JP2014071847A - Self-propelled electronic apparatus, electronic apparatus control system, and electronic apparatus control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily move a self-propelled electronic apparatus that moves on the basis of movement path information received through a communication network to a movement destination responding to a user's instruction with high accuracy.SOLUTION: When performing movement based on the movement path information, a control part (21) moves a self-propelled electronic apparatus 20 along a movement path shown in the movement path information after returning the self-propelled electronic apparatus 20 to a preset reference position.

Description

  The present invention relates to a self-propelled electronic device that moves based on movement route information received via a communication network, and an electronic device control system that gives a movement instruction to the self-propelled electronic device via a communication network from a communication terminal device And an electronic device control method.

  2. Description of the Related Art Conventionally, a technique for controlling operations of various home appliances from a communication terminal device such as a mobile phone via a communication network is known.

  For example, in Patent Document 1, a robot cleaner having a control unit that creates a cleaning map of a cleaning area by driving the robot cleaner to search the cleaning area, and receiving the cleaning map from the robot cleaner. A wireless terminal device that generates a control signal for moving the robot cleaner to a position according to an instruction from a user input with reference to the displayed cleaning map and transmits the control signal to the robot cleaner; A system is disclosed.

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

  However, in the technique of Patent Document 1, in order to move the robot cleaner to a position instructed by the user, it is necessary to cause the robot cleaner to accurately detect the position of the robot cleaner. And in the technique of patent document 1, in order to make a robot cleaner detect the position of the robot cleaner accurately, a plurality of marks are formed on the ceiling in advance, and the plurality of marks are used for the first time and the second time. By shooting at each of the times, the movement distance of the robot cleaner from the first time to the second time is calculated.

  For this reason, in the technique of Patent Document 1, it is necessary to form a plurality of marks on the ceiling in advance, which is troublesome. Further, since the movement control of the robot cleaner can be performed only within a range in which the position detection based on the mark formed on the ceiling can be performed, the range in which the position control of the robot cleaner can be performed is limited.

  In addition, as a method of accurately detecting the position of the robot cleaner, for example, a method of performing position control using a GPS signal is conceivable. However, such a method causes an increase in apparatus cost.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to move a self-propelled electronic device that moves based on movement route information received via a communication network according to a user's instruction. It is to move easily and accurately.

  A self-propelled electronic device according to an aspect of the present invention is a self-propelled electronic device that moves based on movement path information received via a communication network, and controls the movement of the self-propelled electronic device. The movement path information is information indicating a movement path for moving the self-propelled electronic device from a preset reference position to a movement destination according to a user instruction. When moving based on the travel route information, the self-propelled electronic device is moved along the travel route indicated in the travel route information after the self-propelled electronic device is returned to the reference position. It is a feature.

  According to the self-propelled electronic device according to one aspect of the present invention, even if the position of the self-propelled electronic device at the time of receiving an instruction from the user is not necessarily accurately detected, the self-propelled electronic device is It is possible to move to the destination according to the instruction with high accuracy. In addition, since it is not necessary to provide a means for accurately detecting the position of the self-propelled electronic device, it can be easily and accurately moved to the destination according to the user's instruction without incurring a cost increase of the self-propelled electronic device. A self-propelled electronic device can be realized.

It is explanatory drawing which shows schematic structure of the self-propelled electronic device concerning one Embodiment of this invention, and an electronic device control system provided with the same. It is a perspective view of the self-propelled electronic device (self-propelled cleaner) with which the electronic device control system shown in FIG. 1 is equipped. It is sectional drawing of the self-propelled electronic device with which the electronic device control system shown in FIG. 1 is equipped. It is a top view of the bottom face of the self-propelled electronic device with which the electronic device control system shown in FIG. It is a perspective view which shows the structure of the charging stand to which the self-propelled electronic device shown in FIGS. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the travel prohibition range information corresponding to the icon memorize | stored in the server apparatus with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the travel prohibition range information corresponding to the icon memorize | stored in the server apparatus with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the household appliance information memorize | stored in the server apparatus with which the electronic device control system shown in FIG. 1 is equipped. It is a flowchart which shows the flow of a process in the case of moving a self-propelled electronic device to the desired moving destination in the electronic device control system shown in FIG. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows an example of the image displayed on the display part of the communication terminal device with which the electronic device control system shown in FIG. 1 is equipped. It is explanatory drawing which shows the structure of the layout information used with the electronic device control system shown in FIG.

  An embodiment of the present invention will be described.

(1-1. Overall Configuration of Electronic Device Control System 100)
FIG. 1 is an explanatory diagram showing a schematic configuration of an electronic device control system 100 according to the present embodiment. As shown in this figure, the electronic device control system 100 includes a communication terminal device 10, a self-propelled electronic device 20, and a server device (layout information creation device) 80, and these devices are connected via a communication network 90. Are connected to communicate. Further, the communication terminal device 10 and the self-propelled electronic device 20 have a function of performing inter-device communication between these two devices without going through the communication network 90. The number of self-propelled electronic devices 20 provided in the electronic device control system 100 is not limited to one, and a plurality of self-propelled electronic devices 20 may be provided. Similarly, the number of communication terminal devices 10 is not limited to one, and a plurality of communication terminal devices 10 may be provided.

(1-1-1. Configuration of Communication Terminal Device 10)
As illustrated in FIG. 1, the communication terminal device 10 includes a control unit 11, a communication unit 12, a display unit 13, an operation unit 14, and a storage unit 15. The configuration of the communication terminal device 10 is not particularly limited as long as it is a communication terminal device having the functions of the above-described units. For example, a smartphone, a tablet terminal, a mobile phone, a PDA (Personal Digital Assistance), a personal computer, a mobile phone A type game machine or the like can be used.

  The control unit 11 is a control unit of the communication terminal device 10 that controls the operation of each unit of the communication terminal device 10. The control unit 11 includes, for example, an arithmetic processing unit such as a CPU and a dedicated processor, and a storage unit such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an HDD (Hard Disk Drive) (not shown). The operation of each unit of the communication terminal device 10 is controlled by reading and executing various information stored in the storage unit and a program for performing various controls.

  The communication unit 12 has a function (communication function for long-distance communication, for example, a communication function used in the mode described later) that communicates with other devices that exist in a remote place via the communication network 90, and within a communicable range (for example, It is a communication means provided with the function (short-distance communication function, for example, the communication function used at the time of the below-mentioned house mode) which communicates between other apparatuses which exist in the same facility.

  Examples of the communication network 90 used for the above-described long-distance communication function include the Internet, a telephone line network, a mobile communication network, a CATV communication network, a satellite communication network, and the like.

  In addition, as the short-range communication function, for example, WiFi (registered trademark) that interconnects wireless devices using IEEE802.11 (IEEE802.11a or IEEE802.11b), which is one of the wireless LAN standards, is used. Use a communication function of a device, a communication function based on a wireless LAN standard other than IEEE 802.11, a communication function using a short-range wireless communication standard such as Bluetooth (registered trademark) or ZigBee (registered trademark), an infrared communication function, etc. it can. Note that the communication network of the present application includes both the long-range communication function and the short-range communication function.

  The display unit 13 displays various information to be presented to the user in accordance with instructions from the control unit 11. The configuration of the display unit 13 is not particularly limited, and for example, a liquid crystal display panel, an organic EL panel, a plasma display panel, or the like can be used.

  The operation unit 14 receives an operation input from the user and transmits it to the control unit 11. The configuration of the operation unit 14 is not particularly limited, and various conventionally known operation input means can be used. In the present embodiment, a touch panel having the function of the display unit 13 and the function of the operation unit 14 is used.

  The storage unit 15 is a storage unit that stores various types of information used in the communication terminal device 10. The structure of the memory | storage part 15 is not specifically limited, A conventionally well-known memory | storage means can be used.

(1-1-2. Configuration of the self-propelled electronic device 20)
The self-propelled electronic device 20 has a function of performing an operation according to an instruction from a user with respect to an operation unit (an operation unit 23 described later) provided in the own device and an operation according to a control command from the communication terminal device 10. It is a household appliance. In the present embodiment, the case where the self-propelled electronic device 20 is a self-propelled cleaner will be mainly described. However, the configuration of the self-propelled electronic device 20 is not limited to this, and a self-propelled electronic device (an electronic device having a moving function) having a function of performing an operation according to a control command from the communication terminal device 10. If it is. For example, the self-propelled electronic device 20 may be an air cleaning device, a photographing device, an AV device, various robot devices (for example, a housework support robot, an animal type robot, or the like).

  As shown in FIG. 1, the self-propelled electronic device 20 includes a control unit 21, a communication unit 22, an operation unit 23, a storage unit 24, and a device function unit 25.

  The control unit 21 is a control unit of the self-propelled electronic device 20 that controls the operation of each part of the self-propelled electronic device 20. The control unit 21 includes, for example, a computer device including an arithmetic processing unit such as a CPU and a dedicated processor, and a storage unit (not shown) such as a RAM, a ROM, and an HDD, and is stored in the storage unit. The various information and programs for performing various controls are read out and executed to control the operation of each part of the self-propelled electronic device 20.

  The communication unit 22 is configured to communicate with other devices that exist at remote locations via the communication network 90 (far-distance communication function) and other devices that exist within a communicable range (for example, within the same facility). It is a communication means provided with the function (short-distance communication function) which performs communication between apparatuses. As the communication part 22, the thing similar to the communication part 12 with which the communication terminal device 10 is equipped can be used, for example.

  The operation unit 23 receives an instruction input from the user and transmits it to the control unit 21. The configuration of the operation unit 23 is not particularly limited. For example, the operation unit 23 may be configured by key operation buttons, a touch panel, or a combination thereof.

  The storage unit 24 is a storage unit that stores various information used in the self-propelled electronic device 20. The configuration of the storage unit 24 is not particularly limited, and various types of RAM, ROM, HDD, and the like can be used, for example.

  The device function unit 25 executes the device function of the self-propelled electronic device 20 according to an instruction from the control unit 21. For example, when the self-propelled electronic device 20 is a self-propelled cleaner, the device function unit 25 executes a traveling function (moving function), a cleaning function (dust collecting function), an imaging function, and the like. In addition, when the self-propelled electronic device 20 is an air cleaning device, a photographing device, an AV device, various robots, or the like, the device function unit 25 includes device functions (for example, a traveling function, an air cleaning function) provided in each device. , Shooting function, moving function, etc.).

  In the present embodiment, the self-propelled electronic device 20 is a self-propelled cleaner, and as shown in FIG. 1, the device function unit 25 includes a movement drive unit 61, a brush drive unit 62, a fan drive unit 63, and imaging. Unit 40, drive wheel 32, rotating brush 44, side brush 45, suction fan 58, ultrasonic sensor 41, infrared transmission unit 36, voltage detection unit 64, battery 31, charging terminal 49, energization detection unit 65.

  2 is a perspective view of the self-propelled electronic device 20 (self-propelled cleaner) according to the present embodiment, FIG. 3 is a cross-sectional view of the self-propelled electronic device 20, and FIG. 4 is a self-propelled electronic device. It is a top view of the bottom face (floor side surface) of 20.

  The self-propelled electronic device 20 includes a main body of a self-propelled electronic device 20 (self-propelled cleaner) formed of a substantially disk-shaped casing 30 having an outer diameter of about 35 cm, and a battery (secondary battery) 31. And a drive wheel 32 that is driven using a power supply source, and has a function of collecting (cleaning) dust while traveling on its own.

  On the upper surface of the housing 30, a lid 34, an operation unit 35, and an infrared transmission unit 36 are provided. In the present embodiment, the housing 30 has a shape in which the upper surface and the bottom surface form a circle, but the shape of the housing 30 is not particularly limited.

  The lid portion 34 can be opened and closed with respect to the housing 30, and by opening the lid portion 34, the dust collecting container 38 housed in the dust collecting portion 37 in the housing 30 can be attached and detached. The waste inside can be discarded.

  The operation unit 35 is provided with an operation switch (operation unit) that receives input of various instructions, characters, numbers, and other data from the user, and a display (display unit) that displays various information presented to the user. . Note that the operation unit 35 may be provided as a touch panel.

  The infrared transmitter 36 is for transmitting an infrared signal (remote control signal) from the self-propelled electronic device 20 to another household electrical appliance. In the present embodiment, the infrared transmission unit 36 including a plurality of infrared light sources arranged so that the principal axis directions of the emitted light are different from each other is provided, thereby comparing the horizontal direction and the vertical direction from the self-propelled electronic device 20. Infrared signals can be output over a wide angular range. The configuration of the infrared transmission unit 36 is not particularly limited, and the number of infrared light sources installed and the emission angle range of infrared signals may be set as appropriate. For example, an infrared signal may be emitted from the self-propelled electronic device 20 in all directions or in a wide range by arranging a lens at a position facing the emission surface of the infrared light source. The infrared transmission unit 36 may be provided in the self-propelled electronic device 20 or may be detachably attached to the self-propelled electronic device 20.

  A bumper 39 is provided on the side surface of the housing 30 to reduce the impact on the housing 30 when the housing 30 collides with a wall or the like. Further, an imaging unit 40 is provided in a hole provided in a part of the bumper 39, and an ultrasonic sensor 41 is provided in another hole provided in a part of the bumper 39.

  The imaging unit 40 captures an image (moving image and / or still image) around the self-propelled electronic device 20 and generates imaging data. The configuration of the imaging unit 40 is not particularly limited, and conventionally known imaging means can be used. For example, an imaging unit including an optical lens, a color filter, a CCD (Charge Coupled Device) that is a light receiving element, or the like may be used. In addition to the imaging unit 40, an audio acquisition unit (not shown) that acquires audio around the self-propelled electronic device 20 may be provided.

  The ultrasonic sensor 41 outputs an ultrasonic wave toward the periphery of the self-propelled electronic device 20 and receives an ultrasonic wave reflected by the obstacle, thereby causing an obstacle present around the self-propelled electronic device 20. Detect the position of an object.

  As shown in FIG. 4, the driving wheel 32, the front wheel 47, the rear wheel 48, the rotating brush 44, the side brush 45, and the suction port 46 are provided on the bottom surface of the housing 30.

  The drive wheels 32 are respectively provided on both ends of a center line 32a of a circle formed by the bottom surface of the bottom surface of the housing 30. Each of the drive wheels 32 is attached to a rotation shaft (not shown) parallel to the center line 32 a in a state where a part of the drive wheel 32 protrudes from the bottom surface of the housing 30. Each of these rotating shafts is rotationally driven by driving a movement drive unit 61 (see FIG. 1) motor, gear, etc. (not shown) using electric power supplied from the battery 31. Thereby, each drive wheel 32 rotates and the self-propelled electronic device 20 self-propels on the floor surface.

  Each drive wheel 32 is individually driven to rotate. When these drive wheels 32 are driven to rotate in the same direction, the self-propelled electronic device 20 is rotated in the rotation direction of each drive wheel 32. Move forward or backward as appropriate. When these drive wheels 32 are driven to rotate in directions opposite to each other, the self-propelled electronic device 20 rotates (turns) in a direction parallel to the bottom surface on the spot according to the rotation direction of each drive wheel 32. . Thereby, the advancing direction of the self-propelled electronic device 20 can be changed. The self-propelled electronic device 20 is provided with a sensor (not shown) that detects when the bumper 39 collides with a wall or the like, and proceeds when the self-propelled electronic device 20 collides with the wall or the like during movement. The movement may be continued by changing the direction. Also, obstacles such as walls and furniture are detected according to the detection result of the ultrasonic sensor 41 and the imaging result of the imaging unit 40, and the self-propelled electronic device 20 automatically moves while avoiding the obstacle. May be.

  In addition, a rectangular suction port 46 formed of a recess recessed inside the housing 30 is provided on the bottom surface of the housing 30, and a rotation axis parallel to the bottom surface of the housing 30 is provided in the recess of the suction port 46. A rotating brush 44 is provided that rotates along the axis. Further, side brushes 45 that rotate along a rotation axis perpendicular to the bottom surface of the housing 30 are provided at positions close to both ends in the longitudinal direction of the suction port 46 with respect to the suction port 46. In the rotating brush 44 and the side brush 45, the brush driving unit 62 (see FIG. 1) rotates and rotates the rotating shafts of the rotating brush 44 and the side brush 45 by the electric power supplied from the battery 31 in response to an instruction from the control unit 21. Rotate by

  Further, a roller-shaped front wheel 47 is provided on the bottom surface of the housing 30 in front of the suction port 46. A rear wheel 48 made up of a free wheel is provided near the rear end (rear end) of the bottom surface of the housing 30. When the self-propelled electronic device 20 is disposed on a flat floor surface, the rotating brush 44, the drive wheel 32, and the rear wheel 48 are grounded to the floor surface F, while the front wheel 47 is separated from the floor surface F. The weight distribution in the front-rear direction is set in the front and rear, and cleaning is performed in a state where the front wheel 47 is separated from the floor surface F. Therefore, dust in front of the course can be guided to the suction port 46 without being blocked by the front wheel 47. When a step appears on the course, the front wheel 47 contacts the step so that the self-propelled electronic device 20 can easily get over the step.

  At the rear end of the peripheral surface (side surface) of the housing 30, a charging terminal 49 used when charging the battery 31 is provided so as to be exposed from the housing 30 to the outside. In the present embodiment, two charging terminals 49 extending in a direction substantially horizontal to the floor surface are arranged at a rear end of the peripheral surface of the housing 30 at a predetermined interval in the vertical direction. The installation position and the number of the charging terminals 49 are not limited to this.

  When charging the battery 31, as shown in FIG. 3, the self-propelled electronic device 20 is returned to the charging base (home position) 70, and the charging terminal 49 is connected to the power supply terminal 71 provided on the charging base 70. To charge the battery 31. The charging stand 70 is usually installed so that the back side (the side opposite to the side where the power supply terminal 71 is provided) faces the indoor side wall S, and power supplied from a commercial power source is supplied via the power supply terminal 71. To the self-propelled electronic device 20. The charging stand 70 is arranged at a predetermined position on the floor so as not to move.

  FIG. 5 is a perspective view showing the configuration of the charging stand 70. As shown in this figure, on the front surface of the charging stand 70 (the surface facing the peripheral surface of the housing 30), the self-propelled electronic device 20 can be brought into contact with the charging terminal 49 of the self-propelled electronic device 20. The same number of power supply terminals 71 as the charging terminals 49 are provided so as to extend in a direction substantially parallel to the floor surface. Each power supply terminal 71 is biased so as to protrude from the front surface of the charging base 70 to the outside of the charging base 70 by a biasing means such as a spring (not shown), and the self-propelled electronic device 20 is returned to the charging base 70 ( In the case of docking, the charging terminal 49 pushes the power supply terminal 71 in a direction against the urging force by the urging means, and pushes back until the front end surface of the power supply terminal 71 and the front surface of the charging base 70 become substantially flat. It is possible. Then, the charging terminal 49 of the self-propelled electronic device 20 is pushed until the front end surface of the power feeding terminal 71 becomes substantially flat with the front surface of the charging base 70 while being in contact (electrically connected) with the power feeding terminal 71 of the charging base 70. Then, the power supply terminal 71 is electrically connected to a contact (not shown) provided inside the charging base 70, and the power supplied from the commercial power source to the charging base 70 is self-propelled via the power supply terminal 71 and the charging terminal 49. The battery 31 is charged by being supplied to the electronic device 20.

  The battery 31 is a power supply source for the entire self-propelled electronic device 20. The configuration of the battery 31 is not particularly limited. For example, a lead battery, a nickel metal hydride battery, a lithium ion battery, or a capacitor can be used. The battery 31 is preferably a large capacity rechargeable battery that can be repeatedly charged and discharged.

  The voltage detector 64 detects the voltage of the battery 31 and calculates the charge amount of the battery 31 from the detected voltage.

  The energization detection unit 65 supplies the energization amount from the power feeding terminal 71 to the charging terminal 49 (the current value of the current supplied from the power feeding terminal 71 to the battery 31 via the charging terminal 49 and / or the charging terminal 49 by the power feeding terminal 71. The voltage value applied to is detected.

  A dust collection portion 37 that collects dust is disposed in the housing 30. The dust collection unit 37 is housed in a dust collection chamber 50 provided inside the housing 30. The dust collection chamber 50 is composed of an isolation chamber whose four circumferential surfaces and bottom are covered, and is formed by extending in the axial direction of the rotary brush 44 so as to partition the inside of the housing 30. Each wall surface of the dust collection chamber 50 is closed except for the front wall extending in the axial direction of the rotating brush 44. A first intake passage 51 communicating with the suction port 46 is provided on the front wall of the dust collection chamber 50.

  The dust collector 37 is opened to the outside of the housing 30 by opening the lid portion 34 of the housing 30. The dust collecting portion 37 is formed by attaching an upper cover 53 having a filter 52 to an upper portion of a dust collecting container 38 having a bottom. The upper cover 53 is locked to the dust collecting container 38 by a movable locking part (not shown), and the upper surface of the dust collecting container 38 is opened and closed by operating the locking part. Thereby, the dust accumulated in the dust collecting container 38 can be discarded.

  An inflow passage 54 communicating with the first intake passage 51 is provided on the peripheral surface of the dust collecting container 38. In addition, an inflow portion 54 b is provided in the dust collection container 38 so as to guide the airflow downward by bending the inflow passage 54. On the peripheral surface of the upper cover 53, an outflow passage 55 that connects the inside of the dust collecting container 38 and the second intake passage 56 is provided. The second intake path 56 is disposed so as to communicate a motor unit 57 and an outflow path 55 described later.

  A gasket (not shown) that is in close contact with the front wall of the dust collecting chamber 50 is provided around the openings in the inflow path 54 and the outflow path 55. Thereby, the inside of the dust collection chamber 50 which accommodated the dust collection part 37 is sealed.

  A control board 42 is disposed on the upper rear side of the dust collection chamber 50 in the housing 30. The control board 42 is provided with a control unit 21 that controls each unit of the self-propelled electronic device 20 and a storage unit 24 that stores various data. A battery 31 is disposed at the lower rear of the dust collection chamber 50. The battery 31 is charged by electric power supplied from the charging base 70 via the charging terminal 49, and supplies electric power to the control board 42, the drive wheel 32, the rotating brush 44, the side brush 45, the suction fan 58, and the like.

  In the self-propelled electronic device 20, when the cleaning operation is instructed, the suction fan 58, the drive wheel 32, the rotating brush 44, and the side brush 45 are driven by the power supplied from the battery 31. The suction fan 58 is driven by driving a motor unit 57 by a fan driving unit 63 (see FIG. 1). As a result, the self-propelled electronic device 20 causes the rotating brush 44, the drive wheel 32, and the rear wheel 48 to contact the floor surface F and self-propelled in a predetermined cleaning region, and dust on the floor surface F from the suction port 46. Airflow including is sucked. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 44 and guided into the suction port 46. Further, the dust on the side of the suction port 46 is guided to the suction port 46 by the rotation of the side brush 45.

  The airflow sucked from the suction port 46 flows into the dust collecting portion 37 through the first intake passage 51 as shown by an arrow A1 in FIG. The airflow that has flowed into the dust collecting portion 37 collects dust by the filter 52 and flows out from the dust collecting portion 37 through the outflow passage 55. As a result, dust is collected and accumulated in the dust container 38. The airflow flowing out from the dust collecting portion 37 flows into the suction fan 58 of the motor unit 57 via the second intake passage 56 as indicated by an arrow A2.

  The airflow that has passed through the suction fan 58 is exhausted upward and rearward of the self-propelled electronic device 20 from an exhaust port 59 provided on the upper surface of the housing 30 as indicated by an arrow A3.

(1-1-3. Configuration of Server Device 80)
As shown in FIG. 1, the server device 80 includes a control unit 81, a communication unit 82, and a storage unit 83.

  The control unit 81 is a control unit of the server device 80 that controls the operation of each unit of the server device 80. The control unit 81 includes, for example, an arithmetic processing unit such as a CPU or a dedicated processor, and a computer device including a storage unit (not shown) such as a RAM, a ROM, and an HDD, and stores in the storage unit. By reading and executing the various information and programs for performing various controls, the operation of each unit of the server device 80 is controlled. The control unit 81 has a function of reading and executing an electronic device control application stored in the electronic device control application storage unit 84.

  The communication unit 82 is a communication unit that communicates with other devices via the communication network 90. As the communication network 90, the above-described configurations can be used.

  The storage unit 83 is a storage unit that stores various types of information used in the electronic device control system 100, and includes an electronic device control application storage unit 84 and a setting information storage unit 85.

  The electronic device control application storage unit 84 controls the operation of the self-propelled electronic device 20 from the communication terminal device 10 via the communication network 90, and registers various setting information related to the control of the self-propelled electronic device 20. The electronic device control application to be activated is stored.

  Examples of the electronic device control application include a setting application for generating and registering setting information regarding the self-propelled electronic device 20, an authentication application for performing login authentication, and an imaging function ( Examples include a device function execution application that executes a “kansai” function), a cleaning function (“clean” function), a movement function (“Ido” function), a home appliance operation function (“Karen” function), and the like.

  In the present embodiment, when the operation of the self-propelled electronic device 20 is controlled from the communication terminal device 10 via the communication network 90 or when various settings relating to the self-propelled electronic device 20 are performed, the user can The server device 80 is accessed to activate the electronic device control application, and various instructions are input while referring to an interface screen provided from the electronic device control application. Thus, the electronic device control application generates a control command corresponding to the instruction input from the user and transmits it to the self-propelled electronic device 20 to cause the self-propelled electronic device 20 to execute an operation corresponding to the instruction input. Alternatively, the electronic device control application generates setting information corresponding to an instruction input from the user and stores the setting information in the setting information storage unit 85.

  The setting information stored in the setting information storage unit 85 includes, for example, (i) a user that associates the self-propelled electronic device 20 with the user information of a user who permits operation control of the self-propelled electronic device 20. Authentication information, (ii) terminal authentication information that associates the self-propelled electronic device 20 with the communication terminal device 10 that permits operation control of the self-propelled electronic device 20, and (iii) the self-propelled electronic device 20 is disposed. The layout information (schedule information) of the space (area) that is set is included. Here, the layout information is information on a space (region) where the self-propelled electronic device 20 is arranged or an object existing in the space, and particularly information on the outer shape, arrangement, and properties of the space or the object. The information includes at least one piece of information.

  FIG. 22 is an explanatory diagram showing an example of the configuration of layout information. As shown in this figure, layout information includes, for example, (1) layout outline information indicating the size and shape of a space (room, house, facility, etc.) in which the self-propelled electronic device 20 is arranged, (2) Arrangement information indicating the arrangement state of arrangement objects such as furniture and home appliances, (3) Prohibition area information indicating an area where the self-propelled electronic device 20 cannot travel (or an area where the self-propelled electronic device 20 does not want to travel) (4) Manufacturer name and model name of home appliances arranged in the space where the self-propelled electronic device 20 is arranged, a name given by the user to the home appliance, and operation by remote control on the home appliance Operation information that can be instructed, home appliance information that indicates operation signal information (frequency, signal waveform, etc.) indicating a remote control signal (operation signal) for performing the operation of each operation content, and the like are included. The operation signal information may be operation signal information arbitrarily learned by the user. The operation signal information can be acquired by recording an operation signal generated by the remote controller, such as a commercially available learning remote controller. The layout information is set in advance by the user and stored in the setting information storage unit 85. When the user inputs an instruction to the electronic device control application, the electronic device control application generates an interface screen (layout screen) to be displayed on the communication terminal device 10 based on the layout information, or the self-propelled electronic device 20 Select (search) the movement route when moving.

  In the present embodiment, the operation of the self-propelled electronic device 20 is controlled from the communication terminal device 10 via the server device 80, but is not limited thereto. For example, the function of the server device 80 is provided in the communication terminal device 10 or the self-propelled electronic device 20, and the communication terminal device 10 accesses the self-propelled electronic device 20 via the communication network 90 or communication between devices (short-distance communication). Thus, the operation of the self-propelled electronic device 20 may be controlled. In this case, the communication terminal device 10 or the self-propelled electronic device 20 is an example of the layout information creation device of the present application. Moreover, you may make it equip the communication terminal device 10 or the self-propelled electronic device 20 with a part of function of the server apparatus 80 of this embodiment. In this case, the server device 80, the communication terminal device 10, and / or the self-propelled electronic device 20 are examples of the layout information creation device of the present application.

(1-2. Start of electronic device control application)
FIG. 6 is an explanatory diagram showing a state transition of a display screen displayed on the communication terminal device 10 when the electronic device control system 100 accesses the server device 80 from the communication terminal device 10 to activate the electronic device control application. is there.

  When the user selects the self-propelled electronic device 20 (electronic device control application corresponding to the self-propelled electronic device 20) on the home screen of the communication terminal device 10, the communication terminal device 10 displays the initial screen of the electronic device control application as a display unit. 13 is displayed. In the example shown in FIG. 6, a “mode selection screen” for selecting either “home mode” or “home mode” is displayed as the initial screen. Note that the above-described initial screen may be acquired from the server device 80 by the communication terminal device 10 transmitting an initial screen transmission request to the server device 80 (electronic device control application), and stored in the storage unit 15 of the communication terminal device 10. It may be stored in advance.

  The “auto mode” is obtained by transmitting a control command corresponding to an instruction input by the user via the operation unit 14 of the communication terminal device 10 from the communication unit 12 to the self-propelled electronic device 20 via the communication network 90. In this mode, the operation of the self-propelled electronic device 20 is controlled.

  In “home mode”, a control command corresponding to an instruction input by the user of the communication terminal device 10 via the operation unit 14 is transmitted from the communication unit 12 to the self-propelled electronic device 20 by inter-device communication (short-distance communication). In this mode, the operation of the self-propelled electronic device 20 is controlled. In the “home mode”, for example, the user can control the operation of the self-propelled electronic device 20 while looking at the self-propelled electronic device 20 to execute various functions (for example, a cleaning function and a moving function). In the present embodiment, the case where the operation of the self-propelled electronic device 20 is controlled using the “mostly mode” will be mainly described.

  When the user performs an operation of selecting “appropriate mode” on the initial screen illustrated in FIG. 6, a signal indicating the operation is transmitted to the server device 80 to perform user authentication from the electronic device control application to the communication terminal device 10. "Login screen" is sent. When using "Osoto Mode" for the first time, before displaying the "Login Screen", the Terms of Use screen showing the Terms of Use of "Osoto Mode" is displayed. If the user agrees to the Terms of Use, the login screen ( Alternatively, a user registration screen) may be displayed.

  When the user inputs user authentication information (for example, ID and password) to the “login screen”, the user authentication information is transmitted to the server device 80, and user authentication processing is performed by the electronic device control application. If the electronic device control application determines that the electronic device control system permits the operation control of the self-propelled electronic device 20 by the electronic device control system 100 as a result of the user authentication process, the electronic device control application causes the communication terminal device 10 to execute “auto mode”. The home screen (“Osoto Mode Home Screen”) is transmitted and displayed on the display unit 13 of the communication terminal device 10. In addition, when the communication terminal device 10 (or the user who is operating the communication terminal device 10) and the self-propelled electronic device 20 to be controlled are not associated (when both are not paired), A registration screen for performing registration processing (pairing processing) for registering in the server device 80 in association with each other is displayed on the display unit 13 of the communication terminal device 10. You may make it transfer to a home screen.

  On the “Osoto Mode” home screen, items for selecting the control content for the self-propelled electronic device 20 (in the example of FIG. 6, “Kansai”, “Soji”, “Kan”, “Ido”, "Return") and items for setting the electronic device control system 100 ("Setting" in the example of FIG. 6) are displayed so that the user can select desired items.

  When the user operates the “kansai” button, a control command for causing the self-propelled electronic device 20 to execute the “kansai” function is transmitted from the electronic device control application operating on the server device 80. As a result, the control unit 21 of the self-propelled electronic device 20 controls the operation of each unit (such as the image capturing unit 34) of the device function unit 25 to image the surroundings of the self-propelled electronic device 20, and the image data is stored in the server device. To 80. The electronic device control application transfers the imaging data transmitted from the self-propelled electronic device 20 to the server device 80 to the communication terminal device 10. Thereby, the user of the communication terminal device 10 can confirm the captured image around the self-propelled electronic device 20 from a remote place.

  When the user operates the “clean” button, a control command for causing the self-propelled electronic device 20 to execute the “clean” function is transmitted from the electronic device control application operating on the server device 80. Thereby, the control part 21 of the self-propelled electronic device 20 controls the operation | movement of each part (the movement drive part 61, the brush drive part 62, the fan drive part 63, etc.) of the apparatus function part 25, and performs a cleaning function.

  When the user operates the “Kaden” button, the electronic device control application that operates on the server device 80 stores in the setting information storage unit 85 an interface screen for selecting the home appliance to be controlled and the control content for the home appliance. Is generated based on the layout information being transmitted and transmitted to the communication terminal device 10, and the instruction content from the user for the screen (selection instruction for selecting the household appliance to be operated from the icons included in the layout image, and Information indicating the content of the operation instruction for specifying the operation content for the selected home appliance is acquired. Then, a control command for causing the home appliance selected by the user to perform an operation according to the instruction from the user is generated and transmitted to the self-propelled electronic device 20. The control unit 21 of the self-propelled electronic device 20 generates an infrared signal (operation signal) corresponding to a control command from the electronic device control application and outputs the infrared signal from the infrared transmission unit 36. Thereby, the infrared signal according to a user's instruction | indication is output from the self-propelled electronic device 20, and it can be made to perform the operation | movement according to the instruction | indication from a user to the household appliances of the control object which received the infrared signal. It has become.

  When the user operates the “Ido” button, the electronic device control application that operates on the server device 80 displays an interface screen for the user to specify a destination based on the layout information stored in the setting information storage unit 85 Is transmitted to the communication terminal device 10, and information indicating a move destination designation instruction from the user for the screen is acquired. Then, the electronic device control application sets the self-propelled electronic device 20 to the destination corresponding to the instruction from the user based on the layout information stored in the setting information storage unit 85 and the instruction for specifying the destination from the user. The movement route (movement route) for moving is searched. Then, the electronic device control application generates a control command for moving the self-propelled electronic device 20 along the movement route according to the search result, and transmits the control command to the self-propelled electronic device 20. The control unit 21 of the self-propelled electronic device 20 controls the operation of each unit of the device function unit 25 in accordance with a control command from the electronic device control application, and moves the self-propelled electronic device 20. Thereby, the user of the communication terminal device 10 can move the self-propelled electronic device 20 from a remote place to a desired position.

  In the present embodiment, when the “Ido” button is operated to move the self-propelled electronic device 20 to the destination specified by the user, the electronic device control application allows the self-propelled electronic device 20 to move to a predetermined home. It is determined whether or not the charging terminal 49 of the self-propelled electronic device 20 is in contact with the power supply terminal 71 of the charging stand 70 and the battery 31 of the self-propelling electronic device 20 is charged in this embodiment. . When it is determined that the self-propelled electronic device 20 is not at the home position, the electronic device control application once returns the self-propelled electronic device 20 to the home position and then starts moving to the destination. ing.

  When the user operates the “return” button, the electronic device control application operating on the server device 80 transmits a control command for returning the self-propelled electronic device 20 to a predetermined home position to the self-propelled electronic device 20. To do.

  The control unit 21 of the self-propelled electronic device 20 controls the operation of each unit of the device function unit 25 in accordance with a control command from the electronic device control application, and moves (returns) the self-propelled electronic device 20 to the home position. . A method of returning the self-propelled electronic device 20 to the home position will be described later.

  When the user operates the “setting” button, the electronic device control application operating on the server device 80 transmits a setting screen for the user to input layout information to the communication terminal device 10. The communication terminal device 10 displays the setting screen transmitted from the server device 80 (electronic device control application) on the display unit 13, accepts a user instruction input to the setting screen, and causes the server device 80 (electronic device control application) to receive the instruction screen. Send. As a result, the layout information corresponding to the instruction from the user is generated by the electronic device control application and stored in the setting information storage unit 85. Details of the layout information generation processing will be described later.

(1-3. Generation method of layout information)
Next, a method for generating layout information will be described.

  When the user selects “Setting” on the “Roughly Mode Home Screen” shown in FIG. 6, the “Roughly Mode Setting Screen” shown in FIG. 7 is displayed. That is, when the user of the communication terminal device 10 selects “setting” on the “modest mode home screen”, the control unit 11 of the communication terminal device 10 transmits information indicating the operation content to the server device 80, and When the electronic device control application operating on the device 80 receives the information, the electronic device control application transmits screen data of the “modest mode setting screen” to the communication terminal device 10 to be displayed on the display unit 13.

  On the “Osoto Mode Setting Screen”, the buttons “Oya and Outline Formation”, “Icon Placement”, “Driving Prohibited Area Setting”, “Home Appliance Registration”, “Home”, “Setting”, and “Help” are displayed. Is displayed.

  “Otoya outline formation” is a button for setting layout outline information, “icon placement” is a button for setting arrangement information, and “travel prohibited area setting” is a button for prohibiting travel area information. This is a button for setting, and “Home Appliance Registration” is a button for setting home appliance information. In addition, if you operate the “Home” button, it will shift to the “Home Mode Mode Screen”, if you operate the “Settings” button, it will shift to the “Modest Mode Setting Screen”, and operate the “Help” button to support user operations. Is set to display a help screen showing information to do so.

(1-3-1. Setting of layout outline information)
First, a method for setting layout outline information will be described. FIG. 7 is an explanatory diagram showing an image displayed on the display unit 13 of the communication terminal device 10 during the layout outer shape information setting process.

  When the user selects “Navel and external shape formation” on the “modest mode setting screen”, the electronic device control application, as shown in FIG. 7, the external shape of the space in which the self-propelled electronic device 20 is arranged ( For example, an “outline formation screen” for setting a room, house, floor plan, etc.) is displayed on the display unit 13 of the communication terminal device 10.

  The example of FIG. 7 shows an example in which a rectangular room is set as layout outline information, and the user arbitrarily sets the vertical and horizontal room sizes. However, the setting content of the layout outline information is not limited to this. For example, it may be set to a layout shape other than a rectangle, or may be set to a layout outline composed of a plurality of rooms, such as a hallway, a staircase, a toilet, Layout outlines including bathroom, kitchen, entrance, etc. may be set.

  In addition, a pattern close to the layout outline of the space in which the user places the self-propelled electronic device 20 is selected from a plurality of basic patterns of layout outlines stored in advance, and the size and shape of each part are adjusted. By doing so, the layout outline may be set.

  When the user inputs the layout outline on the “outline formation screen” and operates the “OK” button, the electronic device control application displays an “execution confirmation screen” for confirming to the user whether the layout outline information can be updated. It is displayed on the display unit 13 of the apparatus 10.

  In the “execution confirmation screen”, information for confirming to the user whether the layout outline information can be changed is displayed. When the user instructs to change the layout outline information on this “execution confirmation screen” (when “Yes” is operated), the electronic device control application displays the layout outline information to be stored in the setting information storage unit 85 on the “outline formation screen”. The content set by the user is set, and the display on the display unit 13 of the communication terminal device 10 is returned to the “mostly mode setting screen”.

(1-3-2. Placement information setting)
Next, a method for setting arrangement information indicating the arrangement state of arrangement objects such as furniture and home appliances will be described. FIG. 8 is an explanatory diagram showing an image displayed on the display unit 13 of the communication terminal device 10 during the arrangement information setting process.

  When the user selects “icon placement” on the “modest mode setting screen”, the electronic device control application displays an “icon placement screen” on the display unit 13 of the communication terminal device 10 as shown in FIG. Based on the layout information stored in the setting information storage unit 85, the registered layout outline and icons are displayed on the “icon arrangement screen”. That is, a layout image in which an image of an icon indicating an arrangement such as furniture or home appliances arranged in a space where the self-propelled electronic device 20 is provided is displayed on a layout outline image showing the layout outline. Is done. In addition, buttons “delete”, “add”, and “complete” are displayed on the “icon placement screen”.

  When the user drags an icon superimposed on the image of the layout outline on the “icon placement screen”, the electronic device control application moves the icon on the layout outline in accordance with the user's drag operation. Then, when the user moves the icon to a desired position and drops it, and operates the “Done” button, the electronic device control application displays the arrangement position of the icon in the arrangement information stored in the setting information storage unit 85. Set to the dropped position. In addition, when the electronic device control application displays an “execution confirmation screen” indicating that the icon is arranged on the display unit 13 of the communication terminal device 10 and operates the “OK” button on the “execution confirmation screen”, the display unit The display of 13 is returned to the display of the “modest mode setting screen”.

  When the user operates the “delete” button on the “icon placement screen”, the electronic device control application displays an “icon delete screen” for confirming with the user whether or not the icon can be deleted, as shown in FIG. The information is displayed on the display unit 13 of the communication terminal device 10. When the user selects “Yes” on the “icon deletion screen”, the electronic device control application deletes the icon selected by the user from the arrangement information stored in the setting information storage unit 85. After deleting the icon, the electronic device control application returns the display of the display unit 13 of the communication terminal device 10 to the “mostly mode setting screen”.

  When the user operates the “add” button on the “icon placement screen”, the electronic device control application displays an “icon selection top screen” on the display unit 13 of the communication terminal device 10 as shown in FIG. The “icon selection top screen” is a screen for selecting the type of icon to be arranged. In the example of FIG. 8, items according to the arrangement target can be selected from “furniture / pillar”, “arbitrary home appliance”, and “self-propelled cleaner”.

  When an item corresponding to an arrangement object is selected on the “icon selection top screen”, the electronic device control application displays an “icon selection screen” that indicates that icons relating to a plurality of objects belonging to the item can be selected. Are displayed on the display unit 13. For example, when the user selects “furniture / pillar”, the electronic device control application causes the display unit 13 to display a plurality of icons related to furniture, pillars, and the like, as illustrated in FIG. 8. The user selects an icon corresponding to the arrangement target object from the plurality of icons.

  When the user selects “arbitrary home appliances”, the electronic device control application displays a plurality of icons related to various home appliances on the display unit 13 as shown in FIG. Select the icon corresponding to the home appliance to be placed.

  Further, when the user selects “self-propelled cleaner”, the electronic device control application, as shown in FIG. 11, arranges the self-propelled cleaner (self-propelled electronic device 20) and the charging stand 70. The display unit 13 displays a plurality of icons corresponding to the icon, and the user selects an icon corresponding to the arrangement direction of the charging stand 70 from the plurality of icons.

  When the user selects an icon corresponding to the registration object on the “icon selection screen”, the electronic device control application displays an “icon arrangement screen” on the display unit 13 of the communication terminal device 10 as shown in FIG. . At this time, the icon selected by the user is arranged at a predetermined position (upper left corner in the example of FIG. 8) of the “icon arrangement screen” in the initial state. As in the case described above, the user drags the icon displayed on the layout outline image on the layout image displayed on the “icon arrangement screen” to move the icon to a desired position. Move. When the user operates the “Done” button with the icon moved to a desired position, the electronic device control application sets the icon and the position of the icon in the arrangement information stored in the setting information storage unit 85. Set. In addition, the electronic device control application displays an “execution confirmation screen” indicating that the icon has been arranged on the display unit 13 of the communication terminal device 10. When the user operates the “OK” button on the “execution confirmation screen”, the electronic device control application is displayed. The display of the section 13 is returned to the “mostly mode setting screen”.

  In the present embodiment, the electronic device control application includes travel prohibition area information in the layout information in addition to the layout outer shape information and the arrangement information. A method for generating the travel prohibited area information will be described.

  (A) of FIG. 12 is explanatory drawing which shows an example of the "icon arrangement screen" displayed on the display part of the communication terminal device 10 based on layout external shape information and arrangement | positioning information, (b) of FIG. 12 is FIG. It is explanatory drawing which shows the travel prohibition area information corresponding to (a).

  As shown in FIG. 12B, the electronic device control application divides the floor surface of the space specified by the layout outline information into a matrix composed of a number of blocks, and each block is self-propelled electronic device 20. Travel prohibition area information indicating whether the vehicle belongs to a travelable block (travelable area) that is a travelable block or a travel prohibition block (running prohibited area) that is a block in which the self-propelled electronic device 20 cannot travel To do.

  In the present embodiment, the size of one block is set to 25 cm × 25 cm. Thereby, the electronic device control application can easily determine whether or not the self-propelled electronic device 20 can travel on the boundary line between adjacent blocks based on the travel prohibited area information.

  That is, in this embodiment, since the external shape of the self-propelled electronic device 20 is about 35 cm, when the self-propelled electronic device 20 travels on the boundary line between the travelable blocks, the self-propelled electronic device 20 in the block is A gap (margin) of 25−35 / 2 = 7.5 cm is generated between the boundary line opposite to the traveling boundary line and the outer edge of the self-propelled electronic device 20. Therefore, the self-propelled electronic device 20 can be caused to travel without protruding to a block adjacent to the boundary line on the opposite side of the boundary line on which the self-propelled electronic device 20 travels. Therefore, even if the block adjacent to the opposite boundary line is the travel prohibition block, the self-propelled electronic device 20 can be traveled so as not to protrude from the travel prohibition block. For this reason, the electronic device control application determines that the self-propelled electronic device 20 can travel on the boundary line between both adjacent blocks when the adjacent blocks are travelable blocks. On the other hand, when at least one of the adjacent blocks is a travel prohibition block, the electronic device control application determines that travel is impossible on the boundary line between the two blocks.

  The size of one block (length of one side) in the travel-prohibited area information is not limited to the above-described size (25 cm × 25 cm), but part of the self-propelled electronic device 20 when the self-propelled electronic device 20 travels. In order to prevent spilling out of the travel prohibition block, it is necessary to make it at least larger than ½ times the outer diameter of the self-propelled electronic device 20 in the direction perpendicular to the travel direction and parallel to the floor surface. In addition, if the block size is too large, the search accuracy when searching for the optimal travel route of the self-propelled electronic device 20 based on the travel prohibition area information may be reduced. The size of one block (the length of one side) is preferably set to be equal to or smaller than the outer diameter in the direction perpendicular to the traveling direction of the self-propelled electronic device 20 and parallel to the floor surface. That is, the size (length of one side) of one block in the travel prohibited area information is larger than ½ times the outer diameter of the self-propelled electronic device 20 in the direction perpendicular to the travel direction and parallel to the floor surface. It is preferable that it is 1 time or less.

  In the setting information storage unit 85, each icon that can be selected on the “icon selection screen” described above and an object corresponding to the icon are arranged in a space where the self-propelled electronic device 20 is arranged. Travel prohibition range information indicating each block (travel prohibition block, travel prohibition range) corresponding to a range in which the electronic electronic device 20 cannot travel due to the object is stored in association with each other. FIG. 13 is an explanatory diagram illustrating an example of icons and travel prohibition range information corresponding to the icons.

  In addition, like the icon of the ceiling light shown in FIG. 13, for an object that is not placed on the floor and does not become an obstacle to the traveling of the self-propelled electronic device 20, the traveling indicating that no traveling prohibition block exists. Forbidden range information is stored. For icons such as an air conditioner and a wall-mounted fan installed on the upper wall surface or ceiling of the room, travel prohibition range information indicating that there is no travel prohibition block is stored as in the ceiling light.

  Moreover, even when the target object corresponding to the icon is installed, if the self-propelled electronic device 20 can travel in a part of the facing area between the target object and the floor surface, depending on the travelable range The travel prohibition range information in which the travelable block and the travel prohibition block are set may be stored in association with the icon of the object. For example, as shown in FIG. 14, the self-propelled electronic device 20 is an object that is supported by a leg portion and that is in a region where the leg portion is not arranged in a region opposite to the object and the floor surface. For a structure that can travel, the block corresponding to the travelable area (area where the leg is not disposed) is defined as a travelable block, and the travel prohibition block is defined for the area where travel is not possible (area where the leg is disposed). It is also possible to store the travel prohibition range information set as.

  Further, the travel prohibition range information corresponding to the icon stored in the setting information storage unit 85 may be arbitrarily edited by the user. Accordingly, the travel prohibition block associated with the icon of the placement object can be appropriately edited by the user according to the actual shape, size, placement method, etc. of the placement object, so that more appropriate placement information is generated. be able to. Further, when the user can arbitrarily edit the travel prohibition range information corresponding to the icon, the initial setting of the travel prohibition range information of the icon is changed according to the user's correction instruction and is stored in the setting information storage unit 85. It may be memorized. Thereby, when the same icon is arranged next, it is possible to save the user from making the same setting again and improve the convenience of the user.

  When the user sets the position of the icon on the “icon placement screen”, the electronic device control application displays the layout outer diameter information, the placement position of the icon set by the user, and the travel prohibition stored in association with the icon. Based on the range information, travel prohibition area information is created.

  That is, when the layout external information is set, the electronic device control application generates an image corresponding to the layout external information, and has an external shape corresponding to the layout external information, each of which has an inside of 25 cm × 25 cm. The travel-prohibited area information divided into a large number of blocks having the following shape is generated. When the icon is arranged on the image corresponding to the layout outline information as shown in FIG. 12A, the electronic device control application prohibits running as shown in FIG. The travel prohibition range information corresponding to the icon is arranged at a position corresponding to the arrangement position of the icon in the area information. Thereby, the travel prohibition area information corresponding to the layout outer shape information and the arrangement information of each icon is generated.

  In addition, the electronic device control application stores the generated travel prohibition area information in the setting information storage unit 85 in association with the layout outer shape information and the arrangement information. As shown in FIG. 12C, in the “icon arrangement screen”, a layout image (an image in which an icon image corresponding to the arrangement information is arranged on an image corresponding to the layout outer shape information) and travel prohibition area information are displayed. The travel prohibition area image (the image in which the inside of the layout outline is divided into a number of blocks and each block is classified as a travel prohibition block and a travelable block) can be superimposed and displayed. Good.

(1-3-3. Setting of travel prohibited area information)
Next, the setting method of travel prohibition area information is demonstrated. FIG. 15 is an explanatory diagram illustrating an example of an image displayed on the display unit 13 of the communication terminal device 10 when the travel prohibited area information is set (edited).

  When the user selects “travel prohibited area setting” on the “modest mode setting screen”, the electronic device control application displays a “travel prohibited area setting screen” corresponding to the travel prohibited area information stored in the setting information storage unit 85. Is displayed. The “Driving prohibited area setting screen” includes a driving prohibited area image (an image in which the inside of the layout outline is divided into a large number of blocks and each block is classified so as to be identified as a prohibited running block and a drivable block), and “redo” "Button and" Done "button are displayed.

  When the user selects an arbitrary block on the “travel prohibited area setting screen”, the electronic device control application switches between travel prohibition / runnable of the block. That is, the electronic device control application switches the block to a runnable block when the user in the run prohibition area image selects the run prohibition block, and when the user selects a runnable block, Switch to. Note that the electronic device control application temporarily stores the switching result in the work memory.

  When the user selects the “redo” button on the “travel prohibited area setting screen”, the electronic device control application discards the switching result stored in the work memory and displays the display on the display unit 13 in the setting information storage unit 85. It returns to the display of the “travel prohibited area setting screen” corresponding to the stored travel prohibited area information.

  When the user selects the “Done” button on the “travel prohibited area setting screen”, the electronic device control application is reflected and stored in the setting information storage unit 85 based on the switching result stored in the work memory. The prohibited area information is updated, and the display on the display unit 13 of the communication terminal device 10 is returned to the “probably mode setting screen”.

  In the present embodiment, even when the user deletes the icon arranged on the layout outline, the setting of the travel prohibition / runnable setting of each block corresponding to the icon in the travel prohibition area information is not automatically performed. In the case of deleting without deleting, the user selects “travel prohibited area setting” to edit the travel prohibited area information. However, the present invention is not limited to this, and when a user deletes an icon arranged on the layout outline, each block corresponding to the icon in the travel prohibited area may be automatically set to be travelable. Alternatively, when the block corresponding to the travel prohibition range information of the icon to be deleted in the travel prohibition area also corresponds to the travel prohibition range information of the other icon, the block corresponding to the travel prohibition range information of the other icon Block travel prohibition / runnable may be set. Thereby, for example, when a household electrical appliance placed on the furniture is removed, the block corresponding to the household electrical appliance is rewritten to a travelable block even though the furniture cannot travel with the furniture. Such a problem can be prevented.

(1-3-4. Setting of home appliance information)
Next, a method for setting home appliance information will be described. FIG. 16 is an explanatory diagram illustrating an example of an image displayed on the display unit 13 of the communication terminal device 10 during the home appliance information setting process.

  When the user selects “register home appliance” on the “modest mode setting screen”, the electronic device control application causes the display unit 13 of the communication terminal device 10 to display the “home appliance selection screen”. On the “home appliance selection screen”, a list of registered home appliances, a “new” button, and an “edit” button are displayed. In the example of FIG. 16, one of the registered home appliances (“Takeshi TV”) is displayed, and a display switching button (black triangle button) is displayed beside it. When the user operates the display switching button, the electronic device control application causes the display unit 13 to display a list of registered home appliances (not shown), and the home appliance desired by the user from among the home appliances included in the list. Let the equipment be selected.

  When the user operates the “new” button on the “home appliance selection screen”, the electronic device control application displays the “home appliance registration screen” on the display unit 13 of the communication terminal device 10. In the example of FIG. 16, in the “home appliance registration screen”, an input column for the name of the household appliance (name given to the household appliance by the user), a category selection column for the household appliance, a selection column for the model name of the household appliance, an icon Information indicating presence / absence of setting, a button for switching to layout display (display of “icon arrangement screen”), and a “complete” button are displayed. In addition to these items, for example, a selection column for a manufacturer name of home appliances may be provided.

  When the user selects the input field for the name of the home appliance, the electronic device control application activates software for inputting text (FEP (Front End Processor)) and opens a text box for inputting the name of the home appliance. It is displayed on the display unit 13. The user can give a name to the home appliance to be registered by inputting the desired name in the text box.

  In addition, when the user selects the selection column of the home appliance category, the electronic device control application displays a list of selectable home appliance categories. Specifically, as shown in FIG. 17, the setting information storage unit 85 has a category of various home appliances, a manufacturer name, a model name, an operation content that can be operated using an infrared signal, and an operation of the home appliance. Home appliance information indicating the frequency of the infrared signal and the signal waveform of the infrared signal for causing the home appliance to perform a desired operation is stored in advance. The electronic device control application causes a list of home appliance categories that can be selected based on the home appliance information stored in the setting information storage unit 85 to be displayed in the home appliance category selection column in the “home appliance registration screen”.

  In the example of FIG. 16, “TV” which is one of the selectable home appliance categories is displayed in the selection column of the home appliance category, and a display switching button (black triangle button) is displayed next to it. Is displayed. When the user operates the display switching button, a list of selectable home appliance categories is displayed, and the user can select a category corresponding to the registration target home appliance from the categories included in the list. .

  When the user selects the model name selection column of the home appliance, the electronic device control application causes the display unit 13 to display a list of selectable home appliance model names. Specifically, the electronic device control application displays a list of model names of household appliances that can be selected based on the above-described household appliance information stored in the setting information storage unit 85, and the model names of the household appliances on the “home appliance registration screen” Is displayed in the selection column.

  In the example of FIG. 16, “SH-AA14AZ”, which is one of the selectable home appliance model names, is displayed in the selection column of the home appliance model name, and a display switching button ( Black triangle button) is displayed. When the user operates the display switching button, a list of model names of selectable home appliances is displayed, so that the user can select a model name corresponding to the home appliance to be registered from among the model names included in the list. It has become.

  As information indicating the presence / absence of icon setting, information indicating whether or not the home appliance is associated with an icon displayed on the icon arrangement screen is displayed.

  When the user operates a button for switching to the layout display of the home appliance, the electronic device control application displays an “icon arrangement screen” corresponding to the layout information stored in the setting information storage unit 85 on the display unit of the communication terminal device 10. 13 is displayed.

  When the user selects an icon associated with home appliance information to be registered on the “icon placement screen”, the electronic device control application associates the selected icon with home appliance information being registered. Note that by selecting an icon displayed on the “icon arrangement screen”, home appliance information being registered can be associated with an already registered icon. Further, by operating the “add” button displayed on the “icon arrangement screen”, it is possible to add an icon and associate the added home appliance information with the added icon.

  After the icon and the home appliance information are associated with each other, when the user operates the “complete” button displayed on the “icon arrangement screen”, the electronic device control application stores the layout information stored in the setting information storage unit 85. Reflect the correspondence between icons and home appliance information.

  When the user operates the “edit” button with the home appliance selected, the electronic device control application causes the display unit 13 to display a “home appliance registration screen” reflecting the registration information of the selected home appliance. The user can appropriately edit the contents of desired items among the registration items for the home appliances displayed on the “home appliance registration screen” by the same method as that for new registration.

  When the user operates the “complete” button on the “home appliance registration screen”, the electronic device control application updates the information related to the registration target icon in the layout information stored in the setting information storage unit 85 and displays on the display unit 13. The state is changed to the display of “Roughly Mode Setting Screen”.

(1-4. “Ido” processing)
Next, processing when “Ido” is selected on the “Osoto Mode Home Screen” will be described.

  FIG. 18 is a flowchart showing the flow of “Ido” processing in the electronic device control application. FIG. 19 is an explanatory diagram showing transition of the display screen displayed on the display unit 13 of the communication terminal device 10 in the “Ido” process.

  When the electronic device control application accepts that the user of the communication terminal device 10 has selected “Ido” on the “Observation Mode Home Screen” (S1), the display unit 13 of the communication terminal device 10 displays “Destination Selection Screen”. (Refer to FIG. 19) is displayed (S2), and a designation instruction of the movement destination from the user is accepted (S3). In this embodiment, as shown in FIG. 19, a layout image (an image in which icons of furniture, home appliances, etc. are arranged on an image showing a layout outline) is displayed as a “movement destination selection screen”, and the user A desired position can be designated by a touch operation or the like, and a destination can be designated by operating an “OK” button.

  When the electronic device control application receives an instruction to specify a destination from the user, the electronic device control application searches for an optimal route from the home position to the destination based on the layout information stored in the setting information storage unit 85 (S4). . Further, during the period of searching for the travel route, the electronic device control application causes the display unit 13 to display a “searching screen” indicating that the travel route is being searched as shown in FIG.

In the present embodiment, the travel route is searched based on the following rules (1) to (5).
(1) The self-propelled electronic device 20 travels on the boundary line between the adjacent travelable blocks in the travel prohibited area information.
(2) The route with the smallest number of turns is selected from the travel routes from the home position to the destination.
(3) If there are a plurality of routes with the smallest number of turns, the route with the shortest travel distance from the home position to the destination is selected.
(4) If there are multiple routes with the smallest number of turns and multiple routes with the shortest travel distance from the home position to the destination, the route with the smallest minimum width of the travel route (self-running) The route having the largest minimum value of the number of travelable blocks continuously existing in the direction perpendicular to the travel direction of the electronic device 20 is selected.
(5) When there are multiple routes with the smallest number of turns, multiple routes with the shortest travel distance from the home position to the destination, and multiple routes with the widest minimum road width In this case, the user is made to select a desired route from among these routes, or one of the routes is selected by a predetermined method set in advance.

  The travel route search method is not limited to the method described above, and various conventionally known methods can be used. For example, in the method described above, the priority order of the conditions to be referred to when determining the movement route is set in the order of the number of turns, the movement distance, and the width of the movement route. However, this priority order may be changed as appropriate. Further, the movement route may be determined with reference to other conditions.

  When the search for the travel route is completed, the electronic device control application displays the retrieved travel route on the display unit 13 of the communication terminal device 10 and determines whether or not to execute the movement of the self-propelled electronic device 20 based on the travel route. An “execution confirmation screen” (see FIG. 19) for confirming to the user is displayed on the display unit 13 of the communication terminal device 10 (S5).

  Then, the electronic device control application determines whether or not to execute the movement based on the movement route searched in S4 based on the user instruction input to the “execution confirmation screen” (S6).

  When it is determined in S6 that the movement is not executed (when the user selects “No” in the “execution confirmation screen”), the electronic device control application returns to the process of S2. In this case, the user resets the destination.

  If it is determined in S6 that the movement is to be executed (when the user selects “Yes” on the “execution confirmation screen”), the electronic device control application determines that the self-propelled electronic device 20 is at the home position (in this embodiment, the self-propelled type). It is determined whether or not the electronic device 20 is at a position connected to the charging stand 70 (S7). This determination is made by, for example, transmitting a signal indicating whether or not the self-propelled electronic device 20 is connected to the charging base 70 (whether or not the charging terminal 49 and the power feeding terminal 71 are conductive) to the server device 80. The electronic device control application may perform based on the signal.

  If it is determined in S7 that the self-propelled electronic device 20 is not at the home position, the electronic device control application instructs the self-propelled electronic device 20 to return (to return the self-propelled electronic device 20 to the home position. Command) (S8), and the process returns to S7.

  The control unit 21 of the self-propelled electronic device 20 controls the operation of each unit of the device function unit 25 in accordance with a control command from the electronic device control application, and moves (returns) the self-propelled electronic device 20 to the home position. . Note that during the period when the self-propelled electronic device 20 is performing the return processing to the home position, a screen indicating that the mobile terminal 20 is returning is displayed on the display unit 13 of the communication terminal device 10.

  Specifically, in the present embodiment, the charging stand 70 is charged when the self-propelled electronic device 20 is away from the charging stand 70 (when the power feeding terminal 71 and the charging terminal 49 are not conductive). A feedback signal indicating the installation position of the base 70 and the position of the power supply terminal 71 is constantly transmitted. When the self-propelled electronic device 20 receives a feedback command from the electronic device control application, the self-propelled electronic device 20 detects a feedback signal transmitted from the charging stand 70 and automatically returns to the place where the charging stand 70 is installed. In the present embodiment, an infrared signal is transmitted as the feedback signal, but a signal other than the infrared signal may be used.

  The control unit 21 of the self-propelled electronic device 20 detects the position of the charging base 70 based on the detected feedback signal, and is driven to move so as to advance in the direction of the charging base 70 (advance the front surface in the traveling direction). The operation of the unit 61 is controlled to move to a position facing the charging stand 70. Then, when reaching the position facing the charging stand 70, the control unit 21 controls the operation of the movement driving unit 61 to temporarily stop the self-propelled electronic device 20, and the charging terminal 49 faces the power supply terminal 71. The housing 30 is turned around the center line C until the position is reached. Thereafter, the control unit 21 controls the operation of the movement drive unit 61 to cause the housing 30 to retreat (advance the back surface in the traveling direction). Then, the control unit 21 charges the front end surface of the power supply terminal 71 by charging the power supply terminal 71 in contact with the power supply terminal 71, and the power supply terminal 71 in contact with the charge terminal 49 is pushed toward the inside of the charging base 70. The retreat is continued until reaching a docking position where the front surface of the base 70 is substantially flat (a position where pushing back of the power supply terminal 71 stops). When the self-propelled electronic device 20 reaches the docking position, energization of the battery 31 is started via the power feeding terminal 71 and the charging terminal 49.

  When the energization detection unit 65 detects the start of energization from the charging stand 70 to the battery 31, the control unit 21 controls the operation of the movement drive unit 61 to stop the retreat and contact the charging terminal 49 with the power supply terminal 71. Then, the self-propelled electronic device 20 is rotated a predetermined angle around the center line C by a predetermined angle (clockwise rotation) and a reverse rotation (counterclockwise rotation) by a predetermined number of times. In addition, the control unit 21 controls the energization detection unit 65, and the energization amount from the power feeding terminal 71 to the charging terminal 49 during the forward rotation and the reverse rotation (the amount of current flowing from the power feeding terminal 71 to the charging terminal 49, or charging) Voltage value applied to the terminal 49). Then, the turning (forward / reverse) of the self-propelled electronic device 20 is stopped at the position where the energization amount is maximized. Or when the energization amount at the time of the first contact is not sufficient, after advancing forward by a sufficient distance of about 50 cm, a normal return to the charger 70 is performed by performing a series of feedback operations again. The distance to advance once is not necessarily 50 cm, but may be set appropriately depending on the feedback performance and the return method of the housing. After stopping, normal energization (charging) is performed. Thereby, the battery 31 is charged in a state where the self-propelled electronic device 20 is stopped in a predetermined direction at the docking position. In addition, since the orientation of the self-propelled electronic device 20 at the home position can be accurately adjusted, movement control when moving from the home position to a movement destination according to a user instruction can be performed more accurately.

  The predetermined angle at the time of forward rotation and reverse rotation may be an angle at which the contact between the charging terminal 49 and the power feeding terminal 71 is not removed. In addition, the number of forward and reverse rotations is not particularly limited, as long as the turning angle at which the energization amount is maximum can be appropriately detected. As described above, by performing normal rotation and reverse rotation of the self-propelled electronic device 20 while bringing the charging terminal 49 into contact with the power supply terminal 71, an effect that the direction of the self-propelled electronic device 20 can be appropriately adjusted is obtained. In addition, it is possible to automatically remove dirt such as dust and dirt attached to the charging terminal 49 or the power feeding terminal 71.

  Note that the method of returning the self-propelled electronic device 20 to the home position and the method of adjusting the orientation of the self-propelled electronic device 20 at the home position are not limited to the methods described above.

  For example, the charging terminal 49 and the feeding terminal 71 are docked, and a rear sensor (not shown) is installed on the back surface (rear end) of the housing 30, and a self-propelled electronic device is detected while detecting a return signal with the rear sensor. The self-propelled electronic device 20 may be moved backward while adjusting the direction of the 20. In this case, when the rear sensor no longer detects the feedback signal, the self-propelled electronic device 20 can detect the feedback signal by rotating the self-propelled electronic device 20 around the center line C of the housing 30 in a minute amount or forward or reverse. Adjust the direction of 20 and move backward. Thereby, alignment with the charge terminal 49 of the self-propelled electronic device 20 and the electric power feeding terminal 71 of the charging stand 70 and adjustment of the direction of the self-propelled electronic device 20 can be performed appropriately.

  When it is determined in S7 that the self-propelled electronic device 20 is in the home position, the electronic device control application uses a movement command (movement route information) for moving the self-propelled electronic device 20 based on the movement route searched in S4. ) Is generated and transmitted to the self-propelled electronic device 20 (S9).

  In addition, the above-mentioned movement command includes, for example, the distance to advance the self-propelled electronic device 20 and the direction in which the self-propelled electronic device 20 is swung (for example, ◯ cm advance → 90 degree forward rotation → ΔΔcm advance). 90 degree forward rotation or 90 degree reverse rotation) may be combined. In the present embodiment, as described above, the installation position of the charging stand 70 as the home position is fixed, and the orientation of the self-propelled electronic device 20 when returning to the home position is accurately adjusted. It has become. For this reason, even if it is a case where the self-propelled electronic device 20 is moved using the above simple movement commands, the self-propelled electronic device 20 can be accurately moved to the target destination.

  Thereafter, the electronic device control application displays a “moving screen” indicating that the self-propelled electronic device 20 is moving on the display unit 13 of the communication terminal device 10 (S10). For example, in the “moving screen”, for example, an image indicating the moving path may be blinked (flashed) to indicate that the moving is being performed.

  In addition, after it is determined that the movement is performed in S6, the “moving screen” may be displayed on the display unit 13 during the period when the self-propelled electronic device 20 performs the feedback process. During the period when the electronic device 20 is performing the feedback process, a screen indicating that the electronic device 20 is returning is displayed on the display unit 13, and the “moving screen” is displayed after the self-propelled electronic device 20 completes the feedback. You may make it display on the display part 13. FIG.

  In addition, after starting the movement of the self-propelled electronic device 20, the electronic device control application determines whether or not a movement failure notification has been received from the self-propelled electronic device 20 (S11), and has received the movement completion notification. Is determined (S12). The self-propelled electronic device 20 receives the movement command from the electronic device control application, executes the movement of its own device based on the movement command, and sends a movement completion notification when it arrives at the movement destination. It transmits to the control application (server device 80). In addition, if the movement cannot be continued due to collision with an obstacle before arriving at the destination, the movement failure notification is transmitted to the electronic device control application (server device 80). .

  If it is determined in S11 that the movement failure notification has been received, the electronic device control application displays a “completion notification screen (failure)” (see FIG. 19) on the display unit 13 (S13). Further, the electronic device control application determines whether or not the user has operated the “OK” button on the “completion notification screen (failure)” (S14). If it is determined in S14 that the user has not operated the “OK” button, the electronic device control application continues the process of S13. On the other hand, when it is determined in S14 that the user has operated the “OK” button, the electronic device control application displays a “completion screen (failure)” (see FIG. 19) on the display unit 13 (S15). Further, the electronic device control application determines whether or not the user has operated the “home” button on the “completion screen (failure)” (S16). If it is determined in S16 that the user has not operated the “Home” button, the electronic device control application continues the process of S15. On the other hand, if it is determined in S16 that the user has operated the “Home” button, the electronic device control application causes the display unit 13 to display a “modest mode home screen” (S21) and ends the “Ido” process. .

  When it is determined in S12 that the movement completion notification has been received, the electronic device control application displays a “completion notification screen (success)” (see FIG. 19) on the display unit 13 (S17). Further, the electronic device control application determines whether or not the user has operated the “OK” button on the “completion notification screen (success)” (S18). If it is determined in S18 that the user has not operated the “OK” button, the electronic device control application continues the process of S17. On the other hand, when it is determined in S18 that the user has operated the “OK” button, the electronic device control application displays a “completion screen (success)” (see FIG. 19) on the display unit 13 (S19). Further, the electronic device control application determines whether or not the user has operated the “home” button on the “completion screen (success)” (S20). If it is determined in S20 that the user has not operated the “Home” button, the electronic device control application continues the process of S19. On the other hand, if it is determined in S20 that the user has operated the “home” button, the electronic device control application displays “modest mode home screen” on the display unit 13 (S21), and ends the “Ido” process. .

(1-5. “Karen” processing)
Next, a process when “Karen” is selected on the “Osoto Mode Home Screen” will be described. FIG. 20 is an explanatory diagram showing a transition of the display screen displayed on the display unit 13 of the communication terminal device 10 in the “Karen” process.

  When “Ken” is selected on the “Osoto Mode Home Screen”, the electronic device control application displays a “Home Appliance Icon Selection Screen” (see FIG. 20) on the display unit 13 of the communication terminal device 10.

  In the “home appliance icon selection screen”, a layout image (an image obtained by superimposing an image of each icon registered in the setting information on an image corresponding to the layout outline information) is displayed, and the user selects an icon of the home appliance to be operated. By performing the selection operation, it is possible to select a home appliance to be operated.

  In addition, on the “home appliance icon selection screen”, a menu image for selecting a home appliance to be operated from each home appliance registered in the setting information is displayed, and the user can operate from this menu image. The target home appliance can also be selected. In the example of FIG. 20, one of the registered home appliances (“Takeshi TV”) is displayed, and a display switching button (black triangle button) is displayed next to it. When the user operates the display switching button, the electronic device control application causes the display unit 13 to display a list of registered home appliances, thereby selecting the desired home appliance from the home appliances included in the list. It can be done.

  When the user selects the home appliance to be operated on the “home appliance icon selection screen”, the electronic device control application, based on the setting information (see FIG. 17) related to the home appliance stored in the setting information storage unit 85, A “remote control operation screen” (see FIG. 20) for operating the home appliance is generated and displayed on the display unit 13 of the communication terminal device 10. In the example of FIG. 20, a “remote control operation screen” for selecting “power ON” or “power OFF” as the operation content is displayed.

  Then, when the user inputs an operation content instruction for the home appliance to be operated on the “remote control operation screen”, the electronic device control application stores the setting information regarding the home appliance stored in the setting information storage unit 85 ( 17), a control signal (a signal for causing the self-propelled electronic device 20 to generate an infrared signal (remote control signal) to be transmitted to the household electrical appliance) for performing an operation in accordance with the user's instruction input. It is generated and transmitted to the self-propelled electronic device 20.

  The control unit 21 of the self-propelled electronic device 20 generates an infrared signal (remote control signal) based on the control signal transmitted from the electronic device control application, and outputs (transmits) the infrared signal from the infrared transmission unit 36. Moreover, the control part 21 of the self-propelled electronic device 20 will transmit a transmission completion notification to an electronic device control application (server apparatus 80), if the output (transmission) of an infrared signal (remote control signal) is completed.

  When the electronic device control application receives the transmission completion notification from the self-propelled electronic device 20, the electronic device control application displays a “completion notification screen” (see FIG. 20) on the display unit 13 of the communication terminal device 10, and ends the “Karen” process. .

  In the present embodiment, when “Karen” is selected in the “Modeally Mode Home Screen”, the home appliance in which the self-propelled electronic device 20 is selected is operated at the position of the self-propelled electronic device 20 at that time. Infrared signals for output are output. Therefore, for example, when operating a household electrical appliance that is difficult to operate with an infrared signal from the home position, the user performs the “Ido” operation to move the self-propelled electronic device 20 to an appropriate position, and then “Kan”. Perform the operation.

  However, the present invention is not limited to this. For example, when the household appliance to be operated is designated by the “Karen” operation, the electronic device control application is based on the positional relationship between the self-propelled electronic device 20 and the household appliance to be operated. When it is necessary to move the electronic device control application, the electronic device control application automatically moves the self-propelled electronic device 20 to a position where the operation control by the infrared signal for the home appliance to be operated can be performed. May be.

(1-6. “Kansai” operation)
Next, a process when “kansaitsu” is selected on the “auto mode home screen” will be described.

  When “kansaitsu” is selected on the “home mode screen”, the electronic device control application transmits an imaging process start command to the self-propelled electronic device 20.

  When the control unit 21 of the self-propelled electronic device 20 receives the imaging processing start command, the control unit 21 controls the operation of the imaging unit 40 to image the periphery of the self-propelled electronic device 20 and uses the captured image data as an electronic device control application. respond. Note that the control unit 21 of the self-propelled electronic device 20 controls the movement drive unit 61 to turn the self-propelled electronic device 20, so that images of a plurality of directions or a wide angle range are obtained from the self-propelled electronic device 20. You may make it image.

  When receiving the imaging data from the self-propelled electronic device 20, the electronic device control application displays the received imaging data on the display unit 13 of the communication terminal device 10 and presents it to the user.

  In the present embodiment, when “Kanatsu” is selected on the “Roughly Mode Home Screen”, the self-propelled electronic device 20 performs imaging processing at the position of the self-propelled electronic device 20 at that time. It is like that. Therefore, for example, when it is desired to observe the situation at a position away from the home position, the user performs the “Ido” operation to move the self-propelled electronic device 20 to a desired position, and then performs the “Kanatsu” operation. Do. However, the present invention is not limited to this. For example, the observation target area is designated by the “kansai” operation, and the electronic device control application automatically moves the self-propelled electronic device 20 to a position corresponding to the observation target area. May be.

(1-7. “Cleansing” operation)
Next, processing when “clean” is selected on the “Osoto Mode Home Screen” will be described. FIG. 21 is an explanatory diagram showing transition of the display screen displayed on the display unit 13 of the communication terminal device 10 in the “cleaning” process.

  When “cleaning” is selected on the “modest mode home screen”, the electronic device control application displays a “cleaning mode selection screen” (see FIG. 21) on the display unit 13 of the communication terminal device 10.

  On the “cleaning mode selection screen”, an image for allowing the user to select a desired cleaning mode from a plurality of predetermined cleaning modes is displayed. In the example of FIG. 21, “AUTO”, “Spot 1”, “Spot 2”, and “Kabegiwa” cleaning modes can be selected. “AUTO” is a mode in which the self-propelled electronic device 20 performs cleaning while running at random. “Spot 1” and “Spot 2” are modes for cleaning a preset cleaning region. “Kabegiwa” is a mode in which cleaning is performed while the self-propelled electronic device 20 is moved along an obstacle such as a wall.

  When the user selects the clean mode on the “clean mode selection screen”, the electronic device control application displays an “execution confirmation screen” (see FIG. 21) on the display unit 13 of the communication terminal device 10.

  When the user selects “No” on the “execution confirmation screen”, the electronic device control application returns the display on the display unit 13 of the communication terminal device 10 to the “cleaning mode selection screen surface”.

  When the user selects “Yes” on the “execution confirmation screen”, the electronic device control application causes the display unit 13 of the communication terminal device 10 to display “execution notification screen” (see FIG. 21). When the user selects “OK” on the “execution notification screen”, the electronic device control application causes the display unit 13 of the communication terminal device 10 to display “opposite mode home screen” and relates to the “cleaning” operation. The process ends.

(1-8. “Return” operation)
Next, processing when “return” is selected on the “modest mode home screen” will be described.

  When “return” is selected in the “modest mode home screen”, the electronic device control application transmits a feedback command to the self-propelled electronic device 20.

  When receiving the feedback instruction, the control unit 21 of the self-propelled electronic device 20 moves the self-propelled electronic device 20 to the home position (in this embodiment, the charging terminal 49 of the self-propelled electronic device 20 is the power supply terminal 71 of the charging stand 70. To the position where the battery 31 of the self-propelled electronic device 20 is charged) is moved (returned). The method of the feedback process is as described above.

  During execution of the feedback process, the electronic device control application may display an image indicating that the feedback process is being performed on the display unit 13 of the communication terminal device 10. When the feedback processing is completed, the self-propelled electronic device 20 transmits a notification of completion of the feedback processing to the electronic device control application (server device 80), and the electronic device control application is displayed on the display unit 13 of the communication terminal device 10. You may make it display the image which shows that the feedback process was completed, or the image which shows that the self-propelled electronic device 20 exists in a home position.

(1-9. Example of program)
In the present embodiment, each block of the communication terminal device 10, the self-propelled electronic device 20, and the server device 80, in particular, the control unit 11, the control unit 21, and the control unit 81 are formed on an integrated circuit (IC chip). Alternatively, it may be realized by hardware using a logic circuit, or may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the communication terminal device 10, the self-propelled electronic device 20, and the server device 80 include a CPU that executes instructions of a program that realizes each function, a ROM (Read Only Memory) that stores the program, and a program that stores the program. A RAM (Random Access Memory) to be developed, a storage device (recording medium) such as a memory for storing the program and various data, and the like are provided. The object of the present invention is to provide program codes (execution format program, intermediate code program, source program) of control programs for the communication terminal device 10, the self-propelled electronic device 20, and the server device 80, which are software for realizing the functions described above ) Is recorded in a computer-readable manner to the communication terminal device 10, the self-propelled electronic device 20, and the server device 80, and the computer (or CPU or MPU) is recorded on the recording medium. It can also be achieved by reading and executing the code.

  Examples of the recording medium include non-transitory tangible medium, such as magnetic tape and cassette tape, magnetic disk such as floppy (registered trademark) disk / hard disk, and CD-ROM / MO. Discs including optical discs such as / MD / DVD / CD-R, cards such as IC cards (including memory cards) / optical cards, semiconductor memories such as mask ROM / EPROM / EEPROM (registered trademark) / flash ROM Alternatively, logic circuits such as PLD (Programmable Logic Device) and FPGA (Field Programmable Gate Array) can be used.

  Further, the communication terminal device 10, the self-propelled electronic device 20, and the server device 80 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 as long as it can transmit the program code. For example, the Internet, intranet, extranet, LAN, ISDN, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication network, and the like can be used. The transmission medium constituting the communication network may be any medium that can transmit the program code, and is not limited to a specific configuration or type. For example, even with wired lines such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, ADSL (Asymmetric Digital Subscriber Line) line, infrared rays such as IrDA and remote control, Bluetooth (registered trademark), IEEE 802.11 wireless, HDR ( It can also be used by radio such as High Data Rate (NFC), Near Field Communication (NFC), Digital Living Network Alliance (DLNA), mobile phone network, satellite line, and digital terrestrial network. 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.

(1-10. Summary of Embodiment 1)
As described above, a self-propelled electronic device according to an aspect of the present invention is a self-propelled electronic device that moves based on movement path information received via a communication network, and the self-propelled electronic device includes: A movement control unit configured to control movement, the movement path information is information indicating a movement path for moving the self-propelled electronic device from a preset reference position to a destination according to a user instruction; When the control unit moves based on the movement route information, the control unit returns the self-propelled electronic device to the reference position and then moves the self-propelled electronic device along the movement route indicated in the movement route information. It is characterized by moving.

  According to said structure, the said self-propelled electronic device is the movement path information which shows the movement route for moving the said self-propelled electronic device from the preset reference position to the destination according to a user's instruction | indication. When received, the self-propelled electronic device is returned to the reference position and then moved along the movement route indicated by the movement route information. As a result, regardless of the position of the self-propelled electronic device at the time of receiving an instruction from the user, the movement route from the reference position to the destination is calculated, and the self-propelled electronic device is moved along the calculated movement route. Can be made. Therefore, even if the position of the self-propelled electronic device at the time of receiving the instruction from the user is not necessarily detected accurately, the self-propelled electronic device can be accurately moved to the destination according to the user's instruction. . In addition, since it is not necessary to provide a means for accurately detecting the position of the self-propelled electronic device, it can be easily and accurately moved to the destination according to the user's instruction without incurring a cost increase of the self-propelled electronic device. A self-propelled electronic device can be realized.

  Moreover, when the said instruction | indication is received from a user, the said control part is good also as a structure which controls the said self-propelled electronic device so that the said self-propelled electronic device may face a predetermined direction in the said reference position.

  According to said structure, a self-propelled electronic device is started to move, after controlling so that it may face a predetermined direction in a reference | standard position. Thereby, since the direction of the self-propelled electronic device at the time of starting the movement along the movement route calculated by the movement route calculation unit can be set to a predetermined direction, the self-propelled electronic device is moved more accurately. be able to.

  Further, the reference position is a power supply terminal provided in a charging stand for charging a battery provided in the self-propelled electronic device, which is disposed at a predetermined position, and charging provided in the self-propelled electronic device. The control unit is configured to contact the power feeding terminal and the charging terminal so that the self-propelled electronic device faces a predetermined direction at the reference position. It is good also as a structure which controls an electronic device.

  According to said structure, the direction in the reference | standard position of a self-propelled electronic device can be adjusted appropriately.

  In addition, the movement route calculation unit is information indicating a movement route of the self-propelled electronic device by combining a straight-ahead distance for straightening the self-propelled electronic device and a turning direction for turning the self-propelled electronic device. May be transmitted to the control unit, and the control unit may control the movement of the self-propelled electronic device based on the information transmitted from the movement path calculation unit.

  According to said structure, since the information transmitted to a control part from a movement path | route calculation part can be simplified, the structure of the information transmission means between a movement path | route calculation part and a control part can be simplified. Further, since the control unit only needs to control the straight traveling / turning of the self-propelled electronic device based on the information transmitted from the movement route calculation unit, the configuration of the control unit can be simplified. Further, by adjusting the direction of the self-propelled electronic device at the reference position to be a predetermined direction and then moving the self-propelled electronic device based on the above information, it is based on the simplified information as described above. Even if the movement control is performed, the movement of the self-propelled electronic device can be appropriately controlled.

  An electronic device control system according to one aspect of the present invention is an electronic device control system that gives a movement instruction to any of the above-described self-propelled electronic devices from a communication terminal device via a communication network, the self-propelled electronic device A storage unit that stores layout information of an area in which the device is arranged, an operation input unit that is provided in the communication terminal device and receives a destination instruction for moving the self-propelled electronic device from a user, and the layout information And a movement path calculation unit that calculates a movement path for moving the self-propelled electronic device to a destination according to the instruction based on the instruction from the user and the instruction received from the user The movement path calculation unit calculates a movement path of the self-propelled electronic device from the reference position to a movement destination according to the instruction.

  An electronic device control method according to an aspect of the present invention is an electronic device control method for instructing a movement from a communication terminal device to a self-propelled electronic device via a communication network. A reference position that is set in advance based on the instruction from the user and the layout information of the area where the self-propelled electronic device is stored in advance when the instruction of the movement destination is received. A movement path calculation step of calculating a movement path of the self-propelled electronic device from the position to the destination according to the instruction, and returning the self-propelled electronic device to the reference position, And a moving step of moving along the moving route calculated in the moving route calculating step.

  According to the electronic device control system and the electronic device control method described above, when an instruction for the destination of the self-propelled electronic device is received from the user, the self-run from the preset reference position to the destination according to the instruction is performed. The movement route of the electronic device is calculated, and the self-propelled electronic device is moved back along the movement route after returning to the reference position. As a result, regardless of the position of the self-propelled electronic device at the time of receiving an instruction from the user, the movement route from the reference position to the destination is calculated, and the self-propelled electronic device is moved along the calculated movement route. Can be made. Therefore, even if the position of the self-propelled electronic device at the time of receiving the instruction from the user is not necessarily detected accurately, the self-propelled electronic device can be accurately moved to the destination according to the user's instruction. . In addition, since it is not necessary to provide a means for accurately detecting the position of the self-propelled electronic device, it can be easily and accurately moved to the destination according to the user's instruction without incurring a cost increase of the self-propelled electronic device. A self-propelled electronic device can be realized.

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

  The present invention relates to a self-propelled electronic device that moves based on movement route information received via a communication network, and an electronic device control system that gives a movement instruction to the self-propelled electronic device via a communication network from a communication terminal device Applicable to and.

DESCRIPTION OF SYMBOLS 10 Communication terminal device 11 Control part 12 Communication part 13 Display part 14 Operation part 15 Storage part 20 Self-propelled electronic device 21 Control part 22 Communication part 23 Operation part 24 Storage part 25 Device function part 36 Infrared transmission part 49 Charging terminal 70 Charging Stand 71 Power supply terminal 80 Server device (layout information creation device)
81 control unit 82 communication unit 83 storage unit 84 electronic device control application storage unit 85 setting information storage unit 90 communication network 100 electronic device control system

Claims (5)

A self-propelled electronic device that moves based on movement route information received via a communication network,
Provided with a control unit that controls the movement of the self-propelled electronic device,
The travel route information is information indicating a travel route for moving the self-propelled electronic device from a preset reference position to a destination according to a user instruction,
The control unit
When moving based on the travel route information, the self-propelled electronic device is moved along the travel route indicated in the travel route information after the self-propelled electronic device is returned to the reference position. A self-propelled electronic device. The control unit
The self-propelled electronic device is controlled so that the self-propelled electronic device faces a predetermined direction at the reference position when moving based on the movement route information. Running electronic equipment. The reference position is a power supply terminal provided in a charging stand for charging a battery provided in the self-propelled electronic device, and a charging terminal provided in the self-propelled electronic device. Is the position where
The control unit controls the self-propelled electronic device so that the self-propelled electronic device faces a predetermined direction at the reference position by bringing the power supply terminal and the charging terminal into contact with each other. The self-propelled electronic device according to claim 2. An electronic device control system that performs a movement instruction to the self-propelled electronic device according to any one of claims 1 and 3 through a communication network from a communication terminal device,
A storage unit storing layout information of an area where the self-propelled electronic device is disposed;
An operation input unit that is provided in the communication terminal device and receives an instruction of a destination to move the self-propelled electronic device from a user;
A movement path calculation unit that calculates a movement path for moving the self-propelled electronic device to a destination according to the instruction based on the layout information and the instruction from the user;
When receiving the instruction from the user, the movement path calculation unit calculates a movement path of the self-propelled electronic apparatus from the reference position to a movement destination according to the instruction. . An electronic device control method for instructing movement from a communication terminal device to a self-propelled electronic device via a communication network,
When receiving instructions from the user to move the self-propelled electronic device,
Based on the instruction from the user and the layout information of the area where the self-propelled electronic device is stored in advance, the self-run from the reference position set in advance to the destination according to the instruction Travel route calculation step of calculating the travel route of the electronic device,
An electronic device comprising: a step of moving the self-propelled electronic device along the movement path calculated in the movement path calculating step after returning the self-propelled electronic device to the reference position. Control method.