CN104039210B - Robot device - Google Patents
Robot device Download PDFInfo
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- CN104039210B CN104039210B CN201280067117.0A CN201280067117A CN104039210B CN 104039210 B CN104039210 B CN 104039210B CN 201280067117 A CN201280067117 A CN 201280067117A CN 104039210 B CN104039210 B CN 104039210B
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
Robot device possesses：Voice output unit (9), it exports sound；Detector unit (110), its generation based on detection information detecting event；And sound information storage unit (220), its storage is as the acoustic information of the signal of the sound exporting from voice output unit (9), sound information storage unit (220) stores single 1st acoustic information corresponding with the 1st event and multiple 2nd acoustic informations corresponding with the 2nd event, voice output unit (9) output and the 1st acoustic information and the corresponding sound of the 2nd acoustic information, the 2nd acoustic information selects from multiple 2nd acoustic informations according to event.Thus, even if the change of the sound being exported is many, user also can correctly identify its content, can correctly hold the state of robot device.
Description
Technical field
The present invention relates to robot device etc., by information output to outside, more particularly to export the sound as information
Robot device, robot device of outside of robot etc. will be sent to as information such as the character of information, images.
Background technology
In the past, in the robot device such as pet robot imitate house pet it is known that user is spoken or with use
The device that person conversates.In addition it is also known that specifying the affective state of simulation of robot device, according to emotion, user being made
Go out the robot device of different replies.
For example, recorded following robot in patent documentation 1, it possesses the various sensing such as mike, touch sensor
Device, is determined the emotion of robot, changes, based on the emotion being determined, the sound that robot sends by the input information from sensor
The vocabulary of sound, the order of word row, the stall position of synthesized voice, intonation simultaneously export from speaker.Thus, it is set to export emotion
Abundant synthesized voice.
In addition, in the past it is also known that by with robot device's in replacing the robot device that people is specifically worked
The related information of the working condition information related to the exception that robot device occurs is sent to the device of outside.
For example, recorded as follows in patent documentation 2, internally possessed in the dust collector robot of wireless LAN unit, will
Dust collector robot be in work or standby in, overturn or residual capacity of battery is few etc. that information Email is sent to makes
The pocket telephone of user.
Prior art literature
Patent documentation
Patent documentation 1：The open Application Publication " JP 2002-304188 publication " of Japan
Patent documentation 2：The open Application Publication " JP 2005-118354 publication " of Japan
Content of the invention
Problems to be solved by the invention
But, although the change of the sound of output is many in the robot that patent documentation 1 is recorded, but it is being judged as feelings
In the case that sense is surging, the whole of sound of robot output are changed.As a result, sound whole of robot output and
Generally output is differently output, and therefore user cannot correctly identify the content of sound sometimes, exist and cannot hold machine
The problem of the state of people.
In addition, in the dust collector robot that patent documentation 2 is recorded, only sending the working condition with dust collector robot
The related information information related to the exception that dust collector robot occurs, the information of transmission with low uncertainty.Therefore, user
Only receive specific information from dust collector robot, there is a problem of that user is difficult to feel the friendliness of dust collector robot.
The present application completes in view of the above-mentioned problems, even if the 1st purpose is to provide the change of the sound of output
Many, user also can correctly identify its content, the robot device of state that can correctly hold robot device, control program,
And record has the record media of the embodied on computer readable of control program.
The present application completes in view of the above-mentioned problems, and the 2nd purpose is to provide the change of the information that can increase output
Robot device, control program and the record changed have the recording equipment of the embodied on computer readable of control program.
For solution to problem
The robot device of the present invention is characterised by possessing：The output unit of output information；Based on detection information detection
The detector unit of the generation of event；The information memory cell of the information from the output of above-mentioned output unit for the storage；And use and this
The state of the robot device predetermined operation values that are mapped enter the arithmetic element of row operation, and above- mentioned information memory element is deposited
Store up that 1st information that is mapped single with event and the operation result with event and above-mentioned arithmetic element are mapped the 2nd
Information, above-mentioned operation result is the emotion of robot cleaner,
When being detected the generation of outgoing event by above-mentioned detector unit, above-mentioned output unit exports the 1st according to event
Information or the 2nd information, the 2nd information of this output is mapped with the operation result of above-mentioned arithmetic element.
The robot device of the present invention is characterised by possessing：The voice output unit of output sound；Based on detection letter
The detector unit of the generation of breath detecting event；Storage is as the acoustic information of the signal of the sound exporting from voice output unit
Sound information storage unit；And the event being detected according to detector unit determines the emotion determining means of emotion, acoustic information
Memory element stores single 1st acoustic information corresponding with the 1st event and multiple 2nd sound letter corresponding with the 2nd event
Breath, voice output unit output with the 1st acoustic information and the corresponding sound of the 2nd acoustic information, the 2nd acoustic information according to event with
Emotion selects from multiple 2nd acoustic informations.
The robot device of the present invention is characterised by possessing：The information transmitting unit of transmission information；Based on detection information
The detector unit of the generation of detecting event；The information memory cell of the information that storage sends from information transmitting unit；And according to
The event that detector unit detects determines the emotion determining means of emotion, and information memory cell stores list corresponding with the 1st event
One the 1st information and multiple 2nd information corresponding with the 2nd event, information transmitting unit sends the 1st information and the 2nd information,
2nd information selects from multiple 2nd information according to event and emotion.
Invention effect
According to the present invention, though be provided that the sound being exported change many, user also can correctly identify its content, energy
The correct robot device of state holding robot device, control program and record have the computer-readable of control program
The recording equipment taking.
According to the present invention, it is provided that robot device, control program and the record of the change of the information increasing output have
The recording equipment of the embodied on computer readable of control program.
Brief description
Fig. 1 is the axonometric chart of the robot cleaner 1 of one embodiment of the present invention.
Fig. 2 is the schematic diagram of the guidance panel 5 of one embodiment of the present invention.
Fig. 3 is the upward view of the robot cleaner 1 of one embodiment of the present invention.
Fig. 4 is related to one embodiment of the present invention, and (a) is the signal in the line A-A section of the robot cleaner 1 of Fig. 3
Figure.B () is the sectional view of the dust collecting part 30 taken out from robot cleaner 1.
Fig. 5 is the axonometric chart of the cradle 40 of one embodiment of the present invention.
Fig. 6 is the block diagram of the composition of robot cleaner 1 representing one embodiment of the present invention.
Fig. 7 is related to one embodiment of the present invention, is storage part 200 and the control unit of the robot cleaner 1 representing Fig. 6
The block diagram of 100 composition.
Fig. 8 is the flow chart representing the handling process in embodiments of the invention 1.
Fig. 9 is the flow chart representing the handling process in embodiments of the invention 2.
Figure 10 is the schematic diagram of the robot cleaner 1 being connected with communication network of other embodiments of the present invention.
Figure 11 is the block diagram of the composition of robot cleaner 1 of the other embodiments representing the present invention.
Figure 12 is related to other embodiments of the present invention, is storage part 200 He of the robot cleaner 1 representing Figure 11
The block diagram of the composition of control unit 100.
Figure 13 is the flow chart representing the handling process in embodiments of the invention 3.
Figure 14 is the flow chart representing the handling process in embodiments of the invention 4.
Specific embodiment
(the 1st embodiment)
One embodiment of the following robot device as the present invention, says to robot cleaner referring to the drawings
Bright.
As embodiment, emotion determination section described later based on the generation event relevant with robot cleaner, from " kind
Feelings ", " common ", in " bad mood " 3 stages determine robot cleaner emotion (being equivalent to operation result), based on this emotion
Select acoustic information (information being exported), to illustrate as one from robot cleaner output sound.
Additionally, following so-called event, it is can be by the inside of the robot cleaner of the control unit detection of robot cleaner
With outside state.For example, event is the change of the value of the value of the parameter related to robot cleaner such as residual capacity of battery, parameter
Action instruction, the beginning of action or end, outside temperature, the specific time etc. change, being directed to robot cleaner.
In addition, so-called acoustic information, it is the letter of the sound related to vocabulary, music of output unit output from sound
Number.
(structure of robot device)
Fig. 1 is the axonometric chart of machine people vacuum cleaner.As shown in figure 1, robot cleaner 1 possesses overlooking as circular main body case
Body 2 and the driving wheel 12 (with reference to Fig. 3) for automatically walk, are automatically walks while carrying out the device of dust.In main body
The upper surface of casing 2 is provided with：Cap 3, its dust collecting part 30 (with reference to Fig. 4) is up taken out put into when either on or off；Operation
Panel 5, it carries out instruction input to robot cleaner 1；Signal receiving part 6, it receives returning from cradle 40 described later
Letter in reply number and the signal from remote control unit (not shown)；And air vent 7, it discharges the sky being eliminated dust by dust collecting part 30
Gas.In addition, being provided with sound input unit 8 and audio output unit 9 in the side of main body casing 2, set in the bottom end of main body casing 2
There is a pair of side brush 10.
Fig. 2 represents of guidance panel 5.Guidance panel 5 possesses：Indicate the beginning of dust suction and the beginning of stopping and stopping
Button 51；The mode selecting button 52 of the pattern of dust suction can be selected；Ground setting current time can be set, make robot cleaner 1
The timer settings button 53 in the reservation moment of work；Display current time, the moment display part 54 in reservation moment；When detecting
The rubbish that dust collecting container 31 described later is lighted when filling abandons lamp 55；And represent the battery mark of the charge volume of battery 16 described later
Know 56.
Fig. 3 is the upward view of robot cleaner 1.As shown in figure 3, the bottom surface of main body casing 2 with from bottom surface project
Mode is provided with a pair of driving wheels 12.Rotated in the same direction by the two-wheeled of driving wheel 12, thus robot cleaner 1 is retreated,
Rotated in the opposite direction by two-wheeled, thus robot cleaner 1 conversion direction.Here, robot cleaner 1 automatically walk is entered
Direct of travel during row dust suction is set to front, in Fig. 3 as shown in arrow (being seen as top from paper).In addition, will be with direct of travel
Contrary direction is set to rear.
Be provided with the suction inlet 33 of dust in front of the bottom surface of main body casing 2, around the one of rotary shaft rotation perpendicular to the ground
To side brush 10 and front-wheel 13, it is provided with trailing wheel 14 at bottom surface rear.Suction inlet 33 is recessed in the way of making open surface relative with ground
Located at vacuum cleaner bottom surface.It is configured with rotating brush 11, the rotation that rotating brush 11 props up around the earth's axis parallel to the ground in the inside of suction inlet
Axle rotates.
Fig. 4 (a) represents the schematic diagram in the line A-A section of robot cleaner 1 of Fig. 3.In Fig. 4 (a), robot is inhaled
Dirt device 1 is charged state.As illustrated, robot cleaner 1 possesses dust collecting part 30, powered supplied air in the inside of main body casing 2
Machine 15, battery 16 and control base board 17.Dust collecting part 30 has dust collecting container 31 with the end and the top located at dust collecting container 31
Filter 32.Here, when abandoning the dust of dust collecting container, opening cap 3, dust collecting part 30 can be taken out from main body casing 2.Figure
4 (b) represents the sectional view of the dust collecting part 30 taken out from robot cleaner 1.
Additionally, in the present embodiment, include the situation of dust collecting container 31 with the end exemplified with dust collecting part 30, but this
Bright dust collecting part is not limited only to dust collecting container.Certainly the dust collecting part as the present invention can only include the dust bag of such as sack shape
Son, the filter of dust.
Dust collecting part 30 is connected with the 1st air-breathing road 34 and the 2nd air-breathing road 35.The air-flow such as arrow B1 sucking from suction inlet 33
Shown, rearward circulate in the 1st air-breathing road 34, be flowed into dust collecting part 30.The air-flow being flowed into dust collecting part 30 is by filter 32
Dust is collected in capture, flows out from dust collecting part 30.Then, as shown in arrow B2, forwards circulate in the 2nd air-breathing road 35, flow into
To electric blowing machine 15.Then, from the air vent 7 of the upper surface located at main body casing 2 as shown in arrow B3, rear row upward
Put.Additionally, can possess ion generating device (not shown) in the vicinity of electric blowing machine 15, in this case, comprise ion
Air-flow be discharged from air vent 7.
Battery 16 is the power supply source of robot cleaner 1, when being instructed to dust suction operation, powers from battery 16, electricity
Dynamic pressure fan 15, driving wheel 12, rotating brush 11 and side brush 10 drive.Thus, robot cleaner 1 is in the dust suction area of regulation
Domain automatically walk, the dust of ground F is inhaled into from suction inlet 31.Battery 16 is desirable to repeat the jumbo charging of discharge and recharge
Pond.Lead battery, Ni-MH battery, lithium ion battery for example can be used.In addition, be provided with the rear end of the side face of main body casing 2 carrying out
The charging terminal 4 of the charging of battery 16.It is provided with the control circuit in each portion controlling robot cleaner 1 in control base board 17.
Fig. 5 represents the axonometric chart of cradle 40.As shown in Figure 4,5, cradle 40 is for the electricity to robot cleaner 1
The device charging in pond (power supplier unit) 16.In cradle 40, in the relative face of the side face of main body casing 2 and can and machine
The position of charging terminal 4 contact of device people vacuum cleaner 1 is provided with power supply terminal 41.When robot cleaner 1 charging terminal 4 with fill
During power supply terminal 41 electrical connection of electric seat 40, the electric current of the source power supply connecting from cradle 40 flows through self-propelled suction cleaner 1,
Battery 16 can be made to charge.
In addition, being provided with signal transmission unit (wireless transmission part) 42, signal transmission unit (wireless transmission part) 42 in cradle 40
Send the return signal of the position of the setting place representing cradle 40 and power supply terminal 41.Robot cleaner 1 is detecting
In the case that dust suction terminates or in the case that the charge volume of battery 16 is less than setting, detection is from returning that cradle 40 sends
Letter in reply number, automatically returns to the place set by cradle 40.Here, the detection that dust suction terminates for example can be by detecting machine
People vacuum cleaner 1 moves a certain distance or carries out through certain time.Or can be by guidance panel 5 or remote control dress
Put to receive dust suction termination instruction, interruption instruction etc. and urge to the instruction of cradle 40 return and carry out.Return signal for example can be sent out
Send infrared signal, if robot cleaner 1 leaves from cradle 40, send all the time from signal transmission unit 42.
As return signal, for example, can send infrared signal from signal transmission unit 42.Here, infrared ray can be widely used
Communication means, for example can use IrDA (Infrared Data Association：Infrared Data Association) etc..Additionally, communication
Method can be communicated with the method beyond infrared ray.Can be for example the WLAN (Local using IEEE802.11 etc.
Area Network：LAN), the communication means of the short-distance wireless of Bluetooth (registered trade mark) etc..
(composition of robot device)
The composition of the robot cleaner 1 of an embodiment of robot device of the present invention is represented in Fig. 6.As schemed
Show, robot cleaner 1 possesses control unit 100, guidance panel 5, sound input unit 8, dust collecting part 30, battery 16, storage part
200th, signal receiving part 6, audio output unit 9, hoofing part portion 101, driving wheel 12, rotating brush drive division 102, rotating brush 11,
Side brush drive division 103, side brush 10, electric blowing machine 15 and ion generating device 18.
Control unit 100 located at above-mentioned control base board 17, based on being stored in the program of storage part 200, data and from behaviour
Make panel 5, remote control unit input instruction carry out robot cleaner 1 various actions control.
Hoofing part portion 101 possesses the drive division of driving wheel motor etc. and its motor, based on the control from control unit 100
Signal deciding direction of rotation, anglec of rotation etc., make driving wheel 12 drive.
Rotating brush drive division 102 possesses the drive division of rotation brush motor etc. and its motor, based on the control from control unit 100
Signal deciding rotating speed processed etc., makes rotating brush 11 drive.
Side brush drive division 103 possesses side brush motor etc. and its drive division, is determined based on the control signal from control unit 100
Rotating speed etc., makes side brush 10 drive.
In addition, to the element marking identical reference with above-mentioned explanation, being set to, with identical function, omit
Explanation.
Then, the composition of storage part 200 and control unit 100 is described in detail.
Fig. 7 represents the storage part 200 of the robot cleaner 1 in Fig. 6 and the detailed composition of control unit 100.Additionally, in figure
In 7, omission record is constituted to a part of Fig. 6.
(composition of storage part)
Storage part 200 possesses dust suction number of times storage part 201, operation values storage part 210 and acoustic information storage part (information
Memory element) 220.
Robot cleaner 1 is implemented the number of times of dust suction as dust suction number of times by dust suction number of times storage part 201, daily storage.
Additionally, the dust suction number of times being recorded in dust suction number of times storage part 201 is just updated after being stored in control unit 100.
Operation values storage part 210 stores the emotion of the parameter as the computing carrying out for emotion operational part 122 described later
Operation values M1, have dust suction number of times operation values storage part 211, dust amount operation values storage part 212, residual capacity of battery operation values are deposited
Storage portion 213 and event operation value storage part 214.
Dust suction number of times operation values storage part 211 is mapped with dust suction number of times and stores emotion operation values M1.In table 1 represent with
Dust suction number of times is mapped one of emotion operation values M1 of storage.In Table 1, dust suction number of times represents the dust suction time of nearest a week
Number, Class1～3 represent the character type of robot cleaner.As shown in table 1, dust suction number of times be divided into " less than 4 times ", " 4 times
Above and less than 7 times ", " more than 7 times " 3 stages, for each stage, emotion operation values M1 of every kind of character type correspond to
Come.Will be described in more detail below, but the emotion based on the emotion value M decision robot cleaner 1 using emotion operation values M1 computing,
Vocabulary, music are selected based on the emotion being determined, exports sound from robot cleaner.
[table 1]
Dust amount operation values storage part 212 is mapped with the dust amount of dust collecting part 30 and stores emotion operation values M1.In table 2
Represent one of emotion operation values M1 of the storage that is mapped with the dust amount of dust collecting part 30.Here, in the present embodiment, root
Judge the dust amount of dust collecting part 30 according to the current value of electric blowing machine 15.Specifically, when current value is less than 1.4A, sentence
[table 2]
Residual capacity of battery operation values storage part 213 is mapped with the residual capacity of battery of battery 16 and stores emotion operation values
M1.One of emotion operation values M1 of the storage that is mapped with residual capacity of battery is represented in table 3.As shown in table 3, it is divided into the magnitude of current
" less than 20% ", " more than 20% and less than 90% ", " more than 90% " 3 stages, for each stage, the feelings of every kind of character type
Sense operation values M1 are mapped.
[table 3]
Event operation value storage part 214 makes when user is greeted to robot cleaner 1, by dust collecting part 30 from
Main body casing 2 is pulled down event and emotion operation values M1 when carrying out garbage-cleaning and is mapped storage.
One of stored operation values M1 of expression in table 4.As shown in table 4, for have defeated from panel operation portion 5
" the panel incoming event " of fashionable generation, " the sound incoming event " occurring when having from the input of sound input unit 9, from
" signal input event " that remote control unit occurs when having input (reception) to signal receiving part 6, by dust collecting part 30 from main body case
" dust collecting part pulls down event " that body 2 occurs when pulling down, return cradle 40 success in robot cleaner 1 and start from charging
" return success events ", the generation when robot cleaner 1 returns cradle 40 failure that seat 40 occurs when battery 16 is charged
" return turkey ", emotion operation values M1 of every kind of character type are mapped.Will be described in detail later, but be based on and make
The emotion of robot cleaner 1 can be determined with emotion value M of emotion operation values M1 institute computing, be may be selected based on the emotion being determined
Vocabulary, music, export sound from robot cleaner 1.
[table 4]
Then, acoustic information storage part 220 is illustrated.Acoustic information storage part 220 storage utilizes audio output unit 9
Export the acoustic information of outside vocabulary or music.In addition, acoustic information storage part 220 comprises the 1st acoustic information storage
Portion 221 and the 2nd acoustic information storage part 222.1st acoustic information storage part 221 store as with emotion determination section (computing list
Unit) 120 decisions the 1st acoustic information of acoustic information that is independently output of emotions.
One of the tables of data of expression the 1st acoustic information (the 1st information) in table 5.As shown in table 5, the 1st acoustic information and volume
Numbers 1001～1017 are mapped storage, in the case of the arbitrary numbering in numbering 1001～1017 is appointed, corresponding sound
Message breath is output as sound from audio output unit 9.
[table 5]
| Designation | 1st acoustic information |
| 1001 | Understand |
| 1002 | It is |
| 1003 | Good morning |
| 1004 | Hello |
| 1005 | Good night |
| 1006 | Good night |
| 1007 | Welcome |
| 1008 | You return |
| 1009 | I returns |
| 1010 | What can I help you |
| 1011 | Dust suction starts |
| 1012 | Dust suction terminates |
| 1013 | Start reservation operating |
| 1014 | Dead battery |
| 1015 | Please clear up rubbish |
| 1016 | Music A |
| 1017 | Music B |
2nd acoustic information storage part 222 storage is as the acoustic information of the emotion output being determined based on emotion determination section 120
The 2nd acoustic information (the 2nd information).One of the tables of data of expression the 2nd acoustic information in table 6.As shown in table 6, the 2nd sound letter
Cease the storage that is mapped with 1101～1104 numbering.In addition, " the good intention that the 2nd acoustic information and emotion determination section 120 determine
Feelings ", " common ", the arbitrary emotion in " bad mood " are mapped.And, when emotion value grade is " good mood ", output
1101A～1104A.In addition, when emotion value grade is " common ", exporting 1101B～1104B.In addition, in emotion value grade being
When " bad mood ", export 1101C～1104C.
[table 6]
| Numbering | Emotion | 2nd acoustic information |
| 1101A | Good mood | The most smooth |
| 1102A | Good mood | Best emotion |
| 1103A | Good mood | Relax once in a while |
| 1104A | Good mood | Music C |
| 1101B | Commonly | Acceptable |
| 1102B | Commonly | Gather together and go ahead |
| 1103B | Commonly | You work hard |
| 1104B | Commonly | Music D |
| 1101C | Bad mood | Rebestir |
| 1102C | Bad mood | Worst emotion |
| 1103C | Bad mood | Dust suction once in a while |
| 1104C | Bad mood | Music E |
Here, to the acoustic information storing as robot cleaner 1, it is stored with vocabulary or music for a numbering
The situation of one of which information be illustrated, but can also be for the letter of a numbering storage vocabulary and music
Breath.For example, it is possible to the numbering to 1001 is stored with " having understood music A ", the numbering to 1101A is stored with " very well music
C”.
In addition, the letter of the multiple vocabularies or music that can distinguish can be included for a stored acoustic information of numbering
Breath.For example, it is possible to the numbering to 1003 is stored with " good morning, and dust suction starts ".Can be stored with " music C to the numbering of 1104A
Music D.
(composition of control unit)
Control unit 100 has test section 110, emotion selector 120 and voice output control unit 130.
The generation of the test section 110 detection event relevant with robot cleaner 1.Test section 110 has panel operation inspection
Survey portion 111, sound detection portion 112, dust collecting part test section 113, residual capacity of battery test section 114 and signal detecting part 115.This
Outward, what control unit 100 carried out dust suction starts instruction, the termination instruction of dust suction, the change temporarily ceasing instruction, moving direction of dust suction
More instruction, the disk of main body turn instruction, the control returning involved by the actions such as instruction instruction to cradle 40.
Whether panel operation test section 111 is detected by the input that guidance panel 5 receives expression action instruction to,
In the case of the input of expression action instruction is detected, it is judged as there occurs panel incoming event.
Sound detection portion 112 compare from the sound of sound input unit 8 input and log in storage part 200 in advance and action
Indicate relevant acoustic information, when being judged to that both are consistent, then be judged as there occurs sound incoming event.
Whether dust collecting part test section 113 to the dust amount of dust collecting part 30 and there occurs that the event of pulling down of dust collecting part 30 is examined
Survey.As described above, the dust amount of dust collecting part 30 detects according to the current value of electric blowing machine 15.Dust collecting part 30 pull down event
According to be configured at the inside of robot cleaner 1, the signal of the proximity transducer (not shown) of detection the presence or absence of dust collecting part 30 Lai
Detection.
Signal detecting part 115 has to signal receiving part 6 from the return signal of cradle 40 and moving from remote control unit
The input (reception) that making instruction has OFF signal is detected.
Then, emotion determination section 120 is illustrated.Emotion determination section 120 has operation values determination section 121 and emotion fortune
Calculation portion 122.
Based on dust suction number of times, the dust amount of dust collecting part, residual capacity of battery or there is event in operation values determination section 121, certainly
Being set for is emotion operation values M1 of the parameter in the computing determining to carry out for emotion operational part 122 during emotion value M.
Illustrate to based on the situation of dust suction number of times decision emotion operation values M1.In this case, operation values determination section
The 121 dust suction number of times obtaining the period T being stored in control unit 100 first.And, obtain the total with the dust suction number of times of this acquirement
Value is mapped and is stored in emotion operation values M1 of dust suction number of times operation values storage part 211.
During hypothesis, T is that nearest 7 day go on to say.When with reference to table 1, in the total of the dust suction number of times of nearest 7 days
When value is Class1 less than the personality of 4, robot cleaner 1, operation values determination section 121 obtains " -10 " as emotion operation values
M1.Equally, when the aggregate values of dust suction number of times are type 2 less than the personality of 4, self-propelled suction cleaner 1, operation values determination section 121
Obtain " -7 " as emotion operation values M1.Equally, the aggregate values in dust suction number of times less than the personality of 4, self-propelled suction cleaner 1 are
During type 3, operation values determination section 121 obtains " -5 " as emotion operation values M1.
Emotion operational part 122 uses emotion operation values M1 that operation values determination section 121 determines, using the arithmetic expression fortune of regulation
Calculate emotion value M for determining emotion.The typical case of arithmetic expression is following (formulas 1)～(formula 3), but be not restricted to that this, energy
Apply various arithmetic expressions.
M=M1 (formula 1)
M=m × M0+M1 (formula 2)
M=m × M0+M1+M2 (formula 3)
Here, " M0 " represents emotion value M during previous computing.In addition, " m " represents according to from computing previous emotion value M
Elapsed time from moment and the coefficient (less than more than 0 1) that changes.Coefficient m became from the moment of previous computing emotion value M
Elapsed time more long then less value.
One of Coefficient m is represented in table 7.As shown in table 7, coefficient is set to every kind of character type of robot cleaner 1
m.In addition, Coefficient m is set as that value diminished with the elapsed time the moment of emotion value M previous from computing.For example, if property
Lattice are Class1, and if the elapsed time less than 1 hour, then Coefficient m is 1, but when the elapsed time being more than 18 hours, is
Number m becomes 0.6.
[table 7]
In addition, " M2 " is denoted as the score that user's portable terminal device etc. is implemented the result of game etc. of regulation and obtained.
This score is for example sent to robot cleaner 1 by the Internet and WLAN.
In above-mentioned (formula 1), emotion operation values M1 are set to as former state this emotion value M.On the other hand, above-mentioned
In (formula 2), can be according to the time from previous computing through previous emotion value M being reflected as this emotion value M.Separately
Outward, when above-mentioned (formula 3) is used moreover it is possible to obtain plus the result of game being specified with portable terminal device etc. as user
Emotion value M of the score gained obtaining.
And, emotion operational part 122 is according to the value of emotion value M obtaining as operation result, select robot cleaner 1
Emotion.For example, if emotion value M is more than 25, select " good mood ", if emotion value M is more than -25 and less than 25,
Then select " common ", if emotion value M not enough -25, select " bad mood ".
More than, it is illustrated to based on the situation of dust suction number of times decision emotion operation values M1, but based on dust collecting part
In the case that 30 dust amount, residual capacity of battery determine, replace the tables of data with reference to table 1, and respectively refer to table 2 or table 3
Tables of data, can obtain emotion operation values M1 by this operation values determination section 121.
In addition, in the case of being determined based on the event of generation, with reference to the tables of data of table 4, by this operation values determination section 121 energy
Obtain emotion operation values M1.
Voice output control unit 130 make vocabulary corresponding with the acoustic information being stored in acoustic information storage part 220 or
Music exports from audio output unit 9.
Here, the emotion that the 1st acoustic information being stored in the 1st acoustic information storage part 221 is determined with emotion determination section 122
Independently it is output.Specifically, when test section 110 detects the generation event relevant with robot cleaner 1, shown in table 5
One of numbering be designated, vocabulary corresponding with the acoustic information of appointed numbering or music are output.
In addition, be stored in the 2nd acoustic information of the 2nd acoustic information storage part 222 being determined based on emotion determination section 122
Emotion is output after multiple acoustic informations select.Specifically, have with robot cleaner 1 when test section 110 detects generation
During the event closed, one of numbering shown in table 6 is designated, and selects and feelings from multiple acoustic informations of specified numbering
Acoustic information, vocabulary corresponding with selected acoustic information or music that the emotion that sense determination section 122 determines is mapped
It is output.
Here, in the above-described embodiment, to as the power supplier unit to robot device, robot cleaner
1 situation possessing battery 16 is illustrated, but is in addition to the characteristic relevant with battery 16 it is also possible to straight from source power supply
Connect to robot cleaner 1 supply electric power.Alternatively, it is also possible to and with battery 16 and source power supply.In this case, test section
110 detect the presence of the power supply state from source power supply to the power supply of robot cleaner 1, transient voltage decline etc..
In addition, emotion determination section 120 is configured to：Power supply Determines emotion based on test section 110 detection.
Then, vocabulary is exported to robot cleaner 1 or the handling process of music illustrates.
(embodiment 1)
In embodiment 1, robot cleaner 1 is individually exported with the feelings of the 1st acoustic information or the 2nd acoustic information
Condition illustrates.Fig. 8 is the flow chart of the handling process representing embodiment 1.Additionally, the flow chart illustrating in figs. 8 and 9
In, with " S " expression " step ".In addition, also using " S " expression " step " in the text.
First, the generation (S11) of the test section 110 detection event relevant with robot cleaner 1.Then, control unit 100
Specify the corresponding acoustic information of the event (S12) with detection.For example, acoustic information specify by specify table 5,6 illustrated in
The particular number of tables of data and carry out.
Then, control unit 100 judges that specified acoustic information is the 1st acoustic information or the 2nd acoustic information (S13).
For example, be the 1st acoustic information or the judgement of the 2nd acoustic information can be carried out based on specified numbering.Illustrate in table 5 and 6
In tables of data, the 1st acoustic information is mapped with numbering 1001～1017 storage, the 2nd acoustic information and numbering 1101～1104
Be mapped storage.
In the case that test section 110 is judged as that specified acoustic information is the 2nd acoustic information, in S14, operation values
Determination section 121 determines emotion operation values M1 with reference to operation values storage part 210.And, emotion operational part 122 is using in step S14
Middle determined emotion operation values M1 computing emotion value M (S15), the value according to emotion value M selects emotion (S16).And, sound
Output control part 130 to select acoustic information corresponding with selected emotion by referring to the 2nd acoustic information storage part 214
(S17), and from audio output unit 9 export (S18).
On the other hand, in S13, it is judged as that specified acoustic information is the situation of the 1st acoustic information in control unit 100
Under, do not determine the emotion of robot cleaner 1, and enter S18, specified acoustic information is output.
Taking following situation as a example illustrate, the generation of test section 110 detecting event, as the acoustic information of output, compile
Numbers 1101 are designated.In S13, it is judged as that specified numbering is the 2nd acoustic information.And, enter into the step determining emotion
Suddenly, S16 selects emotion.Here, in the case that selected emotion is " good mood ", based on the data shown in table 6
Table, selects " very well " of numbering 1101A from the 2nd acoustic information.In addition, being the situation of " common " in selected emotion
Under, from the 2nd acoustic information select numbering 1101B " acceptable ".In addition, being the situation of " bad mood " in selected emotion
Under, select " will rebestir " of numbering 1101C from the 2nd acoustic information.And, it is corresponding with selected 2nd acoustic information
Vocabulary or music export from audio output unit 9.
Then, taking following situation as a example illustrate, the generation of test section 110 detecting event, as the sound letter of output
Breath, numbering 1001 is designated.In S13, it is judged as that specified numbering is the 1st acoustic information.When being judged as specified volume
When number being 1 acoustic information, do not determine the emotion of robot cleaner 1, enter into S18.And, based on the data shown in table 5
Table, selects " the understanding " of numbering 1001 from the 1st acoustic information, and exports from audio output unit 9.
As described above, by output with the specified corresponding sound of the 1st acoustic information and with based on robot cleaner 1
The corresponding sound of selected 2nd acoustic information of emotion, many voice outputs can be changed in a straightforward manner.In addition,
Because sound corresponding with the 1st acoustic information is not based on the emotion of robot cleaner 1 and changes in the sound being exported,
User can correctly identify the content of the sound of robot cleaner 1 output, can correctly hold the state of robot cleaner 1.
(embodiment 2)
In example 2, robot cleaner 1 is made with the situation that the 1st acoustic information and the 2nd acoustic information connect and export
Illustrate.Fig. 9 is the flow chart of the handling process representing embodiment 2.The step carrying out process same as Example 1 is saved
Slightly illustrate.
First, the generation (S21) of the test section 110 detection event relevant with robot cleaner 1.Then, control unit 100
Specify acoustic information (S22) corresponding with the event detecting.
Then, control unit 100 judges that the acoustic information of output is the 1st acoustic information or the 2nd acoustic information (S23).?
This, in example 2, in the case that the acoustic information being judged as output in S23 is the 1st acoustic information, emotion determination section
120 also determine emotion.And, after determining emotion in S24～26, voice output control unit 130 stores with reference to the 2nd acoustic information
Portion 222 selects the 2nd acoustic information (S27).The selection of the 2nd acoustic information arbitrarily can be entered from acoustic information corresponding with emotion
Row is it is also possible to carry out specifiedly.
Then, voice output control unit 130 makes and the specified corresponding sound of the 1st acoustic information and with selected
The corresponding sound of 2 acoustic informations connects, from audio output unit 9 output sound (S28).Specifically, can be as " the 2nd acoustic information
1st acoustic information " connected the 2nd acoustic information to export sound it is also possible to such as " the 1st sound is believed like that before the 1st acoustic information
Cease the 2nd acoustic information " connect the 2nd acoustic information after the 1st acoustic information to export sound like that, can also be as " the 2nd sound
Information the 1st acoustic information the 2nd acoustic information " connects the 2nd acoustic information to export sound like that before and after the 1st acoustic information
Sound.Additionally, be judged as in S23 export acoustic information be the 2nd acoustic information in the case of, implement embodiment 1 S14～
S18.
Taking following situation as a example illustrate, the generation of test section 110 detecting event, as the acoustic information of output, compile
Numbers 1011 " dust suction starts " is designated.In S23, it is judged as that specified numbering is the 1st acoustic information.Then, enter into
The step determining emotion, selects emotion in S26.Here, in the case that selected emotion is " good mood ", based on table 6
Shown tables of data, arbitrarily selects one of numbering 1101A～1104A from the 2nd acoustic information.In addition, selected
In the case that emotion is " common ", randomly choose one of numbering 1101B～1104B from the 2nd acoustic information.In addition,
In the case that selected emotion is " bad mood ", randomly choose one of 1101C～1104C from the 2nd acoustic information
(S27).Assume to select " very well " of numbering 1101A to go on to say from the 2nd acoustic information.
Voice output control unit 130 makes " dust suction starts " and the institute of the numbering 1011 as the 1st specified acoustic information
" very well " connection of the 2nd acoustic information selecting, exports sound from audio output unit 9.(S28).For example, output sound is
" very well dust suction starts ", " dust suction starts very well ", " very well dust suction starts very well ".
Additionally, so-called make sound corresponding with the 1st acoustic information and sound corresponding with the 2nd acoustic information connect defeated
Go out, there is no the situation that the time of voice output is completely absent between the sound exporting with being embodied not only in connection, and wrap
Containing the situation that there is certain time.That is, broadly comprise sound corresponding with the 1st acoustic information and corresponding with the 2nd acoustic information
Sound situation about continuously exporting.
As described above, by make with the specified corresponding sound of the 1st acoustic information and with based on robot cleaner 1
The corresponding sound of selected 2nd acoustic information of emotion connects ground output, can be changed many output sound in a straightforward manner
Sound.In addition, because in the sound that exported sound corresponding with the 1st acoustic information be not based on robot cleaner 1 emotion and
Change, so user can correctly identify the content of the sound of robot cleaner 1 output, can correctly hold robot dust suction
The state of device 1.
(other embodiment)
In the case that robot cleaner 1 makes the 1st acoustic information and the 2nd acoustic information exports with connecting, Fig. 9's
The 2nd acoustic information selected in S27 can be multiple.For example, it is assumed that the 1st specified acoustic information is numbering 1015
" please clear up rubbish ", based on the personality of selected " bad mood ", selects " will again shaking of numbering 1101C from the 2nd acoustic information
Work " and " the worst emotion " of numbering 1104C.Now, output control part 130 is as " rebestired that please to clear up rubbish worst
Emotion " connect acoustic information like that, and export from audio output unit 9.
In addition, in the above-described embodiment, the robot device as the present invention says to robot cleaner 1
Bright, but in addition also can be widely used in household service robot, machine people with fresh air, guard robot or house pet machine
Device people etc. exports the robot device of sound.
And, in the above-described embodiment it is also possible to make to comprise the whole of control unit 100 and storage part 200 or
Control base board 17 modularity of major part simultaneously circulates, by be assembled into main body and as finished product manufacture.
And, at least a portion of the control unit of robot device can also be by being formed on integrated circuit (IC chip)
Logic circuit be configured to hardware, and can also be according to following such use CPU (Central Processing Unit：In
Central processor) realized using software.
(the 2nd embodiment)
Hereinafter, as other embodiments of the robot device of the present invention, referring to the drawings robot cleaner is entered
Row explanation.Additionally, for convenience of description, the part mark identical part having with the 1st embodiment identical function is compiled
Number, omit the description.
In the 1st embodiment, constitute exemplified with following, emotion determination section is based on the generation relevant with robot cleaner
Event, from " good mood ", " common ", determines " bad mood " 3 stages that the emotion of robot cleaner (is equivalent to computing knot
Really), acoustic information (information being output) is selected based on this emotion, export sound from robot cleaner.In the 2nd embodiment party
In formula, illustrated as one as follows, the information (information being output) such as character, image, slave are selected based on this emotion
Device people vacuum cleaner sends output.
Robot cleaner 1A in present embodiment, replaces what the robot cleaner 1 in the 1st embodiment possessed
Audio output unit 9, and possess radio section 19 (with reference to Figure 11, Figure 12) described later, it is connected with communication network.Represent and this in Figure 10
The schematic diagram of the robot cleaner that the communication network of bright other embodiments connects.As illustrated, robot cleaner 1A
It is connected to LAN (the Local Area Network in room 95 using wireless LAN base station 90：LAN).And, robot is inhaled
Dirt device 1A is configured to, and can set up the transmission of information by the portable terminal device 93 of the Internet 91 and portable terminal device communication network 92 and user
Receive.Portable terminal device 93 has the display part 94 of display character, image etc..
In addition, being provided with radio section 19 in the inside of main body casing 2 (Fig. 1 reference).Radio section 19 is endowed IP (Internet
Protocol：The Internet communications protocol) address and URL (Uniform Resource Locator：Uniform resource locator),
HTTP (Hyper Text Transfer Protocol can be used：HTML (Hypertext Markup Language)) enter row information transmission receive.Example
As the transmission of information receives by according to SMTP (Simple Mail Transfer Protocol：Simple Mail Transfer protocol)
Send reception Email and portable terminal device 93 between and carry out.
Additionally, following as the information transmission from robot cleaner 1A one, to robot cleaner 1A by electricity
The situation that sub- mail is sent to portable terminal device 93 illustrates, but the information transmission from robot cleaner 1A is not limited only to
This.For example, as so-called blog, microblogging, for being recorded on webpage, will send information to the server (not shown) of outside
Situation etc. be certainly also contained in the present invention.
The composition of the robot cleaner of other embodiments of robot device of the present invention is represented in Figure 11.As figure
Shown, robot cleaner 1A, replace the audio output unit 9 that robot cleaner 1 (with reference to Fig. 6) possesses, and possess wireless
Portion 19.The composition of the storage part 200A and control unit 100A of robot cleaner 1A in Figure 11 is represented in Figure 12.Robot is inhaled
The control unit 100A of dirt device 1A, replaces the voice output control that the control unit 100 in robot cleaner 1 (with reference to Fig. 7) possesses
Portion 130 processed, and possess radio control section 140.In addition, the storage part 200A of robot cleaner 1A, replace robot cleaner 1
The acoustic information storage part 220 that storage part 200 in (with reference to Fig. 7) possesses, and possess information storage part 220A.
Discussed below, based on the emotion determining robot cleaner A1 using emotion value M of emotion operation values M1 computing,
Select the information sending based on the emotion being determined, send (output) from robot cleaner 1A.
Then, information storage part 220A is illustrated.Information storage part 220A storage is exported outer using radio section 19
The character information in portion and image information.In addition, information storage part 220A has the 1st information storage part 221A and the 2nd information Store
Portion 222A.
The 1st information that the emotion that 1st information storage part 221A storage is determined with emotion determination section 120 is independently output.
One of the tables of data of expression the 1st information in table 8.As shown in table 8, the 1st information is corresponding with numbering 1001～1017
Get up to store, in the case of the arbitrary numbering in numbering 1001～1017 is appointed, corresponding information is defeated from radio section 19
Go out.
[table 8]
| Numbering | 1st information |
| 1001 | Understand |
| 1002 | It is |
| 1003 | Good morning |
| 1004 | Hello |
| 1005 | Good night |
| 1006 | Good night |
| 1007 | Welcome |
| 1008 | You return |
| 1009 | I returns |
| 1010 | What can I help you |
| 1011 | Dust suction starts |
| 1012 | Dust suction terminates |
| 1013 | Start reservation operating |
| 1014 | Dead battery |
| 1015 | Please clear up rubbish |
| 1016 | Image A |
| 1017 | Image B |
The 2nd information that 2nd information storage part 222A stores the emotion based on emotion determination section 120 decision and exports.
One of the tables of data of expression the 2nd information in table 9.As shown in table 9, the 2nd information is right with 1101～1104 numbering
Should get up to store.In addition, 3 stages of the 2nd information " good mood ", " common ", " bad mood " that determine from emotion determination section 120 with
Arbitrary emotion is mapped.Specifically, export 1101A～1104A when emotion value grade is " good mood ".In addition, in emotion
Value grade is to export 1101B～1104B when " common ".In addition, emotion value grade be " bad mood " when output 1101C～
1104C.
[table 9]
| Numbering | Emotion | 2nd information |
| 1101A | Good mood | Very well |
| 1102A | Good mood | Best emotion |
| 1103A | Good mood | Relax once in a while |
| 1104A | Good mood | Image C |
| 1101B | Commonly | Acceptable |
| 1102B | Commonly | Gather together and go ahead |
| 1103B | Commonly | You work hard |
| 1104B | Commonly | Image D |
| 1101C | Bad mood | Rebestir |
| 1102C | Bad mood | Worst emotion |
| 1103C | Bad mood | Dust suction once in a while |
| 1104C | Bad mood | Image E |
Additionally, as the information of robot cleaner 1A storage, it is stored with character or image to for a numbering
The situation of any information illustrates, but the information of can also be stored with for a numbering character and image.For example,
" dust suction can be started to 1001 numbering storages.Image A " is it is also possible to the numbering storage to 1101A is " very well.Image C ".
In addition, the information of robot cleaner 1A storage or sound or animation information or with special
Character code, the graphic character of tag representation etc..
Emotion operational part 122 in emotion determination section 120, in the formula 3 of the typical case of arithmetic expression of computing emotion value M
" M2 " is denoted as the score that user implements the result of game etc. of regulation and obtains with portable terminal device 93 (with reference to Figure 10) etc..Should
Score is sent to robot cleaner 1A by communication network, is received by radio section 19.
Radio control section 140 controls the transmission of the information of radio section 19 to receive.The information being received by radio section 19 is except upper
State beyond score value M2 that user sends or the action instruction of robot cleaner 1A, action reservation instruction.
On the other hand, the information sending from radio section 19 is stored in the 1st information and the 2nd information of information storage part 220A.
Here, the 1st information is not based on the emotion of emotion determination section 122 decision and exports.Specifically, when test section 110 is examined
Measure when there is relevant with robot cleaner 1A event, one of numbering shown in table 8 is designated, appointed numbering
Information be output.
In addition, the 2nd information selects from multiple information and exports according to the emotion that emotion determination section 122 determines.Specifically, when
Test section 110 detects when there is the event relevant with robot cleaner 1A, and one of numbering shown in table 9 is designated,
Select the information being mapped with the emotion of emotion determination section 122 decision and export from multiple information of appointed numbering.
Then, the handling process of robot cleaner 1A output character information or image information is illustrated.
(embodiment 3)
In embodiment 3, the 1st information is separately exported to robot cleaner 1A or the situation of the 2nd information is entered
Row explanation.Figure 13 is the flow chart of the handling process representing embodiment 3.Additionally, in the flow chart of Figure 13 and Figure 14 explanation, using
" S " expression " step ".In addition, also using " S " expression " step " in the text.
First, the generation (S31) of the test section 110 detection event relevant with robot cleaner 1A.Then, control unit
100 specify information (S32) corresponding with the event detecting.For example, the tables of data specified by specifying table 8,9 to illustrate of information
Particular number and carry out.
Then, control unit 100 judges that specified information is the 1st information or the 2nd information (S33).For example, it is the 1st letter
Breath or the judgement of the 2nd information, can be carried out based on specified numbering.In the tables of data that table 8 and 9 illustrates, the 1st information and volume
Numbers 1001～1017 are mapped storage, and the 2nd information is mapped with numbering 1101～1104 storage.
It is judged as (situation being) in the case that specified information is the 2nd information in test section 110, in S34, computing
Value determination section 121, with reference to operation values storage part 210, determines emotion operation values M1.And, emotion operational part 122 is using in step
Emotion operation values M1 computing emotion value M (S35) determining in S34, the value according to emotion value M selects emotion (S36).And, no
Line traffic control portion 140, by referring to the 2nd information storage part 222A, to select information (S37) corresponding with selected emotion.And
And, the information of selection is sent to the portable terminal device 93 (S38) of user from radio section 19 with Email by radio control section 140.
User passes through to operate portable terminal device 93 to open Email, can confirm that character, the image being shown in display part 94.
On the other hand, in S33, when control unit 100 be judged as (no in the case that specified information is the 1st information
Situation), do not determine the emotion of robot cleaner 1A, enter into S38, specified information is sent out with Email from radio section 19
Deliver to the portable terminal device 93 of user.
The generation of test section 110 detecting event, as the information of output, is carried out in case of numbering 1101 is designated
Explanation.In S33, it is judged as that specified numbering is the 2nd information.Then, enter into the step determining emotion, select in S36
Select emotion.Here, in the case that selected emotion is " good mood ", being selected from the 2nd information based on the tables of data shown in table 9
Select " very well " of numbering 1101A.In addition, in the case that selected emotion is " common ", selecting to compile from the 2nd information
" acceptable " of number 1101B.In addition, in the case that selected emotion is " bad mood ", selecting numbering from the 2nd information
" will rebestir " of 1101C.Then, selected information is sent with Email from radio section 19.
Then, the generation of test section 110 detecting event, as the information of output, with the appointed situation of numbering 1001 be
Example illustrates.In S33, it is judged as that specified numbering is the 1st information.Numbering specified by being judged as is the 1st information
When, do not determine robot cleaner 1A emotion, enter into S38.And, based on the tables of data shown in table 8, select from the 1st information
That selects numbering 1001 " starts dust suction.", sent with Email from radio section 19.
As described above, being not based on emotion to send the 1st information, and the 2nd information is sent based on emotion, thus, it is possible to simply square
Formula is changed the transmission of many information, and user can feel the friendliness of robot cleaner.In addition, because sent
In information, the 1st information is not based on the emotion of robot cleaner 1A and changes, so user can correctly identify robot dust suction
The content of the information of device 1A output, can correctly hold the state of robot cleaner 1A.
(embodiment 4)
In example 4, robot cleaner 1A is made the 1st information and the 2nd information connect situation about exporting and illustrate.
Figure 14 is the flow chart of the handling process representing embodiment 4.The step carrying out process same as Example 3 is omitted the description.
First, the generation (S41) of the test section 110 detection event relevant with robot cleaner 1A.Then, control unit
100 specify information (S42) corresponding with the event detecting.
Then, control unit 100 judges whether the information exporting is the 1st information (S43).Here, in example 4, in S43
In be judged as export information be the 1st information in the case of, emotion determination section 120 determine emotion.Then, in S44～46 middle finger
Pledge love after sense, radio control section 140 selects the 2nd information with reference to the 2nd information storage part 222A.The selection of the 2nd information can from
Arbitrarily carry out it is also possible to carry out specifiedly in the corresponding information of emotion.
Then, the 1st specified information and selected 2nd information are connected by radio control section 140, defeated from radio section 19
Go out (S48).Specifically, the 2nd information can be connected as " the 2nd information the+the 1 information " before the 1st information and export, also may be used
To connect the 2nd information as " the 1st information the+the 2 information " after the 1st information and to export, can also be such as " the 2nd information+the 1
Information+the 2 information " connects the 2nd information before and after the 1st information like that and exports.And, the information combining is used from radio section 19
Email sends.Additionally, in the case of being judged as that in S43 the information exporting is the 2nd information, enforcement is embodiment 3
S34～S38.
Taking following situation as a example illustrate, the generation of test section 110 detecting event, as the information of output, numbering
1001 " beginning dust suction." be designated.It is judged as that specified numbering is the 1st information in S43.Then, decision feelings are entered into
The step of sense, selects emotion in S46.Here, in the case that selected emotion is " good mood ", based on shown in table 9
Tables of data, arbitrarily selects one of numbering 1101A～1104A from the 2nd information.In addition, being " general in selected emotion
Logical " in the case of, randomly choose one of numbering 1101B～1104B from the 2nd information.In addition, in selected emotion being
In the case of " bad mood ", randomly choose one of 1101C～1104C (S47) from the 2nd information.Assume from the 2nd information
" very well " that select numbering 1101A goes on to say.
Radio control section 140 using the specified numbering 1001 as the 1st information " start dust suction." and selected
2 information " very well." connect.For example, connect into " very well.Dust suction starts.", " dust suction starts.Very well.”、
" very well.Dust suction starts.Very well ".Then, the information being connected sends (S48) from radio section 19 with Email.
As described above, the 1st information being not based on emotion transmission being connected with the 2nd information being sent based on emotion and sending,
Thus, it is possible to be changed the output of many information with simple mode.In addition, because the 1st information is not based in the information being exported
The emotion of robot cleaner 1A and change, so user can correctly identify robot cleaner 1A output information interior
Hold, can correctly hold the state of robot cleaner 1A.
(other embodiment)
In the case that the 1st information and the 2nd information are connected and export by robot cleaner 1A, institute in the S47 of Figure 14
The 2nd information selecting can be multiple.For example, it is assumed that the 1st specified information is " starting to preengage and run of numbering 1004.",
Based on the personality of selected " bad mood ", select " will rebestir " of numbering 1101C and numbering 1104C from the 2nd information
" worst emotion ".Now, radio control section 140 is as " rebestired.Start reservation to run.Worst emotion." connect like that
Connect information, exported by radio section 19.
Alternatively, it is also possible to be, robot cleaner 1A inserts image, animation, sound, graphic character etc. in article and sends out
Send, send alternatively, it is also possible to be attached to the file of image etc. in Email.User passes through to operate portable terminal device 93, energy
Confirm image that the display part 94 from portable terminal device, audio output unit (not shown) export etc..In this case, receive information
User can pass through vision or Auditory identification information.
Alternatively, it is also possible to be, the information of output is sent to the server being connected with communication network (not by robot cleaner 1A
Diagram) or robot cleaner 1A managing device (not shown).In this case, user operation portable terminal device 93, with reference to clothes
Business device or managing device, or download file, thus can confirm that the information that slave device people vacuum cleaner 1A sends.In this case,
User can confirm the information sending from robot cleaner 1A in the lump, in addition, can confirm that the work shape of robot cleaner 1A
The resume such as state, the generation of event, the emotion of robot cleaner 1A.
In addition, in the above-described embodiment, to the situation using wireless LAN base station 90 as the communication network in room 95
It is illustrated, but the base station of the short-distance wireless of Bluetooth (registered trade mark) etc. can also be used.Alternatively, it is also possible to
It is connected with wired and in room 95 communication network.
And, in the 1st above-mentioned embodiment, the 2nd embodiment, as the present invention robot device to robot
Vacuum cleaner 1,1A are illustrated, but in addition it can also be widely used in household service robot, air cleaner
The robot device of the output informations such as device people, guard robot or pet robot.
And, in the above-described embodiment it is also possible to control unit 100,100A and storage part 200,200A will be comprised
Wholly or principally control base board 17 modularity of part circulating, by be assembled into main body and as finished product manufacture.In addition, machine
At least a portion of the control unit of device people's device can also be consisted of the logic circuit being formed on integrated circuit (IC chip)
For hardware, and can also be according to CPU (Central Processing Unit is used as described below：CPU) by soft
Part is realized.
In the case of being realized by software, robot device possesses the order of control program that each function is realized in execution
CPU, ROM (the read only memory of storage said procedure：Read only memory), RAM (random that said procedure is launched
access memory：Random access memory), the storage device such as memorizer (the record matchmaker of storage said procedure and various data
Body) etc..And, by record media is supplied above-mentioned robot device, its computer (or CPU, MPU (micro
processing unit：Microprocessing unit)) read be recorded in the program code of record media and execute, above-mentioned record media by
The program code that computer capacity reads ground record and has the control program of robot device as the software realizing above-mentioned functions (is held
Row form program, intermediate code program, source program), so as to reach the purpose of the present invention.
As above-mentioned record media, it is possible to use the such as tape class such as tape, cassette tape；Comprise soft (registered trade mark)
The disk class of the CDs such as the disks such as disk/hard disk, CD-ROM/MO/MD/DVD/CD-R；IC-card (comprising storage card)/light-card etc. blocks
Class；Or mask rom/EPROM (Erasable Programmable Read Only Memory：Erasable programmable is read-only
Memorizer)/EEPROM (registered trade mark) (Electrically Erasable Programmable Read-Only Memory：
Electrically Erasable Read Only Memory)/flash rom etc. semiconductor memory class；And PLD (Programmable
logic device：PLD) etc. logic circuit class etc..
Alternatively, it is also possible to be configured to be connected robot device with communication network, provide above-mentioned journey via communication network
Sequence code.It is not particularly limited as this communication network, for example, can utilize the Internet, in-house network, extranet, LAN, ISDN
(Integrated Services Digital Network：ISDN), VAN (value added network：
Value-added network), CATV communication network, VPN (virtual private network) (virtual private network), telephone wire road network, moving body
Communication network, satellite communication network etc..In addition, being not particularly limited as the transmission media constituting communication network, for example, either
IEEE1394、USB(Universal Serial Bus：USB (universal serial bus)), electric lines of force conveying, cable tv circuit, telephone wire,
ADSL(Asymmetric Digital Subscriber Line：ADSL) circuit etc. wired, or such as
Infrared ray as IrDA, remote control, Bluetooth (registered trade mark), IEEE802.11 are wireless, HDR (High Data
Rate：High data rate), NFC (Near Field Communication：Near-field communication), DLNA (Digital Living
Network Alliance：Digital living network alliance), portable electric phone network, satellite circuit, terrestrial digital network etc. wireless
Can utilize.
(summary)
The robot device of the present invention is characterised by possessing：Export the voice output unit of sound, be based on detection information
The detector unit of the generation of detecting event and storage are as the acoustic information of the acoustical signal exporting from voice output unit
Sound information storage unit, sound information storage unit stores single 1st acoustic information corresponding with the 1st event and with the 2nd
Corresponding multiple 2nd acoustic informations of event, voice output unit output and the 1st acoustic information and the corresponding sound of the 2nd acoustic information
Sound, the 2nd acoustic information selects from multiple 2nd acoustic informations according to event.
It is further preferred, that in the robot device of the present invention, voice output unit is by the 1st acoustic information and the 2nd sound
Message breath connects ground output.
The robot device of the present invention is characterised by possessing：The information transmitting unit of transmission information, be based on detection information
The information memory cell of the detector unit of the generation of the detecting event and storage information from information transmitting unit transmission, information
Memory element stores single 1st information corresponding with the 1st event and multiple 2nd information corresponding with the 2nd event, and information sends
Unit sends the 1st information and the 2nd information, and the 2nd information selects from multiple 2nd information according to event.
It is further preferred, that in the robot device of the present invention, the 1st information and the 2nd information are connected by information transmitting unit
Ground connection output.
It is further preferred, that the robot device of the present invention is also equipped with the power supply to robot device's supply electric power
Unit, detector unit detection is derived from the power supply state of power supplier unit as event.
It is further preferred, that the robot device of the present invention is also equipped with carrying out the cleaner unit of dust suction, detector unit detects
The information relevant with dust suction is as event.
It is further preferred, that the dust suction number of times that the robot device of the present invention is also equipped with storing the number of times of execution dust suction is deposited
Storage unit, detector unit detection number of times is as event.
It is further preferred, that the robot device of the present invention is also equipped with to the dust dust being removed using cleaner unit
Dust collecting part, detector unit detects the dust amount of dust collecting part as event.
Additionally, robot device can also be realized using computer, in this case, above-mentioned by making computer be used as
Each unit work and to be realized by computer the robot device of robot device control program and record have this control journey
The record media of the embodied on computer readable of sequence is also contained in scope of the invention.
The present invention is not limited to above-mentioned embodiment, can carry out various changes in the scope shown in claim,
Embodiment obtained from will be appropriately combined for technical approach disclosed in difference in different embodiments, is also contained in the present invention's
In technical scope.
Industrial utilizability
The robot device of the present invention, control program and record have the record dress of the embodied on computer readable of control program
Put, can be extensively using the robot device possessing sound output function as object；Or by information such as character, images to outside
The robot device of output.
Description of reference numerals
1st, 1A robot cleaner
40 cradles
5 guidance panels
8 sound input units
9 audio output units
16 batteries
17 control base boards
19 radio sections
30 dust collecting part
31 dust collecting containers
100th, 100A control unit
110 test sections
111 panel operation test sections
112 sound detection portions
113 dust amount test sections
114 residual capacity of battery test sections
115 signal detecting parts
120 emotion determination sections
130 voice output control units
140 radio control section
200th, 200A storage part
210 operation values storage parts
211 dust suction number of times operation values storage parts
212 dust amount operation values storage parts
213 residual capacity of battery operation values storage parts
214 event operation value storage parts
220 acoustic information storage parts
220A information storage part
221 the 1st acoustic information storage parts
221A the 1st information storage part
222 the 2nd acoustic information storage parts
222A the 2nd information storage part
Claims (15)
1. a kind of robot device is it is characterised in that possess：
Output unit, its output information；
Detector unit, its generation based on detection information detecting event；
Information memory cell, its storage is from the information of above-mentioned output unit output；And
Arithmetic element, it enters row operation using the predetermined operation values that are mapped with the state of this robot device,
Above- mentioned information memory element store 1st information that is mapped single with event and with event and above-mentioned arithmetic element
The 2nd information that is mapped of operation result, above-mentioned operation result is the emotion of robot cleaner,
When being detected the generation of outgoing event by above-mentioned detector unit, above-mentioned output unit exports the 1st information according to event
Or the 2nd information, the 2nd information of this output is mapped with the operation result of above-mentioned arithmetic element.
2. robot device according to claim 1 is it is characterised in that above-mentioned output unit is defeated according to event
When going out 1 information, by least one of the 2nd information being mapped with the operation result of above-mentioned arithmetic element information and the 1st
Information connects and exports, and and unrelated with the event that the 2nd information is mapped.
3. robot device according to claim 1 it is characterised in that
It is also equipped with carrying out the cleaner unit of dust suction,
The state of the predetermined above-mentioned robot device of above-mentioned operation values, be residual capacity of battery in this robot device,
Any one state in the number of times of dust suction that specified time limit implements or the amount of dust that reclaimed of cleaner unit.
4. robot device according to claim 2 it is characterised in that
It is also equipped with carrying out the cleaner unit of dust suction,
The state of the predetermined above-mentioned robot device of above-mentioned operation values, be residual capacity of battery in this robot device,
Any one state in the number of times of dust suction that specified time limit implements or the amount of dust that reclaimed of cleaner unit.
5. the robot device according to any one of Claims 1-4 it is characterised in that
Above-mentioned output unit is the voice output unit exporting the sound as information,
Above- mentioned information memory element is to store the acoustic information of the signal as the sound exporting from tut output unit
Sound information storage unit.
6. the robot device according to any one of Claims 1-4 it is characterised in that
Above-mentioned output unit is the information transmitting unit sending output information,
The information that the storage of above- mentioned information memory element sends from above- mentioned information transmitting element.
7. a kind of robot device, possesses：
Voice output unit, it exports sound；
Detector unit, its generation based on detection information detecting event；
Sound information storage unit, its storage is as the acoustic information of the signal of the sound exporting from tut output unit；
And
Emotion determining means, it determines emotion according to the above-mentioned event that above-mentioned detector unit detects,
Tut information memory cell stores single 1st acoustic information corresponding with the 1st event and corresponding with the 2nd event
Multiple 2nd acoustic informations,
The output of tut output unit and above-mentioned 1st acoustic information and the corresponding sound of above-mentioned 2nd acoustic information,
Above-mentioned 2nd acoustic information selects from multiple above-mentioned 2nd acoustic informations according to above-mentioned event and above-mentioned emotion.
8. robot device according to claim 7, tut output unit is by above-mentioned 1st acoustic information and above-mentioned
2 acoustic informations connect and export.
9. a kind of robot device is it is characterised in that possess：
Information transmitting unit, it sends information；
Detector unit, its generation based on detection information detecting event；
Information memory cell, the information that its storage sends from above- mentioned information transmitting element；And
Emotion determining means, it determines emotion according to the above-mentioned event that above-mentioned detector unit detects,
Above- mentioned information memory element stores single 1st information corresponding with the 1st event and corresponding multiple with the 2nd event
2nd information,
Above- mentioned information transmitting element sends above-mentioned 1st information and above-mentioned 2nd information,
Above-mentioned 2nd information selects from multiple above-mentioned 2nd information according to above-mentioned event and above-mentioned emotion.
10. robot device according to claim 9, above-mentioned 1st information and the above-mentioned 2nd are believed by above- mentioned information transmitting element
Breath connects and sends.
11. robot devices according to Claims 1-4, any one of 7 to 10 it is characterised in that
It is also equipped with the power supplier unit to robot device's supply electric power,
Above-mentioned detector unit detection is derived from the power supply state of above-mentioned power supplier unit as above-mentioned event.
12. robot devices according to Claims 1-4, any one of 7 to 10,
It is also equipped with carrying out the cleaner unit of dust suction,
The above-mentioned detector unit detection information relevant with dust suction is as above-mentioned event.
13. robot devices according to Claims 1-4, any one of 7 to 10 it is characterised in that
It is also equipped with storing the dust suction frequency storage unit of the number of times of execution dust suction,
Above-mentioned detector unit detects above-mentioned number of times as above-mentioned event.
14. robot devices according to claim 12 it is characterised in that
It is also equipped with the dust collecting part to the dust dust removing using above-mentioned cleaner unit,
Above-mentioned detector unit detects the dust amount of above-mentioned dust collecting part as above-mentioned event.
15. robot devices according to claim 13 it is characterised in that
It is also equipped with the dust collecting part to the dust dust removing using above-mentioned cleaner unit,
Above-mentioned detector unit detects the dust amount of above-mentioned dust collecting part as above-mentioned event.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-007038 | 2012-01-17 | ||
| JP2012007036A JP2013146291A (en) | 2012-01-17 | 2012-01-17 | Robot apparatus, control program, and computer-readable recording medium having control program recorded therein |
| JP2012007038A JP2013146292A (en) | 2012-01-17 | 2012-01-17 | Robot apparatus, control program, and computer-readable recording medium having control program recorded therein |
| JP2012-007036 | 2012-01-17 | ||
| PCT/JP2012/082775 WO2013108532A1 (en) | 2012-01-17 | 2012-12-18 | Robotic device, control program, and computer-readable recording medium on which control program is recorded |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104039210A CN104039210A (en) | 2014-09-10 |
| CN104039210B true CN104039210B (en) | 2017-03-08 |
Family
ID=48798969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280067117.0A Expired - Fee Related CN104039210B (en) | 2012-01-17 | 2012-12-18 | Robot device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104039210B (en) |
| WO (1) | WO2013108532A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6391386B2 (en) * | 2014-09-22 | 2018-09-19 | シャープ株式会社 | Server, server control method, and server control program |
| CN106264336A (en) * | 2016-08-18 | 2017-01-04 | 苏州凯丽达电器有限公司 | A kind of household multifunctional vacuum cleaner with speech identifying function |
| CN108062076B (en) * | 2016-11-09 | 2020-10-27 | 株式会社东芝 | Data collection system, processing system, and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2013108532A1 (en) | 2013-07-25 |
| CN104039210A (en) | 2014-09-10 |
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