CN100431808C - Apparatus and method for notifying state of self-moving cleaning robot - Google Patents
Apparatus and method for notifying state of self-moving cleaning robot Download PDFInfo
- Publication number
- CN100431808C CN100431808C CNB200610003662XA CN200610003662A CN100431808C CN 100431808 C CN100431808 C CN 100431808C CN B200610003662X A CNB200610003662X A CN B200610003662XA CN 200610003662 A CN200610003662 A CN 200610003662A CN 100431808 C CN100431808 C CN 100431808C
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- China
- Prior art keywords
- self
- state
- voice
- robot
- voice data
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- Expired - Fee Related
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
-
- 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
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
An apparatus and method for notifying the state of a self-moving cleaning robot using voice or a variety of melodies is provided. The self-moving state notification apparatus includes a voice notification unit for outputting an audio signal notifying the operating state of the self-moving cleaning robot. The apparatus outputs voice or various melodies corresponding to states or errors of the self-moving cleaning robot while in operation, so that the user can be quickly and clearly notified of the state of the self-moving cleaning robot and thus can quickly take any necessary measures for the state, thereby ensuring that the self-moving cleaning robot operates reliably.
Description
Technical field
The present invention relates to self-movement robot, and more particularly, relate to and be used to use voice or various tune, the apparatus and method of the state of notifying state of self-moving cleaning robot.
Background technology
Robot that is used for industrial purposes and a part that is used as factory automation have been developed.Also use robot, replace humanly coming under the mankind can not the extreme environment of access collection information.In recent years, developed human close friend's domestic robot.The exemplary of human close friend's domestic robot is from mobile clean robot.
From mobile clean robot is as in the specific clear area in dwelling house or office, when moving automatically, draws the equipment of dirt or other foreign particles.
As shown in Figure 1, general clean robot comprises rechargeable battery, and according to from user's operating command, drives the driving wheel 5 that is provided with on clean robot, so that clean robot moves the suck up impurity particle automatically.Clean robot also comprises detecting unit 8, detects obstacle so that clean robot is during movement avoided obstacle.
When the battery level of rechargeable battery becomes when being lower than particular level clean robot being carried out clean operation simultaneously, clean robot is stored in current cleaning position in the internal storage and moves to charger in indoor installation.When complete rechargeable battery, clean robot is moved back into the cleaning position of being stored and recovers clean operation.
Yet, the dull sound of above-mentioned traditional clean robot output, the various states of the clean robot in representing to move such as buzzer, such as the irremovable state of self-movement robot, or on display unit demonstration information or error code.
For example, when the motion of the humidity overslaugh clean robot on the clear area, clean robot generates buzzer " Bee～".In this case, under the situation of the state that does not have directly to check clean robot, the user can not determine the reason that produces buzzer.
Traditional clean robot shows information code on display unit, such as " Info01 ", the state of expression clean robot is such as energising/disconnection or charged state, or on display unit, show the error code of the mistake of expression clean robot, such as " Err01 ".Yet, when use information or error code show the state of clean robot, the user must reference manual so that understanding information or error code.
Summary of the invention
Therefore, in view of the above problems, make the present invention, and the purpose of this invention is to provide the apparatus and method that are used to inform from the state of mobile clean robot, wherein, used voice or various tune to come fast and correctly to inform the state of user's clean robot.
Another object of the present invention provides the apparatus and method that are used to inform from the state of mobile clean robot, and wherein, user's voice can be informed the mode of operation of clean robot as notification message.
According to an aspect of the present invention, by a kind of device that is used for the state of notifying state of self-moving cleaning robot is provided, realize above-mentioned and other purposes, this device comprises the voice informing unit, be used to export the voice or the tune of the mode of operation of notifying state of self-moving cleaning robot, and inform voice-input unit, be used to import user speech so that be used as the voice data of the mode of operation of notifying state of self-moving cleaning robot.
The voice informing unit comprises memory, is used to store a plurality of voice or tune data element corresponding to the mode of operation of self-movement robot; Audio signal processor is used for signal and handles voice or the tune that reads from memory, and the voice data that signal is handled outputs to loudspeaker; And controller, be used for reading voice or tune data element, and the control audio signal processor voice or the tune data element that are read by loudspeaker output corresponding to the mode of operation of self-movement robot from memory.
According to a further aspect in the invention, provide a kind of method that is used for the state of notifying state of self-moving cleaning robot, the method comprising the steps of: the mode of operation of a) checking self-movement robot; B) read voice or tune data element from memory corresponding to the mode of operation of being checked; C) signal is handled voice or the tune data element that is read, and by loudspeaker, voice or tune data element that output signal is handled; And d) receives user speech so that as the speech data of the mode of operation of notifying state of self-moving cleaning robot, and the voice that received are stored in step in the memory.
Apparatus and method output according to the present invention is corresponding to the mode of operation or the wrong voice or the various tune of the self-movement robot in the operation, so that can be fast and clearly inform the state of this clean robot of user, thereby can take to be used for any requisite measure of this state apace, thereby guarantee that clean robot operates reliably.
Description of drawings
From the following detailed description of being done in conjunction with the accompanying drawings, will more be expressly understood above-mentioned and other purposes, feature and other advantages of the present invention, wherein:
Fig. 1 is general perspective appearance figure from mobile clean robot;
Fig. 2 is the block diagram that is used to according to an embodiment of the invention to inform from the device of the state of mobile clean robot;
Fig. 3 is the flow chart that is used to according to an embodiment of the invention inform from the state of mobile clean robot; And
Fig. 4 is the flow chart that is used for user's voice is input to the process of clean robot according to an embodiment of the invention.
The specific embodiment
Now, will be with reference to the accompanying drawings, the preferred embodiment of the present invention will be described in detail.In following description of the present invention, with omission be included in wherein known function and the detailed description of structure, when it can make theme of the present invention not know on the contrary.
Fig. 2 is according to embodiments of the invention, is used to inform the block diagram from the device of the state of mobile clean robot.
Except that the parts of the universal vacuum cleaner that is used to draw dirt or other foreign particles, clean robot comprises cleaning mechanism 70, has the various motors that are used for mobile clean robot.The basic structure of clean robot is being known in the art, thereby omits its detailed description at this.
As shown in Figure 2, state informing device according to the present invention comprises voice informing unit 1, the audio signal (being voice or tune) of the mode of operation of output expression clean robot.Voice informing unit 1 comprises memory 10, controller 20 and audio signal processor 30.
The required audio-frequency information of state of cleaner is informed in memory 10 storages.The audio-frequency information of storage can be various voice or tune data element in memory 10, corresponds respectively to the various states of cleaner.For example, when the cleaning machine man-hour of just charging, notification message " cleaner is just charging " can be arranged to the speech data element corresponding to the charged state of clean robot.
For example, controller 20 from memory 10 read and export the state of the state, energising or the outage clean robot that correspond respectively to clean robot and begun to clean, just charge the state of clean robot, rotation is not used for the state of the brush of suck up impurity particle, and since the humidity on the floor, the audio-frequency information unit of the state of the operation of restriction clean robot.
State informing device according to the present invention may further include informs voice-input unit 2, is used to store user's voice so that be used as the audio-frequency information of the state of informing clean robot.
Inform that voice-input unit 2 comprises microphone 60, be used to receive user's voice and speech coder 50, the user speech that is used for importing by microphone 60 is encoded into and is suitable for formats stored.Under the control of controller 20, the user's voice of being encoded by speech coder 50 is stored in the memory 10 as audio-frequency information.
For example, the audio-frequency information by microphone 60 and speech coder 50 storages can be the information such as " cleaner begins ", " energising ", " outage " and " robot is just charging " that the user says.
Now, how describe self-movement robot state informing device according to the present invention operates.
Fig. 3 is the flow chart that is used to according to an embodiment of the invention inform from the state of mobile clean robot.By this method of the irremovable example states of clean robot.
As shown in Figure 3, when user's input operation initiation command (S80), by loudspeaker, output audio information " clean robot begin operation " (S90), and clean robot begins clean operation (S100).
During clean operation, controller 20 is checked the state (S110) of clean robot by sensor unit 40.For example, when detecting the irremovable state of clean robot, controller 20 is checked the audio-frequency information of storage in memory 10, and reads the message of informing corresponding to the state that is detected, such as " clean robot can not move " (S120).
By audio signal processor 30, signal is handled the audio-frequency information that is read, then by loudspeaker output (S130).Therefore, can be fast and clearly inform the state of this clean robot of user, thus can take to be used for any requisite measure of this state apace, thus guarantee that clean robot operates reliably.
Import till the order of the operation that stops clean robot the state of controller 20 rechecking clean robots and the said process (S140) that reads and export corresponding notification message by loudspeaker up to the user.
The user can record his or her voice so that as state or error notification message from mobile clean robot.
Fig. 4 is the flow chart that is used for user's voice is input to the process of clean robot according to an embodiment of the invention.
As shown in Figure 4, when the user by being pressed in the specific button that is provided with on the clean robot so that ask voice recording and import his or her voice so that during as the audio-frequency information of mode of operation of expression clean robot (S210), controller 20 switches to recording mode (S220) with the operator scheme of clean robot.
When the user pushes specific button so that beginning during voice recording (S230), by the user speech of speech coder 50 codings by microphone 60 inputs, is stored in coded voice signal in the memory 20, by the particular address of controller 20 appointments.
Particularly, when the user when the microphone 60 that provides on clean robot is said the words of " charger is just charging ", speech coder 50 converts the words of being said to be suitable for storing audio-frequency information, and audio-frequency information is stored in the memory 10.
When the user asks to stop recording mode (S250), controller 20 inactive recording modes, and, switch the operator scheme of clean robot according to the order of importing afterwards by the user.
Therefore, clean robot output is by the notification message of user's direct recording, rather than by the normal notification message of manufacturer's storage, thereby cause more user-friendly clean robot.
As finding out from above-mentioned specification, the invention provides the apparatus and method that are used to notify from the state of mobile clean robot, output is corresponding to when operating, the state of self-movement robot or the voice of state or various tune, so that can be fast and clearly inform the state of user's clean robot, thereby can take to be used for any requisite measure of this state apace, thereby guarantee that clean robot operates reliably.
In addition, the method according to this invention and device will be used as the message of the mode of operation of expression self-movement robot by the notification message of user's direct recording, thereby cause more user-friendly self-movement robot.
Although be the example purpose, the preferred embodiments of the present invention are disclosed, those skilled in the art will recognize under situation about not deviating from as the spirit and scope of the present invention that in accessory claim, define, various improvement, interpolation and replacement are possible.
Claims (9)
1. device that is used for the state of notifying state of self-moving cleaning robot, this device comprises:
Voice informing unit (1) is used to export the audio signal of the mode of operation of notifying state of self-moving cleaning robot; And
Inform voice-input unit (2), be used to import user speech so that be used as the voice data of the mode of operation of notifying state of self-moving cleaning robot.
2. device as claimed in claim 1, wherein, voice informing unit (1) comprising:
Memory (10) is used to store a plurality of voice data elements corresponding to the mode of operation of self-movement robot;
Audio signal processor (30) is used for signal and handles the voice data that reads from memory (10), and the voice data that signal is handled outputs to loudspeaker; And
Controller (20) is used for reading voice data element corresponding to the mode of operation of self-movement robot from memory (10), and control audio signal processor (30), the voice data element that is read by loudspeaker output.
3. device as claimed in claim 1, wherein, audio signal is a voice signal.
4. device as claimed in claim 1, wherein, audio signal is the tune signal.
5. device as claimed in claim 1, wherein, self-movement robot is a clean robot.
6. method that is used for the state of notifying state of self-moving cleaning robot, the method comprising the steps of:
A) mode of operation of inspection self-movement robot;
B) read voice data element from memory (10) corresponding to the mode of operation of being checked; And
C) signal is handled the voice data element that is read and is passed through loudspeaker, the voice data element that output signal is handled; And
D) receive user speech so that be used as the voice data of the mode of operation of notifying state of self-moving cleaning robot, and the voice that received are stored in the memory (10).
7. method as claimed in claim 6, wherein, voice data is a speech data.
8. method as claimed in claim 6, wherein, voice data is the tune data.
9. method as claimed in claim 6, wherein, self-movement robot is a clean robot.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2005-0048449 | 2005-06-07 | ||
| KR1020050048449 | 2005-06-07 | ||
| KR1020050048449A KR20060127452A (en) | 2005-06-07 | 2005-06-07 | Apparatus and method to inform state of robot cleaner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1876337A CN1876337A (en) | 2006-12-13 |
| CN100431808C true CN100431808C (en) | 2008-11-12 |
Family
ID=36954341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200610003662XA Expired - Fee Related CN100431808C (en) | 2005-06-07 | 2006-01-09 | Apparatus and method for notifying state of self-moving cleaning robot |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20060287801A1 (en) |
| EP (1) | EP1731072A3 (en) |
| JP (1) | JP2006344203A (en) |
| KR (1) | KR20060127452A (en) |
| CN (1) | CN100431808C (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011079657A1 (en) * | 2009-12-31 | 2011-07-07 | 泰怡凯电器(苏州)有限公司 | Robot performing corresponding action according to audio data and control system thereof |
| CN104039210A (en) * | 2012-01-17 | 2014-09-10 | 夏普株式会社 | Robotic device, control program, and computer-readable recording medium on which control program is recorded |
| CN104470685A (en) * | 2013-01-18 | 2015-03-25 | 艾罗伯特公司 | Mobile Robot Providing Environmental Mapping For Household Environmental Control |
| US11648685B2 (en) | 2013-01-18 | 2023-05-16 | Irobot Corporation | Mobile robot providing environmental mapping for household environmental control |
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| US8117714B2 (en) | 2005-03-09 | 2012-02-21 | Bissell Homecare, Inc. | Vacuum cleaner with hair collection element |
| WO2010083768A1 (en) * | 2009-01-24 | 2010-07-29 | 泰怡凯电器(苏州)有限公司 | Speech system used for robot and robot with speech system |
| US9561403B2 (en) * | 2010-01-12 | 2017-02-07 | Foxtenn Bgreen, S.L. | Apparatus and system for automatic collection and delivery of spherical game elements |
| CN102327100A (en) * | 2011-05-31 | 2012-01-25 | 苏州天擎电子通讯有限公司 | Automatic dust suction machine |
| US9928459B2 (en) | 2011-07-25 | 2018-03-27 | Lg Electronics Inc. | Robotic cleaner and self testing method of the same |
| US8800101B2 (en) | 2011-07-25 | 2014-08-12 | Lg Electronics Inc. | Robot cleaner and self testing method of the same |
| KR101371036B1 (en) * | 2011-07-25 | 2014-03-10 | 엘지전자 주식회사 | Robot cleaner and self testing method of the same |
| KR101306402B1 (en) * | 2011-09-05 | 2013-09-09 | 엘지전자 주식회사 | Robot cleaner |
| KR101250055B1 (en) * | 2011-09-20 | 2013-04-02 | 엘지전자 주식회사 | Robot cleaner |
| KR102048249B1 (en) * | 2012-12-04 | 2019-11-25 | 엘지전자 주식회사 | Robot cleaner |
| US9375847B2 (en) | 2013-01-18 | 2016-06-28 | Irobot Corporation | Environmental management systems including mobile robots and methods using same |
| US9254798B1 (en) * | 2014-09-24 | 2016-02-09 | General Motors Llc | Vehicle telematics unit power management |
| CN105511497B (en) * | 2016-02-05 | 2019-06-11 | 深圳前海勇艺达机器人有限公司 | A kind of robot automatic charging system having voice prompting |
| KR102148010B1 (en) * | 2018-12-20 | 2020-08-26 | 동의대학교 산학협력단 | System and Method for Providing Unmanned Vehicle IoT Service Based on Cloud Server |
| KR102146135B1 (en) * | 2019-01-02 | 2020-08-20 | 주식회사 지음인터네셔날 | A robot cleaner and a method for operating it |
| US11859795B2 (en) | 2022-02-04 | 2024-01-02 | Tennant Company | Surface maintenance machine light projection |
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- 2005-06-07 KR KR1020050048449A patent/KR20060127452A/en not_active Application Discontinuation
- 2005-12-28 EP EP05028566A patent/EP1731072A3/en not_active Withdrawn
- 2005-12-28 US US11/318,463 patent/US20060287801A1/en not_active Abandoned
- 2005-12-28 JP JP2005379576A patent/JP2006344203A/en active Pending
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2006
- 2006-01-09 CN CNB200610003662XA patent/CN100431808C/en not_active Expired - Fee Related
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| WO2011079657A1 (en) * | 2009-12-31 | 2011-07-07 | 泰怡凯电器(苏州)有限公司 | Robot performing corresponding action according to audio data and control system thereof |
| CN104039210A (en) * | 2012-01-17 | 2014-09-10 | 夏普株式会社 | Robotic device, control program, and computer-readable recording medium on which control program is recorded |
| CN104039210B (en) * | 2012-01-17 | 2017-03-08 | 夏普株式会社 | Robot device |
| CN104470685A (en) * | 2013-01-18 | 2015-03-25 | 艾罗伯特公司 | Mobile Robot Providing Environmental Mapping For Household Environmental Control |
| CN104769962A (en) * | 2013-01-18 | 2015-07-08 | 艾罗伯特公司 | Environmental management systems including mobile robots and methods using same |
| CN107411639A (en) * | 2013-01-18 | 2017-12-01 | 艾罗伯特公司 | The mobile robot drawn for the environment of home environment control is provided |
| CN104769962B (en) * | 2013-01-18 | 2019-03-12 | 艾罗伯特公司 | Including the environmental management system of mobile robot and its application method |
| CN107411639B (en) * | 2013-01-18 | 2020-12-15 | 艾罗伯特公司 | Mobile robot providing environment mapping for home environment control |
| US11648685B2 (en) | 2013-01-18 | 2023-05-16 | Irobot Corporation | Mobile robot providing environmental mapping for household environmental control |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2006344203A (en) | 2006-12-21 |
| US20060287801A1 (en) | 2006-12-21 |
| EP1731072A3 (en) | 2011-11-16 |
| EP1731072A2 (en) | 2006-12-13 |
| CN1876337A (en) | 2006-12-13 |
| KR20060127452A (en) | 2006-12-13 |
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