JP2013250747A - Self-travelling electronic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-travelling electronic apparatus in which a user gives direct instructions to a camera mounted on the self-travelling electronic apparatus body by using a fingertip or the like, so that the area where the self-travelling electronic apparatus should travel can be designated without using a dedicated device for position designation.SOLUTION: A self-travelling electronic apparatus includes a travel unit that causes a body to travel, a position identifying unit that recognizes a designation mark for area designation and identifies a position of the designation mark, and a control unit that determines a travelling area on the basis of the identified position and controls the travel unit.

Description

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

Since the self-propelled electronic device travels autonomously to perform a specific work, no user operation is required when it is desired to travel the entire room and work.
On the other hand, when it is desired to work only in a specific area, it is necessary for the user to perform an operation with the remote controller or the like without depending on the automatic driving, which increases the burden on the user.
For example, taking a self-propelled cleaner as an example of a self-propelled electronic device, if you want the self-propelled cleaner to clean automatically, you can often move to a place where cleaning is not necessary. Sometimes. Therefore, it not only consumes more power than necessary, but also returns to the charging stand for charging in the middle of cleaning and performs cleaning again after charging. As a result, the time required for cleaning becomes longer, and the influence on the living environment due to long-term noise may become a serious problem.

  For such a problem, a position indicating means having a light emitting / transmitting means, etc. is installed in a predetermined area on the floor surface, and an area to be cleaned by the vacuum cleaner is designated in advance, and is emitted from the position indicating means. A self-propelled cleaner that cleans only the area that the user wants to clean is detected by detecting the emitted light / transmitted signal by the light receiving / receiving means provided in the cleaner and specifying the area to be cleaned based on the detection result. It has been proposed (see, for example, Patent Document 1).

JP 2002-282179 A

  However, when a dedicated position indicating means is installed at a predetermined position on the floor and the area where the self-propelled electronic device should travel is specified, it is necessary to prepare the number of position indicating means necessary for area specification in advance. There is. Therefore, if it is not possible to secure a sufficient number of position indicating means for the area to be traveled, area specification cannot be performed, and if there are only a few position indicating means, a wide range of area specification can be specified at one time. There is also the problem that it cannot be done. Furthermore, when the position indicating means is out of order, the area cannot be designated until it is replaced with a new one, which may put a burden on the user.

In view of such circumstances, it is an object of the present invention to provide a self-propelled electronic device that can recognize a travel region desired by a user.
This invention provides the self-propelled electronic device which can recognize a driving | running | working area | region by recognizing the position which the user pointed to the area | region which wants to drive | work intensively in order to perform work, such as cleaning.
Therefore, as one means for recognizing the position designated by the user, the present invention is equipped with a camera in the self-propelled electronic device main body, recognizes the position designated by the user, and does not use a dedicated device for position designation. An object of the present invention is to provide a self-propelled electronic device capable of specifying a region to be traveled.

  The present invention recognizes a traveling unit that travels a housing, a designated sign for specifying a region, specifies a position specifying unit that identifies the position of the designated sign, determines a traveling location based on the identified position, and It is intended to provide a self-propelled electronic device including a control unit for controlling the motor.

  According to the present invention, an arbitrary object such as a user's fingertip or a pointing stick is stored in the designated sign storage unit as a designated sign for area designation toward the camera mounted on the self-propelled electronic device, and the designated sign is stored. The self-propelled electronic device that can specify the area to be traveled without using a dedicated device for position designation by specifying the position of the area to be traveled and allowing the position specifying unit to detect the position. Can be realized.

It is a schematic block diagram of the self-propelled cleaner according to the first embodiment of the present invention. 1 is a schematic perspective view of a self-propelled cleaner according to a first embodiment of the present invention. It is explanatory drawing of the front part of the housing | casing of the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is a flowchart of the area | region designation | designated process in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the designation | designated method of the designated area which the self-propelled cleaner which concerns on 1st Embodiment of this invention should clean. It is explanatory drawing of the area | region designation | designated in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the designated position detection process of the area designation in the self-propelled cleaner concerning a 1st embodiment of this invention. It is explanatory drawing of the 1st modification of the area | region designation | designated in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the 2nd modification of the area | region designation in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the 3rd modification of the area | region designation | designated in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the identification method of the designated area which the self-propelled cleaner concerning a 1st embodiment of this invention should clean. It is a specific example of the designation | designated area | region in the self-propelled cleaner which concerns on 1st Embodiment of this invention. It is explanatory drawing of the area | region calculation process in the self-propelled cleaner which concerns on 1st Embodiment of this invention.

  The present invention recognizes a traveling unit that travels a housing, a designated sign for specifying a region, specifies a position specifying unit that identifies the position of the designated sign, determines a traveling location based on the identified position, and It is intended to provide a self-propelled electronic device including a control unit for controlling the motor.

In the self-propelled electronic device according to the present invention, the term “self-propelled” refers to a housing that houses the drive unit, a drive wheel that drives the housing, a control unit that controls rotation, stop, and rotation direction of the drive wheel, and the like. And an electronic device in which the control unit autonomously travels by judging the direction of travel, stop, and travel, and an example is shown by an embodiment using the drawings described later.
The “designation mark” is a mark for designating a region to be traveled, such as the shape of the user's fingertip or pointing stick. It may be a part of the user's body (for example, the shape of the foot) as long as it is a shape or the like that can be specified by the camera provided in the housing.

  The self-propelled electronic device according to the present invention further includes a signal detection unit for recognizing a determination signal for determining a timing for specifying the position of the designated sign and an end signal for determining a timing for ending specification of the position of the specified sign. The control unit causes the position specifying unit to specify the position of the designated sign when the signal detection unit detects the determination signal, and based on the position when the signal detection unit detects the end signal. The travel location may be determined.

  In this way, the position designation timing can be determined by the user executing a predetermined decision signal after setting the designation sign. In addition, after performing the position designation, the user can determine the timing of the area determination by executing a predetermined end signal, and the area to be traveled can be determined based on the designated position detected so far.

For example, in the case of a cue by voice, the timing of position designation by a designated sign is determined by pronouncing “here” or “decision” or by sounding a predetermined sound such as a whistle. It is a signal to do. In addition to a voice, it may be a visually recognizable signal or a signal from an operation of a remote controller or the like.
“End signal” means, for example, in the case of an audio signal, by sounding “above” or “start” or by sounding a predetermined sound such as a whistle, the area to be traveled is determined and cleaned. It is a signal for determining the timing which starts operation | movement. Further, not only voice but also a visually recognizable signal such as the shape of a hand with a thumb up, or a signal by an operation of a remote controller or the like may be used.

  In the self-propelled electronic device according to the present invention, the decision cue may comprise a predetermined change pattern of the designated sign, a predetermined sound, a voice or electromagnetic wave signal, or a combination thereof. .

  In this way, after installing the designated sign, the user executes a decision signal consisting of a predetermined change pattern of the designated sign, a predetermined sound, a voice or electromagnetic wave signal, or a combination thereof, The timing of position designation can be determined. For example, in the case of a decision cue by a change pattern, the operation of moving the finger back and forth with the shape of the pointing hand as a designated indicator and pointing the designated position is designated as a decision cue, without requiring a complicated operation, The position can be specified by a simple gesture.

  In the self-propelled electronic device according to the present invention, the end cue is an end indication mark made of a predetermined shape, pattern, color, or a combination thereof, a predetermined sound, a sound or an electromagnetic wave signal, or a combination thereof It may consist of.

  In this way, after the position is specified, the end indication sign consisting of the shape, pattern, color, or combination of those predetermined by the user, the predetermined sound, sound or electromagnetic wave signal, or a combination thereof By executing the end signal consisting of the above, it is possible to determine the timing for determining the region, and to determine the region to be traveled based on the designated position detected so far. For example, in the case of an end signal with an end instruction sign, after specifying all the specified positions, the shape of the hand with the thumb up is used as an end signal, so that the position can be specified by a simple gesture without requiring a complicated operation. Thus, the area determination process can be switched.

  In the self-propelled electronic device according to the present invention, the designated sign may be a predetermined shape, pattern, color, or a combination thereof.

  In this way, a dedicated device for position designation is obtained by recognizing a predetermined shape, pattern, color, or combination thereof as a designated sign and performing position designation using the designated sign. A self-propelled electronic device capable of specifying a region to be traveled by using a nearby object or a part of the user's body without using can be realized.

  In the self-propelled electronic device according to the present invention, the control unit has a range within a predetermined distance from the position when the signal detection unit detects one end signal when the signal detection unit detects the end signal. , And when the position specified by the time when the signal detection unit detects the end signal is two, the range within a predetermined distance from the straight line connecting the positions is the travel location, When the number of positions specified by the signal detection unit detecting the end signal is three or more, an area surrounded by a straight line connecting the positions may be determined as the travel location.

  In this way, since the area to be traveled is calculated and determined based on the designated position designated by the user, a self-propelled electronic device capable of determining the area to be traveled by simple position designation can be realized.

[First Embodiment]
<Configuration of self-propelled vacuum cleaner>
In the present invention, a self-propelled cleaner 201 will be described below as an example of a self-propelled electronic device.
Hereinafter, based on FIGS. 1-3, the structure of the self-propelled cleaner 201 which concerns on 1st Embodiment of this invention is demonstrated.
FIG. 1 is a schematic block diagram of a self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 2 is a schematic perspective view of the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 3 is an explanatory diagram of the front portion of the housing 2 of the self-propelled cleaner 201 according to the first embodiment of the present invention.

  As shown in FIG. 1, the self-propelled cleaner 201 of the present invention mainly includes a control unit 11, a travel control unit 12, a wheel 13, a failure detection unit 14, a rechargeable battery 15, an operation input unit 17, and a voice input unit 18. , Voice recognition unit 19, voice output unit 20, image recognition unit 21, image acquisition unit 22, communication unit 23, dust collection unit 31, ion generation unit 32, blower control unit 33, exhaust port 34, intake port 35, storage unit 51 is provided.

  In the first embodiment, the traveling unit of the present invention is realized by the cooperation of the control unit 11, the traveling control unit 12 and the wheels 13. The designated sign storage unit of the present invention is realized by the cooperation of the control unit 11, the voice input unit 18, the voice recognition unit 19, the image recognition unit 21, the image acquisition unit 22, and the storage unit 51. The position specifying unit of the present invention is realized by the cooperation of the control unit 11 and the image recognition unit 21. The signal detection unit of the present invention is realized by the cooperation of the control unit 11, the voice recognition unit 19, and the image recognition unit 21.

Hereinafter, each component shown in FIG. 1 will be described.
The self-propelled cleaner 201 of the present invention has a three-dimensional housing 2 such as a disk shape, a cylindrical shape, or a rectangular parallelepiped shape, and various components are arranged on the surface or inside of the housing 2.
For example, the wheel 13, the failure detection unit 14, the operation input unit 17, the voice input unit 18, the image acquisition unit 22, and the illumination unit (not shown) are provided at positions that can be seen from the outside of the surface of the housing 2. The portion is provided inside the housing 2.

  In addition, a charging stand is installed at a predetermined position in the room to be cleaned. The installation location of the charging stand is an arbitrary position, and may be any location where power supply can be supplied, for example, near a commercial power outlet, near a wall of a room, or beside a desk. By electrically connecting the charging stand and the charging terminal of the self-propelled cleaner 201, power is supplied from the charging stand, and the rechargeable battery 15 of the self-propelled cleaner 201 is charged. The self-propelled cleaner 201 performs a cleaning function while traveling away from the charging stand and automatically.

  The self-propelled cleaner 201 of the present invention cleans the floor surface by sucking air containing dust on the floor surface and exhausting the air from which dust has been removed while self-propelled on the floor surface where it is installed. It is a cleaning robot. The self-propelled cleaner 201 of the present invention has a function of autonomously returning to the charging stand when cleaning is completed.

As shown in FIG. 2, the self-propelled cleaner 201 of the present invention includes a disk-shaped housing 2, and an obstacle detection unit (obstacle sensor) 14, a voice input unit, outside and inside the housing 2. (Microphone) 18, audio output unit (speaker) 20, image acquisition unit (camera) 22, illumination unit (LED) (not shown), rotating brush (not shown), side brush 10, dust collection unit 31 (figure) (Not shown), an ion generator 32 (not shown), an electric blower (not shown), a plurality of driven wheels 13 (FIG. 3) for self-running, and a driven wheel consisting of a rear wheel and a front wheel (FIG. (Not shown), the communication unit 23 (not shown), and other components shown in FIG. 1 are provided.
In FIG. 2, a part where an obstacle detection unit (obstacle sensor) 14, an audio input unit (microphone) 18, an image acquisition unit (camera) 22, an illumination unit (LED) (not shown) and a front wheel are arranged is shown. A part where the front part and the rear wheel are arranged is called a rear part, and a part where the communication part 23, the dust collecting part 31 and the like are arranged is called an intermediate part. Here, the front is the traveling direction of the self-propelled cleaner 201, and is indicated by an arrow in FIG. Moreover, let the reverse direction and the advancing direction of the self-propelled cleaner 201 be the back.

  The housing 2 has a circular bottom plate having a suction port (35 shown in FIG. 1) provided on the back surface (lower surface) and provided with a rotating brush, and a dust collecting portion 31 accommodated in the housing 2. A top plate 2b having a lid 3 that opens and closes at the center, and a bottom plate and a side plate 2c having an annular shape in plan view provided along the outer periphery of the top plate 2b. Also, the bottom plate is formed with a plurality of holes for projecting the front wheels, the pair of drive wheels 13 and the lower portions of the rear wheels from the inside of the housing 2 to the outside, and in the vicinity of the boundary between the front portion and the middle portion of the top plate 2b An exhaust port 34 is formed at the end. In addition, the side plate 2c is divided into two front and rear, and the front portion of the side plate 2c functions as a bumper.

  Further, the self-propelled cleaner 201 turns in a stationary state by a pair of drive wheels 13 rotating forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in opposite directions. . For example, when the self-propelled cleaner 201 reaches the periphery of the cleaning area and collides with an obstacle on the course, the pair of drive wheels rotate in opposite directions to change directions or rotate after retreating. And change the direction. Thereby, the self-propelled cleaner 201 self-propels while avoiding an obstacle over the entire installation place or the entire desired range.

  Furthermore, the self-propelled cleaner 201 detects a signal emitted from the transmission unit of the charging stand by the receiving unit 24 and recognizes the direction in which the charging stand is present. For example, when cleaning is completed, the rechargeable battery 15 is charged. When the remaining amount is low, or when the set time of the set cleaning timer has elapsed, it automatically proceeds in the direction of the charging stand and returns to the charging stand. However, if there are obstacles, move to the charging stand while avoiding them.

Below, the control part of the self-propelled cleaner 201 of FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the self-propelled cleaner 201, and is mainly realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like. .
The CPU organically operates each hardware based on a control program stored in advance in a ROM or the like, and executes a position specifying function, a cue detection function, an area specifying function, etc. of the present invention as described later.

The wheel 13 is a part which is arrange | positioned at the lower part of the housing | casing 2 as shown, for example in FIG.
The traveling control unit 12 is a part that controls the autonomous traveling of the self-propelled cleaner 201, and is a part that automatically controls the rotation of the wheel 13 and moves the housing 2 automatically.
The traveling control unit 12 drives or stops the wheels 13 to cause the self-propelled cleaner 201 to perform operations such as forward movement, backward movement, rotation, and stationary.

The obstacle detection unit 14 is a part that detects that the self-propelled cleaner 201 is in contact with or approaching an obstacle such as an indoor desk or chair while traveling, and includes, for example, a micro switch, an ultrasonic sensor, an infrared sensor, and the like. A contact sensor or an obstacle sensor made up of a distance sensor or the like is used, and is arranged in the front part in the traveling direction of the main body. There may be provided a plurality of failure detection units 14 as shown in FIG.
The CPU related to the control unit 11 recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 14. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.

The rechargeable battery 15 is a part that supplies power to each functional element of the self-propelled cleaner 201, and is a part that mainly supplies power for performing a photographing function, travel control, and the like. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
Charging of the rechargeable battery 15 is performed in a state where the charging terminal of the self-propelled cleaner 201 and the connection terminal of the charging stand (not shown) are connected.

The operation input unit 17 is a part where the user inputs an instruction for the operation of the self-propelled cleaner 201, and the surface of the housing 2 of the self-propelled cleaner 201, for example, the traveling direction as shown in FIG. 2. An operation panel or an operation button is provided on the rear upper panel.
Alternatively, as the operation input unit 17, a remote control unit is provided separately from the main body, and by pressing an operation button provided on the remote control unit, an infrared ray or a radio wave signal is transmitted, and an operation instruction input is performed by wireless communication. May be.
As the operation input unit 17, for example, a power switch, a start switch, a charge request switch, and other switches (operation mode switch, timer switch) and the like are provided.

The voice input unit 18 is a part for inputting so-called acoustic data such as a human voice or sound (hereinafter collectively referred to as voice), and a microphone is used.
As shown in FIG. 2 and FIG. 3, for example, one voice input unit 18 is arranged in the housing 2 in the front part in the traveling direction when the vehicle travels normally. Or in order to detect the direction (sound generation source direction) from which a sound is heard, you may provide two or more. When a plurality of voice input units 18 are provided, for example, the four voice input units 18 may be provided at positions that are shifted by 90 degrees forward, left side, right side, and rear, respectively.

By analyzing the same sound input by each of the plurality of sound input units 18, and by analyzing the direction of the sound source from the difference in sound volume (volume difference) time difference or phase difference, particularly by the input signal of the input sound It is possible to detect the direction and the distance of the input sound source.
Thus, as a method for detecting the direction and distance of the sound source, a conventionally used method may be used.
When a direction in which the input sound source is detected is detected, the traveling control unit 12 moves the housing 2 in the direction in which the detected sound source is detected and is detected by the sound input unit 18. You may also take a picture of the direction in which the sound source is located.
The voice input from the voice input unit 18 is, for example, AD converted and stored in the storage unit 51 as input voice data 54 in a predetermined digital voice format.

  The voice recognition unit 19 is a part that recognizes an input voice. That is, it is a part for recognizing a word or a short sentence contained in the voice from the voice (input voice data 54) input from the voice input unit 18. It is also a part for specifying the person who uttered the sound. In order to perform voice recognition, voice registration information 53 is stored in the storage unit 51 in advance. The voice registration information 53 includes, for example, words (or letters, numbers), a sample of voice data, the name of the person who issued the voice data, and the like.

  In the present invention, the audio output unit 20 is a part that outputs the sound for response as described above, the sound necessary for traveling, the sound for communication with the user, and the sound such as the pseudo sound. A speaker is used. As described above, a preset response voice or the like is output from the voice output unit 20. For example, as shown in FIG. 3, the audio output unit 20 is provided at a position on the side of the front surface of the housing of the self-propelled cleaner 201. This is merely an example and can be provided at any position.

Pattern matching between the input voice data 54 and a large number of voice data stored in the voice registration information 53 is performed, and the voice data of the voice registration information 53 includes voice data having a high degree of coincidence satisfying a predetermined determination criterion. For example, a function associated with the voice data is executed.
For example, when the input voice data 54 “clean” is input from the voice input unit 18, pattern matching between the input voice data 54 and a plurality of voice data stored in the voice registration information 53 is performed. A function (for example, a cleaning function) associated with the voice data determined to match the input voice data 54 is executed.

  The image acquisition unit 22 is a part that acquires an image outside the housing 2 and uses a camera. As shown in FIGS. 2 and 3, for example, one image acquisition unit 22 is arranged in the housing 2 in the front portion in the traveling direction when the vehicle travels normally. Or in order to measure the distance to object, you may provide two in front right and left of the housing | casing 2. FIG.

Self-propelled cleaning is performed by analyzing corresponding images acquired by each of the two image acquisition units 22 for the same object recognized by pattern matching, and measuring the displacement SL of the position of the object. The angle AG and the distance from the machine 201 to the object can be detected.
Conventionally used methods such as a stereo camera may be used as a method for detecting the direction in which the specific object exists and the distance thereof. A stereo camera is composed of two cameras at different positions, and obtains a correlation between a set of images obtained by photographing the same object with these cameras. As a distance measuring method, there is known a stereo distance measuring method for calculating a parallax with respect to the same object and obtaining a distance to the object in accordance with a triangulation principle using parameters such as a stereo camera mounting position and a focal length.

When the object detected by the image recognition unit 21 matches a person registered in the image registration information 55, the voice recognition unit 19 may recognize voice data and words corresponding to the person.
The image acquired from the image acquisition unit 22 is AD converted, for example, and stored in the storage unit 51 as acquired image data 56 in a predetermined digital image format.
The acquired image may be a still image or a moving image. The acquired still image is stored in the storage unit 51 as acquired image data 56.

  The image recognition unit 21 is a part that recognizes the acquired image. That is, it is a part that recognizes and specifies a designated sign or person included in the image from the image acquired from the image acquisition unit 22 (acquired image data 56). In order to perform image recognition, image registration information 55 is stored in the storage unit 51 in advance. The image registration information 55 includes, for example, a designated sign (shape, pattern or color), a sample of image data, a person image, and the like.

  The illumination unit is a part that brightens the periphery of the self-propelled cleaner 201, and an LED is used. For example, the illumination unit is lit in conjunction with activation of a camera that is the image acquisition unit 22 and is turned on before photographing by the camera.

The dust collection unit 31 is a part that performs a cleaning function for collecting indoor dust and dust, and mainly includes a dust collection container (not shown), a filter unit, and an openable / closable cover unit that covers the dust collection container and the filter unit. Prepare.
The dust collecting unit 31 has an inflow path that communicates with the intake port 35 and an exhaust path that communicates with the exhaust port 34, and air sucked from the intake port 35 enters the dust collecting container through the inflow path. Then, the air in the dust collecting container is exhausted through the filter unit, and the air after dust collection is discharged to the outside through the exhaust port through the exhaust path. In order to circulate air through such an inflow path and an outflow path, the ventilation control part 33 which drives a blower is provided.
Note that the dust collecting unit 31 is not controlled by the control unit 11, and detection means (mechanical switch, light detection switch) for detecting whether the dust collecting unit 31 is housed in the housing unit of the cleaner body. Etc.) is shown as being sent to the control unit 11.

The ion generator 32 is a part that is accommodated in the housing 2 and generates ions.
Specifically, water molecules in the air are ionized by discharge, and H ⁺ (H ₂ O) m (m is an arbitrary natural number) as positive ions and O ₂ ⁻ (H ₂ O) n (n is a negative ion). Any natural number).

The ions to be generated are not particularly limited, and examples thereof include ions capable of purifying air, ions having a skin beautifying effect and an effect of suppressing bacterial growth on the skin surface, and the like. For example, plasma cluster ions (registered trademark) as described above can be used.
The generated ions may be either negative ions or positive ions. Moreover, you may include the charged fine particle water droplet obtained using an electrostatic atomization phenomenon. In particular, when negative ions are generated, the user can be given a relaxing effect.

The air blow control unit 33 mainly drives and controls a blower fan for performing air intake from the air intake port 35.
The ions generated by the ion generation unit 32 are moved in the direction of the exhaust port 34 by clean air that has passed through the filter unit of the dust collection unit 31 together with the air flowing through the inside of the apparatus by the blower fan driven by the blow control unit 33. In the middle of being sent, it is blown out from the exhaust port 34.

  The exhaust port 34 is an opening that is provided, for example, on the upper surface of the housing 2 and discharges air containing ions generated by driving the ion generator 32 to the outside. Moreover, you may make it discharge | emit the air containing ion slightly diagonally upwards behind the running direction.

  As described above, the self-propelled cleaner 201 mainly sucks external air through the air inlet 35 and exhausts air containing ions through the air outlet 34 mainly using the air blowing fan of the air blowing control unit 33. This is done by rotating. Thereby, air containing dust can be sucked from the air inlet 35 and ions can be released together with the air from which dust has been removed from the air outlet 34.

  The above is the self-propelled cleaner 201, and for the self-propelled ion generator that does not have a cleaning function, the air inlet 35 is provided on the top plate 2 b side instead of the bottom plate. In this case, there is provided a filter unit that removes dust contained in the air in the path from the intake port 35 to the exhaust port 34 without the dust collection unit 31. When the exhaust port 34 is provided at the position shown in FIG. 2, the intake port 35 is provided at a position different from the exhaust port 34.

According to this ion generator, an exhaust opening / closing lid is provided at the exhaust port 34 in order to prevent foreign matter, dust, etc. from entering the inside from at least the exhaust port 34 except when ions are generated. Yes. An intake opening / closing lid that opens and closes the intake port 35 is also provided in the intake port 35 as necessary.
Therefore, the opening / closing lid for exhaust and the opening / closing lid for intake are provided with an opening / closing mechanism (consisting of a transmission member including a motor that performs opening / closing driving and a cam that transmits rotation of the motor) in order to change the opening / closing state. An open / close control unit for controlling is separately provided.
That is, when ions are released, the open / close lids of the intake port 35 and the exhaust port 34 are opened, and when no ions are released, the open / close lids of the intake port 35 and the exhaust port 34 are closed. By performing such opening / closing control, it is possible to prevent dust and foreign matter from entering from the intake port 35 and the exhaust port 34 when ions are not released.
In addition, by controlling the opening and closing of the exhaust port 34 and the intake port 35 in accordance with a predetermined operation mode, ions are generated and released into the room when necessary, so that the room can be sterilized and deodorized or deodorized. Deodorization or the like may be performed accurately.
Furthermore, if the opening / closing degree (open / closed state) of the opening / closing lids of the exhaust port 34 and the intake port 35 can be adjusted as appropriate, the amount of ions released can be controlled. As an example of controlling the discharge amount of ions, the ion discharge amount can also be controlled by controlling the rotational speed of the blower fan by the blower control unit 33. Therefore, it is possible to finely control the discharge of ions and the control of the discharge amount based on the control by the air blowing control unit 33 and the opening / closing lid control unit.
The above ion generator is not provided with the ion generator 32, but is provided with a filter unit that removes and purifies dust contained in the air in the path from the intake port to the exhaust port, and drives the blower fan. Thus, an air purifier that purifies the air can also be configured. Needless to say, these are functions and devices that are included in the present invention.

The communication unit 23 is a part that communicates with an external device via a network. That is, it is a part that transmits various information to an external device other than the self-propelled cleaner 201, and a part that receives data such as an operation request from the external device.
As the network, any network such as a wide area network (WAN) such as a LAN or the Internet, or a dedicated communication line may be used.
For example, when a predetermined image transmission condition is satisfied, such as when an image shooting request is received from an external device, the communication unit 23 sends an image acquired by the image acquisition unit 22 to the external device that has requested the image. Send. Examples of the external device include a personal computer (PC), a portable terminal (TE), and a server (SV) (not shown).

The storage unit 51 is a part that stores information and programs necessary for realizing various functions of the self-propelled cleaner 201, and is used by a storage element such as a semiconductor element such as a RAM or a ROM, a hard disk, or a flash memory. It is done.
The storage unit 51 mainly stores designated position information 52, voice registration information 53, input voice data 54, image registration information 55, acquired image data 56, and the like.
In addition to this, the storage unit 51 temporarily stores information necessary for executing functions such as voice recognition, photographing, communication, and other functions.

The designated position information 52 is position information for designating a designated area DA to be cleaned.
The designated position information 52 includes the position coordinates of the designated positions V1 to V3 (FIG. 6) that form the vertices of a polygon that includes the designated area DA to be cleaned, and related data (distance, angle, etc.).

The voice registration information 53 is information stored in advance in association with a word to be recognized, voice data of the word, and information for specifying the name of the person who issued the voice data when performing voice recognition.
In one voice registration information 53, a registered word, voice data, and the name of the person who uttered the voice data are stored in association with each other.
However, to specify a person, it is necessary to register the person name. However, only the recognition of words spoken by an unspecified number of people is performed, and if the person is not specified, the person name must be registered. Also good.
As the voice data, for example, digital information such as a voice analog waveform itself, waveform information, frequency information, a voice library, and registered word information is stored as one voice file.

The input voice data 54 is voice or sound data input from the voice input unit 18 and is, for example, digitized acoustic data.
The acquired image data 56 is an image acquired by the image acquisition unit 22. The image may be either a still image or a moving image.

  The image registration information 55 is information stored in advance in association with a designated sign to be recognized and image data of the designated sign when performing image recognition.

In one piece of image registration information 55, a designated sign and image data are stored in association with each other in advance.
However, when specifying a person, it is necessary to register a person image. However, only the image recognition of an unspecified number of people is performed, and if the person is not specified, the person name need not be registered. .
As the image data, for example, digital information such as information on the shape of a designated sign, color or pattern information, person image, registered image information is stored as one image file.

<Specific example of area designation processing for self-propelled vacuum cleaner>
Next, based on FIG. 4, the specific example of the area | region designation | designated process of the self-propelled cleaner 201 is demonstrated.
FIG. 4 is a flowchart of the area designation process in the self-propelled cleaner 201 according to the first embodiment of the present invention.

  In FIG. 4, it shows about the flow of a process of the self-propelled cleaner 201 which judges the area | region which needs cleaning based on the positional information designated by the user, and performs a cleaning function.

  First, in step S1, when receiving a cleaning instruction from the user, the control unit 11 confirms whether or not a region to be cleaned is specified (step S1). When this confirmation is performed by voice, it is performed through the voice input unit 18, the voice recognition unit 19, the voice output unit 20, and the like, but may be performed by other methods.

  In the subsequent step S2, if the control unit 11 determines that there is no designation of the area to be cleaned (if the determination result in step S2 is No), the control unit 11 determines that the user has selected cleaning in automatic operation. Proceeding to S3, the travel control unit 12 is caused to move all over the floor surface and execute a cleaning operation (step S3).

  On the other hand, when it is determined in step S2 that the area to be cleaned has been designated (when the determination result in step S2 is Yes), the control unit 11 proceeds to step S4 and confirms the area designation method (step S4). ). Examples of the area designation method include the designation methods (pointing designation, voice designation, remote control designation, marker designation) listed in FIG. Details of the designation method will be described later in the description of FIG. Here, when there is a change in the area designation method, the control unit 11 changes the area designation method to the method designated by the user.

  In subsequent step S5, the control unit 11 performs confirmation of a designation mark and a signal for designating a region (step S5). As a result of the confirmation, when there is a change in the designated sign / signal (when the determination result in step S5 is Yes), the control unit 11 causes the image obtaining unit 22 to acquire the designated sign / signal newly designated by the user, It memorize | stores in the memory | storage part 51 (step S6). In addition, when the area is designated for the first time in the self-propelled cleaner 201 (by the area designation method), the designated sign / signal is confirmed and registered.

  After confirming and registering the designated sign / signal, the control unit 11 proceeds to step S7, and sets the initial count number of the detected number (n) of the designated position Vn to 0 (step S7). On the other hand, if there is no change in the designated sign / cue in step S5 (if the determination result in step S5 is No), the control unit 11 proceeds directly to step S7 and performs the same processing.

  Subsequently, in step S8, the control unit 11 detects the designated position in accordance with the designated region designation method (step S8). When the designated position is detected (when the determination result of step S8 is Yes), the control unit 11 proceeds to step S9, stores the detected position information in the storage unit 51, and detects the number of detected designated positions Vn ( The count number of n) is increased by 1 (step S9). Then, it progresses to step S10. On the other hand, when the designated position is not detected (when the determination result of step S8 is No), the control unit 11 proceeds to step S10.

Next, in step S10, the control unit 11 confirms whether or not there is a signal indicating the end of position designation (step S10). The end confirmation is not limited to after the designated position is detected, and may be performed before the detection, or may be confirmed before and after the designated position is detected.
As a signal for the end of the position designation, for example, gestures that convey the end registered in the storage unit 51 in advance (such as a whispering action or a thumb-holding action), a whistling sound, or a fingering sound, ”Or the like, or an end operation using the remote controller RC.

In step S10, when the end signal of the designation is confirmed (when the determination result in step S10 is Yes), the control unit 11 proceeds to step S11.
On the other hand, in step S10, when there is no designation end instruction (when the determination result in step S10 is No), the control unit 11 returns to step S8 and repeats the detection of the designated position until there is a designation end signal. The number of detections of the designated position may be only once or more than that.

  In subsequent step S11, when the number (n) of detections of the designated position Vn is 1 or more (when the determination result in step S11 is Yes), the control unit 11 proceeds to step S12, and the designated position detected and recorded so far. Based on V1 to Vn, calculation of the designated area DA is executed (step S12). Details of the calculation of the designated area DA will be described in detail with reference to FIGS. After executing the calculation of the designated area DA, the control unit 11 proceeds to step S13.

  Finally, in step S13, the control unit 11 moves to the area obtained by calculation, and causes the travel control unit 12 to self-run so as to clean the entire floor surface in the designated area DA (step S13).

On the other hand, when the detected number (n) of the designated position Vn is 0, the control unit 11 determines that the user has stopped cleaning, and ends the process. Alternatively, the control unit 11 may determine that the area has not been specified and cause the automatic operation to perform the cleaning operation, or return to step S1 and confirm again whether or not the area has been specified. Good.
In addition, the process quoted above is an example to the last, and does not limit the process of the self-propelled cleaner 201 of the present invention.

<Specific example of area specification method>
Next, a specific example of the area specifying method will be described with reference to FIGS.
FIG. 5 is an explanatory diagram of a designation method of the designated area DA to be cleaned by the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 6 is an explanatory diagram of region designation in the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 7 is an explanatory diagram of a designated position detection process for designating a region in the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 8 is an explanatory diagram of a first modified example of area designation in the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 9 is an explanatory diagram of a second modification of region designation in the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 10 is an explanatory diagram of a third modified example of area designation in the self-propelled cleaner 201 according to the first embodiment of the present invention.

As shown in FIG. 5, the area designation method includes pointing designation, voice designation, remote control designation, marker designation, and the like.
In the first pointing designation, the shape of the user's fingertip is stored in the image registration information 55 of the storage unit 51 as a designation indicator. In this case, when the finger is pointed on the floor surface, the portion closest to the floor surface (that is, the tip of the finger) is set as the designated position, but another portion may be designated. The position detection timing detection method is determined by image recognition, and details will be described later in the description of FIG.
In the second voice designation, the shape of the user's feet is stored in the image registration information 55 of the storage unit 51 as a designation mark. In this case, the portion of the foot that contacts the floor is set as the designated position, but another portion may be designated. The position designation timing detection method is determined by recognizing a specific voice uttered by the user. Details will be described later in the description of FIG.
In the third remote control designation, the shape of the user's feet is stored in the image registration information 55 of the storage unit 51 as a designation indicator. In this case, the portion of the foot that contacts the floor is set as the designated position, but another portion may be designated. The position designation timing detection method is determined by recognizing a specific signal of the remote controller RC operated by the user. Details will be described later in the description of FIG.
In the fourth marker designation, the shape of the marker is stored in the image registration information 55 of the storage unit 51 as a designation indicator. In this case, the portion closest to the floor of the marker is set as the designated position, but another portion may be designated. The position designation timing detection method is determined by recognizing a specific voice uttered by the user. Details will be described later in the description of FIG.

<Example of area specification by gesture>
Next, a specific example of each area specifying method will be described.
As an example of the first area designation, there is a method of designating a designated position by gesture such as pointing. For example, as shown in FIG. 6, the user heads to the image acquisition unit 22 of the self-propelled cleaner 201 and configures apexes of polygons including the designated area DA to be cleaned, for example, designated positions V1 to V3. The area is designated by pointing with the index finger or the like. Note that the user needs to specify an area within the acquisition range PA in which the image acquisition unit 22 can acquire an image, but by using a panoramic camera or by storing coordinates on the floor surface and creating a map, The designated position may be designated one at a time.

  As shown in FIG. 7A, the image recognizing unit 21 acquires the position of the target fingertip from the acquired images acquired by the image acquiring unit 22 for each frame acquired continuously in time (acquired). Detection is performed in order of F1 to F5). In FIG. 7A, the image of the frame F1 is the coordinate P1, the image of the frame F2 is the coordinate P2, the image of the frame F3 is the coordinate P3, the image of the frame F4 is the coordinate P4, and the image of the frame F5 is the coordinate P5. In addition, each fingertip is detected.

  Next, as illustrated in FIG. 7B, the control unit 11 compares the heights of the coordinates P <b> 1 to P <b> 5 detected by the image recognition unit 21. In FIG. 7B, the coordinates P1 and P5 are located at the height L3, the coordinates P2 and P4 are located at the height L2, and the coordinates P3 are located at the height L1.

  As shown in FIG. 7C, when the frames F1 to F5 are overlapped, it can be seen that the coordinate P3 is at the lowest height L1. The control unit 11 follows the frames F1 to F5 that follow the trajectory of the coordinates P1 to P5 in time, and sets the frame F3 having the lowest height L3 among the coordinate heights L1 to L5 as the location designation frame. Then, as an example, the location pointed to is specified.

  As a specific method for detecting the position of the fingertip, pattern matching using a finger shape as a model may be used. Further, by taking a difference from the previous frame, a moving object may be detected and its shape may be watched. By using such a method, it is possible to instruct using not only a pointing operation but also a pointer. In addition, in order to make it recognize that it is the object which should be a model, a user shows a fingertip etc. to the image recognition part 21 beforehand, and registers it as the image registration information 55. FIG. If a similar technique is used, it is possible to specify a location by detecting a specific action such as stepping, as well as a fingertip.

<Example of position specification by voice>
As an example of the second designation method, there is a method of designating a designated position by voice designation. For example, the user goes to the image acquisition unit 22 and stands at a position on the floor surface that constitutes the area to be cleaned, and designates the area by uttering a pre-registered voice such as “here”.

  As shown in FIGS. 8A and 8B, the control unit 11 cooperates with the voice recognition unit 19 and the image recognition unit 21, and the user in the frame F2 when the target user pronounces “here”. The location designated by the user can be identified from the coordinates P2 of the foot. For the detection of coordinates, the above-described pattern matching or the like is used. Note that the location for specifying the coordinates is not limited to the user's feet, but may be the user's fingertip, or may be a specific position of the instrument such as the tip of a pointer.

<Example of position specification by remote control>
As an example of the third designation method, there is a method of designating a designated position by remote control designation instead of voice. For example, the user designates the area by going to the image acquisition unit 22 and standing at a position on the floor surface constituting the area to be cleaned, and issuing a signal registered in advance by a remote control operation.

  As shown in FIGS. 9A and 9B, the control unit 11 cooperates with the communication unit 23 and the image recognition unit 21, and the user's feet in the frame F2 when the target user operates the remote controller RC. The location designated by the user can be identified from the coordinates P2. For the detection of coordinates, the above-described pattern matching or the like is used. Note that the location for specifying the coordinates is not limited to the user's feet, but may be the user's fingertip, or may be a specific position of the instrument such as the tip of a pointer. In addition, the trigger for designating a frame is not limited to voice or a remote control signal, and an operation such as gesture of nodding or gesture of raising a thumb may be adopted as a trigger for designating a frame.

<Example of position specification by marker>
As an example of the fourth designation method, there is a method of designating a designated position by marker designation or the like. For example, as shown in FIG. 10, the user designates the region by moving to the image acquisition unit 22 and placing markers (M1, M2, M3) registered in advance at positions on the floor surface constituting the region to be cleaned. I do.

  As shown in FIG. 10, the image recognition unit 21 recognizes each marker M1, M2 and the like by recognizing a predetermined marker shape from the acquired image acquired by the image acquisition unit 22 by pattern matching. Specify the coordinates of M3. Note that the marker shape, color, and pattern are not easily misidentified.

  In this way, by using designation based on gestures, voice, or the like, it is possible to specify a region to be cleaned without using a dedicated device for region designation. In addition, by using an object in the room such as the remote controller RC or the markers M1, M2, and M3, it is possible to specify an area to be cleaned without using a dedicated device for specifying the area.

<Specific examples of area calculation>
Finally, a specific example of area calculation will be described with reference to FIGS.
FIG. 11 is an explanatory diagram of a method for specifying the designated area DA to be cleaned by the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 12 is a specific example of the designated area DA in the self-propelled cleaner 201 according to the first embodiment of the present invention. FIG. 13 is an explanatory diagram of region calculation processing in the self-propelled cleaner 201 according to the first embodiment of the present invention.

As a method of specifying the area to be cleaned from the designated position, as shown in the table of FIG. 11, when there is only one designated position, the peripheral area of the designated position (area within a predetermined distance from the designated position) If there are two designated positions, connect the area around the straight line connecting the two designated positions (area within a predetermined distance from the straight line). If there are three or more designated positions, connect multiple designated positions. Polygon inner area that can be created.
FIGS. 12A, 12B, and 12C show examples of the designated area DA when the designated area DA is one place, two places, and three places, respectively. The shaded portions shown in FIGS. 12A to 12C are designated areas DA identified by designated positions V1 to V3 designated by the user.

The designated position is calculated based on the angle and distance from the self-propelled cleaner 201 to the designated position. As shown in FIG. 13, if the distance DV1 from the self-propelled cleaner 201 to the designated position is known, the self-propelled cleaner is measured by measuring the deviation SL from the center position CP of the acquired image to the designated position V1. An angle AG from 201 to the specified position V1 can be calculated.
If the distance and angle from the position of the self-propelled cleaner 201 to the first designated position, the distance DV1 to the designated position V1, the angle AG, and the like are known, the designated position V1 can be calculated mathematically based on them. The distance, angle, etc. for moving to can be calculated.
Note that the distance measurement can be realized by using an existing technique such as a stereo camera or a distance measuring sensor including two image acquisition units 22 as shown in FIG.

In this way, the self-propelled cleaner 201 capable of specifying an area to be cleaned using a nearby object or a part of the user's body without using a dedicated device for position specification can be realized.
As described above, the designated positions are described as V1 to V3. However, as a matter of course, position designation exceeding three points may be performed. By designating three or more points, the area surrounded by each designated position is recognized as the designated area DA to be cleaned and cleaned. In this case, for example, not only the 12 (C) designated area DA is strictly cleaned, but also the area including the periphery of the designated area DA may be intensively cleaned.

Moreover, although demonstrated as the self-propelled cleaner 201, there exists a case where it is desired to immediately deodorize and purify the smoke and odor generated in a place where the smell is severe, cooking, or the like. In such a case, it can be considered that the designated position is designated as one point or two points. In addition, the function of purifying air (cleaning air) and deodorizing is required instead of cleaning. Therefore, instead of the self-propelled cleaner 201, an ion generator or an air cleaner is used as the self-propelled electronic device. This self-propelled electronic device can immediately travel to a target position by the designation and instruction as described above, and can quickly perform deodorization and air purification at that position.
Therefore, not only the self-propelled cleaner 201 but also a device that performs a desired operation such as an ion generator or an air cleaner can be concentrated in the area designated by the user and the operation can be performed with priority.

2: Housing 2b: Top plate 2c: Side plate 3: Lid 10: Side brush 11: Control unit 12: Travel control unit 13: Wheel 14: Fault detection unit 15: Rechargeable battery 17: Operation input unit 18: Voice input unit 19: Speech recognition unit 20: Audio output unit 21: Image recognition unit 22: Image acquisition unit 23: Communication unit 24: Reception unit 31: Dust collection unit 32: Ion generation unit 33: Blower control unit 34: Exhaust port 35: Intake Mouth 51: Storage 52: Designated position information 53: Voice registration information 54: Input voice data 55: Image registration information 56: Acquired image data 201: Self-propelled cleaner AG: Angle CP: Center position DA: Designated area DV1, DCP: distances F1 to F5: frames L1 to L3: heights M1 to M3: markers P1 to P5: coordinates PA: acquisition range RC: remote control SL: deviation amounts V1 to V3, Vn: designated positions

Claims (6)

  A travel unit that travels the housing, a designated sign for specifying the region, a position identifying unit that identifies the position of the designated sign, and a control that determines the travel location based on the identified position and controls the travel unit A self-propelled electronic device with a part. A cue detection unit for recognizing a determination cue for determining timing for specifying the position of the designated sign and an end cue for determining timing for ending specification of the position of the designated sign;
The control unit causes the position specifying unit to specify the position of the designated sign when the signal detection unit detects the determination signal, and when the signal detection unit detects the end signal, based on the position, The self-propelled electronic device according to claim 1, wherein a travel location is determined.   The self-propelled electronic device according to claim 2, wherein the determination cue includes a predetermined change pattern of the designated sign, a predetermined sound, a voice or electromagnetic wave signal, or a combination thereof.   4. The end signal according to claim 2, wherein the end signal includes an end instruction mark made of a predetermined shape, pattern, color, or a combination thereof, a predetermined sound, a sound or an electromagnetic wave signal, or a combination thereof. Self-propelled electronic equipment.   The self-propelled electronic device according to any one of claims 1 to 4, wherein the designated sign includes a predetermined shape, pattern, color, or a combination thereof. The control unit, when the position specified until the signal detection unit detects the end signal is one, a range within a predetermined distance from the position as the travel location,
In the case where there are two positions specified by the time when the signal detection unit detects the end signal, a range within a predetermined distance from a straight line connecting the positions is set as the travel location,
6. The method according to any one of claims 2 to 5, wherein when there are three or more positions specified until the signal detection unit detects the end signal, an area surrounded by a straight line connecting the positions is determined as the travel location. The self-propelled electronic device as described in one.