JP6155100B2 - Self-propelled electronic device - Google Patents

Description

  The present invention relates to a self-propelled electronic device, and more particularly to a self-propelled electronic device having a remote control function such as a home appliance.

  Conventionally, remote control that can remotely control home appliances and check the results of remote control of home appliances using a communication terminal such as a mobile phone owned by a user inside or outside the home The system is being used.

  For example, a remote control station that transmits remote operation commands to a plurality of home appliances is arranged in the center of the room, and after obtaining a remote control code of the manufacturer of the home appliance to be operated by a mobile phone or a personal computer, the mobile phone A remote control system has been proposed in which a plurality of home appliances are remotely operated with a single remote control by transmitting a command for operating a desired home appliance to a remote control station (see Patent Document 1).

  In addition, an infrared LED 5 that transmits an infrared remote control signal for controlling the operation of the remote control device and an operation detection device that detects the operation state of the remote control device are indicated by turning on / off. A camera 6 for photographing the infrared LED 13, and when receiving a home appliance control command from a mobile phone of a user on the go through an external network, an infrared remote control signal corresponding to the control command is displayed in red A remote control device that transmits the operation state of the home appliance to the mobile phone based on the state of the infrared light LED 13 of the operation detection device that is transmitted from the external light LED 5 to the home appliance and is photographed by the camera after the transmission; The remote control device is installed in a place where the remote control device and the motion detection device can be seen. Over preparative control system it has been proposed (see Patent Document 2).

  In addition, a robot that can receive a power suppression instruction transmitted from a power demand management apparatus connected via a network and moves freely in the house corresponds to the received power control instruction. After moving to the vicinity of the power suppression target device installed indoors, perform infrared communication with the target device, or directly operate the target device via a switch, and A power demand management system that executes power suppression based on a predetermined schedule has been proposed (see Patent Document 3).

JP 2007-116484 A JP 2008-182400 A JP 2011-254586 A

  However, in the conventional remote control system as shown in Patent Documents 1 and 2, the power source of home appliances such as lighting equipment in a house can be turned on and off from the outside, but the remote control device The remote control device and the target to be controlled so that the infrared signal transmitted from the target device is received by the infrared light receiving part of the target device to be controlled and the LED display of the operation status of the target device can be always taken by the camera It was necessary to set a fixed arrangement with the device in advance.

  Therefore, in order to control the operation of a plurality of target devices installed at various positions with one fixed remote control device, an infrared signal to be transmitted is transmitted to a wide area. As described above, it is necessary to provide a large number of infrared LEDs oriented in various directions.

  In addition, when the operation of the target device that performs power suppression is controlled using an infrared signal by a robot that can move indoors as in Patent Document 3, each target device is installed at various positions. Therefore, in order to ensure that the infrared light receiving part of the target device receives the infrared signal, a large number of infrared LEDs are arranged radially on the outer surface of the robot body, or hemispherical on the upper surface of the robot body. There was a need to place.

Since robots are self-propelled electronic devices that operate on batteries, low power consumption is required to operate them for as long a time as possible, but the operations of multiple target devices installed at various locations are guaranteed. In order to control it, it is necessary to provide a large number of infrared LEDs, which makes it difficult to reduce power consumption, which causes an increase in cost.
Therefore, in order to meet the demands for low power consumption and cost reduction, the arrangement of infrared LEDs that remotely control the operation of the target device should be devised to reduce the number of infrared LEDs used in the robot. Is desired.

  The present invention has been made in view of the above circumstances, and can reduce power consumption by devising the arrangement of signal transmission elements and the like for controlling the operation of the target device for remote control. It is an object to provide a self-propelled electronic device.

The present invention receives a casing, a movement drive unit that moves the casing, an imaging unit that captures an image, and instruction information for controlling the operation of the control target device from a communication terminal device, and the imaging unit A communication unit that transmits an image captured by the communication terminal device, and a control signal transmission unit that transmits a control signal of the control target device corresponding to the received instruction information, and is captured by the imaging unit The imaging unit and the control signal transmission unit are arranged in the housing such that a spatial region and an emission region of a control signal transmitted by the control signal transmission unit overlap, and the control signal transmission unit is An infrared transmitter that transmits infrared light, and the infrared transmitter includes a plurality of infrared LEDs that emit infrared light in different directions, and the infrared light emitted from each of the infrared LEDs. The light exit area is In apart space a predetermined distance from Kikatami body, a portion of the emission region of the infrared light emitted from the adjacent infrared LED and have overlapping engagement with each other, in apart space a predetermined distance from said housing, The infrared light is emitted so that the entire space of the emission area of the infrared light emitted from the plurality of infrared LEDs coincides with or includes the space area photographed by the imaging unit. The present invention provides a self-propelled electronic device in which an LED and the imaging unit are arranged .

  According to this, since the emission area of the control signal of the control target device overlaps with the imaging space area, the control signal emission area is limited to a range in which the control target device can be appropriately controlled. , Power consumption can be suppressed.

  According to the present invention, the imaging unit and the control signal transmission unit are arranged outside the casing so that the spatial region captured by the imaging unit overlaps the emission region of the control signal transmitted by the control signal transmission unit. Since it arrange | positions in the surface vicinity, the emission area | region of the control signal transmitted by the control signal transmission part is limited to the suitable range which controls a control object apparatus, and can reduce power consumption.

It is a block diagram which shows schematic structure of one Example of the control system of the self-propelled electronic device of this invention. It is a perspective view of one Example of the self-propelled electronic device shown in FIG. It is the top view and side view seen from 3 directions of one Example of the self-propelled electronic device shown in FIG. It is sectional drawing of one Example of the self-propelled electronic device shown in FIG. It is a top view of the bottom face of the self-propelled electronic device shown in FIG. It is a perspective view of one Example of the infrared rays transmission part of this invention. It is a perspective view of one Example of the infrared rays transmission part of this invention. It is explanatory drawing of one Example of the imaging | photography space area | region of the imaging | photography part of this invention. It is explanatory drawing of one Example of the radiation | emission area | region of the infrared light of this invention. It is explanatory drawing of one Example of the radiation | emission area | region of the infrared light of this invention. It is explanatory drawing of one Example of the radiation | emission area | region of the infrared light of this invention. It is a schematic flowchart of the communication terminal device of this invention. It is a schematic flowchart of the self-propelled electronic device of this invention.

Hereinafter, the present invention will be described based on the embodiments shown in the drawings.
However, this does not limit the present invention.

Embodiment 1
<Overall Configuration of Control System 100 for Self-Propelled Electronic Equipment>
FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a control system 100 for a self-propelled electronic device according to the present invention.
As shown in FIG. 1, the control system 100 includes a communication terminal device 10 and a self-propelled electronic device (abbreviated as “electronic device” in the figure) 20, and these devices can communicate via a communication network 90. It is connected to the.

Further, the communication terminal device 10 and the self-propelled electronic device 20 may have a function of performing direct communication between these two devices without going through the communication network 90.
The number of self-propelled electronic devices 20 provided in the 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.

  The communication terminal device 10 and the self-propelled electronic device 20 communicate with a server device (not shown) via the communication network 90, respectively, and the communication terminal device 10 communicates with the self-propelled electronic device via the server device. The operation of the device 20 may be controlled.

<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 portable game A machine can be used.
Further, as the communication terminal device 10, a remote control device for controlling the self-propelled electronic device 20 configured to have the functions of the above-described units 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). And the like, and controls the operation of each unit of the communication terminal device 10 by reading and executing various information stored in the storage unit and a program for performing various controls.

The communication unit 12 communicates with other devices that exist in 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.
When the user inputs an instruction for remote operation through the operation unit 14, the communication unit 12 instructs the communication unit 22 of the self-propelled electronic device to control the operation of the control target device. Send information.

  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 90 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 such as a keyboard, a mouse, a pen, a touch panel, and other pointing devices can be 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.

<Configuration of self-propelled electronic device 20>
The self-propelled electronic device 20 has a function of performing an operation according to an instruction from the user with respect to the operation unit 23 provided in the own device and an operation according to a control command (instruction information) sent from the communication terminal device 10. Equipment.
In the following embodiments, 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 having a function of performing an operation according to a control command from the communication terminal device 10, that is, an electronic device having a moving function. As long as it corresponds to.
Examples of the self-propelled electronic device 20 of the present invention include air cleaning devices, photographing devices, AV devices, various robot devices (for example, housework support robots, animal type robots, etc.).

  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.
In the present invention, the communication unit 22 mainly receives instruction information for controlling the operation of the control target device from the communication terminal device 10, and transmits the image captured by the imaging unit 40 to the communication terminal device 10.

The operation unit 23 is a part that receives an instruction input from a 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 is a part that executes the device function of the self-propelled electronic device 20 in accordance with 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.).

  FIG. 1 shows a configuration block of an embodiment of a self-propelled cleaner that is a self-propelled electronic device 20. The device function unit 25 mainly includes a movement drive unit 61, a brush drive unit 62, and a fan drive. Unit 63, 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. I have.

  2 is a perspective view of an embodiment of a self-propelled cleaner that is the self-propelled electronic device 20 of the present invention, and FIG. 3 is a plan view and a side view of the self-propelled cleaner. These are sectional drawings of a self-propelled cleaner, and Drawing 5 is a top view of the bottom (floor side) of a self-propelled cleaner.

As shown in the figure, a self-propelled cleaner, which is a self-propelled electronic device 20, uses a self-propelled electronic device main body formed of a substantially disc-shaped housing 30 and a battery (rechargeable battery) 31 as a power supply source. It has a drive wheel 32 to be driven, and has a function of collecting (cleaning) dust while self-propelled.
The movement drive unit 61 is a part that moves the housing 30, and performs traveling control by driving the drive wheels 32.

On the upper surface of the housing 30, a lid 34, an operation unit 23, and an infrared transmission unit 36 are provided.
In FIG. 2, the housing 30 has a shape in which the upper surface and the bottom surface are circular, 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, a dust collection container 38 that is accommodated in the dust collection portion 37 in the housing 30 and accumulates dust can be attached and detached. The dust in the dust collecting container 38 can be discarded.

The operation unit 23 may include an operation switch that receives input of various instructions from the user, data such as characters and numbers, and may further include a display (display unit) that displays various types of information to be presented to the user.
Moreover, as the operation part 23, you may provide the touchscreen integrally formed with the display part.

The infrared transmission unit 36 is a part that transmits an infrared signal (infrared light) from the self-propelled electronic device 20 to the home electric appliance to be controlled. The infrared transmission unit 36 corresponds to a control signal transmission unit that transmits a control signal of the above-described control target device.
The infrared transmission unit 36 includes a plurality of infrared light sources (also referred to as infrared light LEDs) arranged so that the principal axis directions of the emitted light are different from each other so that infrared light is emitted in different directions.
An infrared signal can be output from the infrared LED in a relatively wide angle range in the horizontal direction and the vertical direction of the casing of the self-propelled electronic device 20. The infrared signal is a signal corresponding to the instruction information transmitted from the communication terminal device 10 and is a signal for controlling the control target device.
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. A specific configuration example of the infrared transmission unit 36 will be described later.

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.
In addition, an imaging unit 40 is provided in a hole provided in a part of the bumper 39, for example, a hole provided in a front surface in a normal traveling direction, and other parts provided in a part of the bumper 39 are provided. An ultrasonic sensor 41 is provided in the hole.

The imaging unit 40 is a camera that captures an image, and mainly captures an image around the self-propelled electronic device 20 to generate imaging data. The captured image may be either a moving image or a still image, but in order for a user in a remote location to check the current state of the room in detail with his / her mobile terminal, in addition to the still image, It is preferable that a moving image can be captured.
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, a sound acquisition unit (not shown) that acquires the sound 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.
It is preferable to provide a plurality of ultrasonic sensors 41 at an appropriate distance on the outer surface of the housing instead of one.

  As shown in FIG. 5, the driving wheel 32, 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 motor, gear, or the like (not shown), which is the movement drive unit 61 (see FIG. 1), 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 corresponds to the rotation direction of each drive wheel 32. Move forward or backward.
When these drive wheels 32 are driven to rotate in opposite directions, 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. To do.
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 composed of a recess recessed inside the housing 30 is provided on the bottom surface of the housing 30, and external air is introduced from the suction port 46 into the housing. A rotating brush 44 that rotates along a rotation axis parallel to the bottom surface of the housing 30 is provided in the recess of the suction port 46.
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

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.

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. 4, 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.

The battery (rechargeable battery) 31 is a power supply source for the entire self-propelled electronic device 20, and supplies power to the above-described movement drive unit 61, imaging unit 40, dust collection unit 37, infrared transmission unit 36, and the like.
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.

As shown in FIG. 4, a dust collecting 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, and collects the dust sucked together with the air introduced from the suction port 46 in the dust collection container 38.
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 air introduced from the suction port 46 is discharged from the exhaust port 59 to the outside through the internal path.

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 allow the motor unit 57 and the outflow path 55 to communicate with each other.

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 the electric power supplied from the charging stand 70 via the charging terminal 49, and in addition to the above-described components, the control board 42, the drive wheel 32, the rotating brush 44, which are the components constituting the dust collecting unit 37, Power is also supplied to 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 through 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.

<Configuration of infrared transmitter>
6 and 7 are perspective views of an embodiment of the infrared transmission unit of the present invention.
FIG. 6 shows a part of the housing 30 including the infrared transmission unit 36 of the self-propelled electronic device 20 shown in FIG.
The infrared transmitter 36 shown in FIG. 6 shows a state where a lid is attached, and a plurality of infrared LEDs for transmitting infrared light are provided inside the lid.
Infrared light transmitted from the infrared LED passes through this lid and is emitted outside the housing.
An imaging unit 40 is provided in the vicinity of the infrared transmission unit 36, and both are arranged near the outer surface of the housing 30.

FIG. 7 shows the infrared transmitter 36 with the lid removed.
In the embodiment shown in FIG. 7, the infrared transmitter 36 is composed of six infrared LEDs (36 (a) to (f)).

The six infrared LEDs are arranged so that the emission directions of the infrared light are different from each other.
In FIG. 7, the two outer infrared LEDs (36 (a), 36 (f)) are fixedly installed so that the central axis of the infrared light emission direction is above the horizontal plane.
For example, it is attached so that the central axis of the emitted infrared light is inclined about 75 degrees above the horizontal plane.
The infrared light LED 36 (a) has a center axis in the infrared light emitting direction inclined 15 degrees to the right from the vertical plane in the longitudinal direction of the main body, and the infrared light LED 36 (f) is inclined about 15 degrees to the left. It is attached so that it is in the direction.

  The two infrared LEDs (36 (b), 36 (e)) have an infrared light emission direction upward from the horizontal plane, but the two infrared LEDs (36 (a), 36 (e), 36 (f)) is fixedly installed so as to be emitted at an angle lower than that (for example, the central axis of the emitted infrared light is 45 degrees above the horizontal plane). As with the infrared LEDs 36 (a) and (f), the infrared LEDs 36 (b) and 36 (e) have a central axis in the emission direction of 15 degrees to the right and 15 to the left from the vertical plane in the front-rear direction of the main body. It is attached so that it is in a direction inclined about a degree.

The innermost two infrared LEDs (36 (c), 36 (d)) have an emission direction of infrared light higher than the horizontal plane, and the two infrared LEDs (36 (b) , 36 (e)) is fixedly installed so as to be emitted at an angle lower than the horizontal plane (for example, the central axis of the emitted infrared light is 15 degrees above the horizontal plane).
As with the infrared LEDs 36 (a) and (f), the infrared LEDs 36 (c) and 36 (d) each have a central axis in the emission direction of 15 degrees to the right and 15 to the left from the vertical plane in the longitudinal direction of the main body. It is attached so that it is in a direction inclined about a degree.
However, the number of infrared LEDs is not limited to six and may be any of 2 to 5. A smaller number is preferable for reducing power consumption.
Infrared light emitted from one infrared LED spreads in a conical shape and travels through space. For example, the infrared light travels with a spread of about ± 15 degrees from the central axis in the traveling direction.

  As shown in FIGS. 2, 7, etc., the infrared transmission unit 36 is arranged approximately several cm above the photographing unit 40. This is because the spatial region photographed by the photographing unit 40 and the spatial region in the emission direction of infrared light transmitted from the plurality of infrared LEDs (also referred to as emission regions) are substantially overlapped.

In addition, in a space that is separated from the housing 30 by a predetermined distance, the entire space area (exit area) to which infrared light emitted from the plurality of infrared LEDs reaches is a space that is imaged by the imaging unit 40. It is preferable that it coincides with the area or slightly wider than the space area.
That is, the infrared light LED and the imaging unit 40 are arranged so that the entire space of the infrared light emission region includes a spatial region captured by the imaging unit 40.
Thereby, the infrared light which is a control signal can be reliably emitted to the control target device in the imaging space.

  In the present invention, a device (control target device) whose operation is controlled by infrared light is photographed by the photographing unit 40 and photographed on the display unit 13 of the communication terminal device 10 such as a mobile terminal owned by the user. The current operation state is confirmed, and if necessary, an input operation for executing a desired operation is performed using the operation unit 14.

Here, it is assumed that the user performs an input operation in a state where the device to be controlled is displayed on the display unit 13.
When the user performs some input operation on the communication terminal device 10, an operation instruction signal corresponding to the input operation is transmitted from the communication unit 12 to the communication unit 22 of the self-propelled electronic device 20, and corresponds to the received operation instruction signal. The infrared signal (infrared light) is emitted from the infrared transmitter 36.

In order for the user to perform an input operation on the communication terminal device in the same manner as a normal remote control operation, it is preferable that this infrared signal is emitted in the direction of the spatial region of the control device currently being photographed.
Therefore, the imaging unit 40 and the infrared transmission unit 36 are arranged so that the spatial region of the traveling infrared light and the spatial region to be captured overlap, and the directions of the plurality of infrared LEDs are set.

FIGS. 10 and 11 show flowcharts of control examples of the communication terminal device 10 and the self-propelled electronic device 20 based on an instruction from the communication terminal device 10, respectively.
The self-propelled electronic device 20 can execute the operations “Kansaitsu”, “Rimokon”, and “Ido” based on the instruction from the communication terminal device 10 in Step S1 (Step S1). S2-S4, S21-S24).
In step S3, when the communication terminal device 10 instructs “kansaitsu”, a control command for causing the self-propelled electronic device 20 to execute the “kansaitsu” function is transmitted via the communication network (step 3). S10). Thereby, the control unit 21 of the self-propelled electronic device 20 controls the operation of each unit (the imaging unit 34 and the like) of the device function unit 25 to image the surroundings of the self-propelled electronic device 20 (steps S28 and S29). Then, the imaging data is transmitted to the communication terminal device 10 (step S30). 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 (steps S11 and S12).

  In step S4, when the communication terminal device 10 instructs “Rimokon”, a control command for causing the self-propelled electronic device 20 to execute the “Rimokon” function via the communication network is a self-propelled electronic device. 20 (step S13). The control unit 21 of the self-propelled electronic device 20 generates an infrared signal (frequency and waveform of the infrared signal to be output) corresponding to the control command from the electronic device control application and outputs the generated infrared signal from the infrared transmission unit 36 (step S31). . Thereby, the infrared signal according to the instruction | indication of the communication terminal device 10 is output from the self-propelled electronic device 20, and the operation | movement according to the instruction | indication of the communication terminal device 10 is performed by the control household appliances which received the infrared signal. Be able to.

In step S2, when the communication terminal device 10 instructs “Ido”, a control command for causing the self-propelled electronic device 20 to execute the “Ido” function is transmitted to the self-propelled electronic device 20 via the communication network. It is transmitted (steps S5 to S9). 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 (steps S22 and S25). . 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 (steps S26 and S27).
Therefore, the user performs the “Ido” operation to move the self-propelled electronic device 20 to a desired position, and then performs the “Kansai” operation, so that the device to be controlled is reliably photographed. After confirming the above, an infrared light signal can be emitted.

FIG. 8 is an explanatory diagram of an example of the imaging space area of the imaging unit 40.
8A is a perspective view of the self-propelled electronic device, FIG. 8B is a plan view seen from above, and FIG. 8C is a side view.

A conical space area A (also referred to as an imaging space A) in each drawing indicates a space that can be imaged by the imaging unit 40.
Depending on the performance of the attached camera, for example, the conical imaging space A expands with a width of about 50 degrees.

In the case of a self-propelled cleaner as a self-propelled electronic device, the vehicle usually travels on the floor surface of the room.
When the traveling place is indoors, it is considered that the electronic device to be controlled is often located at a position considerably higher than the floor surface. Therefore, in order to photograph the control device, the photographing space A is free-running. It is preferable that the upper space be higher than that of the vacuum cleaner.

  Therefore, as shown in FIG. 8C, it is preferable to adjust the mounting position (orientation) of the camera so that the upper space can be photographed as much as possible.

FIG. 9 shows an explanatory diagram of an embodiment of an emission region of infrared light emitted from each infrared LED.
Here, the emission regions (B1 to B6) of infrared light emitted from each of the six infrared light LEDs shown in FIG. 7 are shown.
FIG. 9A is a perspective view of the self-propelled electronic device, FIG. 9B is a plan view seen from above, and FIG. 9C is a side view.

For example, the emission region of the infrared light emitted from the infrared light LED 36 (a) in FIG. 7 is a conical space indicated by reference numeral B1 in FIG.
The emission regions of the other infrared LEDs 36 (b) to (f) are conical spaces indicated by reference numerals B2 to B6, respectively.

In FIG. 9, for the sake of explanation, each emission region shows only a space in a range that does not intersect, but each emission region expands as the distance from the electronic device increases, so that the emission region of infrared light from the adjacent infrared LED Will overlap.
For example, at a position about 10 m away from the infrared transmission unit 36, adjacent emission areas overlap, and areas (untransmitted areas) where infrared light cannot reach between the emission areas can be eliminated.
In this way, the emission region of the infrared light emitted from each infrared light LED is a space separated from the housing by a predetermined distance, and the emission region of the infrared light emitted from the adjacent infrared light LED. Make sure they overlap each other.

  If the space of the captured image captured by the imaging unit 40 and displayed on the display unit 13 of the communication terminal device 10 is a rectangular area, for example, two infrared light LEDs (36 (a), 36 (f) at both ends are used. The imaging space A is covered with the entire space formed by the emission areas of the other four infrared light LEDs (36 (b), (c), (d), (e)) except for ().

For example, when a desired control target device to be controlled is shot in the shooting space A by the imaging unit 40, the communication unit 22 controls the operation of the control target device from the communication terminal device 10. Assuming that the instruction information is received, control signals (infrared light) corresponding to the received instruction information are transmitted from the four infrared LEDs forming the infrared transmitter 36.
As described above, when the entire space of the emission region of the infrared light covers the imaging space A in which the control target device is captured, the infrared light is radiated toward a certain direction of the control target device. .

  That is, in a state where the entire image of the electronic device to be controlled is captured and displayed, or the infrared light receiving unit of the electronic device is included in the captured and displayed image, the user When an input operation for controlling the operation of the electronic device is performed, infrared light corresponding to the input operation is emitted to the imaging space A, so that the user can reliably control the operation of the electronic device.

As described above, the remote operation of the electronic device can be performed by making the spatial region captured and displayed by the imaging unit 40 substantially coincide with the emission region of the infrared light emitted toward the electronic device to be controlled. A user who wants to perform a predetermined input operation while the control target device is displayed on the display unit 13 can control the operation of the electronic device easily and reliably.
In addition, the entire space of the infrared light emission area that controls the electronic device to be controlled may be the same as the imaging space or cover only the imaging space. Compared with the case where it emits, the number of infrared LEDs that emit infrared light can be reduced.
Therefore, since the number of infrared LEDs can be reduced as compared with the conventional system, the power consumption of the self-propelled electronic device can be reduced.

In addition, after the user performs an input operation for controlling the operation of the control target device, the display screen of the control target device currently displayed on the display unit 13 is observed for a while so that the control target device inputs the instruction input by the user. You can easily check whether it worked as expected.
For example, when the device to be controlled is an air conditioner, after the input operation, the user can easily and quickly confirm by opening and closing the air outlet that blows the wind and turning on / off the LED indicating the operation state on the image. You can check the operation.
Alternatively, when the control target device is a television, it may be confirmed from the image displayed on the display unit 13 that the television screen taken during the input operation is displayed or erased after the input operation.
Alternatively, when the control target device is a ceiling light, it is conceivable that the ceiling light is not directly imaged by the imaging unit 40 depending on the positional relationship between the self-propelled device 1 and the ceiling light. In this case, after the input operation, it is only necessary to confirm in the image displayed on the display unit 13 that the brightness of the room changes due to lighting ON / OFF or dimming.
In other words, after the user performs an input operation, whether or not the electronic device to be controlled has operated as instructed while viewing the display screen of the display unit 13 without performing any special operation. Can be confirmed easily and quickly.

[Embodiment 2]
The components described in the first embodiment are assumed to have the same functions as those in the first embodiment, and a description thereof is omitted unless otherwise specified.
In the above-described embodiment, the case where the spatial region captured by the imaging unit 40 is included in the emission region of the infrared light emitted toward the electronic device to be controlled has been described. However, the spatial region is a region in the depression direction. When at least a part of the depression direction area does not have to be included in the emission area.
That is, when the area in the depression angle direction is included as a space area photographed by the imaging unit 40, an obstacle or the like on the floor surface can be imaged, so that the communication terminal device 10 can cause the self-propelled electronic device 20 to travel. Although there is an advantage that it becomes easy, normally, it is considered that there is no control target device in the depression direction area, and therefore it can be excluded from the emission area.

[Embodiment 3]
In FIG. 9, for the sake of explanation, all of the infrared light emission areas (B1 to B6) emitted from the six infrared LEDs are shown, but the spatial area A to be photographed is as shown in FIG. In the case where the angle of view is approximately 50 degrees, infrared light may be emitted only at the four emission regions (B2, B3, B4, B5).

That is, in this case, infrared light is emitted from the four infrared light LEDs (36 (b), (c), (d), (e)), and the other two infrared light LEDs (36 (a)). , 36 (f)) so as not to emit infrared light. Further, the four infrared LEDs (36 (b), (c), (d), (e)) are made up to compensate for the low infrared light intensity regions of the emission regions (B2, B3, B4, B5). You may install in direction (for example, right above or the center of four central axes).
Or when the area | region of imaging | photography space is previously fixed like FIG. 8, it is not necessary to provide two infrared light LED (36 (a), 36 (f)) (Embodiment 4).

The present invention is a self-propelled electronic device having the following configuration and functions.
(Appendix 1)
The present invention receives a casing, a movement drive unit that moves the casing, an imaging unit that captures an image, and instruction information for controlling the operation of the control target device from a communication terminal device, and the imaging unit A communication unit that transmits an image captured by the communication terminal device, and a control signal transmission unit that transmits a control signal of the control target device corresponding to the received instruction information, and is captured by the imaging unit Self-propelled, wherein the imaging unit and the control signal transmission unit are arranged in the casing so that a spatial region and an emission region of a control signal transmitted by the control signal transmission unit overlap each other Electronic equipment is provided.

  According to this, since the emission area of the control signal of the control target device overlaps with the imaging space area, the control signal emission area is limited to a range in which the control target device can be appropriately controlled. , Power consumption can be suppressed.

(Appendix 2)
The control signal transmitter is an infrared transmitter that transmits infrared light, and the infrared transmitter includes a plurality of infrared LEDs that emit infrared light in different directions. It is a self-propelled electronic device given in appendix 1.
According to this, the number of infrared light LEDs is limited by using infrared light as a signal for controlling the operation of the device to be controlled, and overlapping the emission area of the infrared light with the imaging space area. It is possible to reduce power consumption and reduce costs.

(Appendix 3)
In addition, the emission region of the infrared light emitted from each infrared light LED is a space separated from the housing by a predetermined distance, and the emission region of the infrared light emitted from the adjacent infrared light LED. The self-propelled electronic device according to appendix 2, wherein the electronic device overlaps a part of each other.
According to this, the infrared light emission area overlaps with a part of the infrared light emission area emitted from the adjacent infrared light LED, so that the red light is emitted in a space separated by a predetermined distance. The exit area of the entire outside light can overlap with the imaging space area.

(Appendix 4)
Whether the entire space of the infrared light emission area emitted from the plurality of infrared LEDs coincides with the space area photographed by the imaging unit in a space separated from the housing by a predetermined distance. Alternatively, the self-propelled electronic device according to appendix 3, wherein the infrared LED and the imaging unit are arranged so as to include the space region.
According to this, since the entire space of the infrared light emission area coincides with the imaging space area or includes the imaging space area, the control target device is captured in a state where the control target device is imaged in the imaging space area. If infrared light for controlling the device is emitted, the operation of the device to be controlled can be reliably controlled.

(Appendix 5)
Further, when a desired control target device is photographed by the imaging unit, the control signal is received when the communication unit receives instruction information for controlling the operation of the control target device from the communication terminal device. The self-propelled electronic device according to any one of appendices 1 to 4, wherein the transmission unit transmits a control signal corresponding to the received instruction information.

(Appendix 6)
In addition, a dust collecting container for accumulating dust, an intake port for introducing external air into the housing, an exhaust port for discharging the introduced air to the outside, and air introduced from the intake port A dust collection unit that collects dust in the dust collection container; and a rechargeable battery that supplies power to at least the movement drive unit, the imaging unit, the dust collection unit, and the control signal transmission unit. The self-propelled electronic device according to any one of appendices 1 to 5, which has a cleaning function of collecting garbage while self-propelled.
According to this, in a self-propelled electronic device having a cleaning function, in order to control a device to be controlled that has been photographed, control signal transmission that can emit a control signal to a space corresponding to the photographing space region Therefore, the power consumption required for the function of controlling the control target device can be reduced.

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 Apparatus Function unit, 30 Case, 31 Battery, 32 Drive wheel, 36 Infrared transmission unit, 40 Imaging unit, 41 Ultrasonic sensor, 44 Rotating brush, 45 Side brush, 49 Charging terminal, 58 Suction fan, 61 Moving drive unit, 62 Brush drive unit, 63 fan drive unit, 64 voltage detection unit, 65 energization detection unit, 70 charging stand, 71 power supply terminal, 90 communication network, 100 control system

Claims (3)

A housing,
A movement drive unit for moving the housing;
An imaging unit for taking an image;
A communication unit that receives instruction information for controlling the operation of the control target device from the communication terminal device, and transmits an image captured by the imaging unit to the communication terminal device;
A control signal transmission unit that transmits a control signal of the control target device corresponding to the received instruction information,
The imaging unit and the control signal transmission unit are arranged in the casing so that a spatial region imaged by the imaging unit overlaps an emission region of a control signal transmitted by the control signal transmission unit,
The control signal transmission unit is an infrared transmission unit that transmits infrared light, and the infrared transmission unit includes a plurality of infrared LEDs that emit infrared light in different directions,
The emission region of the infrared light emitted from each infrared light LED is a part of the emission region of the infrared light emitted from the adjacent infrared light LED in a space separated by a predetermined distance from the housing. There case overlap each other,
In a space separated from the housing by a predetermined distance, the entire space of the infrared light emission area emitted from the plurality of infrared LEDs coincides with the space area photographed by the imaging unit, or The self-propelled electronic device is characterized in that the infrared LED and the imaging unit are arranged so as to include the space region . Of the plurality of infrared light LEDs, the entire space formed by the emission region of infrared light emitted from other infrared light LEDs excluding the infrared light LEDs arranged at both ends is photographed by the imaging unit. The self-propelled electronic device according to claim 1, wherein the self-propelled electronic device covers a space area . A dust collection container for storing garbage;
An inlet for introducing external air into the housing;
An exhaust port for discharging the introduced air to the outside;
A dust collecting part for collecting the dust sucked together with the air introduced from the suction port in the dust collecting container;
A rechargeable battery that supplies power to at least the movement drive unit, the imaging unit, the dust collection unit, and the control signal transmission unit;
The self-propelled electronic device according to claim 1, wherein the self-propelled electronic device has a cleaning function of collecting garbage while self-propelled in a predetermined space.