JP2017199190A - Self-traveling apparatus for relaying and communication relay system for self-traveling apparatus - Google Patents

Self-traveling apparatus for relaying and communication relay system for self-traveling apparatus Download PDF

Info

Publication number
JP2017199190A
JP2017199190A JP2016089171A JP2016089171A JP2017199190A JP 2017199190 A JP2017199190 A JP 2017199190A JP 2016089171 A JP2016089171 A JP 2016089171A JP 2016089171 A JP2016089171 A JP 2016089171A JP 2017199190 A JP2017199190 A JP 2017199190A
Authority
JP
Japan
Prior art keywords
self
propelled
propelled device
work
relay
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2016089171A
Other languages
Japanese (ja)
Other versions
JP6681260B2 (en
Inventor
平川　功
Isao Hirakawa
功 平川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
Original Assignee
Sharp Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sharp Corp filed Critical Sharp Corp
Priority to JP2016089171A priority Critical patent/JP6681260B2/en
Publication of JP2017199190A publication Critical patent/JP2017199190A/en
Application granted granted Critical
Publication of JP6681260B2 publication Critical patent/JP6681260B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6985—Control allocation using a lead vehicle, e.g. primary-secondary arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/40—Specific applications of the controlled vehicles for communications, e.g. wireless network relays
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/60—Open buildings, e.g. offices, hospitals, shopping areas or universities
    • G05D2107/63—Offices, universities or schools
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling apparatus for relaying which supplements the functionality of a self-traveling apparatus for work and assists execution of work.SOLUTION: The self-traveling apparatus for relaying comprises: a low-power communication unit for performing wireless communication with weak electric power in order to acquire the state of at least one external self-traveling apparatus for work; an autonomous travel unit for allowing the self-traveling apparatus for work to autonomously travel a movement area when the apparatus performs work; a mobile communication unit having a communication area wider than the low-power communication unit and including at least an external management apparatus, for performing wireless communication in order to send the state acquired from the self-traveling apparatus for work to the external management apparatus; and a control unit. The control unit controls the autonomous travel unit in order to acquire the state of the self-traveling apparatus for work and causes the autonomous travel unit to move around in the movement area.SELECTED DRAWING: Figure 1

Description

この発明は、中継用自走機器および自走機器用通信中継システムに関する。   The present invention relates to a relay self-propelled device and a communication relay system for a self-propelled device.

本体に自律走行機能を設け、自律走行して作業を行う自走機器が知られている。例えば、無人で自律走行させながら掃除を行う所謂ロボット掃除機である（例えば、特許文献１参照）。
また、ロボットと制御装置間の通信に関し、複数のロボットが動作するロボット群に無線通信を行う場合の誤動作を防止すべく、ロボット群と制御装置間の通信を第１の方式と第２の方式とで行えるようにしたものが提案されている。第１の方式で制御信号を送信しても受信確認信号が戻らない場合に第２の方式で動作を停止させるものである。 There is known a self-propelled device that is provided with an autonomous traveling function in a main body and performs an autonomous traveling operation. For example, it is a so-called robot cleaner that performs cleaning while unmanned and autonomously running (see, for example, Patent Document 1).
Further, regarding communication between the robot and the control device, communication between the robot group and the control device is performed using the first method and the second method in order to prevent malfunction when wireless communication is performed with the robot group in which a plurality of robots operate. What has been made possible to do is proposed. If the reception confirmation signal does not return even if the control signal is transmitted by the first method, the operation is stopped by the second method.

特開２００４−１９５２１５号公報JP 2004-195215 A 特許第４８７６４４３号公報Japanese Patent No. 4876443

自走機器は一般に電池駆動であり、消費電力の制限がある。限られた電池のエネルギーは、自走機器が行うべき作業に最大限使用すべきである。この観点から、本来の作業とあまり関係のない機能の消費電力は抑えたい。コスト面でも同様に、本来の作業とあまり関係のない機能にコストをかけたくないとの考え方がある。付加機能を評価するユーザーもあるが、基本機能だけあれば充分であり付加機能よりも安価な機器の方を選択するユーザーも多い。
例えば、前述のロボット掃除機の場合、塵埃の吸引に電力を必要とする。ロボット掃除機にカメラを搭載してスマートフォンをはじめとする外部の制御機器と無線通信を行って、遠隔で周囲をモニタ可能としたり、遠隔で清掃作業の開始および停止を操作したりする機能が考えられる。さらに、バッテリー残量や集塵室に溜まったごみの量を外部の制御機器で確認可能としたり、屋内の電化製品と通信して遠隔制御を行ったりする機能が考えられる。しかし、そのような付加機能を評価するユーザー層と不要と考えるユーザー層が存在する。
また、複数の自走機器が同時に作業を行う環境も考えられる。例えば、オフィスなどの広い場所を複数のロボット掃除機が分担して清掃するような場合である。一般家庭よりも業務用にロボット掃除機が使用される場合かもしれない。業務用のユーザーは特に基本的な機能が備わっており堅牢な掃除機を求める傾向にある。
この発明は、以上のような事情を考慮してなされたものであって、幅広いユーザーニーズに応える一つの手段として、作業に関する基本的機能を備えた作業用自走機器と別に、作業用自走機器の機能を補い、作業の実行を支援する中継用自走機器を提供するものである。さらに、作業用自走機器と、中継用自走機器と、管理機器とから少なくとも構成されるシステムを提供するものである。 Self-propelled devices are generally battery-powered and have limited power consumption. The limited battery energy should be used as much as possible for the work that the self-propelled equipment should do. From this point of view, we want to reduce the power consumption of functions that are not closely related to the original work. Similarly, in terms of cost, there is a notion that you do not want to spend on functions that are not closely related to the original work. Some users evaluate additional functions, but there are many users who select a basic device that is sufficient and cheaper than the additional functions.
For example, in the case of the robot cleaner described above, electric power is required to suck dust. The robot vacuum cleaner is equipped with a camera that communicates wirelessly with external control devices such as smartphones, enabling remote monitoring of the surroundings and remote starting and stopping of cleaning operations. It is done. In addition, it is possible to check the remaining battery level and the amount of dust collected in the dust collection chamber with an external control device, or to perform remote control by communicating with an indoor appliance. However, there are user groups that evaluate such additional functions and user groups that are considered unnecessary.
An environment in which a plurality of self-propelled devices work simultaneously is also conceivable. For example, this is a case where a plurality of robot cleaners share a wide area such as an office for cleaning. There may be cases where robot cleaners are used for business purposes rather than ordinary homes. Business users tend to look for robust vacuum cleaners, especially with basic functions.
The present invention has been made in consideration of the above-mentioned circumstances, and as one means to meet a wide range of user needs, a work self-propelled machine is provided separately from a work self-propelled machine having basic work-related functions. It provides a self-propelled relay device that supplements the function of the device and supports the execution of work. Furthermore, the present invention provides a system comprising at least a work self-propelled device, a relay self-propelled device, and a management device.

この発明は、外部の少なくとも１台の作業用自走機器の状態を取得するために微弱な電力で無線通信を行う微弱通信部と、前記作業用自走機器が作業する際に走行する移動領域を自律的に走行するための自律走行部と、前記微弱通信部よりも広い通信領域であって少なくとも外部の管理機器を包含する通信領域を有し前記作業用自走機器から取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、前記微弱通信部、前記自律走行部および前記移動通信部動作を制御する制御部とを備え、前記制御部は、前記作業用自走機器の状態を取得するために前記自律走行部を制御して前記移動領域を巡回させる中継用自走機器を提供する。   The present invention relates to a weak communication unit that performs wireless communication with weak power in order to acquire the state of at least one external working self-propelled device, and a moving region in which the working self-propelled device travels when working. An autonomous traveling unit for autonomously traveling, and a communication region wider than the weak communication unit and including a communication region including at least an external management device. A mobile communication unit that performs wireless communication to send to the management device, and a control unit that controls operations of the weak communication unit, the autonomous traveling unit, and the mobile communication unit. Provided is a relay self-propelled device that controls the autonomous traveling unit to go around the moving area in order to acquire the state of the device.

また、異なる観点からこの発明は、作業用自走機器と、中継用自走機器と、管理機器とから少なくとも構成されるシステムであって、前記作業用機器は、微弱な電力で前記中継用自走機器と無線通信を行う作業機微弱通信部と、作業する際に走行する移動領域を自律的に走行するための作業機自律走行部とを備え、前記中継用自走機器は、前記作業用自走機器と微弱な電力で無線通信を行う中継機微弱通信部と前記移動領域を自律的に走行するための中継機自律走行部と前記中継機微弱通信部よりも広い通信領域であって少なくとも前記外部の管理機器を包含する通信領域を有し前記作業用自走機器から取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、制御部とを備え、前記管理機器は、前記中継用自走機器と無線通信を行う管理機移動通信部とを備える自走機器用通信中継システムを提供する。   From a different point of view, the present invention is a system comprising at least a work self-propelled device, a relay self-propelled device, and a management device, wherein the work device uses the weak power and the relay self-propelled device. A work machine weak communication unit that performs wireless communication with a traveling device, and a work machine autonomous traveling unit that autonomously travels in a moving region that travels when working, the relay self-propelled device is configured for the work A relay machine weak communication unit that performs wireless communication with a self-propelled device with weak power, a relay machine autonomous traveling unit for autonomously traveling in the moving region, and a communication area wider than the relay machine weak communication unit, at least A mobile communication unit having a communication area including the external management device and performing wireless communication in order to send a state acquired from the work self-propelled device to the external management device; and a control unit; Is wireless with the relay self-propelled device To provide a communication relay system for self-propelled equipment and a tiller mobile communication unit that performs signal.

この発明による中継用自走機器は、作業用自走機器の状態を取得する微弱通信部と、外部の管理機器を包含する通信領域を有し、取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、前記作業用自走機器の状態を取得するために前記自律走行部を制御して前記移動領域を巡回させる制御部とを備えるので、作業用自走機器は中継用自走機器との間で微弱な通信を行うだけで足りる。即ち、限られた電池のエネルギーを通信で無駄に消費することなく、作業実行のために使用することができる。
さらに、中継用自走機器は自律走行部を備え、作業用自走機器と同じ移動領域を自律的に走行できるので、ユーザーが望む付加機能を中継用自走機器に付加することができる。
作業用自走機器は、基本機能に絞り込んだもので足りる。
この発明の自走機器用通信中継システムも同様の作用効果を奏する。 The relay self-propelled device according to the present invention has a weak communication unit that acquires the state of the work self-propelled device and a communication area that includes an external management device, and sends the acquired state to the external management device. Since it has a mobile communication unit that performs wireless communication and a control unit that controls the autonomous traveling unit to circulate the moving area in order to acquire the state of the working self-propelled device, the working self-propelled device relays It is only necessary to perform weak communication with the self-propelled device. In other words, the limited battery energy can be used for work execution without wastefully consuming the communication.
Furthermore, since the relay self-propelled device includes an autonomous traveling unit and can autonomously travel in the same movement area as the work self-propelled device, an additional function desired by the user can be added to the relay self-propelled device.
For work self-propelled equipment, it is sufficient to narrow down to basic functions.
The communication relay system for a self-propelled device of the present invention has the same effect.

この発明の一態様である中継用自走機器の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the self-propelled apparatus for relay which is one aspect | mode of this invention. 図１に示す中継用自走機器の外観例を示す斜視図である。It is a perspective view which shows the example of an external appearance of the self-propelled apparatus for relay shown in FIG. 図２に示す中継用自走機器の底面を概略的に示す底面図である。FIG. 3 is a bottom view schematically showing a bottom surface of the relay self-propelled device shown in FIG. 2. この発明に係る作業用自走機器の一態様である自走式掃除機の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the self-propelled cleaner which is one aspect | mode of the working self-propelled apparatus which concerns on this invention. 図４に示す作業用自走機器の外観を示す斜視図である。It is a perspective view which shows the external appearance of the working self-propelled apparatus shown in FIG. 図５に示す自走式掃除機の底面を概略的に示す底面図である。It is a bottom view which shows roughly the bottom face of the self-propelled cleaner shown in FIG. この発明に係る管理機器の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the management apparatus which concerns on this invention.

以下、図面を用いてこの発明をさらに詳述する。なお、以下の説明は、すべての点で例示であって、この発明を限定するものと解されるべきではない。   Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.

（実施の形態１）
≪中継用自走機器の構成≫
図１は、この発明の一態様である中継用自走機器の概略構成を示すブロック図である。図１に示すように、この実施形態の中継用自走機器１０１は、制御部１１１、充電池１１２、障害物検出部１１４、自律走行部１１７、右駆動輪１１８Ｒ、左駆動輪１１８Ｌ、記憶部１１９、微弱通信部１２０、移動通信部１２１および位置検出部１２２を備える。 (Embodiment 1)
≪Configuration of self-propelled relay equipment≫
FIG. 1 is a block diagram showing a schematic configuration of a relay self-propelled device according to one embodiment of the present invention. As shown in FIG. 1, the relay self-propelled device 101 of this embodiment includes a control unit 111, a rechargeable battery 112, an obstacle detection unit 114, an autonomous traveling unit 117, a right driving wheel 118R, a left driving wheel 118L, and a storage unit. 119, a weak communication unit 120, a mobile communication unit 121, and a position detection unit 122.

この実施形態の中継用自走機器１０１は、設置された場所の床面を自走して巡回する。中継用自走機器１０１は、巡回が終了すると、自律的に図示しない充電台に帰還する機能を有する。
図２は、図１に示す中継用自走機器の外観例を示す斜視図である。
図３は、図２に示す中継用自走機器の底面を概略的に示す底面図である。 The relay self-propelled device 101 of this embodiment travels by self-propelled on the floor of the place where it is installed. The relay self-propelled device 101 has a function of autonomously returning to a charging stand (not shown) when patrol is completed.
FIG. 2 is a perspective view showing an example of the appearance of the relay self-propelled device shown in FIG.
FIG. 3 is a bottom view schematically showing a bottom surface of the relay self-propelled device shown in FIG. 2.

図２に示すように、この発明の中継用自走機器１０１は、略円盤形の筐体１０２を備えている。
筐体１０２は、底板１０２ａ（図３参照）と、天板１０２ｂと、底板１０２ａおよび天板１０２ｂの外周部に沿って設けられた平面視円環形の側板１０２ｃとを備えている。なお、側板１０２ｃは前後に二分割されており、側板前部はバンパーとして機能すると共に、側板前部の衝突を検出する衝突センサ１１５Ｃが内部に設けられている。さらに、図２に示すように、前方に前方超音波センサ１１４Ｆが配置され、左側方に左方超音波センサ１１４Ｌが配置されている。図２では隠れているが、右方超音波センサ１１４Ｒが右側方に配置されている。
天板１０２ｂには、移動通信部１２１の通信アンテナ１２１ａが配置されている。 As shown in FIG. 2, the relay self-propelled device 101 of the present invention includes a substantially disk-shaped housing 102.
The housing 102 includes a bottom plate 102a (see FIG. 3), a top plate 102b, and a bottom plate 102a and a side plate 102c having an annular shape in plan view provided along the outer periphery of the top plate 102b. The side plate 102c is divided into two parts, front and rear, and the front side of the side plate functions as a bumper and a collision sensor 115C that detects a collision of the front side of the side plate is provided inside. Further, as shown in FIG. 2, a front ultrasonic sensor 114F is disposed on the front side, and a left ultrasonic sensor 114L is disposed on the left side. Although hidden in FIG. 2, the right ultrasonic sensor 114R is arranged on the right side.
A communication antenna 121a of the mobile communication unit 121 is disposed on the top plate 102b.

また、図３に示すように、底板１０２ａには右駆動輪１１８Ｒ、左駆動輪１１８Ｌを筐体１０２内から露出させて外部へ突出させる複数の孔部が左右にそれぞれ形成されている。それらの孔部の奥には自律走行部１１７の一要素である駆動モータが見えている。
底板１０２ａにはさらに、従動輪である後輪１１８Ｔが装着されている。後輪１１８Ｔは、床面上で自在に向きを変えることができる。左駆動輪１１８Ｌの前方に左輪床面センサ１１６Ｌ、右駆動輪１１８Ｒの前方に右輪床面センサ１１６Ｒがそれぞれ配置されている。また、前端部に前方床面センサ１１６Ｆが配置され、後端部に後方床面センサ１１６Ｔが配置されている。 Also, as shown in FIG. 3, the bottom plate 102a is formed with a plurality of holes on the right and left sides that allow the right driving wheel 118R and the left driving wheel 118L to be exposed from the inside of the housing 102 and protrude outward. The drive motor which is one element of the autonomous running part 117 can be seen behind these holes.
Further, a rear wheel 118T, which is a driven wheel, is mounted on the bottom plate 102a. The direction of the rear wheel 118T can be freely changed on the floor surface. A left wheel floor sensor 116L is disposed in front of the left drive wheel 118L, and a right wheel floor sensor 116R is disposed in front of the right drive wheel 118R. A front floor sensor 116F is disposed at the front end, and a rear floor sensor 116T is disposed at the rear end.

中継用自走機器１０１は、右駆動輪１１８Ｒおよび左駆動輪１１８Ｌが同一方向に正回転して前進し、前方超音波センサ１１４Ｆが配置されている方向へ走行する。また、左右の駆動輪が同一方向に逆回転して後退し、互いに逆方向に回転することにより旋回する。例えば、中継用自走機器１０１は、障害物検出部１１４の各センサにより進路上に障害物を検出した場合、左右の駆動輪を減速させた後に停止させる。その後、左右の駆動輪を互いに逆方向に回転させて旋回し向きを変える。このようにして、中継用自走機器１０１は、設置された場所で障害物を避けながら床面上を自走する。
ここで、前方とは、中継用自走機器１０１の前進方向（図３において、紙面に沿う上方）をいうものとし、後方とは、中継用自走機器１０１の後退方向（図３において、紙面に沿う下方）いうものとする。 The relay self-propelled device 101 travels in the direction in which the right driving wheel 118R and the left driving wheel 118L rotate forward in the same direction and moves forward, and the front ultrasonic sensor 114F is disposed. Further, the left and right drive wheels rotate backward in the same direction and move backward, and turn by rotating in opposite directions. For example, when the relay self-propelled device 101 detects an obstacle on the course by each sensor of the obstacle detection unit 114, the right and left driving wheels are decelerated and then stopped. Thereafter, the left and right drive wheels are rotated in opposite directions to turn and change directions. In this way, the relay self-propelled device 101 self-propels on the floor while avoiding obstacles at the place where it is installed.
Here, the forward means the forward direction of the relay self-propelled device 101 (upward along the paper surface in FIG. 3), and the rear means the backward direction of the relay self-propelled device 101 (the paper surface in FIG. 3). Along the bottom).

以下、図１に示す各構成要素を説明する。
図１の制御部１１１は、中継用自走機器１０１の各構成要素の動作を制御する部分であり、主として、ＣＰＵ、ＲＡＭ、Ｉ／Ｏコントローラ、タイマー等からなるマイクロコンピュータによって実現される。
ＣＰＵは、後述する記憶部１１９に予め格納され、ＲＡＭに展開された制御プログラムに基づいて、各ハードウェアを有機的に動作させて、この発明の走行機能などを実行する。 Hereinafter, each component shown in FIG. 1 will be described.
The control unit 111 in FIG. 1 is a part that controls the operation of each component of the relay self-running device 101 and is mainly realized by a microcomputer including a CPU, 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 storage unit 119, which will be described later, and expanded in the RAM, and executes the traveling function of the present invention.

充電池１１２は、中継用自走機器１０１の各機能要素に対して電力を供給する部分であり、主として走行制御および通信を行うための電力を供給する部分である。たとえば、リチウムイオン電池、ニッケル水素電池、Ｎｉ−Ｃｄ電池、などの充電池が用いられる。   The rechargeable battery 112 is a part that supplies power to each functional element of the relay self-propelled device 101, and is a part that mainly supplies power for performing travel control and communication. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.

障害物検出部１１４、特に左方超音波センサ１１４Ｌ、前方超音波センサ１１４Ｆ、右方超音波センサ１１４Ｒの各超音波センサは、中継用自走機器１０１が走行中に、室内の壁や机、いすなどの障害物に接触又は近づいたことを検出し、また下り階段等落下に至る段差を検出する部分である。障害物検出部１１４は、超音波センサを用いて障害物への近接を検出する。超音波センサに代えて、あるいは超音波センサと共に、赤外線測距センサなど他の方式の非接触センサが用いられてもよい。３つの超音波センサにより障害物の方向とおおよその距離とが検出可能である。
衝突センサ１１５Ｃは、中継用自走機器１０１が走行時に障害物と接触したことを検出するために、例えば、筐体１０２の側板１０２ｃの内部に配置される。ＣＰＵは、衝突センサ１１５Ｃからの出力信号に基づいて側板１０２ｃが障害物に衝突したことを知る。 The obstacle detection unit 114, particularly the left ultrasonic sensor 114L, the front ultrasonic sensor 114F, and the right ultrasonic sensor 114R, each of the ultrasonic sensors 101R, the indoor self-propelled device 101 is running, It is a part that detects that a person has come into contact with or approaches an obstacle such as a chair, and detects a step such as a descending staircase that leads to a fall. The obstacle detection unit 114 detects proximity to the obstacle using an ultrasonic sensor. Instead of the ultrasonic sensor or together with the ultrasonic sensor, other types of non-contact sensors such as an infrared distance measuring sensor may be used. The three ultrasonic sensors can detect the direction of the obstacle and the approximate distance.
For example, the collision sensor 115 </ b> C is disposed inside the side plate 102 c of the housing 102 in order to detect that the relay self-propelled device 101 has come into contact with an obstacle during traveling. The CPU knows that the side plate 102c has collided with an obstacle based on the output signal from the collision sensor 115C.

前方床面センサ１１６Ｆ、後方床面センサ１１６Ｔ、左輪床面センサ１１６Ｌおよび右輪床面センサ１１６Ｒは下り階段等の段差を検出する。
ＣＰＵは、障害物検出部１１４から出力された信号に基づいて、障害物や段差の存在する位置を認識する。認識された障害物や段差の位置情報に基づいて、その障害物や段差を避けて次に走行すべき方向を決定する。なお、左輪床面センサ１１６Ｌおよび右輪床面センサ１１６Ｒは、前方床面センサ１１６Ｆが段差の検出に失敗した場合や故障した場合に下り階段を検出し、中継用自走機器１０１の下り階段への落下を防止する。後方床面センサ１１６Ｔは、旋回あるいは後退時の落下を防止する。 The front floor sensor 116F, the rear floor sensor 116T, the left wheel floor sensor 116L, and the right wheel floor sensor 116R detect steps such as descending stairs.
Based on the signal output from the obstacle detection unit 114, the CPU recognizes a position where an obstacle or a step exists. Based on the recognized obstacle and step position information, the next direction to travel is determined while avoiding the obstacle and step. Note that the left wheel floor sensor 116L and the right wheel floor sensor 116R detect a down stair when the front floor sensor 116F fails to detect a step or fails, and go to the down stair of the relay self-propelled device 101. Prevent falling. The rear floor sensor 116T prevents falling when turning or retreating.

自律走行部１１７は、制御部１１１と相まって中継用自走機器１０１の左右の駆動輪を回転および停止させる部分であり、駆動モータや駆動伝達機構などによって構成される。左右の駆動輪を独立して正逆両方向に回転させ得るように駆動モータを構成することにより、中継用自走機器１０１の前進、後退、旋回、加減速などの走行状態を実現している。   The autonomous traveling unit 117 is a part that, in combination with the control unit 111, rotates and stops the left and right drive wheels of the relay self-propelled device 101, and includes a drive motor, a drive transmission mechanism, and the like. By configuring the drive motor so that the left and right drive wheels can be rotated independently in both forward and reverse directions, the relay self-propelled device 101 travels such as forward, backward, turning, and acceleration / deceleration.

記憶部１１９は、中継用自走機器１０１の各種機能を実現するために必要な情報や、制御プログラムを記憶する部分であり、フラッシュメモリ等不揮発性の半導体記憶素子やハードディスク等の記憶媒体が用いられる。
記憶部１１９は、例えば、充電池１１２の残容量等の状態を示す電池情報１１９ｃ、中継用自走機器１０１の現在位置を示す位置情報１１９ｐを格納する。 The storage unit 119 is a part that stores information necessary for realizing various functions of the relay self-running device 101 and a control program, and is used by a nonvolatile semiconductor storage element such as a flash memory or a storage medium such as a hard disk. It is done.
The storage unit 119 stores, for example, battery information 119c indicating a state such as a remaining capacity of the rechargeable battery 112 and position information 119p indicating a current position of the relay self-running device 101.

微弱通信部１２０は、後述する作業用自走機器と無線通信を行う通信インターフェイスである。この実施形態において、微弱通信部１２０は、ブルートゥース（登録商標）・ロー・エナジー（Bluetooth Low Energy、Bluetooth LE、あるいはBLEとも呼ばれる）の仕様に準拠した通信方式により作業用自走機器と通信する。ブルートゥース（登録商標）・ロー・エナジーは、近距離無線通信技術のブルートゥースを基礎とした通信仕様で、極低電力で機器間の無線通信が可能である。例えば、いわゆるボタン型の電池一つで数年間通信回路を稼働させ得る程度の電力とされている。ただし、通信可能な範囲は限られる。
例えば、IEEE802.11規格による無線ＬＡＮの通信距離は、通信機器間の障害物や電波状況など使用環境により異なるが、一般的に40ｍ程度といわれている。これに対して、短距離無線通信方式の代表例であるBluetooth通信は一般的に通信範囲が10ｍ程度、悪い条件下では2.5ｍ程度といわれている。 The weak communication unit 120 is a communication interface that performs wireless communication with a work self-propelled device described later. In this embodiment, the weak communication unit 120 communicates with the work self-propelled device by a communication method compliant with the specification of Bluetooth (registered trademark) low energy (also referred to as Bluetooth Low Energy, Bluetooth LE, or BLE). Bluetooth (registered trademark) Low Energy is a communication specification based on Bluetooth, which is a short-range wireless communication technology, and enables wireless communication between devices with extremely low power. For example, the power is such that a communication circuit can be operated for several years with a so-called button-type battery. However, the communicable range is limited.
For example, the communication distance of a wireless LAN according to the IEEE802.11 standard is generally said to be about 40 m, although it varies depending on the usage environment such as obstacles and radio wave conditions between communication devices. On the other hand, Bluetooth communication, which is a representative example of the short-range wireless communication method, is generally said to have a communication range of about 10 m and about 2.5 m under bad conditions.

移動通信部１２１は、管理機器と通信を行うための通信インターフェイスである。この実施形態においては、Ｗｉ−Ｆｉ規格に準拠した通信方式を用いて通信を行う。管理機器は、中継用自走機器１０１と通信してユーザーが中継用自走機器１０１や作業用自走機器を監視するための機器である。作業用自走機器とは中継用自走機器１０１を介して通信を行う。この実施形態において管理機器は、パーソナルコンピュータを想定している。   The mobile communication unit 121 is a communication interface for communicating with the management device. In this embodiment, communication is performed using a communication method compliant with the Wi-Fi standard. The management device is a device that allows the user to monitor the relay self-running device 101 and the work self-running device by communicating with the relay self-running device 101. Communication with the work self-propelled device is performed via the relay self-propelled device 101. In this embodiment, the management device is assumed to be a personal computer.

位置検出部１２２は、中継用自走機器１０１の位置を検出する。例えば、ＧＰＳ（Global Positioning System）を用いて中継用自走機器１０１の絶対位置を取得するものであってもよいが、設置された場所の基準位置（例えば、充電池１１２を充電するための充電ステーション）および基準方向に対する相対位置を検出するものであってもよい。相対位置の検出は、左右の駆動輪に設けたエンコーダによって駆動輪の回転に伴って発生するパルスをカウントすることで実現してもよい。さらに、ジャイロセンサーを用いて走行方向を補正してもよいし、ＸおよびＹ方向の加速度センサを用いて位置を補正してもよい。
境界信号検出部１２３は、作業領域の境界を定めるフェンスユニット（境界信号送信機）が発する境界信号を検出する。フェンスユニットの技術は、例えば特開２０１４−２３８７０２号公報に開示されている。フェンスユニットからの境界信号は、例えば中継用自走機器１０１が備える微弱通信部１２０を介して受信されてもよい。しかし、境界信号としては強い指向性のある信号の方が好適である。この実施形態においては微弱通信部１２０とは別の通信、例えば赤外線ビームを用いた境界信号を検出する境界信号検出部１２３を備える。
以上が、中継用自走機器１０１の具体的な構成例である。 The position detection unit 122 detects the position of the relay self-running device 101. For example, the absolute position of the relay self-propelled device 101 may be acquired using GPS (Global Positioning System), but the reference position of the place where the relay is installed (for example, charging for charging the rechargeable battery 112) Station) and a relative position with respect to the reference direction may be detected. The detection of the relative position may be realized by counting pulses generated with the rotation of the drive wheels by encoders provided on the left and right drive wheels. Further, the traveling direction may be corrected using a gyro sensor, or the position may be corrected using acceleration sensors in the X and Y directions.
The boundary signal detection unit 123 detects a boundary signal emitted by a fence unit (boundary signal transmitter) that defines the boundary of the work area. The technique of a fence unit is disclosed by Unexamined-Japanese-Patent No. 2014-238702, for example. The boundary signal from the fence unit may be received, for example, via the weak communication unit 120 included in the relay self-running device 101. However, a signal having strong directivity is preferable as the boundary signal. In this embodiment, a boundary signal detection unit 123 that detects a boundary signal using communication different from the weak communication unit 120, for example, an infrared beam, is provided.
The above is a specific configuration example of the relay self-running device 101.

≪作業用自走機器の構成≫
続いて、微弱通信部を介して中継用自走機器１０１と通信を行う作業用自走機器について説明する。
図４は、この発明に係る作業用自走機器２０１の一態様である自走式掃除機の概略構成を示すブロック図である。図１に示す中継用自走機器１０１と機能的に同様の構成については、符号の１００の桁以外を対応させている。
図４に示すように、この実施形態の作業用自走機器２０１である自走式掃除機は、制御部２１１、充電池２１２、障害物検出部２１４、自律走行部２１７、右駆動輪２１８Ｒ、左駆動輪２１８Ｌ、記憶部２１９および微弱通信部２２０を備える。さらに、境界信号検出部２２３、吸気口２３１、排気口２３２、集塵室２３３、電動送風機２３４、ブラシモータ２３５、回転ブラシ２３６およびサイドブラシ２３７を備える。 ≪Configuration of self-propelled equipment for work≫
Next, the working self-propelled device that communicates with the relay self-propelled device 101 via the weak communication unit will be described.
FIG. 4 is a block diagram showing a schematic configuration of a self-propelled cleaner which is an embodiment of the working self-propelled device 201 according to the present invention. A configuration functionally similar to the relay self-propelled device 101 shown in FIG.
As shown in FIG. 4, the self-propelled cleaner that is the working self-propelled device 201 of this embodiment includes a control unit 211, a rechargeable battery 212, an obstacle detection unit 214, an autonomous traveling unit 217, a right drive wheel 218R, A left drive wheel 218L, a storage unit 219, and a weak communication unit 220 are provided. Furthermore, a boundary signal detection unit 223, an intake port 231, an exhaust port 232, a dust collection chamber 233, an electric blower 234, a brush motor 235, a rotating brush 236, and a side brush 237 are provided.

作業用自走機器２０１は、設置された場所の床面を自走しながら、床面上の塵埃を含む空気を吸い込み、塵埃を除去した空気を排気することにより床面上を掃除する。掃除が終了すると、自律的に図示しない充電台に帰還する機能を有する。
清掃作業の走行中に境界信号検出部２２３が境界信号を検出したら、制御部２１１は作業用自走機器２０１の進路を変更して境界信号を超えないように制御する。境界信号検出部２２３は、種々の方向から発せられる境界信号を検出できると共に、その境界信号が発せられた方向を検出できる。例えば、何れの方向から境界信号が発せられたか判断できるように複数の方向に分割して境界信号を検出してもよいし、前後左右の方向に対して異なる感度を有するように指向性を持たせておき、境界信号を検出したらその場で旋回して境界信号が発せられた方向を制御部２１１が判断してもよい。
図５は、図４に示す作業用自走機器の外観を示す斜視図である。
図６は、図５に示す自走式掃除機の底面を概略的に示す底面図である。 The working self-propelled device 201 cleans the floor surface by sucking air containing dust on the floor surface and exhausting the air from which the dust has been removed while traveling on the floor surface of the place where it is installed. When cleaning is completed, it has a function of autonomously returning to a charging stand (not shown).
If the boundary signal detection unit 223 detects the boundary signal during the cleaning operation, the control unit 211 changes the course of the work self-propelled device 201 so as not to exceed the boundary signal. The boundary signal detection unit 223 can detect boundary signals emitted from various directions and can detect the directions in which the boundary signals are emitted. For example, the boundary signal may be detected by dividing it into a plurality of directions so that it can be determined from which direction the boundary signal is emitted, or it has directivity so as to have different sensitivities in the front, rear, left and right directions. In addition, when the boundary signal is detected, the control unit 211 may determine the direction in which the boundary signal is generated by turning on the spot.
FIG. 5 is a perspective view showing an appearance of the working self-propelled device shown in FIG.
6 is a bottom view schematically showing a bottom surface of the self-propelled cleaner shown in FIG.

中継用自走機器１０１と同様の部分については説明を省略し、作業用自走機器２０１に固有の部分について述べる。
図５に示すように、作業用自走機器２０１の天板２０２ｂは、筐体２０２内に収容されて図５に図示しない集塵室２３３の容器を出し入れするために開閉可能な蓋部２０３が中央部分に取付けられている。天板２０２ｂにおける前方部と中間部との境界付近には排気口２３２が形成されている。
また、図６に示すように、底板２０２ａには吸気口２３１が開口しており、開口部に床面を掃く回転ブラシ２３６が配置されている。また、吸気口２３１の左右には、サイドブラシ２３７が配置されている。 A description of the same parts as the relay self-propelled device 101 will be omitted, and parts unique to the work self-propelled device 201 will be described.
As shown in FIG. 5, the top plate 202 b of the work self-propelled device 201 is provided with a lid portion 203 that is accommodated in the housing 202 and can be opened and closed for taking in and out a container of a dust collection chamber 233 (not shown in FIG. 5). Installed in the central part. An exhaust port 232 is formed in the vicinity of the boundary between the front portion and the middle portion of the top plate 202b.
Further, as shown in FIG. 6, the bottom plate 202a has an air inlet 231 that is open, and a rotating brush 236 that sweeps the floor surface is disposed in the opening. Further, side brushes 237 are arranged on the left and right sides of the air inlet 231.

以下、図４に示す各構成要素のうち作業用自走機器２０１に固有の要素を説明する。
底板２０２ａに配置された吸気口２３１および天板２０２ｂに配置された排気口２３２は、それぞれ掃除のために吸気および排気を行う部分である。
集塵室２３３は、床面の塵埃を集める部分であり、主として、図示しない集塵室と、フィルタ部と、集塵室およびフィルタ部を覆うカバー部とを備える。また、吸気口２３１と連通する流入路および排気口２３２と連通する排出路とを有する。排出路には電動送風機２３４がその途中に配置されている。電動送風機２３４は、吸気口２３１から空気を吸い込み、その空気を、流入路を介して集塵容器内に導き、集塵後の空気を、排出路を介して排気口２３２から外部へ放出する気流を発生させる。 Hereinafter, elements unique to the work self-propelled device 201 among the components illustrated in FIG. 4 will be described.
The intake port 231 disposed on the bottom plate 202a and the exhaust port 232 disposed on the top plate 202b are portions for performing intake and exhaust for cleaning, respectively.
The dust collection chamber 233 is a part that collects dust on the floor surface, and mainly includes a dust collection chamber (not shown), a filter unit, and a cover unit that covers the dust collection chamber and the filter unit. Further, an inflow path communicating with the intake port 231 and an exhaust path communicating with the exhaust port 232 are provided. An electric blower 234 is disposed in the middle of the discharge path. The electric blower 234 sucks air from the air inlet 231, guides the air into the dust collecting container via the inflow passage, and discharges the air after dust collection to the outside from the exhaust outlet 232 via the discharge passage. Is generated.

吸気口２３１の奥に設けられた回転ブラシ２３６は、清掃作業時に底面と平行な軸心廻りに回転する。吸気口２３１の左右両側には底板２０２ａに垂直な回転軸心廻りに回転するサイドブラシ２３７が設けられている。回転ブラシ２３６は、回転軸であるローラの外周面に螺旋状にブラシを植設することにより形成されている。サイドブラシ２３７は、回転軸の下端にブラシ束を放射状に設けることにより形成されている。なお、回転ブラシ２３６の回転軸および一対のサイドブラシ２３７の回転軸は、筐体２０２の底板２０２ａの一部に枢着されると共に、その付近に設けられたブラシモータ２３５とプーリおよびベルト等を含む動力伝達機構を介して連結されている。
記憶部２１９は、例えば、充電池２１２の残容量等の状態を示す電池情報２１９ｃおよび集塵室２３３に収容された塵埃の多少を示す集塵情報２１９ｄを格納する。集塵室２３３に収容された塵埃の多少は、公知の手法で検出できる。例えば、電動送風機２３４が作動している状態で電動送風機２３４の駆動電流を測定することによって、集塵室２３３の塵埃の多少を検出してもよい。
以上が、作業用自走機器の具体的な構成例である。 The rotary brush 236 provided in the back of the air inlet 231 rotates around an axis parallel to the bottom surface during cleaning work. Side brushes 237 that rotate around a rotation axis perpendicular to the bottom plate 202a are provided on both the left and right sides of the air inlet 231. The rotating brush 236 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 237 is formed by radially providing a brush bundle at the lower end of the rotating shaft. The rotating shaft of the rotating brush 236 and the rotating shaft of the pair of side brushes 237 are pivotally attached to a part of the bottom plate 202a of the housing 202, and a brush motor 235 provided in the vicinity thereof, a pulley, a belt, etc. It is connected via a power transmission mechanism that includes it.
The storage unit 219 stores, for example, battery information 219c indicating a state such as a remaining capacity of the rechargeable battery 212 and dust collection information 219d indicating the amount of dust stored in the dust collection chamber 233. Some of the dust contained in the dust collection chamber 233 can be detected by a known method. For example, the amount of dust in the dust collection chamber 233 may be detected by measuring the drive current of the electric blower 234 while the electric blower 234 is operating.
The above is a specific configuration example of the work self-propelled device.

≪管理機器の構成≫
続いて、移動通信部を介して中継用自走機器１０１と通信を行う管理機器について述べる。
管理機器３０１は、情報処理機器であってこの実施形態においてはユーザーが中継用自走機器１０１および作業用自走機器２０１を監視し制御するために使用するパーソナルコンピュータである。ただし、これに限らず管理機器３０１はスマートフォン、タブレットなどの情報処理機器であってもよい。 ≪Configuration of managed device≫
Next, a management device that communicates with the relay self-running device 101 via the mobile communication unit will be described.
The management device 301 is an information processing device. In this embodiment, the management device 301 is a personal computer used by the user to monitor and control the relay self-running device 101 and the work self-running device 201. However, the present invention is not limited to this, and the management device 301 may be an information processing device such as a smartphone or a tablet.

図７は、この実施形態の管理機器３０１の概略構成を示すブロック図である。図７に示すように、管理機器３０１は、処理部３１１、記憶部３１９、移動通信部３２１、通信アンテナ３２１ａ、操作部３３０および表示部３３１を備える。
処理部３１１は、管理機器３０１の各部を制御し、情報を処理する部分で、ハードウェア資源としてはＣＰＵおよびタイマーや入出力インターフェイス等の周辺回路で構成される。
記憶部３１９は、不揮発性および揮発性のメモリである。記憶部３１９は、処理部３１１が実行する処理プログラムを格納するほか、移動通信部３２１を介して受信された作業用自走機器２０１の電池情報、集塵情報および位置情報を格納する。即ち、図７に電池情報３１９ｃ、集塵情報３１９ｄおよび位置情報３１９ｐで示すのは、管理機器３０１自身の情報でなく作業用自走機器２０１の情報である。複数の作業用自走機器を管理する場合はそれぞれの作業用自走機器の情報を格納する。 FIG. 7 is a block diagram showing a schematic configuration of the management device 301 of this embodiment. As illustrated in FIG. 7, the management device 301 includes a processing unit 311, a storage unit 319, a mobile communication unit 321, a communication antenna 321 a, an operation unit 330, and a display unit 331.
The processing unit 311 controls each unit of the management device 301 and processes information. The hardware resource includes a CPU and a peripheral circuit such as a timer and an input / output interface.
The storage unit 319 is a nonvolatile and volatile memory. The storage unit 319 stores a processing program executed by the processing unit 311 and stores battery information, dust collection information, and position information of the working self-propelled device 201 received via the mobile communication unit 321. That is, the battery information 319c, the dust collection information 319d, and the position information 319p shown in FIG. 7 is not the information of the management device 301 itself but the information of the work self-running device 201. When managing a plurality of work self-propelled devices, information of each work self-propelled device is stored.

移動通信部３２１は、中継用自走機器１０１と通信を行うための通信インターフェイスであり、通信アンテナ３２１ａは通信用アンテナである。
操作部３３０は、ユーザーの操作を受付ける。具体的なハードウェアとしては、操作スイッチ、キーボード、マウスやタッチパネル等が挙げられる。
表示部３３１は、処理部３１１が処理した情報を表示する。具体的なハードウェアとしては液晶や有機ＥＬ等の表示パネルが挙げられる。 The mobile communication unit 321 is a communication interface for communicating with the relay self-running device 101, and the communication antenna 321a is a communication antenna.
The operation unit 330 receives a user operation. Specific hardware includes an operation switch, a keyboard, a mouse, a touch panel, and the like.
The display unit 331 displays information processed by the processing unit 311. Specific hardware includes display panels such as liquid crystal and organic EL.

≪システムとしての機能≫
上述の中継用自走機器１０１、作業用自走機器２０１および管理機器３０１を備えたシステムの機能を説明する。
この実施形態では、オフィス、学校あるいは病院等の広い建屋を複数の作業用自走機器２０１である自走式掃除機で掃除する態様を例に挙げて説明する。その場合、同じフロアを複数の自走式掃除機が協働して清掃する。
例えば、３台の自走式掃除機があり、広いオフィスを３台の自走式掃除機で分担して掃除するものとする。ユーザーは前述のフェンスユニットを用いてフロアを３つの領域に区切る。各自走式掃除機は、３つに区切られた領域のうちの一つにそれぞれ配置され、異なる領域をそれぞれ掃除するものとする。 ≪Function as system≫
The function of the system including the above-described relay self-running device 101, work self-running device 201, and management device 301 will be described.
In this embodiment, a mode in which a large building such as an office, a school, or a hospital is cleaned with a self-propelled cleaner that is a plurality of work-propelled devices 201 will be described as an example. In that case, a plurality of self-propelled cleaners cooperate to clean the same floor.
For example, it is assumed that there are three self-propelled cleaners, and a large office is shared by three self-propelled cleaners for cleaning. The user divides the floor into three areas using the fence unit described above. Each self-propelled cleaner is arranged in one of three divided areas, and cleans different areas.

各自走式掃除機が備える制御部２１１は、清掃作業中に充電池２１２の残容量を検出する。充電池２１２の残容量が予め定められたレベルを下回ったら電池切れの状態と判断して電動送風機２３４およびブラシモータ２３５を停止させる。さらに、走行を停止するよう自律走行部２１７に指示する。自走式掃除機は、清掃作業を中断してその場で停止する。ただし、微弱通信部２２０を介した通信は継続する。
中継用自走機器１０１は境界信号を超えてフロアをくまなく巡回する。巡回中に清掃作業中に自走式掃除機に近づいて微弱通信部１２０を介した通信が可能になったら、その自走式掃除機の識別情報と共にその自走式掃除機の電池情報２１９ｃおよび集塵情報２１９ｄを収集する。自走式掃除機との通信が可能になったことは、両者が通信可能な範囲に位置したことを意味する。
この実施形態において、自走式掃除機から収集された電池情報２１９ｃが電池切れの状態であれば、制御部１１１は自律走行部１１７を制御してその自走式掃除機に近接させる。まもなく電池切れになると予想される状態の場合を含んでもよい。 The control unit 211 included in each self-propelled cleaner detects the remaining capacity of the rechargeable battery 212 during the cleaning operation. When the remaining capacity of the rechargeable battery 212 falls below a predetermined level, it is determined that the battery has run out, and the electric blower 234 and the brush motor 235 are stopped. Furthermore, the autonomous traveling unit 217 is instructed to stop traveling. The self-propelled cleaner stops the cleaning work and stops on the spot. However, communication via the weak communication unit 220 is continued.
The relay self-propelled device 101 goes around the floor exceeding the boundary signal. When the self-propelled cleaner approaches the self-propelled cleaner during the patrol and communication via the weak communication unit 120 becomes possible, the battery information 219c of the self-propelled cleaner and identification information of the self-propelled cleaner are provided. Collect dust collection information 219d. The fact that communication with the self-propelled cleaner is possible means that both are located within a communicable range.
In this embodiment, if the battery information 219c collected from the self-propelled cleaner is out of battery, the control unit 111 controls the autonomous traveling unit 117 to approach the self-propelled cleaner. A case where the battery is expected to be exhausted soon may be included.

自走式掃除機への近接は、例えば障害物検出部２１４が備える超音波センサを用いることで実現できる。即ち、近接対象の自走式掃除機を前方超音波センサ１１４Ｆで検出したらその方向に前進して自走式掃除機に近づく。自走式掃除機はその場で停止しているが必要に応じて旋回し、近づいてくる中継用自走機器１０１を前方超音波センサ２１４Ｆで検出する。前方超音波センサ１１４Ｆが近接対象の自走式掃除機を検出しているならば、両者の前方超音波センサが検出する障害物との距離は同じように近くなっていくはずである。一方、近接対象以外の自走式掃除機や単なる障害物を検出している場合は両者のうちいずれか一方は検出距離が変わらない。微弱通信部１２０を介した通信を行ってその状態を両者で確認しながら対象の自走式掃除機へ近接できる。なお、ここで近接を行うのは自走式掃除機の位置と中継用自走機器１０１の位置との差を小さくするためである。自走式掃除機が位置検出部を備えている場合はこの近接を省略してもよい。   Proximity to the self-propelled cleaner can be realized by using, for example, an ultrasonic sensor provided in the obstacle detection unit 214. That is, if the self-propelled cleaner to be approached is detected by the front ultrasonic sensor 114F, it advances in that direction and approaches the self-propelled cleaner. The self-propelled cleaner is stopped on the spot, but turns as necessary, and the approaching self-propelled device 101 is detected by the front ultrasonic sensor 214F. If the front ultrasonic sensor 114F detects the self-propelled cleaner to be approached, the distance from the obstacles detected by both front ultrasonic sensors should be the same. On the other hand, when a self-propelled cleaner other than a proximity target or a simple obstacle is detected, the detection distance of either one of the two does not change. It is possible to approach the target self-propelled cleaner while performing communication via the weak communication unit 120 and confirming the state thereof. Here, the proximity is performed in order to reduce the difference between the position of the self-propelled cleaner and the position of the relay self-propelled device 101. When the self-propelled cleaner includes a position detection unit, this proximity may be omitted.

自走式掃除機に十分近づいたと判断したら制御部１１１は、収集した情報（識別情報、電池情報２１９ｃおよび集塵情報２１９ｄ）を中継用自走機器１０１の位置情報１１９ｐと共に管理機器３０１へ送信する。送信は、移動通信部１２１を介して行う。なお、自走式掃除機が位置検出部を備えている場合は、自走式掃除機から位置情報を収集すればよい。そして、中継用自走機器１０１の位置情報１１９ｐに代えて自走式掃除機から収集した位置情報を管理機器３０１へ送信すればよい。
自走式掃除機の電池切れ状態の情報等と近接した中継用自走機器１０１の位置情報とを受信したら、管理機器３０１の処理部３１１は、表示部３３１に電池切れ状態の自走式掃除機があることを表示させる。その際に対象の自走式掃除機の識別情報および近接した中継用自走機器１０１の位置情報も併せて表示させる。その表示によって、電池切れ状態で停止中の自走式掃除機の所へ行って充電池２１２を交換するようにユーザーを促す。この実施形態で、各自走式掃除機は充電台に帰還する機能を有していない。電池の容量をできる限り作業に用いるためであり、また、コスト的に作業以外の機能を省いて低廉な装置を実現するためである。 When it is determined that the self-propelled cleaner is sufficiently close, the control unit 111 transmits the collected information (identification information, battery information 219c and dust collection information 219d) to the management device 301 together with the position information 119p of the relay self-propelled device 101. . Transmission is performed via the mobile communication unit 121. In addition, what is necessary is just to collect positional information from a self-propelled cleaner, when a self-propelled cleaner is provided with the position detection part. Then, instead of the position information 119p of the relay self-propelled device 101, the position information collected from the self-propelled cleaner may be transmitted to the management device 301.
When receiving information such as the battery dead state information of the self-propelled cleaner and the position information of the adjacent self-propelled relay device 101, the processing unit 311 of the management device 301 displays the self-propelled cleaner in the display unit 331 with the battery dead. Display that there is a machine. At that time, the identification information of the target self-propelled cleaner and the position information of the adjacent self-propelled relay device 101 are also displayed. The display prompts the user to go to the self-propelled cleaner that is stopped when the battery is dead and replace the rechargeable battery 212. In this embodiment, each self-propelled cleaner does not have a function of returning to the charging stand. This is because the capacity of the battery is used for work as much as possible, and in order to realize an inexpensive device by omitting functions other than work in terms of cost.

また、自走式掃除機から収集された集塵情報２１９ｄの内容が集塵室満杯（ゴミ満杯）の状態であれば、制御部１１１は自律走行部１１７を制御してその自走式掃除機に近接させる。まもなく集塵室２３３が満杯になると予想される状態の場合を含んでもよい。
自走式掃除機に十分近づいたら制御部１１１は、収集した情報（電池情報２１９ｃ、集塵情報２１９ｄおよび識別情報）を中継用自走機器１０１の位置情報１１９ｐと共に管理機器３０１へ送信する。 Further, if the content of the dust collection information 219d collected from the self-propelled cleaner is in a state where the dust collection chamber is full (trash is full), the control unit 111 controls the autonomous traveling unit 117 to control the self-propelled cleaner. Close to. A case where the dust collection chamber 233 is expected to become full soon may be included.
When it is sufficiently close to the self-propelled cleaner, the control unit 111 transmits the collected information (battery information 219c, dust collection information 219d and identification information) to the management device 301 together with the position information 119p of the relay self-propelled device 101.

管理機器３０１の処理部３１１は、自走式掃除機に係る集塵室満杯の状態とそれに近接した中継用自走機器１０１の位置情報とを受信したら、集塵室２３３が満杯状態の自走式掃除機があることを表示部３３１に表示させる。その際に対象の自走式掃除機の識別情報および近接した中継用自走機器１０１の位置情報も表示させる。その表示によって、集塵室満杯状態で停止中の自走式掃除機の所へ行って集塵室２３３に溜まった塵埃を廃棄するようにユーザーを促す。あるいは集塵室２３３が着脱可能であって予備の空の集塵室２３３があればそれと交換するようにユーザーを促す。   When the processing unit 311 of the management device 301 receives the full state of the dust collection chamber related to the self-propelled cleaner and the position information of the relay self-propelled device 101 adjacent thereto, the self-propelled in which the dust collection chamber 233 is full. The display unit 331 displays that there is a vacuum cleaner. At that time, the identification information of the target self-propelled cleaner and the position information of the adjacent self-propelled relay device 101 are also displayed. The display prompts the user to go to the self-propelled cleaner that is stopped in the dust collection chamber full state and discard the dust accumulated in the dust collection chamber 233. Alternatively, if the dust collection chamber 233 is removable and there is a spare empty dust collection chamber 233, the user is prompted to replace it.

また、各自走式掃除機の制御部２１１は、清掃作業が終了したと判断したら電動送風機２３４およびブラシモータ２３５を停止させ、自律走行部１１７の走行を停止させる。清掃作業が終了したとの判断は、清掃開始から予め定められた期間が経過したことに基づいてもよい。
その期間が、清掃作業を行う作業領域の広さに応じて変更されてもよい。作業領域の広さは、例えば制御部２１１が清掃開始時に領域の境界に沿って自走式掃除機を走行させて走行距離と走行経路の形状を検出することによって決定してもよい。走行距離および走行経路の形状の検出は、例えば左駆動輪２１８Ｌと右駆動輪２１８Ｒとに設けられたエンコーダが発生するパルス数えることにより行われてもよい。
あるいは、制御部２１１は清掃作業中に走行した経路を検出して作業領域のマップを作成し、領域内の各所を通る走行経路の密度が予め定められたレベル以上になった場合に清掃作業が終了したと判断してもよい。あるいは、清掃中は基本的につづらおり状の経路を走行していき、作業領域の反対側の境界に達したと判断したら清掃作業が終了したと判断してもよい。 Moreover, if the control part 211 of each self-propelled cleaner is judged that the cleaning work has been completed, the electric blower 234 and the brush motor 235 are stopped and the traveling of the autonomous traveling part 117 is stopped. The determination that the cleaning operation has been completed may be based on the elapse of a predetermined period from the start of cleaning.
The period may be changed according to the size of the work area where the cleaning work is performed. The width of the work area may be determined, for example, by the control unit 211 detecting the travel distance and the shape of the travel route by running the self-propelled cleaner along the boundary of the area at the start of cleaning. The detection of the travel distance and the shape of the travel route may be performed, for example, by counting pulses generated by encoders provided on the left drive wheel 218L and the right drive wheel 218R.
Alternatively, the control unit 211 detects a route traveled during the cleaning work, creates a map of the work area, and the cleaning work is performed when the density of the travel route passing through the various places in the area is equal to or higher than a predetermined level. It may be determined that the process has ended. Alternatively, it may be determined that the cleaning operation has been completed when it is determined that the vehicle has basically traveled along a zigzag path during cleaning and has reached the boundary on the opposite side of the work area.

各自走式掃除機は、巡回する中継用自走機器１０１と通信可能になった時に清掃作業状態を中継用自走機器１０１に知らせる。中継用自走機器１０１は、各自走式掃除機に近接して位置情報を取得する。清掃作業状態とその自走式掃除機の識別情報を位置情報と共に管理機器３０１へ送信する。すべての自走式掃除機の清掃作業状態を取得し送信したら、中継用自走機器１０１は巡回をやめて停止する。その場で停止してもよいし、予め定められた場所へ帰還してもよい。例えば、充電器が設置されたドッキングステーションへ戻って充電池１１２を充電してもよい。
管理機器３０１の処理部３１１は、自走式掃除機の清掃作業状態の情報を受信したら、表示部３３１に清掃作業中、清掃作業終了などの状態を各自走式掃除機の位置と共に表示させ、ユーザーが自走式掃除機の清掃作業状態を把握できるようする。
以上のシステムを用いることにより、ユーザーは清掃作業中にそのフロアにいなくてもよく、管理機器３０１を監視しながら他の用事をすることが可能になる。 Each self-propelled cleaner notifies the relay self-propelled device 101 of the cleaning work state when communication with the circulating self-propelled device 101 becomes possible. The relay self-propelled device 101 acquires position information in the vicinity of each self-propelled cleaner. The cleaning operation state and identification information of the self-propelled cleaner are transmitted to the management device 301 together with the position information. If the cleaning operation state of all the self-propelled cleaners is acquired and transmitted, the relay self-propelled device 101 stops patrol and stops. You may stop on the spot or return to a predetermined place. For example, the rechargeable battery 112 may be charged by returning to the docking station where the charger is installed.
When the processing unit 311 of the management device 301 receives the information on the cleaning work state of the self-propelled cleaner, the display unit 331 displays a state such as the end of the cleaning work together with the position of each self-propelled cleaner on the display unit 331, Allow the user to know the cleaning status of the self-propelled cleaner.
By using the above system, the user does not need to be on the floor during the cleaning operation, and can perform other tasks while monitoring the management device 301.

（実施の形態２）
実施の形態１では、作業用自走機器２０１である自走式掃除機が電池切れ状態になった場合および集塵室２３３が満杯になった場合を述べた。この実施形態では作業用自走機器２０１にコードが絡まったりして、ある領域から脱出できない状態（スタック状態）に陥った場合について述べる。
作業用自走機器２０１の制御部２１１は、例えば自身が走行しているはずにもかかわらず、予め定められた期間を超えても障害物検出部２１４の検出信号に変化がない場合、スタック状態に陥ったと判断することが可能である。 (Embodiment 2)
In Embodiment 1, the case where the self-propelled cleaner, which is the working self-propelled device 201, has run out of the battery and the case where the dust collection chamber 233 is full have been described. In this embodiment, a case will be described in which a cord is entangled in the work self-propelled device 201 and a state where it cannot escape from a certain region (stacked state) is entered.
The control unit 211 of the work self-propelled device 201 is, for example, in a stacked state when the detection signal of the obstacle detection unit 214 does not change even after the predetermined period has passed even though the control unit 211 should be traveling. It is possible to judge that it has fallen into.

スタック状態であると判断した場合、制御部２１１は、巡回する中継用自走機器１０１と通信可能になった時にスタック状態に陥ったことを中継用自走機器１０１に知らせる。
中継用自走機器１０１は、その作業用自走機器２０１に近接して位置情報１１９ｐを取得し、スタック状態であるとの情報とその作業用自走機器２０１の識別情報を位置情報１１９ｐと共に管理機器３０１へ送信する。
管理機器３０１の処理部３１１は、何れかの作業用自走機器２０１がスタック状態にあるとの情報を受信したら、スタック状態にある旨を識別情報および位置情報と共に表示部３３１に表示させる。その表示によって、ユーザーがスタック状態にある作業用自走機器２０１の所へ行ってスタック状態を解消するように促す。 When it is determined that the stack is in a stack state, the control unit 211 notifies the relay self-running device 101 that the device has entered a stack state when communication with the circulating relay self-running device 101 becomes possible.
The relay self-propelled device 101 acquires the position information 119p in the vicinity of the work self-propelled device 201, and manages information indicating that it is in a stacked state and the identification information of the work self-propelled device 201 together with the position information 119p. Transmit to the device 301.
When the processing unit 311 of the management device 301 receives the information that any one of the work self-propelled devices 201 is in the stack state, the processing unit 311 displays the fact that it is in the stack state on the display unit 331 together with the identification information and the position information. The display prompts the user to go to the working self-propelled device 201 in the stack state to cancel the stack state.

（実施の形態３）
実施形態１では、自走式掃除機が電池切れ状態または集塵室満杯状態になったらその場に停止する。
この実施形態では、電池切れ状態または集塵室満杯状態になった自走式掃除機を、中継用自走機器１０１が予め定められた場所まで誘導する態様を述べる。なお、この実施形態において電池切れ状態とは、充電池２１２の残容量が少ないものの前記誘導に従って自走式掃除機が予め定められた場所まで走行できる程度の容量が残っている状態として定められる。 (Embodiment 3)
In the first embodiment, the self-propelled vacuum cleaner stops on the spot when the battery runs out or the dust collecting chamber is full.
In this embodiment, a mode is described in which the self-propelled cleaner 101 that has run out of battery or full of the dust collection chamber is guided to a predetermined location by the relay self-propelled device 101. In this embodiment, the battery exhaustion state is determined as a state in which the remaining capacity of the rechargeable battery 212 is small, but a capacity that allows the self-propelled cleaner to travel to a predetermined location according to the guidance remains.

実施形態１と同様、電池切れ状態または集塵室満杯状態になった自走式掃除機は清掃作業を中断してその場で停止する。そして、巡回する中継用自走機器１０１と通信可能になった時に清掃作業を中断して停止状態にあることを中継用自走機器１０１に知らせる。
その知らせを受けた中継用自走機器１０１は、停止している自走式掃除機に近接する。
その後、中継用自走機器１０１は、停止している自走式掃除機を誘導する旨の通知を、微弱通信部１２０を介して自走式掃除機に送る。
その指示に応答して自走式掃除機は、誘導に従って走行する旨を返信する。さらに、自走式掃除機は前方超音波センサ２１４Ｆが予め定められた範囲内の距離で中継用自走機器１０１を検出するように位置および向きを調整する。 As in the first embodiment, the self-propelled cleaner that has run out of battery or full in the dust collection chamber stops the cleaning operation and stops on the spot. Then, when it becomes possible to communicate with the traveling self-propelled device 101 that circulates, the cleaning operation is interrupted to notify the relay self-propelled device 101 that it is stopped.
The relay self-propelled device 101 that has received the notification comes close to the stopped self-propelled cleaner.
Thereafter, the relay self-propelled device 101 sends a notification to the effect of guiding the stopped self-propelled cleaner to the self-propelled cleaner via the weak communication unit 120.
In response to the instruction, the self-propelled cleaner replies that it will travel according to the guidance. Further, the self-propelled cleaner adjusts the position and orientation so that the forward ultrasonic sensor 214F detects the relay self-propelled device 101 at a distance within a predetermined range.

返信を受けた中継用自走機器１０１は、その場所から目標の誘導位置へ向けて予め定められた速度の範囲内でゆっくりと誘導走行を開始する。自走式掃除機は、前方超音波センサ２１４Ｆが予め定められた範囲内の距離で中継用自走機器１０１を検出し続けるように中継用自走機器１０１の後に従って走行する。走行速度は前記速度の範囲内である。誘導走行する中継用自走機器１０１が進路を左側に変えると左方超音波センサ２１４Ｌが中継用自走機器１０１を検出するようになり、進路を右側に変えると右方超音波センサ２１４Ｒが中継用自走機器１０１を検出するようになる。よって、自走式掃除機は、誘導走行する中継用自走機器１０１の後に従って、かつ予め定められた範囲の距離を保ちながら走行することができる。
あるいは、自走式掃除機は境界信号検出部２２３を備えているのでこれを誘導走行に使用してもよい。即ち、境界信号検出部２２３が検出可能な信号であるが境界信号とは識別可能な誘導信号を出力する機能（図１〜３に図示せず）を中継用自走機器１０１が備えていてもよい。例えば、境界信号と異なるパターンでオンオフする赤外線ビームが誘導信号であり、その誘導信号を中継用自走機器１０１の後方に向けて発光してもよい。自走式掃除機は誘導信号の方向を検出しながら中継用自走機器１０１に従って走行する。その際、前方超音波センサ１１４Ｆを用いて中継用自走機器１０１と所定の間隔を保ちながら走行する。 The relay self-propelled device 101 that has received the reply slowly starts the guided traveling within a predetermined speed range from the place toward the target guiding position. The self-propelled cleaner travels after the relay self-propelled device 101 so that the forward ultrasonic sensor 214F continues to detect the relay self-propelled device 101 at a distance within a predetermined range. The traveling speed is within the speed range. When the guided self-propelled device 101 changes its route to the left, the left ultrasonic sensor 214L detects the relay self-propelled device 101, and when the route changes to the right, the right ultrasonic sensor 214R relays. Self-propelled device 101 is detected. Therefore, the self-propelled cleaner can travel following the relay self-propelled device 101 that performs guided traveling while maintaining a distance within a predetermined range.
Or since the self-propelled cleaner is provided with the boundary signal detection part 223, you may use this for a guidance run. That is, even if the relay self-propelled device 101 has a function (not shown in FIGS. 1 to 3) that outputs a guidance signal that can be detected by the boundary signal detection unit 223 but can be distinguished from the boundary signal. Good. For example, an infrared beam that turns on and off in a pattern different from the boundary signal may be a guidance signal, and the guidance signal may be emitted toward the rear of the relay self-running device 101. The self-propelled cleaner travels according to the relay self-propelled device 101 while detecting the direction of the guidance signal. At that time, the vehicle travels while maintaining a predetermined distance from the relay self-running device 101 using the front ultrasonic sensor 114F.

なお、誘導走行中に中継用自走機器１０１と自走式掃除機とは、微弱通信部１２０および２２０を介した通信を行い、互いの距離および進路変更について連絡し、確認し合いながら走行する。
中継用自走機器１０１が自走式掃除機を誘導する場所は、作業領域内の特定の場所であって、例えば管理機器３０１を用いてユーザーが予め指定した場所である。 Note that the relay self-propelled device 101 and the self-propelled vacuum cleaner communicate via the weak communication units 120 and 220 during the guidance traveling, and communicate while confirming and confirming each other's distance and route change. .
The place where the relay self-propelled device 101 guides the self-propelled cleaner is a specific place in the work area, for example, a place designated in advance by the user using the management device 301.

（実施の形態４）
この実施形態において、作業用自走機器２０１は、例えば車輪にエンコーダを備えるなどして自身の移動に伴う相対的な位置の変化を検出できるものとする。その場合、作業用自走機器２０１は、微弱通信部を介した通信により中継用自走機器１０１から目標位置の指示を受けると、現在の位置を起点として目標の位置まで移動することができる。つまり、実施形態３で述べたように中継用自走機器１０１が誘導走行をしなくても、作業用自走機器２０１が自ら目標の位置へ移動できる。
その際に、中継用自走機器１０１は、作業用自走機器２０１の後に付いて走行してもよい。即ち、前方超音波センサ１１４Ｆが作業用自走機器２０１を予め定められた範囲内に検出し続けるように作業用自走機器２０１の後ろを走行してもよい。走行中に位置検出部１２２により現在の位置を確認し、自身の少し前方を走行する作業用自走機器が目標位置に向けて正しい経路を走行しているかを確認してもよい。そして、微弱通信部１２０を介した通信により作業用自走機器２０１に進路を補正する指示を与えてもよい。 (Embodiment 4)
In this embodiment, it is assumed that the work self-propelled device 201 can detect a change in the relative position accompanying its movement, for example, by providing an encoder on a wheel. In this case, the work self-propelled device 201 can move to the target position starting from the current position when receiving an instruction of the target position from the relay self-propelled device 101 by communication via the weak communication unit. That is, as described in the third embodiment, the work self-propelled device 201 can move to the target position by itself even if the relay self-propelled device 101 does not perform guided travel.
At that time, the relay self-propelled device 101 may travel after the work self-propelled device 201. That is, the front ultrasonic sensor 114F may travel behind the working self-propelled device 201 so that the working self-propelled device 201 continues to be detected within a predetermined range. The current position may be confirmed by the position detection unit 122 during traveling, and it may be confirmed whether the work self-propelled device traveling slightly ahead of the vehicle is traveling on the correct route toward the target position. And you may give the instruction | indication which correct | amends a course to the working self-propelled apparatus 201 by communication via the weak communication part 120. FIG.

以上に述べたように、
（i）この発明による中継用自走機器は、外部の少なくとも１台の作業用自走機器の状態を取得するために微弱な電力で無線通信を行う微弱通信部と、前記作業用自走機器が作業する際に走行する移動領域を自律的に走行するための自律走行部と、前記微弱通信部よりも広い通信領域であって少なくとも外部の管理機器を包含する通信領域を有し前記作業用自走機器から取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、前記微弱通信部、前記自律走行部および前記移動通信部の動作を制御する制御部とを備え、前記制御部は、前記作業用自走機器の状態を取得するために前記自律走行部を制御して前記移動領域を巡回させることを特徴とする。 As mentioned above,
(I) A relay self-propelled device according to the present invention includes a weak communication unit that performs wireless communication with weak power to acquire the state of at least one external work self-propelled device, and the work self-propelled device. An autonomous traveling unit for autonomously traveling in a moving region that travels when the user works, and a communication region that is wider than the weak communication unit and includes at least an external management device. A mobile communication unit that performs wireless communication in order to send the state acquired from the self-running device to an external management device, and a control unit that controls operations of the weak communication unit, the autonomous running unit, and the mobile communication unit, The control unit controls the autonomous traveling unit to acquire a state of the working self-propelled device and makes the moving area go around.

この発明において、微弱通信部は、移動通信部よりも微弱な電力で通信を行うので電力消費が少ない。
微弱通信部の具体的な通信方式としては、例えば、ブルートゥース（登録商標）・ロー・エナジーの仕様に準拠した通信方式が挙げられるが、これに限定されるものではない。
移動通信部の具体的な通信方式としては、例えば、Ｗｉ−Ｆｉ規格に準拠した通信方式が挙げられるが、これに限定されるものではない。Ｗｉ−Ｆｉ規格準拠の中心方式は無線ＬＡＮに広く用いられている。 In this invention, the weak communication unit communicates with weaker power than the mobile communication unit, and therefore consumes less power.
As a specific communication method of the weak communication unit, for example, a communication method compliant with the specification of Bluetooth (registered trademark) Law Energy can be mentioned, but the communication method is not limited thereto.
As a specific communication method of the mobile communication unit, for example, a communication method compliant with the Wi-Fi standard can be mentioned, but it is not limited to this. A central system based on the Wi-Fi standard is widely used in wireless LANs.

また、管理機器は、中継用自走機器と通信してユーザーが監視するための機器である。作業用自走機器とは中継用自走機器を介して通信を行う。管理機器の具体的な態様としては、スマートフォン、タブレット、パーソナルコンピュータなどの情報処理機器が挙げられるが、これに限定されない。
さらに管理機器の移動通信部ならびに通信アンテナは管理機器と一体の形態であるとは限らず、例えばＷｉ−Ｆｉ規格に準拠した無線ＬＡＮルータがその役割を担い、インターネット回線で管理機器と接続されているシステムであってもよく、また中継用自走機器の移動通信部の通信領域は必ずしも管理機器全体を包含する必要はなく、少なくとも管理機器の通信アンテナを含んでおればよい。
巡回は、前記移動領域内で中継用自走機器を走行させるものである。前記移動領域内で作業用自走機器に近接して確実に通信を行うには、前記領域内をくまなく走行することが好ましい。効率的な巡回のためには、予め定められた順路に従って走行することが好ましい。例えば、葛折状の順路である。ただし、走行の順路はこれに限られず、また、移動領域内をランダムに走行してもよい。 The management device is a device for the user to monitor by communicating with the relay self-running device. It communicates with the work self-propelled device via the relay self-propelled device. Specific examples of the management device include information processing devices such as a smartphone, a tablet, and a personal computer, but are not limited thereto.
Furthermore, the mobile communication unit and the communication antenna of the management device are not necessarily integrated with the management device. For example, a wireless LAN router compliant with the Wi-Fi standard plays the role and is connected to the management device via the Internet line. In addition, the communication area of the mobile communication unit of the relay self-propelled device does not necessarily include the entire management device, and may include at least the communication antenna of the management device.
In the patrol, the relay self-propelled device runs in the moving area. In order to communicate reliably in the movement area in the vicinity of the work self-propelled device, it is preferable to travel all over the area. For efficient patrol, it is preferable to travel according to a predetermined route. For example, it is a twisted route. However, the traveling route is not limited to this, and the traveling route may be traveled at random within the moving region.

さらに、この発明の好ましい態様について説明する。
（ii）前記中継用自走機器は少なくとも前記移動領域における位置を検出する位置検出部をさらに備え、前記制御部は、巡回中に前記作業用自走機器の近傍を走行した際の位置情報を前記管理機器へ送るようにしてもよい。
このようにすれば、作業用自走機器が自身の位置を検出する機能を備えていなくても、中継用自走機器が近傍を走行すると前記作業用自走機器の位置が前記管理機器に送られるので、管理機器側で作業用自走機器の位置を把握できる。例えば、電池切れや集塵室に塵埃が満杯の状態で作業用自走機器が停止した場合、中継用自走機器が巡回中に近傍を走行すると、停止している位置が管理機器側で把握できるようになる。
（iii）前記作業用自走機器は、充電式の電池で駆動され、前記作業用自走機器が電池切れの状態で停止している場合、前記制御部は巡回中に近傍を走行した際に前記微弱通信部を介してその作業用自走機器の電池切れ状態を取得し、取得された電池切れ状態および前記位置検出部から得た現在位置を前記管理機器へ送ってもよい。
このようにすれば、中継用自走機器の巡回によって、電池切れ状態で停止している作業用自走機器の状態を管理機器へ送信できる。管理機器をモニタするユーザーは、前記状態の通知を受けて、作業用自走機器が停止している位置へ行って電池を交換する等のしかるべき対応をとることができる。 Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) The relay self-propelled device further includes a position detection unit that detects at least a position in the moving region, and the control unit obtains position information when traveling in the vicinity of the work self-propelled device during a patrol. You may make it send to the said management apparatus.
In this way, even if the work self-propelled device does not have a function of detecting its own position, when the relay self-propelled device travels in the vicinity, the position of the work self-propelled device is sent to the management device. Therefore, the position of the self-propelled device for work can be grasped on the management device side. For example, if the self-propelled device for work stops when the battery is dead or the dust chamber is full of dust, if the self-propelled device for relay travels in the vicinity during patrol, the management device will know where it is stopped become able to.
(Iii) When the work self-propelled device is driven by a rechargeable battery and the work self-propelled device is stopped in a state of running out of the battery, the control unit travels in the vicinity during the patrol. The battery-running state of the working self-propelled device may be acquired via the weak communication unit, and the acquired battery-running state and the current position obtained from the position detection unit may be sent to the management device.
If it does in this way, the state of the work self-propelled apparatus stopped by the battery run-out state can be transmitted to the management apparatus by patrol of the relay self-propelled apparatus. Upon receiving the notification of the state, the user who monitors the management device can take appropriate measures such as going to a position where the working self-propelled device is stopped and replacing the battery.

（iv）前記作業用自走機器は、塵埃を吸引して集塵室に溜める自走式掃除機であり、前記制御部は巡回中に近傍を走行した際、前記微弱通信部を介してその作業用自走機器の集塵室に溜まった塵埃の量を状態として取得し、その作業用自走機器が集塵室に塵埃が満杯になって停止している場合、満杯停止状態および前記位置検出部から得た現在位置を前記管理機器へ送ってもよい。
このようにすれば、中継用自走機器の巡回によって、集塵室が塵埃で満杯状態になり停止している作業用自走機器の状態を管理機器へ送信できる。管理機器をモニタするユーザーは、前記状態の通知を受けて、作業用自走機器が停止している位置へ行って塵埃を廃棄する等のしかるべき対応をとることができる。 (Iv) The working self-propelled device is a self-propelled cleaner that sucks dust and collects it in a dust collection chamber, and when the control unit travels in the vicinity during patrol, When the amount of dust collected in the dust collection chamber of the work self-propelled device is acquired as a state and the work self-propelled device is stopped due to the dust collecting chamber being full, the full stop state and the position The current position obtained from the detection unit may be sent to the management device.
In this way, the state of the working self-propelled device that is stopped because the dust collection chamber is filled with dust can be transmitted to the management device by the circulation of the relay self-propelled device. The user who monitors the management device can take an appropriate action such as going to a position where the working self-propelled device is stopped and discarding dust in response to the notification of the state.

（v）前記微弱通信部は、前記作業用自走機器に指示を送ることが可能であり、前記制御部は、巡回中に前記作業用自走機器の近傍を走行した際にその状態を取得し、その作業用自走機器を予め定められた位置または前記管理機器の指示する位置へ移動させるべき状態にあると判断した場合に、前記微弱通信部から指示を送りながらその位置へ前記作業用自走機器を誘導するように制御してもよい。
このようにすれば、例えば電池残量が予め定められたレベルを下回った状態の作業用自走機器を充電器の位置へ誘導したり、集塵室が満杯になった作業用自走機器を充電器の位置へ誘導したりできる。 (V) The weak communication unit can send an instruction to the work self-propelled device, and the control unit acquires the state when traveling near the work self-propelled device during patrol. And when it is determined that the self-running device for work is in a state to be moved to a predetermined position or a position designated by the management device, the work communication device is sent to that position while sending an instruction from the weak communication unit. You may control so that a self-propelled device may be guided.
In this way, for example, a self-propelled device for work in which the remaining battery level is below a predetermined level is guided to the position of the charger, or a self-propelled device for work in which the dust collection chamber is full is used. Or lead to the position of the charger.

ここで、作業用自走機器を誘導するとは、作業用自走機器が目標の位置へ移動できるように走行を支援することを広く意味する。例えば、作業用自走機器は自律走行のために障害物を検出するセンサを備えている。そのセンサと微弱通信部を介した通信とを利用して中継用自走機器に追従して目標位置まで移動する態様が考えられる。   Here, to guide the work self-propelled device widely means to support the travel so that the work self-propelled device can move to the target position. For example, a working self-propelled device includes a sensor that detects an obstacle for autonomous traveling. A mode in which the sensor and communication via the weak communication unit are used to follow the relay self-running device and move to the target position is conceivable.

この発明の好ましい態様には、上述した複数の態様のうちの何れかを組み合わせたものも含まれる。
前述した実施の形態の他にも、この発明について種々の変形例があり得る。それらの変形例は、この発明の範囲に属さないと解されるべきものではない。この発明には、請求の範囲と均等の意味および前記範囲内でのすべての変形とが含まれるべきである。 Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

１０１：中継用自走機器、 １０２，２０２：筐体、 １０２ａ，２０２ａ：底板、 １０２ｂ，２０２ｂ：天板、 １０２ｃ，２０２ｃ：側板、 １１１，２１１：制御部、 １１２，２１２：充電池、 １１４，２１４：障害物検出部、 １１４Ｆ，２１４Ｆ：前方超音波センサ、 １１４Ｌ，２１４Ｌ：左方超音波センサ、 １１４Ｒ，２１４Ｒ：右方超音波センサ、 １１５Ｃ，２１５Ｃ：衝突センサ、 １１６Ｌ，２１６Ｌ：左輪床面センサ、 １１６Ｒ，２１６Ｒ：右輪床面センサ、 １１６Ｆ，２１６Ｆ：前方床面センサ、 １１６Ｔ：後方床面センサ、 １１７，２１７：自律走行部、 １１８Ｌ，２１８Ｌ：左駆動輪、 １１８Ｒ，２１８Ｒ：右駆動輪、 １１８Ｔ，２１８Ｔ：後輪、 １１９，２１９，３１９：記憶部、 １１９ｃ，２１９ｃ，３１９ｃ：電池情報、 １１９ｐ，３１９ｐ：位置情報、 １２０，２２０：微弱通信部、 １２１，３２１：移動通信部、 １２１ａ，３２１ａ：通信アンテナ、 １２２：位置検出部、 １２３，２２３：境界信号検出部、 ２０１：作業用自走機器、 ２０３：蓋部、 ２１９ｄ，３１９ｄ：集塵情報、 ２３１：吸気口、 ２３２：排気口、 ２３３：集塵室、 ２３４：電動送風機、 ２３５：ブラシモータ、 ２３６：回転ブラシ、 ２３７：サイドブラシ、 ３０１：管理機器、 ３１１：処理部、 ３３０：操作部、 ３３１：表示部 101: Self-propelled device for relay, 102, 202: Case, 102a, 202a: Bottom plate, 102b, 202b: Top plate, 102c, 202c: Side plate, 111, 211: Control unit, 112, 212: Rechargeable battery, 114, 214: Obstacle detection unit, 114F, 214F: Front ultrasonic sensor, 114L, 214L: Left ultrasonic sensor, 114R, 214R: Right ultrasonic sensor, 115C, 215C: Collision sensor, 116L, 216L: Left wheel floor surface Sensor, 116R, 216R: Right wheel floor sensor, 116F, 216F: Front floor sensor, 116T: Rear floor sensor, 117, 217: Autonomous traveling unit, 118L, 218L: Left drive wheel, 118R, 218R: Right drive Wheel, 118T, 218T: rear wheel, 119, 219, 19: storage unit, 119c, 219c, 319c: battery information, 119p, 319p: position information, 120, 220: weak communication unit, 121, 321: mobile communication unit, 121a, 321a: communication antenna, 122: position detection unit, 123, 223: Boundary signal detection unit, 201: Self-propelled device for work, 203: Lid unit, 219d, 319d: Dust collection information, 231: Inlet port, 232: Exhaust port, 233: Dust collection chamber, 234: Electric blower 235: Brush motor, 236: Rotating brush, 237: Side brush, 301: Management device, 311: Processing unit, 330: Operation unit, 331: Display unit

Claims (6)

外部の少なくとも１台の作業用自走機器の状態を取得するために微弱な電力で無線通信を行う微弱通信部と、
前記作業用自走機器が作業する際に走行する移動領域を自律的に走行するための自律走行部と、
前記微弱通信部よりも広い通信領域であって少なくとも外部の管理機器を包含する通信領域を有し前記作業用自走機器から取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、
前記微弱通信部、前記自律走行部および前記移動通信部の動作を制御する制御部とを備え、
前記制御部は、前記作業用自走機器の状態を取得するために前記自律走行部を制御して前記移動領域を巡回させる中継用自走機器。 A weak communication unit that performs wireless communication with weak power to acquire the state of at least one external self-propelled device for work; and
An autonomous traveling unit for autonomously traveling in a moving area that travels when the working self-propelled device is working;
Mobile communication that has a communication area wider than the weak communication unit and includes at least an external management device, and performs wireless communication to send the state acquired from the work self-propelled device to the external management device And
A control unit that controls operations of the weak communication unit, the autonomous traveling unit, and the mobile communication unit;
The said control part is a self-propelled apparatus for relay which controls the said autonomous traveling part and circulates the said movement area | region in order to acquire the state of the said self-propelled apparatus for work. 前記中継用自走機器は少なくとも前記移動領域における位置を検出する位置検出部をさらに備え、
前記制御部は、巡回中に前記作業用自走機器の近傍を走行した際の位置情報を前記管理機器へ送る請求項１に記載の中継用自走機器。 The relay self-propelled device further includes a position detecting unit that detects at least a position in the moving region,
2. The relay self-propelled device according to claim 1, wherein the control unit sends position information when traveling in the vicinity of the work self-propelled device during patrol to the management device. 前記作業用自走機器は、電池で駆動され、
前記作業用自走機器が電池切れの状態で停止している場合、前記制御部は巡回中に近傍を走行した際に前記微弱通信部を介してその作業用自走機器の電池切れ状態を取得し、取得された電池切れ状態を前記管理機器へ送る請求項１または２に記載の中継用自走機器。 The working self-propelled device is driven by a battery,
When the working self-propelled device is stopped in a state of running out of battery, the control unit acquires the battery dead state of the working self-propelled device via the weak communication unit when traveling in the vicinity during patrol. The relay self-propelled device according to claim 1, wherein the acquired battery dead state is sent to the management device. 前記作業用自走機器は、塵埃を吸引して集塵室に溜める自走式掃除機であり、前記制御部は巡回中に近傍を走行した際、前記微弱通信部を介してその作業用自走機器の集塵室に溜まった塵埃の量を状態として取得し、その作業用自走機器が集塵室に塵埃が満杯になって停止している場合、満杯停止状態を前記管理機器へ送る請求項１〜３の何れか一つに記載の中継用自走機器。   The working self-propelled device is a self-propelled cleaner that sucks dust and collects it in a dust collection chamber, and when the control unit travels in the vicinity during patrol, the working self-propelled device passes through the weak communication unit. The amount of dust accumulated in the dust collection chamber of the traveling device is acquired as a state, and when the self-propelled device for work is stopped because the dust collection chamber is full of dust, the full stop state is sent to the management device. The self-propelled device for relay according to any one of claims 1 to 3. 前記微弱通信部は、前記作業用自走機器に指示を送ることが可能であり、
前記制御部は、巡回中に前記作業用自走機器の近傍を走行した際にその状態を取得し、その作業用自走機器を予め定められた位置または前記管理機器の指示する位置へ移動させるべき状態にあると判断した場合に、前記微弱通信部から指示を送りながらその位置へ前記作業用自走機器を誘導するように制御する請求項２に記載の中継用自走機器。 The weak communication unit can send an instruction to the work self-propelled device,
The control unit acquires the state when traveling in the vicinity of the working self-propelled device during patrol, and moves the working self-propelled device to a predetermined position or a position designated by the management device. The relay self-propelled device according to claim 2, wherein, when it is determined that the power is in a power state, control is performed so that the work self-propelled device is guided to the position while sending an instruction from the weak communication unit. 作業用自走機器と、中継用自走機器と、管理機器とから少なくとも構成されるシステムであって、
前記作業用自走機器は、微弱な電力で前記中継用自走機器と無線通信を行う作業機微弱通信部と、作業する際に走行する移動領域を自律的に走行するための作業機自律走行部とを備え、
前記中継用自走機器は、前記作業用自走機器と微弱な電力で無線通信を行う中継機微弱通信部と、前記移動領域を自律的に走行するための中継機自律走行部と、前記中継機微弱通信部よりも広い通信領域であって少なくとも外部の管理機器を包含する通信領域を有し前記作業用自走機器から取得した状態を外部の管理機器へ送るために無線通信を行う移動通信部と、制御部とを備え、
前記管理機器は、前記中継用自走機器と無線通信を行う管理機移動通信部とを備える自走機器用通信中継システム。 A system comprising at least a work self-propelled device, a relay self-propelled device, and a management device,
The working self-propelled device includes a work machine weak communication unit that wirelessly communicates with the relay self-propelled device with weak power, and a work machine autonomous traveling for autonomously traveling in a moving region that travels when working. With
The relay self-propelled device includes a relay weak communication unit that wirelessly communicates with the work self-propelled device with weak power, a relay autonomous traveling unit for autonomously traveling in the moving area, and the relay Mobile communication that has a communication area wider than the weak communication section and includes at least an external management device, and performs wireless communication to send the state acquired from the work self-propelled device to the external management device And a control unit,
The said management apparatus is a communication relay system for self-propelled apparatus provided with the management machine mobile communication part which carries out radio | wireless communication with the said self-propelled apparatus for relay.
JP2016089171A 2016-04-27 2016-04-27 Self-propelled equipment for relay and communication relay system for self-propelled equipment Expired - Fee Related JP6681260B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016089171A JP6681260B2 (en) 2016-04-27 2016-04-27 Self-propelled equipment for relay and communication relay system for self-propelled equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016089171A JP6681260B2 (en) 2016-04-27 2016-04-27 Self-propelled equipment for relay and communication relay system for self-propelled equipment

Publications (2)

Publication Number Publication Date
JP2017199190A true JP2017199190A (en) 2017-11-02
JP6681260B2 JP6681260B2 (en) 2020-04-15

Family

ID=60239354

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016089171A Expired - Fee Related JP6681260B2 (en) 2016-04-27 2016-04-27 Self-propelled equipment for relay and communication relay system for self-propelled equipment

Country Status (1)

Country Link
JP (1) JP6681260B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021536064A (en) * 2018-09-06 2021-12-23 エルジー エレクトロニクス インコーポレイティドLg Electronics Inc. Mobile robots and their control methods
US11409308B2 (en) 2018-09-06 2022-08-09 Lg Electronics Inc. Robot cleaner and a controlling method for the same
US11432697B2 (en) 2018-09-06 2022-09-06 Lg Electronics Inc. Robot cleaner and a controlling method for the same
US11614746B2 (en) 2018-01-05 2023-03-28 Irobot Corporation Mobile cleaning robot teaming and persistent mapping
US20230347924A1 (en) * 2022-04-29 2023-11-02 Toyota Research Institute, Inc. Coordinating use of different motion prediction models to predict a location of a mobile robot at a future point in time

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11614746B2 (en) 2018-01-05 2023-03-28 Irobot Corporation Mobile cleaning robot teaming and persistent mapping
JP2021536064A (en) * 2018-09-06 2021-12-23 エルジー エレクトロニクス インコーポレイティドLg Electronics Inc. Mobile robots and their control methods
JP2021536637A (en) * 2018-09-06 2021-12-27 エルジー エレクトロニクス インコーポレイティドLg Electronics Inc. Multiple autonomous mobile robots
US11409308B2 (en) 2018-09-06 2022-08-09 Lg Electronics Inc. Robot cleaner and a controlling method for the same
US11432697B2 (en) 2018-09-06 2022-09-06 Lg Electronics Inc. Robot cleaner and a controlling method for the same
JP7165259B2 (en) 2018-09-06 2022-11-02 エルジー エレクトロニクス インコーポレイティド Multiple autonomous mobile robots
JP7240485B2 (en) 2018-09-06 2023-03-15 エルジー エレクトロニクス インコーポレイティド Mobile robot and its control method
US11906979B2 (en) 2018-09-06 2024-02-20 Lg Electronics Inc. Plurality of autonomous mobile robots and controlling method for the same
US20230347924A1 (en) * 2022-04-29 2023-11-02 Toyota Research Institute, Inc. Coordinating use of different motion prediction models to predict a location of a mobile robot at a future point in time

Also Published As

Publication number Publication date
JP6681260B2 (en) 2020-04-15

Similar Documents

Publication Publication Date Title
CN112654473B (en) Robot cleaner and control method thereof
US9826873B2 (en) Traveling body device
EP3727122B1 (en) Robot cleaners and controlling method thereof
CN109562519B (en) Mobile robot and control method thereof
JP6681260B2 (en) Self-propelled equipment for relay and communication relay system for self-propelled equipment
EP3093727B1 (en) Traveling body device
US20150151646A1 (en) Self-propelled electronic device
US10542858B2 (en) Self-propelled electronic device and travel method for self-propelled electronic device
TWI584093B (en) A self-propelled electronic machine and a walking method of the self-propelled electronic machine
US20170215672A1 (en) Autonomous traveling body
JP2014180501A (en) Self-propelled vacuum cleaner
EP3093728B1 (en) Self-propelled device
JP6636289B2 (en) Traveling device
WO2016098392A1 (en) Self-propelled cleaner
JP6429639B2 (en) Self-propelled electronic device
JP6266331B2 (en) Running body device
JP6261977B2 (en) Running body device
JP2020099461A (en) Autonomously travelling type cleaner
CN211862703U (en) Artificial obstacle generator and autonomous cleaning system
KR100726199B1 (en) Automobile cleaner
JP2022162933A (en) Autonomous travel type cleaner
KR20210039176A (en) Robot Cleaner
JP2017064065A (en) Beacon device and travel body device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190320

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200212

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200225

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200323

R150 Certificate of patent or registration of utility model

Ref document number: 6681260

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees