JP2017204132A - Self-propelled electronic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled electronic apparatus that, during travel on any one of floor surfaces of a plurality of floors, can travel while selecting a map for travel corresponding to the floor.SOLUTION: A self-propelled electronic apparatus includes: a storage unit for storing a map for travel for each floor corresponding to the floor surface for each floor and the height of each floor in association with each other; a height detection unit for detecting the height of the place on which the apparatus is placed; a position detection unit for detecting the position on the floor surface of the place on which the apparatus is placed; a control unit for selecting a map for travel corresponding to the height detected by the height detection unit from the maps for travel for respective floors stored in the storage unit, and controlling the travel on the basis of the selected map for travel; and a travel unit that travels on the basis of a command of the control unit.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a self-propelled electronic device that travels using a travel map.

A self-propelled device that has an autonomous traveling function and performs an autonomous traveling operation is known. For example, it is a so-called robot cleaner that performs cleaning while unmanned and autonomously running. Some use a traveling map (hereinafter also simply referred to as a map) to autonomously travel in a work area (see, for example, Patent Documents 1 and 2).
In Patent Document 1, a self-propelled cleaner provided with a detection sensor that detects the surrounding situation is moved around the edge of the cleaning area so that it can run without being left behind even in the vicinity of obstacles such as walls and furniture. Run and create a detailed map of the cleaning area.

The self-propelled cleaner has a controller, and the controller determines the position of the cleaner body relative to the travel start point and the direction of travel based on the amount of rotation of the motor that drives the left and right drive wheels input from the encoder. To create a detailed map. A mode in which a gyro sensor or a camera is used for detection of the position and the traveling direction is also described.
Then, the created detailed map is divided into a plurality of movement ranges, and the self-propelled cleaner is caused to travel so as to overlap each movement range and a part of the adjacent movement ranges. This travel control eliminates the remaining cleaning.
Patent Document 2 proposes a self-propelled cleaning system that creates and displays map information classified into a plurality of areas according to the elapsed time from the date and time when the latest cleaning was performed to the present time.

In Patent Document 2, a self-propelled cleaning system includes a position detection unit that detects the position of a cleaning execution unit that performs autonomous cleaning and performs cleaning, and a time measuring unit that measures the date and time. Furthermore, a cleaning history storage unit and a map information creation unit are provided. The position detection unit detects the current position by using, for example, GPS (Global Positioning System), analyzing an image captured by a camera, or using a distance sensor.
The cleaning history storage unit stores a cleaning history that associates the position detected by the position detection unit with the date and time measured by the timing unit when cleaning is performed by the cleaning execution unit.

A map information creation part classifies a plurality of areas according to the date and time when the most recent cleaning was performed for each area based on the cleaning history, and creates map information so that areas with different classifications have different display modes. By displaying the created map information, the user can easily grasp which place has been cleaned and when.
By the way, in recent years, an atmospheric pressure sensor that can detect altitude with a detection accuracy of about several tens of centimeters based on detection of atmospheric pressure is available.
As an example of associating the atmospheric pressure sensor with a map, based on the atmospheric pressure detected by the atmospheric pressure detecting means and the angular velocity or acceleration detected by the angular velocity / acceleration detecting means, the traveling path of the moving body is a slope. A current position display device that determines whether or not there is known is known (for example, see Patent Document 3).

JP 2008-108210 A JP 2014-200673 A JP 2012-32277 A

  If a self-propelled electronic device cleans only one room and one floor, a single driving map is sufficient, but it can be used in two-story or three-story houses, multi-story buildings, etc. If you do, you need multiple maps. In this specification, the floor is used synonymously with a floor or a hierarchy. That is, when the same floor is divided into a plurality of rooms, the floor indicates the floor of all the rooms on the same floor, not the floor of each room.

  It is also conceivable to create a map each time when autonomously traveling on a new floor. However, in consideration of the time required for creating the map, it is efficient to store the created map and use it for the next run. Preferably, the map is updated when traveling. Here, when a plurality of maps are stored corresponding to the travel location, it is necessary to correctly select which of the stored maps is used for travel. If the map is selected incorrectly, the user may try to travel on the wrong route, and as a result, cleaning may be left behind, or it may take more time to travel in the work target area than when a correct map is used.

Although it is possible for the user to select a map before the start of traveling, this is a complicated operation for the user.
The present invention has been made in consideration of the above-described circumstances, and when traveling on any of the floors of a plurality of floors, a self-propelled system that can travel by selecting a travel map corresponding to the floor Electronic equipment is provided.

  The present invention is provided with a storage unit that stores a travel map corresponding to a floor corresponding to a floor surface according to a level in association with an altitude of each level, and an altitude detection unit that detects the altitude of the place where the map is placed. Select a travel map corresponding to the altitude detected by the altitude detection unit from a position detection unit that detects a position on the floor of the place where the vehicle is located and a travel map for each level stored in the storage unit And a self-propelled electronic device provided with the control part which controls a run based on the selected map for run, and the run part which runs based on the directions of the control part is provided.

A self-propelled electronic device according to the present invention includes a storage unit that stores a travel map in association with an altitude, an altitude detection unit that detects an altitude of a place where the map is placed, and an altitude detected by the altitude detection unit And a control unit that controls travel based on the selected travel map, when traveling on one of the floors of a plurality of levels, the travel map corresponding to the level You can select and drive.
Therefore, if a floor shape at a certain level is stored, it is possible to avoid a situation in which travel control is performed using a travel map stored at a different level even when moving to a different level. Therefore, it is possible to appropriately create, store, and manage a travel map for each level in a multi-level house or building.

It is a block diagram which shows schematic structure of the self-propelled cleaner which is one aspect | mode of the self-propelled electronic device by this invention. It is a perspective view which shows the example of an external appearance of the self-propelled apparatus shown in FIG. It is a bottom view which shows roughly the bottom face of the self-propelled apparatus shown in FIG. It is a flowchart which shows the process which concerns on selection and a production | generation of a map among the processes which the control part which concerns on this invention performs.

Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.
≪Configuration of self-propelled electronic equipment≫
A specific embodiment of the self-propelled electronic device according to the present invention will be described. FIG. 1 is a block diagram showing a schematic configuration of a self-propelled cleaner which is an embodiment of the self-propelled electronic device according to the present invention.
As shown in FIG. 1, the self-propelled cleaner 10 of this embodiment includes a control unit 11, a rechargeable battery 12, an obstacle detection unit 14, a traveling unit 17, a right drive wheel 18 </ b> R, a left drive wheel 18 </ b> L, and a storage unit 19. Is provided. Furthermore, a position detection unit 22 and an altitude detection unit 23 are provided. In addition, an air inlet 31, an air outlet 32, a dust collection chamber 33, an electric blower 34, a brush motor 35, a rotating brush 36 and a side brush 37 are provided.

The self-propelled cleaner 10 of this embodiment sucks air containing dust on the floor surface while autonomously running on the floor surface where it is installed, and exhausts the air from which the dust has been removed to exhaust the air on the floor surface. clean. Self-propelled cleaner 10 has a function of autonomously returning to a charging station (not shown) when patrol is completed.
FIG. 2 is a perspective view showing an example of the appearance of the self-propelled device shown in FIG.
FIG. 3 is a bottom view schematically showing the bottom surface of the self-propelled device shown in FIG.

As shown in FIG. 2, the self-propelled cleaner 10 of the present invention includes a substantially disc-shaped housing 102.
The housing 102 includes a bottom plate 102a (see FIG. 3), a top plate 102b, and a side plate 102c having an annular shape in plan view provided along the outer periphery of the bottom plate 102a and the top plate 102b (see FIG. 2). ). The side plate 102c is divided into two parts, front and rear, and the front side of the side plate functions as a bumper, and a collision sensor 15C that detects a collision of the front side of the side plate is provided inside. Further, as shown in FIG. 2, a front ultrasonic sensor 14F is disposed on the front side, and a left ultrasonic sensor 14L is disposed on the left side. Although hidden in FIG. 2, the right ultrasonic sensor 14R is disposed on the right side.
The top plate 102b is provided with a lid that can be opened and closed in order to accommodate the container of the dust collection chamber 33 (not shown in FIG. 2). An exhaust port 32 is formed in front of the lid portion of the top plate 102b.

Also, as shown in FIG. 3, the bottom plate 102a is formed with a plurality of left and right holes that expose the right driving wheel 18R and the left driving wheel 18L from the inside of the housing 102 and project outside. Behind these holes are a pair of left and right drive motors that drive the left drive wheel 18L and the right drive wheel 18R, which are elements of the running unit 17.
Further, a rear wheel 18T, which is a driven wheel, is mounted on the bottom plate 102a. The direction of the rear wheel 18T can be freely changed on the floor surface. A left wheel floor sensor 16L is disposed in front of the left drive wheel 18L, and a right wheel floor sensor 16R is disposed in front of the right drive wheel 18R. A front floor sensor 16F is disposed at the front end, and a rear floor sensor 16T is disposed at the rear end.
Further, as shown in FIG. 3, the bottom plate 102a has an intake port 31 and a rotating brush 36 that sweeps the floor surface is disposed in the opening. Further, side brushes 37 are arranged on the left and right sides of the intake port 31.

  The self-propelled cleaner 10 travels in the direction (forward) in which the right ultrasonic driving wheel 14R and the left driving wheel 18L rotate forward in the same direction and moves forward. Further, the left and right drive wheels rotate backward in the same direction and move backward, and turn by rotating in opposite directions. For example, when the self-propelled cleaner 10 detects an obstacle on the course by each sensor of the obstacle detector 14, the left and right drive wheels are decelerated and then stopped. Thereafter, the left and right drive wheels are rotated in opposite directions to turn and change directions. In this way, the self-propelled cleaner 10 self-propels on the floor while avoiding obstacles at the place where it is installed.

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the self-propelled cleaner 10, and is mainly realized by a microcomputer including a CPU, a RAM, an I / O controller, a timer, and the like.
The CPU organically operates each hardware based on a control program stored in advance in the storage unit 19 described later and expanded in the RAM, and executes the cleaning function, the traveling function, and the like of the present invention.

  The rechargeable battery 12 is a part that supplies electric power to each functional element of the self-propelled cleaner 10, and is a part that mainly supplies electric power for performing running control and communication. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.

The obstacle detection unit 14, particularly the left ultrasonic sensor 14 </ b> L, the front ultrasonic sensor 14 </ b> F, and the right ultrasonic sensor 14 </ b> R, each includes an indoor wall or desk while the self-propelled cleaner 10 is running. It is a part that detects that a person has come into contact with or approaches an obstacle such as a chair, and detects a step such as a descending staircase that leads to a fall. The obstacle detection unit 14 detects proximity to the obstacle using an ultrasonic sensor. Instead of the ultrasonic sensor or together with the ultrasonic sensor, other types of non-contact sensors such as an infrared distance measuring sensor may be used. The three ultrasonic sensors can detect the direction of the obstacle and the approximate distance.
For example, the collision sensor 15C is disposed inside the housing 102 and in the vicinity of the side plate 102c in order to detect that the self-propelled cleaner 10 has come into contact with an obstacle during traveling. The CPU knows that the side plate 102c has collided with an obstacle based on the output signal from the collision sensor 15C.

The front floor sensor 16F, the rear floor sensor 16T, the left wheel floor sensor 16L, and the right wheel floor sensor 16R detect steps such as descending stairs.
Based on the signal output from the obstacle detection unit 14, the CPU recognizes the position where an obstacle or a step exists. Based on the recognized obstacle and step position information, the next direction to travel is determined while avoiding the obstacle and step. Note that the left wheel floor sensor 16L and the right wheel floor sensor 16R detect a descending staircase when the front floor sensor 16F fails to detect a step or fails, and go to the descending staircase of the self-propelled cleaner 10. Prevent falling. The rear floor sensor 16T prevents falling when turning or retreating.

  The traveling unit 17 is a part that rotates and stops the left and right drive wheels of the self-propelled cleaner 10 together with the control unit 11 and includes a pair of left and right drive motors that respectively drive the left drive wheel 18L and the right drive wheel 18R. And a drive transmission mechanism. By configuring the drive motor so that the left and right drive wheels can be independently rotated in both forward and reverse directions, the traveling state of the self-propelled cleaner 10 such as advancing, retreating, turning, and acceleration / deceleration is realized.

The storage unit 19 is a part that stores information necessary for realizing various functions of the self-propelled cleaner 10 and a control program, and is used by a non-volatile semiconductor storage element such as a flash memory or a storage medium such as a hard disk. It is done.
The storage unit 19 stores, for example, battery information 19c indicating a state such as a remaining capacity of the rechargeable battery 12, and position information 19p detected by the position detection unit 22 and indicating the current position of the self-propelled cleaner 10. Furthermore, the travel map 19m associated with the altitude detected by the altitude detecting unit 23 is stored.

The position detection unit 22 detects the position of the self-propelled cleaner 10. For example, the absolute position of the self-propelled cleaner 10 may be acquired using GPS (Global Positioning System), but the reference position (home position of the place where it is installed. For example, the rechargeable battery 12 is charged. And a relative position with respect to the reference direction may be detected. The detection of the relative position may be realized by counting pulses generated with the rotation of the drive wheels by encoders provided on the left and right drive wheels. Further, the traveling direction may be corrected using a gyro sensor, or the position may be corrected using acceleration sensors in the X and Y directions.
The altitude detector 23 detects the altitude of the place where the self-propelled cleaner 10 is placed. For example, the altitude of the self-propelled cleaner 10 may be acquired using an atmospheric pressure sensor. Since the self-propelled cleaner 10 is placed on the floor, it can be said that the altitude detected by the altitude detector 23 is equal to the altitude of the place where the self-propelled cleaner 10 is placed.

The intake port 31 disposed on the bottom plate 102a and the exhaust port 32 disposed on the top plate 102b are portions for performing intake and exhaust for cleaning, respectively.
The dust collection chamber 33 is a part that collects dust on the floor surface, and mainly includes a dust collection chamber (not shown), a filter unit, and a cover unit that covers the dust collection chamber and the filter unit. Further, an inflow path communicating with the intake port 31 and an exhaust path communicating with the exhaust port 32 are provided. An electric blower 34 is disposed in the middle of the discharge path. The electric blower 34 sucks air from the intake port 31, guides the air into the dust collecting container through the inflow passage, and discharges the air after dust collection from the exhaust port 32 to the outside through the discharge passage. Is generated.

The rotary brush 36 provided in the back of the air inlet 31 rotates around an axis parallel to the bottom surface during cleaning work. Side brushes 37 that rotate about a rotation axis perpendicular to the bottom plate 102 a are provided on the left and right sides of the air inlet 31. The rotating brush 36 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 37 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 36 and the rotating shaft of the pair of side brushes 37 are pivotally attached to a part of the bottom plate 102a of the housing 102, and a brush motor 35 provided in the vicinity thereof, a pulley, a belt, etc. It is connected via a power transmission mechanism that includes it.
The above is a specific configuration example of the self-propelled cleaner 10.

≪Map generation and autonomous driving using it≫
(Embodiment 1)
The procedure by which the self-propelled cleaner 10 creates a map will be described. The self-propelled cleaner 10 does not have a map in the storage unit 19 in the initial stage.
In this embodiment, the self-propelled cleaner 10 acquires a map from an external device using a communication interface (not shown in FIG. 1) before autonomously running the place where it is placed and performing cleaning.

As a specific mode, for example, a smartphone, tablet, or an information processing device such as a smart TV or a personal computer installed with an application that draws a floor plan of a room is used. Draw a floor plan. The application generates map data based on the floor plan drawn by the user. And the produced | generated data are transmitted to the self-propelled cleaner 10 via the said communication interface. The self-propelled cleaner 10 stores the received map in the storage unit 19. However, the map is not associated with altitude at this point.
When the self-propelled cleaner 10 performs the autonomous operation using a certain map stored in the storage unit 19 for the first time and performs the cleaning operation, the control unit 11 uses the position detection unit 22 to record the history of the traveled position, that is, A travel route is detected, and it is determined whether or not the map corresponds to a room that has actually been cleaned.

When the control unit 11 determines that the map corresponds to the cleaned room, the control unit 11 associates the altitude detected by the altitude detection unit 23 with the map and stores it again in the storage unit 19. If it is determined that the map does not correspond to a room that has been cleaned, no update is made to associate the altitude with the map. In the next cleaning, it is determined again whether the map corresponds to the cleaned room, and if it corresponds, the altitude detected by the altitude detecting unit 23 is associated with the map. In addition, when a map does not respond | correspond to a room, you may alert | report to that effect.
When the self-propelled cleaner 10 receives a new map, it is checked whether or not the same name as the map already stored in the storage unit 19 is assigned. If a different name is assigned, another new map is obtained. It is stored in the storage unit 19 as a map. The name is given, for example, when the app that draws a floor plan asks the user for input when generating the map. As for the new map, the map and altitude are linked when the room corresponding to the map is first run, as in the above-described procedure.

As described above, the map associated with the altitude data is stored in the storage unit 19.
Next, a procedure for performing autonomous traveling using the map stored in the storage unit 19 will be described below.
In the following description, it is assumed that one or more maps already associated with altitude are stored in the storage unit 19 of the self-propelled cleaner 10.
In response to the instruction to start cleaning, the control unit 11 selects a map corresponding to the room in which the self-propelled cleaner 10 is currently located from the maps stored in the storage unit 19. Use the altitude associated with the map as a clue to selection.

That is, referring to the altitude currently detected by the altitude detecting unit 23, a map associated with an altitude within a predetermined error range with respect to the altitude is searched from the storage unit 19. If there is a corresponding map, the user is asked to confirm the map as a candidate.
For example, when the self-propelled cleaner 10 has a display unit that can display a map, the confirmation method displays the map on the display unit and requests user confirmation. Alternatively, the map data may be transmitted and displayed on an external information processing device that can communicate with the self-propelled cleaner 10. As a display mode, the floor plan represented by the map may be displayed, or the name given to each map at the time of creation may be displayed. Alternatively, confirmation may be requested by informing the user of the name instead of display.
When a response indicating that the user has completed the confirmation is returned, the control unit 11 starts autonomous traveling using the confirmed map and executes room cleaning.

  The mode of autonomous running using a map is such that the map is used as a detailed map described in, for example, Patent Document 1 so as to eliminate uncleaned residue. Alternatively, a map is used as the map information described in Patent Document 2, and a travel route is determined so as to carefully clean a place to be cleaned after grasping which place has been cleaned and when.

(Embodiment 2)
In the first embodiment, the case where one map corresponding to the altitude currently detected by the altitude detecting unit 23 exists in the storage unit 19 is described. However, when there is no map corresponding to the current altitude, May exist.
When the map of the room where the self-propelled cleaner 10 is placed is not yet associated with the altitude, the map corresponding to the current altitude does not exist in the storage unit 19. Further, when maps of a plurality of rooms on the same floor are stored in the storage unit 19, there are a plurality of maps corresponding to the current altitude.

  In those cases, the control unit 11 makes the user select a candidate that can be used. That is, the user is made to select a map with no altitude associated as a candidate. In addition, if there are a plurality of maps corresponding to the current altitude, they are selected as candidates. If a plurality of maps corresponding to the current altitude and a map not associated with the altitude are stored in the storage unit 19, these are candidates.

(Embodiment 3)
In the first and second embodiments, the map is generated by an external device and stored in the storage unit 19.
In this embodiment, a mode in which the self-propelled cleaner 10 autonomously travels in the work area and generates the map itself will be described.
For example, since no map is generated in the initial state, no map is stored in the storage unit 19. Even if a map is stored in the storage unit 19, a room different from the stored map may be newly cleaned.
The self-propelled cleaner 10 stores the history of traveling in the work area using the position detection unit 22 in the storage unit 19 as a travel route. In that case, as described in Patent Document 1, for example, the vehicle travels once along the edge of the work area to create a contour of the work area map, and travels through the inside to further recognize the location of an obstacle or the like. Also good.

When autonomous driving is started in response to an instruction to start cleaning, the control unit 11 searches for a map corresponding to the current altitude and is stored in the storage unit 19, and reads that map if there is a corresponding map. Drive based on the read map.
During the autonomous traveling, the control unit 11 generates a map of the traveling work area. Of course, when no map is stored in the storage unit 19, the map is stored in the storage unit 19, and it is preferable to generate a map when any map is read out.
When it is determined that the generated map is different from the map read from the storage unit 19, the control unit 11 stores the generated map in the storage unit 19 in association with the altitude as a new map. This is for managing as a map of a different room on the same hierarchy as the read map.

When it is determined that the generated map is the same as the read map, if the read map is not associated with the altitude, the map is associated with the altitude. Alternatively, the generated map may be replaced with a map that is not associated with the altitude read from the storage unit 19.
When the read map is already associated with altitude, it is not always necessary to replace the map read from the storage unit 19 with the generated map, but preferably the generated map is replaced. This is to update the obstacles to the latest state.

As described above, in this embodiment, the control unit 11 generates a map every time the vehicle travels autonomously and performs cleaning. Then, during autonomous traveling or when terminating autonomous traveling, the generated map is replaced with a map that has already been generated and stored in the storage unit 19 and associated with the same altitude. A map that is not linked is linked to altitude or stored in the storage unit 19 as a new map.
≪Processing procedure related to map selection and generation≫

A procedure of processing executed by the control unit 11 regarding map selection and generation will be described with reference to a flowchart. As an example of processing, the case of Embodiment 3 will be described.
FIG. 4 is a flowchart showing a process related to map selection and generation among the processes executed by the control unit according to the present invention. The control unit 11 performs multitask processing simultaneously with other processing, but the other processing is omitted in FIG.
When the power of the self-propelled cleaner 10 is turned on, the controller 11 initializes the RAM and output signals (step S11) and then waits for an instruction to start cleaning (step S12).

  When the user operates an operation button (not shown) or sends an instruction from an external information processing terminal via a communication interface (not shown) (Yes in step S12), the control unit 11 responds to the altitude detection unit 23 in response. The detected altitude is referred to (step S13). That is, the altitude of the place where the self-propelled cleaner 10 is placed is acquired. And the altitude linked | related with the map stored in the memory | storage part 19 is referred (step S14). Then, it is checked whether or not an altitude travel map corresponding to the altitude of the place where it is placed is stored in the storage unit 19 (step S15). To correspond to the altitude of the place where it is placed means that the difference in altitude is within a predetermined range (within a specified value). The specified value is determined so that different hierarchies can be identified.

When a map corresponding to the altitude of the place where the vehicle is placed is stored in the storage unit 19 (Yes in Step S15), the control unit 11 performs autonomous travel using the travel map (Step S16). In addition, as described in Embodiment 3, the vehicle may travel autonomously while creating a map.
On the other hand, if the map corresponding to the altitude of the place where it is placed is not stored in the storage unit 19 (No in step S15), the control unit 11 creates a new map while autonomously traveling (step S17). .

When the cleaning is finished and the autonomous running is finished (Yes in Step S18), the control unit 11 determines whether or not the map created during the autonomous running is the same room as the map read from the storage unit 19. Depending on the result, the created map is stored in the storage unit 19 as a new map, or the map stored in the storage unit 19 and referenced in step S14 is updated (step S19).
In addition, when not creating a map for autonomous traveling in the above-mentioned step S16, it does not update. Further, when the generated map is the same as or almost the same as the map read from the storage unit 19, the update may not be performed.
The processing procedure relating to map selection and generation has been described above.

As mentioned above,
(I) A self-propelled electronic device according to the present invention detects a height of a place where a storage unit stores a travel map corresponding to a floor corresponding to a floor in association with the height of each level. An altitude detecting unit, a position detecting unit for detecting a position on the floor of the place where the vehicle is placed, and a travel map for each hierarchy stored in the storage unit. A travel map corresponding to the altitude is selected, a control unit that controls travel based on the selected travel map, and a travel unit that travels based on an instruction from the control unit.

In the present invention, the floor on which the self-propelled electronic device autonomously travels is composed of a plurality of layers at different altitudes. Specific examples include 2-story and 3-story houses, multi-story buildings, apartment houses, and commercial facilities.
The travel map is map information used for determining a travel route when the self-propelled electronic device travels on the floor surface.
Furthermore, the altitude detection unit detects a difference between the floor level on which the altitude is placed and other levels. Specific examples thereof include a barometric sensor, but are not limited thereto. Here, it is sufficient for the altitude detecting unit to detect the height of the floor surface with sufficient accuracy to distinguish the floor surface of each layer from the other layers.

The position detection unit detects the position on the floor where the place is placed. As a specific mode, an encoder, a gyro sensor, a camera, a GPS, an acceleration sensor, and the like that detect the rotation amounts of the left and right drive wheels are used. Although it is preferable to detect the absolute position using GPS or the like, the present invention is not limited to this. You may detect the relative position from the starting point (home position) of driving | running | working.
Moreover, a control part controls driving | running | working of a self-propelled electronic device. Specific examples thereof include a control circuit centered on a microcomputer (MPU) having a ROM, a RAM, an input / output circuit, a timer, and the like.
Furthermore, the traveling unit is a part that causes the device to travel based on an instruction from the control unit, and includes, for example, left and right driving wheels, a motor that drives each driving wheel, a motor driver circuit, and the like.
The self-propelled electronic device includes a sensor that detects an obstacle for autonomous traveling.

Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) The altitude detecting unit may detect the altitude of the place where the altitude is placed using an atmospheric pressure sensor.
In this way, the altitude of the place can be detected by the atmospheric pressure sensor.

(Iii) The control unit creates the travel map based on the position history and stores it in the storage unit in association with the altitude, or updates the stored travel map Good.
In this way, a travel map can be created or updated when traveling on the floor of each level.

(Iv) The position detection unit may detect an absolute position, and store or update traveling maps that have the same altitude and do not overlap in the map area as different room maps, respectively.
In this way, it is possible to store and manage the driving maps having different altitudes of places or the same altitude but not overlapping absolute positions as different room maps.

(V) The control unit may create a boundary of the travel map by traveling around the edge of the placed floor surface.
In this way, the boundary of the map area of the travel map can be created reliably and accurately.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

10: Self-propelled cleaner, 11: Control unit, 12: Rechargeable battery, 14: Obstacle detection unit, 14L: Left ultrasonic sensor, 14F: Front ultrasonic sensor, 14R: Right ultrasonic sensor, 15C: Collision sensor, 16L: Left wheel floor sensor, 16R: Right wheel floor sensor, 16F: Front floor sensor, 16T: Rear floor sensor, 17: Traveling part, 18R: Right drive wheel, 18L: Left drive wheel, 19 : Storage unit, 19c: battery information, 19m: travel map, 19p: position information, 22: position detection unit, 23: altitude detection unit, 31: intake port, 32: exhaust port, 33: dust collection chamber, 34: Electric blower 35: Brush motor 36: Rotating brush 37: Side brush 102: Housing 102a: Bottom plate 102b: Top plate 102c: Side plate

Claims (5)

A storage unit for storing a driving map for each level corresponding to the floor for each level in association with the altitude of each level;
An altitude detector that detects the altitude of the place where it is placed;
A position detector that detects the position of the place where the floor is placed;
Control for selecting a travel map corresponding to the altitude detected by the altitude detection unit from the travel map for each hierarchy stored in the storage unit and controlling the travel based on the selected travel map And
A self-propelled electronic device comprising: a traveling unit that travels based on an instruction from the control unit.   The self-propelled electronic device according to claim 1, wherein the altitude detecting unit detects an altitude of a place where the altitude detecting unit is placed by using a barometric pressure sensor. The position detection unit detects a history of positions that change with traveling,
The altitude detection unit detects the altitude of the place where the vehicle travels,
The said control part produces the said map for driving | running | working based on the said log | history of the position, associates with the said altitude, and stores it in the said memory | storage part, or updates the stored driving | running map. The self-propelled electronic device described in 1.   The said position detection part detects an absolute position, and stores or updates each of the driving maps in which the absolute positions in the map area do not overlap with each other as maps of different rooms, respectively. Self-propelled electronic equipment.   The said control part is a self-propelled electronic device as described in any one of Claims 1-4 which makes a 1-round run along the edge of the placed floor surface, and produces the boundary of the map for driving | running | working.