JP2018196622A - Electronic apparatus, method, and program - Google Patents

Abstract

To present a user at what degree a robot exerts its performance by how an environment of a prescribed area where the robot autonomously travels is arranged.SOLUTION: According to one embodiment, an electronic apparatus comprises: driving means capable of changing a position of the electronic apparatus; storage means storing information of a map at first time; measurement means measuring a position of a peripheral object at second time after the first time; identification means identifying a different portion between the map and the position of the peripheral object as an obstacle; calculation means calculating magnitude of an index of performance affected by the obstacle; and output means outputting information for displaying the position of the obstacle and the magnitude of the index of performance affected by the obstacle in an identifiable manner on the map.SELECTED DRAWING: Figure 1

Description

  The present embodiment relates to an electronic device, a method, and a program.

  In recent years, robots capable of autonomously traveling in a predetermined area are being promoted for cleaning the floor and transporting luggage. In order for the robot to autonomously travel, it is necessary to input an environment map of a predetermined area to be autonomously traveled to the robot in advance. As a result, a travel route based on the environment map can be created, and autonomous travel along the travel route is realized.

  However, since the environment of the predetermined area to be autonomously traveled is not always the same, if the environment of the predetermined area is different from that when the environment map is input, the robot must autonomously travel the predetermined area with high accuracy. May not be possible. According to this, not only the robot cleaning performance and transport performance cannot be expected, but also the performance may be reduced.

  In order to eliminate such a fear, the user of the robot may arrange the environment of the predetermined area so as to be close to the environment when the environment map is input while taking the current environment into consideration. However, there is a need for a means for the user to know how much the robot will perform when the environment of the predetermined area is adjusted.

Special Table 2015-553689

  The problem to be solved by an embodiment of the present invention is an electronic device capable of presenting to a user how much the robot will exhibit if the environment of a predetermined area where the robot autonomously travels is arranged, It is to provide a method and program.

  An electronic device according to an embodiment includes a driving unit that can change the position of the electronic device, a storage unit that stores map information at a first time, and an object around a second time after the first time. Measuring means for measuring the position of the object, specifying means for specifying the difference between the map and the position of the surrounding object as an obstacle, and calculating means for calculating the size of the performance indicator affected by the obstacle And an output means for outputting information for displaying the position of the obstacle and the size of the performance index affected by the obstacle in an identifiable manner on the map.

FIG. 1 is a diagram illustrating a schematic configuration example of an electronic apparatus according to an embodiment. FIG. 2 is a diagram illustrating an example of a first map stored in the electronic device according to the embodiment. FIG. 3 is a diagram illustrating an example of a second map stored in the electronic device according to the embodiment. FIG. 4 is a diagram illustrating an example of a display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 5 is a diagram illustrating another example of a display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 6 is a view showing still another example of the display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 7 is a diagram illustrating still another example of the display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 8 is a view showing still another example of the display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 9 is a flowchart illustrating an example of processing executed by the control unit of the electronic device according to the embodiment. FIG. 10 is a diagram illustrating still another example of the display screen displayed on the display unit of the electronic apparatus according to the embodiment. FIG. 11 is a diagram illustrating another schematic configuration example of the electronic apparatus according to the embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
FIG. 1 is a diagram illustrating a schematic configuration example of an electronic apparatus according to an embodiment. In the present embodiment, the electronic device is described assuming a case where the electronic device is a robot cleaner that cleans the floor surface in the building while traveling autonomously. However, the electronic device is not limited to this, and the electronic device may be an airport or a station. It may be a vacuum cleaner that cleans floors, roads, etc., or a robot (moving body) that carries luggage in a factory.

  An electronic device 100 illustrated in FIG. 1 includes a position detection sensor 101, an obstacle detection sensor 102, a dust collection unit 103, a drive unit 104, a control unit 105, a display unit 106, and the like.

  The position detection sensor 101 is a sensor device that can collect information used to specify the current position of the electronic device 100. Specifically, the position detection sensor 101 is an ultrasonic sensor, and transmits an ultrasonic wave around the electronic device 100 and receives an reflected ultrasonic wave, whereby an object ( For example, the distance to an obstacle or a wall is measured. The distance information indicating the distance to the surrounding object collected by the position detection sensor 101 is output to the control unit 105 described later.

  In this embodiment, the position detection sensor 101 is assumed to be an ultrasonic sensor. However, the present invention is not limited to this. For example, the electronic device 100 such as a GPS (Global Positioning System), a gyro sensor, or an acceleration sensor is used. Any sensor device may be used as the position detection sensor 101 as long as the current position can be specified.

  The obstacle detection sensor 102 is a sensor device (in other words, the electronic device 100 that can specify whether or not there is an obstacle in the traveling direction of the electronic device 100 that travels along a travel route created by the control unit 105 described later. Sensor device capable of measuring the position of an object around. Specifically, the obstacle detection sensor 102 is an ultrasonic sensor like the position detection sensor 101, and transmits an ultrasonic wave toward the traveling direction of the electronic device 100 and receives a reflected ultrasonic wave. The distance to the object located in the traveling direction of the electronic device 100 is measured, and it is specified whether or not there is an obstacle in the traveling direction. Obstacle information including information indicating the presence / absence of the obstacle specified by the obstacle detection sensor 102 and information indicating the distance to the obstacle when there is an obstacle is output to the control unit 105 described later. Is done.

  In the present embodiment, the description will be made assuming that the obstacle detection sensor 102 is an ultrasonic sensor. However, the present invention is not limited to this, and the presence or absence of an obstacle located in the traveling direction of the electronic device 100 can be specified. Any sensor device may be used as the obstacle detection sensor 102 as long as it is a sensor device.

  The dust collection unit 103 has a function of sucking and collecting dust on the floor surface. The dust collection unit 103 includes, for example, a suction motor, a suction unit that sucks in air including dust on the floor surface by the suction motor, and a dust collection chamber that stores dust and the like sucked by the suction unit. . In addition, the structure of the dust collection part 103 is not limited to an above-described structure, What kind of structure may be sufficient if it is a well-known structure.

  The drive unit 104 has a drive mechanism for causing the electronic device 100 to travel autonomously. The drive unit 104 includes, for example, a plurality of wheels and a drive motor for rotating the wheels. Note that the configuration of the drive unit 104 is not limited to the configuration described above, and any configuration may be used as long as it is a known configuration.

  The control unit 105 controls the operation of each unit constituting the electronic device 100. Specifically, as shown in FIG. 1, the control unit 105 includes a map information storage unit 110, a position detection unit 111, an obstacle detection unit 112, a route creation unit 113, a route information storage unit 114, a route evaluation unit 115, and the like. It has. Each of the units 111 to 113 and 115 included in the control unit 105 is realized by executing a program stored in a memory (not shown) by a CPU (Control Processing Unit) (not shown).

  The map information storage unit 110 stores an environmental map of a cleaning area cleaned by the electronic device 100. Specifically, the map information storage unit 110 includes information on the first map indicating the cleaning area in a state where no obstacle is arranged, and information on the second map indicating the cleaning area in a state where the obstacle is arranged. Is remembered.

  For example, when a new cleaning area is added as a cleaning area of the electronic device 100, the first map includes the new cleaning area in a state where no obstacles are arranged in the new cleaning area. It is the map produced as a result of having performed the scan for measuring the breadth and shape of the. The second map is a map created as a result of executing a scan for creating (updating) the travel route of the electronic device 100 when the cleaning area is actually cleaned.

  FIG. 2 is a diagram illustrating an example of the first map, and FIG. 3 is a diagram illustrating an example of the second map. According to the 1st map shown in FIG. 2, it turns out that the room used as a cleaning area is not a square room, and some walls protrude. Moreover, according to the 2nd map shown in FIG. 3, in the room used as a cleaning area, in addition to the base station BS for charging the electronic device 100, there are three obstacles A that are different from the first map. It can be seen that ~ C is arranged. As shown in FIGS. 2 and 3, the first map and the second map are objects such as walls that cannot be moved (areas shown with diagonal lines), obstacles A to C, base station BS, and the like. It is preferable that the map is capable of distinguishing an object that can be moved (an area displayed without diagonal lines).

  In the present embodiment, it is assumed that the map information storage unit 110 stores two types of maps such as the first map and the second map, but the present invention is not limited to this, and the map information storage unit A third map is further stored in 110 and may be used in the same manner as the first map and the second map. The third map is a map that is created as a result of the scan being performed in a state where only objects (fixed objects) that are moved less frequently, such as chests and desks, are arranged in the cleaning area. In addition to scanning in the state described above, the third map can be obtained by considering an object located at the same place as a fixed object instead of an obstacle in the process of creating / updating the second map. It may be created after the map. In addition, the third map may be updated on the assumption that there has been a redesign when a change of a predetermined amount or more is detected in the position of the fixed object by the obstacle detection unit 112 described later.

  In the present embodiment, as described above, it is assumed that the map information storage unit 110 stores two types of maps such as the first map and the second map. However, the present invention is not limited to this. Only the second map may be stored in the map information storage unit 110.

  The position detection unit 111 specifies (detects) the current position of the electronic device 100 based on the distance information output from the position detection sensor 101 and the second map stored in the map information storage unit 110. Specifically, the position detection unit 111 detects the distance to the obstacle arranged in the cleaning area indicated by the distance information from the position detection sensor 101 and the obstacle arranged in the cleaning area indicated by the second map. The current position of the electronic device 100 is specified. Current position information indicating the current position of the electronic device 100 is output to the obstacle detection unit 112 and the route creation unit 113.

  The obstacle detection unit 112 is based on the obstacle information output from the obstacle detection sensor 102, the second map stored in the map information storage unit 110, and the current position information output from the position detection unit 111. Then, it is determined whether or not the presence / absence of the obstacle with respect to the current traveling direction of the electronic device 100 matches the arrangement of the obstacle on the second map (whether there is no difference).

  Although there is no obstacle in the traveling direction of the electronic device 100 according to the second map even though the obstacle information indicates that there is an obstacle, or there is no obstacle according to the obstacle information. However, according to the second map, when there is an obstacle in the traveling direction of the electronic device 100, the obstacle detection unit 112 determines when the second map is created (or the previous update). It is determined that the position of the obstacle has been changed from the time), and the process of updating the second map is executed. The updated second map is stored in the map information storage unit 110 instead of the updated second map.

  In addition, when the obstacle detection unit 112 determines that the arrangement of the obstacle has been changed since the second map is created, the obstacle detection unit 112 instructs the route creation unit 113 to review the travel route of the electronic device 100 in the current cleaning. Instruct.

  The route creation unit 113 is based on the second map stored in the map information storage unit 110 and the current position information output from the position detection unit 111, and the travel of the electronic device 100 at the position indicated by the current position information. Create a route. Specifically, when the current position of the electronic device 100 indicated by the current position information is a place where the base station BS for charging the electronic device 100 is installed, the route creating unit 113 indicates the second map. Create a travel route (initial route) for cleaning while avoiding obstacles (bypassing).

  In addition, the route creation unit 113 determines that the current position of the electronic device 100 indicated by the current position information is not a place where the base station BS for charging the electronic device 100 is installed, and the route detection unit 112 routes the route. When an instruction to review is received, the travel route is corrected so as to avoid a new obstacle indicated by the updated second map, or there is an obstacle indicated by the updated second map. The travel route is corrected so that it goes straight without avoiding the place.

  As shown in FIG. 1, the route information storage unit 114 includes a real route information storage unit 114a and a virtual route information storage unit 114b. The actual route information storage unit 114a stores actual route information indicating the actual route that the electronic device 100 has actually traveled during the current cleaning. On the other hand, the virtual route information storage unit 114b is a virtual route on which the electronic device 100 can travel on the assumption that the electronic device 100 has removed the obstacle located on the second map used at the time of this cleaning. Virtual route information indicating the route is stored.

  The virtual route information is created and stored according to the number of obstacles located on the second map used by the electronic device 100 at the time of this cleaning. For example, when the second map used at the time of this cleaning is the second map shown in FIG. 3, the virtual route when it is assumed that the obstacles A to C are removed in the virtual route information storage unit 114b. Information, virtual path information when it is assumed that obstacles A and B, obstacles B and C, obstacles C and A are removed, and virtual path when all obstacles A to C are removed Information is stored.

  The route evaluation unit 115 calculates an evaluation index for the travel route (actual route) indicated by the actual route information stored in the actual route information storage unit 114a. Similarly, the route evaluation unit 115 calculates an evaluation index for the travel route (virtual route) indicated by the virtual route information stored in the virtual route information storage unit 114b.

The evaluation index here indicates cleaning performance (cleaning performance). For example, an uncleaned area (in other words, cleaning is performed due to an obstacle) caused by an obstacle placed in the cleaning area. Area (specifically, X [m ² ] etc.) corresponds to this. In this case, it can be seen that the smaller the area of the uncleaned region, the higher the cleaning performance, and the larger the area of the uncleaned region, the lower the cleaning performance.

  However, the evaluation index is not limited to the area of the uncleaned area, and may be, for example, the area of the cleanable area, the ratio of the area of the uncleaned area to the area of the cleaned area, or the cleaning with respect to the area of the cleaned area It may be the ratio of the area of the possible region. Furthermore, the evaluation index may be a travel distance when cleaning the cleaning area, a time taken to finish cleaning the cleaning area, or the like.

  In the present embodiment, since it is assumed that the electronic device 100 is a robot cleaner, the evaluation index indicates the cleaning performance. However, the electronic device 100 is a robot that carries luggage in the factory. In this case, the evaluation index indicates transportation cleaning. Specifically, the travel distance when moving from the first point to the second point, the time taken to finish moving from the first point to the second point, and the like correspond to this.

  The route evaluation unit 115 compares the evaluation index corresponding to the actual route indicated by the actual route information with the evaluation index corresponding to the virtual route indicated by the virtual route information, and when the electronic device 100 travels along the virtual route, The improvement rate of the evaluation index (in other words, the improvement rate of cleaning) indicating how much the cleaning performance is improved as compared with the case of traveling on the actual route traveled at the time of this cleaning is calculated.

  For example, when the evaluation index is the area of the uncleaned area, the path evaluation unit 115 corresponds to the area of the uncleaned area corresponding to the actual path indicated by the actual path information and the virtual path indicated by the virtual path information. The difference from the area of the uncleaned area is calculated. According to this, how much the uncleaned area is reduced can be calculated as the improvement rate of the evaluation index.

  When the evaluation index is the area of the cleanable area, the path evaluation unit 115 corresponds to the area of the cleanable area corresponding to the actual path indicated by the actual path information and the virtual path indicated by the virtual path information. The difference from the cleaned area is calculated. According to this, how much the cleanable area increases can be calculated as the improvement rate of the evaluation index.

  In addition, by referring not only to the actual route actually traveled at the time of this cleaning, but also to the evaluation index corresponding to the actual route traveled at the time of past cleaning, an uncleaned area from the past to the present (or from the past to the present) An area where the number of times of cleaning is small, that is, an area where dust is accumulated may be extracted, and how much the extracted area can be cleaned may be calculated as the improvement rate of the evaluation index.

  The performance improvement information indicating the improvement rate of the evaluation index calculated by the route evaluation unit 115 is output to the display unit 106.

  Note that the route evaluation unit 115 may calculate a plurality of types of evaluation indexes for the real route and the virtual route, and may calculate the improvement rate of the evaluation indexes for all types. For example, two types of evaluation indexes, such as the area of the uncleaned area and the travel distance when cleaning the cleaned area, are calculated, and the improvement rate of the evaluation index indicating how much the uncleaned area is reduced, and the travel distance The improvement rate of the evaluation index indicating whether or not it is shortened may be calculated. In this case, the performance improvement information regarding the decrease value of the uncleaned area and the performance improvement information regarding the shortened value of the travel distance are output to the display unit 106.

  The display unit 106 is a so-called display, and displays performance improvement information output from the route evaluation unit 115 in the control unit 105 and map information stored in the map information storage unit 110.

FIG. 4 is a diagram illustrating an example of a display screen displayed on the display unit 106. Here, it is assumed that the performance improvement information is information related to the reduction ratio of the uncleaned area.
FIG. 4 illustrates a display screen when the performance improvement information output from the route evaluation unit 115 and the second map stored in the map information storage unit 110 are used. According to the display screen shown in FIG. 4, the user, from the performance improvement information P _A, by removing an obstacle A shown by the object O _A on the second map, that uncleaned area decreases X _A% I can grasp it. Similarly, according to the display screen shown in FIG. 4, the user, from the performance improvement information P _B, by removing an obstacle B shown by Object O _B on the second map, uncleaned area X _B% reduction You can figure out what to do. Further, according to the display screen shown in FIG. 4, the user, from the performance improvement information P _C, by removing obstacles C shown by the object O _C on the second map, uncleaned area decreases X _C% I can understand that.

  In addition, although the case where only the performance improvement information when each of the obstacles A to C is displayed is illustrated here, the obstacles A and B, the obstacles B and C, and the obstacles C and A are removed. The performance improvement information when the obstacles A to C are removed and the performance improvement information when all the obstacles A to C are removed may be further displayed.

Each object O _A ~ O _C showing a second each obstacle A~C on the map, as shown in FIG. 4, it may be displayed are colored respectively in a predetermined color. For example, when the reduction ratio of the uncleaned area has a relationship of X _A > X _B > X _C , the object O _A of the obstacle A that can most reduce the uncleaned area by removing it is the first color. displayed in the object O _B of the obstacle B that can reduce the uncleaned area somewhat by removing displayed in a second color, nor can be reduced uncleaned area so as to remove the obstacle C object the O _C may be displayed in a third color.

  According to this, the user can determine by color (intuitively) which obstacles should be removed to easily reduce the uncleaned area, that is, to clean the cleaned area.

  Note that the first to third colors may be gray scales in which the first color is the darkest and then gradually lighter, or may be red, yellow, blue, or the like. More specifically, an obstacle object that is most likely to have an increase in cleaning performance is displayed in red or the darkest color that is the first color, and an obstruction object that is expected to have an increase in cleaning performance is the second color that is yellow. Alternatively, it may be displayed in the second darkest color, and an obstacle object that is most unlikely to be improved in cleaning performance may be displayed in the third color blue or the lightest color.

  In FIG. 4, since it is assumed that three obstacles A to C are arranged in the cleaning area, there are also three types of obstacle object colors. The color type of the object is determined according to the number of obstacles arranged in the cleaning area.

FIG. 4 illustrates the case where the performance improvement information is displayed on the display unit 106 in a tabular format, but the display format of the performance improvement information is not limited to this. For example, as shown in FIG. The performance improvement information corresponding to each of the obstacles _{A to C in the} vicinity of the objects O _{A to} OC may be displayed. According to this, compared with the case shown in FIG. 4, the advantage that a bigger 2nd map can be displayed can be acquired.

  Furthermore, FIG. 4 illustrates a case where only the performance improvement information related to the reduction ratio of the uncleaned area is displayed, but the present invention is not limited to this, and multiple types of performance improvement information are output from the path evaluation unit 115. A plurality of types of performance improvement information may be displayed. For example, in addition to the performance improvement information related to the reduction rate of the uncleaned area, when performance improvement information related to the shortened value of the travel distance is output from the route evaluation unit 115, the travel distance A shortened value may be further displayed.

Next, an example of a display screen different from that in FIG. 4 will be described with reference to FIG.
In FIG. 6, in addition to the performance improvement information output from the route evaluation unit 115 and the second map stored in the map information storage unit 110, the route information stored in the route information storage unit 114 is further used. The display screen in the case is illustrated. Here, an object O _A ~ O _C of the second each obstacle A~C on the map the user is assumed to equal the tap is selected and can be specified, the object O _A of the obstacle A is selected and It assumes the case where it is specified.

According to the display screen shown in FIG. 6, the user, from the performance improvement information P _A, by removing an obstacle A shown by the object O _A on the second map, that uncleaned area decreases X _A% It is possible to grasp the fact that the travel route of the electronic device 100 when the obstacle A is removed becomes the virtual route _RA . Further, the user can also grasp the difference between the actual route r at the time of this cleaning and the above-described virtual route _RA .

As described above, the case where the object OA of the obstacle _A is selected / designated is described here, but the objects OB, OC of the obstacles _B , _C are selected / designated by the user. Similarly, on the display screen, the reduction rate of the uncleaned area when the obstacle indicated by the selected / designated object is removed, and the actual path at the time of this cleaning are selected / designated. The virtual path when the obstacle indicated by the object is removed is displayed.

Further, in FIG. 6, the actual path r during this cleaning, the virtual route R _A in the case of removal of the obstacle indicated by the object O _A selected-specified by the user is displayed together on a single map However, the display method is not limited to this. For example, two maps are displayed, the actual route r is displayed on one map, and the virtual route _RA is displayed on the other map. good. Alternatively, the real route r and the virtual route _RA may be alternately displayed on one map.

Furthermore, an example of a display screen different from that in FIGS. 4 and 6 will be described with reference to FIG.
7, in addition to the performance improvement information output from the route evaluation unit 115 and the second map stored in the map information storage unit 110, the route information storage unit 114 is similar to the display screen illustrated in FIG. The display screen when the route information memorize | stored in is further utilized is illustrated. Here, as in the case of FIG. 6, the object O _A ~ O _C of the second each obstacle A~C on the map the user is assumed to equal the tap is selected and can be specified, the obstacle It is assumed that the object OA of _A is selected / designated.

According to the display screen shown in FIG. 7, the user, from the performance improvement information P _A, by removing an obstacle A shown by the object O _A on the second map, that uncleaned area decreases X _A% In addition to being able to grasp, it is possible to grasp the uncleanable areas Y ₁ and Y ₂ that will be uncleaned areas in the travel route of the electronic device 100 when the obstacle A is removed. That is, when the user removes the obstacle A, the user can grasp that the uncleanable areas Y ₁ and Y ₂ should be cleaned with his / her hand. The non-cleanable area is specified by calculating a difference between the cleaning area and the area that can be cleaned by the virtual path when the obstacle indicated by the selected / designated object is removed.

4 to 7, the display screen displayed on the display unit 106 displays the second map itself stored in the map information storage unit 110. However, the present invention is not limited to this. May be a processed map obtained by finely processing the second map stored in the map information storage unit 110, or a map focused only on a part of the second map stored in the map information storage unit 110. It may be. Or the processed map which processed the 1st map memorize | stored in the map information storage part 110 neatly may be sufficient. The first map is used when the display screen is complicated, such as when the real route r and the virtual route _RA shown in FIG. 6 are displayed at a time.

Further, when the electronic device 100 according to the present embodiment is further equipped with a camera capable of photographing the surroundings while traveling, the display unit 106 may display the display screen illustrated in FIG. That is, instead of the object of the obstacle in the display screen shown in FIGS. 4 to 7, the image G _A ~G _C obstacle taken by the camera during travel may be displayed. According to this, the user can specifically grasp what the obstacle is from the image.

Furthermore, the display screen in which the obstacle images G _{A to} G _C and the performance improvement information P _{A to} P _C are associated with each other is displayed without displaying the second map of the display screen shown in FIG. Also good.

  Next, with reference to FIG. 9, an example of processing executed by the control unit 105 from when the electronic device 100 is activated to clean a predetermined cleaning area until it is terminated will be described. Here, the map information storage unit 110 is scanned in a state where nothing is arranged in the predetermined cleaning area, and the first map created as a result and the predetermined cleaning area were previously cleaned. It is assumed that the second map created (updated) is stored in advance.

  First, when the electronic device 100 is activated, the position detection unit 111 in the control unit 105 is based on the distance information output from the position detection sensor 101 and the second map stored in the map information storage unit 110. The current position of the electronic device 100 is specified.

  As a result, when the current position of the electronic device 100 is a place where the base station BS for charging the electronic device 100 is installed, the route creation unit 113 stores the second information stored in the map information storage unit 110 in advance. Based on the map, a travel route (initial route) for this cleaning is created. Specifically, the route creation unit 113 creates an initial route that can travel through the cleaning area while avoiding obstacles indicated by the second map (block B1).

  Since the electronic device 100 is basically located in the base station BS at the time of activation, the route creation unit 113 specifies the current position of the electronic device 100 by the position detection unit 111 at the time of activation of the electronic device 100. The above-described initial route may be created based on the second map stored in the map information storage unit 110 without waiting.

  Subsequently, when the initial route is created by the route creating unit 113, the control unit 105 controls the dust collecting unit 103 and the driving unit 104 to autonomously travel the electronic device 100 along the initial route (block B2). .

  It is assumed that distance information is always output to the control unit 105 from the position detection sensor 101 and obstacle information is always output to the control unit 105 from the obstacle detection sensor 102 during the subsequent processing. Further, the position detection unit 111 in the control unit 105 determines the current position of the electronic device 100 based on the distance information output from the position detection sensor 101 and the second map stored in advance in the map information storage unit 110. It is assumed that the current position information, which is a result of the identification, is always output to the obstacle detection unit 112 and the route creation unit 113.

  When the electronic device 100 starts cleaning (autonomous running), the obstacle detection unit 112 detects the obstacle information output from the obstacle detection sensor 102, the second map stored in the map information storage unit 110, and the position detection. Based on the current position information output from the unit 111, it is determined whether or not the presence or absence of the obstacle in the current traveling direction of the electronic device 100 matches the arrangement of the obstacle on the second map ( Block B3).

  If it is determined as a result of the processing of block B3 that the presence / absence of the obstacle indicated by the obstacle information matches the arrangement of the obstacle on the second map at the current position indicated by the current position information (block (YES in B3), the process proceeds to block B6 described later.

  As a result of the processing in block B3, when it is determined that the presence / absence of the obstacle indicated by the obstacle information does not match the arrangement of the obstacle on the second map at the current position indicated by the current position information (block B3 NO), the obstacle detection unit 112 updates the second map stored in advance in the map information storage unit 110 (block B4).

  Specifically, when the obstacle information indicates that there is an obstacle but there is no obstacle on the second map, the obstacle detection unit 112 uses the obstacle information based on the obstacle information. The second map is updated by newly arranging an object indicating an obstacle at a position on the second map corresponding to the position where there is.

  In addition, when there is an obstacle on the second map although the obstacle information indicates that there is no obstacle, the obstacle detection unit 112 displays the electronic device 100 on the second map. The second map is updated by deleting the object indicating the obstacle arranged in the current traveling direction.

  When the second map is updated, the route creation unit 113 creates a new travel route that can travel in the predetermined cleaning area based on the updated second map, that is, corrects the travel route (block). B5).

  Specifically, when the second map is updated by newly arranging an object indicating an obstacle, the route creation unit 113 bypasses the new obstacle and travels along the cleaning area. Create a new.

  On the other hand, when the second map is updated by deleting an object indicating an obstacle, the route creation unit 113 takes a travel route that goes straight without avoiding the place where the deleted object was placed. Create a new one.

  Next, the route creation unit 113 refers to the current position information output from the position detection unit 111 and determines whether or not the current position indicated by the current position information is the end point of the travel route (block). B6). If it is determined that the current position is not the end point of the travel route (NO in block B6), the control unit 105 returns to the process in block B2 described above, and the control unit 105 controls the dust collection unit 103 and the drive unit 104 to travel. The electronic device 100 is caused to travel along the route.

  On the other hand, when it is determined that the current position is the end point of the travel route (YES in block B6), the route creation unit 113 displays actual route information indicating the travel route traveled during the current cleaning as the actual route information storage unit 114a. To remember. In addition, the route creation unit 113 creates a travel route when an obstacle on the second map is excluded, and stores virtual route information indicating the travel route in the virtual route information storage unit 114b (block B7).

  Note that the virtual route information is stored in the number corresponding to the number of obstacles on the second map. For example, when two obstacles are arranged on the second map, virtual route information indicating a travel route when one obstacle is excluded and a travel route when the other obstacle is excluded are shown. The virtual route information shown and the virtual route information showing the travel route when both obstacles are excluded are stored in the virtual route information storage unit 114b.

  Subsequently, the route evaluation unit 115 calculates an evaluation index for the travel route indicated by the actual route information stored in the actual route information storage unit 114a, that is, the actual route traveled during the current cleaning (block B8).

  In addition, the route evaluation unit 115 calculates an evaluation index for the virtual route indicated by the one or more virtual route information stored in the virtual route information storage unit 114b (block B9).

  The route evaluation unit 115 compares the evaluation index for the travel route indicated by the actual route information with the evaluation index for the travel route indicated by the virtual route information, and calculates the improvement rate of the evaluation index (block B10).

  Thereafter, the route evaluation unit 115 outputs performance improvement information indicating the calculated improvement rate of the evaluation index to the display unit 106 for presentation to the user (block B11), and ends the processing here. Upon receiving the performance improvement information, the display unit 106 displays a display screen as shown in FIGS.

  According to the embodiment described above, the electronic device 100 calculates the evaluation index for the actual path and the evaluation index for the virtual path, and then calculates the evaluation index by removing the obstacle arranged in the cleaning area. It has a configuration for calculating the improvement rate and presenting it to the user. That is, it is possible to present to the user how much performance the electronic device 100 (robot) will exhibit if the environment of the predetermined region (cleaning region) where the electronic device 100 (robot) autonomously travels is prepared. it can.

  In the present embodiment, the electronic device 100 displays the display screen indicating how much the cleaning performance is improved when the obstacle is removed, as shown in FIGS. For example, the display screen shown in FIG. 10 may be displayed.

  FIG. 10 is a diagram illustrating an example of a display screen displayed on the display unit 106. Note that, unlike the display screens shown in FIGS. 4 to 8, the display screen shown in FIG. 10 may be displayed not only after cleaning but also during cleaning.

In FIG. 10, a display screen when the second map stored in the map information storage unit 110, the current position information output by the position detection unit 111, and the travel route created by the route creation unit 113 are used. Is illustrated. The display screen shown in FIG. 10 presents the recommended placement areas Z _{A to} Z _C of the obstacles _{A to C} indicated by the objects O _{A to} O _C on the second map to the user. The recommended placement areas Z _{A to} Z _C are areas in which an increase in cleaning performance can be expected even if obstacles A to C are placed (or areas that are expected to have no adverse effect, in other words, adverse effects can be suppressed. Expected area). Specifically, the recommended placement areas Z _{A to} Z _C are areas that have already been cleaned at the time of the current cleaning, and indicate areas that do not hinder subsequent cleaning. Alternatively, placement recommendations region Z _A to Z _C is a region that has been cleaned several times during the past cleaning, without cleaning when this cleaning refers to sufficiently clean area.

  According to this, the user can easily grasp where the obstacle can be moved to expect an increase in cleaning performance.

  Moreover, in this embodiment, when the presence or absence of the obstacle shown by the obstacle information differs from the arrangement of the obstacle on the second map, the second map is updated, and based on the updated second map Where the obstacle is placed is presented to the user (in other words, the difference between the first map and the updated second map is identified as the obstacle, and as a result, the obstacle placement is determined by the user. However, the present invention is not limited to this. For example, the difference between the presence / absence of the obstacle indicated by the obstacle information and the first map may be specified as the obstacle, and the arrangement of the obstacle based on the result may be presented to the user. That is, even if the map which shows the arrangement | positioning of the present obstruction is not produced (it is not obtained by update), the structure which can show an arrangement | positioning of an obstruction to a user may be sufficient.

  Further, in the present embodiment, the case where the display unit 106 is provided in the electronic device 100 and the performance improvement information is displayed on the display unit 106 has been described. However, the present invention is not limited thereto, and for example, as illustrated in FIG. The electronic device 100 is provided with a wireless communication module 107 instead of the display unit 106. The external display device 200 including the wireless communication module 201 capable of wireless communication with the wireless communication module 107 and the display unit 202 is provided with performance improvement information. May be displayed. In this case, the wireless communication module 107 provided in the electronic device 100 includes, in addition to the above-described performance improvement information, map information stored in the map information storage unit 110, route information stored in the route information storage unit 114, Are also transmitted to the external display device 200. Examples of the external display device 200 include a smartphone and a tablet terminal.

  In addition, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 100 ... Electronic device, 101 ... Position detection sensor, 102 ... Obstacle detection sensor, 103 ... Dust collection part, 104 ... Drive part, 105 ... Control part, 106 ... Display part, 107 ... Wireless communication module, 110 ... Map information storage 111: Position detection unit, 112 ... Obstacle detection unit, 113 ... Route creation unit, 114 ... Route information storage unit, 114a ... Real route information storage unit, 114b ... Virtual route information storage unit, 115 ... Route evaluation unit, 200... External display device, 201... Wireless communication module, 202.

Claims (14)

Driving means capable of changing the position of the electronic device;
Storage means for storing map information at the first time;
Measuring means for measuring the position of a surrounding object at a second time after the first time;
Identifying means for identifying a difference between the map and the position of the surrounding object as an obstacle;
A calculating means for calculating a size of an index of performance affected by the obstacle;
An electronic device comprising: output means for outputting information for displaying the position of the obstacle and the size of the performance index affected by the obstacle in a distinguishable manner on the map. Cleaning means for cleaning along with a change in the position of the electronic device by the driving means;
The calculating means includes
The electronic device according to claim 1, wherein a size of an index of cleaning performance affected by the obstacle is calculated with respect to cleaning by the cleaning unit. A transporting means for transporting a load accompanying a change in the position of the electronic device by the driving means;
The electronic device according to claim 1, wherein the size of a transport performance index affected by the obstacle is calculated with respect to the load transport by the transport means. The output means includes
The information for displaying on the map is further output so as to be able to identify a region in which an adverse effect on the indicator can be suppressed even if an obstacle is located. The electronic device described. A method applied to an electronic device including a drive mechanism for moving,
Storing the map information of the first time in a memory;
Measuring the position of an object around a second time after the first time;
Identifying the difference between the map and the position of the surrounding object as an obstacle;
Calculating the size of the performance index affected by the obstacle;
Outputting on the map information for distinguishably displaying the position of the obstacle and the size of the performance index affected by the obstacle. 6. The method according to claim 5, further comprising: calculating a size of an index of cleaning performance affected by the obstacle with respect to cleaning by a cleaning mechanism that performs cleaning in accordance with a change in the position of the electronic device by the drive mechanism. Method. 6. The method according to claim 5, further comprising: calculating a size of a transport performance index affected by the obstacle with respect to the load transport by the transport mechanism that transports the load along with the change of the position of the electronic device by the drive mechanism. The method described in 1. The information for displaying on the map is further output so as to be able to identify an area where an adverse effect on the index can be suppressed even if an obstacle is located. The method according to claim 1. A program executed by a computer of an electronic device having a drive mechanism for moving, wherein the program
Storage means for storing the map information of the first time in a memory;
Measuring means for measuring the position of a surrounding object at a second time after the first time;
Identifying means for identifying a difference between the map and the position of the surrounding object as an obstacle;
A calculating means for calculating a size of an index of performance affected by the obstacle;
A program for operating as output means for outputting information for displaying the position of the obstacle and the size of the performance index affected by the obstacle in a distinguishable manner on the map. The calculating means includes
10. The program according to claim 9, wherein a cleaning performance index affected by the obstacle is calculated with respect to cleaning by a cleaning mechanism that cleans with a change in the position of the electronic device by the driving mechanism. The calculating means includes
The program according to claim 9, wherein the size of a transport performance index that is affected by the obstacle is calculated with respect to the load transport by the transport mechanism that transports the load along with the change of the position of the electronic device by the drive mechanism. The output means includes
The information for displaying on the map is further output so as to be able to identify a region in which an adverse effect on the indicator can be suppressed even if an obstacle is located. The listed program. Driving means capable of changing the position of the electronic device;
Storage means for storing map information at the first time;
Measuring means for measuring the position of a surrounding object at a second time after the first time;
Identifying means for identifying a difference between the map and the position of the surrounding object as an obstacle;
A photographing means capable of photographing the periphery of the electronic device and photographing the obstacle;
A calculating means for calculating a size of an index of performance affected by the obstacle;
An electronic apparatus comprising: an output unit that outputs information for distinguishably displaying a captured image of an obstacle and a size of a performance index affected by the obstacle. A method applied to an electronic device comprising a drive mechanism for moving and a camera capable of photographing the surroundings,
Storing the map information of the first time in a memory;
Measuring the position of an object around a second time after the first time;
Identifying the difference between the map and the position of the surrounding object as an obstacle;
Photographing obstacles with the camera;
Calculating the size of the performance index affected by the obstacle;
Outputting information for distinguishably displaying a captured image of the obstacle and the size of the performance index affected by the obstacle.

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