Odor measuring part (sensor)
36 Temperature measurement unit (sensor)
37 Collision detector (sensor)
45 Travel control unit 50 Object recognition unit (object recognition means)
51 Action execution unit (action execution means)
52 execution result registration unit (execution result registration means)
53 Action registration section (Action registration means)
71 GUI screen creation unit 73 Spatial information acquisition unit (information acquisition unit)
74 Virtual space creation unit (virtual space creation means)
75 Action acquisition unit (action acquisition means)
76 Action setting section (action setting means)
100 Virtual room use system (space information use system)
102 Main Body Case 103 Cover 105 Bumper 106 Suction Port 107 Exhaust Port 120 Input Unit 121 Display Unit 126 Rear Wheel 127 Front Wheel 130 Dust Collection Unit 310 Control Unit 311 Communication Unit (Near Field Communication Unit)
312 Operation panel 313 Storage unit

Claims (15)

In a function execution device that runs in real space and acts on real space,
Object recognition means for recognizing an object that the function execution device has reached during self-running among objects existing in real space;
Action execution means for executing an action on the object reached by the function execution device;
The object recognition means refers to a spatial information storage unit that stores object information indicating the characteristics of each object existing in the real space, and selects the function from the object information stored in the spatial information storage unit. Recognizing an object by identifying object information similar to the object's characteristics that the execution device reached while running,
The function execution device is characterized in that the action execution means executes an action associated with the specified object information. The function execution device executes basic functions while running in real space.
The action execution means is
An action associated with the object information specified by the object recognition means is executed on an object that is reached when the function execution device is running while executing a basic function. The function execution device according to claim 1.   2. An execution result registration unit that registers an action execution result indicating a result of execution of an action by the action execution unit in the spatial information storage unit in association with the specified object information. Or the function execution apparatus of 2. Each object information stored in the spatial information storage unit is further associated with an additional scenario that specifies an additional action and its execution condition,
The action execution means is
The function execution device according to claim 3, wherein the additional action is executed when the action execution result satisfies the execution condition. In the above additional scenario, the target object that is the target of the additional action is specified,
The travel control means for controlling the travel drive unit of the function execution device so as to reach the target object when the action execution means performs the additional action. Function execution device. The action execution means is
6. The action according to claim 1, wherein the action is executed by measuring a physical state of an object reached by the function execution device or a surrounding environment of the object via a sensor. The function execution device described. The action execution means is
7. The action is executed by remotely operating an object reached by the function execution device or acquiring a logical state of the object via a short-range wireless communication unit. The function execution device according to any one of the above. The action execution means is
The function execution device according to any one of claims 1 to 7, wherein the action is executed by changing a physical quantity of an object reached by the function execution device or a surrounding environment of the object. For a new object newly existing in the real space, when object information is newly registered in the spatial information storage unit, an action to be performed on the new object by the action execution unit is performed on the new object. An action registration means associated with object information;
For each object identification information that identifies the identity of the object, an object identification item that associates an action group that can be executed on the object is stored in the object identification item storage unit,
The action registration means is
The function execution according to any one of claims 1 to 8, wherein an action that can be performed on the new object is selected from the object identification item and associated with object information of the new object. apparatus. The function execution device according to any one of claims 1 to 9,
The spatial information storage unit that stores object information of each object existing in a real space in which the function execution device runs; and
A spatial information utilization system comprising: a spatial information utilization device that creates a virtual space corresponding to the real space using object information stored in the spatial information storage unit. The spatial information utilization device is
Information acquisition means for acquiring object information of each object existing in the real space from the spatial information storage unit;
11. The space information utilization system according to claim 10, further comprising virtual space creation means for creating a virtual space corresponding to the real space based on each object information acquired by the information acquisition means. . The virtual space creating means is
12. The information representing at least one of an action and an action execution result associated with each object information in the space information storage unit is arranged in the virtual space together with a graphic of the object. Spatial information utilization system. A function execution method by a function execution device that self-runs in real space and acts on real space
An object recognition step of recognizing an object that the function execution device has reached during self-running among objects existing in real space;
An action execution step of executing an action on the object reached by the function execution device,
In the object recognition step, the function is referred to from among the object information stored in the spatial information storage unit with reference to a spatial information storage unit that stores object information indicating characteristics of each object existing in the real space. Recognizing an object by identifying object information similar to the object's characteristics that the execution device reached while running,
In the action execution step, an action associated with the specified object information is executed.   The control program for functioning a computer as each means of the function execution apparatus of any one of Claim 1-9.   The computer-readable recording medium which recorded the control program of Claim 14.

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