技术领域technical field
本发明涉及机器人装置等，特别涉及能自动行走的机器人装置等。The present invention relates to a robot device and the like, in particular to a robot device and the like capable of autonomous walking.
背景技术Background technique
以往已知一边在规定的范围内自动行走一边吸入地面的尘埃、异物而进行吸尘的机器人吸尘器。另外，近年来提出了具备通信服务器且与外部装置之间进行通信的机器人吸尘器。例如在专利文献1中记载了包括机器人吸尘器和无线终端装置的远程监视系统。Conventionally, there is known a robot vacuum cleaner that sucks in dust and foreign matter on the ground while autonomously traveling within a predetermined range to vacuum the floor. In addition, in recent years, robot cleaners equipped with communication servers and communicating with external devices have been proposed. For example, Patent Document 1 describes a remote monitoring system including a robot cleaner and a wireless terminal device.
图15是表示在专利文献1中记载的远程监视系统的概要的示意图。如图所示，该远程管理系统包括机器人吸尘器301和无线终端装置302。在此，无线终端装置302是计算机302a、智能电视机302b、便携电话机/智能电话机302c等能进行无线通信的装置。另外，303是无线连接装置。FIG. 15 is a schematic diagram showing an outline of a remote monitoring system described in Patent Document 1. As shown in FIG. As shown in the figure, the remote management system includes a robot vacuum cleaner 301 and a wireless terminal device 302 . Here, the wireless terminal device 302 is a device capable of wireless communication such as a computer 302a, a smart TV 302b, a mobile phone/smart phone 302c, and the like. In addition, 303 is a wireless connection device.
机器人吸尘器301具备障碍物检测单元和位置识别单元，通过搜索吸尘范围来制作吸尘地图。在此，障碍物检测单元检测障碍物的有无、位置、大小等障碍物信息，使用红外线传感器等。位置识别单元识别在吸尘范围内的机器人吸尘器301的位置，使用对机器人吸尘器301的上方进行拍摄的上方摄像部或加速度传感器、检测轮内电机的速度的编码器或陀螺仪传感器。The robot cleaner 301 includes an obstacle detection unit and a position recognition unit, and creates a cleaning map by searching a cleaning range. Here, the obstacle detection unit detects obstacle information such as the existence, position, and size of an obstacle, and uses an infrared sensor or the like. The position recognition unit recognizes the position of the robot cleaner 301 within the cleaning range, and uses an upper imaging unit or an acceleration sensor that captures images of the robot cleaner 301 above, an encoder or a gyro sensor that detects the speed of the in-wheel motor.
另外，机器人吸尘器301拍摄吸尘范围而生成监视图像。并且，无线终端装置302与机器人吸尘器301连接后从机器人吸尘器301接收监视图像和吸尘地图，并向机器人吸尘器301发送控制命令。通过这样构成，能使机器人吸尘器301在吸尘地图上的特定位置或范围内移动，因此用户能在遥远的地方利用无线终端装置302与机器人吸尘器301连接来对自家的内部进行远程监视。In addition, robot cleaner 301 images a cleaning range to generate a monitoring image. In addition, the wireless terminal device 302 receives the monitoring image and the cleaning map from the robot cleaner 301 after being connected to the robot cleaner 301 , and sends a control command to the robot cleaner 301 . With this configuration, the robot cleaner 301 can be moved within a specific position or range on the cleaning map, so the user can remotely monitor the interior of his home by connecting the robot cleaner 301 with the wireless terminal device 302 in a remote place.
现有技术文献prior art literature
专利文献patent documents
专利文献1：日本国公开专利公报“特开2011－233149号公报(2011年11月17日公开)”Patent Document 1: Japanese Laid-open Patent Publication "JP-A-2011-233149 (published on November 17, 2011)"
发明内容Contents of the invention
发明要解决的问题The problem to be solved by the invention
但是，专利文献1所记载的远程监视系统在执行远程监视前，机器人吸尘器301需要制作吸尘地图。在此，在使用设于机器人吸尘器301的各种传感器制作吸尘地图的情况下，通常该各种传感器的精度存在极限，因此，有时在作成的吸尘地图和实际设置有机器人吸尘器301的场所之间产生误差。在这种情况下，存在即使执行远程监视，也会在用户预料不到的场所进行远程监视的问题。另外，为了不产生上述误差，在使用高精度传感器、高速计算机作成地图的情况下，存在机器人吸尘器301的处理变得复杂的问题。However, in the remote monitoring system described in Patent Document 1, the robot cleaner 301 needs to create a cleaning map before performing remote monitoring. Here, in the case of creating a cleaning map using various sensors provided in the robot cleaner 301, there is usually a limit to the accuracy of the various sensors. errors between. In this case, even if remote monitoring is performed, there is a problem that remote monitoring is performed at a place that the user does not expect. In addition, in order to avoid the above-mentioned errors, when creating a map using a high-precision sensor or a high-speed computer, there is a problem that the processing of the robot cleaner 301 becomes complicated.
本申请发明就是鉴于上述问题而完成的，其目的在于提供不进行机器人装置的复杂的处理而能执行用户预想的远程操作的机器人装置等。The invention of the present application has been made in view of the above-mentioned problems, and an object of the present invention is to provide a robot device and the like that can perform remote operations expected by a user without performing complicated processing by the robot device.
用于解决问题的方案solutions to problems
本发明的机器人装置，能从终端装置接收信息，具备：通信部，其从终端装置接收由终端装置作成的基于机器人装置的作业区域的地图而生成的位置信息和针对机器人装置的控制命令；行走部，其使机器人装置移动；以及控制部，其基于位置信息驱动行走部，基于控制命令执行作业。The robot device of the present invention is capable of receiving information from a terminal device, and includes: a communication unit that receives position information generated by the terminal device based on a map of the robot's work area and a control command for the robot device from the terminal device; a part that moves the robot device; and a control part that drives the traveling part based on the position information and executes work based on the control command.
发明效果Invention effect
根据本发明，能提供不进行机器人装置的复杂的处理而能执行用户预想的远程操作的机器人装置等。According to the present invention, it is possible to provide a robot device or the like capable of performing a remote operation expected by a user without performing complicated processing by the robot device.
附图说明Description of drawings
图1是表示本发明的一实施方式的机器人装置的远程操作系统100的概要的示意图。FIG. 1 is a schematic diagram showing an outline of a remote control system 100 for a robot device according to an embodiment of the present invention.
图2是本发明的一实施方式的机器人吸尘器1的立体图。Fig. 2 is a perspective view of the robot cleaner 1 according to the embodiment of the present invention.
图3是本发明的一实施方式的机器人吸尘器1的仰视图。Fig. 3 is a bottom view of the robot cleaner 1 according to the embodiment of the present invention.
图4是本发明的一实施方式的机器人吸尘器1的操作面板5的示意图。Fig. 4 is a schematic diagram of the operation panel 5 of the robot cleaner 1 according to the embodiment of the present invention.
图5是图3的机器人吸尘器1的AA向视截面的示意图。FIG. 5 is a schematic diagram of the cross section of the robot cleaner 1 of FIG. 3 as viewed from the arrow AA.
图6是本发明的一实施方式的充电座40的立体图。FIG. 6 is a perspective view of a charging stand 40 according to an embodiment of the present invention.
图7是表示本发明的一实施方式的机器人吸尘器1的主要构成的框图。Fig. 7 is a block diagram showing the main configuration of the robot cleaner 1 according to the embodiment of the present invention.
图8是表示本发明的一实施方式的终端装置101的主要构成的框图。FIG. 8 is a block diagram showing a main configuration of a terminal device 101 according to an embodiment of the present invention.
图9(a)-(c)是表示在终端装置101中，用户作成机器人吸尘器1的作业区域的地图A1时的用户接口部105的显示的一例的示意图，图9(a)表示作成了作业区域的房屋的配置，图9(b)表示作成了作业区域的房屋的出入口，图9(c)表示作成了基准位置C。Fig. 9 (a) - (c) are schematic diagrams showing an example of the display of the user interface part 105 when the user creates the map A1 of the work area of the robot cleaner 1 in the terminal device 101, and Fig. 9 (a) shows that the work has been made As for the arrangement of the houses in the area, FIG. 9( b ) shows the entrances and exits of the houses where the work area is created, and FIG. 9( c ) shows that the reference position C is created.
图10是表示在终端装置101中用户作成机器人吸尘器1的作业区域的地图A2时的用户接口部105的显示的一例的示意图，表示作成了作业禁止范围B3。Fig. 10 is a schematic diagram showing an example of display on the user interface unit 105 when the user creates the map A2 of the work area of the robot cleaner 1 on the terminal device 101, and shows that the work prohibition range B3 is created.
图11是表示位置信息生成部107基于图9的作业区域的地图A1生成位置信息时的用户接口部105的显示的一例的示意图，表示机器人吸尘器1移动的位置P1被输入的情况。11 is a schematic diagram showing an example of a display on the user interface 105 when the position information generating unit 107 generates position information based on the map A1 of the work area shown in FIG.
图12是表示位置信息生成部107基于图9的作业区域的地图A1生成位置信息时的用户接口部105的显示的一例的示意图，表示机器人吸尘器1进行作业的范围P2被输入的情况。12 is a schematic diagram showing an example of a display on the user interface 105 when the position information generator 107 generates position information based on the map A1 of the work area shown in FIG.
图13是表示位置信息生成部107基于图9的作业区域的地图A1生成位置信息时的用户接口部105的显示的一例的示意图，表示机器人吸尘器1进行作业的范围P3被输入的情况。13 is a schematic diagram showing an example of a display on the user interface 105 when the position information generator 107 generates position information based on the map A1 of the work area shown in FIG.
图14是表示由本发明的一实施方式的远程操作系统100进行的远程操作的处理的流程图。FIG. 14 is a flowchart showing remote operation processing by the remote operating system 100 according to the embodiment of the present invention.
图15是表示包括在专利文献1中记载的机器人吸尘器301的远程监视系统的概要的示意图。FIG. 15 is a schematic diagram showing an outline of a remote monitoring system including a robot cleaner 301 described in Patent Document 1. As shown in FIG.
具体实施方式Detailed ways
以下作为本发明的机器人装置的一实施方式，参照附图说明机器人吸尘器1。另外，作为本发明的机器人装置的远程操作系统的一实施方式，说明包括机器人吸尘器1和终端装置101的机器人装置的远程操作系统100。Hereinafter, as one embodiment of the robot device of the present invention, a robot cleaner 1 will be described with reference to the drawings. In addition, as an embodiment of the remote control system for the robot device of the present invention, the remote control system 100 for the robot device including the robot cleaner 1 and the terminal device 101 will be described.
(远程操作系统100的概要)(Outline of remote operating system 100)
图1是表示机器人装置的远程操作系统100的概要的示意图。如图所示，机器人装置的远程操作系统100包括与通信网连接的机器人吸尘器1和终端装置101。在本实施方式中，作为通信网的一例，说明采用经由无线LAN基站201连接的房屋203内的LAN(LocalArea Network)和英特网202的情况。FIG. 1 is a schematic diagram showing an overview of a remote operating system 100 for a robot device. As shown in the figure, the remote operating system 100 of the robot includes a robot cleaner 1 and a terminal device 101 connected to a communication network. In this embodiment, a case where a LAN (Local Area Network) in a house 203 connected via a wireless LAN base station 201 and the Internet 202 are used as an example of a communication network will be described.
机器人吸尘器1是在房屋203内自动行走来进行吸尘的机器人装置。另外，机器人吸尘器1在其内部具备后述的通信部，在能与无线LAN基站201进行无线通信的状态下连接。The robot cleaner 1 is a robot device that autonomously travels inside the house 203 to perform cleaning. Moreover, the robot cleaner 1 is equipped with the communication part mentioned later inside, and is connected in the state which can perform wireless communication with the wireless LAN base station 201.
房屋203关于其种类没有特别限定，除了用于人居住的建筑物以外，只要是如商务用事务所、店铺、会议室或仓库等具有机器人装置能作业的环境的场所即可。另外，作为一例，说明在作为房屋203的建筑物内的空间内使用机器人吸尘器1的情况，但也可以在房屋外的空间使用机器人吸尘器1。在此，房屋203的一部分或全部是本发明的作业区域的一例。The type of the house 203 is not particularly limited, and it may be a place where a robot device can work, such as a business office, a store, a meeting room, or a warehouse, in addition to a building for people to live in. In addition, although the case where the robot cleaner 1 is used in the space in the building which is the house 203 is demonstrated as an example, the robot cleaner 1 may be used in the space outside a house. Here, part or all of the house 203 is an example of the work area of the present invention.
无线LAN基站201是用于建立无线LAN的连接的中继器，并与机器人吸尘器1连接。另外，无线LAN基站201与英特网202连接。因此，机器人吸尘器1能经由无线LAN基站201与英特网202连接。The wireless LAN base station 201 is a repeater for establishing a wireless LAN connection, and is connected to the robot cleaner 1 . In addition, the wireless LAN base station 201 is connected to the Internet 202 . Therefore, the robot cleaner 1 can be connected to the Internet 202 via the wireless LAN base station 201 .
英特网202是使用TCP(Transmission Control Protocol：传输控制协议)、IP(Internet Protocol：英特网协议)或HTTP(Hyper TextTransfer Protocol：超文本传输协议))等通信协议以能相互通信的方式连接的计算机网络，与无线LAN基站201和终端装置101连接。The Internet 202 is connected in a manner capable of communicating with each other using communication protocols such as TCP (Transmission Control Protocol: Transmission Control Protocol), IP (Internet Protocol: Internet Protocol), or HTTP (Hyper TextTransfer Protocol: Hypertext Transfer Protocol)). A computer network connected to the wireless LAN base station 201 and the terminal device 101 .
终端装置101是用于远程操作作为管理对象的至少1台机器人吸尘器1的装置，与英特网202连接。例如终端装置101是智能电话机、手写面板终端、便携电话机、PDA(Personal Digital Assistance：个人数字助理)、高性能远程操作器、PC(Personal Computer：个人计算机)、游戏机、能进行网络连接的TV等。The terminal device 101 is a device for remotely operating at least one robot cleaner 1 to be managed, and is connected to the Internet 202 . For example, the terminal device 101 is a smart phone, a handwriting panel terminal, a mobile phone, a PDA (Personal Digital Assistance: Personal Digital Assistant), a high-performance remote operator, a PC (Personal Computer: personal computer), a game machine, and a network-connectable TV etc.
机器人吸尘器1、无线LAN基站201、英特网202以及终端装置101如上所示被连接，由此机器人吸尘器1和终端装置101能经由无线LAN基站201和英特网202进行双向通信。Robot cleaner 1 , wireless LAN base station 201 , Internet 202 , and terminal device 101 are connected as described above, whereby robot cleaner 1 and terminal device 101 can communicate bidirectionally via wireless LAN base station 201 and Internet 202 .
此外，在本实施方式中，说明机器人吸尘器1经由无线LAN基站201和英特网202与终端装置101能进行双向通信地连接的情况，但机器人吸尘器1和终端装置101可以不一定经由无线LAN基站201和英特网202连接。例如机器人吸尘器1和终端装置101可以经由无线LAN基站201或英特网202中的任一个连接，而且也可以经由服务器或管理装置连接。另外，机器人吸尘器1和终端装置101可以使用例如Bluetooth(注册商标)、ZigBee(注册商标)等无线电波方式通信。In addition, in this embodiment, the case where the robot cleaner 1 is connected to the terminal device 101 via the wireless LAN base station 201 and the Internet 202 so as to enable two-way communication is described, but the robot cleaner 1 and the terminal device 101 may not necessarily be connected via the wireless LAN base station 201. It is connected to the Internet 202 . For example, the robot cleaner 1 and the terminal device 101 may be connected via either the wireless LAN base station 201 or the Internet 202, and may also be connected via a server or a management device. In addition, the robot cleaner 1 and the terminal device 101 can communicate using radio wave methods such as Bluetooth (registered trademark) and ZigBee (registered trademark), for example.
下面说明机器人吸尘器1的结构。Next, the structure of the robot cleaner 1 will be described.
(机器人吸尘器1的结构)(Structure of Robot Cleaner 1)
图2是机器人吸尘器1的立体图。机器人吸尘器1具备俯视为圆形的主体箱体2，是一边自动行走一边进行集尘的装置。在此，将机器人吸尘器1自动行走进行吸尘时的行进方向设为前方并在图2中用箭头示出。另外，将与行进方向相反的方向设为后方。FIG. 2 is a perspective view of the robot cleaner 1 . The robot cleaner 1 is equipped with a main body case 2 that is circular in plan view, and is a device that collects dust while autonomously traveling. Here, the advancing direction when the robot cleaner 1 automatically travels and performs cleaning is defined as the front, and is shown by arrows in FIG. 2 . In addition, let the direction opposite to the traveling direction be the rear.
如图所示，在主体箱体2的上表面2a中设有：盖部3，其将在图5中后述的集尘部30向上方取放时打开关闭；操作面板5，其对机器人吸尘器1进行指示输入；信号接收部9，其接收来自在图6中后述的充电座40的返回信号；以及排气口6，其排出由集尘部30去除了尘埃的空气。As shown in the figure, the upper surface 2a of the main body box 2 is provided with: a cover part 3, which is opened and closed when the dust collecting part 30 described later in FIG. The vacuum cleaner 1 performs instruction input; the signal receiving unit 9 receives a return signal from the charging stand 40 described later in FIG. 6 ;
在主体箱体2的侧面2b中设有摄像部7、照明部8以及障碍物检测部10。另外，侧面2b在前后方向分成两部分。并且，侧面2b的前方部构成为相对于主体箱体2的其它部分能向前后方向滑动，发挥作为机器人吸尘器1与障碍物碰撞时的缓冲构件(缓冲器)的功能。An imaging unit 7 , an illumination unit 8 , and an obstacle detection unit 10 are provided on the side surface 2 b of the main body housing 2 . In addition, the side surface 2b is divided into two in the front-rear direction. Furthermore, the front portion of the side surface 2b is configured to be slidable in the front-rear direction with respect to other parts of the main body housing 2, and functions as a buffer member (shock absorber) when the robot cleaner 1 collides with an obstacle.
摄像部7设于侧面2b的前方部并以拍摄机器人吸尘器1的周围的图像的方式构成。摄像部7包括例如光学透镜、彩色滤光片、作为受光元件的CCD(Charge Coupled Device：电荷耦合器件)等。照明部8对机器人吸尘器1的前方进行照明，能使用例如LED(LightEmitted Diode：发光二极管)。照明部8在使用摄像部7拍摄图像的情况下能对机器人吸尘器1的前方进行照明。The imaging part 7 is provided in the front part of the side surface 2b, and is comprised so that the image of the periphery of the robot cleaner 1 may be taken. The imaging unit 7 includes, for example, an optical lens, a color filter, a CCD (Charge Coupled Device) as a light receiving element, and the like. The illuminating unit 8 illuminates the front of the robot cleaner 1, and for example, an LED (Light Emitted Diode: Light Emitting Diode) can be used. The lighting unit 8 can illuminate the front of the robot cleaner 1 when an image is captured using the imaging unit 7 .
障碍物检测部10包括设于侧面2b的前方正面及其左右、检测墙壁、家具等障碍物或者人已接近的正面距离传感器10a、左障碍物传感器10b以及右障碍物传感器10c(未图示)。另外，障碍物检测部10包括设于侧面2b的前方、检测机器人吸尘器1与障碍物或人发生了碰撞的碰撞传感器10d。正面距离传感器10a、左障碍物传感器10b以及右障碍物传感器10c能广泛地使用例如超音波传感器或红外线传感器等接近传感器。碰撞传感器10d能使用例如设于侧面2b前方的内侧的微动开关。根据来自障碍物检测部10的检测信号，机器人吸尘器1在障碍物或人已接近的情况下能停止或者转换方向，或者在与障碍物或人发生了碰撞的情况下还能立刻停止，因此机器人吸尘器1能安全地执行作业。The obstacle detection unit 10 includes a front distance sensor 10a, a left obstacle sensor 10b, and a right obstacle sensor 10c (not shown), which are arranged on the front front of the side surface 2b and its left and right sides, and detect obstacles such as walls and furniture or the approach of people. . Moreover, the obstacle detection part 10 is provided in front of the side surface 2b, and the collision sensor 10d which detects that the robot cleaner 1 collides with an obstacle or a person is included. For the front distance sensor 10a, the left obstacle sensor 10b, and the right obstacle sensor 10c, for example, proximity sensors such as ultrasonic sensors and infrared sensors can be widely used. As the impact sensor 10d, for example, a micro switch provided on the inner side in front of the side surface 2b can be used. According to the detection signal from the obstacle detection unit 10, the robot cleaner 1 can stop or change direction when an obstacle or a person approaches, or it can stop immediately when it collides with an obstacle or a person. The vacuum cleaner 1 can perform work safely.
此外，在本实施方式中，说明障碍物检测部10包括距离传感器10a、10b、10c和碰撞传感器10d的情况，但障碍物检测部10可以包括距离传感器10a、10b、10c或碰撞传感器10d中的任一个，也可以利用其它传感器检测障碍物。例如能将摄像部7用作其它传感器，可以根据由摄像部7拍摄到的图像检测障碍物。In addition, in this embodiment, the case where the obstacle detection unit 10 includes the distance sensors 10a, 10b, 10c and the collision sensor 10d is described, but the obstacle detection unit 10 may include the distance sensors 10a, 10b, 10c or the collision sensor 10d. Either, other sensors can also be utilized to detect obstacles. For example, the imaging unit 7 can be used as another sensor, and obstacles can be detected from images captured by the imaging unit 7 .
在图3中示出机器人吸尘器1的仰视图。如图所示，在主体箱体2的底面2c中设有：一对侧刷11，其以与地面垂直的旋转轴旋转；一对驱动轮13、前轮14、后轮15，其以从底面2c突出的方式设置；以及吸入口33，其以开放面与地面面对的方式凹设于底面2c。另外，在吸入口33的内部配置有以与地面平行地被轴支的旋转轴旋转的旋转刷12。机器人吸尘器1通过驱动轮13的两轮向同一方向旋转来进退，通过两轮向相互相反的方向旋转来转换方向。FIG. 3 shows a bottom view of the robot cleaner 1 . As shown in the figure, in the bottom surface 2c of the main body box 2, there are: a pair of side brushes 11, which rotate with a rotation axis perpendicular to the ground; The bottom surface 2c is provided so as to protrude; and the suction port 33 is recessed in the bottom surface 2c so that the open surface faces the ground. Moreover, the rotating brush 12 which rotates about the rotation shaft supported parallel to the ground is arrange|positioned inside the suction port 33. As shown in FIG. The robot cleaner 1 advances and retreats by rotating the two wheels of the drive wheel 13 in the same direction, and switches directions by rotating the two wheels in opposite directions.
在图4中示出操作面板5的示意图。如图所示，操作面板5具有：开始和停止按钮51，其指示吸尘的开始和停止；模式选择按钮52，其能选择吸尘的模式；计时器设置按钮53，其设为能设定当前时刻或者使机器人吸尘器1工作的预约时刻等；显示部54，其显示当前时刻或预约时刻等；垃圾清理灯55，其当检测出集尘部30已满时点亮；以及电池标记56，其示出电池17的充电量。此外，这些仅为例示，操作面板5可以具备实现除此以外的功能的作业部或显示部等。A schematic diagram of the operating panel 5 is shown in FIG. 4 . As shown in the figure, the operation panel 5 has: start and stop button 51, which indicates the start and stop of dust suction; mode selection button 52, which can select the mode of dust suction; timer setting button 53, which is set to be able to set The current time or the scheduled time to operate the robot cleaner 1, etc.; the display unit 54, which displays the current time or the scheduled time, etc.; the garbage removal lamp 55, which lights up when it is detected that the dust collecting unit 30 is full; and the battery mark 56, It shows the charge amount of the battery 17 . In addition, these are merely examples, and the operation panel 5 may include a working unit, a display unit, and the like that realize other functions.
图5是图3的机器人吸尘器1的A－A向视截面的示意图。在图5中，表示机器人吸尘器1是已与充电座40对接的充电状态。如图所示，机器人吸尘器1在主体箱体2的内部具备集尘部30、电动送风机16以及电池17。FIG. 5 is a schematic cross-sectional view of the robot cleaner 1 in FIG. 3 as viewed from the arrow AA. In FIG. 5 , the charging state in which the robot cleaner 1 is docked with the charging stand 40 is shown. As shown in the figure, the robot cleaner 1 includes a dust collecting unit 30 , an electric blower 16 , and a battery 17 inside the main body housing 2 .
集尘部30具有有底的集尘容器31和设于集尘容器31的上部的过滤器32。在此，当清理集尘容器的尘埃时，能通过将盖部3向从纸面来看的上方打开而从主体箱体2取出集尘部30。此外，在本实施方式中，说明集尘部30包括有底的集尘容器31的情况，集尘部30不限于集尘容器。例如集尘部30可以仅包括袋状集尘袋或集尘用过滤器。The dust collecting unit 30 has a bottomed dust collecting container 31 and a filter 32 provided on the upper part of the dust collecting container 31 . Here, when cleaning the dust of the dust collecting container, the dust collecting part 30 can be taken out from the main body case 2 by opening the cover part 3 upward as seen from the paper surface. In addition, in this embodiment, the case where the dust collecting part 30 includes the bottomed dust collecting container 31 is demonstrated, but the dust collecting part 30 is not limited to a dust collecting container. For example, the dust collection unit 30 may include only a bag-shaped dust collection bag or a filter for dust collection.
另外，集尘部30与第1吸气路34和第2吸气路35连通。从吸入口33吸入的气流如箭头B1所示在第1吸气路34内向后方流通并向集尘部30流入。流入到集尘部30的气流由过滤器32捕获收集尘埃而从集尘部30流出。之后，如箭头B2所示，在第2吸气路35内向前方流通并向电动送风机16流入。接着，从电动送风机16排出的空气在排气路36内如箭头B3所示向后方流通并从设置在主体箱体2的上表面的排气口6向上方后方排出。此外，在电动送风机16的附近设有未图示的离子发生部22。在这种情况下，从排气口6排出包含离子的气流。In addition, the dust collecting unit 30 communicates with the first air intake passage 34 and the second air intake passage 35 . The airflow sucked in from the suction port 33 flows backward in the first suction passage 34 as indicated by arrow B1, and flows into the dust collecting part 30 . The airflow flowing into the dust collecting part 30 is captured and collected by the filter 32 and flows out from the dust collecting part 30 . Thereafter, as indicated by arrow B2 , it flows forward in the second air intake passage 35 and flows into the electric blower 16 . Next, the air discharged from the electric blower 16 flows rearward in the exhaust passage 36 as indicated by arrow B3 and is discharged upward and rearward from the exhaust port 6 provided on the upper surface of the main body casing 2 . Moreover, the ion generator 22 which is not shown in figure is provided in the vicinity of the electric blower 16. As shown in FIG. In this case, the ion-containing gas flow is exhausted from the exhaust port 6 .
电池17是机器人吸尘器1的电力供给源，当指示吸尘运转时，从电池17供电，电动送风机16、离子发生部22、驱动轮13、旋转刷12以及侧刷11被驱动。由此，机器人吸尘器1在规定的吸尘范围内自动行走并从吸入口33吸入地面F的尘埃。优选电池17是能反复进行充放电的大容量的充电电池。例如使用铅电池、镍氢电池或锂离子电池。另外，在主体箱体2的周面的后端设有进行电池17的充电的充电端子4。The battery 17 is the power supply source of the robot cleaner 1, and when a cleaning operation is instructed, power is supplied from the battery 17 to drive the electric blower 16, the ion generator 22, the drive wheel 13, the rotating brush 12, and the side brush 11. Thereby, the robot cleaner 1 autonomously travels within a predetermined cleaning range, and sucks the dust on the floor F through the suction port 33 . The battery 17 is preferably a large-capacity rechargeable battery that can be repeatedly charged and discharged. For example, lead batteries, nickel metal hydride batteries or lithium ion batteries are used. In addition, a charging terminal 4 for charging the battery 17 is provided at the rear end of the peripheral surface of the main body case 2 .
图6表示充电座40的立体图。如图5或图6所示，充电座40是用于对机器人吸尘器1的电池17进行充电的装置。在充电座40中，在与主体箱体2的周面相对的面中的能与机器人吸尘器1的充电端子4接触的位置设有供电端子41。当机器人吸尘器1的充电端子4与充电座40的供电端子41电连接时，来自充电座40所连接的商用电源的电流向机器人吸尘器1流动，能对电池17进行充电。FIG. 6 shows a perspective view of the charging stand 40 . As shown in FIG. 5 or FIG. 6 , the charging stand 40 is a device for charging the battery 17 of the robot cleaner 1 . In the charging stand 40 , a power supply terminal 41 is provided at a position capable of contacting the charging terminal 4 of the robot cleaner 1 on the surface facing the peripheral surface of the main body housing 2 . When the charging terminal 4 of the robot cleaner 1 is electrically connected to the power supply terminal 41 of the charging stand 40 , a current from a commercial power source connected to the charging stand 40 flows to the robot cleaner 1 to charge the battery 17 .
在充电座40中设有发送表示充电座40的设置场所和供电端子41的位置的返回信号的信号发送部42。机器人吸尘器1在检测到吸尘结束的情况或者电池17的充电量低于规定值的情况下，检测从充电座40发出的返回信号并自动地返回至充电座40的设置场所。例如可以通过检测机器人吸尘器1移动了固定距离或者经过了固定时间来进行吸尘结束的检测。另外，可以通过由操作面板5或终端装置101等受理吸尘结束指示或者吸尘中断指示等提醒向充电座40返回的指示来进行吸尘结束的检测。此外，返回信号使用例如红外线。The charging stand 40 is provided with a signal transmission unit 42 that transmits a return signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41 . Robot cleaner 1 detects a return signal from charging stand 40 and automatically returns to the location where charging stand 40 is installed when it detects that cleaning has ended or that the charge level of battery 17 has fallen below a predetermined value. For example, the end of cleaning can be detected by detecting that the robot cleaner 1 has moved a fixed distance or that a fixed time has elapsed. In addition, the completion of cleaning can be detected by receiving an instruction to return to the charging stand 40 such as a cleaning end instruction or a cleaning interruption instruction from the operation panel 5 or the terminal device 101 . Also, the return signal uses infrared rays, for example.
另外，充电座40能成为机器人吸尘器1根据从终端装置101接收到的控制命令移动时的基准位置。在后面进行详述，机器人吸尘器1从终端装置101接收与机器人吸尘器1移动的位置或范围有关的位置信息。并且，机器人吸尘器1基于位置信息从充电座40向目标位置或者在目标范围内进行移动。此外，在机器人吸尘器1从充电座40离开的情况下，例如机器人吸尘器1能在返回至充电座40后基于接收到的位置信息移动。另外，即使在机器人吸尘器1从充电座40离开的情况下，如果机器人吸尘器1构成为能检测从充电座40到当前位置为止的相对位置，则可以从当前位置向目标位置或者在目标范围内移动。此外，本发明的基准位置不限于充电座40，只要机器人吸尘器1用任何方法均能检测该位置即可。例如基准位置也可以是与充电座40分开设置的信号发送装置，也可以是在表面形成有根据由摄像部7拍摄到的图像能进行检测的标识符的家具或墙壁等。In addition, the charging stand 40 can be used as a reference position when the robot cleaner 1 moves according to a control command received from the terminal device 101 . As will be described in detail later, the robot cleaner 1 receives positional information on the position or range where the robot cleaner 1 moves from the terminal device 101 . Then, the robot cleaner 1 moves from the charging stand 40 to the target position or within the target range based on the positional information. In addition, in the case where the robot cleaner 1 leaves the charging stand 40 , for example, the robot cleaner 1 can move based on the received position information after returning to the charging stand 40 . In addition, even when the robot cleaner 1 is away from the charging stand 40, if the robot cleaner 1 is configured to detect the relative position from the charging stand 40 to the current position, it can move from the current position to the target position or within the target range. . In addition, the reference position of this invention is not limited to the charging stand 40, What is necessary is just as long as the robot cleaner 1 can detect this position by any method. For example, the reference position may be a signal transmitter provided separately from the charging stand 40 , or may be furniture or a wall on which an identifier detectable from an image captured by the imaging unit 7 is formed on the surface.
此外，在本实施方式中，说明作为向机器人装置供给电力的单元，机器人吸尘器1具备电池17的情况，除了与电池17有关的特征部分以外，可以从商用电源直接向机器人吸尘器1供给电力。另外，也可以并用电池17和商用电源。In addition, in this embodiment, the case where the robot cleaner 1 is provided with the battery 17 as means for supplying electric power to the robot device is described, and except for the characteristic parts related to the battery 17, electric power can be directly supplied to the robot cleaner 1 from a commercial power source. In addition, the battery 17 and a commercial power supply may be used together.
下面说明机器人吸尘器1的构成。Next, the configuration of the robot cleaner 1 will be described.
(机器人吸尘器1的构成)(Structure of Robot Cleaner 1)
图7是表示机器人吸尘器1的主要构成的框图。以下关于附上了与上述说明相同的附图标记的构成要素，作为具有同样功能的构成要素而省略说明。FIG. 7 is a block diagram showing the main configuration of the robot cleaner 1 . Hereinafter, description of constituent elements assigned the same reference numerals as those in the above description will be omitted as constituent elements having the same functions.
机器人吸尘器1主要具备：控制部19、存储部20、通信部18、障碍物检测部10、位置检测部21、摄像部7、照明部8、离子发生部22、操作面板5、信号接收部9、电动送风机16、电池17以及集尘部30。另外，机器人吸尘器1具备侧刷11、旋转刷12和驱动轮13以及它们的驱动部11d、12d、13d。The robot cleaner 1 mainly includes: a control unit 19 , a storage unit 20 , a communication unit 18 , an obstacle detection unit 10 , a position detection unit 21 , an imaging unit 7 , an illumination unit 8 , an ion generating unit 22 , an operation panel 5 , and a signal receiving unit 9 , an electric blower 16, a battery 17, and a dust collection unit 30. Moreover, the robot cleaner 1 is equipped with the side brush 11, the rotating brush 12, the drive wheel 13, and these drive parts 11d, 12d, 13d.
控制部19设于未图示的控制基板等，基于存储于存储部20的程序或数据或者从操作面板5或终端装置101输入的控制命令进行机器人吸尘器1的各种动作的控制。The control unit 19 is provided on a control board (not shown), and controls various operations of the robot cleaner 1 based on programs and data stored in the storage unit 20 or control commands input from the operation panel 5 or the terminal device 101 .
存储部20存储有控制部19执行的各种程序和控制部19读出的各种数据等。程序和数据存储于ROM(Read Only Memory)、闪存、EPROM(Erasable Programmable ROM)、EEPROM(ElectricallyEPROM)(注册商标)或HDD(Hard Disc Drive)等非易失性存储装置或者RAM(Random Access Memory)等易失性存储装置。The storage unit 20 stores various programs executed by the control unit 19 , various data read by the control unit 19 , and the like. Programs and data are stored in non-volatile storage devices such as ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically EPROM) (registered trademark) or HDD (Hard Disc Drive) or RAM (Random Access Memory) and other volatile storage devices.
对通信部18赋予IP地址和URL，能使用HTTP经由无线LAN基站201和英特网202在和终端装置101之间进行信息的发送接收。An IP address and a URL are assigned to the communication unit 18, and information can be transmitted and received with the terminal device 101 via the wireless LAN base station 201 and the Internet 202 using HTTP.
离子发生部22是产生正离子和/或负离子的装置。例如离子发生部22具有2个离子发生电极，通过对一方离子发生电极施加正的电压、对另一方电极施加负的电压来进行电晕放电，产生正离子和负离子。通过使离子发生部22工作并从机器人吸尘器1的排气口6排出包含离子的气流来得到空气的净化、杀菌、或者除臭或放松效果。The ion generator 22 is a device that generates positive ions and/or negative ions. For example, the ion generating unit 22 has two ion generating electrodes, and corona discharge is performed by applying a positive voltage to one ion generating electrode and a negative voltage to the other electrode to generate positive ions and negative ions. Air purification, sterilization, or deodorization or relaxation effects are obtained by operating the ion generator 22 and discharging the airflow containing ions from the exhaust port 6 of the robot cleaner 1 .
驱动部11d、12d、13d具备未图示的电机及其驱动部，基于来自控制部19的控制信号决定转速等，使侧刷11、旋转刷12和/或驱动轮13驱动。Drive units 11d, 12d, and 13d include motors (not shown) and their drive units, and determine rotation speeds based on control signals from control unit 19 to drive side brushes 11 , rotating brushes 12 and/or drive wheels 13 .
位置检测部21包括至少1个位置传感器，检测相对于基准位置的机器人吸尘器1的相对位置。例如位置传感器设于驱动轮13的驱动部13d，是检测机器人吸尘器1的速度的编码器、检测机器人吸尘器1的加速度的加速度传感器或者检测机器人吸尘器1的旋转速度的陀螺仪传感器等。The position detection unit 21 includes at least one position sensor, and detects the relative position of the robot cleaner 1 with respect to the reference position. For example, the position sensor is provided on the driving part 13d of the driving wheel 13, and is an encoder for detecting the speed of the robot cleaner 1, an acceleration sensor for detecting the acceleration of the robot cleaner 1, or a gyro sensor for detecting the rotation speed of the robot cleaner 1.
此外，机器人吸尘器1可以具备压缩由摄像部7拍摄到的图像的图像压缩部(未图示)。例如图像压缩部能使用MPEG(MovingPicture Experts Group：动态图像专家组)、AVI(Audio VideoInterleaving：音频视频交错)、ASF(Advanced Streaming Format：高级流格式)等压缩技术压缩图像。Moreover, the robot cleaner 1 may be provided with the image compression part (not shown) which compresses the image captured by the imaging part 7. As shown in FIG. For example, the image compression department can use MPEG (Moving Picture Experts Group: Moving Picture Experts Group), AVI (Audio Video Interleaving: Audio Video Interleaving), ASF (Advanced Streaming Format: Advanced Streaming Format) and other compression technologies to compress images.
下面说明终端装置101的构成。Next, the configuration of the terminal device 101 will be described.
(终端装置101的构成)(Configuration of terminal device 101)
图8是表示终端装置101的主要构成的框图。如图所示，终端装置101具备控制部102、存储部103、通信部104以及用户接口部105。FIG. 8 is a block diagram showing the main configuration of the terminal device 101 . As shown in the figure, the terminal device 101 includes a control unit 102 , a storage unit 103 , a communication unit 104 , and a user interface unit 105 .
控制部102设于未图示的控制基板等，基于存储于存储部103的程序或数据或者从用户接口部105输入的指示控制终端装置101。另外，控制部102具备控制命令生成部106、位置信息生成部107以及地图作成部。The control unit 102 is provided on a control board (not shown) or the like, and controls the terminal device 101 based on programs and data stored in the storage unit 103 or instructions input from the user interface unit 105 . In addition, the control unit 102 includes a control command generation unit 106 , a position information generation unit 107 , and a map generation unit.
控制命令生成部106通过用户的输入生成用于对机器人吸尘器1进行远程操作的控制命令。在此，控制命令是用于对机器人吸尘器1进行远程操作的信息，例如是用于在目标范围内使机器人吸尘器1进行吸尘或者离子的释放等、或者是在目标位置由摄像部7拍摄周围的信息。并且，经由通信部104对机器人吸尘器1发送作成的控制命令。The control command generating unit 106 generates a control command for remotely operating the robot cleaner 1 based on a user's input. Here, the control command is information for remotely operating the robot cleaner 1, for example, for making the robot cleaner 1 perform dust collection or release ions within the target range, or for capturing images of the surrounding area by the imaging unit 7 at the target position. Information. Then, the created control command is transmitted to the robot cleaner 1 via the communication unit 104 .
地图作成部108根据用户的输入制作机器人吸尘器1作业的作业范围的地图。后面详述关于作成作业范围的地图的处理。此外，在作成作业范围的地图时，参照保存于存储部103的各种程序或者数据。另外，作成的作业范围的地图保存于存储部103。The map creating unit 108 creates a map of the working range where the robot cleaner 1 works based on the user's input. The process of creating a map of the work area will be described in detail later. In addition, various programs or data stored in the storage unit 103 are referred to when creating a map of the work area. In addition, the created map of the work area is stored in the storage unit 103 .
位置信息生成部107生成用于根据用户的输入使机器人吸尘器1移动的位置信息。在此，位置信息是与使机器人吸尘器1移动的位置或范围有关的信息。后面详述生成位置信息的处理。The positional information generating unit 107 generates positional information for moving the robot cleaner 1 according to the user's input. Here, the positional information is information about the position or range where the robot cleaner 1 is moved. The process of generating position information will be described in detail later.
存储部103存储有控制部102执行的各种程序和控制部102读出的各种数据等。程序和数据存储于ROM、闪存、EPROM、EEPROM或者HDD等非易失性存储装置或RAM等易失性存储装置。The storage unit 103 stores various programs executed by the control unit 102 , various data read by the control unit 102 , and the like. Programs and data are stored in nonvolatile storage devices such as ROM, flash memory, EPROM, EEPROM, or HDD, or volatile storage devices such as RAM.
对通信部104赋予IP地址和URL，能使用HTTP经由无线LAN基站201和英特网202在和机器人吸尘器1之间进行信息的发送接收。An IP address and a URL are given to the communication part 104, and information can be exchanged with the robot cleaner 1 via the wireless LAN base station 201 and the Internet 202 using HTTP.
用户接口部105是用户对终端装置101输入指示或者输出终端装置101的输出结果或从机器人吸尘器1发送的作业的结果等并将其向用户传递的部分。例如用户接口部105具有触摸面板，用户通过操作用户接口部105来输入指示。另外，用户接口部105具有使用了例如液晶或有机EL(electroluminescence)的显示装置，能显示文字、图像。The user interface unit 105 is a part for the user to input an instruction to the terminal device 101 or to output an output result of the terminal device 101 or a result of a job transmitted from the robot cleaner 1, and to deliver it to the user. For example, the user interface unit 105 has a touch panel, and the user inputs an instruction by operating the user interface unit 105 . In addition, the user interface unit 105 has a display device using, for example, liquid crystal or organic EL (electroluminescence), and can display characters and images.
下面，说明终端装置101的位置信息生成部107生成向机器人吸尘器1发送的位置信息的处理。机器人吸尘器1基于发送的位置信息在作业范围内移动。在此，通过用户的输入并基于地图作成部108作成的作业范围的地图生成位置信息。首先，说明地图作成部108作成作业范围的地图的处理。Next, the process of generating the positional information sent to the robot cleaner 1 by the positional information generation part 107 of the terminal device 101 is demonstrated. The robot cleaner 1 moves within the working range based on the transmitted positional information. Here, the location information is generated based on the map of the work area created by the map creation unit 108 by the user's input. First, the process of creating a map of the work area by the map creation unit 108 will be described.
(作业范围的地图的作成处理)(Creation process of the map of the work area)
图9是表示在终端装置101中通过用户的输入地图作成部108作成机器人吸尘器1的作业区域的地图A1时的用户接口部105的显示的一例的示意图。FIG. 9 is a schematic diagram showing an example of display on the user interface unit 105 when the map A1 of the work area of the robot cleaner 1 is created by the map creation unit 108 input by the user on the terminal device 101 .
图9(a)表示作成了作业区域的房屋的配置。用户操作用户接口部105后输入房屋的配置。在图9(a)中，由实线包围的空间表示房屋，地图A1具有房屋R1～R7。例如用户在输入了各房屋的大小和形状后，能通过配置各个房屋来输入房屋的配置。此外，在图9(a)中，为了简化而示出房屋R1到R7的形状是四边形的情况，但不限于此。例如房屋的形状可以是三角形或者圆形，也可以是四边形等的一部分被切掉的形状。另外，房屋的配置可以通过其典型例保存于存储部103，用户参照该典型例来作成。FIG. 9( a ) shows the arrangement of houses in which work areas are created. The user operates the user interface unit 105 to input the layout of the house. In FIG. 9( a ), a space enclosed by a solid line represents a house, and the map A1 includes houses R1 to R7 . For example, after the user has input the size and shape of each house, he can input the arrangement of the houses by arranging each house. Furthermore, in FIG. 9( a ), a case where the shapes of the houses R1 to R7 are quadrilaterals is shown for simplicity, but is not limited thereto. For example, the shape of a house may be a triangle or a circle, or a shape in which a part of a quadrangle or the like is cut out. In addition, the layout of the house can be stored in the storage unit 103 by its typical example, and the user can refer to the typical example to create it.
图9(b)表示作成了房屋的出入口。用户操作用户接口部105来输入房屋的出入口。在图9(b)中，房屋R1～R7的实线消失的部位表示出入口。Fig. 9(b) shows that the entrance and exit of the house have been created. The user operates the user interface unit 105 to input the entrance and exit of the house. In FIG. 9( b ), the locations where the solid lines of the houses R1 to R7 disappear indicate entrances and exits.
图9(c)表示作成了机器人吸尘器1根据来自终端装置101的控制命令移动时的基准位置C。用户操作用户接口部105来输入基准位置C。在本实施方式中，基准位置C是充电座40的位置。如前所述，机器人吸尘器1能从充电座40接收返回信号而检测充电座40的位置。此外，基准位置C只要是机器人吸尘器1能用任何方法检测该位置的位置即可，不限于充电座40的位置。FIG.9(c) has shown that the reference position C when the robot cleaner 1 moves according to the control command from the terminal device 101 is created. The user inputs the reference position C by operating the user interface unit 105 . In the present embodiment, the reference position C is the position of the charging stand 40 . As mentioned above, the robot cleaner 1 can detect the position of the charging stand 40 by receiving the return signal from the charging stand 40 . In addition, the reference position C is not limited to the position of the charging stand 40 as long as the robot cleaner 1 can detect the position by any means.
用户还可以输入存在于作业区域的障碍物。在图9(c)中，B1和B2表示障碍物。例如障碍物是电子产品或家具等。另外，用户可以输入机器人吸尘器1的作业禁止范围。例如机器人吸尘器1的作业禁止范围是希望防止机器人吸尘器1发生碰撞的范围或者从隐私的观点出发希望限制由机器人吸尘器1所具备的照相机进行拍摄的范围等。The user can also input obstacles that exist in the work area. In Fig. 9(c), B1 and B2 represent obstacles. For example, obstacles are electronic products or furniture, etc. In addition, the user can input the work prohibition range of the robot cleaner 1 . For example, the operation prohibition range of the robot cleaner 1 is a range where it is desired to prevent the robot cleaner 1 from colliding with the robot cleaner 1 or a range where it is desired to restrict imaging by the camera of the robot cleaner 1 from the viewpoint of privacy.
图10表示在地图A2中作成了作业禁止范围B3。用户操作用户接口部105来输入作业禁止范围B3。此外，附上与图9相同的附图标记的部分作为与图9相同的部分而省略说明。FIG. 10 shows that the work prohibited area B3 is created on the map A2. The user operates the user interface unit 105 to input the work prohibition range B3. In addition, the part attached|subjected with the same code|symbol as FIG. 9 is a part similar to FIG. 9, and description is abbreviate|omitted.
如上所述，地图作成部108通过用户的输入作成作业区域的地图。所作成的地图保存于存储部103，能根据需要进行参照。下面说明基于作成的作业区域的地图生成位置信息的处理。As described above, the map creation unit 108 creates a map of the work area based on the user's input. The created map is stored in the storage unit 103 and can be referred to as necessary. Next, the process of generating positional information based on the created map of the work area will be described.
(位置信息的生成处理)(Generation processing of location information)
图11～13是表示位置信息生成部107基于图9(a)-(c)的作业区域的地图A1生成位置信息时的用户接口部105的显示的一例的示意图。FIGS. 11 to 13 are schematic diagrams showing an example of the display of the user interface unit 105 when the position information generation unit 107 generates position information based on the map A1 of the work area in FIGS. 9( a ) to ( c ).
图11表示输入了机器人吸尘器1移动的位置P1的情况。用户操作用户接口部105来输入位置P1。并且，当由用户输入位置P1时，位置信息生成部107生成从基准位置C到位置P1为止的移动路径作为位置信息。在图11中用箭头表示位置信息生成部107生成的移动路径的一例。在此，移动路径以避开地图A1的墙壁和障碍物的方式生成。这样生成位置信息，由此，移动路径不被地图A1所示的作业区域的墙壁或者障碍物遮挡，能使机器人吸尘器1高效地移动到目标位置。Fig. 11 shows the case where the position P1 where the robot cleaner 1 moves is input. The user operates the user interface unit 105 to input the position P1. Then, when the user inputs the position P1, the position information generation unit 107 generates a moving route from the reference position C to the position P1 as position information. An example of the moving route generated by the positional information generating unit 107 is indicated by arrows in FIG. 11 . Here, the movement path is generated so as to avoid walls and obstacles on the map A1. By generating the position information in this way, the robot cleaner 1 can be efficiently moved to the target position without the movement path being blocked by walls or obstacles in the work area shown on the map A1.
此外，移动路径可以以沿着房屋的墙壁移动的方式生成。这样生成位置信息，由此即使在地图A1所示的作业区域内存在人，与在房屋的正中移动的情况相比，机器人吸尘器1更不会妨碍人，能降低机器人吸尘器1在移动中与人碰撞的危险。In addition, the movement path can be generated in such a way that it moves along the walls of the house. By generating the position information in this way, even if there are people in the work area shown in the map A1, compared with the case of moving in the middle of the house, the robot cleaner 1 will not hinder the people, and the robot cleaner 1 can reduce the interference with people during the movement. risk of collision.
位置信息生成部107可以生成机器人吸尘器1作业的范围作为位置信息。The location information generation unit 107 may generate the range in which the robot cleaner 1 works as the location information.
图12表示输入了机器人吸尘器1作业的范围P2。在此，范围P2是用竖线画出了影线的范围，表示房屋R3和R4的范围。用户操作用户接口部105来输入范围P2。并且，如果由用户输入范围P2，则位置信息生成部107生成以基准位置C为基准的范围P2的相对位置的范围作为位置信息。在此，可以在位置信息中包括存在于范围P2的障碍物的信息。这样，通过生成位置信息，机器人吸尘器1能避开障碍物且在用户输入的范围内进行作业，因此能高效地作业。FIG. 12 shows a range P2 in which robot cleaner 1 work is input. Here, the range P2 is a range hatched with vertical lines, and represents the range of the houses R3 and R4. The user operates the user interface unit 105 to input the range P2. Then, when the range P2 is input by the user, the position information generation unit 107 generates a range of relative positions of the range P2 with reference to the reference position C as position information. Here, information on obstacles existing in the range P2 may be included in the position information. In this way, by generating the position information, the robot cleaner 1 can work efficiently within the range input by the user while avoiding obstacles.
此外，在图10的作业区域的地图A2中输入禁止机器人吸尘器1的作业的场所的情况下，机器人吸尘器1在禁止作业的场所内不进行作业。通过这样生成位置信息，例如在希望防止机器人吸尘器1发生碰撞的场所或者从隐私的观点出发在希望限制由机器人吸尘器1具备的照相机进行拍摄的场所等能禁止机器人吸尘器1的作业，因此提高了用户的便利性。Moreover, when the place where the work of the robot cleaner 1 is prohibited is input in the map A2 of the work area of FIG. 10, the robot cleaner 1 does not perform work in the work prohibition place. By generating the position information in this way, for example, the operation of the robot cleaner 1 can be prohibited in a place where it is desired to prevent the collision of the robot cleaner 1 or in a place where it is desired to limit photography by a camera equipped with the robot cleaner 1 from the viewpoint of privacy, thereby improving the user experience. convenience.
另外，图12说明了输入房屋R3和R4作为范围P2的情况，但输入的房屋的个数没有限制。另外，输入的范围不一定以房屋为单位，可以输入任意的范围。In addition, FIG. 12 illustrates the case where houses R3 and R4 are input as range P2, but the number of houses to be input is not limited. In addition, the input range does not necessarily have to be based on the house, and any range can be input.
图13表示输入了机器人吸尘器1作业的范围P3。在此，范围P3是用竖线画出了影线的范围，表示由用户任意输入的范围。用户操作用户接口部105来输入范围P3。并且，当由用户输入范围P3时，位置信息生成部107生成以基准位置C为基准的范围P3的相对位置的范围作为位置信息。另外，关于在范围P2内说明的项目，在不脱离其宗旨的范围内，作为在生成与范围P3对应的范围的情况下还能应用的项目而省略说明。FIG. 13 shows a range P3 in which robot cleaner 1 work is input. Here, the range P3 is a range hatched with a vertical line, and represents a range arbitrarily input by the user. The user operates the user interface unit 105 to input the range P3. Then, when the range P3 is input by the user, the position information generation unit 107 generates a range of relative positions of the range P3 with reference to the reference position C as position information. In addition, as long as the items described in the range P2 do not deviate from the gist, descriptions will be omitted as items that can also be applied when generating a range corresponding to the range P3.
(远程操作系统的处理)(handling of the remote operating system)
下面，说明由远程操作系统100对机器人吸尘器1进行远程操作的处理。Next, the process of remotely operating the robot cleaner 1 by the remote operating system 100 will be described.
图14是表示由本发明的一实施方式的远程操作系统100进行的远程操作的处理的流程图。此外，在图10中说明的流程图中，将“步骤”用“S”表示。另外，在文中“S”也是表示“步骤”。FIG. 14 is a flowchart showing remote operation processing by the remote operating system 100 according to the embodiment of the present invention. In addition, in the flowchart demonstrated in FIG. 10, "step" is shown by "S". In addition, "S" also means "step" in the text.
首先，说明在终端装置101中的处理。在S301中，地图作成部108通过用户的输入作成机器人吸尘器1的作业范围的地图。在S302中，位置信息生成部107利用来自用户的输入生成与机器人吸尘器1移动的位置或范围有关的位置信息。在S303中，控制命令生成部106利用来自用户的输入生成针对机器人吸尘器1的控制命令。并且，在S304中，通信部104将生成的位置信息和控制命令向机器人吸尘器1发送。此外，S302的位置信息的生成和S303的控制命令的生成，先进行哪一个都可以。另外，生成的位置信息和控制命令可以对机器人吸尘器1分别单独发送。First, processing in the terminal device 101 will be described. In S301 , the map creation unit 108 creates a map of the work range of the robot cleaner 1 based on the user's input. In S302, the positional information generation part 107 generates the positional information regarding the position or range which the robot cleaner 1 moved using the input from a user. In S303, the control command generation part 106 generates the control command to the robot cleaner 1 using the input from a user. And in S304, the communication part 104 transmits the generated positional information and a control command to the robot cleaner 1. FIG. In addition, either the generation of the position information in S302 or the generation of the control command in S303 may be performed first. In addition, the generated position information and control commands can be transmitted to the robot cleaner 1 individually.
下面，说明在机器人吸尘器1中的处理。在S305中，通信部18接收从终端装置101发送的位置信息和控制命令。在S306中，控制部19以基于接收到的位置信息使机器人吸尘器1移动的方式进行控制。另外，在S307中，控制部19以基于接收到的控制命令执行作业的方式控制机器人吸尘器1的各构成要素。并且，在S307中，通信部18将已执行的作业的结果向终端装置101发送。在此，作业的结果是例如全部作业完成、由于在接收到的位置信息中没有包括的障碍物等使作业的一部分无法完成或者在作业的途中电池17的充电耗尽而无法返回至充电座40等。另外，在作业的结果中可以包括例如拍摄到的图像或者集尘到的尘埃的量等信息。Next, processing in the robot cleaner 1 will be described. In S305 , the communication unit 18 receives the position information and the control command transmitted from the terminal device 101 . In S306, the control part 19 controls so that the robot cleaner 1 may move based on the received positional information. In addition, in S307, the control part 19 controls each component of the robot cleaner 1 so that a work may be performed based on the received control command. Then, in S307 , the communication unit 18 transmits the result of the executed job to the terminal device 101 . Here, the result of the work is, for example, that all the work is completed, part of the work cannot be completed due to an obstacle not included in the received position information, or the battery 17 is exhausted during the work and cannot be returned to the charging stand 40. wait. In addition, information such as captured images or the amount of collected dust may be included in the results of the work.
此外，机器人吸尘器1不一定将作业的结果向终端装置101发送。在没有将作业的结果向终端装置101发送的情况下，由远程操作系统100进行的远程操作的处理结束。另外，执行基于S306的位置信息的移动和基于S307的控制命令的作业，先执行哪一个都可以，另外，也可以同时执行。In addition, the robot cleaner 1 does not necessarily transmit the result of the operation to the terminal device 101 . When the result of the job has not been transmitted to the terminal device 101, the remote operation process by the remote operation system 100 ends. In addition, the movement based on the position information in S306 and the job based on the control command in S307 may be executed first, or may be executed simultaneously.
下面，说明在终端装置101中的处理。在S309中，通信部104从机器人吸尘器1接收作业的结果。在S310中，用户接口部105显示接收到的作业的结果。并且，用户能确认在用户接口部105中显示的作业的结果。Next, processing in the terminal device 101 will be described. In S309 , the communication unit 104 receives the result of the work from the robot cleaner 1 . In S310, the user interface unit 105 displays the result of the received job. In addition, the user can confirm the result of the job displayed on the user interface unit 105 .
(远程操作的典型例)(Typical example of remote operation)
下面，说明由远程操作系统100进行的远程操作的典型例。Next, a typical example of the remote operation performed by the remote operation system 100 will be described.
(E1)使机器人吸尘器1向特定位置移动而执行拍摄作业。(E1) The robot cleaner 1 is moved to a specific position, and imaging work is performed.
用户操作终端装置101的用户接口部105，在地图作成部108作成的地图上输入使机器人吸尘器1移动的位置。位置信息生成部107通过用户的输入生成从基准位置起的移动路径作为位置信息。另外，控制命令生成部106通过用户的输入使机器人吸尘器1移动后生成用于由摄像部7进行拍摄的控制命令。并且，通信部104对机器人吸尘器1发送生成的位置信息和控制命令。The user operates the user interface unit 105 of the terminal device 101 to input a position to move the robot cleaner 1 on the map created by the map creation unit 108 . The positional information generation unit 107 generates a moving route from a reference position as positional information by user input. In addition, the control command generation part 106 moves the robot cleaner 1 by a user's input, and generates the control command for imaging|photography by the imaging part 7. Then, the communication unit 104 transmits the generated position information and control commands to the robot cleaner 1 .
机器人吸尘器1基于从终端装置101接收到的位置信息执行移动，基于控制命令执行由摄像部7进行的拍摄。并且，通信部18将拍摄到的图像向终端装置101发送作为作业的结果。通过这样设置，用户例如能从外出地点对机器人吸尘器1进行远程操作来确认房屋203内的特定位置的图像。The robot cleaner 1 moves based on the position information received from the terminal device 101 , and performs imaging by the imaging unit 7 based on a control command. Then, the communication unit 18 transmits the captured image to the terminal device 101 as a result of the job. With such an arrangement, the user can, for example, remotely operate the robot cleaner 1 from a place outside to check an image of a specific location in the house 203 .
此外，机器人吸尘器1也可以在执行由摄像部7进行的拍摄的情况下，可以使机器人吸尘器1在该场所内每次按固定角度旋转，由摄像部7执行多次拍摄后，将拍摄到的多个图像向终端装置101发送。通过这样设置，用户对于目标位置周边也能一次取得图像，因此，能节省对机器人吸尘器1的远程操作重复多次的麻烦，提高了用户的便利性。In addition, the robot cleaner 1 can also rotate the robot cleaner 1 at a fixed angle each time in the place when taking pictures by the imaging unit 7, and after taking pictures by the imaging unit 7 a plurality of times, the captured images can be captured. A plurality of images are transmitted to the terminal device 101 . With such an arrangement, the user can obtain an image of the vicinity of the target position at one time, so that the trouble of repeating the remote operation of the robot cleaner 1 can be saved, and the convenience of the user can be improved.
另外，在本典型例中，说明了通过由终端装置101进行的远程操作，使机器人吸尘器1执行拍摄的情况，但利用远程操作执行的作业不限于拍摄。例如利用远程操作执行的作业是使电动送风机16、侧刷11以及旋转刷12等驱动的吸尘或者使电动送风机16和离子发生部22等驱动的离子的释放等。在这种情况下，机器人吸尘器1也可以在以由用户输入的位置为中心的特定范围内执行吸尘或者离子的释放等作业。In addition, in this typical example, the case where the robot cleaner 1 is made to perform imaging by the remote operation by the terminal device 101 was demonstrated, However, the operation|work performed by remote operation is not limited to imaging. For example, tasks performed by remote control are dust collection by driving the electric blower 16 , side brush 11 , and rotating brush 12 , or ion discharge by driving the electric blower 16 and the ion generator 22 . In this case, the robot cleaner 1 may perform operations such as dust collection or ion discharge within a specific range centered on the position input by the user.
(E2)使机器人吸尘器执行特定范围的吸尘作业。(E2) Make the robot vacuum cleaner perform a specific range of vacuuming operations.
用户操作终端装置101的用户接口部105后，在地图作成部108作成的地图上输入使机器人吸尘器1作业的范围。位置信息生成部107根据用户的输入，作为位置信息生成从与被指定的范围对应的基准位置起的相对位置的范围。在此，也可以在位置信息中包括存在于指定范围内的障碍物的信息。另外，控制命令生成部106根据用户的输入使机器人吸尘器1移动，生成用于使电动送风机16、侧刷11以及旋转刷12等驱动而使机器人吸尘器1吸尘的控制命令。并且，通信部104将生成的位置信息和控制命令对机器人吸尘器1发送。After operating the user interface unit 105 of the terminal device 101 , the user inputs the range in which the robot cleaner 1 is to operate on the map created by the map creation unit 108 . The positional information generation unit 107 generates, as positional information, a range of relative positions from a reference position corresponding to the specified range based on a user's input. Here, information on obstacles existing within the specified range may be included in the position information. In addition, the control command generating unit 106 moves the robot cleaner 1 according to the user's input, and generates a control command for driving the electric blower 16, the side brush 11, the rotating brush 12, and the like to clean the robot cleaner 1. Then, the communication unit 104 transmits the generated position information and control commands to the robot cleaner 1 .
机器人吸尘器1基于从终端装置101接收到的位置信息和控制命令执行由用户指定的范围的吸尘。并且，通信部18能发送例如在指定范围内吸尘已完成或者由于障碍物而在指定范围的一部分内无法完成吸尘等作为作业的结果。另外，也可以在作业的结果中包括与由集尘部30集尘到的尘埃的量有关的信息。The robot cleaner 1 performs cleaning of a range designated by the user based on position information and control commands received from the terminal device 101 . In addition, the communication unit 18 can transmit, as a result of the work, the cleaning of the specified range is completed, or the cleaning cannot be completed in a part of the specified range due to obstacles. In addition, information on the amount of dust collected by the dust collecting unit 30 may be included in the work result.
此外，在本典型例中，说明了利用由终端装置101进行的远程操作使机器人吸尘器1执行吸尘的情况，但由远程操作执行的作业不限于吸尘。例如利用远程操作执行的作业是使电动送风机16和离子发生部22等驱动的离子释放或者由摄像部7进行拍摄等。In addition, in this typical example, the case where the robot cleaner 1 is made to perform cleaning by remote operation from the terminal device 101 has been described, but the work performed by the remote operation is not limited to cleaning. For example, the work performed by the remote operation is to discharge ions by driving the electric blower 16 and the ion generator 22 , or to take an image by the imaging unit 7 .
(E3)其它典型例(E3) Other typical examples
在上述实施方式中，作为机器人装置说明了机器人吸尘器1，但本发明的机器人装置能广泛地包括代替用户进行特定的作业的机器人装置。例如在本发明的机器人装置中包括警卫机器人或者宠物机器人等。In the said embodiment, the robot cleaner 1 was demonstrated as a robot apparatus, but the robot apparatus of this invention can broadly include the robot apparatus which performs a specific operation|work on behalf of a user. For example, a guard robot or a pet robot is included in the robot apparatus of the present invention.
另外，也可以是，在本发明的机器人装置中包括具备例如收纳水的水箱和将该水箱的水向外部释放的释放单元，并对设置在机器人装置的作业区域的植物浇水的机器人。在这种情况下，用户能通过远程操作机器人装置，使机器人装置移动到设置有植物的场所后让机器人装置进行浇水作业。In addition, the robot device of the present invention may include a robot that includes, for example, a water tank for storing water and a release unit that releases the water in the tank to the outside, and that waters plants installed in the work area of the robot device. In this case, the user can remotely operate the robot device, move the robot device to a place where plants are installed, and then allow the robot device to perform watering work.
另外，也可以是，在本发明的机器人装置中包括具备收纳例如饲料、饵食等的收纳部和将该饲料、饵食等向外部提供的提供单元，并对在机器人装置的作业区域内饲养的家畜、宠物提供饲料、饵食等的机器人。在这种情况下，用户能通过远程操作机器人装置，让机器人装置进行提供饲料、饵食等的作业。In addition, it is also possible to include, in the robot device of the present invention, a storage unit for storing, for example, feed, bait, etc., and a supply unit for supplying the feed, bait, etc. to the outside, and to raise animals within the work area of the robot device. A robot that provides feed, bait, etc. to domestic animals and pets. In this case, the user can remotely operate the robot device to cause the robot device to perform tasks such as supplying feed and bait.
(效果)(Effect)
如以上所说明的，机器人吸尘器1从终端装置101接收与使机器人装置移动的位置或范围有关的位置信息和针对机器人装置的控制命令、基于位置信息驱动行走部、基于控制命令执行作业，位置信息基于由上述终端装置作成的机器人装置的作业区域的地图来生成，因此，能不进行机器人吸尘器1的复杂处理，来执行用户预想的远程操作。As described above, the robot cleaner 1 receives position information on the position or range to move the robot from the terminal device 101 and a control command for the robot, drives the traveling part based on the position information, executes work based on the control command, and the position information Since it is generated based on the map of the working area of the robot device created by the above-mentioned terminal device, the remote operation expected by the user can be performed without performing complicated processing of the robot cleaner 1 .
另外，在机器人吸尘器1将与执行后的作业结果有关的信息向终端装置101发送的情况下，用户能通过操作终端装置101，从例如外出地点确认该作业的结果，能根据需要进一步使机器人吸尘器1执行作业。即，提高了用户的便利性。In addition, when the robot cleaner 1 transmits information related to the result of the executed work to the terminal device 101, the user can operate the terminal device 101 to confirm the result of the work from, for example, an out-of-home place, and further activate the robot cleaner as needed. 1 Execute the job. That is, user convenience is improved.
另外，在位置信息中包括与存在于机器人吸尘器1的作业区域的障碍物的位置或范围有关的信息的情况下，机器人吸尘器1能一边避开该障碍物一边进行作业，由机器人吸尘器1进行的作业的效率提高。In addition, if the position information includes information on the position or range of an obstacle existing in the work area of the robot cleaner 1, the robot cleaner 1 can work while avoiding the obstacle, and the robot cleaner 1 can work The efficiency of work is improved.
另外，在位置信息中包括与禁止机器人吸尘器1作业的位置或范围有关的信息的情况下，能在例如希望防止机器人吸尘器1发生碰撞的场所或者从隐私的观点出发希望限制由机器人吸尘器1具备的照相机进行的拍摄的场所等禁止机器人吸尘器1作业。即，提高了用户的便利性。In addition, if the location information includes information about the position or range where the robot cleaner 1 is prohibited from operating, it can be used, for example, in places where it is desired to prevent the robot cleaner 1 from colliding or from the viewpoint of privacy. The operation of the robot cleaner 1 is prohibited in a place where a camera is photographed. That is, user convenience is improved.
(其它)(other)
机器人装置或终端装置的控制部的至少一部分可以由形成在集成电路(IC芯片)上的逻辑电路构成为硬件，也可以使用CPU(Central Processing Unit)由软件实现。在由软件实现的情况下，机器人装置或终端装置具备：执行实现各功能的控制程序的命令的CPU；保存有程序的ROM(read only memory)；展开程序的RAM(random access memory)以及保存程序和各种数据的存储器等存储装置(存储媒体)等。并且，能通过将作为实现上述功能的软件的机器人装置或者终端装置的控制程序的程序代码(执行格式程序、中间代码程序或者源程序)存储为用计算机能读取的存储媒体而向机器人装置或终端装置供给、且该计算机(或CPU、MPU(microprocessing unit)))读出并执行存储于存储媒体的程序代码来达到本发明的目的。At least a part of the control unit of the robot device or the terminal device may be configured as hardware by a logic circuit formed on an integrated circuit (IC chip), or may be realized by software using a CPU (Central Processing Unit). In the case of software implementation, the robot device or terminal device has: a CPU that executes the commands of the control program that realizes each function; a ROM (read only memory) that stores the program; a RAM (random access memory) that expands the program and stores the program and storage devices (storage media) such as memories for various data. Furthermore, the program code (executable format program, intermediate code program, or source program) of the control program of the robot device or terminal device as software for realizing the above-mentioned functions can be stored as a storage medium that can be read by a computer, and can be sent to the robot device or the terminal device. The terminal device supplies, and the computer (or CPU, MPU (microprocessing unit)) reads and executes the program code stored in the storage medium to achieve the object of the present invention.
作为上述存储媒体，能使用例如磁带或盒式磁带等带类、包括软(注册商标)盘或硬盘等磁盘、CD－ROM、MO、MD、DVD或CD－R等光盘的磁盘类、IC卡(包括存储器卡)或光卡等卡类、掩模ROM、EPROM(Erasable Programmable Read Only Memory)、EEPROM(Electrically Erasable Programmable Read-Only Memory)或闪存ROM等半导体存储器类或PLD(Programmable logic device)等逻辑电路类等。As the storage medium, tapes such as magnetic tapes or cassette tapes, magnetic disks such as floppy (registered trademark) disks or hard disks, optical disks such as CD-ROM, MO, MD, DVD or CD-R, and IC cards can be used. (Including memory card) or optical card and other cards, mask ROM, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory) or semiconductor memory such as flash ROM, or PLD (Programmable logic device), etc. Logic circuits etc.
另外，可以将机器人装置或终端装置构成为能与通信网络连接，并将上述程序代码经由通信网络供给。作为该通信网络没有特别限定，可以使用例如英特网、内部网、外部网、LAN、ISDN(Integrated Services Digital Network)、VAN(value added network)、CATV通信网、虚拟专用网(virtual private network)、电话线路网、移动体通信网或卫星通信网等。另外，作为构成通信网络的传送媒体没有特别限定，也能使用例如IEEE1395、USB(Universal SerialBus)、电力线输送、电缆TV线路、电话线或者ADSL(AsymmetricDigital Subscriber Line)线路等有线、或者IrDA或远程操作器这种红外线、Bluetooth(注册商标)、IEEE802.11无线、HDR(High DataRate)、NFC(Near Field Communication)、DLNA(Digital LivingNetwork Alliance)、便携电话网、卫星线路或地面波数字网等无线。In addition, the robot device or the terminal device may be configured to be connectable to a communication network, and the above-mentioned program code may be supplied via the communication network. The communication network is not particularly limited, and for example, Internet, intranet, extranet, LAN, ISDN (Integrated Services Digital Network), VAN (value added network), CATV communication network, virtual private network (virtual private network) can be used. , telephone line network, mobile communication network or satellite communication network, etc. In addition, the transmission medium constituting the communication network is not particularly limited, and wired such as IEEE1395, USB (Universal Serial Bus), power line transmission, cable TV line, telephone line, or ADSL (Asymmetric Digital Subscriber Line) line, or IrDA or remote control can also be used. Infrared, Bluetooth (registered trademark), IEEE802.11 wireless, HDR (High Data Rate), NFC (Near Field Communication), DLNA (Digital Living Network Alliance), portable telephone network, satellite line or terrestrial digital network and other wireless.
另外，本发明不限于上述实施方式，能在权利要求所示的范围内进行各种变更，将在不同的实施方式中分别公开的技术方案适当组合后得到的实施方式也包括在本发明的技术范围内。In addition, the present invention is not limited to the above-mentioned embodiments, and various changes can be made within the scope shown in the claims. Embodiments obtained by appropriately combining technical solutions disclosed in different embodiments are also included in the technical aspects of the present invention. within range.
(总结)(Summarize)
本发明的机器人装置是能从终端装置接收信息的机器人装置，具备：通信部，其从终端装置接收由终端装置作成的基于机器人装置的作业区域的地图而生成的位置信息和针对机器人装置的控制命令；行走部，其使机器人装置移动；以及控制部，其基于位置信息驱动行走部，基于控制命令执行作业。The robot device of the present invention is a robot device capable of receiving information from a terminal device, and includes a communication unit that receives position information generated by the terminal device based on a map of the work area of the robot device and controls the robot device from the terminal device. a command; a running unit that moves the robot; and a control unit that drives the running unit based on the position information and executes work based on the control command.
另外，也可以是，在本发明的机器人装置中，通信部将与执行的作业的结果有关的信息向终端装置发送。In addition, in the robot device of the present invention, the communication unit may transmit information on the result of the executed work to the terminal device.
另外，也可以是，在本发明的机器人装置中，在位置信息中还包括与存在于机器人装置的作业区域的障碍物的位置或范围有关的信息。In addition, in the robot apparatus of the present invention, the position information may further include information on the position or range of an obstacle present in the work area of the robot apparatus.
另外，也可以是，在本发明的机器人装置中，在位置信息中还包括与禁止机器人装置作业的位置或范围有关的信息。In addition, in the robot apparatus of the present invention, the position information may further include information on a position or a range where the robot apparatus is prohibited from working.
本发明的终端装置是能向机器人装置发送信息的终端装置，具备：控制命令生成部，其生成针对机器人装置的控制命令；地图作成部，其作成机器人装置的作业区域的地图；位置信息生成部，其基于作业区域的地图生成位置信息；以及通信部，其将控制命令和位置信息向机器人装置发送。The terminal device of the present invention is a terminal device capable of transmitting information to a robot device, and includes: a control command generation unit that generates control commands for the robot device; a map generation unit that generates a map of the work area of the robot device; and a position information generation unit. , which generates positional information based on a map of the work area; and a communication unit, which transmits a control command and the positional information to the robot device.
本发明的远程操作系统是具备机器人装置和终端装置的机器人装置的远程操作系统，机器人装置具备：通信部，其从终端装置接收由终端装置作成的基于机器人装置的作业区域的地图而生成的位置信息和针对机器人装置的控制命令；行走部，其使机器人装置移动；以及控制部，其基于位置信息驱动行走部，基于控制命令执行作业，终端装置具备：控制命令生成部，其生成针对机器人装置的控制命令；地图作成部，其作成机器人装置的作业区域的地图；位置信息生成部，其基于作业区域的地图生成位置信息；以及通信部，其将控制命令和位置信息向机器人装置发送。The remote control system of the present invention is a remote control system for a robot device including a robot device and a terminal device. Information and control commands for the robot device; a running part that moves the robot device; and a control part that drives the running part based on the position information and executes work based on the control commands. a control command; a map creation unit that creates a map of the working area of the robot; a position information generation unit that generates position information based on the map of the work area; and a communication unit that transmits the control command and the position information to the robot.
此外，机器人装置或终端装置也可以利用计算机实现，在这种情况下，使计算机作为上述各部动作，由此，由计算机实现机器人装置或终端装置的机器人装置或终端装置的程序也属于本发明的范围。In addition, the robot device or the terminal device can also be realized by a computer. In this case, the computer is operated as the above-mentioned parts, and thus, the program of the robot device or the terminal device that realizes the robot device or the terminal device by the computer also belongs to the present invention. scope.
工业上的可利用性Industrial availability
本发明的机器人装置、终端装置、机器人装置的远程操作系统和程序可在能自动行走的机器人装置中广泛地应用。The robot device, terminal device, remote operating system and program of the robot device of the present invention can be widely used in robot devices capable of walking automatically.
附图标记说明Explanation of reference signs
1 机器人吸尘器1 robot vacuum cleaner
2 箱体2 boxes
5 操作面板5 Operation panel
7 摄像部7 Camera department
8 照明部8 Lighting Department
11 侧刷11 side brush
11d 驱动部11d drive unit
12 旋转刷12 rotating brushes
12d 驱动部12d drive unit
13 驱动轮(行走部)13 driving wheel (walking part)
13d 驱动部(行走部)13d drive unit (walking unit)
18 通信部18 Department of Communications
19 控制部19 Control Department
20 存储部20 storage department
22 离子发生部22 Ion generation department
100 远程操作系统100 remote operating systems
101 终端装置101 terminal device
102 控制部102 Control Department
103 存储部103 storage department
104 通信部104 Department of Communications
105 用户接口部105 User Interface Department
106 控制命令生成部106 Control command generation unit
107 位置信息生成部107 Location Information Generation Department
108 地图作成部108 Map Creation Department
201 无线LAN基站201 wireless LAN base station
202 英特网202 Internet
203 房屋(作业区域)203 house (work area)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012116103AJP2013242738A (en) | 2012-05-22 | 2012-05-22 | Robot device, terminal device, remote control system for robot device and program |
| JP2012-116103 | 2012-05-22 | ||
| PCT/JP2013/057661WO2013175839A1 (en) | 2012-05-22 | 2013-03-18 | Robot device, terminal device, remote control system for robot device and program |
| Publication Number | Publication Date |
|---|---|
| CN104321709Atrue CN104321709A (en) | 2015-01-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380023878.0APendingCN104321709A (en) | 2012-05-22 | 2013-03-18 | Robot device, terminal device, remote control system for robot device and program |
| Country | Link |
|---|---|
| JP (1) | JP2013242738A (en) |
| CN (1) | CN104321709A (en) |
| TW (1) | TWI654961B (en) |
| WO (1) | WO2013175839A1 (en) |
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