CN104053391B - Robot device - Google Patents

Robot device Download PDF

Info

Publication number
CN104053391B
CN104053391B CN201380005480.4A CN201380005480A CN104053391B CN 104053391 B CN104053391 B CN 104053391B CN 201380005480 A CN201380005480 A CN 201380005480A CN 104053391 B CN104053391 B CN 104053391B
Authority
CN
China
Prior art keywords
mentioned
self
operation values
emotion
suction cleaner
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.)
Expired - Fee Related
Application number
CN201380005480.4A
Other languages
Chinese (zh)
Other versions
CN104053391A (en
Inventor
坪井雅伦
松本正士
箭竹麻美
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
Publication of CN104053391A publication Critical patent/CN104053391A/en
Application granted granted Critical
Publication of CN104053391B publication Critical patent/CN104053391B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • 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
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • 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
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The self-propelled suction cleaner (1) of the present invention comprises the emotion selection portion (201) determining to summarize the summary information of the acquisition information acquired in the machine；And the transmission process portion (301) that the summary information of this decision sent to external device (ED), emotion selection portion (201) carries out selecting from multiple optionies according to acquisition information and determines summary information.

Description

Robot device
Technical field
The present invention relates to robot device etc..
Background technology
In recent years, the household service robot towards general family starts to popularize.
A kind of vacuum cleaner is had disclosed in patent documentation 1, it is the dust collector robot automatically carrying out dust suction, and according to from communication terminal via communication network given with operating instruction and in cleaning chamber, disclose " dust collector robot have using (non-operating state) in standby, run well, fall, function that residual capacity of battery is how many etc. class is remembered as machine information about the information of self operating condition.This machine information is sent by dust collector robot to mobile phone.”.
Prior art literature
Patent documentation
Patent documentation 1: Japanese Laid-Open Patent Publication " Japanese Unexamined Patent Publication 2005-118354 publication (on May 12nd, 2005 is open) "
Summary of the invention
The problem that invention is to be solved
But, as disclosed in patent documentation 1, would indicate that the numerical value etc. of machine information directly when the situation that portable terminal sends, user is the operating condition holding vacuum cleaner, it is necessary to confirm multiple numerical value.That is, owing to being difficult to hold the operating condition of vacuum cleaner at a glance, the convenience of user is therefore damaged.
The present invention is to complete in view of the above problems, its object is to the performance providing the degree of a kind of summary various information that the machine obtains being converted into can hold this information at a glance to summarize, on this basis to the robot device etc. of external notification.
For solving the scheme of problem
For solving the problems referred to above, the robot device of one embodiment of the present invention possesses: determination means, its summary information determining to summarize the acquisition information acquired in the machine；And transmitting mechanism, its summary information above-mentioned determination means determined sends to external device (ED)；And above-mentioned determination means utilizes and carries out selecting from multiple optionies according to above-mentioned acquisition information and determine above-mentioned summary information, above-mentioned summary information is will to use above-mentioned acquisition information and information that the state status of the machine that calculates represents as the emotion of the machine, and then possesses: perform the dust collection mechanism of dust suction；The dust suction number of times memory portion of the number of times of memory executed dust suction；And when performing dust suction every time, the dust suction number of times storing mechanism making the memory above-mentioned number of times increase in above-mentioned dust suction number of times memory portion once and to update, above-mentioned determination means is using corresponding with specified time limit and be stored in the aggregate value of the above-mentioned number of times in above-mentioned dust suction number of times memory portion as above-mentioned acquisition information, and determines above-mentioned summary information.
Invention effect
According to an embodiment of the present invention, confirm summary information owing to user may utilize external device (ED), and in shorter time, easily hold the summary of acquisition information compared with the situation directly confirming acquisition information, therefore play the effect that the convenience of user improves.
Fig. 1 is the axonometric chart of the self-propelled suction cleaner of one embodiment of the present invention.
Fig. 2 is the side cutaway view of above-mentioned self-propelled suction cleaner.
Fig. 3 is the lower view of above-mentioned self-propelled suction cleaner.
Fig. 4 is the figure of an example of the guidance panel representing above-mentioned self-propelled suction cleaner.
Fig. 5 is the side cutaway view of above-mentioned self-propelled suction cleaner, is the situation of the cap taking-up dust collecting part representing and opening body casing.
Fig. 6 is the axonometric chart to the cradle that above-mentioned self-propelled suction cleaner is charged.
Fig. 7 is to represent the block diagram that the function of above-mentioned self-propelled suction cleaner is constituted.
Fig. 8 is the block diagram of the composition representing the memory portion of above-mentioned self-propelled suction cleaner and control portion.
Fig. 9 (a) is the schematic diagram of the example representing the data remembered in the dust suction number of times contained by above-mentioned memory portion/operation values memory portion.B () is the schematic diagram of the example representing the data remembered in the dust suction number of days contained by above-mentioned memory portion/operation values memory portion.
Figure 10 is the schematic diagram of an example of the coefficient representing the emotion operational part use contained by above-mentioned control portion.
Figure 11 is the schematic diagram being denoted as emotion value that the result of the emotion operational part computing contained by above-mentioned control portion obtained with the corresponding relation of emotion.
Figure 12 is the flow chart of the handling process representing above-mentioned self-propelled suction cleaner.
Figure 13 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing another embodiment of the present invention and control portion.
According to an embodiment of the present invention, confirm summary information owing to user may utilize external device (ED), and in shorter time, easily hold the summary of acquisition information compared with the situation directly confirming acquisition information, therefore play the effect that the convenience of user improves.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the self-propelled suction cleaner of one embodiment of the present invention.
Fig. 2 is the side cutaway view of above-mentioned self-propelled suction cleaner.
Fig. 3 is the lower view of above-mentioned self-propelled suction cleaner.
Fig. 4 is the figure of an example of the guidance panel representing above-mentioned self-propelled suction cleaner.
Fig. 5 is the side cutaway view of above-mentioned self-propelled suction cleaner, is the situation of the cap taking-up dust collecting part representing and opening body casing.
Fig. 6 is the axonometric chart to the cradle that above-mentioned self-propelled suction cleaner is charged.
Fig. 7 is to represent the block diagram that the function of above-mentioned self-propelled suction cleaner is constituted.
Fig. 8 is the block diagram of the composition representing the memory portion of above-mentioned self-propelled suction cleaner and control portion.
Fig. 9 (a) is the schematic diagram of the example representing the data remembered in the dust suction number of times contained by above-mentioned memory portion/operation values memory portion.B () is the schematic diagram of the example representing the data remembered in the dust suction number of days contained by above-mentioned memory portion/operation values memory portion.
Figure 10 is the schematic diagram of an example of the coefficient representing the emotion operational part use contained by above-mentioned control portion.
Figure 11 is the schematic diagram being denoted as emotion value that the result of the emotion operational part computing contained by above-mentioned control portion obtained with the corresponding relation of emotion.
Figure 12 is the flow chart of the handling process representing above-mentioned self-propelled suction cleaner.
Figure 13 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing another embodiment of the present invention and control portion.
Figure 14 is the schematic diagram of the example representing the data remembered in the residual capacity of battery contained by above-mentioned memory portion/operation values memory portion.
Figure 15 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 16 is the schematic diagram of the example representing the data remembered in the current value contained by above-mentioned memory portion/operation values memory portion.
Figure 17 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 18 is the schematic diagram of the example representing the data remembered in the elapsed time contained by above-mentioned memory portion/operation values memory portion.
Figure 19 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 20 is the schematic diagram of the example representing the data remembered in the state contained by above-mentioned memory portion/operation values memory portion.
Figure 21 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 22 is the schematic diagram of the example representing the data remembered in the state contained by above-mentioned memory portion/operation values memory portion.
Figure 23 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 24 is the schematic diagram of the example representing the data remembered in the collision frequency contained by above-mentioned memory portion/operation values memory portion.
Figure 25 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 26 is the schematic diagram representing and remembering the example in the data fallen in avoidance number of times/operation values memory portion contained by above-mentioned memory portion.
Figure 27 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 28 is the schematic diagram of the example representing the data remembered in the foul smell number of times contained by above-mentioned memory portion/operation values memory portion.
Figure 29 is the block diagram of the composition in the memory portion of the self-propelled suction cleaner representing the present invention and then another embodiment and control portion.
Figure 30 is the schematic diagram of the example representing the data remembered in the temperature contained by above-mentioned memory portion/operation values memory portion.
Detailed description of the invention
[summary of the present invention]
As an embodiment of the robot device of the present invention, illustrate as a example by self-propelled suction cleaner (robot device) 1 below.It addition, as robot device, in addition to self-propelled suction cleaner 1, can extensively apply the robot devices such as household service robot, air cleaner machine people, guard robot or pet robot.
The self-propelled suction cleaner 1 of the present invention is on the one hand automatically to walk and attract dust to carry out the device of dust suction.Self-propelled suction cleaner 1 be mainly characterized by comprising: by the information that obtains with self-propelled suction cleaner 1 (concrete speech, the information that obtained as the result implementing dust suction, each portion representing the machine state information, about the information etc. that the action of the machine is indicated) to be converted to the performance that the degree of the summary can hold this information at a glance summarizes (following, it is denoted as summary information), and the summary information of this conversion is sent to external device (ED).
The typical case of summary information is the information of state status (fine or not) that calculate according to the information obtained with self-propelled suction cleaner 1, that represent self-propelled suction cleaner 1.Hereinafter, the state status of self-propelled suction cleaner 1 is illustrated as " emotion " shower of the self-propelled suction cleaner 1 of the situation to be personalized by self-propelled suction cleaner 1.During this situation, self-propelled suction cleaner 1 is that the emotion of the performance using the information obtained with self-propelled suction cleaner 1 as summary sends to external device (ED).
It addition, the emotion of self-propelled suction cleaner 1 is to select to determine from multiple optionies.In each embodiment, the best " good mood ", " commonly " that mood is common, " bad mood " 3 optionies of mood difference.To the system of selection of emotion by aftermentioned.It addition, " good mood " represents the in good condition of self-propelled suction cleaner 1, " commonly " represents that the state of self-propelled suction cleaner 1 is the worst but it is good to cannot say for sure, " bad mood " represents that the state of self-propelled suction cleaner 1 is bad.
Additionally, also may be configured as user to may select " personality " of self-propelled suction cleaner 1.The typical case of personality is the persistence longer " affective style " of emotion, " the gentle type " that the persistence of emotion is common, and " the tolerant type " that the persistence of emotion is shorter.Utilize and select these types, and can be according to the lasting degree of the hobby regulation emotion of user.
It addition, the typical case of the external device (ED) of transmitting terminal is to complete, with self-propelled suction cleaner 1, the portable terminal (smart phone, tablet terminal, PC etc.) that pairing processes.The emotion sent from self-propelled suction cleaner 1, in the way of user can read, is shown in the display part of touch panel etc. by the external device (ED) of this situation.Other typical case as external device (ED), it is possible to for providing the server unit of the website such as blog or SNS (Social Networking Service: social networking service).The external device (ED) of this situation can use the form of the readings such as Web browser to keep the emotion sent from self-propelled suction cleaner 1 with user.It addition, self-propelled suction cleaner 1 and portable terminal are without certain pairing.
It addition, the present invention is not limited to self-propelled suction cleaner, it is possible to be applied to the vacuum cleaner that will not automatically walk.
[embodiment 1]
For one embodiment of the present invention, it is described as follows based on Fig. 1～Figure 12.
(structure of self-propelled suction cleaner)
Fig. 1～3 represents the axonometric chart of self-propelled suction cleaner 1 of present embodiment, side-looking, profile, lower view respectively.
Self-propelled suction cleaner 1 is as shown in Figure 1, there is self-propelled suction cleaner 1 body forming housing with the body casing 2 overlooking lower circle, with as shown in figure 22, the driving wheel 29 that battery (secondary cell) 14 is driven as power supply source, and walking the device of dust (dust suction) the most automatically.
As it is shown in figure 1, in the upper surface of body casing 2, be provided with the cap 3 of opening and closing when self-propelled suction cleaner 1 being carried out the guidance panel 50 of instruction input, LED (Light Emitting Diode: light emitting diode) lamp 51 and makes dust collecting part 30 pass in and out.It addition, body casing 2 is the conglobate shape of its upper surface and bottom surface in present embodiment, but it is not limited to this shape.
LED 51 is located at around the upper surface of body casing 2 in the present embodiment, as be described hereinafter, coordinates the state of self-propelled suction cleaner 1, the color lighted and light change in pattern.It addition, may also set up the lamp beyond LED.It addition, LED also can be located near the air vent 7 of the upper surface setting of body.
On guidance panel 50, it is provided with operation switch (operating portion) of the input accepting the data such as various instruction, word, numeral according to the operation from user, with the display display (display part) to the various information of user's prompting.Guidance panel 50 may be alternatively provided as touch panel.Additionally, it is possible to display LED is set on guidance panel 50.
Fig. 4 represents an example of guidance panel 50.Guidance panel 50 shown in Fig. 4 possesses the beginning of instruction dust suction and " starting and stop button " 501 of stopping；" mode selecting button " 502 of optional cleaned model；Current moment or " the time set button " 505 preengaging the moment making self-propelled suction cleaner 1 operate can be set；Show current moment or the moment display part 504 in reservation moment；The garbage-cleaning lamp 506 that dust collecting container 31 described later is lighted when filling detected.It addition, guidance panel 50 display represents " battery mark " 503 of the charge volume of battery 14.These are simple illustrations, and guidance panel 50 also can possess operating portion or the display part realizing function beyond these.
As shown in Figure 2,3, in the bottom surface of body casing 2, it is configured with the pair of driving wheels 29 that prominent from bottom surface and with level rotary shaft 29a rotates.Rotary shaft 29a of driving wheel 29 is configured on the centrage C of body casing 2.The two-wheeled of driving wheel 29 self-propelled suction cleaner 1 when same direction rotates is retreated, and when in the opposite direction rotating, self-propelled suction cleaner 1 rotates around the centrage C of body casing 2.Driving wheel 29 is driven by battery 14, and therefore, self-propelled suction cleaner 1 is walked automatically.Hereinafter, it is referred to as front before direct of travel when automatically being walked by self-propelled suction cleaner 1 and carry out dust suction, rear will be referred to as below.Advance it addition, the movement along direct of travel when carrying out dust suction is referred to as, retrogressing will be referred to as along with the rightabout movement of direct of travel when carrying out dust suction.It addition, by upper for the side face (side) of body casing 2, be referred to as towards the face of direct of travel when carrying out dust suction before, will be located in being referred to as the back side with the face of above opposition side.The back side is the face towards direct of travel when retreating.
In dust suction, when body casing 2 arrives the situation of the periphery of suction area or collides with the barrier on route, driving wheel 29 stops.Then, make the two-wheeled of driving wheel 29 the most in the opposite direction rotate, make self-propelled suction cleaner 1 body rotate centered by the centrage C of body casing 2, and change towards rotation.Therefore, self-propelled suction cleaner 1 can be made automatically to walk in the entirety of desired suction area, and avoiding obstacles is walked automatically.Additionally, it is possible to invert when making the two-wheeled of driving wheel 29 relatively advance, and make self-propelled suction cleaner 1 retreat.
It is provided with suction inlet 6 in the front, bottom surface of body casing 2.Suction inlet 6 be utilize recessed in The open surface of the recess 8 of the bottom surface of body casing 2, is formed towards floor F.In recess 8, it is configured with the rotating brush 9 rotated with the rotary shaft of level, is configured with the side brush 10 rotated with vertical rotary shaft in two sides of recess 8.
Additionally, in the bottom surface of body casing 2, suction inlet 6 so that front be provided with the front-wheel 27 of roll shape.It addition, the rear end (rear end) of the bottom surface at body casing 2, it is provided with the trailing wheel 26 being made up of independent wheel.Self-propelled suction cleaner 1 is dispensed weight on driving wheel 29 fore-and-aft direction at the center being placed in body box body 2 that matches, and front-wheel 27 leaves from floor F, rotating brush 9, driving wheel 29 and trailing wheel 26 and floor F ground connection and carry out dust suction.Therefore, the dust in route front can not be blocked by front-wheel 27 and import suction inlet 6.Front-wheel 27 and the step ground connection occurred on route, thus self-propelled suction cleaner 1 easily strides across step.
It is provided around buffer 5 at body casing 2, and buffers the impact to self-propelled suction cleaner 1 body or vibration.If buffer 5 and bar contact being detected in self-propelled suction cleaner 1 walking, then change direct of travel walks on.
In the rear end of the side face of body casing 2, expose the charging terminal 4 being provided with the charging carrying out battery 14.In the present embodiment, charging terminal 4 has 2 on the rear end of the side face of body casing 2, but may also set up 1 or more than 3.Self-propelled suction cleaner 1, after dust suction or when charge volume is less than setting, is back to be provided with the place of cradle 40.Then, the power supply terminal 41 be located at cradle 40 connects charging terminal 4, and battery 14 is charged.Be connected to the cradle 40 of source power supply the back side (not with week of body casing 2 in the face of to face) arrange generally along indoor sidewall S.To cradle 40 by aftermentioned.
Battery 14 is the power supply source of self-propelled suction cleaner 1 entirety.As battery 14, it is desirable to for rechargeable jumbo rechargable battery.Such as lead battery, Ni-MH battery, lithium ion battery or capacitor etc. can be used.
The dust collecting part 30 collecting dust it is configured with in body casing 2.Dust collecting part 30 is configured at above rotary shaft 29a of driving wheel 29, and is accommodated in the dust storage chamber 39 being located in body casing 2.It is configured at the top of rotary shaft 29a of driving wheel 29 due to dust collecting part 30, therefore, even if weight becomes big because of dust, still can maintain the weight balancing of body casing 2.Dust storage chamber 39 comprises side face and the isolation room of bottom surface covering four directions, in the axially extending formation of rotating brush 9 in the way of in separated body casing 2.Each wall of dust storage chamber 39 is except the most inaccessible in addition to the axially extended antetheca of rotating brush 9.The antetheca of dust storage chamber 39 is provided with and the 1st air-breathing road 11 that recess 8 connects and be configured at the 2nd air-breathing road 12 connected above recess 8 with electric motor units (motor) 20.
Dust collecting part 30 utilizes the cap 3 opening body casing 2 as shown in Figure 5, and can pass in and out by opposing body's casing 2.Dust collecting part 30 is to install on the top of dust collecting container 31 with the end to have the upper lid 32 of filter 33 and formed.Upper lid 32 utilizes movable snap portion 32a button to terminate in dust collecting container 31, according to the upper surface of the controlled opening/closing dust collecting container 31 of snap portion 32a.Therefore, can abandoned piles in the dust of dust collecting container 31.
Side face at dust collecting container 31 is provided with the inflow road 34 making inflow entrance 34a opening in front end and connect with the 1st air-breathing road 11.Continuously and bending is utilized to import downwards inflow part 34b of air-flow it addition, be provided with and flow into road 34 in dust collecting container 31.Side face in upper lid 32 is provided with the outflow road 35 making flow export 35a opening in front end and connect with the 2nd air-breathing road 12.
Being provided around and the liner (not shown) of the antetheca of dust storage chamber 39 contiguity at inflow entrance 34a and flow export 35a.Therefore, in the dust storage chamber 39 of dust collecting part 30 being accommodated with airtight.The antetheca of the opening surface of inflow entrance 34a, the opening surface of flow export 35a and dust storage chamber 39 is formed as inclined plane, and can prevent because of the deterioration of the liner caused by slip when dust collecting part 30 passes in and out.
The top configuration at the rear of the dust storage chamber 39 in body casing 2 controls substrate 15.Control substrate 15 arranges the control portion (dust collection mechanism) 52 described later in each portion controlling self-propelled suction cleaner 1 or remembers the memory portion 57 described later of various data.Detachable battery 14 is configured in the bottom at the rear of dust storage chamber 39.Battery 14 charges from cradle 40 via charging terminal 4, to controlling each portion supply electric power such as substrate 15, driving wheel 29, rotating brush 9, side brush 10 and electric blowing machine 22.
In the self-propelled suction cleaner 1 of above-mentioned composition, if instruction dust suction operating, then supply the electric power from battery 14, and drive electric blowing machine 22, ion generating device described later 62, driving wheel 29, rotating brush 9 and side brush 10.Therefore, the rotating brush 9 of self-propelled suction cleaner 1, driving wheel 29 and trailing wheel 26 and floor F ground connection, and automatically walk in the suction area determined, the air-flow of the dust comprising floor F is sucked from suction inlet 6.Now, utilize the rotation of rotating brush 9 to make the dust on the F of floor raise up, thus import in recess 8.It addition, utilize the rotation of side brush 10 and the dust of the side of suction inlet 6 imported suction inlet 6.
The air-flow sucked from suction inlet 6 is the 1st air-breathing road 11 of rearward circulating as shown in the arrow A1 of Fig. 2, and flows into dust collecting part 30 via inflow entrance 34a.The air-flow flowing into dust collecting part 30 is captured collection dust by filter 33, and flows out from dust collecting part 30 via flow export 35a.Therefore, in dust dust is piled up in dust collecting container 31.The air-flow flowed out from dust collecting part 30 is the 2nd air-breathing road 12 of the most forwards circulating, and flows into the electric blowing machine 22 of electric motor units 20.
By the air-flow of electric blowing machine 22 from air vent 7 aerofluxus the most rearwardly and upwardly being located at body casing 2 upper surface.It addition, possess ion generating device (non-icon) near electric blowing machine 22, comprise the air-flow of ion from air vent 7 discharge.
More than as, carry out the dust suction of indoor, and the ion contained by aerofluxus of the self-propelled suction cleaner 1 automatically walked carries out the degerming or deodorization of indoor throughout indoor.Now, owing to being from air vent 7 aerofluxus upward, therefore can prevent the dust of floor F from kicking up, and improve the cleannes of indoor.
Can also constitute by the way of in the part importing recess 8 of the air-flow comprising the ion flowed by the 2nd air-breathing road 12.Constitute if so, then import the air-flow on the 1st air-breathing road 11 from suction inlet 6 and be contained within ion.Therefore, the dust collecting container 31 of dust collecting part 30 or the degerming and deodorization of filter 33 can be carried out.
Cradle 40 is the device in order to be charged the battery 14 of self-propelled suction cleaner 1, and cradle 40 possesses the charging circuit etc. controlling the charging to battery 14 in inside.
As shown in Figure 6, before cradle 40 (with week of body casing 2 in the face of to face), on the position that can contact with the charging terminal 4 of self-propelled suction cleaner 1, be provided with the charging terminal 4 with self-propelled suction cleaner 1 with several power supply terminals 41.Power supply terminal 41 is not when contacting with any object, prominent before cradle 40, and can push back before front end face and the cradle 40 of power supply terminal 41 till general planar.When the charging terminal 4 of self-propelled suction cleaner 1 contacts (electrical contact) with the power supply terminal 41 of cradle 40, if pushing before front end face and the cradle 40 of power supply terminal 41 till general planar, then turn on contact, and the electric current of source power supply connected from cradle 40 flows in self-propelled suction cleaner 1.In this condition battery 14 can be charged.
It addition, cradle 40 is to be constituted in the way of transmission represents the return signal of the setting place of cradle 40 and the position of power supply terminal 41.Self-propelled suction cleaner 1, when the charge volume of situation that dust suction terminates or battery 14 being detected less than the situation of setting, detects the return signal sent from cradle 40, and automatically returns to the place being provided with cradle 40.Herein, the detection that dust suction terminates is such as to may utilize detection self-propelled suction cleaner 1 to move a certain distance or through certain time, or carries out with the cleaning state of the detection suction area such as sensor.Or, it is possible to utilize self-propelled suction cleaner 1 to carry out to the instruction of the return of cradle 40 from the termination utilizing guidance panel 50 or remote control unit described later or radio communication to connect, the promotion accepting dust suction termination instruction or interruption instruction etc..
In the present embodiment, though sending the infrared signal return signal as the position of the setting place and power supply terminal 41 representing cradle 40, but the signal beyond infrared signal can also be sent.If being connected with source power supply by cradle 40, and self-propelled suction cleaner 1 leaves from cradle 40, the most constantly sends return signal.
In the present embodiment, self-propelled suction cleaner 1 detects return signal, and advance (in other words, make to move front towards direct of travel) when being back near the setting place of cradle 40, temporarily cease, around body casing 2 centrage C rotate, until charging terminal 4 come with power supply terminal 41 to position.Thereafter, body casing 2 starts to retreat (in other words, making the back side move) towards direct of travel.Self-propelled suction cleaner 1 contacts laggard at charging terminal 4 with power supply terminal 41 and retreats, and come (the position pushing back stopping of power supply terminal 41, general planar position before the front end face of the power supply terminal 41 contacted with charging terminal 4 and cradle 40, docking location) till time, the energising from power supply terminal 41 detected, and stop retreating.It is charged under this halted state.It addition, about the return of self-propelled suction cleaner 1 and charging terminal 4 and the process docking (self-propelled suction cleaner 1 docks) with cradle 40 of power supply terminal 41, known technology can be used.
Charging terminal 4 docks with power supply terminal 41, and such as available one side arranges rear sensor at the back side (rear end) of body casing 2, detects return signal with rear sensor, and makes self-propelled suction cleaner 1 retreat and carry out.If rear sensor is not detected by return signal, then makes self-propelled suction cleaner 1 rotate forward (turning clockwise) or reversion (rotating counterclockwise) around the centrage C of body casing 2 with trace, retreat after return signal being detected.So, on the one hand maintain the detection of return signal all the time and make body casing 2 retreat, therefore can make the position alignment of charging terminal 4 and power supply terminal 41.
It addition, rear sensor and charging terminal 4 are preferably co-located on the line parallel with rotary shaft 29a of driving wheel 29.Arrange if so, then on the one hand rear sensor maintains the detection of the return signal from cradle 40 and retreats, and can suitably carry out being connected charging terminal 4 with power supply terminal 41.
It addition, self-propelled suction cleaner 1 may be configured as according to setting, and in the charging of the state being connected with power supply terminal 41 at charging terminal 4, i.e. battery 14 and after charging terminates, electric blowing machine 22 and ion generating device can be driven.Constitute if so, then charging in and charging terminate after, release the air-flow comprising ion rearwardly and upwardly from air vent 7.Owing to charging terminal 4 is located at the rear end of body casing 2, the air-flow therefore comprising ion circulates in the direction of cradle 40.Herein, during the situation that the back side of cradle 40 is arranged along indoor sidewall S, the air-flow comprising ion can rise along sidewall S.This air-flow along indoor roof and to sidewall circulation.Therefore, ion throughout indoor overall, thus can improve bacteria-eliminating efficacy or deodorizing effect.
It addition, also may be configured as being provided with the environment detecting portion operable of detection surrounding enviroment state, states based on the surrounding enviroment that environment detecting portion operable detects on self-propelled suction cleaner 1, stop certain time at specific part, and release the air-flow comprising ion from air vent 7.
In the present embodiment, the guidance panel 50 that self-propelled suction cleaner 1 is not possessed merely with self, also utilize the infrared communications such as IrDA, IrSS (registered trade mark), utilize remote control unit (non-icon) to operate.It addition, self-propelled suction cleaner 1 also can operate via the termination (non-icon) of the intelligent mobile phone etc. utilizing the radio communications such as Bluetooth (registered trade mark), WiFi (registered trade mark), ZigBee (registered trade mark) to connect.Additionally, it is possible to from self-propelled suction cleaner 1 to utilize radio communication to connect termination send data.That is, the termination that self-propelled suction cleaner 1 can be connected with in radio wave mode carries out two-way communication.It addition, self-propelled suction cleaner 1 also can be connected with the wireless network of wide area.During this situation, the operation to self-propelled suction cleaner 1 can be carried out from the termination of the wireless network being connected to wide area.
Additionally, self-propelled suction cleaner 1 is possible with sound carries out input operation.Constitute it addition, self-propelled suction cleaner 1 can also export the mode remembered in the voice data of self-propelled suction cleaner 1.
It addition, self-propelled suction cleaner 1 is configured to possess various sensor, can avoiding obstacles, will not fall from step or ladder and automatically walk.As sensor so, such as, steep cliff sensor (step sensor), detection of obstacles sensor, force-feeling sensor, CCD (Charge-Coupled Device: charge coupled device) video camera etc. can be enumerated.These are simple illustrations, and all without possessing these.Steep cliff sensor or force-feeling sensor can such as be constituted by infrared ray sensor, it addition, detection of obstacles sensor can such as be constituted by ultrasonic sensor.
It addition, self-propelled suction cleaner 1 can such as possess acceleration transducer, distance detection sensor and angular transducer etc., and control the action etc. in dust suction.Additionally, self-propelled suction cleaner 1 also can possess temperature measuring portion or foul smell determination part as be described hereinafter, it is controlled in the way of carrying out dust suction according to measurement result or ion releasing etc..
In the present embodiment, self-propelled suction cleaner 1 is illustrated as aspiration-type vacuum cleaner, but self-propelled suction cleaner 1 such as also apply be applicable to mop type vacuum cleaner.It addition, self-propelled suction cleaner 1 is the most home-use, it is possible to use for business.
It addition, in the present embodiment, though self-propelled suction cleaner 1 possesses ion generating device 62, but without necessarily possessing.
(function of self-propelled suction cleaner is constituted)
Then, the function composition for self-propelled suction cleaner 1 illustrates.Self-propelled suction cleaner 1 is as it is shown in fig. 7, possess control portion 52, communication control unit (Control on Communication mechanism) 53, guidance panel 50, LED lighting portion 54, LED 51, voltage detection department 55, charging terminal 14, battery 14, memory portion 57, hoofing part portion 58, rotating brush drive division 59, rotating brush 9, side brush drive division 60, side brush 10, driving wheel 29, air-supply arrangement 61, ion generating device 62, sound input unit 63, audio output unit 64, step test section 65, foul smell determination part 66, temperature measuring portion 67 and collision detection portion 68.The composition front gone out is omitted the description.
Control portion 52 is based on the program remembered in memory portion 57 or data, and then based on from the guidance panel 50 front gone out, remote control unit and the program of termination input utilizing radio communication to connect, data, and carry out the module of the control of the various actions of self-propelled suction cleaner 1.Control portion 52 is located on above-mentioned control substrate 15.
Communication control unit 53 is the module transmitting reception controlling the data with external device (ED).In the past the remote control unit gone out or the termination utilizing radio communication to connect, receive in order to the control signal etc. controlling self-propelled suction cleaner 1.It addition, to the termination utilizing radio communication to connect, send and remember in the data of self-propelled suction cleaner 1 or the data that can measure with self-propelled suction cleaner 1.Communication control unit 53 also receives the return signal from cradle 40.
LED lighting portion 54 is that LED 51 supply is driven electric current, controls the module lighted of LED 51.LED lighting portion 54 coordinates the state of self-propelled suction cleaner 1, makes the color lighted and lights change in pattern.Such as, also dependent on just carry out in the cleaned model of dust suction, charging i.e. charge mode, do not carry out dust suction and just carrying out the ion emergence pattern of ion generation (occurring ion by aftermentioned), the emergency situation pattern of emergency situation occurs, and make color and light change in pattern.
Voltage detection department 55 is the module of the voltage of detection battery 14, tries to achieve the charge volume of battery 14 according to the voltage detected.Constituted in the way of battery 14 is electrically connected charging terminal 4.
Memory portion 57 is the various data that the OS program that performs of the control program that performs of the control portion 52 of memory (1) self-propelled suction cleaner 1, (2) control portion 52, (3) control portion 52 read when performing this application program in order to the application program and (4) performing the various functions that self-propelled suction cleaner 1 has.Or, it is data and the operation result etc. being used in computing during memory (5) control portion 52 performs various function.Such as, by the data accumulating of above-mentioned (1)～(4) in the non-volatile memory unit such as ROM (read only memory: read only memory), flash memory, EPROM (EraSable Programmable ROM: can erase programmable ROM), EEPROM (registered trade mark) (Electrically EPROM: electronics EPROM), HDD (Hard Disc Drive: hard disk drive).Such as, by the data accumulating of above-mentioned (5) in the volatility memorys such as RAM (Random Access Memory: random access memory).
It addition, the remote control unit in the past gone out via guidance panel 50 or communication control unit 53 is remembered in memory portion 57 or termination accepts, the various conditions of the action of self-propelled suction cleaner 1 set.Additionally, the walking chart of the setting place periphery of self-propelled suction cleaner 1 also can be remembered by memory portion 57.So-called walking chart, is walking path or the speed of travel or the like the information about walking of self-propelled suction cleaner 1, or, relate to the information of suction area.Walking chart also user can preset and remember in memory portion 57, it is also possible to the self registering mode of self-propelled suction cleaner 1 self is constituted.
Hoofing part portion 58 is to possess motor driver, driving wheel motor etc., and determines direction of rotation, the anglec of rotation etc. based on the control signal from control portion 52, and makes the module that driving wheel 29 drives.
Rotating brush drive division 59 is to possess motor driver, rotating brush motor etc., and determines rotating speed etc. based on the control signal from control portion 52, and makes the module that rotating brush 9 drives.
Side brush drive division 60 is to possess motor driver, side brush motor etc., and determines rotating speed etc. based on the control signal from control portion 52, and makes the module that side brush 10 drives.
The electric motor units 20 that air-supply arrangement 61 goes out before being equivalent to, is to possess electric blowing machine 22 etc., and carries out to the air-breathing within body casing 2 and the device of the aerofluxus from inside.
Ion generating device 62 is the device producing ion under the control in control portion 52 after driving.
In the present embodiment, ion generating device 62 is plasmoid ion (registered trade mark) generator.Therefore, on ion generating device 62, being provided with plasmoid ion generating device, plasmoid ion generating device possesses the cation generating unit producing cation and the anion generating unit producing anion.It addition, so ion generating device is to be disclosed in detail in the Japanese Unexamined Patent Publication 2002-58731 that applicant in this case had previously applied for.
The ion produced from ion generating device 62, utilizes the air-supply arrangement 61 outside discharge to body casing 2.It addition, utilize the control in control portion 52, self-propelled suction cleaner 1 can perform dust suction action and ion generation action simultaneously, in addition, it is possible to individually performs dust suction action and ion generation action.
Sound input unit 63 is the audio input device such as mike, is to input sound externally to self-propelled suction cleaner 1.
Audio output unit 64 is the voice outputs such as speaker, is to export sound according to the voice data remembered in memory portion 57 to outside.
Step test section 65 is the sensor of the step of the walking surface of detection self-propelled suction cleaner 1, such as, comprise steep cliff sensor etc..
Foul smell determination part 66 is the foul smell sensor of the foul smell measuring self-propelled suction cleaner 1 periphery, such as, comprise gas sensor etc..
Temperature measuring portion 67 is the temperature sensor of the temperature measuring self-propelled suction cleaner 1 periphery, such as, comprise critesistor etc..
Collision detection portion 68 is the touch sensor of detection buffer 5 and barrier collision.
Then, one side describes in detail with reference to Fig. 8～11, the composition for memory portion 57 and control portion 52.
(composition in memory portion)
Memory portion 57 comprises dust suction number of times memory portion 571, dust suction number of days memory portion 572, dust suction number of times/operation values memory portion (operation values memory portion) 573 and dust suction number of days/operation values memory portion (operation values memory portion) 574.In addition, it is possible to comprise information memory portion 570.
Dust suction number of times memory portion 571 is to remember self-propelled suction cleaner 1 every day to have been carried out the number of times (following, to be denoted as dust suction number of times) of dust suction.It addition, dust suction number of days memory portion 572 is to remember whether self-propelled suction cleaner 1 has been carried out dust suction every day.Even if it addition, carried out plural number time dust suction same day, the information being recorded in dust suction number of days memory portion 572 only represents that this day has been carried out the situation of dust suction.It addition, the data remembered in dust suction number of times memory portion 571 and dust suction number of days memory portion 572 are to utilize dust suction record information storage part 401 described later to update.
It addition, self-propelled suction cleaner 1 can implement dust suction by the cleaned model shown in following (N1)～(N4).Dust suction number of times memory portion 571 and dust suction number of days memory portion 572 can be according to each cleaned model data memories, it is possible to do not distinguish cleaned model and data memory.
(N1) to the four corner of dust suction carrying out the pattern (automatic mode) of dust suction.(N2) specific border circular areas is carried out the pattern (putting 1 pattern) of dust suction.(N3) to the pattern (putting 2 patterns) putting the 1 different size of circular scope of pattern and carrying out dust suction.(N4) wall limit is carried out the pattern (wall edge mode) of dust suction.
It addition, the data remembered in dust suction number of times memory portion 571 and dust suction number of days memory portion 572, it is preferably and is constituted in the way of utilizing certain triggers to reset to initial value (usually " 0 ").
Then, dust suction number of times/operation values memory portion 573 is by corresponding with parameter i.e. emotion operation values M1 that the computing that emotion operational part 251 described later is carried out is used for dust suction number of times and remember.During the situation of the composition that can set the character type of self-propelled suction cleaner 1, and then it is alternatively and remembers the composition of emotion operation values M1 corresponding with dust suction number of times according to each character type.Can preset it addition, remember the data in dust suction number of times/operation values memory portion 573, it is possible to set by user.
One side, with reference to Fig. 9 (a), illustrates to remember an example of the data in dust suction number of times/operation values memory portion 573.Fig. 9 (a) is the schematic diagram representing the example remembering the data in dust suction number of times/operation values memory portion 573.In the example shown in same figure, dust suction number of times is divided into " discontented 4 times ", " more than 4 times discontented 7 times " and " more than 7 times " 3 stages, relatively should have emotion operation values M1 of each character type to each stage.
Then, dust suction number of days/operation values memory portion 574 is by corresponding with emotion operation values M1 for the number of days (following, be denoted as dust suction number of days) having been carried out dust suction and remember.During the situation of the composition that can set the character type of self-propelled suction cleaner 1, and then it is alternatively and remembers the composition of emotion operation values M1 corresponding with dust suction number of days according to each character type.It addition, remembering the data in dust suction number of days/operation values memory portion 574 can be to preset, it is possible to set by user.
One side, with reference to Fig. 9 (b), illustrates to remember an example of the data in dust suction number of days/operation values memory portion 574.Fig. 9 (b) is the schematic diagram representing the example remembering the data in dust suction number of days/operation values memory portion 574.In the example shown in same figure, dust suction number of times is divided into " discontented 4 days ", " more than 4 days discontented 7 days " and 3 stages of " 7 days ", relatively should have emotion operation values M1 of each character type to each stage.
Then, information memory portion 570 is that emotion is corresponding and remember with the message of performance emotion.Such as by corresponding with the message of " the best state " for the emotion of " good mood " and remember.It addition, such as, by corresponding with the message of " normal state " for the emotion of " commonly " and remember.It addition, such as, by corresponding with the message of " the best state " for the emotion of " bad mood " and remember.It addition, remembering the message in information memory portion 570 can be to preset, it is possible to set by user.
It addition, remember the message in information memory portion 570 to be not limited to Word message, it is possible to for images such as icons.Such as, it is possible to the emotion corresponding memory smiling face's icon to " good mood ", the icon to the emotion expressionless face of corresponding memory of " commonly ", the icon to the corresponding face remembering indignation of emotion of " bad mood ".The most i.e. can determine whether the emotion of self-propelled suction cleaner 1, be preferred.
(composition in control portion)
Control portion 52 comprises event detection portion 101, emotion selection portion (determination means)) 201, transmission process portion 301 and dust suction record information storage part (dust suction number of times storing mechanism, dust suction number of days storing mechanism) 401.
First, event detection portion 101 is the generation detecting the event becoming the trigger that emotion selection portion 201 selects emotion.The typical case of the event of event detection portion 101 detection is the event shown in following (E1)～(E3).(E1) connect the power supply of self-propelled suction cleaner 1 and start (following, to be denoted as startup event).(E2) (following, to be denoted as connecting establishment event) is established in self-propelled suction cleaner 1 and the communication connection of external device (ED).(E3) self-propelled suction cleaner 1 receives the control signal (following, to be denoted as asking reception event) representing data acquisition request from external device (ED).
For detection startup event, connecting establishment event and the generation of request reception event, event detection portion 101 comprises startup test section 111, test section 121 is established in connection and request receives test section 131.
Starting test section 111 is detection startup event, and detects and connect the power supply starting self-propelled suction cleaner 1.
Connect establishment test section 121 and connect establishment event for detection, and the communication connection detecting the communication control unit 53 via self-propelled suction cleaner 1 and external device (ED) is established.As long as the estblishing step owing to communicating to connect uses generally known, therefore, omit the description herein.
Request receives test section 131 and asks reception event for detection, and detecting the control signal received via communication control unit 53 is to represent data acquisition request.As long as owing to the receiving step of control signal uses generally known, therefore, omit the description herein.
Then, illustrate for emotion selection portion 201.Emotion selection portion 201, when event detection portion 101 detects the generation of event, according to the frequency of the dust suction that self-propelled suction cleaner 1 is implemented, selects the emotion of self-propelled suction cleaner 1 from " good mood ", " commonly ", " bad mood ".
So-called dust suction frequency, the specified time limit being nearest is (following, be denoted as period T) in implement the number of times (following, be denoted as nearest dust suction number of times) of dust suction and period T in implement dust suction number of days (following, to be denoted as nearest dust suction number of days) at least any one.It addition, so dust suction frequency is the retrievable information of self-propelled suction cleaner 1, it also it is the one of the machine information of self-propelled suction cleaner 1.
Additionally, typical case as period T, that can enumerate (1) self-propelled suction cleaner 1 dispatches from the factory up to period so far, and (2) were connected after the main power source of self-propelled suction cleaner 1 to period so far, between a few days that (3) are nearest etc..
Emotion selection portion 201 comprises operation values determination section 231 and emotion operational part 251.First, operation values determination section 231, when event detection portion 101 detects the generation of event, determines, according to the frequency of the dust suction of self-propelled suction cleaner 1 enforcement, parameter i.e. emotion operation values M1 that the computing that emotion operational part 251 is carried out is used.
First, illustrate for using the situation that nearest dust suction number of times uses as dust suction frequency.During this situation, first operation values determination section 231 obtains the dust suction number of times being stored in each day contained by dust suction number of times memory portion 571, period T.Then, obtain corresponding with the aggregate value of the dust suction number of times of this acquisition and remember in emotion operation values M1 in dust suction number of times/operation values memory portion 573.
In the case of period T is between nearest 7 day, lifts concrete example and illustrate.At the data accumulating shown in Fig. 9 (a) in the case of dust suction number of times/operation values memory portion 573, the aggregate value of the dust suction number of times between nearest 7 days is discontented with 4 and the personality of self-propelled suction cleaner 1 when being affective style, and operation values determination section 231 obtains "-10 " as emotion operation values M1.Equally, the aggregate value of dust suction number of times be discontented with 4 and the personality of self-propelled suction cleaner 1 for gentle type time, operation values determination section 231 obtains "-7 " as emotion operation values M1.Equally, the aggregate value of dust suction number of times be discontented with 4 and the personality of self-propelled suction cleaner 1 for tolerant type time, operation values determination section 231 obtains "-5 " as emotion operation values M1.
Then, illustrate for using the situation that nearest dust suction number of days uses as dust suction frequency.During this situation, first operation values determination section 231 obtains in being stored in dust suction number of days memory portion 572, period T the quantity of the day implementing dust suction.Then, obtain corresponding with the quantity of this acquisition and remember hundred million in emotion operation values M1 in dust suction number of days/operation values memory portion 574.
In the case of period T is between nearest 7 day, lifts concrete example and illustrate.At the data accumulating shown in Fig. 9 (b) in the case of dust suction number of days/operation values memory portion 574, the aggregate value of the dust suction day between nearest 7 days is discontented with 4 and the personality of self-propelled suction cleaner 1 when being affective style, and operation values determination section 231 obtains "-20 " as emotion operation values M1.Equally, the aggregate value of dust suction day be discontented with 4 and the personality of self-propelled suction cleaner 1 for gentle type time, operation values determination section 231 obtains " one 14 " as emotion operation values M1.Equally, the aggregate value of dust suction day be discontented with 4 and the personality of self-propelled suction cleaner 1 for tolerant type time, operation values determination section 231 obtains "-10 " as emotion operation values M1.
It addition, use as dust suction frequency about whether using any one of nearest dust suction number of times and nearest dust suction number of days, can be randomly choosed any one, it is possible to specific priority is set and selects.
Then, emotion selection portion 251 uses emotion operation values M1 that operation values determination section 231 determines, according to the expression formula of regulation, computing is in order to determine emotion value M of emotion.The typical case of expression formula is following (formula 1)～(formula 3), but is not limited to these, can apply various expression formula.
M=M1 ... (formula 1)
M=m × M0+M1 ... (formula 2)
M=m × M0+M1+M2 ... (formula 3)
Herein, emotion value M during " M0 " expression previous operation.
It addition, " m " represents according to the coefficient (less than more than 0 1) changed from the elapsed time in the moment of front emotion value M of computing.Coefficient m is the elapsed time the least the longest value from the moment of previous operation emotion value M.
One side, with reference to Figure 10, illustrates an example of Coefficient m.Figure 10 is the schematic diagram of the example representing Coefficient m.In this embodiment, Coefficient m is set with each character type of self-propelled suction cleaner 1.As shown in the figure, Coefficient m sets in the way of from the moment of computing previous emotion value M process over time, value diminishes.Such as, if personality is affective style, then the elapsed time is discontented with 1 little Coefficient m is 1 constantly, and when the elapsed time is more than 18 hours, Coefficient m is 0.6.
It addition, " M2 " is from the data of external reception via communication control unit 53, typical case's speech, be to implement, with portable terminal etc., the score that the result of regulation game etc. is obtained as user.It addition, be not limited to score, it is possible to for other data.
In above-mentioned (formula 1), by emotion operation values M1 directly as this emotion value M.In contrast, in above-mentioned (formula 2), can according to from previous computing time time through and previous emotion value M is reflected in this emotion value M.If it addition, use above-mentioned (formula 3), then and then can obtain plus emotion value M carrying out the point that the result of particular game is obtained as user with portable terminal etc..
Then, emotion operational part 251, according to the value of emotion value M obtained as operation result, selects the emotion of self-propelled suction cleaner 1.Such as, as shown in figure 11, during the emotion value M situation corresponding with emotion, if emotion value M is more than 25, select " good mood ", if emotion value M is more than one 25 discontented 25, select " commonly ", if emotion value M is discontented with 1, selection " bad mood ".
Then, illustrate for transmission process portion 301.Transmission process portion 301 sends to external device (ED) via communication control unit 53, the emotion that emotion selects portion 201 select.The typical case of transmission mode is following (S1)～(S3).
(S1) to self-propelled suction cleaner 1 and the portable terminal completing pairing process, it is transmitted with Email etc. via WLAN or network.
(S2) to sending the portable terminal of data acquisition request, it is transmitted with Email etc. via WLAN or network.
(S3) to server unit (such as, it is provided that have the server unit of the website such as blog or SNS) registered in advance, http protocol etc. is used to be transmitted via WLAN or network.
It addition, the typical case of transmission process portion 301 sequential that sends emotion is following (T1)～(T2).
(T1), when emotion selection portion 201 selects emotion every time, the emotion of this selection is sent.
(T2), during the situation that the emotion only selected last time in emotion selection portion 201 is different from the emotion of emotion selection portion 201 this time selection, this emotion this time selected is sent.
Additionally, transmission process portion 301 also can send corresponding with the emotion becoming sending object and remember in the message in information memory portion 570 to external device (ED) via communication control unit 53.It addition, message also can only send when having from the situation of the request of external device (ED).
Additionally, transmission process portion 301 also can send to external device (ED) via communication control unit 53 by the dust suction number of times of every day remembered in dust suction number of times memory portion 571 and/or remember the dust suction the every day in dust suction number of days memory portion 572 and be implemented with nothing.It addition, these information also can only send when having from the situation of the request of external device (ED).
Then, illustrate for dust suction record information storage part 401.Dust suction record information storage part 401, when self-propelled suction cleaner 1 starts dust suction, updates and remembers in the dust suction number of times in dust suction number of times memory portion 571, and the situation having been carried out dust suction remembered in dust suction number of days memory portion 572.It addition, dust suction record information storage part 401 can store data with each cleaned model, it is possible to do not differentiate between cleaned model and store data according to dust suction number of times memory portion 571 and the data structure in dust suction number of days memory portion 572.
(handling process)
Then, one side is with reference to Figure 12, and the handling process for self-propelled suction cleaner 1 illustrates.Figure 12 is the flow chart of the handling process representing self-propelled suction cleaner 1.
First, if event detection portion 101 detects the generation (being yes in step (following, to be simply denoted as " S ") 11) of event, then operation values determination section 231 determines emotion operation values M1 (S12).
Then, emotion operational part 251 uses emotion operation values M1 computing emotion value M (S13) that step S12 is determined, and selects emotion (S14) according to the value of emotion value M.
Then, the emotion selected by step S14 is sent (S15) to external device (ED) by transmission process portion 301.Now, it is possible to by corresponding with the emotion becoming sending object and remember message in information memory portion 570 and send to external device (ED).
[embodiment 2]
For another embodiment of the present invention, it is described as follows based on Figure 13 and Figure 14.It addition, for convenience of description, and the component with each component shown in above-mentioned embodiment with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 13, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 13 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises residual capacity of battery/operation values memory portion (operation values memory portion) 575.In addition, it is possible to comprise information memory portion 570.
Residual capacity of battery/operation values memory portion 575 is by corresponding with emotion operation values M1 for the residual capacity of battery of battery 14 and remember.During for the situation of the composition of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with residual capacity of battery with the memory of each character type.Can preset it addition, remember the data in residual capacity of battery/operation values memory portion 575, it is possible to set by user.
One side, with reference to Figure 14, illustrates to remember an example of the data in residual capacity of battery/operation values memory portion 575.Figure 14 is the schematic diagram representing the example remembering the data in residual capacity of battery/operation values memory portion 575.In the example shown in same figure, residual capacity of battery is divided into " discontented 20% ", " more than 20% discontented 90% " and " more than 90% " 3 stage, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 202, transmission process portion 301 and residual capacity of battery determination part (residual capacity of battery measuring means) 402.
First, residual capacity of battery determination part 402 is the mensuration requirement of the residual capacity of battery according to battery 14, measures the residual capacity of battery of battery 14 via voltage detection department 55.It addition, the residual capacity of battery of battery 14 be according to residual capacity of battery time fully charged with measure time differing from of residual capacity of battery and try to achieve.
Then, emotion selection portion 202, when event detection portion 101 detects the generation of event, according to the residual capacity of battery of battery 14, selects the emotion of self-propelled suction cleaner 1 from " good mood ", " commonly " and " bad mood ".It addition, the residual capacity of battery of battery 14 is the retrievable information of self-propelled suction cleaner 1, it also it is the one of the machine information of self-propelled suction cleaner 1.
Emotion selection portion 202 comprises operation values determination section 232 and emotion operational part 251.First residual capacity of battery determination part 402 is asked the mensuration of the residual capacity of battery of battery 14 by operation values determination section 232, obtains the residual capacity of battery that residual capacity of battery determination part 402 measures.Then, obtain corresponding with the residual capacity of battery of this acquisition and remember in emotion operation values M1 in residual capacity of battery/operation values memory portion 575.
Enumerating the situation in residual capacity of battery/operation values memory portion 575 of the data accumulating shown in Figure 14 is that concrete example illustrates.In the case of residual capacity of battery is discontented with 20% and the personality of self-propelled suction cleaner 1 is affective style, operation values determination section 232 obtains "-50 " as emotion operation values M1.Equally, residual capacity of battery is discontented with 20% and during situation that the personality of self-propelled suction cleaner 1 is gentle type, and operation values determination section 232 obtains "-35 " as emotion operation values M1.Equally, residual capacity of battery is discontented with 20% and during situation that the personality of self-propelled suction cleaner 1 is tolerant type, and operation values determination section 232 obtains " one 25 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 232, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 3]
For the present invention's and then another embodiment, it is described as follows based on Figure 15 and Figure 16.It addition, for convenience of description, and the component with each component shown in above-mentioned embodiment with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 15, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 15 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises current value/operation values memory portion (operation values memory portion) 576.In addition, it is possible to comprise information memory portion 570.
Current value/operation values memory portion 576 is by corresponding with emotion operation values M1 for the current value of electric motor units 20 and remember.During for the situation of the composition of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with current value with the memory of each character type.Can preset it addition, remember the data in current value/operation values memory portion 576, it is possible to set by user.
One side, with reference to Figure 16, illustrates to remember an example of the data in current value/operation values memory portion 576.Figure 16 is the schematic diagram representing the example remembering the data in current value/operation values memory portion 576.In the example shown in same figure, current value is divided into " discontented 1.4A ", " more than 1.4A is discontented with 1.6A " and " more than 1.6A " 3 stage, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 203, transmission process portion 301 and current value determination part 403.
First, current value determination part 403 is the mensuration request of the current value according to electric motor units 20, measures the current value of electric motor units 20.
Then, emotion selection portion 203, when event detection portion 101 detects the generation of event, according to the accumulation of the dust in dust collecting part 30, selects the emotion of self-propelled suction cleaner 1 from " good mood ", " commonly ", " bad mood ".It addition, the accumulation of the dust in dust collecting part 30 is the retrievable information of self-propelled suction cleaner 1, it also it is the one of the machine information of self-propelled suction cleaner 1.
Emotion selection portion 203 comprises operation values determination section 233 and emotion operational part 251.
The accumulation of the dust in dust collecting part 30 can hold estimator according to the current value of the electric motor units 20 in driving.Therefore, first current value determination part 403 is asked the mensuration of the current value of electric motor units 20 by operation values determination section 233, obtains the current value that current value determination part 403 measures.Then, obtain corresponding with the current value of this acquisition and remember in emotion operation values M1 in current value/operation values memory portion 576.
Lifting the situation in current value/operation values memory portion 576 of the data accumulating shown in Figure 16 is that concrete example illustrates.When current value is discontented with the situation that personality is affective style of 1.4A and self-propelled suction cleaner 1, operation values determination section 233 obtains "-20 " as emotion operation values M1.Equally, when current value is discontented with the situation that the personality of 1.4A and self-propelled suction cleaner 1 is gentle type, operation values determination section 233 obtains "-14 " as emotion operation values M1.Equally, when current value is discontented with the situation that the personality of 1.4A and self-propelled suction cleaner 1 is tolerant type, operation values determination section 233 obtains "-10 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 233, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 4]
For the present invention's and then another embodiment, it is described as follows based on Figure 17 and Figure 18.It addition, for convenience of description, and the component with each component shown in above-mentioned embodiment with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 17, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 17 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises elapsed time/operation values memory portion 577.In addition, it is possible to comprise information memory portion 570.
Elapsed time/operation values memory portion 577 is that the temporal information that would indicate that the time is corresponding with emotion operation values M1 and remember.During for the situation of the composition of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with temporal information with the memory of each character type.Can preset it addition, remember the data in elapsed time/operation values memory portion 577, it is possible to set by user.
One side, with reference to Figure 18, illustrates to remember an example of the data in elapsed time/operation values memory portion 577.Figure 18 is the schematic diagram representing the example remembering the data in elapsed time/operation values memory portion 577.In the example shown in same figure, temporal information is divided into " discontented 2 days ", " more than 2 days discontented 5 days " and " more than 5 days " 3 stages, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, action instruction test section 102, emotion selection portion (determination means) 204 and transmission process portion 301.
Action instruction test section 102 detects the action to self-propelled suction cleaner 1 shown in following (D1)～(D3) and indicates.(D1) action utilizing sound to input from sound input unit 63 indicates.(D2) the action instruction shown in the control signal received via communication control unit 53 from external device (ED)s such as all of portable terminal of user or remote control units.(D3) the action instruction that user directly inputs with guidance panel 50.
Therefore, action instruction test section 102 comprises sound detection portion 141, order test section 151 and operation detection part 161.
Sound detection portion 141 utilizes and is compareed with the sound about action instruction in memory portion 57 registered in advance by the sound inputted from sound input unit 63, and detects input action instruction.It addition, the sound about action instruction also can be logged in by user.
Order test section 151 detects the control signal receiving expression action instruction via communication control unit 53.
Operation detection part 161 detects and inputs, with guidance panel 50, the operation representing that action indicates.
Then, emotion selection portion 204 is when event detection portion 101 detects the generation of event, have recently detected the elapsed time after action instruction according to action instruction test section 102, from " good mood ", " commonly ", " bad mood ", select the emotion of self-propelled suction cleaner 1.It addition, having recently detected the elapsed time after action instruction is the retrievable information of self-propelled suction cleaner 1, it also it is the one of the machine information of self-propelled suction cleaner 1.
Emotion selection portion 204 comprises operation values determination section 234 and emotion operational part 251.Operation values determination section 234 measures the elapsed time after action instruction test section 102 has recently detected action instruction.Then, when event detection portion 101 detects the generation of event, obtain corresponding with the elapsed time of this measurement and remember in emotion operation values M1 in elapsed time/operation values memory portion 577.
Lifting the situation in elapsed time/operation values memory portion 577 of the data accumulating shown in Figure 18 is that concrete example illustrates.As shown in figure 18, when the elapsed time is the situation that personality is affective style of more than 5 days and self-propelled suction cleaner 1, operation values determination section 234 obtains "-10 " as emotion operation values M1.Equally, when the elapsed time is the situation that the personality of more than 5 days and self-propelled suction cleaner 1 is gentle type, operation values determination section 234 obtains "-7 " as emotion operation values M1.Equally, when the elapsed time is the situation that the personality of more than 5 days and self-propelled suction cleaner 1 is tolerant type, operation values determination section 234 obtains "-5 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 234, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 5]
For the present invention's and then another embodiment, it is described as follows based on Figure 19 and Figure 20.It addition, for convenience of description, and the component with each component shown in embodiment 1～4 with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 19, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 19 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises state/operation values memory portion (operation values memory portion) 578A.In addition, it is possible to comprise information memory portion 570.
State/operation values memory portion 578A is by corresponding with emotion operation values M1 for the mounting or dismounting state of dust collecting part 30 and remember.During for the situation of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition with each character type memory emotion operation values M1.Can preset it addition, remember the data in state/operation values memory portion 578A, it is possible to set by user.
One side, with reference to Figure 20, illustrates to remember an example of the data in state/operation values memory portion 578A.Figure 20 is the schematic diagram representing the example remembering the data in state/operation values memory portion 578A.In the example shown in same figure, to being provided with the state of dust collecting part 30, relatively should there is emotion operation values M1 of each character type, it addition, to pulling down the state of dust collecting part 30, also relative to emotion operation values M1 that should have each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 206, transmission process portion (transmitting mechanism) 301 and mounting or dismounting detection unit 404.
Mounting or dismounting detection unit 404 judges the mounting or dismounting state (installment state or pull down state) of dust collecting part 30.It addition, the mounting or dismounting state of dust collecting part 30 is the retrievable information of self-propelled suction cleaner 1.
Then, illustrate for emotion selection portion 206.Emotion selection portion 206 comprises operation values determination section 236 and emotion operational part 251.Operation values determination section 236, when event detection portion 101 detects the generation of event, makes mounting or dismounting detection unit 404 judge the mounting or dismounting state of dust collecting part 30, and according to this result of determination, obtains emotion operation values M1 from state/operation values memory portion 578A.
Lifting the data accumulating shown in Figure 20 is that concrete example illustrates in the situation of state/operation values memory portion 578A.In the case of utilizing mounting or dismounting detection unit 404 to be judged to be provided with the state of dust collecting part 30, when the personality of self-propelled suction cleaner 1 is the situation of affective style, operation values determination section 236 obtains " 20 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of gentle type, operation values determination section 236 obtains " 17 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of tolerant type, operation values determination section 236 obtains " 15 " as emotion operation values M1.
On the other hand, in the case of utilizing mounting or dismounting detection unit 404 to be judged to pull down the state of dust collecting part 30, when the personality of self-propelled suction cleaner 1 is the situation of affective style, operation values determination section 236 obtains " 10 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of gentle type, operation values determination section 236 obtains " 7 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of tolerant type, operation values determination section 236 obtains " 5 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 236, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 6]
For the present invention's and then another embodiment, it is described as follows based on Figure 21 and Figure 22.It addition, for convenience of description, and the component with each component shown in embodiment 1～5 with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 21, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 21 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises state/operation values memory portion (operation values memory portion) 578B.In addition, it is possible to comprise information memory portion 570.
State/operation values memory portion 578B is that self-propelled suction cleaner 1 is the most corresponding with emotion operation values M1 and remember to the return of cradle 40 whether success.During for the situation of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition with each character type memory emotion operation values M1.Can preset it addition, remember the data in state/operation values memory portion 578B, it is possible to set by user.
One side, with reference to Figure 22, illustrates to remember in data one example of state/operation values memory portion 578B.Figure 22 is the schematic diagram representing and remembering data one example in state/operation values memory portion 578B.In the example shown in same figure, self-propelled suction cleaner 1 is back to the state of cradle 40 (normal termination), relatively should there is emotion operation values M1 of each character type, additionally, self-propelled suction cleaner 1 cannot be back to the state of cradle 40 (abnormal ending), also relative to emotion operation values M1 that should have each character type.
It addition, return be unsuccessfully in return residual capacity of battery tail off and have a barrier on situation that self-propelled suction cleaner 1 stops and return path and cannot return situation time produce.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 207, returns to control portion (moving control mechanism) 405 and transmission process portion 301.
Return to control portion 405 at the end of dust suction or when charge volume is less than setting, by with fill-in the way of the power supply terminal 41 in radio station 40 is connected, make self-propelled suction cleaner 1 move (that is, returning) to cradle 40, so, driving wheel 29 is controlled via hoofing part portion 58.Then, as returning the result controlled, keep the resume of the information representing that self-propelled suction cleaner 1 has been back to cradle 40 the most.It addition, being the most back to cradle 40 is the retrievable information of self-propelled suction cleaner 1.
Then, illustrate for emotion selection portion 207.Emotion selection portion 207 comprises operation values determination section 237 and emotion operational part 251.Operation values determination section 237 is when event detection portion 101 detects the generation of event, and the nearest return according to returning to control portion 405 controls result, obtains emotion operation values M1 from state/operation values memory portion 578B.
Lifting the data accumulating shown in Figure 22 is that concrete example illustrates in the situation of state/operation values memory portion 578B.In the case of being back to cradle 40 as returning the result controlled, when the personality of self-propelled suction cleaner 1 is the situation of affective style, operation values determination section 237 obtains " 20 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of gentle type, operation values determination section 237 obtains " 14 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of tolerant type, operation values determination section 237 obtains " 10 " as emotion operation values M1.
On the other hand, in the case of not being back to cradle 40 as returning the result controlled, when the personality of self-propelled suction cleaner 1 is the situation of affective style, operation values determination section 237 obtains "-20 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of gentle type, operation values determination section 237 obtains "-14 " as emotion operation values M1.Equally, when the personality of self-propelled suction cleaner 1 is the situation of tolerant type, operation values determination section 237 obtains "-10 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 237, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 7]
For the present invention's and then another embodiment, it is described as follows based on Figure 23 and Figure 24.It addition, for convenience of description, and the component with each component shown in embodiment 1～6 with identical function is marked same-sign, except in the case of describing especially, the description thereof will be omitted.
One side is with reference to Figure 23, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 23 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises collision frequency/operation values memory portion 579.In addition, it is possible to comprise information memory portion 570.
Collision frequency/operation values memory portion 579 is that the number of times (following, to be denoted as collision frequency) collided with wall or barrier in dust suction by self-propelled suction cleaner 1 is corresponding with emotion operation values M1 and remember.During for the situation of the composition of the character type of self-propelled suction cleaner 1 can be set, and then it is alternatively and remembers the composition of emotion operation values M1 corresponding with collision frequency according to each character type.Can preset it addition, remember the data in collision frequency/operation values memory portion 579, it is possible to set by user.
One side, with reference to Figure 24, illustrates to remember in data one example in collision frequency/operation values memory portion 579.Figure 24 is the schematic diagram representing and remembering data one example in collision frequency/operation values memory portion 579.In the example shown in same figure, collision frequency is divided into " discontented 30 times ", " more than 30 times discontented 60 times " and " more than 60 times " 3 stages, relatively should have emotion operation values M1 of each character type to each stage.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 208 and clunk management portion 406.
Clunk management portion 406 is counting collision frequency every time with collision detection portion 68 detection collision time.It addition, the most countable collision frequency when self-propelled suction cleaner 1 dispatches from the factory in clunk management portion 406 and self-propelled suction cleaner 1 switch on power recently and become holding state after each number of times of collision frequency.Initial value (usually " 0 ") is reset to when collision frequency after holding state is transformed into resting state at deenergization it addition, become.It addition, collision frequency is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 208 comprises operation values determination section 238 and emotion operational part 251.Operation values determination section 238, when event detection portion 101 detects the generation of event, obtains emotion operation values M1 corresponding with the collision frequency counted with clunk management portion 406 from collision frequency/operation values memory portion 579.
Lifting the situation in collision frequency/operation values memory portion 579 of the data accumulating shown in Figure 24 is that concrete example illustrates.Collision frequency is the value of more than 30 times discontented 60 times and time the personality of self-propelled suction cleaner 1 is affective style, and operation values determination section 238 obtains "-50 " as emotion operation values M1.Same, when collision frequency is to be discontented with the value of 60 times and the personality of self-propelled suction cleaner 1 for more than 30 times for gentle type, operation values determination section 238 obtains "-30 " as emotion operation values M1.Same, when collision frequency is to be discontented with the value of 60 times and the personality of self-propelled suction cleaner 1 for more than 30 times for tolerant type, operation values determination section 238 obtains "-20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 238, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 8]
For the present invention's and then another embodiment, it is described as follows based on Figure 25 and Figure 26.It addition, for convenience of description, and the component with each component shown in embodiment 1～7 with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 25, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 25 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises and falls avoidance number of times/operation values memory portion 580.In addition, it is possible to comprise information memory portion 570.
Falling avoidance number of times/operation values memory portion 580 is that self-propelled suction cleaner 1 is avoided the number of times (following, to be denoted as falling avoidance number of times) fallen because of step is corresponding with emotion operation values M1 and remember.During for the situation of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with falling avoidance number of times with the memory of each character type.Can preset it addition, remember the data in falling avoidance number of times/operation values memory portion 580, it is possible to set by user.
One side, with reference to Figure 26, illustrates to remember in an example of the data falling avoidance number of times/operation values memory portion 580.Figure 26 is the schematic diagram representing and remembering the example in the data falling avoidance number of times/operation values memory portion 580.In the example shown in same figure, fall avoidance number of times and be divided into " discontented 4 times ", " more than 4 times discontented 7 times " and " more than 7 times " 3 stages, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 209 and falls avoidance management department 407.
Fall avoidance management department 407 when the dust suction of self-propelled suction cleaner 1 starts, step test section 65 is indicated the detection of step, and when detecting step with step test section 65, counting falls avoidance number of times every time.Avoid the most countable the falling when dispatching from the factory away from self-propelled suction cleaner 1 of management department 407 and avoid it addition, fall and fall avoidance each number of times of number of times after number of times and self-propelled suction cleaner 1 switch on power recently and become holding state.Become and fall avoidance number of times after holding state, when being transformed into resting state at deenergization, reset to initial value (usually " 0 ").It addition, falling avoidance number of times is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 209 comprises operation values determination section 239 and emotion operational part 251.Operation values determination section 239 when event detection portion 101 detects the generation of event, from fall avoidance number of times/operation values memory portion 580 obtain with utilize fall avoid that management department 407 counted fall emotion operation values M1 that avoidance number of times is corresponding.
Lift by the data accumulating shown in Figure 26 in the situation falling avoidance number of times/operation values memory portion 580 be that concrete example illustrates.Falling that to avoid number of times be the personality being discontented with the value of 7 times and self-propelled suction cleaner 1 more than 4 times when being affective style, operation values determination section 239 obtains "-50 " as emotion operation values M1.Equally, when falling the personality avoiding value that number of times is more than 4 times discontented 7 times and self-propelled suction cleaner 1 for gentleness type, operation values determination section 239 obtains "-30 " as emotion operation values M1.Equally, when falling the personality avoiding value that number of times is more than 4 times discontented 7 times and self-propelled suction cleaner 1 for tolerance type, operation values determination section 239 obtains "-20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 239, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 9]
For the present invention's and then another embodiment, it is described as follows based on Figure 27 and Figure 28.It addition, for convenience of description, and the component with each component shown in embodiment 1～8 with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 27, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 27 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
The memory portion 57 of present embodiment comprises foul smell number of times/operation values memory portion 581.In addition, it is possible to comprise information memory portion 570.
Foul smell number of times/operation values memory portion 581 is self-propelled suction cleaner 1 to detect in walking the number of times (following, be denoted as foul smell number of times) of the foul smell exceeding setting is corresponding with emotion operation values M1 and remembers.During for the situation of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with foul smell number of times with the memory of each character type.Can preset it addition, remember the data in foul smell number of times/operation values memory portion 581, it is possible to set by user.
One side, with reference to Figure 28, illustrates to remember an example of the data in foul smell number of times/operation values memory portion 581.Figure 28 is the schematic diagram representing the example remembering the data in foul smell number of times/operation values memory portion 581.In the example shown in same figure, foul smell number of times is divided into " discontented 3 times ", " more than 3 times discontented 5 times " and " more than 5 times " 3 stages, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 210 and foul smell management department 408.
Foul smell management department 408, when the dust suction of self-propelled suction cleaner 1 starts, indicates the mensuration of foul smell to foul smell determination part 66, and when measuring, with foul smell determination part 66, the foul smell exceeding setting, counts foul smell number of times every time.It addition, at the end of dust suction, the foul smell number of times counted is reset to initial value (usually " 0 ").It addition, the foul smell that mensuration exceedes setting is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 210 comprises operation values determination section 240 and emotion operational part 251.Operation values determination section 240, when event detection portion 101 detects the generation of event, obtains emotion operation values M1 corresponding with the foul smell number of times utilizing foul smell management department 408 to be counted from foul smell number of times/operation values memory portion 581.
Lifting the situation in foul smell number of times/operation values memory portion 581 of the data accumulating shown in Figure 28 is that concrete example illustrates.Foul smell number of times is the value of more than 3 times discontented 5 times and time the personality of self-propelled suction cleaner 1 is affective style, and operation values determination section 240 obtains "-50 " as emotion operation values M1.Equally, when foul smell number of times is to be discontented with the value of 5 times and the personality of self-propelled suction cleaner 1 for more than 3 times for gentle type, operation values determination section 240 obtains "-30 " as emotion operation values M1.Equally, when foul smell number of times is to be discontented with the value of 5 times and the personality of self-propelled suction cleaner 1 for more than 3 times for tolerant type, operation values determination section 240 obtains "-20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 240, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 10]
For the present invention's and then another embodiment, it is described as follows based on Figure 29 and Figure 30.It addition, for convenience of description, and the component with each component shown in embodiment 1～9 with identical function is marked same-sign, except in the case of specifically disclosed, the description thereof will be omitted.
One side is with reference to Figure 29, and the memory portion 57 of self-propelled suction cleaner 1 and the composition in control portion 52 for present embodiment illustrate.Figure 29 is the block diagram of the composition in the memory portion 57 of the self-propelled suction cleaner 1 representing present embodiment and control portion 52.It addition, the composition of the self-propelled suction cleaner 1 of present embodiment, in addition to memory portion 57 and control portion 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(composition in memory portion)
The memory portion 57 of present embodiment comprises temperature/operation values memory portion 582.In addition, it is possible to comprise information memory portion 570.
Temperature/operation values memory portion 582 is by corresponding with emotion operation values M1 for temperature and remember.During for the situation of the composition of the character type of self-propelled suction cleaner 1 can be set, and then, it is possible to for the composition of emotion operation values M1 corresponding with temperature with the memory of each character type.Can preset it addition, remember the data in temperature/operation values memory portion 582, it is possible to set by user.
One side, with reference to Figure 30, illustrates to remember in data one example in temperature/operation values memory portion 582.Figure 30 is the schematic diagram representing the example remembering the data in temperature/operation values memory portion 582.In the example shown in same figure, temperature is divided into " discontented 13 DEG C ", " more than 13 DEG C discontented 30 DEG C " and " more than 30 DEG C " 3 stages, to each stage, relatively should have emotion operation values M1 of each character type.
(composition in control portion)
The control portion 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 210 and temperature treatment portion 409.
Temperature measuring portion 67, in each specified time limit, is asked the mensuration of temperature by temperature treatment portion 409, obtains the temperature that temperature measuring portion 67 measures.
Emotion selection portion 211 comprises operation values determination section 241 and emotion operational part 251.Operation values determination section 241, when event detection portion 101 detects the generation of event, obtains corresponding with the temperature that temperature treatment portion 409 obtains and remembers in emotion operation values M1 in temperature/operation values memory portion 582.
Lifting the situation in temperature/operation values memory portion 582 of the data accumulating shown in Figure 30 is that concrete example illustrates.When temperature is discontented with the situation that personality is affective style of 13 DEG C and self-propelled suction cleaner 1, operation values determination section 241 obtains "-150 " as emotion operation values M1.Equally, when temperature is discontented with the situation that the personality of 13 DEG C and self-propelled suction cleaner 1 is gentle type, operation values determination section 241 obtains "-100 " as emotion operation values M1.Equally, when temperature is discontented with the situation that the personality of 13 DEG C and self-propelled suction cleaner 1 is tolerant type, operation values determination section 241 obtains "-50 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, in addition to replacing operation values determination section 231 and determined the point of emotion operation values M1 by operation values determination section 241, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, therefore omit the description.
[embodiment 11]
The retrievable information of self-propelled suction cleaner 1, exists beyond the information illustrated by above-mentioned embodiment the most in a large number.When self-propelled suction cleaner 1 is for obtaining the situation of the composition of information shown in following (G1)～(G25), it is possible to be configured to self-propelled suction cleaner 1 and use these information to select emotion, and the emotion of this selection is sent to external device (ED).It addition, the method for selection emotion is identical with the respective embodiments described above.That is, on the basis of determining emotion operation values M1 with emotion selection portion, according to particular expression formula computing emotion value M, emotion is selected according to the value of emotion value M.
(G1) first connect main power source and during day that self-propelled suction cleaner 1 starts
(G2) connected main power source last time and during day that self-propelled suction cleaner 1 starts
(G3) switched on power last time and during day that self-propelled suction cleaner 1 starts to holding state from resting state
(G4) make, when certainly dispatching from the factory, the number of times that ion generating device 62 operates
(G5) number of times making ion generating device 62 operate after nearest connection main power source
(G6) when certainly dispatching from the factory, self-propelled suction cleaner 1 cannot be back to the number of times of cradle 40
(G7) number of times after connecting main power source recently, that self-propelled suction cleaner 1 cannot be back to cradle 40
(G8) aggregate-value when certainly dispatching from the factory, self-propelled suction cleaner 1 travel distance (travel distance can use the encoder in hoofing part portion 58 to measure)
(G9) implement dust suction last time time, the travel distance of self-propelled suction cleaner 1
(G10) aggregate-value of the number of times utilizing ultrasonic sensor collision free when certainly dispatching from the factory
(G11) aggregate-value of the number of times that when certainly dispatching from the factory, driving wheel 29 floats from floor
(G12) aggregate-value of the number of times utilizing ultrasonic sensor collision free after holding state is become
(G13) aggregate-value of the number of times that after holding state, driving wheel 29 floats is become from floor
(G14) over-discharge in battery 14 whether is detected
(G15) whether detect in battery 14 and overcharge
(G16) whether battery 14 detects overcurrent
(G17) during the day that self-propelled suction cleaner last time 1 accepts action instruction
(G18) aggregate-value of the number of times accepting the instruction of the action to self-propelled suction cleaner 1 when certainly dispatching from the factory
(G19) aggregate-value of the number of times accepting the instruction of the action to self-propelled suction cleaner 1 after holding state is become
(G20) open and-shut mode of cap 3
(G21) in time dispatching from the factory, utilize timing setting and self-propelled suction cleaner 1 implements the aggregate-value of number of times of dust suction
(G22) after recently connecting main power source utilize timing setting and self-propelled suction cleaner 1 implements the aggregate-value of number of times of dust suction
(G23) when certainly dispatching from the factory, the aggregate-value of ion generating device 62 movement time
(G24) to be equipped on image or the flowing shadow that the ccd video camera of self-propelled suction cleaner 1 shoots
null(G25) various set informations are (during current day set by self-propelled suction cleaner 1，Expression is to put the information (diameter 2m/ diameter 3m/ diameter 4m) of the border circular areas of 1 pattern and point 2 pattern dust suctions，The presence or absence of the operation sound of guidance panel 50，From the volume ((Auto)/quiet (OFF)/grade 1/ grade 2/ grade 3 automatically) of the sound of audio output unit 64 output，The personality (affective style/gentleness type/tolerance type) of self-propelled suction cleaner 1，Represent the user recording voice data in the name of the self-propelled suction cleaner 1 of self-propelled suction cleaner 1，The language (standard speech/Northwest accent/English/Chinese) of the sound of self-propelled suction cleaner 1 output，User logs in the birthday of the user of self-propelled suction cleaner 1，Whether make emotion selection portion 201～211 action)
[change case 1]
In the respective embodiments described above, the emotion of self-propelled suction cleaner 1, the situation that result has emotion to be " commonly " or " bad mood " are selected.But, such as, when being gratifying day (birthday etc.) for user, the emotion of self-propelled suction cleaner 1 is preferably " good mood ".
Therefore, when selecting system data during emotion consistent with the date being logged in self-propelled suction cleaner 1 by user in advance with emotion selection portion 201～211, as Exception handling, it is alternatively emotion operation values M1 not obtaining memory in memory portion 57, and so that emotion becomes the mode of " good mood ", make emotion value M become the composition of higher value of regulation.
Therefore, the emotion one that according to the setting of user, can arrange self-propelled suction cleaner 1 is set to the day of " good mood ".
[change case 2]
Self-propelled suction cleaner 1 also can and then be configured to consider select emotion from the information of external reception via communication control unit 53, and the emotion of this selection is sent to external device (ED).So-called from the information of external reception, it is the above-mentioned M2 in order to computing emotion value M for typical case.
[combination of each embodiment]
About the embodiment that in appropriately combined the respective embodiments described above, disclosed technical body is obtained respectively, it is also included in the technical scope of the present invention.
I.e., also may be configured as combining (1) dust suction frequency, (2) residual capacity of battery of battery 14, (3) the dust accumulation in dust collecting part 30, (4) elapsed time after event occurs, (5) the pulling down of dust collecting part 30, (6) successfully and return unsuccessfully to the return of cradle 40, (7) with the collision of barrier, (8) avoidance fallen, (9) the multiple data in the foul smell of periphery, and (10) periphery temperature, and select the emotion of self-propelled suction cleaner 1.
That is, control portion 52 and memory portion 57 can also comprise the mode of embodiment 1～11 disclosed module respectively simultaneously and constitute.When being constituted the situation of controller 52 in the way of more than 2 in the emotion selection portion comprising each embodiment, multiple emotion selection portion M1 can be determined, but, during this situation, as long as according to the relative importance value specified or conditional decision emotion operation values M1.
[application to other electronic equipments]
By according to the technological thought that can send to external device (ED) with the emotion quality of the machine of the various information that the machine obtains, it is possible to the electronic equipment beyond vacuum cleaner is applied.Such as, it is possible to be applied to the electronic equipments such as air cleaner, humidifier, dehumidifier.
[implementation in control portion]
Finally, the available logic circuit being formed on integrated circuit (1C wafer) in control portion 52 of self-propelled suction cleaner 1 is constituted as hardware, it is possible to CPU used as described below utilizes software to realize.
When utilizing the situation that software realizes, self-propelled suction cleaner 1 possesses: perform to realize the CPU of the order of the controls program of each function, storage has the ROM (read only memory: read only memory) of said procedure, launch the RAM (random access memory: random access memory) of said procedure, store the memory (record media) etc. such as internal memory of said procedure and various data.And, the purpose of the present invention is possible with the record media of can record the software i.e. control program of self-propelled suction cleaner 1 realizing above-mentioned functions with computer program coding (performing form program, intermediate code program, source program) with reading are supplied in above-mentioned self-propelled suction cleaner 1, and this computer (or CPU or MPU) reads and performs to be recorded in the formula coding of record media and reach.
As above-mentioned record media, such as, the tape class such as tape or cartridge can be used；Comprise the disk sort of the CDs such as disk or CD-ROM/MO/MD/DVD/CD-R such as soft (registered trade mark) disk/hard disk；The card classes such as 1C card (comprising memory card)/light-card；Or the semiconductor memory class such as protected type ROM/EPROM/EEPROM (registered trade mark)/flash ROM；The logic circuit classes etc. such as PLD (Programmable logic device: programmable logical device).
It addition, self-propelled suction cleaner 1 can be connected with telecommunication network and constitute, and said procedure coding is supplied via telecommunication network.As this telecommunication network, it is not particularly limited, such as, available the Internet, internal network, business's internet, LAN, ISDN, VAN, CATV communication network, Virtual Private Network (virtual private network), telephone wire road network, mobile communicating net, satellite communication network etc..Additionally, as the transmission media constituting telecommunication network, it is not particularly limited, such as, available IEEE1394, USB, electric lines of force transports, cable tv circuit, telephone wire, adsl lines etc. are wired, or such as IrDA or the infrared ray of remote control, Bluetooth (registered trade mark), IEEE802.11 is wireless, HDR (High Data Rate: high data rate), NFC (Near Field Communication: near-field communication), DLNA (Digital Living Network Alliance: digital living network alliance), mobile telephone network, satellite circuit, ground digital nets etc. are wireless.
So, in this manual, so-called mechanism not necessarily means physical mechanism, also comprises the situation utilizing function that software realizes each mechanism.Additionally, available more than 2 physical mechanism realize the function of a mechanism, or 1 physical mechanism is utilized to realize the function of more than 2 mechanisms.
The present invention is not limited to the respective embodiments described above, can carry out various change in the range of shown in claim, about the embodiment that in appropriately combined different embodiments, disclosed technical body is obtained respectively, is also included in the technical scope of the present invention.
For solving the problems referred to above, the feature of the robot device of the present invention is for possessing: determination means, its summary information determining to summarize the acquisition information that the machine obtains；And transmitting mechanism, its summary information above-mentioned determination means determined sends to external device (ED), and above-mentioned determination means utilizes and selects from multiple optionies according to above-mentioned acquisition information and determine above-mentioned summary information.
According to above-mentioned composition, first, utilization selects from multiple optionies according to above-mentioned acquisition information and determines to summarize the summary information of the acquisition information that the machine obtains.Then, the summary information of this decision is sent to external device (ED).
Therefore, the acquisition information that the machine obtains can not be directed out part device and send, and be converted into generalized summary information and send to external device (ED).
Therefore, user utilizes external device (ED) to confirm summary information, and confirms that the situation of acquisition information is easier to hold the summary of acquisition information than directly, therefore plays the effect that the convenience of user improves.
Additionally, the robot device of the present invention also may be configured as above-mentioned transmitting mechanism and then above-mentioned acquisition information sent to above-mentioned external device (ED).
According to above-mentioned composition, in addition to summary information, obtain information itself and also send to external device (ED).
Therefore, user confirms outside summary information divided by external device (ED), it is possible to confirm acquisition information.
Additionally, it is the information representing the local state situation using above-mentioned acquisition information to calculate that the robot device of the present invention also may be configured as above-mentioned summary information.
According to above-mentioned composition, summary information is the information representing local state situation (such as, good/common/bad etc.).
Therefore, the acquisition information that the machine obtains can not be directed out part device and send, and would indicate that the information conversion of local state situation is sent in external device (ED).Therefore, play the simple behavior utilizing the state status confirming robot device, and the effect of the summary of acquisition information can be held.
During additionally, the robot device of the present invention also may be configured as the power supply connecting the machine, above-mentioned determination means determines above-mentioned summary information, and the summary information of this decision is sent by above-mentioned transmitting mechanism to above-mentioned external device (ED).
According to above-mentioned composition, in the timing of the power supply connecting the machine, determine summary information, and the summary information of this decision is sent to external device (ED).
Therefore, play in the timing of power supply connecting robot device, confirm the effect of the summary of acquisition information under this timing with external device (ED).
In addition, the robot device of the present invention also may be configured as above-mentioned transmitting mechanism only when the summary information that above-mentioned determination means determines recently is different from the summary information that above-mentioned determination means this time determines, this summary information this time determined is sent to above-mentioned external device (ED).
According to above-mentioned composition, only when the summary information determined recently is different from the summary information this time determined, this summary information this time determined is sent to external device (ED).
Therefore, determine summary information to be sent to external device (ED) during summary information the most every time, and only when summary information changes, summary information is sent to external device (ED).
Therefore, play the timing in summary information change, the effect of the summary of acquisition information under this timing can be confirmed with external device (ED).
Additionally, the robot device of the present invention also may be configured as above-mentioned transmitting mechanism and then the message corresponding with the summary information becoming sending object sent to above-mentioned external device (ED).
According to above-mentioned composition, in addition to summary information, the message corresponding with summary information is sent to external device (ED).
Therefore, the effect that the message accompanying summary information can be sent to external device (ED) is played together with summary information.
Additionally, the robot device of the present invention also may be configured as and then possesses in order to the power supply source i.e. secondary cell to the machine supply electric power；And measuring the residual capacity of battery measuring means of the residual capacity of battery of above-mentioned secondary cell, the residual capacity of battery that above-mentioned residual capacity of battery measuring means is measured by above-mentioned determination means is as above-mentioned acquisition information, and determines above-mentioned summary information.
According to above-mentioned composition, using the residual capacity of battery of secondary cell as above-mentioned acquisition information, and determine above-mentioned summary information.
Therefore, not the residual capacity of battery of secondary cell can be directed out part device and send, and the summary information summarizing this residual capacity of battery is sent to external device (ED).
Therefore, play and utilize external device (ED) to confirm summary information, and the effect of the summary of the residual capacity of battery of secondary cell can be held.
Additionally, the robot device of the present invention also may be configured as and then possesses: secondary cell, it is in order to the power supply source to the machine supply electric power；And moving control mechanism, it makes the machine move in the way of electrically connecting with the cradle in order to be charged above-mentioned secondary cell；Using the result as the movement utilizing above-mentioned moving control mechanism, the machine has been connected as above-mentioned acquisition information above-mentioned determination means the most with above-mentioned cradle, and determines above-mentioned summary information.
According to above-mentioned composition, the machine is connected with cradle the most as above-mentioned acquisition information, and determines above-mentioned summary information.
Therefore, not the machine can be connected with cradle the most and direct out part device transmission, and the summary information that will summarize its situation has sent to external device (ED).
Therefore, play and utilize external device (ED) to confirm summary information, and the effect that the machine has been connected with cradle the most can be held.
Additionally, the robot device of the present invention also may be configured as and then possesses: perform the dust collection mechanism of dust suction；The dust suction number of times memory portion of number of times of memory executed dust suction: and when every time performing dust suction, makes the memory above-mentioned number of times in above-mentioned dust suction number of times memory portion increase by 1 time and the dust suction number of times storing mechanism that updates；Above-mentioned determination means is using corresponding with the day contained by specified time limit and be stored in the aggregate value of the above-mentioned number of times in above-mentioned dust suction number of times memory portion as above-mentioned acquisition information, and determines above-mentioned summary information.
According to above-mentioned composition, first, when performing dust suction, make the number of times of the executed dust suction corresponding with the day performing this dust suction increase by 1 time and update every time.Then, using the aggregate value of the above-mentioned number of times corresponding with the day contained by specified time limit as above-mentioned acquisition information, and above-mentioned summary information is determined.
Therefore, not the total number of times performing dust suction in specified time limit can be directed out part device and send, and the summary information summarizing this total number of times is sent to external device (ED).
Therefore, play and utilize external device (ED) to confirm summary information, and in specified time limit can be held, perform the effect of the summary adding up to number of times of dust suction.
Additionally, the robot device of the present invention also may be configured as and then possesses: the dust suction day memory portion of the execution day of memory executed dust suction；And during with executed dust suction, is stored in the dust suction day storing mechanism in above-mentioned dust suction day memory portion the above-mentioned execution day；The aggregate value of the quantity of the above-mentioned execution day in the above-mentioned execution day that above-mentioned determination means will be stored in above-mentioned dust suction day memory portion, contained by specified time limit is as above-mentioned acquisition information, and determines above-mentioned summary information.
According to above-mentioned composition, using the aggregate value of the quantity of the execution day in the execution day of executed dust suction, contained by specified time limit as above-mentioned acquisition information, and determine above-mentioned summary information.
Therefore, not the total day performing dust suction in specified time limit can be directed out part device and send, and the summary information summarizing this total day is sent to external device (ED).
Therefore, play and utilize external device (ED) to confirm summary information, and in specified time limit can be held, perform the effect of the summary adding up to day of dust suction.
Additionally, the robot device of the present invention also may be configured as and then possesses: attract the motor of dust；And measure the current value measuring means of the current value of above-mentioned motor；The current value that above-mentioned current value measuring means is measured by above-mentioned determination means is as above-mentioned acquisition information, and determines above-mentioned summary information.
According to above-mentioned composition, using the current value of the motor of attraction dust as above-mentioned acquisition information, and determine above-mentioned summary information.
Therefore, not the current value attracting the motor of dust can be directed out part device and send, and the summary information summarizing this current value is sent to external device (ED).It addition, the accumulation of the dust collected in the dust collecting part of dust, estimator can be held according to the current value of motor.
Therefore, play and utilize external device (ED) to confirm summary information, and the effect of the summary of the accumulation of the dust in dust collecting part can be held.
Additionally, the robot device of the present invention also may be configured as and then possess to collect the detachable dust collecting part of dust, above-mentioned determination means will pull down above-mentioned dust collecting part the most as above-mentioned acquisition information, and determine above-mentioned summary information.
According to above-mentioned composition, will the most pull down dust collecting part as above-mentioned acquisition information, and determine above-mentioned summary information.
Therefore, not can direct out part device transmission by the most pulling down dust collecting part, and the summary information that will summarize its situation sends to external device (ED).
Therefore, play and utilize external device (ED) to confirm summary information, and the effect the most having pulled down dust collecting part can be held.
In addition, the robot device of the present invention also may be configured as and then possesses above-mentioned acquisition information and the operation values memory portion remembered in order to determine the value of above-mentioned summary information corresponding, above-mentioned determination means obtains corresponding with above-mentioned acquisition information and is stored in the value in above-mentioned operation values memory portion, according to the result value of this acquisition being added with the value obtained from outside, from above-mentioned options, select above-mentioned summary information.
According to above-mentioned composition, the value obtained from outside can be used to select above-mentioned summary information.
Therefore, the effect that can will allow for sending to external device (ED) from the summary information of the value of outside acquisition is played.
Realize it addition, above-mentioned robot device is possible with computer, during this situation, utilize and make computer realize the control program of the above-mentioned robot device of above-mentioned robot device with computer as above-mentioned each mechanism action；And the computer-readable medium storing recording it is also contained in scope of the invention.
Industrial utilizability
Present invention can apply to vacuum cleaner.Especially can be applied to self-propelled suction cleaner very well.
Description of reference numerals
1 self-propelled suction cleaner (robot device)
14 batteries (secondary cell)
20 electric motor units (motor)
29 driving wheels
30 dust collecting part
40 cradles
52 control portions (dust collection mechanism)
53 communication control units (Control on Communication mechanism)
201-211 emotion selection portion (determination means)
301 transmission process portions (transmitting mechanism)
401 dust suction record information storage parts (dust suction number of times storing mechanism, dust suction number of days storing mechanism)
402 residual capacity of battery determination parts (residual capacity of battery measuring means)
403 current value determination parts (current value measuring means)
405 return to control portion (moving control mechanism)
571 dust suction number of times memory portions
572 dust suction number of days memory portions
573 dust suction number of times/operation values memory portion (operation values memory portion)
574 dust suction numbers of days/operation values memory portion (operation values memory portion)
575 residual capacity of battery/operation values memory portion (operation values memory portion)
576 current values/operation values memory portion (operation values memory portion)
578A state/operation values memory portion (operation values memory portion)
578B state/operation values memory portion (operation values memory portion)

Claims (12)

1. a robot device, it is characterised in that possess:
Determination means, its summary information determining to summarize the acquisition information acquired in the machine；And
Transmitting mechanism, the summary information that above-mentioned determination means is determined is sent out by it to external device (ED) Send,
Above-mentioned determination means utilizes and selects from multiple optionies according to above-mentioned acquisition information Select and determine above-mentioned summary information,
Above-mentioned summary information is the state feelings of the machine that will use above-mentioned acquisition information and calculate The information that condition represents as the emotion of the machine,
And then possess:
Perform the dust collection mechanism of dust suction；
The dust suction number of times memory portion of the number of times of memory executed dust suction；And
When performing dust suction every time, make memory in the above-mentioned number of times in above-mentioned dust suction number of times memory portion The dust suction number of times storing mechanism increased once and update,
Above-mentioned determination means will be corresponding with specified time limit and be stored in above-mentioned dust suction time number scale Recall the aggregate value of above-mentioned number of times in portion as above-mentioned acquisition information, and determine that above-mentioned summary is believed Breath.
2. robot device as claimed in claim 1, wherein,
Above-mentioned transmitting mechanism and then above-mentioned acquisition information is sent to above-mentioned external device (ED).
3. robot device as claimed in claim 1 or 2, wherein,
When the power on of the machine,
Above-mentioned determination means determines above-mentioned summary information, and
The summary information of this decision is sent by above-mentioned transmitting mechanism to above-mentioned external device (ED).
4. robot device as claimed in claim 1 or 2, wherein,
The summary information that above-mentioned transmitting mechanism only determines recently in above-mentioned determination means is with above-mentioned During the summary information difference that determination means this time determines, by this summary information this time determined to Said external device sends.
5. robot device as claimed in claim 1 or 2, wherein,
Above-mentioned transmitting mechanism and then using the news corresponding with the summary information as sending object Breath sends to above-mentioned external device (ED).
6. robot device as claimed in claim 1 or 2, wherein,
And then possess:
In order to the power supply source i.e. secondary cell to the machine supply electric power；And
Measure the residual capacity of battery measuring means of the residual capacity of battery of above-mentioned secondary cell,
The remaining battery that above-mentioned residual capacity of battery measuring means is measured by above-mentioned determination means Amount is as above-mentioned acquisition information, and determines above-mentioned summary information.
7. robot device as claimed in claim 1 or 2, wherein,
And then possess:
In order to the power supply source i.e. secondary cell to the machine supply electric power；And
The machine is made to move to be electrically connected with the cradle in order to above-mentioned secondary cell to be charged The moving control mechanism connect,
Above-mentioned determination means using the machine whether as the knot of movement of above-mentioned moving control mechanism Really it is connected with above-mentioned cradle as above-mentioned acquisition information, and determines above-mentioned summary information.
8. robot device as claimed in claim 1, wherein,
And then possess:
The dust suction day memory portion of the execution day of memory executed dust suction；And
During executed dust suction, is stored in the dust suction in above-mentioned dust suction day memory portion the above-mentioned execution day Day storing mechanism,
In the above-mentioned execution day that above-mentioned determination means will be stored in above-mentioned dust suction day memory portion, advise The aggregate value of the quantity of above-mentioned execution day contained between Ding Qi is as above-mentioned acquisition information, and determines Fixed above-mentioned summary information.
9. robot device as claimed in claim 1, wherein,
And then possess:
Attract the motor of dust；And
Measure the current value measuring means of the current value of above-mentioned motor,
The current value that above-mentioned current value measuring means is measured by above-mentioned determination means is as upper State acquisition information, and determine above-mentioned summary information.
10. robot device as claimed in claim 8, wherein,
And then possess:
Attract the motor of dust；And
Measure the current value measuring means of the current value of above-mentioned motor,
The current value that above-mentioned current value measuring means is measured by above-mentioned determination means is as upper State acquisition information, and determine above-mentioned summary information.
11. robot devices as according to any one of claim 1,2,8,9,10, Wherein,
And then possess to collect the dust collecting part of the energy mounting or dismounting of dust,
Above-mentioned dust collecting part has been pulled down as above-mentioned acquisition information by above-mentioned determination means the most, and Determine above-mentioned summary information.
12. robot devices as according to any one of claim 1,2,8,9,10, Wherein,
And then possess above-mentioned acquisition information relative with in order to determine the value of above-mentioned summary information The operation values memory portion answered and remember,
Above-mentioned determination means obtains corresponding with above-mentioned acquisition information and is stored in above-mentioned computing The value in value memory portion, according to the result that the value of this acquisition is added with the value obtained from outside, Above-mentioned summary information is selected from above-mentioned options.
CN201380005480.4A 2012-01-17 2013-01-10 Robot device Expired - Fee Related CN104053391B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-007549 2012-01-17
JP2012007549A JP6081060B2 (en) 2012-01-17 2012-01-17 Robot apparatus, control program, and computer-readable recording medium recording the control program
PCT/JP2013/050336 WO2013108710A1 (en) 2012-01-17 2013-01-10 Robot device, control program, and computer-readable recording medium with said program recorded thereon

Publications (2)

Publication Number Publication Date
CN104053391A CN104053391A (en) 2014-09-17
CN104053391B true CN104053391B (en) 2016-10-05

Family

ID=48799136

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380005480.4A Expired - Fee Related CN104053391B (en) 2012-01-17 2013-01-10 Robot device

Country Status (4)

Country Link
JP (1) JP6081060B2 (en)
CN (1) CN104053391B (en)
TW (1) TWI597143B (en)
WO (1) WO2013108710A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106535729A (en) * 2014-06-30 2017-03-22 松下知识产权经营株式会社 Autonomous travel-type cleaner
CN105640443B (en) * 2014-12-03 2018-09-04 小米科技有限责任公司 The mute working method and device of automatic cleaning equipment, electronic equipment
JP7120772B2 (en) 2018-02-15 2022-08-17 東芝ライフスタイル株式会社 vacuum cleaner
TWI649057B (en) * 2018-04-10 2019-02-01 禾聯碩股份有限公司 Cleaning system of environmental scanning inmidiately
JP2020000600A (en) * 2018-06-29 2020-01-09 パナソニックＩｐマネジメント株式会社 Vacuum cleaner
CN113940587B (en) * 2018-11-02 2023-09-22 添可智能科技有限公司 Dust collector
CN110123215A (en) * 2019-06-20 2019-08-16 小狗电器互联网科技（北京）股份有限公司 Sweeping robot
EP4018899A4 (en) * 2019-08-23 2024-04-03 Lg Electronics Inc Robot cleaner and control method therefor
JP2021189726A (en) * 2020-05-29 2021-12-13 東芝ライフスタイル株式会社 Information processing system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06189877A (en) * 1992-09-08 1994-07-12 Gold Star Co Ltd Collision and fall preventive device and method for self-running cleaning machine
JP2003061882A (en) * 2001-08-28 2003-03-04 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
CN1530781A (en) * 2003-03-14 2004-09-22 Lg������ʽ���� Automatic charging system and method for cleaning robot
JP2005118354A (en) * 2003-10-17 2005-05-12 Matsushita Electric Ind Co Ltd House interior cleaning system and operation method
CN101296643A (en) * 2005-10-25 2008-10-29 松下电器产业株式会社 Electric cleaner
CN201701158U (en) * 2010-05-17 2011-01-12 朱炳 Intelligent dust collector
JP5018207B2 (en) * 2007-04-25 2012-09-05 パナソニック株式会社 Electric vacuum cleaner

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06189877A (en) * 1992-09-08 1994-07-12 Gold Star Co Ltd Collision and fall preventive device and method for self-running cleaning machine
JP2003061882A (en) * 2001-08-28 2003-03-04 Matsushita Electric Ind Co Ltd Self-propelled vacuum cleaner
CN1530781A (en) * 2003-03-14 2004-09-22 Lg������ʽ���� Automatic charging system and method for cleaning robot
JP2005118354A (en) * 2003-10-17 2005-05-12 Matsushita Electric Ind Co Ltd House interior cleaning system and operation method
CN101296643A (en) * 2005-10-25 2008-10-29 松下电器产业株式会社 Electric cleaner
JP5018207B2 (en) * 2007-04-25 2012-09-05 パナソニック株式会社 Electric vacuum cleaner
CN201701158U (en) * 2010-05-17 2011-01-12 朱炳 Intelligent dust collector

Also Published As

Publication number Publication date
CN104053391A (en) 2014-09-17
TWI597143B (en) 2017-09-01
JP2013146311A (en) 2013-08-01
WO2013108710A1 (en) 2013-07-25
JP6081060B2 (en) 2017-02-15
TW201345680A (en) 2013-11-16

Similar Documents

Publication Publication Date Title
CN104053391B (en) Robot device
CN104125792B (en) Vacuum cleaner
CN104053390B (en) Self-propelled electronic equipment, terminal installation and operating system
CN104053389B (en) Self-propelled electronic equipment
CN105025771A (en) Self-propelled cleaner
CN105072966A (en) Self-propelled vacuum cleaner
WO2013175839A1 (en) Robot device, terminal device, remote control system for robot device and program
JP5917298B2 (en) Self-propelled vacuum cleaner
CN104541517A (en) Device for creation of layout information, method for creation of layout information, system for operation of domestic electrical appliances, and self-propelled electronic device
JP2020142073A (en) Suction material collecting station, system made from suction material collecting station and suction cleaner, and method for the same
CN104981188B (en) Electronic equipment
CN111297269A (en) Control method and system of sweeper
JP2013246588A (en) Function execution device, spatial information utilization system, function execution method, control program, and recording medium
JP2013246589A (en) Space information generation device, space information use system, space information generation method, control program, and recording medium
JP2013233230A (en) Self-propelled ion-emitting apparatus
JP2013234781A (en) Self-propelled ion emission device
CN104039210A (en) Robotic device, control program, and computer-readable recording medium on which control program is recorded
JP2013146291A (en) Robot apparatus, control program, and computer-readable recording medium having control program recorded therein
US20220346614A1 (en) Mobile robot and control method thereof
JP2017207777A (en) Robot device, control program, and computer-readable recording medium recorded with control program
JP2024052950A (en) Vacuum Cleaner System
CN113739388A (en) Air purifier, control method thereof and storage medium
JP2013146292A (en) Robot apparatus, control program, and computer-readable recording medium having control program recorded therein

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20161005

Termination date: 20210110

CF01 Termination of patent right due to non-payment of annual fee