JP6289268B2 - 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 function of automatically moving in a direction in which a target object such as a charging stand exists.

  Today, a self-propelled robotic vacuum cleaner that automatically cleans and runs indoors is used. The robot cleaner is equipped with a rechargeable battery, and when the remaining capacity of the rechargeable battery falls below a predetermined value, the robot cleaner returns to a charging stand fixedly arranged at a predetermined position in the room and connects the rechargeable battery to the charging stand. Some have the function of charging.

  As a method of returning to the charging stand, for example, when an infrared signal is sent from the charging stand toward a predetermined area and the infrared signal is received by the infrared receiving unit provided in the robot cleaner, the charging stand is used. Detects the direction of the vehicle and travels toward the charging stand.

JP 2013-146302 A JP 2004-275716 A

  However, in the conventional method of returning to the charging stand, since the infrared signal is a radio signal having a certain width directivity, there is a region where the infrared signal cannot be received. When the robot cleaner was in a position where it could not receive such infrared signals, it had to travel to a position where it could receive infrared signals by running along the wall surface (edge running) or running randomly. .

That is, it may take a long time to return to the charging stand because there may be useless travel before detecting the direction in which the charging stand exists.
Therefore, the present invention has been made in consideration of the circumstances as described above, and in the case where charging is necessary, the accuracy of detecting the direction in which a target object such as a charging stand exists is improved. It is an object of the present invention to provide a self-propelled electronic device capable of minimizing unnecessary movement until returning to a charging stand or the like and shortening the time until moving to the vicinity of the charging stand or the like.

The present invention is a self-propelled electronic device that automatically travels toward the position of a target object, and is transmitted from the target object, a travel control unit that controls the rotation of wheels to perform linear travel and rotational operation. A signal communication unit that receives the received radio signal, a distance measurement unit that measures a distance to the target object based on the received radio signal, and a direction determination unit that determines a direction in which the target object exists And a distance between the predetermined transmission intensity of the radio signal transmitted from the target object and the reception intensity of the radio signal received by the signal communication unit. A signal attenuation rate is obtained, a distance to the target object corresponding to the attenuation rate is calculated, and the control unit causes the travel control unit to rotate the self-propelled electronic device at a current position, thereby rotating Operate In addition, the distance measurement unit measures the distance to the target object at a plurality of measurement points, the direction determination unit is a plurality of measurement distances measured at the plurality of measurement points, and at each measurement point The present invention provides a self-propelled electronic device that determines a direction in which the target object exists by using a rotation angle.

In addition, a distance determination unit that determines a minimum measurement distance among the measurement distances measured at the plurality of measurement points is provided, and the direction determination unit measures the center of the rotation operation and the minimum measurement distance. It is characterized in that a direction extending in a certain direction of the measurement point a as viewed from the center of the rotation operation with respect to a straight line connecting the measurement point a is determined as a direction in which the target object exists.
According to this, the direction in which the target object exists can be easily detected by rotating the self-propelled electronic device and obtaining the minimum measurement distance among the distances to the target object.

In addition, a distance determination unit that determines a minimum measurement distance and a maximum measurement distance from the measurement distances measured at the plurality of measurement points is provided, and the direction determination unit is configured to measure the minimum measurement distance. An average position between the position of the first measurement point and the position of the second measurement point rotated 180 degrees from the measurement point at which the maximum measurement distance is measured is calculated, and the center of the rotation operation and the average position are calculated. The direction extending from the center of the rotation operation to the direction in which the average position extends is determined as the direction in which the target object exists.
According to this, the direction in which the target object exists is determined by calculating the average position using the maximum measurement distance in addition to the minimum measurement distance, so the detection accuracy of the direction is further improved. Can be made.

In addition, a distance change amount calculation unit that calculates a change amount of the measurement distance at each measurement point using the measurement distances measured at the plurality of measurement points, and a change amount of the calculated plurality of measurement distances. A distance change amount determination unit that determines a maximum change amount and a minimum change amount from the inside, wherein the direction determination unit includes the position of the first measurement point where the maximum change amount is calculated, and the minimum change amount An average position between the calculated second measurement point positions is calculated, and a straight line connecting the center of the rotation operation and the average position is extended in a certain direction of the average position when viewed from the center of the rotation operation. The determined direction is determined as the direction in which the target object exists.
According to this, the direction in which the target object exists is determined by calculating the maximum value and the minimum value of the change amount of the measurement distance, and calculating the average position of the measurement point. The accuracy can be further improved.

In addition, the present invention is a self-propelled electronic device that automatically travels toward the position of the target object, and includes a travel control unit that controls the rotation of the wheel to perform linear travel and rotational operation, and the target object. A signal communication unit that receives a transmitted radio signal, a distance measurement unit that measures a distance to the target object based on the received radio signal, and a direction that determines a direction in which the target object exists A determination unit; and a control unit, wherein the distance measurement unit includes a predetermined transmission intensity of the radio signal transmitted from the target object and a reception intensity of the radio signal received by the signal communication unit. Calculating a rate of attenuation of a radio signal, calculating a distance to the target object corresponding to the rate of attenuation, and the control unit causes the travel control unit to move the self-propelled electronic device along a predetermined route. without rotation Te During the movement, the distance measurement unit measures the distance to the target object at a plurality of measurement points, and the direction determination unit includes a plurality of measurement distances measured at the plurality of measurement points. The present invention provides a self-propelled electronic device that determines the direction in which the target object exists by using position information of each measurement point.

Further, the control unit causes the travel control unit to move the self-propelled electronic device along the circumference of a circle having a predetermined radius, and while the direction determination unit moves on the circumference, The direction in which the target object exists is determined using a plurality of measurement distances measured at a plurality of points and an angle from the center of the circle at the measurement point.
According to this, since the direction in which the target object exists is determined using the plurality of measurement distances measured during the revolution and the revolution angle at each measurement point, the target can be easily and accurately obtained. The direction in which the object exists can be detected.

Further, the wireless signal is a BLE signal defined by a Bluetooth low energy standard, and the distance measuring unit is configured to determine a distance to the target object based on a reception intensity of the BLE signal received by the signal communication unit. Is measured.
According to this, since the distance to the target object is measured based on the received BLE signal, the self-propelled electronic device can detect whether the BLE signal is present or not. As long as the distance is within the distance that can be received, the linear distance between the self-propelled electronic device and the target object can be calculated.

  Further, the control unit moves the self-propelled electronic device straight in a direction in which the target object exists determined by the direction determination unit.

In addition, the self-propelled electronic device is a self-propelled cleaner having a rechargeable battery and a cleaning function, the target object is a charging stand, and the controller determines the charge determined by the direction determination unit. The self-propelled cleaner is advanced toward the direction in which the stand exists, and a function of returning to the charging stand is executed.
According to this, the distance from the self-propelled cleaner to the charging stand is measured, and the self-propelled cleaner is directed toward the direction in which the charging stand that is the target object determined based on the measured distance or the like exists. Therefore, it is possible to shorten the time required for the return processing of the self-propelled cleaner to the charging stand.

  According to this invention, the distance to the target object is measured at a plurality of measurement points, and the direction in which the target object exists is determined using the measurement distance and the rotation angle at each measurement point. The accuracy of detecting the direction of the target object can be improved, and when the self-propelled electronic device is moved to the vicinity of the target object, useless movement can be reduced and the movement time can be shortened. Can do.

It is a block diagram of the configuration of an embodiment of the self-propelled cleaner of the present invention. It is a perspective view which shows the outline of one Example of the self-propelled cleaner of this invention. It is explanatory drawing of the relationship between the rotation angle of the self-propelled cleaner of this invention, and a measurement distance. It is a schematic explanatory drawing of the feedback direction determination process of Example 1 of this invention. It is a flowchart of the return direction determination process of Example 1 of this invention. It is a schematic explanatory drawing of the return direction determination process of Example 2 of this invention. It is a schematic explanatory drawing of the return direction determination process of Example 2 of this invention. It is a flowchart of the feedback direction determination process of Example 2 of this invention. It is a schematic explanatory drawing of the feedback direction determination process of Example 3 of this invention. It is a flowchart of the feedback direction determination process of Example 3 of this invention. It is a schematic explanatory drawing of the feedback direction determination process of Example 4 of this invention. It is a flowchart of the feedback direction determination process of Example 4 of this invention. It is a flowchart of the feedback direction determination process of Example 4 of this invention. It is a schematic explanatory drawing of the feedback direction determination process of Example 5 of this invention. It is a flowchart of the feedback direction determination process of Example 5 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.

<Configuration of self-propelled electronic device>
The self-propelled electronic device of the present invention is an electronic device that automatically travels toward the position of the target object.
Below, the structure of the "self-propelled cleaner" provided with the rechargeable battery and the cleaning function is demonstrated as one Example of the self-propelled electronic device of this invention. In this case, the target object is a charging stand.
However, the present invention is not limited to a self-propelled cleaner as long as it is an electronic device having a function of performing automatic traveling control and moving to a region near the target object. The target object is not limited to the charging stand.

  For example, in self-propelled electronic devices, a self-propelled air cleaner that sucks air and exhausts purified air, a self-propelled ion generator that generates ions, and a function that presents necessary information to the user And a self-propelled robot that performs a function requested by the user. The target object includes any tangible object having a signal communication unit described later.

FIG. 1 is a block diagram showing the construction of an embodiment of the self-propelled cleaner according to the present invention.
In FIG. 1, a self-propelled cleaner (hereinafter also referred to as a vacuum cleaner or a cleaner) of the present invention mainly includes a control unit 11, a rechargeable battery 12, a remaining battery level detection unit 13, a signal communication unit 14, and an ultrasonic sensor 15. , Distance measuring unit 16, distance determining unit 17, direction determining unit 18, infrared receiving unit 19, travel control unit 21, wheel 22, distance change amount calculating unit 25, distance change amount determining unit 26, intake port 31, exhaust port 32 , A dust collection unit 33, a failure detection unit 34, an input unit 35, a charging stand connection unit 41, and a storage unit 51.

  Further, the charging stand 100 is fixedly installed at a predetermined position such as a room for cleaning. By connecting the charging stand 100 and the self-propelled cleaner 1, the self-propelled cleaner 1 is supplied with electric power from the charging stand in contact with the charging stand, and the rechargeable battery 12 of the self-propelled cleaner 1. To charge. In addition, the self-propelled cleaner 1 performs a cleaning function while automatically traveling away from the charging stand 100.

The self-propelled cleaner 1 of the present invention cleans the floor surface by sucking air containing dust on the floor surface and exhausting the air from which dust has been removed while traveling on the floor surface of the place where it is installed. It is a cleaning robot. The self-propelled cleaner 1 of the present invention has a function of autonomously returning to the charging stand 100 when cleaning is completed.
In FIG. 2, the schematic perspective view of one Example of the self-propelled cleaner of this invention is shown.

In FIG. 2, the self-propelled cleaner 1 of the present invention includes a disk-shaped housing 2, and a rotating brush, a side brush 10, a dust collecting unit 33, an electric blower, and a plurality of devices are provided inside and outside the housing 2. The wheel 22 which consists of these drive wheels, the signal communication part 14, the infrared receiving part 19, and the other component shown in FIG. 1 are provided.
In FIG. 2, the portion where the infrared receiver 19 is disposed is the front portion, the portion where the rear wheel which is a driven wheel is disposed is the rear portion, and the signal communication portion 14 and the dust collecting portion 33 are disposed inside the housing. This part is called the middle part.

  The housing 2 has a circular bottom plate having an air inlet 31 and a top plate 2b having a lid portion 3 that opens and closes when the dust collecting portion 33 accommodated in the housing 2 is taken in and out at the center portion, A side plate 2c having an annular shape in plan view provided along the outer peripheral portion of the bottom plate and the top plate 2b. The bottom plate is formed with a plurality of holes for projecting the lower portions of the pair of drive wheels and rear wheels from the inside of the housing 2 to the outside, and the exhaust port 32 is located near the boundary between the front portion and the middle portion of the top plate 2b. Is formed. In addition, the side plate 2c is divided into two in the front and rear directions, and the front side portion of the side plate functions as a bumper.

  The self-propelled cleaner 1 turns in a stationary state by rotating a pair of drive wheels forward in the same direction and moving forward, reversely rotating in the same direction and moving backward in the same direction (hereinafter referred to as autorotation). Also called). For example, when the cleaner 1 reaches the peripheral edge of the cleaning area and collides with an obstacle on the course, the driving wheels stop, and the pair of driving wheels rotate in opposite directions to change directions. Thereby, the vacuum cleaner 1 is self-propelled while avoiding an obstacle over the entire installation place or the entire desired range.

Further, as will be described later, the self-propelled cleaner 1 receives a radio signal emitted from the signal communication unit 102 of the charging base 100 by the signal communication unit 14 and measures the distance from the charging base 100, for example, When cleaning is completed, when the remaining charge of the rechargeable battery 12 is reduced, or when the set time of the set cleaning timer has elapsed, the target object is automatically set so as to shorten the measurement distance. The vehicle travels repeatedly in a straight line and rotates in a direction approaching the charging stand, and returns to the vicinity of the charging stand 100.
However, if there is an obstacle, it moves in the direction of the charging stand 100 while avoiding it.

In this invention, in order to find the direction in which the charging base, which is the target object, exists, the vehicle rotates in a stationary state at the current position, and the rotational angle of rotation and the linear distance to the charging base are measured at a plurality of measurement points. To do.
Or it revolves so that a circular arc may be drawn with the predetermined radius R, and the rotation angle of revolution and the linear distance to the charging stand are measured at a plurality of measurement points.
As a result of this measurement, as will be described later, for example, the direction of the rotation angle of the measurement point at which the measured distance to the charging stand is minimum is determined to be the direction in which the charging stand exists.

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

For example, the control unit 11 controls the traveling control unit 21 so that the self-propelled electronic device rotates in a state where it is stationary at the current position.
In addition, the self-propelled electronic device is moved straight toward the direction in which the target object exists determined by the direction determination unit 18.
In particular, when the self-propelled electronic device is a self-propelled cleaner, the function of advancing the self-propelled cleaner toward the direction where the charging stand exists determined by the direction determination unit 18 and returning it to the charging stand Is executed.

The rechargeable battery 12 is a part that supplies electric power to each functional element of the cleaner 1, and is a part that mainly supplies electric power for performing the cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
The rechargeable battery 12 is charged in a state where the vacuum cleaner 1 and the charging stand 100 are connected.
The vacuum cleaner 1 and the charging stand 100 are connected by bringing exposed charging terminals, which are the connecting portions (41, 101), into contact with each other.

  The remaining battery capacity detection unit 13 is a part that detects the remaining capacity (remaining battery capacity) of the rechargeable battery, and outputs, for example, a numerical value representing the current remaining capacity in percent (%) with respect to the fully charged state. To do. Based on the remaining battery level (%) detected here, it is determined whether or not to return to the charging stand 100. If feedback is necessary, the direction in which the charging stand exists is detected as described later. And execute the feedback process.

The traveling control unit 21 is a part that controls the autonomous traveling of the self-propelled cleaner 1, and controls the rotation of the wheels 22 described above to move automatically by mainly performing linear traveling and rotating operation. Part.
By driving the wheels, the cleaner 1 is moved forward, backward, rotated, stationary, and the like.
As described above, the operation of turning at the current position is called autorotation, and the operation of rotating while moving to draw an arc on the circumference of a circle having a predetermined radius R with the predetermined base point as the center point of the circle. Call it.

The dust collection part 33 is a part which performs the cleaning function which collects indoor garbage and dust, and is mainly provided with the dust collection container which is not shown in figure, the filter part, and the cover part which covers a dust collection container and a filter part.
Moreover, it has an inflow path that communicates with the intake port 31 and an exhaust path that communicates with the exhaust port 32, and guides the air sucked from the intake port 31 into the dust collecting container through the inflow channel. Air is discharged to the outside from the exhaust port 32 through the discharge path.
The intake port 31 and the exhaust port 32 are portions for performing intake and exhaust of air for cleaning, respectively, and are formed at positions as described above.

The obstacle detection unit 34 is a part for detecting that the cleaner 1 is in contact with or approaching an obstacle such as an indoor desk or chair while the vehicle is traveling. For example, a micro switch, an ultrasonic sensor, an infrared distance sensor, or the like. A contact sensor, a non-contact sensor, or an obstacle sensor is used, and is disposed in front of the side plate 2C of the housing 2.
The CPU recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 34. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.

The input unit 35 is a part where the user inputs an instruction for the operation of the cleaner 1, and is provided on the surface of the housing of the cleaner 1 as an operation panel or an operation button.
Alternatively, as the input unit 35, a remote control unit is provided separately from the main body of the cleaner, and when the user presses an operation button provided on the remote control unit, an infrared ray or a radio wave signal is transmitted, and the operation is performed by wireless communication. An instruction may be input.
As the input unit 35, for example, a power switch, a start switch, a main power switch, a charge request switch, other switches (operation mode switch, timer switch) and the like are provided.

The signal communication unit 14 in FIG. 1 is a part that receives (detects) a radio signal transmitted from the signal communication unit 102 of the charging base 100 that is the target object. As an element of the signal communication unit 14, a general communication device that can receive a wireless signal to be transmitted can be used.
In the following embodiments, as a radio signal transmitted from the charging stand 100, for example, a signal defined by the Bluetooth Low Energy (BLE) standard is used. Hereinafter, this signal is referred to as a BLE signal.
When a BLE signal is transmitted from the charging stand, the signal communication unit 14 is also a receiving device capable of communication by BLE. In the present invention, the distance to the target object is measured based on the signal transmission level on the transmission side included in the BLE signal received by the signal communication unit 14 and the reception intensity of the BLE signal actually received on the reception side. It is characterized by.

BLE is a new standard of the Bluetooth extension specification used as one communication method of short-range wireless communication today, and performs ultra-low power wireless communication using 2.4 GHz band radio waves.
BLE has a maximum communication speed of 1 Mbps, a communicable distance of about 2.5 cm to 50 m, and is characterized by power saving.

In the present invention, the distance d between the signal communication unit 102 and the signal communication unit 14 is measured by receiving, by the signal communication unit 14, a radio signal output from the signal communication unit 102 including a BLE signal transmission device.
For example, the signal attenuation rate is obtained from the predetermined transmission intensity of the BLE signal output from the signal communication unit 102 and the reception intensity of the BLE signal received by the signal communication unit 14, and from the attenuation characteristics of the radio wave, The distance d corresponding to the attenuation rate may be calculated.

In addition, the BLE signal is a radio wave having transparency unlike directivity infrared rays, and is transmitted from the signal communication unit 102 in all directions of 360 degrees.
Therefore, even if there is an obstacle that blocks infrared rays between the charging stand 100 and the self-propelled cleaner 1, the BLE signal can be received and the distance between the two (1, 100) can be measured. Can do.

The ultrasonic sensor 15 detects a distance to an object such as a wall of a room or a desk, and includes a transmitter that transmits ultrasonic waves and a receiver that receives a reflected wave from the object. Is done.
The ultrasonic sensor 15 is mainly used for measuring a distance to an obstacle such as a wall.

The distance measuring unit 16 is a part that measures the distance to the charging base 100 that is the target object based on the received radio signal. Specifically, using the BLE signal received by the signal communication unit 14, the reception intensity of the BLE signal is detected, and the distance d between the self-propelled cleaner 1 and the charging stand 100 is calculated.
In the present invention, as will be described in the following embodiments, the distance measuring unit 16 is connected to the self-propelled cleaner 1 at a plurality of measurement points P while the self-propelled cleaner 1 rotates or revolves. The distance dp from the charging stand 100 is measured, and the measurement distance dp and the rotation angle θp from the initial initial rotation position to the measurement point are stored in the storage unit 51.

The distance determination unit 17 is a part that determines the magnitude relationship between a plurality of measurement distances calculated by the distance measurement unit 16.
For example, a part for determining the minimum measurement distance or the maximum measurement distance from a plurality of measurement distances measured at a plurality of measurement points while the self-propelled cleaner 1 rotates and rotates once. It is.

The direction determination unit 18 is a part that determines the direction in which the target object exists.
In order to determine the direction in which the target object exists, the distance measurement unit 16 mainly uses a plurality of measurement distances measured at a plurality of measurement points and a rotation angle at each measurement point.
For example, when the target object is the charging stand 100, the self-propelled cleaner 1 is rotated in a state where the self-propelled cleaner 1 is stationary at the current position, and the distance measuring unit 16 makes a plurality of rotations while making one rotation from a predetermined initial rotation position. The distance d to the charging stand is measured at the measurement point, and the rotation angle θa corresponding to the measurement point a at which the minimum distance da is measured among the plurality of measured distances d is the presence of the charging stand 100. The direction is determined.
When the direction in which the charging base exists is determined, the direction indicated by the rotation angle θa is set as the traveling direction for returning to the charging base, and the self-propelled vacuum cleaner 1 basically sets the traveling direction thus set. Start moving straight toward.

There are various variations in the direction determination method by the direction determination unit 18 as shown in the embodiments described later.
For example, instead of the above-mentioned rotation, the self-propelled electronic device is revolved so as to move on the circumference of a circle having a predetermined radius, and is measured at a plurality of measurement points during one revolution by the revolution. Alternatively, the direction in which the target object exists may be determined using a plurality of measurement distances and the revolution angle at each measurement point.
In addition, the self-propelled electronic device is moved along a predetermined route, and during the movement, the distance to the target object is measured at a plurality of measurement points. The direction in which the target object exists may be determined using the position information of the point.
Here, the predetermined route is not limited to the circumference of the revolution, and may be a route such as an ellipse, a polygon, or a straight line.

The infrared receiver 19 is a part that receives an infrared signal output from the infrared transmitter 106 of the charging stand, and the infrared signal is used for a feedback process of the self-propelled cleaner and a connection process to the charging stand.
The distance change amount calculation unit 25 is a part that calculates the change amount dk of the measurement distance dp at each measurement point using the measurement distances to the target object measured at the plurality of measurement points P.
When the self-propelled cleaner 1 rotates in a stationary state and rotates once, the measurement distance dp to the charging base continuously changes between the minimum value da and the maximum value db. At this time, the relationship graph between the rotation angle θp of rotation and the measurement distance dp to the charging stand is a curve that changes substantially sinusoidally. Therefore, the slope of the curve at each measurement point P is calculated as the change amount dk of the measurement distance dp.
The distance change amount determination unit 26 is a portion that determines the minimum change amount dkf and the maximum change amount dkg from the change amount dk of the measurement distance dp at each measurement point P calculated as described above.
The distance change amount calculation unit 25 and the distance change amount determination unit 26 are used in Example 4 to be described later.
In the fourth embodiment, the rotation angle corresponding to the minimum change amount and the maximum change amount is acquired, and the direction determination unit 18 determines the direction in which the charging base as the target object exists.

The charging stand connection unit 41 is a terminal for inputting power for charging the rechargeable battery 12.
By physically bringing the charging stand connection unit 41 and the cleaner connection unit 101 of the charging stand 100 into contact, the power supplied from the power supply unit 104 of the charging stand 100 is supplied to the rechargeable battery 12 and charged.
The charging stand connecting portion 41 is formed in a state of being exposed on the side surface of the cleaner 1 main body in order to come into contact with the cleaner connecting portion 101.
After the self-propelled cleaner 1 returns to the vicinity of the charging stand, the charging stand connecting portion 41 and the cleaner connecting portion 101 are brought into contact with each other by using infrared rays received by the infrared receiving portion 19. Process.

The storage unit 51 is a part that stores information and programs necessary for realizing various functions of the self-propelled cleaner 1, and stores a semiconductor storage element such as a ROM, a RAM, and a flash memory, a HDD, an SSD, and the like. Devices and other storage media are used.
The storage unit 51 mainly includes measurement information 52 including the rotation angle θp and the measurement distance dp, minimum information 53 including the minimum distance da and the rotation angle θa at the measurement point a at which the minimum distance da is measured, and a maximum distance. The maximum information 54 consisting of db and the rotation angle θb at the measurement point b at which the maximum distance db is measured, traveling direction rotation angle θm55, distance change information 56, revolution measurement information 57, traveling direction revolution angle θA58, etc. are stored. The

The measurement information 52 is information measured at a plurality of measurement points while the self-propelled cleaner 1 rotates in a stationary state and rotates once. The rotation angle θp of rotation at each measurement point P and the target object are measured. Is stored in association with the measured distance dp to the charging stand.
In FIG. 3, the explanatory view of the relationship between the rotation angle of the self-propelled cleaner of this invention and the measurement distance is shown.
In FIG. 3A, the charging stand 100 is fixedly arranged in the left direction in the room R where the self-propelled cleaner 1 performs cleaning, and the self-propelled cleaner 1 moves in the right direction so that the point O is the center. It shows the state where it is rotating at the position. Let point O be the center of rotation.

Here, the self-propelled cleaner 1 shows a case where the measurement point P is rotated by a rotation angle θp with the right angle P0 as viewed from the rotation center O being a reference angle (zero degree).
It is assumed that the signal communication unit 14 of the self-propelled cleaner 1 is in the OP direction when viewed from the center O.
In this state, the measurement distance dp at the measurement point P is measured by receiving the BLE signal transmitted from the signal communication unit 102 of the charging stand 100 by the signal communication unit 14.
The measurement distance dp corresponds to the distance between the signal communication unit 102 of the charging stand and the signal communication unit 14 of the self-propelled cleaner 1, and the measurement distance dp is the current position of the self-propelled cleaner 1. The distance corresponds to the rotation angle θp.

A plurality of measurement points P for measuring the measurement distance d may be provided during one rotation, and are measured every fixed value of the rotation angle of rotation, for example, every time it rotates once or every time it rotates 10 degrees. Point P may be provided.
In order to improve the accuracy of determining the direction of the charging stand, it is preferable that the number of measurement points is as large as possible.

FIG. 3B shows the measurement point a where the measurement distance becomes the smallest, and FIG. 3C shows the measurement point b where the measurement distance becomes the largest.
Further, the minimum distance da and the rotation angle θa of rotation at the measurement point a are the minimum information 53, and the maximum distance db and rotation angle θb of the measurement point b are the maximum information 54.
Here, among the measurement distances dp at every measurement point P during one rotation, as shown in FIG. 3B, the charging stand is obtained by obtaining the rotation angle θa at the measurement point a at which the minimum measurement distance da is measured. The direction of the position where 100 exists is known.
Alternatively, the two measurement distances (da, db) in FIG. 3B and FIG. 3C will be described in Example 2 to be described later using the fact that the corresponding rotation angles have a difference of about 180 degrees. Thus, the direction in which the charging stand exists can be determined with higher accuracy.

The traveling direction rotation angle θm55 is a rotation angle of rotation indicating the direction in which the charging stand exists, which is obtained as described above.
For example, when the rotation angle θa of the measurement point a at which the minimum distance da is measured is determined as the direction in which the charging stand exists, the traveling direction rotation angle θm is equal to the rotation angle θa.
The distance change amount information 56 means change amount information calculated by the distance change amount calculation unit 25 and information used by the distance change amount determination unit 26.
For example, the amount of change in measurement distance (dkn, dkf, dkg) used in Example 4 to be described later, and the angle (θf, θg, θh, θh2) corresponding to the amount of change are included in the distance change amount information 56. Equivalent to.

The revolution measurement information 57 is information used in Example 5 to be described later, and the self-propelled cleaner 1 rotates on the circumference of a circle having a predetermined radius R with a certain point as the center point of the circle (revolution). ) Means information to be measured.
For example, the measurement distance dp to the charging base that is the target object, the revolution angle θA of revolution corresponding to the minimum distance dA, and the like correspond to the revolution measurement information 57.
The traveling direction revolution angle θA58 means a revolution rotation angle indicating a direction in which the charging stand exists.
When returning to the charging stand, in principle, straight movement is started in the direction indicated by the traveling direction revolution angle 58.

The self-propelled cleaner 1 of the present invention may have other necessary configurations and functions in addition to the above configuration.
For example, a structure (ion generator) that generates ions may be provided during cleaning or in a stationary state to perform sterilization and deodorization (or deodorization).
In addition, a timer switch for setting a time for executing the cleaning process is provided, and when a timer switch is turned on (ON), counting of a preset time (for example, 60 minutes) is started, and the set time is set. The cleaning process may be executed until elapses.
After the set time elapses, the cleaning process may be stopped and automatically returned to the charging stand.

<Configuration of charging stand>
In FIG. 1, the charging stand 100 mainly includes a cleaner connection unit 101, a signal communication unit 102, a control unit 103, a power supply unit 104, and an infrared transmission unit 106, and includes a commercial power source 105 disposed on an indoor wall or the like. Receives AC power from an outlet.
The power supply unit 104 is a part that receives AC power from the commercial power source 105, converts the AC power into DC power that can charge the cleaner 1, and supplies the DC power to the cleaner connection unit 101.

The infrared transmitter 106 is a part that transmits an infrared signal.
The signal communication unit 102 is a part that transmits (transmits) a radio signal. For example, a BLE transmission device that transmits a signal based on the BLE standard is used.
The control unit 103 of the charging stand 100 is a part that realizes various functions of the charging stand, and mainly performs transmission processing of a BLE signal and an infrared signal and supply control of charging power. The control unit 103 can be realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.

<Direction determination process for the position of the charging stand>
Below, the Example of the process which determines the direction (it is also called a return direction) of the existing position of the charging stand 100 which is the target object which the self-propelled cleaner 1 returns is described.
In the drawings of the following embodiments, the symbol m indicates the position of the charging base 100 that is the target object, and the symbol o indicates the initial position of the signal communication unit 14 of the self-propelled cleaner 1.
The initial position indicates a direction serving as a reference for measuring the rotation angle θp, and the rotation angle in this direction viewed from the center of rotation or revolution is zero degrees.
When the signal communication unit 14 is in the initial position, a straight line distance d connecting the code m and the code o is a distance between the signal communication unit 102 of the charging stand and the signal communication unit 14 of the self-propelled cleaner.
When the self-propelled cleaner 1 rotates, the distance between the center of rotation and the signal communication unit 14 is r.
When the self-propelled cleaner 1 revolves, assuming that the revolution radius R is sufficiently large, the distance between the revolution center and the signal communication unit 14 can be regarded as the revolution radius R.

Example 1
In the first embodiment, the self-propelled cleaner rotates (rotates) at the current position, and the rotation angle θa at the measurement point a at which the minimum distance da is measured among the measurement distances d to the charging stand is determined as the rotation direction rotation angle. The case of θm is shown.
Here, the direction determination unit 18 looks at the straight line connecting the center of rotation (rotation center) and the measurement point a at which the minimum measurement distance da is measured, in the direction in which the measurement point a is located. The extended direction is determined as the direction in which the charging base as the target object exists.
FIG. 4 shows a schematic explanatory diagram of the feedback direction determination processing in Embodiment 1 of the present invention.
FIG. 5 shows a flowchart of the feedback direction determination process in Embodiment 1 of the present invention.

In Fig.4 (a), the state of the initial position which self-propelled (vacuum) cleaner 1 performs a direction determination process is shown.
At this time, there is the signal communication unit 14 at the position of the symbol o, and the right direction when viewed from the rotation center of the self-propelled cleaner 1 is the direction of zero degree of rotation angle.
First, at this initial position, the distance measurement unit 16 uses the BLE signal received by the signal communication unit 14 to measure between the signal communication unit 102 and the signal communication unit 14 of the charging base that is the target object. Measure the distance d.
The measurement distance d and the rotation angle θ (zero degree) at the initial position are associated with each other and stored as measurement information 52 in the storage unit 51.
Thereafter, in step S1 of FIG. 5, the self-propelled cleaner 1 drives the wheels by the self-propelled control unit 21 and starts rotating (autorotating) while being stationary at the current position.

Next, in step S <b> 2, the rotation is made to the next measurement point P, and the rotation angle θp at the measurement point P and the measurement distance dp to the charging base as the target object are measured and stored in the storage unit 51.
The position of the measurement point may be an arbitrary position. As a positioning method, for example, the measurement point may be set every time a certain angle (for example, 10 degrees) is rotated, or every time a certain time elapses. Measurement points may be set in
FIG. 4B shows the position of the measurement point a where the minimum measurement distance da is measured, and the rotation angle at this time is θa.
Thus, the measurement information 52 including the rotation angle θp and the measurement distance dp is measured and stored at a plurality of measurement points P.
In step S3, as shown in FIG. 4C, after one rotation to the initial rotation position, the rotation is terminated and the measurement of information (dp, θp) is terminated.
At this time, measurement information 52 corresponding to the number of measurement points is stored in the storage unit 51.

FIG. 4E shows a graph of the change in the measurement distance d when the rotation angle is rotated once from 0 degree to 360 degrees.
This graph shows that the measurement distance d becomes the minimum value da when the rotation angle is the measurement point a with θa.
4B, when the signal communication unit 14 comes to the position of the minimum distance da, that is, when the signal communication unit 14 rotates by the corresponding rotation angle θa, the charging is performed in the extending direction of the measurement point a as viewed from the rotation center. You can see that there is a stand.
Therefore, in order to determine the direction in which the charging stand exists, the minimum distance da may be obtained.

In step S4, the distance determination unit 17 detects the minimum distance da among the plurality of stored measurement distances dp.
Next, the direction determination unit 18 acquires the rotation angle θa corresponding to the minimum distance da from the measurement information 52 stored in the storage unit 51 and stores it.
In the first embodiment, the rotation angle θa is set to a rotation angle indicating the direction in which the charging stand exists.
In step S5, as shown in FIG. 4D, the self-propelled cleaner 1 rotates at the current position and rotates by the rotation angle θa.
Since the charging stand 100 is present at a position separated by the measurement distance da in the direction of the straight line extending from the center of rotation in the direction of the measurement point a of the rotation angle θa, the direction of the rotation angle θa Set in the direction of travel of the vacuum cleaner.
That is, the rotation angle θa is set to the traveling direction rotation angle θm.

In step S6, a straight movement is started in the traveling direction set as described above.
That is, the self-propelled cleaner 1 returns toward the direction in which the charging stand exists.
According to this, it is possible to easily determine the direction in which the charging stand exists only by measuring the minimum distance to the charging stand, which is the target object, by rotating one rotation.
In addition, the self-propelled cleaner 1 automatically finds the direction in which the charging base, which is the target object, is present and makes that direction the traveling direction, so it is useless from the current position toward the direction away from the charging base. The time until returning to the charging stand can be shortened without moving.
In the present embodiment, the minimum distance da is detected after one rotation to the initial position. However, the distance d is minimized while comparing the measurement distance with the measurement results so far during the rotation operation. When the point is determined, the angle of the minimum point may be determined to be θa, and the operation of one rotation is not necessarily completed.

(Example 2)
In Example 2, the self-propelled cleaner rotates in a stationary state, and the minimum distance da and the maximum distance db are obtained from the measurement distance d to the charging stand, and the rotation angles (θa, θb) at the respective measurement points. Is used to determine the traveling direction rotation angle θm.
Here, the direction determination unit 18 includes the position of the first measurement point where the minimum measurement distance da is measured, and the position of the second measurement point rotated 180 degrees from the measurement point where the maximum measurement distance db is measured. The average position is calculated, and the direction extending from the center of rotation of the straight line connecting the center of rotation and the average position to the direction of the average position is determined to be the direction in which the charging base that is the target object exists. To do.
The average position corresponds to the position of the measurement point corresponding to the traveling direction rotation angle θm as will be described later with reference to FIG.

If the feedback direction is determined by the method of the second embodiment, even if noise or the like is added to the BLE signal and an error occurs in the measurement distance d, the influence of the error is reduced and the accuracy of determining the feedback direction is reduced. Can be improved.
FIG. 6 is a schematic explanatory diagram of the feedback direction determination process in the second embodiment of the present invention.
FIG. 7 shows a relationship graph between the rotation angle and the measurement distance in Example 2 of the present invention.
FIG. 8 shows a flowchart of the feedback direction determination process in Embodiment 2 of the present invention.

FIG. 6A shows the initial position as in FIG. 4A.
FIG. 6B shows a measurement point a of the rotation angle θa at which the minimum distance da is measured, as in FIG. 4B.
FIG. 6C shows a measurement point b of the rotation angle θb at which the maximum distance db is measured.
FIG. 6 (d) shows a state in which one rotation is made and the initial position in FIG. 6 (a) is returned, as in FIG. 4 (d).
Also in the second embodiment, as in the first embodiment, from FIG. 6A to FIG. 6D, a plurality of measurements are started from the initial position at the stationary current position until one rotation. The distance dp is measured at the point P, and the measurement distance dp and the rotation angle θp of the measurement point are associated with each other and stored as measurement information 52 in the storage unit 51.
In the flowchart of FIG. 8, the same number is assigned to a step that performs the same process as the step of the flowchart of FIG. 5.

In FIG. 8, steps S1 to S4 are the same as those in FIG.
After step S4, in step S11, the distance determination unit 17 detects the maximum distance db among the plurality of stored measurement distances dp.
Next, the direction determination unit 18 acquires the rotation angle θb corresponding to the maximum distance db from the measurement information 52 stored in the storage unit 51 and stores it.
In step S12, an angle θba rotated 180 degrees from the acquired rotation angle θb is calculated. That is, θba = (θb + 180) mod 360 is obtained.
At this time, θba is a numerical value approximated to the rotation angle θa corresponding to the minimum distance da.
FIG. 6F shows a relationship graph between the rotation angle and the measurement distance, as in FIG. For example, if the rotation angle θa is about 140 degrees and the rotation angle θb is about 320 degrees, the rotation angle θba is about 320−180 = 140 degrees.

In step S13, an average value θm of the rotation angles θa and θba is calculated.
θm = (θa + θba) / 2.
The average value is obtained in order to reduce the error of the measurement distance d.
FIG. 7 (a) shows the same graph as FIG. 6 (f), but shows an ideal graph with no error in the measured distance obtained from the received BLE signal.
In this case, the angle θba is obtained by subtracting 180 degrees from the maximum angle θb. If there is no error, θa = θba, and the average value θm is also equal to θa.
However, actually, since the measurement value includes a component that causes an error, such as a noise component, as shown in FIG. 7B, the relationship graph between the rotation angle θ and the measurement distance d is as a whole. Although it approximates a sinusoidal waveform, the graph is locally varied.
Therefore, the angle θba obtained by subtracting 180 degrees from the rotation angle θb corresponding to the maximum distance db often does not become the same as the rotation angle θa.
Therefore, in the second embodiment, the average value θm of the rotation angles θa and θba is adopted as the direction in which the charging stand exists in consideration of the variation in the measured values.

In step S14, as shown in FIG. 6E, the self-propelled cleaner 1 rotates at the current position and rotates by the rotation angle θm.
Further, the rotation direction of the rotation angle θm as viewed from the rotation center is set to the traveling direction of the self-propelled cleaner 1.
That is, the average value of the rotation angles θa and θba is set to the traveling direction rotation angle θm.
After that, in step S6, the straight movement is started in the set traveling direction as in the flowchart of FIG.
According to this, the direction where a charging stand exists can be determined easily. Furthermore, since the average value of the rotation angles θa and θba obtained from the minimum distance da and the maximum distance db is the direction in which the charging stand exists, the influence of noise and the like can be reduced, and the direction in which the charging stand exists The determination accuracy can be improved.

(Example 3)
In the third embodiment, a case where the rotation measurement is performed a plurality of times and the distance measurement processing performed in the second embodiment and the storage processing of the measurement distance d and the rotation angle θ of the measurement point is performed a plurality of times is shown.
That is, the self-propelled cleaner rotates at the current position not only once but also N times (N: an integer of 2 or more), and the measurement information 52 at the same measurement point is acquired and stored N times.
Thereby, the influence of the measurement distance error is reduced as compared with the second embodiment, and the determination accuracy of the direction in which the charging stand exists is further improved.
FIG. 9 is a schematic explanatory diagram of the feedback direction determination process according to the third embodiment of the present invention.
FIG. 10 shows a flowchart of the feedback direction determination process in Embodiment 3 of the present invention.
Also in the flowchart of FIG. 10, the same step numbers as in FIG. 5 are assigned to steps that perform the same processing as in the flowchart of FIG. 5.

FIG. 9 (a) shows the initial position of rotation, as in FIG. 6 (a).
9 (b1), (c1), and (d1) show the first rotation, and correspond to FIGS. 6 (b), (c), and (d), respectively.
Here, since this is the first rotation, for example, as shown in FIG. 9B1, the rotation angle at the measurement point a1 at which the minimum distance da1 is measured is θa1.
Further, as shown in FIG. 9 (c1), the rotation angle at the measurement point b1 at which the maximum distance db1 is measured is defined as θb1.
9 (b2), (c2), and (d2) show the second rotation, and correspond to FIGS. 6 (b), (c), and (d), respectively.
Such rotation is repeated N times, and the measurement distance dp at the measurement point P at each rotation is associated with the rotation angle θp and stored in the storage unit 51.

In the flowchart of FIG. 10, first, in step S21, the number of rotations N is initially set.
Next, in step S22, 1 is initially set to a variable n indicating the current rotational speed.
Thereafter, similar to the flowchart of FIG. 5, during the n-th rotation, processing similar to steps S1, S2, and S3 is performed.
In step S <b> 23, the rotation angle θan stored corresponding to the minimum distance da is acquired from the measurement distance dp stored in the n-th rotation, and stored as the minimum information 53.
In step S24, the rotation angle θbn stored corresponding to the maximum distance db among the measurement distances dp stored in the n-th rotation is acquired and stored as the maximum information 54.
In step S25, an angle θban rotated 180 degrees from the rotation angle θbn in the n-th rotation acquired in step S24 is calculated and stored in the storage unit 51.
θban = (θbn + 180) mod 360.
Θban calculated by the n-th rotation is a numerical value approximated to the rotation angle θan in the n-th rotation acquired in step S23.

In step S26, 1 is added to the variable n.
In step S27, it is checked whether or not the variable n> N.
If variable n> N, the process proceeds to step S28. If not, the process returns to step S1, performs the next rotation process, and repeats the same processes as in steps S1 to S25.

In step S28, as a result of the N rotations, the total average value θm of the rotation angles obtained from the N rotation angles θak stored in the storage unit 51 and the N rotation angles θbak is expressed by the following equation. Use to calculate.
θm = Σ (θak + θbak) / 2N
Here, the variable k is an integer from 1 to N, and N average values (θak + θbak) / 2 obtained from θak and θbak acquired in steps S23 and S25 are added during the k-th rotation, and N The total average value θm is divided by.
This total average value θm is a rotation angle (traveling direction rotation angle) indicating the direction in which the charging stand exists.

Next, in step S14, as shown in FIG. 8, the current position is rotated by the rotation angle θm.
Moreover, the direction of this rotation angle (theta) m is set to the advancing direction of a self-propelled cleaner.
Further, in the same manner as shown in step S6 of FIG. 5, the linear movement is started in the set traveling direction.
That is, the self-propelled cleaner 1 returns toward the direction in which the charging stand exists.
According to this, since the measurement process and the direction determination process of Example 2 are repeated N times, the direction in which the charging stand exists can be determined with higher accuracy.

  In general, it is considered that the measurement accuracy increases when the measurement distance dp is short because the intensity of the received signal is large and is not easily affected by noise. Therefore, when calculating the average value θm of the rotation angles, the minimum distance dak is not calculated simply from the average of the rotation angles θak and θbak, but rather than the rotation angle θbak determined corresponding to the maximum distance dbk. A weighted average value that is weighted so that the rotation angle θak corresponding to can be more important may be calculated.

Example 4
In Example 4, after performing the distance measurement process by rotation as shown in Examples 1 and 2, the change dk of the measurement distance at each measurement point is calculated, and the minimum change among the distance changes dk is calculated. A case where the traveling direction rotation angle θm is determined using the amount dkf and the rotation angle (θf, θg) corresponding to the maximum change amount dkg is shown.
Here, the direction determination unit 18 calculates the position of the first measurement point where the maximum change amount is calculated and the minimum change amount among the change amounts of the plurality of measurement distances calculated by the distance change amount calculation unit 25. Calculate the average position between the position of the second measurement point and see the straight line connecting the center of rotation (center of rotation) and the average position as seen from the center of rotation and extending in the direction with the average position. The direction in which the charging stand that is the target object is present is determined.
The average position corresponds to the position of the measurement point h corresponding to the traveling direction rotation angle θm as described later in FIG.
FIG. 11 is a schematic explanatory diagram of the feedback direction determination process in the fourth embodiment of the present invention.
12 (a) and 12 (b) show a flowchart of the feedback direction determination process in Embodiment 4 of the present invention.

Generally, in the vicinity of a measurement point where the minimum distance da and the maximum distance db measured in Example 2 are obtained, the change amount dk of the measurement distance corresponding to the rotation angle is small.
Therefore, since the change amount dk of the measurement distance is small, it is easily affected by measurement errors, and the determination of the direction in which the charging stand exists tends to be shifted.
On the other hand, during rotation, at the measurement point (f, g) in the tangential direction shown in FIGS. 11B and 11C where the absolute value of the change amount of the measurement distance is the largest, the influence of the measurement error is relatively small. Since the measurement information 52 at the measurement point (f, g) is used, the direction in which the charging stand exists can be determined with high accuracy.
Therefore, as shown below, the direction in which the charging stand exists is determined using the change amount dk of the measurement distance.

FIG. 11 (a) shows the initial position of rotation as in FIG. 4 (a).
FIG. 11B shows the measurement point f of the distance df where the change amount of the measurement distance d is the minimum in the positive direction. The change amount of the measurement distance d at the measurement point Pn is dkn, and the minimum change amount at the measurement point f is dkf.
The rotation angle corresponding to the measurement point f is θf.
The case where the change amount of the measurement distance d is minimum in the positive direction means that the change amount is maximum in the opposite negative direction. If considered in terms of the absolute value of the change amount, the measurement distance in the region where the change amount is negative. This corresponds to the position where the absolute value of the amount of change of d is maximized.
FIG. 11C shows the measurement point g of the distance dg at which the change amount of the measurement distance d is maximum in the positive direction.
The maximum change amount at the measurement point g is dkg, and the rotation angle corresponding to the measurement point g is θg.
FIG. 11 (d) shows a state after one rotation to the initial rotation position, as in FIG. 4 (c) and FIG. 6 (d). Until this state is reached, at a plurality of measurement points P, The rotation angle θp and the distance dp to the charging stand are measured and stored.

FIG. 11F shows a relationship graph between the rotation angle and the measurement distance when the self-propelled cleaner rotates and rotates once.
This graph is a substantially sinusoidal curve as in FIG. 4E, and the measurement distance d has a minimum value and a maximum value, and the graph between the minimum value and the maximum value changes in slope. doing.
The inclination of the graph indicates the change amount dkn of the measurement distance with respect to each rotation angle (measurement point Pn).
For example, the inclination is zero at the rotation angle where the measurement distance d indicates the minimum value and the maximum value.
In addition, in the curve portion that rises to the right when the measurement distance is from the minimum value to the maximum value, the slope has a positive value, and gradually increases until the rotation angle reaches θg, and then the measurement distance reaches the maximum value. The slope gradually decreases.
That is, when the rotation angle is θg, the inclination is maximum, and the amount of change dk of the measurement distance d is maximum.
According to the same concept, when the rotation angle is θf, the slope has a negative value, and the absolute value is maximum in a region where the slope is negative. That is, the change amount dk of the measurement distance d is minimized.

When measuring the distance to the charging stand, actually, a measurement error is included, but at a portion where the absolute value of the change dk in the measurement distance is large, such as the rotation angle near θf and θg, the measurement distance It is considered that the measurement error is less influenced by the measurement distance than the portion where the absolute value of the change amount dk of the measurement distance is small such that d is near the minimum value and the maximum value.
Therefore, using the angle information (θf, θg, etc.) at the measurement points (f, g) shown in FIG. 11B and FIG. be able to.

In steps S1 to S3 in FIG. 12A, processing similar to that shown in FIG. 5 is performed.
Thereby, measurement information 52 (θp, dp) at a plurality of measurement points for one rotation is measured and stored.
Next, in step S31, using the stored measurement information 52, the measurement distance change amount dkn at each measurement point Pn is calculated and stored.
In step S32, the stored change amount dkn of each measurement distance is compared, and the minimum change amount dkkf and the maximum change amount dkg are obtained and stored.
The minimum change amount dkf is measured at the measurement point f shown in FIG. 11B, and the maximum change amount dkg is measured at the measurement point g shown in FIG. 11C.
In step S33, the rotation angle θf corresponding to the measurement point f at which the minimum change amount dkf is measured and the rotation angle θg corresponding to the measurement point g at which the maximum change amount dkg is measured are acquired and stored.

In step S34, an intermediate rotation angle θh between the rotation angles θf and θg is calculated by the following equation.
θh = (θf + θg) / 2.
In step S35, a rotation angle θh2 rotated by 180 degrees is calculated from the intermediate rotation angle θh.
θh2 = (θh + 180) mod 360.

In step S36, using the measurement information 52 measured in step S2, a measurement distance dh corresponding to the rotation angle θh and a measurement distance dh2 corresponding to the rotation angle θh2 are acquired and stored.
Then, the two measurement distances dh and dh2 are compared.
In step S37, the smaller one of the two measurement distances (dh, dh2) is selected, and the rotation angle corresponding to the smaller distance is set as the rotation angle θm and stored.
This rotation angle θm corresponds to the traveling direction rotation angle 55.
Thereby, the direction in which a charging stand exists is determined.

Note that θm may be determined as shown in the flowchart of FIG. 12B based on the magnitude relationship between θf and θg without using dh and dh2.
FIG. 12B is a flowchart showing another calculation method of the rotation angle θm.
12 (b) is different from FIG. 12 (a) in that the process of step S41 is performed instead of the process of steps S34 to S37 of FIG. 12 (a), and other processes are the same as those of FIG. 12 (a). It is the same.
In step S41, the rotation angle θm is calculated from θf and θg using one of the following mathematical expressions.
θm = − (θf + θg) / 2 (θf ≦ θg)
θm = (θf + θg) / 2 (θf> θg)
(Here, 0 ° ≦ θf and θg ≦ 360 °.)

Next, processing similar to that shown in step S14 of FIG. 8 is performed, and the current position is rotated by the rotation angle θm, and the direction of the rotation angle θm is set to the traveling direction of the self-propelled cleaner.
Further, the same processing as that shown in Step 6 of FIG. 5 is performed, a straight movement is started in the set traveling direction, and the vehicle returns to the charging stand.
Thus, the direction in which the charging stand exists can be determined more accurately by using the amount of change in the measurement distance.

The process shown in FIG. 12 (a) or 12 (b) and the process of calculating the average of the maximum and minimum values of the measurement distance shown in Example 2 to determine the direction in which the charging stand exists May be combined.
Further, as shown in the third embodiment, the process of FIG. 12A or FIG. 12B may be repeated a plurality of times.
As described above, the accuracy of detecting the direction in which the charging stand exists can be further improved by combining the processes of several embodiments or repeatedly executing the same processes.

(Example 5)
In the fifth embodiment, unlike the first to fourth embodiments, the revolution angle θA that minimizes the distance d between the charging stand and the self-propelled cleaner 1 is obtained by the revolution of the self-propelled cleaner 1. The case where the direction indicated by the revolution angle θA is determined as the direction in which the charging stand exists is shown.
FIG. 13 is a schematic explanatory diagram of the feedback direction determination process according to the fifth embodiment of the present invention.
FIG. 14 shows a flowchart of the feedback direction determination process in Embodiment 5 of the present invention.
FIG. 13A shows an initial rotation position at which the self-propelled cleaner 1 starts to revolve.
The curve shown with the broken line in the figure has shown the circumference where the self-propelled cleaner 1 revolves, and the self-propelled cleaner 1 makes one rotation on the circumference from the initial rotation position.
The symbol O indicates the center of the circle of the circumference to be revolved, and the symbol R indicates the revolution radius of the circle.
That is, the self-propelled cleaner 1 makes one rotation on the circumference of a circle with a radius R from the revolution center O.

Here, the revolution radius R and the position of the revolution center O may be arbitrary.
However, the larger the radius R of the circle, the more accurately the direction in which the charging stand exists can be determined.
Further, while the self-propelled cleaner 1 is revolving, it is not necessary to rotate as shown in the first embodiment.

In step S51 of FIG. 14, the revolution radius R is set.
The revolution radius R may be arbitrary, but a value shorter than the measurement distance d between the charging stand and the current position of the self-propelled cleaner 1 is set.
Next, in step S52, in order to travel on the circumference of the circle having the revolution radius R, the revolution is started from the current position so that the position away from the current position by the distance R becomes the revolution center O.
In step S <b> 53, during the revolution, the revolution angle θp and the distance dp to the charging stand are measured at a plurality of measurement points P and stored in the storage unit 51 as revolution measurement information 57.
FIG. 13B shows a state in which the measurement distance d to the charging stand is revolved to the position of the measurement point A where the distance is minimum.
Let the revolution angle corresponding to this measurement point A be θA.

Next, in step S54, after one rotation to the initial rotation position, the rotation (revolution) is finished.
FIG.13 (c) has shown the state which self-propelled (vacuum) cleaner 1 revolved and returned to the initial rotation position by one rotation.
In step S55, the minimum distance dA is detected from the measurement distance dp stored in step S53, and the revolution angle θA corresponding to the measurement point A at which the minimum distance dA is measured is acquired and stored.
In the fifth embodiment, the revolution angle θA corresponding to the minimum distance dA is set to the traveling direction revolution angle 58.
That is, it is assumed that the charging base as the target object exists on the extended line connecting the center O of the revolution circle and the measurement point A.

In step S56, the self-propelled cleaner 1 rotates (revolves) by the revolution angle θA from the current position shown in FIG.
Moreover, the direction of this revolution angle (theta) A is set to the advancing direction for the self-propelled cleaner 1 to return to the direction of a charging stand.
FIG. 13 (d) shows a state of revolving by the revolution angle θA.

In step S57, the robot stops at a position where it has revolved by the revolution angle θA, and rotates so that the traveling direction faces the direction of the revolution angle θA.
That is, the signal communication unit 14 rotates by the rotation angle θA so as to face the direction where the charging stand exists.
The reason why the rotation angle θA is rotated is that the forward direction of the self-propelled cleaner 1 is the direction toward the charging stand.
FIG. 13 (e) shows a case where the self-propelled cleaner 1 rotates from the state of FIG. 13 (d) by the rotation angle θA and can move straight in the direction in which the charging stand exists. Yes.

Thereafter, as in step S6 of FIG. 5, the self-propelled cleaner 1 starts moving straight in the set traveling direction.
As described above, the direction in which the charging stand exists can be easily determined by revolving the self-propelled cleaner 1 and obtaining the minimum distance dA to the charging stand.
In addition, the self-propelled vacuum cleaner 1 is revolved on a predetermined circumference, the revolution measurement information 57 is measured, the revolution distance is measured to the measurement point A where the minimum distance dA to the charging stand is measured, and the traveling direction is charged. By rotating in the direction toward the base, it is possible to reduce useless traveling and wall-to-wall travel for returning to the charging base, and to return to the charging base quickly.

Even when the self-propelled cleaner 1 is revolved, the distance measurement at a plurality of measurement points including the revolution angle corresponding to the maximum distance may be repeatedly performed as in the second and third embodiments. .
Further, as shown in the fourth embodiment, a change amount of the distance d measured at the time of revolution may be calculated, and a direction may be determined using the change amount.
Further, in the fifth embodiment, the direction in which the charging stand exists may be determined by combining any of the direction determination methods in the second to fourth embodiments.
Thereby, the direction in which the charging stand exists can be determined with higher accuracy.

DESCRIPTION OF SYMBOLS 11 Control part, 12 Rechargeable battery, 13 Battery remaining charge detection part, 14 Signal communication part, 15 Ultrasonic sensor, 16 Distance measurement part, 17 Distance determination part, 18 Direction determination part, 19 Infrared receiving part, 21 Travel control part, 22 wheels, 25 distance change calculation unit, 26 distance change determination unit, 31 intake port, 32 exhaust port, 33 dust collecting unit, 34 fault detection unit, 35 input unit, 41 charging stand connection unit, 51 storage unit, 52 Measurement information, 53 Minimum information, 54 Maximum information, 55 Travel direction rotation angle θm, 56 Distance change information, 57 Revolution measurement information, 58 Travel direction revolution angle θA, 100 Charge stand, 101 Vacuum cleaner connection, 102 Signal communication unit , 103 control unit, 104 power supply unit, 105 commercial power source, 106 infrared transmission unit

Claims (7)

A self-propelled electronic device that automatically travels toward the position of the target object,
A traveling control unit for controlling the rotation of the wheel to perform linear traveling and rotational operation;
A signal communication unit for receiving a radio signal transmitted from the target object;
A distance measuring unit for measuring a distance to the target object based on the received radio signal;
A direction determining unit that determines a direction in which the target object exists;
A control unit,
The distance measuring unit obtains a radio signal attenuation rate from a predetermined transmission intensity of a radio signal transmitted from the target object and a reception intensity of the radio signal received by the signal communication unit, Calculate the distance to the target object corresponding to the attenuation rate,
While the control unit causes the travel control unit to rotate the self-propelled electronic device at a current position and performs the rotation operation, the distance measurement unit determines the distance to the target object at a plurality of measurement points. Measure and
The direction determination unit determines a direction in which the target object exists using a plurality of measurement distances measured at the plurality of measurement points and a rotation angle at each of the measurement points. Self-propelled electronic equipment. A distance determination unit that determines the minimum measurement distance from the measurement distances measured at the plurality of measurement points,
The direction determination unit is configured to determine a direction extending in a direction of the measurement point a when a straight line connecting the center of the rotation operation and the measurement point a at which the minimum measurement distance is measured is viewed from the center of the rotation operation. The self-propelled electronic device according to claim 1, wherein the direction is determined as a direction in which the target object exists. A distance determination unit for determining a minimum measurement distance and a maximum measurement distance from the measurement distances measured at the plurality of measurement points;
The direction determination unit may determine a position between the position of the first measurement point where the minimum measurement distance is measured and the position of the second measurement point rotated 180 degrees from the measurement point where the maximum measurement distance is measured. An average position is calculated, and a direction in which a straight line connecting the center of the rotation operation and the average position is extended from the center of the rotation operation in a certain direction of the average position is a direction in which the target object exists. The self-propelled electronic device according to claim 1, wherein the electronic device is determined. A distance change amount calculation unit that calculates a change amount of the measurement distance at each measurement point using the measurement distances measured at the plurality of measurement points;
A distance change amount determination unit that determines a maximum change amount and a minimum change amount from the calculated change amounts of the plurality of measurement distances;
The direction determination unit calculates an average position between the position of the first measurement point where the maximum change amount is calculated and the position of the second measurement point where the minimum change amount is calculated, 2. A direction in which a straight line connecting the average position and a line extending from the center of the rotation operation in a direction in which the average position is present is determined as a direction in which the target object exists. The self-propelled electronic device described in 1. A self-propelled electronic device that automatically travels toward the position of the target object,
A traveling control unit for controlling the rotation of the wheel to perform linear traveling and rotational operation;
A signal communication unit for receiving a radio signal transmitted from the target object;
A distance measuring unit for measuring a distance to the target object based on the received radio signal;
A direction determining unit that determines a direction in which the target object exists;
A control unit,
The distance measuring unit obtains a radio signal attenuation rate from a predetermined transmission intensity of a radio signal transmitted from the target object and a reception intensity of the radio signal received by the signal communication unit, Calculate the distance to the target object corresponding to the attenuation rate,
The control unit causes the travel control unit to move the self-propelled electronic device without rotating along a predetermined route, and during the movement, the distance measurement unit includes the target at a plurality of measurement points. The distance to the object is measured, and the direction determination unit uses the plurality of measurement distances measured at the plurality of measurement points and the position information of each measurement point, and the target object exists. A self-propelled electronic device characterized by determining a direction. The control unit causes the travel control unit to move the self-propelled electronic device along a circumference of a circle having a predetermined radius,
The target object is obtained by using a plurality of measurement distances measured at the plurality of points and an angle from the center of the circle at the measurement points while the direction determination unit moves on the circumference. The self-propelled electronic device according to claim 5, wherein the direction in which the light exists is determined.   The wireless signal is a BLE signal defined by a Bluetooth low energy standard, and the distance measuring unit measures the distance to the target object based on the reception intensity of the BLE signal received by the signal communication unit. The self-propelled electronic device according to claim 1, wherein the electronic device is a self-propelled electronic device.

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