JP6982765B2 - Operation terminal, remote control cleaning system and remote control method - Google Patents

Description

The present invention relates to an operation terminal, a remote control cleaning system, and a remote control method for remotely controlling a robot vacuum cleaner.

In recent years, in a vacuum cleaner, for example, a robot vacuum cleaner that automatically moves and cleans a room, the position of the robot vacuum cleaner can be moved to an arbitrary place by a user, for example, by operating an infrared remote controller. I was instructing to move.

However, when the user remotely controls the vacuum cleaner using a remote controller or the like, the user confirms the direction of the vacuum cleaner through the actual visual sense of the operation instruction buttons of forward, right turn, and left turn, and the user himself / herself checks the vacuum cleaner. It was necessary to operate according to the direction of.

Therefore, for example, when the traveling direction of the vacuum cleaner is facing the user, the remote control operation is opposite to the viewpoint from the user. For this reason, if you want to turn to the right side, you cannot operate in the correct direction by direct remote control operation instructions from the user's point of view, such as pressing the left turn button, which makes the operation difficult for the user to understand and causes operation errors. Was there.

Also, if you want to give detailed instructions such as movement speed and turning angle to the vacuum cleaner, for example, if you use a radio (transmitter) such as that used for radio control, the operation will be complicated and unfamiliar users. Was difficult to operate.

Further, in the vacuum cleaner, the nozzle for sucking dust at the time of cleaning is configured to be effective when the nozzle moves in a specific direction such as forward movement. Therefore, for example, when it is desired to clean the robot in the right lateral direction, it is necessary to rotate the robot to the right and then move it straight to clean it. For this reason, in the movement instruction at the time of cleaning, the user needs to issue the movement instruction while considering the configuration of the cleaning function of the vacuum cleaner, which causes the operation to become more difficult.

For this reason, for example, Patent Document 1 proposes that a camera is mounted on a robot body and an operation is performed by displaying an image of the camera on a remote-controlled terminal.

Japanese Unexamined Patent Publication No. 2013-163261

However, when the image of the camera is displayed on a monitor or the like for remote control, a high-performance camera or peripheral circuit for obtaining a moving image having the resolution required for the remote control is required. Further, in order to avoid contact during movement, a communication infrastructure and a communication-related circuit for performing highly real-time communication with little delay are required, and the amount of communication is also large. Therefore, it has been difficult to configure and provide the system at low cost.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide an operation terminal, a remote-controlled cleaning system, and a remote-controlled method , which have an inexpensive configuration and are direct and easy for the user to understand.

INDUSTRIAL APPLICABILITY The present invention is a communication unit that receives vacuum cleaner direction information, which is information about a change in the direction or direction in which the vacuum cleaner is facing, and an operation, which is information about a change in the direction or direction in which the operation terminal is facing, from the vacuum cleaner. It has a direction sensor unit that detects terminal direction information, a storage unit that stores vacuum cleaner direction information and operation terminal direction information, a display unit that displays an image of the vacuum cleaner, and a control unit . When the vacuum cleaner direction information is received according to the change in the direction in which the vacuum cleaner is facing, the storage unit stores the vacuum cleaner direction information received by the communication unit, and when the direction sensor unit detects the operation terminal direction information, the storage unit stores the vacuum cleaner direction information. The unit stores the operation terminal direction information detected by the direction sensor unit, and the display unit displays and controls the vacuum cleaner image based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit. From the vacuum cleaner direction information and the operation terminal direction information, the unit stores the reference information, which is the reference direction of the operation terminal and the vacuum cleaner, in the storage unit. When rotated by the first angle, the vacuum cleaner direction information is added to the reference information, the image of the vacuum cleaner rotated by the first angle is displayed on the display unit with respect to the operation terminal, and the vacuum cleaner and the operation terminal are the reference information. In this state, when the operation terminal rotates by the second angle, the operation terminal direction information is added to the reference information, and the vacuum cleaner is displayed on the display so that it rotates by the second angle in the direction opposite to the rotation direction of the operation terminal. It is an operation terminal.
Further, the present invention is a remote operation cleaning system having a vacuum cleaner and an operation terminal, and the vacuum cleaner is a vacuum cleaner direction that detects vacuum cleaner direction information which is information regarding a change in the direction or direction in which the vacuum cleaner is facing. It has a sensor unit and a communication unit that transmits vacuum cleaner direction information detected by the vacuum cleaner direction sensor unit, and the operation terminal is the operation terminal direction that is information on the direction in which the operation terminal is facing or the change in direction. The operation terminal direction sensor unit that detects information, the communication unit that receives the vacuum cleaner direction information from the vacuum cleaner, the vacuum cleaner direction information received by the communication unit, and the operation terminal direction information detected by the operation terminal direction sensor unit. From the storage unit to be stored, the display unit that displays the image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit, and the vacuum cleaner direction information and the operation terminal direction information, the operation terminal. And the reference information that is the reference direction of the vacuum cleaner is stored in the storage unit, and when the vacuum cleaner rotates by the first angle while the vacuum cleaner and the operation terminal are in the state of the reference information, the vacuum cleaner direction information is added to the reference information. In addition, when the image of the vacuum cleaner rotated by the first angle with respect to the operation terminal is displayed on the display unit, the vacuum cleaner and the operation terminal are in the state of the reference information, and the operation terminal is rotated by the second angle, the reference information is displayed. It has a control unit for adding operation terminal direction information to the display unit and controlling the vacuum cleaner to be displayed on the display unit so as to rotate by a second angle in a direction opposite to the rotation direction of the operation terminal.
Further, the present invention is a remote operation method for the operation terminal to remotely operate the vacuum cleaner, and the step of storing the reference direction between the operation terminal and the vacuum cleaner in the storage unit of the operation terminal and the communication of the operation terminal. A step in which the unit receives the vacuum cleaner direction information which is information on the direction in which the vacuum cleaner is facing or a change in the direction, and a step in which the storage unit of the operation terminal stores the vacuum cleaner direction information received by the communication unit. A step in which the direction sensor unit of the operation terminal detects the operation terminal direction information which is information on the direction in which the operation terminal is facing or a change in the direction, and an operation detected by the direction sensor unit of the operation terminal in the storage unit of the operation terminal. A step of storing the terminal direction information, a step of displaying an image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit of the operation terminal, and an operation. A step in which the control unit of the terminal stores the reference information, which is the reference direction between the operation terminal and the vacuum cleaner, in the storage unit of the operation terminal from the vacuum cleaner direction information and the operation terminal direction information, and the control unit of the operation terminal When the vacuum cleaner and the operation terminal are in the state of the reference information and the vacuum cleaner rotates by the first angle, the vacuum cleaner direction information is added to the reference information, and an image in which the vacuum cleaner is rotated by the first angle with respect to the operation terminal is displayed. When the step to control the display on the display unit of the operation terminal and the control unit of the operation terminal rotate the operation terminal by the second angle while the vacuum cleaner and the operation terminal are in the state of the reference information, the reference information is directed to the operation terminal. It has a step of adding information and controlling the vacuum cleaner to be displayed on the display so that it rotates by a second angle in the direction opposite to the rotation direction of the operation terminal.
To.

According to the present invention, the user can remotely control the vacuum cleaner by intuitive operation while checking the absolute direction of the vacuum cleaner displayed on the display screen without considering the actual orientation of the vacuum cleaner. Can be operated.

Further, since it is not necessary to handle information having a large data capacity such as a camera image, it can be realized with an inexpensive configuration. Further, in order to acquire the relative direction of the vacuum cleaner, it is only necessary to equip the wheels of the gyro sensor, the geomagnetic sensor, and the vacuum cleaner with an encoder, which can be realized with an inexpensive configuration.

The figure which shows the whole structure of the remote control system 1000 in embodiment of this invention. A block diagram showing the configuration of the vacuum cleaner 100 and the operation terminal 200 of the remote control system 1000 according to the embodiment of the present invention. The figure which shows an example of the case which determines the reference direction in the operation terminal of embodiment of this invention. The figure which shows an example of the case where the direction of a vacuum cleaner is displayed in accordance with the rotation of the vacuum cleaner on the display unit of the embodiment of the present invention. The figure which shows an example of the case where the direction of a vacuum cleaner is displayed in accordance with the rotation of an operation terminal on the display unit of the embodiment of the present invention. The figure which shows an example of the case where the movement instruction is given by the operation part of the Embodiment of this invention. The figure which shows an example of the display change of the display part by the movement instruction of embodiment of this invention. The figure which shows an example which moves in consideration of the cleaning part of embodiment of this invention. The figure which shows an example which moves and controls according to the distance of the movement instruction of embodiment of this invention. The figure which shows an example of the flow in the case of determining the reference direction of the embodiment of this invention. The figure which shows an example of the flow when the user performs operation while displaying the direction of a vacuum cleaner on the operation terminal of embodiment of this invention. The figure which shows an example of the flow of the remote control of embodiment of this invention. The figure which shows an example of the display and movement restriction by the obstacle detection part of the Embodiment of this invention.

The first invention is a communication unit that receives vacuum cleaner direction information, which is information on a change in the direction or direction in which the vacuum cleaner is facing, from the vacuum cleaner, and information on a change in the direction or direction in which the operating terminal is facing. It has a direction sensor unit that detects a certain operation terminal direction information, a storage unit that stores vacuum cleaner direction information and operation terminal direction information, a display unit that displays an image of the vacuum cleaner, and a control unit, and is a communication unit. However, when the vacuum cleaner direction information is received according to the change in the direction in which the vacuum cleaner is facing, the storage unit stores the vacuum cleaner direction information received by the communication unit, and the direction sensor unit detects the operation terminal direction information. , The storage unit stores the operation terminal direction information detected by the direction sensor unit, and the display unit displays the image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit. , The control unit stores the reference information, which is the reference direction of the operation terminal and the vacuum cleaner, from the vacuum cleaner direction information and the operation terminal direction information in the storage unit, and cleans the vacuum cleaner and the operation terminal in the state of the reference information. When the machine rotates by the first angle, the vacuum cleaner direction information is added to the reference information, the image of the vacuum cleaner rotated by the first angle is displayed on the display unit with respect to the operation terminal, and the vacuum cleaner and the operation terminal refer to it. In the information state, when the operation terminal rotates by the second angle, the operation terminal direction information is added to the reference information, and the vacuum cleaner is displayed so that it rotates in the direction opposite to the rotation direction of the operation terminal by the second angle. It is an operation terminal to be displayed on.

The second invention is a remote controlled cleaning system having a vacuum cleaner and an operating terminal, wherein the vacuum cleaner detects the vacuum cleaner direction information which is information about the direction in which the vacuum cleaner is facing or the change in direction. It has a sensor unit and a communication unit that transmits vacuum cleaner direction information detected by the vacuum cleaner direction sensor unit, and the operation terminal is the operation terminal direction that is information on the direction in which the operation terminal is facing or the change in direction. The operation terminal direction sensor unit that detects information, the communication unit that receives the vacuum cleaner direction information from the vacuum cleaner, the vacuum cleaner direction information received by the communication unit, and the operation terminal direction information detected by the operation terminal direction sensor unit. From the storage unit to be stored, the display unit that displays the image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit, and the vacuum cleaner direction information and the operation terminal direction information, the operation terminal. And the reference information that is the reference direction of the vacuum cleaner is stored in the storage unit, and when the vacuum cleaner rotates by the first angle while the vacuum cleaner and the operation terminal are in the state of the reference information, the vacuum cleaner direction information is added to the reference information. In addition, when the image of the vacuum cleaner rotated by the first angle with respect to the operation terminal is displayed on the display unit, the vacuum cleaner and the operation terminal are in the state of the reference information, and the operation terminal is rotated by the second angle, the reference information is displayed. It has a control unit for adding operation terminal direction information to the display unit and controlling the vacuum cleaner to be displayed on the display unit so as to rotate by a second angle in a direction opposite to the rotation direction of the operation terminal.

The third invention is a remote control method for the operation terminal to remotely control the vacuum cleaner, in which a step of storing a reference direction between the operation terminal and the vacuum cleaner in a storage unit of the operation terminal and communication of the operation terminal are provided. Department
However, there is a step of receiving vacuum cleaner direction information, which is information about the direction in which the vacuum cleaner is facing or a change in direction, and a step of storing the vacuum cleaner direction information received by the communication unit by the storage unit of the operation terminal. The step in which the direction sensor unit of the terminal detects the operation terminal direction information which is the information regarding the direction in which the operation terminal is facing or the change in the direction, and the storage unit of the operation terminal is the operation terminal detected by the direction sensor unit of the operation terminal. A step of storing direction information, a step of displaying a vacuum cleaner image on the display unit of the operation terminal based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit of the operation terminal, and a step of displaying the image of the vacuum cleaner, and the operation terminal. The control unit of the operation terminal stores the reference information, which is the reference direction of the operation terminal and the vacuum cleaner, from the vacuum cleaner direction information and the operation terminal direction information in the storage unit of the operation terminal, and the control unit of the operation terminal cleans. When the vacuum cleaner rotates by the first angle while the machine and the operation terminal are in the state of the reference information, the vacuum cleaner direction information is added to the reference information, and the image in which the vacuum cleaner is rotated by the first angle with respect to the operation terminal is operated. When the step to control the display on the display unit of the terminal and the control unit of the operation terminal are in the state of the vacuum cleaner and the operation terminal and the operation terminal is rotated by the second angle, the operation terminal direction information is added to the reference information. In addition, it has a step of controlling the vacuum cleaner to be displayed on the display unit so as to rotate by a second angle in the direction opposite to the rotation direction of the operation terminal.

An embodiment of the present invention will be described with reference to the drawings. The configurations with the same reference numerals in the respective figures indicate that they are the same configuration, and the description thereof will be omitted. The present invention is not limited to these embodiments.

(Embodiment 1)
FIG. 1 is a diagram showing an overall configuration of a remote control system 1000 according to the remote control method of the present invention.

The remote control system 1000 includes a vacuum cleaner 100 and an operation terminal 200. The vacuum cleaner 100 is a device having a cleaning function for cleaning a room or the like, and is a self-propelled device having a drive unit such as a robot vacuum cleaner, for example. Further, the operation terminal 200 is a device including a display unit and an operation unit, such as a mobile terminal, a smartphone, and a personal computer. In addition, the operation terminal 200 may be a dedicated device designed for dedicated operation of the vacuum cleaner 100.

FIG. 2 is a block diagram showing the configuration of the vacuum cleaner 100 and the operation terminal 200 according to the embodiment of the present invention.

First, the vacuum cleaner 100 has a direction sensor unit 110, a control unit 120, a moving unit 130, a communication unit 140, a cleaning unit 150, and an obstacle detection unit 160.

The direction sensor unit 110 is a sensor that detects the direction in which the vacuum cleaner 100 is facing or a change in the direction as device direction information. For example, when the direction sensor unit 110 is composed of a sensor using a gyroscope, the amount of change in direction can be detected, so that when the vacuum cleaner 100 moves with rotation, the vacuum cleaner 100 It is possible to detect how many times the angle has changed. Further, when the direction sensor unit 110 is composed of a sensor that utilizes the geomagnetism, the current orientation of the vacuum cleaner 100 can be detected by detecting the direction of the geomagnetism.

In addition, the odometry is calculated and calculated as the self-position estimation of the vacuum cleaner 100 by using the number of pulses detected by each encoder by the encoder provided for each of the moving wheels of the vacuum cleaner 100. It is also possible to use the direction of the above as the direction detected by the direction sensor unit 110.

Further, by using these sensors in combination, it is possible to improve the accuracy of the direction. In addition, any method such as an optical sensor or an ultrasonic sensor that can detect a direction by using surrounding features can be configured as a direction sensor unit 110.

The direction sensor unit 110 performs the device direction detection step described later.

The control unit 120 controls the direction sensor unit 110, the moving unit 130, the communication unit 140, the cleaning unit 150, and the obstacle detection unit 160. Further, the device direction information acquired from the direction sensor unit 110 is transmitted to the operation terminal 200 via the communication unit 140. Further, the operation to the moving unit 130 is controlled based on the operation information acquired from the communication unit 140.

For example, by executing a program recorded in the memory by a microcomputer (not shown), the device method information of the direction sensor unit 110 is transmitted to the operation terminal 200 via the communication unit 140, and the communication unit is also executed. Remote operation from the operation terminal 200 is realized by instructing control to the moving unit 130 based on the operation information acquired from 140. Specifically, the control unit 120 instructs the moving unit 130 of the rotation speed of the motor provided on each of the two moving wheels included in the moving unit 130.

The control unit 120 performs a device direction information transmission step and an operation information acquisition step, which will be described later.

The moving unit 130 is a device for moving the vacuum cleaner 100. The moving unit 130 can be realized, for example, by configuring the two motors and the two moving wheels so as to be horizontally arranged on the left and right sides of the vacuum cleaner 100. By changing the rotation speeds of the left and right motors by the control signal from the control unit 120, the moving wheels operate to control the movement of the vacuum cleaner 100. In addition to the combination of the motor and the moving wheel, the moving unit 130 may be capable of multi-legged movement such as two-legged or four-legged combined with a joint type actuator in which a plurality of servomotors are combined. Further, the motor to be used may be any motor capable of physical operation such as a linear motor.

The moving unit 130 performs a movement control step described later.

The communication unit 140 is a means of communication with the operation terminal 200, and is realized by using wireless communication technology such as infrared communication, specified low power radio, Bluetooth (registered trademark), Wi-Fi (registered trademark), and the like. The data handled by the communication unit 140 is information having a smaller amount of data than image information such as device direction information and operation information. Therefore, the communication unit 140 can be configured by a wireless communication technology having a small communication path band. Therefore, the communication infrastructure related to the communication unit 140 can also be selected and used at a lower cost.

The cleaning unit 150 is a cleaning device having a structure capable of cleaning according to the purpose and place of cleaning. For example, when the vacuum cleaner 100 is a general household vacuum cleaner, the cleaning unit 150 includes a rotary brush for scooping up dust falling on the floor surface of the room and a suction motor for sucking dust. It consists of a dust box for holding the sucked dust and a passage for the dust to move.

In addition, it may be a cleaning device for polishing the floor surface in the room with wax or the like. If the object to be cleaned is outdoors, a cleaning device for washing away mud stains may be used.

In order to exhibit the cleaning performance of the cleaning unit 150, the moving direction and moving speed of the vacuum cleaner 100 are restricted for each cleaning device. If the vacuum cleaner 100 is a general household vacuum cleaner, the cleaning unit 150 is arranged at one end of the vacuum cleaner 100. Therefore, the moving direction of the vacuum cleaner 100 for exhibiting the cleaning performance is the traveling direction of the main body of the vacuum cleaner 100 (the side in which the cleaning unit 150 is provided is the front direction of the vacuum cleaner 100).

Specifically, the vacuum cleaner 100 includes a cleaning unit 150 at one end of the main body. The cleaning unit 150 includes a rotating brush having a rotating shaft in the horizontal direction, and a cleaning motor provided at one end of the rotating shaft to rotate the rotating brush. The moving unit 130 includes a pair of moving wheels provided at both ends of the main body in the rotation axis direction of the rotating brush, and a pair of moving motors for driving the respective moving wheels.

In the vacuum cleaner 100 configured in this way, when the pair of moving motors rotate at the same rotation speed and in the same rotation direction as the cleaning motors, that is, the side where the cleaning unit 150 is provided is the vacuum cleaner 100. When the vacuum cleaner 100 moves forward, the rotating brush can efficiently scoop up the dust falling on the floor surface.

On the other hand, when the pair of moving motors rotate at the same rotation speed in the direction opposite to the rotation direction of the cleaning motors, that is, when the vacuum cleaner 100 moves backward, the rotating brush falls on the floor surface. It is not possible to efficiently scoop up the garbage. Further, when the pair of moving motors rotate at different rotation speeds, that is, when the vacuum cleaner 100 turns right or left, the rotating brush efficiently removes dust falling on the floor surface. I can't scoop it up.

The cleaning unit 150 performs a cleaning control step described later.

The obstacle detection unit 160 acquires information on obstacles that hinder movement around the vacuum cleaner 100. For example, as an obstacle detection method, a switch can be used to use the reflected wave of ultrasonic waves from an ultrasonic sensor, to use the reflection of infrared light transmitted from an LED or the like, or to the bumper provided in the main body of the vacuum cleaner 100. It may detect that it is in contact with the built-in. In addition, the presence or absence of surrounding obstacles can be detected by measuring the distance with a 3D camera. Further, by arranging a plurality of these sensors, the accuracy of detecting obstacles can be improved.

The obstacle detection unit 160 performs a surrounding information detection step described later.

Next, the operation terminal 200 has a direction sensor unit 210, a control unit 220, a direction storage unit 230, a display unit 240, an operation unit 250, and a communication unit 260.

The direction sensor unit 210 is a sensor that detects the direction in which the operation terminal 200 is facing or a change in the direction as terminal direction information. For example, when the direction sensor unit 210 is composed of a sensor that uses a gyroscope, the amount of change in direction can be detected, so that when the operation terminal 200 moves with rotation, the operation terminal 200 It is possible to detect how many times the angle has changed. Further, when the direction sensor unit 210 is composed of a sensor that uses the geomagnetism, the current orientation of the operation terminal 200 can be detected by detecting the direction of the geomagnetism.

Further, by using these sensors in combination, it is possible to improve the accuracy of the direction. In addition, for example, if the operation terminal is a smartphone or the like, a direction sensor if the method can detect the direction using a sensor such as position estimation by the camera image provided in the smartphone or position detection by GPS. It can be configured as a unit 210.

The direction sensor unit 210 performs the terminal direction detection step described later.

For example, the control unit 220 causes the direction sensor unit 210, the direction storage unit 230, the display unit 240, the operation unit 250, and the communication unit 260 by executing a program recorded in the memory by a microcomputer (not shown). Take control. Further, the reference direction of the relative direction between the vacuum cleaner 100 and the operation terminal 200 is determined based on the device direction information acquired from the vacuum cleaner 100 and the terminal direction information acquired from the direction sensor unit 210 via the communication unit 260. It is determined and stored in the direction storage unit 230.

Further, the control unit 220 uses the reference direction stored in the direction storage unit 230, the device direction information acquired from the vacuum cleaner 100 via the communication unit 260, and the terminal direction information acquired from the direction sensor unit 210. Then, the display unit 240 is controlled to display the relative direction of the vacuum cleaner 100. Further, the operation unit 250 sends the operation information, which is an operation instruction from the user, to the vacuum cleaner 100 via the communication unit 260 to give an instruction for remote control.

The control unit 220 performs a reference direction setting step, a device direction information acquisition step, and an operation information transmission step, which will be described later.
The direction storage unit 230 stores information as a reference direction based on the device direction information acquired from the vacuum cleaner 100 and the terminal direction information acquired from the direction sensor unit 210 via the communication unit 260.

Here, the information serving as the reference direction is information on the reference direction for calculating the direction of the vacuum cleaner 100 as seen from the operation terminal 200. Specifically, the information serving as the reference direction is the value of the direction sensor unit 110 or the value of the direction sensor unit 110 and the value of the direction sensor unit 210 stored by the direction storage unit 230 at an arbitrary timing. By storing the value of the direction sensor unit 110 or the value of the direction sensor unit 110 and the value of the direction sensor unit 210 when determining the reference direction between the operation terminal 200 and the vacuum cleaner 100, the direction is thereafter. When the sensor unit 110 and the direction sensor unit 210 change, the change amount can be calculated to follow the angle from the reference direction.

The user can arbitrarily change the timing for storing the device direction information as the reference direction. The timing to be stored as the reference direction is, for example, as shown in FIG. 3, the timing instructed by the operation unit 250 by the user. In this example, first, the user uses the vacuum cleaner 100 or the operation terminal 200 so that the direction of the vacuum cleaner displayed on the display unit 240 of the operation terminal 200 and the direction of the vacuum cleaner 100 actually seen by the user coincide with each other. Adjust the direction of. Then, when the user operates the operation unit 250 in the case of matching, the value of the direction sensor unit 110 or the value of the direction sensor unit 110 and the value of the direction sensor unit 210 in the matched state are set as the reference direction. , Stored in the direction storage unit 230. As a result, the direction of the vacuum cleaner 100 displayed on the operation terminal 200 can be matched with the direction of the vacuum cleaner 100 actually seen by the user.

It is desirable that the timing for storing the device direction information as the reference direction is at least at the start of remote control by the operation terminal 200. More specifically, as shown in FIG. 3, at the start of remote control by the operation terminal 200, "<Reference direction confirmation> Confirm that the direction of the vacuum cleaner matches the screen and OK. It is desirable to display "Please press" and prompt the user for instructions from the operation unit 250. Further, it is more desirable that there is a timing to periodically store the device direction information as the reference direction after the start of the remote control. For example, it may be at predetermined time intervals, or when the cumulative rotation angle of the vacuum cleaner 100 exceeds a predetermined value.

After the reference direction is stored in the direction storage unit 230, when the direction of the vacuum cleaner 100 changes, the value stored as the reference direction is changed to the direction of the change in the direction of the vacuum cleaner 100, or the vacuum cleaner. By adding the direction of the change in the direction of the operation terminal 200 and the operation terminal 200, the relative direction between the current operation terminal 200 and the vacuum cleaner 100 can be calculated.

Even in the case where the direction sensor unit 110 or the direction sensor unit 210 is a sensor capable of detecting an absolute direction, it is desirable to store the value in the reference direction. According to this, it is possible to absorb errors due to variations of individual sensors.

The display unit 240 is a display device such as a liquid crystal panel or an organic EL that displays information for the user to input an operation instruction. The relative direction between the operation terminal 200 and the vacuum cleaner 100 is displayed by using the reference direction stored in the direction storage unit 230 and the device direction information acquired from the vacuum cleaner 100 via the communication unit 260. Since the user can grasp the relative direction of the vacuum cleaner 100 by looking at the display unit 240 of the operation terminal 200, the user can intuitively input the operation instruction without making a mistake.

The display unit 240 performs the relative direction display step described later.

The relationship between the vacuum cleaner 100 displayed on the display unit 240 and the vacuum cleaner 100 actually seen by the user will be described with reference to FIGS. 4 and 5.

FIG. 4 is an example when the vacuum cleaner 100 is rotated by an angle α. When the vacuum cleaner 100 is rotated by an angle α, the vacuum cleaner 100 faces the display unit 240 in the direction obtained by adding the rotation angle α component acquired by the direction sensor unit 110 with respect to the reference direction R. , Displayed as the current direction C. As a result, the display can be performed in synchronization with the direction of the actual vacuum cleaner 100.

Further, FIG. 5 is an example when the operation terminal 200 is rotated by an angle β. When the vacuum cleaner 100 is rotated by an angle β, it seems that the vacuum cleaner 100 is facing the display unit 240 in the direction obtained by adding the operation terminal angle β component acquired by the direction sensor unit 210 with respect to the reference direction R. Is displayed as the current direction C. As a result, the display can be performed in synchronization with the direction of the actual vacuum cleaner 100.

Further, if the current direction is calculated from the rotation angles of the vacuum cleaner 100 and the operation terminal 200 acquired by the direction sensor unit 110 and the direction sensor unit 210 and their respective reference directions, which of the vacuum cleaner 100 and the operation terminal 200 can be used. Even if it is rotated, it can be displayed in synchronization with the actual direction.

The operation unit 250 is a device for receiving an operation instruction from a user for remotely controlling the vacuum cleaner 100. For example, it is an input device such as a touch panel, a keyboard, or a switch. In addition, any device may be used as long as it is a device that can input the operation intention from the user, such as a microphone that detects voice and a camera that detects gestures and eyes. It is desirable that the operation unit 250 is a touch panel integrated with the display unit 240.

The operation unit 250 performs an operation input step described later.

A preferred user input method for the operation unit 250 will be described with reference to FIG. FIG. 6 is an example in which the user remotely controls the vacuum cleaner 100 with the operation unit 250. The user presses a position on the touch panel in the direction in which he / she wants to give a movement instruction while checking the direction of the vacuum cleaner 100 displayed on the touch panel. As a result, the user can instruct the control unit 120 of the vector of the moving direction of the vacuum cleaner 100. Further, the control unit 120 changes the moving speed of the vacuum cleaner 100 instructed to the moving unit 130 according to the distance from the center of the vacuum cleaner 100 displayed on the touch panel to the position designated on the touch panel. Specifically, if the distance between the center of the vacuum cleaner 100 displayed on the touch panel and the designated position is large, the control unit 120 has a higher rotation speed of the motor included in the moving unit 130 than if the distance is small. The moving unit 130 is instructed to do so. According to this, the user can intuitively perform speed control in addition to directional control.

Further, a preferred display method on the display unit 240 will be described with reference to FIG. 7. FIG. 7 illustrates a change in the vacuum cleaner 100 displayed on the display unit 240 when the user remotely controls the vacuum cleaner 100 on the operation unit 250. The display of the display unit 240 changes in the order of (1) to (3) in FIG. 7.

First, in FIG. 7 (1), as shown in the example of FIG. 6, the moving direction of the vacuum cleaner 100 is instructed to the control unit 120 by pressing the position on the touch panel in the direction in which the movement instruction is desired. FIG. 7 (2) shows a state in which the display direction of the vacuum cleaner 100 displayed on the display unit 240 is being updated in accordance with the actual turning of the vacuum cleaner 100. In (3) of FIG. 7, when the actual vacuum cleaner 100 finishes turning, the moving direction of the vacuum cleaner 100 displayed on the display unit 240 coincides with the direction of the position specified by the user in (1) of FIG. It shows the state of the vacuum cleaner. In this way, by updating the turning angle of the control instruction displayed on the display unit 240, the display can be performed in a form following the user's instruction.

The preferred control of the moving unit 130 performed by the control unit 120 will be described with reference to FIGS. 8 and 9. FIG. 8 illustrates the movement of the vacuum cleaner 100 when the distance between the center of the vacuum cleaner 100 displayed on the touch panel and the position instructed by the user is small, and FIG. 9 shows the movement of the vacuum cleaner 100 when the distance is large. This is to explain the movement of the vacuum cleaner 100.

As shown in FIG. 8, when the distance to the position specified by the user is short, the control unit 120 instructs the moving unit 130 to rotate the vacuum cleaner 100 on the spot and then move it straight. .. As a result, the vacuum cleaner 100 can clean the entire vicinity of the designated position. This is because, as described above, the vacuum cleaner 100 can efficiently scoop up dust, suck it, and hold it in the dust box while moving forward.

In addition, if the distance to the target is short, give priority to cleaning and control the movement by slowing the movement speed so that the area around the target position can be thoroughly cleaned. Can be configured.

On the other hand, as shown in FIG. 9, when the distance from the position specified by the user is long, the control unit 120 moves so as to give priority to the moving speed and first move the vacuum cleaner 100 while turning it. Instruct unit 130. In this way, the control unit 120 performs faster movement control, so that the vacuum cleaner 100 can reach the target position in a shorter time.

In the present embodiment, the operation unit 250 has been described as being incorporated in the display unit 240 as a touch panel, but the display unit 240 and the operation unit 250 may be configured separately.

The communication unit 260 is a communication means with the communication unit 140 of the vacuum cleaner 100, and is realized by using a communication method corresponding to the communication method of the communication unit 140.

Next, the operation of the remote control system 1000 in this embodiment will be described.

FIG. 10 is a flowchart for storing a reference direction of the remote control system 1000 according to the embodiment of the present invention.

First, in step S1001, the device direction information is acquired from the direction sensor unit 110 of the vacuum cleaner 100 (device direction detection step), and the device direction information is transmitted to the operation terminal 200 by the communication unit 140 (device direction information transmission step).

The operation terminal 200 acquires device direction information from the vacuum cleaner 100 by the communication unit 260 (device direction information acquisition step). Further, the operation terminal 200 acquires terminal direction information from the direction sensor unit 210 (terminal direction detection step).

Next, in step S1002, a determination is made to store the reference direction. For example, as shown in FIG. 3, the operation is performed by adjusting the direction of the vacuum cleaner 100 or the operation terminal 200 so that the relative direction to the vacuum cleaner 100 seen from the operation terminal 200 matches, and then storing the direction as the reference direction. The direction of the vacuum cleaner 100 displayed on the terminal 200 can be matched. Therefore, since the direct adjustment can be made by moving the operation terminal 200 or the vacuum cleaner 100 so as to match the vacuum cleaner 100 displayed on the actual screen, the setting can be easily understood by the user.

Further, as another example, when setting the reference direction, the direction of the vacuum cleaner displayed on the display unit 240 is set to the same direction as the actual vacuum cleaner 100 by operating the operation unit 250. As described above, it is also possible to rotate the vacuum cleaner of the display unit 240 to adjust the direction. As described above, adjusting the reference direction by using the display unit 240 and the operation unit 250 is effective when the operation terminal 200 is fixed and cannot be easily moved.

When storing the reference direction, the process proceeds to step S1003. If the reference direction is not stored, the process returns to step S1001.

In step S1003, the device direction information of the direction sensor unit 110 of the vacuum cleaner 100 and the terminal direction information of the direction sensor unit 210 of the operation terminal 200, which are acquired at the timing of storing the reference direction, are transmitted to the direction storage unit 230 in the reference direction. Memorize as (reference direction setting step).

By memorizing the reference direction by such a processing flow, in order to display the direction of the vacuum cleaner 100 on the display unit 240 in accordance with the movement of the vacuum cleaner 100 when operating with the operation terminal 200. You can get the information you need.

Next, after storing the reference direction using FIG. 11, the operation terminal 200 displays the direction of the vacuum cleaner 100 on the display unit 240, and the information for operating the vacuum cleaner 100 by the user's operation is input. , The flow of the process of transmitting to the vacuum cleaner 100 will be described.

First, in step S1101, device direction information is acquired from the direction sensor unit 110 of the vacuum cleaner 100 (device direction detection step), and further, terminal direction information is acquired from the direction sensor unit 210 of the operation terminal 200 (terminal direction detection step). ..

Next, the direction of the vacuum cleaner is displayed on the display unit 240 based on the device direction information acquired in step S1102, the terminal direction information, and the direction information stored in the direction storage unit 230 (relative direction display step). ..

For example, FIG. 4 is an example in which the direction of the vacuum cleaner 100 is displayed on the display unit 240 of the operation terminal 200 when the vacuum cleaner 100 is rotated by an angle α. By displaying as the current direction C so that the vacuum cleaner 100 is facing in the direction obtained by adding the rotation angle α minute acquired by the direction sensor unit 110 with respect to the reference direction R, the direction of the actual vacuum cleaner 100 is displayed. Can be displayed in synchronization with.

Further, FIG. 5 is an example in which the direction of the vacuum cleaner 100 is displayed on the display unit 240 of the operation terminal 200 when the operation terminal 200 is rotated by an angle β. The actual vacuum cleaner is displayed as the current direction C so that the vacuum cleaner 100 faces in the direction in which the operation terminal angle β component acquired by the direction sensor unit 210, which will be described later, is added to the reference direction R. The display can be performed in synchronization with the 100 directions.

In step S1103, the operation unit 250 determines what kind of operation the user has performed (operation input step).

If the operation has been performed, the process proceeds to step S1104. If no operation has been performed, the process returns to step S1101.

In step S1104, the user's operation information received by the operation unit 250 is transmitted to the vacuum cleaner 100 via the communication unit 260 (operation information transmission step), and the vacuum cleaner 100 receives the investigation information in the communication unit 140. The movement of the moving unit 130 is controlled (movement control step).

For example, FIG. 6 is an example in which the user remotely controls the vacuum cleaner 100 with the operation unit 250. The user can instruct the vector of the moving direction by pressing the position in the direction in which he / she wants to give the moving instruction while checking the direction of the vacuum cleaner 100 displayed on the touch panel. In addition to controlling the direction, the speed can be intuitively controlled by changing the moving speed of the vacuum cleaner 100 according to the distance from the center of the displayed picture of the vacuum cleaner 100 to the designated position. Can be configured to allow

By such a flow of processing, the operation unit 250 can accept the user's operation and remotely control the vacuum cleaner 100 while displaying the direction of the vacuum cleaner 100 on the display unit 240 of the operation terminal 200.

Next, the flow of processing of the steps of the entire operation of the remote control system 1000 in the present embodiment will be described.

FIG. 12 shows, after memorizing the reference direction of the remote control system 1000 according to the embodiment of the present invention, cleaning by the user's operation while displaying the direction of the vacuum cleaner 100 on the display unit 240 on the operation terminal 200. It is a flowchart including the communication exchange between the vacuum cleaner 100 and the operation terminal 200 when the information for operating the machine 100 is transmitted to the vacuum cleaner 100, and the vacuum cleaner 100 performs movement control.

In step S1201, device direction information is acquired from the direction sensor unit 110 of the vacuum cleaner 100 (device direction detection step).

In step S1202, the device direction information acquired in step S1201 is transmitted to the operation terminal 200 via the communication unit 140 (device direction information transmission step).

In step S1203, terminal direction information is acquired from the direction sensor unit 210 of the operation terminal 200 (terminal direction detection step).

In step S1204, the device direction information of the direction sensor unit 110 of the vacuum cleaner 100 and the terminal direction information of the direction sensor unit 210 of the operation terminal 200 are stored in the direction storage unit 230 as the reference direction (reference direction setting step). As the timing for storing the reference direction, as shown in FIG. 10, the vacuum cleaner 100 and the operation terminal 200 may be stored after waiting for a storage instruction from the user, or the vacuum cleaner 100 and the operation terminal 200 may be stored at a predetermined position. By performing the operation after installing it, the reference direction can be set correctly.

In step S1205, similarly to step S1201, the current device direction information is acquired from the direction sensor unit 110 of the vacuum cleaner 100 (device direction information acquisition step). The timing for acquiring the current device direction information from the direction sensor unit 110 of the vacuum cleaner 100 may be, for example, at predetermined time intervals, or when the cumulative rotation angle of the vacuum cleaner 100 exceeds a predetermined value. ..

In step S1206, similarly to step S1203, the current terminal direction information is acquired from the direction sensor unit 210 of the operation terminal 200 (terminal direction detection step).

In step S1207, the display unit 240 is cleaned based on the device direction information acquired in step S1205, the terminal direction information acquired in step S1206, and the direction information stored in the direction storage unit 230 stored in step S1204. Display the direction of the machine 100 (relative direction display step).

In step S1208, the operation unit 250 determines what kind of operation the user has performed (operation input step).

If the operation is performed, the process proceeds to step S1209. If no operation has been performed, the process returns to step S1205.

In step S1209, the operation information performed by the user in step S1208 is transmitted to the vacuum cleaner 100 via the communication unit 260 (operation information transmission step and operation information acquisition step).

In step S1210, movement control is performed by controlling the moving unit 130 by the control unit 120 based on the operation information transmitted in step S1209 and acquired by the vacuum cleaner 100 (movement control step).

By such a flow of processing, the reference direction acquired by the direction sensor unit 110 of the vacuum cleaner 100 and the direction sensor unit 210 of the operation terminal 200 is stored in the direction storage unit 230, and the display unit 240 of the operation terminal 200 is stored. While displaying the direction of the vacuum cleaner 100, the operation unit 250 accepts the user's operation. Therefore, the user can remotely control the vacuum cleaner 100.

Next, using FIG. 13, the vacuum cleaner 100 displays the surrounding information on the display unit 240 in accordance with the direction of the vacuum cleaner by the obstacle detection unit 160 that acquires the surrounding information of the vacuum cleaner 100, and the surrounding information thereof. An example of limiting the range of operation input according to the display of is described.

When the direction of the vacuum cleaner 100 is displayed on the display unit 240 of the operation terminal 200, the information of the obstacle detected by the obstacle detection unit 160 is displayed together with the absolute direction of the vacuum cleaner 100. As a result, the user can easily instruct the operation of the vacuum cleaner 100 while considering the influence of surrounding obstacles. That is, the display unit 240 displays the obstacle according to the information of the obstacle detected by the obstacle detection unit 160.

As shown in FIG. 13, the display unit 240 displays the obstacle according to the distance and the direction between the obstacle and the vacuum cleaner 100. Further, the area behind the obstacle when viewed from the vacuum cleaner 100 is displayed as an area where movement instructions cannot be instructed.

Further, when the user gives an operation instruction to the movement instruction impossible area of FIG. 13, the operation input of the operation unit 250 is restricted. As a result, the control instruction for contacting the obstacle can be restricted, so that the vacuum cleaner 100 can be automatically prevented from coming into contact with the obstacle.

In the present embodiment, the operation terminal 200 has been described as an example provided with the direction sensor unit 210, but the operation terminal 200 is used by fixing it on a desk, for example, or the user can use it on a chair. When the user does not move when operating, such as sitting down, the direction sensor unit 210 in FIG. 2, the acquisition of the terminal direction information in step S1001 in FIG. 10, and the terminal in step S1101 in FIG. 11 The same effect can be obtained even if the acquisition of the direction information and the acquisition of the terminal direction information in step S1203 of FIG. 12 are not provided.

By configuring as described above, the vacuum cleaner can be displayed on the operation terminal while automatically adjusting the direction of the vacuum cleaner with respect to the reference direction with the operation terminal held by the user. Seen from the above, it is possible to remotely control the vacuum cleaner with direct operation instructions. For this reason, it becomes possible to operate comfortably by reducing mistakes in directional operation, which was conventionally easy to make an operation error.

Further, since the user can give an operation instruction to the absolute direction of the vacuum cleaner displayed on the operation terminal, it is possible to give a detailed direction instruction. Further, by accepting the input so as to change the speed according to the distance of the indicated position from the center of the displayed vacuum cleaner, it becomes easy to input the speed instruction in the moving direction.

Further, since it is not necessary to handle information having a large data capacity such as a camera image, it can be realized with an inexpensive configuration. Further, for example, in order to acquire the relative direction of the vacuum cleaner, it is only necessary to equip the wheels of the gyro sensor, the geomagnetic sensor, and the vacuum cleaner with an encoder, which can be realized with an inexpensive configuration.

Next, a control program for remotely controlling the vacuum cleaner with an operation terminal will be described.

A device direction detection step that detects the current device direction information of the vacuum cleaner, a device direction information transmission step that sends the device direction information to the operation terminal, and a device direction information acquisition step that the operation terminal acquires the device direction information from the vacuum cleaner. And the reference direction setting step that determines the reference direction of the relative direction between the vacuum cleaner and the operation terminal, and the display unit of the operation terminal according to the reference direction and the device direction information, relative to the operation terminal. A relative direction display step that displays the direction of the vacuum cleaner as the direction, an operation input step that accepts the operation information input to the operation terminal according to the display of the relative direction display step, and an operation information transmission that sends the operation information to the vacuum cleaner. The step, the operation information acquisition step in which the vacuum cleaner acquires the operation information from the operation terminal, and the movement control step in which the vacuum cleaner is moved and controlled according to the operation information are executed.

By executing this control program, the vacuum cleaner can be displayed on the operation terminal while automatically adjusting the direction of the vacuum cleaner with respect to the reference direction with respect to the operation terminal held by the user. Therefore, from the user's point of view, it is possible to remotely control the vacuum cleaner with a direct operation instruction. As a result, it becomes possible to operate comfortably by reducing mistakes in directional operation, which was conventionally easy to make an operation error.

It should be noted that the specific embodiments described in the embodiments for carrying out the invention merely clarify the technical contents of the present invention, and are construed in a narrow sense only in such specific embodiments. It is not something that should be done, and it can be changed and implemented within the scope of the spirit of the present invention and claims.

It is useful as a remote control method for a vacuum cleaner regardless of the use according to the present invention, such as for home use or business use. It is also useful as a remote-controlled cleaning system and control program.

100 Vacuum cleaner 110 Directional sensor unit 120 Control unit 130 Moving unit 140 Communication unit 150 Cleaning unit 160 Obstacle detection unit 200 Operation terminal 210 Directional sensor unit 220 Control unit 230 Directional storage unit 240 Display unit 250 Operation unit 260 Communication unit 1000 Remote control system

Claims (3)

A communication unit that receives vacuum cleaner direction information, which is information about the direction in which the vacuum cleaner is facing or a change in direction, from the vacuum cleaner.
The direction sensor unit that detects the direction information of the operation terminal, which is the information about the direction in which the operation terminal is facing or the change of the direction,
It has a storage unit for storing the vacuum cleaner direction information and the operation terminal direction information, a display unit for displaying an image of the vacuum cleaner, and a control unit .
When the communication unit receives the vacuum cleaner direction information in response to a change in the direction in which the vacuum cleaner is facing, the storage unit stores the vacuum cleaner direction information received by the communication unit.
When the direction sensor unit detects the operation terminal direction information, the storage unit stores the operation terminal direction information detected by the direction sensor unit.
The display unit displays an image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit.
From the vacuum cleaner direction information and the operation terminal direction information, the control unit stores the reference information in the reference direction of the operation terminal and the vacuum cleaner in the storage unit.
When the vacuum cleaner and the operation terminal are in the state of the reference information and the vacuum cleaner is rotated by a first angle, the vacuum cleaner direction information is added to the reference information, and the vacuum cleaner is said to the operation terminal. The image rotated by the first angle is displayed on the display unit, and the image is displayed on the display unit.
When the vacuum cleaner and the operation terminal are in the state of the reference information and the operation terminal is rotated by a second angle, the operation terminal direction information is added to the reference information and the direction is opposite to the rotation direction of the operation terminal. An operation terminal that displays the vacuum cleaner on the display unit so as to rotate by the second angle. It is a remote-controlled cleaning system with a vacuum cleaner and an operation terminal.
The vacuum cleaner includes a vacuum cleaner direction sensor unit that detects vacuum cleaner direction information, which is information regarding the direction in which the vacuum cleaner is facing or a change in direction.
It has a communication unit that transmits the vacuum cleaner direction information detected by the vacuum cleaner direction sensor unit.
The operation terminal is information regarding a direction in which the operation terminal is facing or a change in the direction.
Operation terminal direction sensor unit that detects operation terminal direction information,
A communication unit that receives the vacuum cleaner direction information from the vacuum cleaner,
A storage unit that stores the vacuum cleaner direction information received by the communication unit and the operation terminal direction information detected by the operation terminal direction sensor unit.
A display unit that displays an image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit.
From the vacuum cleaner direction information and the operation terminal direction information, reference information in the reference direction of the operation terminal and the vacuum cleaner is stored in the storage unit.
When the vacuum cleaner and the operation terminal are in the state of the reference information and the vacuum cleaner is rotated by a first angle, the vacuum cleaner direction information is added to the reference information, and the vacuum cleaner is said to the operation terminal. The image rotated by the first angle is displayed on the display unit, and the image is displayed on the display unit.
When the vacuum cleaner and the operation terminal are in the state of the reference information and the operation terminal is rotated by a second angle, the operation terminal direction information is added to the reference information and the direction is opposite to the rotation direction of the operation terminal. A remote-operated cleaning system comprising a control unit for controlling the vacuum cleaner to be displayed on the display unit so as to rotate by the second angle. It is a remote control method for the operation terminal to remotely control the vacuum cleaner.
A step of storing the reference direction of the operation terminal and the vacuum cleaner in the storage unit of the operation terminal,
A step in which the communication unit of the operation terminal receives vacuum cleaner direction information, which is information regarding the direction in which the vacuum cleaner is facing or a change in the direction.
A step in which the storage unit of the operation terminal stores the vacuum cleaner direction information received by the communication unit, and
A step in which the direction sensor unit of the operation terminal detects operation terminal direction information, which is information regarding the direction in which the operation terminal is facing or a change in the direction.
A step in which the storage unit of the operation terminal stores the operation terminal direction information detected by the direction sensor unit of the operation terminal.
A step in which the display unit of the operation terminal displays an image of the vacuum cleaner based on the vacuum cleaner direction information and the operation terminal direction information stored in the storage unit of the operation terminal.
A step in which the control unit of the operation terminal stores reference information in the storage unit of the operation terminal from the vacuum cleaner direction information and the operation terminal direction information, which is a reference direction between the operation terminal and the vacuum cleaner.
When the control unit of the operation terminal rotates the vacuum cleaner by a first angle while the vacuum cleaner and the operation terminal are in the state of the reference information, the vacuum cleaner direction information is added to the reference information and the operation terminal is added. A step of controlling the vacuum cleaner to display an image rotated by the first angle on the display unit of the operation terminal.
When the control unit of the operation terminal rotates the operation terminal by a second angle while the vacuum cleaner and the operation terminal are in the state of the reference information, the operation terminal direction information is added to the reference information and the operation terminal is added. A remote operation method comprising a step of controlling the vacuum cleaner to be displayed on the display unit so as to rotate by the second angle in a direction opposite to the rotation direction of the above.

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