WO2015194201A1 - Self-propelled electronic device - Google Patents

Abstract

This self-propelled electronic device is equipped with: a travel control unit; a movement distance measurement unit for measuring a movement distance from a reference point; an angle detection unit for detecting a movement direction; a signal communication unit for receiving a radio signal transmitted from a target object; a distance measurement unit for measuring the distance to the target object on the basis of the received radio signal; and a position determination unit which calculates the relative position of the self-propelled electronic device from the reference point using the movement distance from the reference point to the measurement point, that is, the point at which the distance measurement was carried out, and the detected movement direction, and which determines the relative position of the target object from the reference point with use of the calculated relative position from the reference point and the measured distance to the target object. In addition, the self-propelled electronic device generates a control device map using the determined relative position of the target object and the position of the reference point, said control device map indicating the position where the target object is disposed within a space.

Description

Self-propelled electronic device

The present invention relates to a self-propelled electronic device, and particularly to a self-propelled electronic device having a function of controlling a control target device arranged in a predetermined space.

Self-propelled electronic devices having a function of transmitting infrared signals for remotely controlling devices to be controlled such as televisions and air conditioners are used.
Such a self-propelled electronic device outputs an infrared signal corresponding to a control command such as power ON / OFF after moving to a position where the infrared signal reaches the control target device. In order to determine the movement route, the arrangement position of the control target device had to be stored in advance, but the user uses a dedicated software for a personal computer or smartphone to determine the predetermined reference position and the control target device. A map with a relative relationship with the placement position was created.

The created map is transferred to the self-propelled electronic device, and the self-propelled electronic device determines the movement route to the control target device based on this map.
For example, a map of the room to be cleaned is stored in the self-propelled cleaner, and the position of the charging stand as a reference point and the relative position of the control target device of the television or air conditioner installed in the room are also stored.
For example, when an instruction is input from the smart phone to turn on the TV, the instruction input command is transmitted to the self-propelled cleaner.

When receiving the instruction input command, the self-propelled cleaner analyzes the command and recognizes that the control target is “TV” and the control content is “power-on”.
After that, the position of the television set to be controlled is confirmed using a map stored in advance, and the movement route from the current position of the self-propelled cleaner to the position of the television is determined.
Then, the self-propelled cleaner starts moving based on the determined moving route, and moves to the vicinity of the television, and then outputs an infrared signal indicating that the television is turned on.

JP 2013-146302 A

Conventionally, the space (room) in which a self-propelled electronic device moves and the device to be controlled are different for each user who uses the self-propelled electronic device, so the shape and size of the space, the position and name of the device to be controlled, etc. The user had to enter and create the map himself.
The process of creating such a map is a rather cumbersome and time-consuming task even if dedicated map creation software is used.

Also, for users who are not good at input operations such as a personal computer, creating a map is quite difficult. Therefore, the remote control function of the self-propelled electronic device may not be used using the map.
Furthermore, the user changes the map each time the position of the charging base, which is the reference point for the relative position, the position of the control target device such as a TV is changed, or a new control target device is added. There was a need to do.

Therefore, the present invention has been made in view of the above circumstances, and it is an object of the present invention to easily determine the position of a control target device arranged in a space in which a self-propelled electronic device moves. To do.

The present invention is a self-propelled electronic device that automatically travels toward the position of a target object, and a travel control unit that moves by controlling the rotation of a wheel, and a movement that measures a distance moved from a predetermined reference point A distance measuring unit; an angle detecting unit that detects a moving direction; a signal communication unit that receives a radio signal transmitted from the target object; and the target object based on the received radio signal. A self-propelled type from the reference point using a distance measuring unit for measuring a distance, the measured moving distance from the reference point to the measurement point at which the distance is measured, and the detected moving direction By calculating the relative position of the electronic device, and using the relative position from the calculated reference point and the measurement distance to the target object measured by the distance measuring unit, the target object from the reference point Determine the relative position of There is provided a self-propelled electronic device is characterized in that a that position determination unit.

In addition, during the automatic traveling of the self-propelled electronic device, the distance measurement unit measures the distance from each measurement point to the target object at any of a plurality of measurement points, and the position determination unit includes the reference The relative position of the self-propelled electronic device from the point is calculated, and the circumferences of a plurality of circles intersecting with the calculated relative position of each measurement point as the center of the circle and the measured distance as the radius of the circle The relative position of the intersecting point is determined as a position where the target object exists.

Further, the measurement points for calculating the relative position of the self-propelled electronic device and measuring the distance to the target object are three or more different positions on the travel route that automatically travels, and the position determining unit The relative position of one intersection where the circumferences of three or more circles centered on the relative position of the measurement point intersect is determined as the position where the target object exists.
According to this, the user does not need to perform the work of determining the position of the target object by himself / herself investigating the arrangement position of the target object, and can easily perform the target object only by the self-propelled electronic device traveling automatically. You can determine the position of an object.

In addition, when there are a plurality of target objects for which position determination is to be performed, a storage unit is further provided, and device identification information for distinguishing a plurality of target objects is stored in the storage unit in advance, and the position determination is performed. After determining the relative position of each target object by the unit, the control unit obtains device position information that associates the device identification information with the determined relative position of each target object. A control device map is generated based on the device position information stored in the storage unit.

Further, the target object is a distance measuring device installed in the vicinity of a control target device to be remotely controlled by a user, and the distance measuring device includes a signal communication unit that transmits the radio signal, and the position After the determination unit determines the relative position of the distance measuring device, the control unit regards the relative position of the distance measuring device as the arrangement position of the control target device and indicates the position where the control target device exists A device map is generated.
According to this, it is not necessary to provide a signal communication unit that transmits a radio signal to the target object, and the user can easily install the distance measuring device in the vicinity of the target object. The position of the object can be determined and a control device map can be generated.

Further, the target object is a control target device to be remotely controlled by a user, and the control target device includes a signal communication unit that transmits the radio signal.
According to this, since the control target device that is the target object includes the signal communication unit, it is not necessary to install a ranging device in the vicinity of the target target in order to determine the position of the control target device. The user's work for position determination can be simplified.

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, as long as the self-propelled electronic device is within a distance that can receive the BLE signal, the self-propelled electronic device and the target A linear distance to the object can be calculated.

The self-propelled electronic device is a self-propelled cleaner having a rechargeable battery and a cleaning function, and the target object is a distance measuring device installed in the vicinity of the control target device to be remotely controlled by the user. The self-propelled cleaner performs automatic cleaning and performs a cleaning function, and the distance to the distance measuring device measured at a plurality of measurement points of the travel route automatically traveled, and the reference point The relative position of the measurement point from the position determination unit determines the relative position of the distance measuring device.
According to this, it is possible to determine the position of the control target device while the self-propelled cleaner performs the cleaning by the automatic travel, and the user can determine a special position for determining the position of the control target device. There is no need to work.

In addition, the reference point is an installation position of a charging stand where the self-propelled cleaner returns to charge the rechargeable battery.

Further, in the state where the device position information about the existing target object is stored in the storage unit, it is determined when the relative position of the newly installed target object is determined by the position determination unit. The relative position of the target object is added to the device position information.
According to this, even when a new target object is installed, the target object can be easily determined by determining the relative position of the newly installed target object by performing distance measurement as described above. Objects can be added to the control device map.

Further, when the relative position of the existing target object is determined again by the position determination unit in a state where the device position information about the existing target object is stored in the storage unit, the storage If the previous device position information stored in the unit is different from the device position information including the relative position of the same target object obtained by re-determining the position, the change of the relative position of the target object or the reference point A process for changing the position is performed.
According to this, even when the position of the existing target object or the position of the reference point changes, it is possible to easily reset the relative position of the target object after the change or the position of the reference point.

According to the present invention, using the distance measurement to the target object and the relative position from the reference point of the measurement point calculated using the movement distance and the movement direction at the measurement point at which the distance measurement was performed. Since the relative position of the target object from the reference point is determined, the relative position where the target object is disposed can be easily determined.

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 a rear view which shows the outline of one Example of the self-propelled cleaner of this invention. It is a schematic explanatory drawing of one Example of the distance measurement by the self-propelled cleaner of this invention, and a movement route. It is explanatory drawing of one Example of the information memorize | stored in the memory | storage part of this invention. It is a schematic explanatory drawing of the coordinate of the control equipment map of this invention. It is explanatory drawing of one Example of the driving | running route and measurement position of the self-propelled cleaner of this invention. It is explanatory drawing of one Example of the measurement distance in the measurement point of this invention. It is explanatory drawing of the measurement distance in the measurement points P1 and P2 of this invention. It is explanatory drawing of the measurement distance in four measurement points of this invention. It is explanatory drawing of the measurement distance from the charging stand 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 has a function of automatically setting and storing the position of a control target device that is a target object, and that automatically travels toward 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 addition, if a charging stand is placed at a reference position in a predetermined space where the self-propelled cleaner automatically travels, and the remaining amount of the rechargeable battery decreases below a predetermined value, the self-propelled cleaner It will automatically return until.

However, the self-propelled cleaner of the present invention may be any electronic device that has at least a rechargeable battery, performs automatic traveling control, and has a function of moving to a region near the controlled device by automatic traveling. It is not limited to a type vacuum cleaner.
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 device to be controlled corresponds to a target object to be remotely controlled by the user. Also, it is an electrical device that receives a control signal output from a self-propelled electronic device and executes a specific function corresponding to the received control signal, such as a television, an air conditioner, an air cleaner, a lighting device, etc. It is.

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 failure detection unit 13, an angle detection unit 14, a signal communication unit 15, and a distance. Measurement unit 16, position determination unit 17, infrared reception unit 18, travel control unit 21, wheel 22, encoder 23, intake port 31, exhaust port 32, dust collection unit 33, input unit 34, storage unit 41, command reception unit 51 The control signal transmission unit 52 is provided.

In addition, a charging stand (not shown) is fixedly installed at a predetermined position such as a room for cleaning. By connecting the charging stand 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 is connected. Charge.
Moreover, the self-propelled cleaner 1 executes the cleaning function while automatically running away from the charging stand, and further, when requested, transmits a control signal to remotely control the device to be controlled.

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 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. 3, the rear view of one Example of a self-propelled cleaner 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 15, the infrared receiving part 18, and the other component shown in FIG. 1 are provided.
In FIG. 2, the portion where the infrared receiver 18 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 15 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 a pair of driving wheels rotating forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in opposite directions. 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.

The self-propelled cleaner 1 receives a radio signal emitted from a signal communication unit of a charging stand (not shown), 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 elapses, the vehicle automatically returns to the charging stand by repeating linear travel and rotation, or wall running, etc., in the direction of approaching the charging stand automatically. .
However, if there are obstacles, move to the charging stand while avoiding them.
In addition, by receiving an infrared signal output from the charging stand by the infrared receiving unit 18, feedback processing to the charging stand and connection processing with the charging stand are performed.

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the 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 control device map generation function, and the like according to the present invention.

As will be described later, the control device map generation function refers to a target object arranged in a predetermined space using the relative position of the target object determined by the position determination unit 17 and the position of a predetermined reference point. This is a function for generating a control device map indicating the position where an object exists.
In the case of a self-propelled cleaner, the reference point is an arrangement position of a charging stand where the self-propelled cleaner returns to charge the rechargeable battery.

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 are connected.
The connection between the vacuum cleaner 1 and the charging stand is performed by bringing exposed charging terminals that are connecting portions to each other into contact with each other.
In addition, the battery remaining amount detection part which is not shown in figure is provided, the remaining capacity (remaining battery amount) of a rechargeable battery is detected, and it should return to the charging stand based on the detected remaining battery amount (%) You may decide to return.

The traveling control unit 21 is a part that controls the autonomous traveling of the self-propelled cleaner 1, and automatically moves by mainly controlling the rotation of the wheel 22 described above to mainly perform linear traveling and rotational operation. It is a part to be made. The left wheel and the right wheel are driven by different drive motors.
By driving two drive wheels (the left wheel and the right wheel) of the wheels 22, operations such as forward movement, backward movement, rotation, and stationary of the cleaner 1 are performed.

The encoder 23 is provided for each of the left wheel and the right wheel, and measures the moving distance of the self-propelled cleaner from a predetermined reference point according to the rotation speed, rotation direction, rotation position, and rotation speed of the wheels. This corresponds to the movement distance measuring unit.
The angle detection unit 14 is a so-called gyro sensor and detects an angle in the traveling direction of the self-propelled cleaner 1. Based on the signal output from the gyro sensor 14, the angle from the reference direction is calculated. Thereby, the moving direction is detected.
For example, when making a left turn of 90 degrees, while checking the state of the gyro sensor, the drive motor is controlled to rotate 90 degrees to the left from the initial angular position, and the right wheel is stationary. And the left wheel are rotated in opposite directions.
In addition, the gyro sensor 14 is also used for correction of movement control errors and fine adjustment of the posture.

The obstacle detection unit 13 is a part that detects that the cleaner 1 is in contact with or approaching an obstacle such as an indoor desk or chair while the vehicle is running. For example, a micro switch, an ultrasonic sensor, an infrared distance measuring sensor, or the like. A contact sensor or an obstacle sensor is used, and is arranged at the front portion of the side plate 2 </ b> C of the housing 2.
The CPU recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 13. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.
The infrared receiver 18 is a part that receives an infrared signal output from the charging stand.

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 input unit 34 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 34, 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 34, 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.
For example, when the charging request switch is pushed down during automatic traveling, it is determined that it is necessary to return to the charging stand, and the feedback process is executed.

The signal communication unit 15 in FIG. 1 is a part that receives (detects) a radio signal transmitted from a signal communication unit 102 of the distance measuring device 100 described later or a control target device that is a target object. As an element of the signal communication unit 15, a general communication device that can receive a transmitted radio signal can be used.
In the following embodiments, as a radio signal transmitted from the distance measuring device 100, for example, a signal defined by the Bluetooth Low Energy (BLE) standard is used. Hereinafter, this radio signal is referred to as a BLE signal.
When a BLE signal is transmitted from the distance measuring device 100, the signal communication unit 15 is also a receiving device capable of communication by BLE. In the present invention, the distance to the distance measuring device 100 (the distance between the current position of the self-propelled cleaner 1 and the distance measuring device) is measured based on the reception intensity of the BLE signal received by the signal communication unit 15.

BLE is a new Bluetooth standard that is used as a communication method for short-range wireless communication today, and performs wireless communication using 2.4 GHz band radio waves.
BLE has a maximum communication speed of 1 Mbps and can communicate several meters to several tens of meters depending on transmission power and antenna performance, and is characterized by power saving.
In this invention, the distance L between the signal communication unit 102 and the signal communication unit 15 is measured by receiving the BLE signal output from the signal communication unit 102 of the distance measuring device 100 described later by the signal communication unit 15. The signal communication unit 102 that outputs the BLE signal may be provided in the charging stand or each control target device 110 in addition to the distance measuring device.

The distance measuring unit 16 is a part that measures the distance L to the distance measuring device 100 or the control target device that is the target object based on the radio signal received by the signal communication unit 15. Specifically, since the reception intensity of the radio wave is inversely proportional to the square of the distance, the reception intensity of the BLE signal is detected using the BLE signal received by the signal communication unit 15 and measured with the self-propelled cleaner 1. The distance L with the distance device 100 is calculated.
For example, a signal attenuation rate is obtained from a predetermined transmission intensity of the BLE signal output from the signal communication unit 102 and a reception intensity of the BLE signal received by the signal communication unit 14, and an attenuation rate prepared in advance is obtained. The distance L corresponding to the attenuation rate may be calculated by referring to a table indicating the relationship with the distance.

The BLE signal is transmitted from the signal communication unit 102 in all directions of 360 degrees by devising the antenna shape and the like.
Since the BLE signal wraps around due to the diffraction phenomenon, the BLE signal can be received even if there is an obstacle that blocks infrared rays, and the distance between the two (1,100) can be measured.

The position determination unit 17 is a part that determines the relative position of the control target device that is the target object. In order to determine the relative position, the relative position of the self-propelled electronic device with respect to the charging base as a reference point and the measurement distance from the self-propelled electronic device to the target object are used.
First, the distance measurement unit 16 calculates a measurement distance from a predetermined measurement point to a control target device that is a target object.
Next, using the movement distance from the predetermined reference point to the measurement point (position of the self-propelled electronic device) where the distance is measured by the distance measurement unit 16, and the movement direction detected by the gyro sensor 14, Calculate the relative position of the self-propelled electronic device from the reference point.
The measurement distance and relative position are calculated as described above at a plurality of arbitrary measurement points.

After that, the relative position of the intersection of multiple circles with the relative position of each measurement point as the center of the circle and the measured distance (distance from the measurement point to the target object) as the radius of the circle intersects, The position is determined at the position where the control target device as the target object exists.
Here, as will be described later, the measurement points are assumed to be three or more different positions on the moving route for automatic traveling.
Further, the relative position of one intersection where the circumferences of three or more circles centered on the relative position of the three or more measurement points intersect is determined as the position where the control target device exists.

FIG. 4 is a schematic explanatory diagram of distance measurement and movement route according to the present invention.
In FIG. 4A, it is assumed that the charging stand 140, the self-propelled cleaner 1, and the control target device 110 are arranged in the rectangular room 150 as shown in the drawing.
The distance measuring device 100 is a small device that is easy to carry, and is installed and used at a position where the control target device 110 exists. Or you may make it incorporate in the control object apparatus 110. FIG.

The position (x0, y0) of the charging stand 140 installed at the lower left of the room is the origin (0, 0) of the XY coordinates, and the current position (x1, y1) of the self-propelled cleaner 1 with this position as a reference point And the relative position of the installation position (x2, y2) of the distance measuring device 100.
Here, since the movement distance and the movement direction are detected based on the signals obtained from the encoder 23 and the gyro sensor 14, the current position (x1, y1) of the self-propelled cleaner 1 is charged. It can be calculated using information (travel distance, travel direction) of the travel route that has traveled from the platform 140 to the current position.

Further, as described above, the BLE signal output from the distance measuring device 100 is received by the signal communication unit 15, whereby the signal communication unit 102 of the distance measuring device 100 from the signal communication unit 15 of the self-propelled cleaner 1. The measurement distance L is calculated.
At only one location of the current position of the self-propelled cleaner 1, the distance measuring device 100 exists somewhere on the circumference of a circle whose center is the current position of the self-propelled cleaner 1 and whose radius is the measurement distance L. Since only this is known, the position of the control target device 110 in which the distance measuring device 100 is installed cannot be uniquely specified.
Therefore, as described later, while the self-propelled cleaner 1 is self-propelled, the measurement distance L as described above is measured at a plurality of different measurement points, and the position determination unit 17 sets the measurement distance L as the radius. The position coordinates (x2, y2) of one intersection where the circumferences of a plurality of circles intersect are calculated.
The installation position (x2, y2) is determined as the installation position of the distance measuring device 100, that is, the arrangement position of the control target device 110.

The command receiving unit 51 in FIG. 1 is a part that receives a control command output from a device that controls the operation of the self-propelled cleaner 1 (for example, a portable terminal such as an infrared remote controller or a smart phone). Examples of the control command include a start command, a stop command, a movement command, and a remote control command for the control target device of the self-propelled cleaner 1.
By analyzing the content of the control command received by the command receiving unit 51, the subsequent operation of the self-propelled cleaner is determined.

The control signal transmission unit 52 is a part that transmits a control signal for remotely controlling the operation of the control target device 110. As the control signal, for example, an infrared signal is used, and a signal indicating activation (power ON), stop (power OFF), operation start, operation end, operation mode change, or the like of the control target device 110 is output.
When the infrared signal is used, since the infrared ray has directivity and the reachable range is limited, after the self-propelled cleaner 1 self-propels to the vicinity of the control target device 110, the control target device 110 described later A control signal is output toward a certain direction of the control signal receiving unit 112.

FIG. 4B shows an explanatory diagram of an example of the movement route of the self-propelled cleaner 1 and the control of the control target device 110.
In FIG.4 (b), the broken line has shown the movement route of the self-propelled cleaner 1. FIG. Here, an example of a route that travels from the charging stand 140 to the vicinity of the control target device 110 for the first time is shown.
Here, it is assumed that the self-propelled cleaner 1 moves to a position where the infrared signal transmitted from the control signal transmission unit 52 is received by the control signal reception unit 112 of the control target device 110.
When the self-propelled cleaner 1 has moved to the vicinity of the control target device 110, the self-propelled cleaner 1 stops at that position and outputs the control signal as described above to the control signal receiving unit 112.
As a result, when the control target device 110 receives the control signal, the control target device 110 executes a function corresponding to the received control signal.

The storage unit 41 is a part that stores information and programs necessary for realizing various functions of the self-propelled cleaner 1, and includes a semiconductor storage element such as a RAM and a ROM, a storage device such as a hard disk and an SSD, and the like. These storage media are used.
The storage unit 41 mainly stores a current measurement position 42, a device measurement distance 43, device identification information 44, device position information 45, a control device map 46, a movement route 47, and the like.

FIG. 5 shows an explanatory diagram of an embodiment of information stored in the storage unit 41 of the present invention.
FIG. 5A shows an example of measurement information measured by the self-propelled cleaner 1. Here, an example of the current measurement position 42 and the device measurement distance 43 is shown.
In FIG. 7, explanatory drawing of one Example of the driving | running | working route and measurement position of the self-propelled cleaner 1 of this invention is shown.
In FIG. 7, the position of the charging stand installed in one room, the television (TV) that is the device to be controlled, and the distance measuring device are shown, and the solid line with an arrow indicates the movement route of the self-propelled cleaner. The star indicates a measurement point for measuring the distance to the distance measuring device.

The four measurement points (P1 to P4) at the current measurement position 42 in FIG. 5A correspond to the four positions of the star marks shown in FIG.
In FIG. 7, the relative position coordinates of the positions of the four stars are shown with the position where the charging stand is located as the reference position (0, 0).

For example, the position coordinates (120, 900) of the first measurement point P1 in FIG. 7 is +120 cm in the X-axis direction, which is the horizontal axis of the XY coordinates, and the vertical axis when the charging base (0, 0) is used as a reference. It means that the position is +900 cm in a certain Y-axis direction.
The second measurement point P2 (420, 810) indicates that the position is +420 cm in the X-axis direction and +810 cm in the Y-axis direction.
The position coordinates of such a measurement point can be calculated from the distance and direction of movement of the self-propelled cleaner 1 by analyzing the signals acquired from the encoding 23 and the gyro sensor 14 described above.

Further, the device measurement distance 43 in FIG. 5A indicates a linear distance from the current position of the self-propelled cleaner 1 to the distance measuring device 100 at each measurement point.
For example, at the measurement point P1, it means that the linear distance from the current position of the self-propelled cleaner 1 to the distance measuring device 100 is 600 cm.
This linear distance corresponds to the device measurement distance 43 calculated by the distance measurement unit 16 described above.

In FIG. 5A, the relative position coordinates (current measurement position 42) at the four measurement points (P1 to P4) and the instrument measurement distance 43 to the distance measuring device 100 are shown. Instead, it may be measured at an arbitrary measurement point on the moving route.
Also, the number of measurement points is preferably as large as possible in order to increase the accuracy of specifying the position of the distance measuring device. At least three or more measurement points are necessary, and it is sufficient to measure at three or four measurement points as shown in FIG.

FIG. 5B shows an example of the device identification information 44.
The device identification information 44 includes distance measurement device identification information and device information, and indicates information (attributes) for distinguishing a plurality of control target devices 110.
FIG. 5B shows a case where there are two distance measuring devices, for example, and names of control target devices at positions where the respective distance measuring devices are installed are set and stored in advance.
For example, the identification information for identifying the distance measuring device is ID01, which means that the name of the control target device in which the distance measuring device is installed is a television.
By using such device identification information 44, it is possible to clearly distinguish the positions of a plurality of control target devices installed in a room and control a desired control target device.
As the device information, in addition to the device name, a product code or an identification ID may be used.

FIG. 5C shows an example of the device position information 45.
The device position information 45 is information that associates the device identification information 44 with the relative positions of the plurality of target objects determined by the position determination unit 17, and after the relative positions of the target objects are determined, Stored in the storage unit 41.
Also, when the relative position of the newly installed target object is determined by the position determination unit 17 in a state where the device position information 45 about the existing target object is stored in the storage unit 41, the determination The relative position of the target object thus obtained is additionally stored in the device position information 45.
A control device map 46 to be described later is, for example, an arrangement map of control target devices as shown in FIGS. 4 and 11, and is generated based on the device position information 45.

In FIG. 5C, as the device position information 45, the identification information of the distance measuring device, the relative position (X, Y) of the control target device 110 obtained from the reference point (charging stand), and the control target device 110 It shows what consists of device information (device name).
Here, a case is shown in which distance measurement is performed by using three distance measuring devices (ID01, ID02, ID03) and installing each distance measuring device in three different devices to be controlled.
FIG. 5C shows position information 45 of three control target devices.
For example, the relative position of the control target device arranged at the position where the distance measuring device ID01 is installed is (X, Y) = (+ 500, +960), and the name of the control target device is a television. Yes.
This relative position is obtained by the method described later by calculating the coordinates of the intersections of the circumferences of a plurality of circles using the measurement information (42, 43) shown in FIG.

However, when only one control target device exists in one room, it is not necessary to set the device identification information 44 as described above.
In addition, when a plurality of control target devices exist in one room, after the relative position of each control target device is determined, the information on the relative position and the attributes of the control target device as shown in FIG. (For example, the device name) may be stored in association with each other, and the identification information of the distance measuring device and the device name may not necessarily be associated in advance.

That is, for example, when there is only one distance measuring device 100, a distance measuring device is first installed at one of the plurality of controlled devices, and the self-propelled cleaner 1 is moved. Then, after measuring the measurement information of FIG. 5A and determining the relative position of the control target device, the determined relative position coordinate and the name of the control target device are stored in association with each other.
Next, after re-installing the same distance measuring device at the position of another controlled device, measuring the same measurement information and determining the relative position of the controlled device, the position coordinates and control The name of the target device may be stored in association with each other.

Therefore, in order to calculate the relative positions of a plurality of control target devices, a plurality of distance measuring devices may be installed at the positions of the respective control target devices, and the positions of all the control target devices may be determined simultaneously. However, by using only one distance measuring device, the position of the distance measuring device may be replaced with the position of each device to be controlled, and the positions of the devices to be controlled may be determined one by one in order.

The control device map 46 shows a position where a target object arranged in a predetermined space exists.
In FIG. 6, the schematic explanatory drawing of the coordinate of the control equipment map (map) 46 is shown.
Here, taking the XY coordinates and setting the position of the charging stand 140 as the reference (0, 0) are the same as those shown in FIG.
However, the space of the room 150 shown in FIG. 4 is shown as the upper right region (X> 0, Y> 0) in FIG.
As the space in which the self-propelled cleaner 1 moves, there may be areas (rooms) in the upper left, lower left, and lower right of the XY coordinates in FIG. 6 when viewed from the reference point (0, 0).
Therefore, it is preferable that the control device map (map) 46 is generated not only for the coordinate space as shown in FIG. 4 but also for four coordinate spaces.
By generating a map showing the positions of the control target devices arranged in the four coordinate spaces with the charging stand as the center, all devices included in the map can be controlled.

The movement route 47 in FIG. 1 is a route in which the self-propelled cleaner 1 has actually moved.
The moving route 47 can be generated from information acquired from the encoder 23 and the gyro sensor 14.
Further, after the relative position from the reference point of the control target device is determined, when there is an instruction input to move to the control target device, the self-propelled cleaner calculated from the relative position and the movement route is used. After automatically generating a travel route to the vicinity of the control target device using information on the relative position from the reference point, the travel route may also be temporarily stored.

Moreover, the self-propelled cleaner 1 is provided with a charging stand connection portion (not shown).
The charging stand connection unit is a terminal for inputting power for charging the rechargeable battery 12.
By physically contacting the charging stand connecting portion and the vacuum cleaner connecting portion provided on the charging stand 140, the power supplied from the power supply portion of the charging stand 140 is supplied to the rechargeable battery 12 and charged. A charging stand connection part is formed in the state exposed to the side surface of the cleaner 1 main body.

Furthermore, the self-propelled cleaner 1 may have other necessary configurations and functions in addition to the above configuration.
For example, an ultrasonic sensor may be provided. An ultrasonic sensor detects the distance to an object such as a wall of a room or a desk, and is composed of a transmitter that transmits ultrasonic waves and a receiver that receives reflected waves from the object. The The ultrasonic sensor is mainly used for measuring a distance to an obstacle such as a wall.
Further, a structure (ion generator) that generates ions may be provided during cleaning or in a stationary state so as 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 ranging device>
In FIG. 1, the distance measuring device 100 mainly includes a control unit 101, a signal communication unit 102, and a storage unit 103.
As described above, the distance measuring device 100 is installed in the vicinity of the position where the control target device 110 whose distance from the self-propelled cleaner 1 is to be measured is transmitted, and transmits a BLE signal to measure the distance. is there. Or you may incorporate in a control object apparatus or a charging stand.
Since the distance measuring device 100 is installed in the vicinity of the control target device, it may be regarded as corresponding to the target object described above.

Therefore, after the position determination unit 17 determines the relative position of the distance measuring device 100, the relative position of the distance measuring device is regarded as the arrangement position of the corresponding control target device.
Using the determined relative position of the distance measuring device, a control device map 46 indicating the position where the control target device exists is generated.
In the case of a self-propelled cleaner, the distance to the distance measuring device 100 measured at a plurality of measurement points of the automatically traveled route and the charging stand as a reference point while performing the cleaning function by performing automatic traveling. Are used to determine the relative position of the distance measuring device.

The control unit 101 can be realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like, and is a part that executes a predetermined function such as a BLE signal transmission function by a program stored in the ROM or the like. is there.
The signal communication unit 102 is a part that transmits a radio signal, and particularly includes a BLE transmission device and an antenna for transmitting a BLE signal.

The storage unit 103 is a part that stores information and programs necessary for transmission of the BLE signal, and a semiconductor storage element such as a ROM, a RAM, or a flash memory, and a storage device such as an HDD are used.
In the storage unit 103, for example, identification information for distinguishing the distance measuring device 100 is stored.
When a plurality of distance measuring devices 100 are used at the same time, different identification information is set and stored in advance for each distance measuring device, and each unique identification information is included in the BLE signal output from the signal communication unit 102. The distance measuring device 100 can distinguish the BLE signal received by the signal communication unit 15.
However, this identification information may be arbitrarily set using hardware such as a resistance element or a DIP switch.

<Configuration of controlled devices>
In FIG. 1, the control target device 110 mainly includes a control unit 111, a control signal reception unit 112, a function execution unit 113, and a storage unit 114.
Moreover, you may provide the structure which transmits a BLE signal similarly to the signal communication part 102 of a ranging device.
As described above, the control target device 110 is a target object whose operation is remotely controlled based on the control signal transmitted from the self-propelled cleaner 1, and is, for example, an electric device such as a television or an air conditioner. is there.
When the control unit 111 gives an instruction corresponding to the control signal received by the control signal receiving unit 112 to the function execution unit 113, the operation of the control target device 110 is controlled.
The control unit 111 can be realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.
The control signal receiving unit 112 is a part that receives the control signal output from the control signal transmitting unit 52 of the self-propelled cleaner 1. For example, when the control signal is infrared, an infrared light receiving element is used.

The function execution unit 113 is a part that executes a function of the control target device 110, and activates a predetermined program according to an instruction from the control unit 111, and executes a function based on the instruction.
For example, when the control target device is a television, functions such as power-on (ON), power-off (OFF), and channel switching are executed.
The storage unit 114 is a part for storing information and programs necessary for executing functions, and a storage device such as a semiconductor storage element such as a ROM, a RAM, or a flash memory, or an HDD is used.
The storage unit 114 stores, for example, identification information (name, manufacturing number, etc.) for specifying the control target device.

In addition, the control target device 110 may include a configuration equivalent to the distance measuring device 100 described above. That is, a configuration, a program, and the like for transmitting the BLE signal may be provided in the control target device 110 in advance.
In this case, it is not necessary to install the dedicated distance measuring device 100 at the control target device 110 in order to obtain the arrangement position of the control target device.
Even when the control target device 110 is in a stopped state, by making it possible to always send a signal for distance measurement, when the arrangement position of the control target device 110 is changed, etc. By making the running cleaner 1 self-run, it is possible to determine the changed position of the control target device 110 without performing a special operation or processing only for setting the changed position.

<Position determination processing of control target device>
An example of processing for determining the position of the control target device and generating a control device map will be described with reference to FIGS. 7 to 10.
Here, as shown in FIG. 7, the self-propelled cleaner 1 is self-propelled along an arbitrary moving route, and is installed at a control target device 110 whose position is to be determined at least at three or more measurement points. The distance to the distance measuring device 100 is measured, and the installation position of the distance measuring device is calculated using three or more measurement distances and the relative coordinates of the measurement points.
Further, the calculated relative position of the distance measuring device 100 is regarded as the relative position of the installed control target device.
Although it is necessary to obtain the position of the measurement point of the self-propelled cleaner 1 (relative position from the reference point (0, 0)), the self-propelled cleaner 1 starts moving from the charging stand that is the reference point. There is no need, and the travel route does not always have to travel on a preset route.
It is only necessary to be able to calculate relative coordinates of the current position of the self-propelled cleaner 1 with respect to the reference point.

(1) Installation of a distance measuring device First, in the vicinity of a control target device 110 that is to be stored in the self-propelled cleaner 1 such as a newly placed control target device or a control target device whose placement has been changed. Then, the distance measuring device 100 is placed.
(2) Storage of identification information of distance measuring device Next, the identification information of the distance measuring device 100 is stored in the self-propelled cleaner 1.
The identification information of the distance measuring device 100 may be stored in the storage unit 41 in advance, but the distance measuring device 100 transmits the identification information of the distance measuring device to the self-propelled cleaner 1 and is automatically set. May be.
At this time, the identification information itself may be given meaning and used as a dedicated identifier.
For example, if the identification information is zero, it means that it is a television, and if it is 1, it means that it means an air conditioner.
Alternatively, the identification information itself may be a general-purpose identifier and may be used only as a number for identifying a distance measuring device. In this case, if the user manually uses the input unit to manually set the relationship between the identification information and the name (or type) of the control device corresponding to the distance measuring device using a DIP switch or the like. Good.

(3) Automatic traveling of the self-propelled cleaner The self-propelled cleaner 1 is set to a cleaning mode by automatic traveling, and the cleaning operation is started while moving the room.
The movement route and movement speed may be arbitrary.
(4) Distance measurement during automatic traveling While moving the self-propelled cleaner 1, at any timing, at least three measurement points, BLE signals output from the distance measuring device 100 are received, The distance from the measurement point to the distance measuring device 100 is measured.
Further, as described above, using the information acquired from the encoder 23 and the gyro sensor 14, the relative position from the charging stand that is the reference point is calculated for each measurement point.

The three or more measurement points need only be at different positions, and need not always be at the same position, but may be at random positions.
However, measurement points may be set at regular intervals corresponding to the moving speed. Alternatively, a measurement point may be set every time a certain distance is moved.
For example, when the self-propelled cleaner travels on a moving route as shown in FIG. 7, distance measurement is performed at four measurement points. The relative position of the measurement point is also calculated.
One example of the result of measurement at these four measurement points is the measurement information shown in FIG.

FIG. 8 shows the positional relationship between the self-propelled cleaner 1 and the distance measuring device 100 at the first measurement point (120, 900).
The measured distance 600 cm indicates a linear distance between the measurement point and the distance measuring device 100. However, the position of the distance measuring device 100 cannot be uniquely determined by only this one measurement distance.
As shown in FIG. 8, it is only understood that the distance measuring device exists somewhere on the circumference of the circle whose radius is the measurement distance (600 cm) with the measurement point as the center.
This circle is used to determine the position of the distance measuring device 100 as will be described later.

(5) Determination of Position of Ranging Device FIGS. 9 and 10 are explanatory diagrams of measurement distances at each measurement point.
FIG. 9A shows the measurement distance L1 between the first measurement point P1 and the distance measuring device 100, as in FIG. A circle having the measurement point P1 as the center and the measurement distance L1 as the radius is defined as R1.
According to the measurement information in FIG. 5A, the circle R1 is a circle having a radius L1 = 600 cm.
FIG. 9B shows a measurement distance L2 between the second measurement point P2 and the distance measuring device 100 in addition to FIG. 9A.
Here, a circle having the measurement point P2 as the center and the measurement distance L2 as the radius is defined as R2.
It is assumed that the radius of the circle R2 is 360 cm from FIG.
The two circles (R1, R2) intersect at two intersections, but the distance measuring device 100 can be found only on the circumference of the two circles. Is still unknown.

FIG. 10A shows a measurement distance L3 between the third measurement point P3 and the distance measuring device 100 in addition to FIG. 9B.
Here, a circle having the measurement point P3 as the center and the measurement distance L3 as the radius is defined as R3.
The radius of the circle R3 is assumed to be 510 cm from FIG.
As shown in FIG. 10A, the three circles (R1, R2, R3) intersect each other at a plurality of intersections. If there are cases where the three circles intersect at one intersection, the intersection is The position where the distance measuring device 100 exists can be determined.
In FIG. 10A, the position of the point where the three circles intersect indicates the installation position of the distance measuring device 100.
The position coordinates of this intersection can be obtained by arithmetic operation using mathematical expressions indicating three circles in the XY coordinates with the reference point as the origin (0, 0).

FIG. 10B further shows a measurement distance L4 between the fourth measurement point P4 and the distance measuring device 100 in addition to FIG. 10A.
Here, a circle having the measurement point P4 as the center and the measurement distance L4 as the radius is defined as R4.
The radius of the circle R4 is assumed to be 70 cm from FIG.
As shown in FIG. 10 (b), a point where the four distance circles (R1 to R4) intersect at one intersection is a position where the distance measuring device 100 exists.
Already, the position of the distance measuring device 100 can be determined using three circles as shown in FIG. 10 (a). However, as shown in FIG. 10 (b), the intersection point can be determined using three or more circles. By determining, the accuracy of the position of the distance measuring device 100 can be improved.
That is, by increasing the number of measurement points and providing five or more measurement points, the installation position of the distance measuring device 100 can be specified with higher accuracy.

As described above, the relative coordinates (X, Y) of the installation position of the distance measuring device 100 are obtained by obtaining the intersection of three or four circles shown in FIG. 10 (a) or FIG. 10 (b). .
For example, as shown in the apparatus position information 45 of FIG. 5C, when the identification information of the distance measuring device 100 is ID01, the coordinates of the relative position are calculated and stored as (500, 960). If this distance measuring device 100 is installed in the vicinity of the television that is the control target device, the relative coordinates of the arrangement position of the television are determined as the relative coordinates (500, 960) of the distance measuring device 100. That is, the relative position of the distance measuring device 100 is stored as the arrangement position of the control target device 110.

If the device identification information 44 is set in advance as shown in FIG. 5B, the television is stored as device information in association with ID01 in the device position information 45.
However, when there is only one device to be controlled, it is not necessary to set the device identification information 44 in advance, so that the device information does not have to be stored in the device position information 45.
Based on the device position information 45 thus obtained, a control device map (map) 46 is automatically generated. That is, a map in which the control target device 110 is arranged in a predetermined space (room) is generated using the determined relative position of the control target device 110 and the position of the reference point.

In addition, a plurality of distance measuring devices 100 may be used to simultaneously determine the positions of a plurality of control target devices. For example, as shown in FIG. 5C, the relative positions of a plurality of control target devices can be determined in correspondence with the relative positions of the distance measuring devices.
When a plurality of distance measuring devices 100 are used, while the self-propelled cleaner 1 moves and cleans the inside of the room only once, it is automatically controlled as many as the number of distance measuring devices. The position of the device can be measured, and the map 46 including a plurality of control target devices can be easily generated in a relatively short time.
Therefore, in order to determine the position of the control target device and generate the control device map 46, the user does not need to perform complicated setting input operations.

(6) Control processing for the control target device As described above, after the arrangement position of the control target device in the room is stored, even if the user does not enter the room where the control target device exists, he / she owns the control target device. The control target device can be controlled by performing an input operation for transmitting a control command for the desired control target device to the self-propelled cleaner 1 using a portable terminal or the like.

For example, it is assumed that the user performs an input operation for turning on the air conditioner on the portable terminal. This input operation does not have to be performed in the room where the air conditioner is installed, and may be performed within a range where the control command reaches the self-propelled cleaner 1.
As a result, a wireless signal including a control command (power-on command) that means turning on the air conditioner is transmitted from the portable terminal to the self-propelled cleaner 1.
When the command receiving unit 51 of the self-propelled cleaner 1 receives this control command, it should be controlled from the received control command using the device position information 45 or the control device map 46 stored in the storage unit 41. Identify the device (air conditioner) and check the relative position of the identified device.

Thereafter, using the information on the relative position of the control target device (air conditioner), the self-propelled cleaning from the current position of the self-propelled cleaner 1 to the vicinity of the control target device (air conditioner) on the control device map 46. Set the travel route of machine 1.
The self-propelled cleaner 1 starts moving based on the set moving route.
When it comes close to the control target device (air conditioner), the control signal transmission unit 52 of the self-propelled cleaner 1 sends a control signal (power-on) corresponding to the received control command in the direction of the control target device (air conditioner). Send to.
When the control signal receiving unit 112 of the control target device (air conditioner) receives the control signal, the function executing unit 113 executes a function (power-on) corresponding to the control signal.

<Summary of Embodiments and Other Embodiments>
(A) First, as described above, there is an embodiment in which the position of a plurality of control target devices arranged in one room is determined using one distance measuring device 100. (Embodiment 1)
In this case, it is only necessary to prepare one distance measuring device, but the user needs to re-install the distance measuring device at the control target device for which position measurement is to be performed. It is necessary to determine the position in order and perform automatic traveling of the self-propelled cleaner 1 by the number of devices to be controlled. However, it is not necessary for the user to perform complicated input operations for determining the position of the control target device and creating a map.

(B) Also, as described above, using a plurality of distance measuring devices 100, the identification information of the distance measuring devices and the device information of the control target equipment on which the distance measuring devices are installed are stored in association with each other. Thus, there is an embodiment in which the positions of a plurality of control target devices arranged in one room are determined almost simultaneously. (Embodiment 2)
In this case, it is necessary to install each distance measuring device at the corresponding device to be controlled. However, the self-propelled vacuum cleaner 1 is automatically driven only once and corresponds to the number of distance measuring devices. It is possible to determine the positions of the control target devices.

(C) There is also an embodiment in which the configuration of the distance measuring device is built in each control target device. (Embodiment 3)
In this case, when the self-propelled cleaner 1 is at the position of the charging stand that is the reference point, that is, when the self-propelled cleaner 1 is being charged, each control target device has a position that is currently stored. It can be confirmed whether or not they exist at the same position.

FIG. 11A shows an explanatory diagram of an embodiment for measuring the distance from the charging stand.
The signal communication unit 15 of the self-propelled cleaner 1 receives the BLE signal output from the signal communication unit 102 of the distance measuring device built in each control target device, and the distance measurement unit 16 causes each control target device to Measure the distance to the signal communication unit.
When the measurement distances (L10, L20, L30) to each control target device are measured as shown in FIG. 11 (a), these distances are approximately equal to the linear distance from the charging stand where the self-propelled cleaner is located. Since it is considered that they are equal, this measured distance is compared with the linear distance from the reference point obtained from the relative position of the current device position information 45 already stored in the storage unit 41.
From this comparison, if the distance between the two matches, the position of the control target device is not changed, but if the distance is largely deviated, it can be determined that the position of the control target device is different.
Therefore, when it is determined that the current position where the control target device exists is different from the already stored position, the current position may be reset by performing the position determination process as described above again.

(D) When the position of the charging stand serving as the reference point is changed, it is necessary to obtain again the relative position of each control target device from the changed charging stand and re-create the control device map. (Embodiment 4)
FIG. 11B shows an explanatory diagram of an embodiment in the case where the distance from the charging stand is measured again.
When the installation position of the charging base is changed as shown in FIG. 11 (b), the position of the charging base after the change is different from the reference point (0, 0), so the charging base of each control target device is used as a reference. The relative positional relationship changes.
Therefore, it is necessary to obtain the relative position of the charging base itself after the change with reference to the reference point (0, 0).
In order to obtain the relative position of the charging stand, it is preferable that the arrangement positions of three or more devices to be controlled have already been stored.

For example, in a state where the self-propelled cleaner 1 is connected to the charging stand, the self-propelled cleaner 1 and the distance measuring device 100 incorporated in each control target device are the same as in FIG. The distance (L11, L21, L31) is measured.
In FIG. 11B, if the arrangement position of each control target device is not changed, each measurement distance (L11, L21, L31) is a radius with the relative position of the distance measuring device 100 of each control target device as the center. The relative position of the intersection of the circles is calculated.
In FIG. 11B, the position coordinates of the point where the circle with the radius L11, the circle with the radius L21, and the circle with the radius L31 all intersect are determined as the position where the self-propelled cleaner 1 exists.
Since self-propelled cleaner 1 is connected to the charging stand, the relative position of self-propelled cleaner 1 can be regarded as the relative position of the changed charging stand.

(E) By automatically running the self-propelled cleaner 1, the position of the control target device is not changed when the device position information 45 about the existing control target device is already stored in the storage unit 41. In order to check whether or not the relative position of the existing device to be controlled may be determined again by allowing automatic running after a certain period of time. (Embodiment 5)
At this time, when the previous device position information 45 stored in the storage unit and the device position information including the relative position of the same control target device by the position determination performed again are different, the relative position of the control target device is determined. Change it.
Alternatively, when the relative positions of a plurality of existing devices to be controlled are all shifted, there is a possibility that the position of the charging stand may have changed. May be.

(F) While the self-propelled cleaner 1 is moving, the measurement distance newly measured by measuring the distance from the distance measuring device of each control target device at any three or more measurement points. However, if it does not indicate the relative position of the control target device that has already been stored, the user can change the arrangement position of the control target device or perform normal remote control on the control target device. You may notify by the method of an audio | voice, a display, etc. that it has run out. (Embodiment 6)
In this case, even if the device position information 45 stored in the storage unit 41 is deleted for the control target device whose relative position is not normal, the distance measurement is performed again, and the arrangement position of the control target device is determined. Good.
For example, when it is detected that the position of one control target device has changed, the information on the control target device may be deleted and updated.
Further, when it is detected that the positions of a plurality of control target devices have changed, all information may be deleted and updated.
Alternatively, when the user inputs an information deletion instruction using the input unit, all the information may be deleted.

11 control unit, 12 rechargeable battery, 13 fault detection unit, 14 angle detection unit, 15 signal communication unit, 16 distance measurement unit, 17 position determination unit, 18, infrared receiving unit, 21 travel control unit, 22 wheels, 23 encoder, 31 Inlet, 32 Exhaust, 33 Dust collector, 34 Input unit, 41 Storage unit, 42 Current measurement position, 43 Device measurement distance, 44 Device identification information, 45 Device position information, 46 Control device map, 47 Travel route, 51 Command receiving unit, 52 Control signal transmitting unit, 100 Distance measuring device, 101 Control unit, 102 Signal communication unit, 103 Storage unit, 110 Control target device, 111 Control unit, 112 Control signal receiving unit, 113 Device execution unit, 114 Storage unit, 140 Power base, 150 room

Claims (8)

1. A self-propelled electronic device that automatically travels toward the position of the target object,
   A travel controller that controls and moves the rotation of the wheels;
   A moving distance measuring unit that measures the distance moved from a predetermined reference point;
   An angle detection unit for detecting a moving direction;
   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;
   Calculate the relative position of the self-propelled electronic device from the reference point using the measured moving distance from the reference point to the measurement point where the distance was measured, and the detected moving direction; A position determining unit that determines the relative position of the target object from the reference point using the calculated relative position from the reference point and the measured distance to the target object measured by the distance measuring unit. A self-propelled electronic device characterized by comprising:
2. During automatic traveling of the self-propelled electronic device, the distance measurement unit measures the distance from each measurement point to the target object at any of a plurality of measurement points, and the position determination unit is Calculating the relative position of the self-propelled electronic device, the intersection of the circles of the plurality of circles intersecting with the calculated relative position of each measurement point as the center of the circle and the measured distance as the radius of the circle The self-propelled electronic device according to claim 1, wherein the relative position is determined as a position where the target object is present.
3. The measurement points for calculating the relative position of the self-propelled electronic device and measuring the distance to the target object are three or more different positions on the travel route that automatically travels,
   The position determining unit determines the relative position of one intersection where the circumferences of three or more circles centering on the relative position of each measurement point intersect as a position where the target object exists. The self-propelled electronic device according to claim 2.
4. A storage unit;
   When there are a plurality of target objects to be position-determined, device identification information for distinguishing a plurality of target objects is previously stored in the storage unit,
   After the relative position of each target object is determined by the position determination unit,
   Device location information in which the device identification information is associated with the determined relative position of each target object is stored in the storage unit, and a control device map is generated based on the device location information. The self-propelled electronic device according to claim 1, 2, or 3.
5. The wireless signal is a BLE signal defined by the Bluetooth Low Energy standard, and the distance measurement 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.
6. The self-propelled electronic device is a self-propelled cleaner equipped with a rechargeable battery and a cleaning function,
   The target object is a distance measuring device installed in the vicinity of the control target device that the user wants to remotely control,
   While the self-propelled cleaner performs automatic cleaning and performs a cleaning function, at a plurality of measurement points of a travel route that has automatically traveled, the measured distance from the distance measuring device and the measurement from the reference point Using the relative position of the point,
   The self-propelled electronic device according to claim 1, wherein the position determination unit determines a relative position of the distance measuring device.
7. In the state where the device position information about the existing target object is stored in the storage unit, when the relative position of the existing target object is determined again by the position determination unit,
   When the previous device position information stored in the storage unit is different from the device position information including the relative position of the same target object by the position determination performed again,
   5. The self-propelled electronic device according to claim 4, wherein a process of changing a relative position of the target object or a position of a reference point is performed.
8. Using the relative position of the target object determined by the position determination unit and the position of the reference point, a control device map indicating the position where the target object arranged in a predetermined space exists is generated. The self-propelled electronic device according to any one of claims 1 to 7, wherein

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