CN104039210A

CN104039210A - Robotic device, control program, and computer-readable recording medium on which control program is recorded

Info

Publication number: CN104039210A
Application number: CN201280067117.0A
Authority: CN
Inventors: 阪本实雄
Original assignee: Sharp Corp
Current assignee: Sharp Corp
Priority date: 2012-01-17
Filing date: 2012-12-18
Publication date: 2014-09-10
Anticipated expiration: 2032-12-18
Also published as: WO2013108532A1; CN104039210B

Abstract

The robotic device is provided with a sound output means (9) for outputting sound, a detection means (110) for detecting the occurrence of events based on detected information, and a sound information storage means (220) for storing sound information, which is sound signals output from the sound output means (9). The sound information storage means (220) stores a single first sound information that corresponds to a first event and multiple second sound information that correspond to a second event. The sound output means (9) outputs sound corresponding to the first sound information and the second sound information. The second sound information is selected from the multiple second sound information according to the event. The user can thereby correctly perceive the content of output sound and correctly understand the state of the robotic device even if the variations in the output sound increase.

Description

Robot device, control program and the recording medium that records the embodied on computer readable of control program

Technical field

The present invention relates to robot device etc., information is outputed to outside, particularly relate to output as the robot device of the sound of information, the information such as the character as information, image are sent to the outside robot device etc. of robot.

Background technology

In the past, in imitating the robot devices such as pet robot of pet, the known device that user is spoken or carries out session with user.In addition, also the affective state of the known robot device's of regulation simulation, according to emotion, user is made the robot devices of different replies.

For example, in patent documentation 1, record following robot, it possesses the various sensors such as microphone, touch sensor, the input message of origin autobiography sensor determines the emotion of robot, and vocabulary, the order of word row, stall position, the intonation of synthesized voice of the sound that the emotion change robot based on determined sends also exported from loudspeaker.Thus, be made as and can export the synthesized voice that emotion is abundant.

In addition, carried out in the robot device of specific work replacing people, also the known abnormal relevant information occurring by the relevant information of the duty to robot device, with robot device sends to outside device in the past.

For example, in patent documentation 2, record as follows, in inside, possess in the dust collector robot of WLAN unit, by dust collector robot be in work or in standby, overturning or residual capacity of battery is few etc. that information sends to user's pocket telephone with Email.

prior art document

patent documentation

Patent documentation 1: Japan openly speciallys permit communique " JP 2002-304188 communique "

Patent documentation 2: Japan openly speciallys permit communique " JP 2005-118354 communique "

Summary of the invention

the problem that invention will solve

But in the robot recording at patent documentation 1, although the variation of the sound of output is many, in the situation that being judged as mood elevation, the whole of sound of robot output are changed.Consequently, the whole and output conventionally of the sound of robot output is differently output, so user cannot correctly identify the content of sound sometimes, and existence cannot be held the problem of the state of robot.

In addition, in the dust collector robot of recording at patent documentation 2, only send the information relevant to the duty of dust collector robot, with the abnormal relevant information of dust collector robot generation, the information of transmission with low uncertainty.Therefore, user only receives specific information from dust collector robot, exists user to be difficult to feel the problem of the friendliness of dust collector robot.

The present application completes in view of the above-mentioned problems, even if the 1st object is to provide the variation of sound of output many, user also can correctly identify its content, robot device, the control program of state that can paying attention robot device and the recording medium that records the embodied on computer readable of control program.

The present application completes in view of the above-mentioned problems, and the 2nd object is to provide robot device, the control program of variation of the information that can increase output and the tape deck that records the embodied on computer readable of control program.

for the scheme of dealing with problems

Robot device of the present invention is characterised in that to possess: the output unit of output information; Based on detection information, detect the detecting unit of the generation of event; Storage is from the information memory cell of the information of above-mentioned output unit output; And use and this robot device's the state arithmetic element that predetermined operation values carries out computing that is mapped, the storage of above-mentioned information memory cell and single the 1st information being mapped of event and the 2nd information being mapped with the operation result of event and above-mentioned arithmetic element

When detecting the generation of event by above-mentioned detecting unit, above-mentioned output unit is according to event output the 1st information or the 2nd information, and the 2nd information of this output and the operation result of above-mentioned arithmetic element are mapped.

Robot device of the present invention is characterised in that to possess: the voice output unit of output sound; Based on detection information, detect the detecting unit of the generation of event; And storage is as the sound information storage unit of the acoustic information of the signal of the sound from voice output unit output, the 1st single acoustic information that sound information storage unit storage is corresponding with the 1st event and a plurality of 2nd acoustic informations corresponding with the 2nd event, the sound that voice output unit output is corresponding with the 1st acoustic information and the 2nd acoustic information, the 2nd acoustic information is selected from a plurality of the 2nd acoustic informations according to event.

Robot device of the present invention is characterised in that to possess: the information transmitting unit that sends information; Based on detection information, detect the detecting unit of the generation of event; And storage is from the information memory cell of the information of information transmitting unit transmission, the 1st single information that information memory cell storage is corresponding with the 1st event and a plurality of 2nd information corresponding with the 2nd event, information transmitting unit sends the 1st information and the 2nd information, and the 2nd information is selected from a plurality of the 2nd information according to event.

invention effect

According to the present invention, even if can provide the variation of the sound of exporting many, user also can correctly identify its content, can paying attention robot device's robot device, the control program of state and the tape deck that records the embodied on computer readable of control program.

According to the present invention, can provide robot device, the control program of the variation of the information that increases output and the tape deck that records the embodied on computer readable of control program.

Accompanying drawing explanation

Fig. 1 is the stereogram of the robot cleaner 1 of one embodiment of the present invention.

Fig. 2 is the schematic diagram of the guidance panel 5 of one embodiment of the present invention.

Fig. 3 is the upward view of the robot cleaner 1 of one embodiment of the present invention.

Fig. 4 relates to one embodiment of the present invention, is (a) schematic diagram in A-A line cross section of the robot cleaner 1 of Fig. 3.(b) be the sectional view from the debris collection section 30 of robot cleaner 1 taking-up.

Fig. 5 is the stereogram of the cradle 40 of one embodiment of the present invention.

Fig. 6 means the block diagram of formation of the robot cleaner 1 of one embodiment of the present invention.

Fig. 7 relates to one embodiment of the present invention, means the storage part 200 of robot cleaner 1 of Fig. 6 and the block diagram of the formation of control part 100.

Fig. 8 means the flow chart of the handling process in embodiments of the invention 1.

Fig. 9 means the flow chart of the handling process in embodiments of the invention 2.

Figure 10 is other the schematic diagram of the robot cleaner being connected with communication network 1 of embodiment of the present invention.

Figure 11 means other the block diagram of formation of robot cleaner 1 of embodiment of the present invention.

Figure 12 relates to other embodiment of the present invention, means the storage part 200 of robot cleaner 1 of Figure 11 and the block diagram of the formation of control part 100.

Figure 13 means the flow chart of the handling process in embodiments of the invention 3.

Figure 14 means the flow chart of the handling process in embodiments of the invention 4.

The specific embodiment

(the 1st embodiment)

A following embodiment as robot device of the present invention, describes robot cleaner with reference to accompanying drawing.

As embodiment, the generation event of emotion determination section described later based on relevant with robot cleaner, from " good mood ", " common ", " bad mood " 3 stages, determine the emotion (being equivalent to operation result) of robot cleaner, based on this emotion information (information of exporting) that selects a sound, using and describe as an example from robot cleaner output sound.

In addition, below so-called event, be the inside and outside state of the robot cleaner that can be detected by the control part of robot cleaner.For example, event is the values of parameter relevant to robot cleaner such as residual capacity of battery, the variation of the value of parameter, the action indication for robot cleaner, the beginning of action or end, outside temperature, specific time etc.

In addition, so-called acoustic information, is from the output unit output of sound and signal vocabulary, sound that music is relevant.

(robot device's structure)

Fig. 1 is the stereogram of machine people dust catcher.As shown in Figure 1, robot cleaner 1 possesses to be overlooked as circular main body casing 2 and the driving wheel 12 (with reference to Fig. 3) for automatically walking, Yi Bian be automatically to walk and carry out the device of control of dust on one side.Upper surface at main body casing 2 is provided with: cap 3, and it is opened and closes debris collection section 30 (with reference to Fig. 4) being taken out up while putting into; Guidance panel 5, it indicates input to robot cleaner 1; Signal receiving part 6, it receives from the inverse signal of cradle 40 described later with from the signal of not shown remote control; And exhaust outlet 7, it discharges the air of having been removed dust by debris collection section 30.In addition, in the side of main body casing 2, be provided with Speech input portion 8 and audio output unit 9, in the bottom end of main body casing 2, be provided with an offside brush 10.

Fig. 2 represents an example of guidance panel 5.Guidance panel 5 possesses: beginning and the beginning stopping and the stop button 51 of indication dust suction; Can select the model selection button 52 of the pattern of dust suction; Can set current time is set, make the timer in the reservation moment of robot cleaner 1 work that button 53 is set; Show current time, reservation moment display part 54 constantly; When the rubbish of lighting when dust collecting container 31 described later is filled being detected, abandon lamp 55; And the battery identification 56 that represents the charge volume of battery 16 described later.

Fig. 3 is the upward view of robot cleaner 1.As shown in Figure 3, in the outstanding mode in Yi Cong bottom surface, the bottom surface of main body casing 2, be provided with pair of driving wheels 12.Two-wheeled by driving wheel 12 is to same direction rotation, thus robot cleaner 1 advance and retreat, by two-wheeled to opposite spin, thereby robot cleaner 1 conversion direction.At this, direct of travel when dust suction is carried out in walking automatically by robot cleaner 1 is made as the place ahead, in Fig. 3 as arrow (above being seen as from paper) as shown in.In addition, the direction contrary with direct of travel is made as to rear.

In the place ahead, bottom surface of main body casing 2, be provided with the suction inlet 33 of dust, offside brush 10 and the front-wheel 13 rotating around rotating shaft perpendicular to the ground, at rear, bottom surface, be provided with trailing wheel 14.Suction inlet 33 so that the open surface mode relative with ground be arranged with in dust catcher bottom surface.Internal configurations at suction inlet has rotating brush 11, the rotating shaft rotation that rotating brush 11 props up around the earth's axis parallel to the ground.

The schematic diagram in the A-A line cross section of the robot cleaner 1 of Fig. 4 (a) presentation graphs 3.In Fig. 4 (a), robot cleaner 1 is charged state.As shown in the figure, robot cleaner 1 possesses debris collection section 30, electric blowing machine 15, battery 16 and controls substrate 17 in the inside of main body casing 2.Debris collection section 30 has the filter 32 that has the dust collecting container at the end 31 and be located at the top of dust collecting container 31.At this, when abandoning the dust of dust collecting container, open cap 3, can take out debris collection section 30 from main body casing 2.Fig. 4 (b) represents from the sectional view of the debris collection section 30 of robot cleaner 1 taking-up.

In addition, in the present embodiment, exemplified with debris collection section 30, include the situation of the dust collecting container 31 at the end, but debris collection section of the present invention is not limited only to dust collecting container.Certainly as debris collection section of the present invention, can only comprise the control of dust sack of sack shape for example, the filter that control of dust is used.

Debris collection section 30 is communicated with the 1st air-breathing road 34 and the 2nd air-breathing road 35.The air-flow sucking from suction inlet 33 is as shown in arrow B 1, and in the 1st air-breathing road 34, rearward circulation, flow into debris collection section 30.The air-flow that flow into debris collection section 30 is caught collection dust by filter 32, from debris collection section 30, flows out.Then, as shown in arrow B 2, in the 2nd air-breathing road 35, forwards circulation, flow into electric blowing machine 15.Then, from the exhaust outlet 7 of upper surface of being located at main body casing 2 as shown in arrow B 3, rear discharge upward.In addition, can possess ion generating device (not shown) near electric blowing machine 15, in this case, the air-flow that comprises ion is discharged from exhaust outlet 7.

Battery 16 is electric power supply sources of robot cleaner 1, and when being instructed to dust suction operation, from battery 16 power supplies, electric blowing machine 15, driving wheel 12, rotating brush 11 and side brush 10 drive.Thus, robot cleaner 1 is walked automatically in the dust suction region of regulation, and the dust of ground F is inhaled into from suction inlet 31.The jumbo rechargable battery that battery 16 expectations can repeat to discharge and recharge.For example can use excide battery, Ni-MH battery, lithium ion battery.In addition, in the rear end of the side face of main body casing 2, be provided with the charging terminal 4 of the charging of carrying out battery 16.At control substrate 17, be provided with the control circuit of each portion of control dust catcher 1.

Fig. 5 represents the stereogram of cradle 40.As shown in Figure 4,5, cradle 40 is for the device to the battery of robot cleaner 1 (electric power feed unit) 16 chargings.In cradle 40, at the relative face of the side face of main body casing 2 and can be provided with power supply terminal 41 with the position that the charging terminal 4 of robot cleaner 1 contacts.When the charging terminal 4 of robot cleaner 1 and the power supply terminal 41 of cradle 40 are electrically connected to, the electric current of the source power supply connecting from cradle 40 flows through self-propelled suction cleaner 1, can make battery 16 chargings.

In addition, at cradle 40, be provided with signal transmission unit (wireless transmission part) 42, signal transmission unit (wireless transmission part) 42 sends the inverse signal of the position that place and power supply terminal 41 are set that represents cradle 40.Robot cleaner 1, in the situation that dust suction being detected and finishing or in the situation that the charge volume of battery 16, lower than setting, detects the inverse signal of sending from cradle 40, automatically returns to the set place of cradle 40.At this, the test example that dust suction finishes is as moved a certain distance or be carried out through certain hour by detection robot cleaner 1.Or can receive dust suction by guidance panel 5 or remote control finish indication, interrupt the indication that the urgencies such as indication return to cradle 40 and carry out.Inverse signal for example can send infrared signal, if robot cleaner 1 leaves from cradle 40, from signal transmission unit 42, sends all the time.

As inverse signal, for example, can send infrared signal from signal transmission unit 42.At this, can be widely used ultrared communication means, such as using IrDA (Infrared Data Association: etc. Infrared Data Association).In addition, communication means can communicate by the method beyond infrared ray.LAN), the communication means of the short-distance wireless of Bluetooth (registration mark) etc. such as being the WLAN that uses IEEE802.11 etc. (Local Area Network:.

(robot device's formation)

The formation of robot cleaner 1 that represents a robot device's of the present invention embodiment in Fig. 6.As shown in the figure, robot cleaner 1 possesses control part 100, guidance panel 5, Speech input portion 8, debris collection section 30, battery 16, storage part 200, signal receiving part 6, audio output unit 9, walking drive division 101, driving wheel 12, rotating brush drive division 102, rotating brush 11, side brush drive division 103, side brush 10, electric blowing machine 15 and ion generating device 18.

Control part 100 is located at above-mentioned control substrate 17, based on being stored in program, the data of storage part 200 and carrying out the control of the exercises of robot cleaner 1 from the indication of guidance panel 5, remote control input.

Walking drive division 101 possesses the drive division of driving wheel motor etc. and motor thereof, and the control signal based on from control part 100 determines direction of rotation, the anglec of rotation etc., and driving wheel 12 is driven.

Rotating brush drive division 102 possesses the drive division of rotating brush motor etc. and motor thereof, and the control signal based on from control part 100 determines rotating speed etc., and rotating brush 11 is driven.

Side brush drive division 103 possesses side brush motor etc. and drive division thereof, and the control signal based on from control part 100 determines rotating speed etc., and side brush 10 is driven.

In addition, the explanation with above-mentioned is marked to the inscape of identical Reference numeral, be made as and have identical function, description thereof is omitted.

Then, the formation of storage part 200 and control part 100 is described in detail.

The storage part 200 of the robot cleaner 1 in Fig. 7 presentation graphs 6 and the detailed formation of control part 100.In addition,, in Fig. 7, a part of Fig. 6 is formed to omit and record.

(formation of storage part)

Storage part 200 possesses dust suction number of times storage part 201, operation values storage part 210 and acoustic information storage part (information memory cell) 220.

The number of times that dust suction number of times storage part 201 is implemented dust suction using robot cleaner 1 is as dust suction number of times, and store every day.In addition, once be recorded in after the dust suction number of times of dust suction number of times storage part 201 is stored in control part 100 and be just updated.

210 storages of operation values storage part, as the emotion operation values M1 of the parameter of the computing of carrying out for emotion operational part 122 described later, have dust suction number of times operation values storage part 211, dust amount operation values storage part 212, residual capacity of battery operation values storage part 213 and event operation value storage part 214.

Dust suction number of times operation values storage part 211 is mapped and stores emotion operation values M1 with dust suction number of times.In table 1, represent and the be mapped example of emotion operation values M1 of storage of dust suction number of times.In table 1, dust suction number of times represents the dust suction number of times of nearest a week, and Class1～3 represent the character type of robot cleaner.As shown in table 1, dust suction number of times is divided into " less than 4 times ", " 4 times above and less than 7 times ", " more than 7 times " 3 stages, and for each stage, the emotion operation values M1 of every kind of character type is mapped.To describe in detail in the back, but the emotion value M based on using emotion operation values M1 computing determines the emotion of robot cleaner 1, the emotion based on determined is selected vocabulary, music, from robot cleaner output sound.

[table 1]

The dust amount of dust amount operation values storage part 212 and debris collection section 30 is mapped and stores emotion operation values M1.In table 2, represent the be mapped example of emotion operation values M1 of storage of dust amount with debris collection section 30.At this, in the present embodiment, according to the dust amount of the current value judgement debris collection section 30 of electric blowing machine 15.Particularly, when the not enough 1.4A of current value, sentence

[table 2]

The residual capacity of battery of residual capacity of battery operation values storage part 213 and battery 16 is mapped and stores emotion operation values M1.In table 3, represent and the be mapped example of emotion operation values M1 of storage of residual capacity of battery.As shown in table 3, be divided into the magnitude of current " less than 20% ", " more than 20% and less than 90% ", " more than 90% " 3 stages, for each stage, the emotion operation values M1 of every kind of character type is mapped.

[table 3]

Event operation value storage part 214 makes when user greets to robot cleaner 1, debris collection section 30 is pulled down while carrying out garbage-cleaning to event and the emotion operation values M1 storage that is mapped from main body casing 2.

An example of the operation values M1 that in table 4, expression is stored.As shown in table 4, " the panel incoming event " occurring during for input having from panel operation portion 5, " the Speech input event " occurring when the input having from Speech input portion 9, " the signal incoming event " occurring when signal receiving part 6 being had to input (reception) from remote control, " debris collection section is pulled down event " occurring when debris collection section 30 is pulled down from main body casing 2, at robot cleaner 1, return to " the returning to successfully event " occurring when cradle 40 successfully starts from 16 charging of 40 pairs of batteries of cradle, " the returning to turkey " occurring when robot cleaner 1 returns to cradle 40 failure, the emotion operation values M1 of every kind of character type is mapped.After will describe in detail, but the emotion value M based on using the computing of emotion operation values M1 institute can determine the emotion of robot cleaner 1, the emotion based on determined can be selected vocabulary, music, from robot cleaner 1 output sound.

[table 4]

Then, acoustic information storage part 220 is described.Acoustic information storage part 220 memory by using audio output units 9 output to outside vocabulary or the acoustic information of music.In addition, acoustic information storage part 220 comprises the 1st acoustic information storage part 221 and the 2nd acoustic information storage part 222.The 1st acoustic information of the acoustic information that the 1st acoustic information storage part 221 storages are independently output as the emotion with emotion determination section (arithmetic element) 120 decisions.

An example that represents the tables of data of the 1st acoustic information (the 1st information) in table 5.As shown in table 5, the 1st acoustic information and numbering 1001～1017 storages that are mapped, in the appointed situation of arbitrary numbering in numbering 1001～1017, the acoustic information of correspondence is output as sound from audio output unit 9.

[table 5]

Designation	The 1st acoustic information
		1001	Understood
1002	Be
		1003	Good morning
1004	Hello
		1005	Good night
1006	Good night
		1007	Welcome
1008	You return
		1009	I have returned
1010	What can I help you
		1011	Dust suction starts
1012	Dust suction finishes
		1013	Start reservation running
1014	Dead battery
		1015	Please clear up rubbish
1016	Music A
		1017	Music B

The 2nd acoustic information storage part 222 storages are as the 2nd acoustic information (the 2nd information) of the acoustic information of the emotion output determining based on emotion determination section 120.An example that represents the tables of data of the 2nd acoustic information in table 6.As shown in table 6, the storage that is mapped of the 2nd acoustic information and 1101～1104 numbering.In addition, " good mood ", " common " that the 2nd acoustic information and emotion determination section 120 determine, the arbitrary emotion in " bad mood " are mapped.And, when emotion value grade is " good mood ", output 1101A～1104A.In addition, when emotion value grade is " common ", output 1101B～1104B.In addition, when emotion value grade is " bad mood ", output 1101C～1104C.

[table 6]

Numbering	Emotion	The 2nd acoustic information
			1101A	Good mood	The most smooth
1102A	Good mood	Best mood
			1103A	Good mood	Relax once in a while
1104A	Good mood	Music C
			1101B	Common	All right
1102B	Common	Gather together and go ahead
			1103B	Common	You are arduous
1104B	Common	Music D
			1101C	Bad mood	Rebestir
1102C	Bad mood	The poorest mood
			1103C	Bad mood	Dust suction once in a while
1104C	Bad mood	Music E

At this, to the acoustic information as robot cleaner 1 storage, the situation that stores wherein a kind of information of vocabulary or music for a numbering is illustrated, but also can be for the information of a numbering storage vocabulary and music.For example, can 1001 numbering be stored " having understood music A ", the numbering of 1101A is stored to " very well music C ".

In addition, for the acoustic information stored of numbering, can comprise a plurality of vocabularies that can distinguish or the information of music.For example, can 1003 numbering be stored " good morning, and dust suction starts ".Can store to the numbering of 1104A " music C music D.

(formation of control part)

Control part 100 has test section 110, emotion selection portion 120 and voice output control part 130.

Test section 110 detects the generation of the event relevant with robot cleaner 1.Test section 110 has panel operation test section 111, sound detection portion 112, debris collection section test section 113, residual capacity of battery test section 114 and signal detecting part 115.In addition temporarily stop indication, the change indication of moving direction, the dish of main body that, control part 100 carries out the end indication, the dust suction that start indication, dust suction of dust suction turn indication, to the indication etc. returned of cradle 40, move and indicate related control.

Whether 111 pairs of panel operation test sections have accepted to represent that by guidance panel 5 input of action indication detects, in the situation that the input that represents action indication detected, be judged as panel incoming event has occurred.

Sound detection portion 112 contrast from the sound of Speech input portion 8 inputs and login in advance in storage part 200 indicate relevant acoustic information with action, when being judged to be both when consistent, be judged as the Speech input event that occurred.

The dust amount of 113 pairs of debris collection section 30 of debris collection section test section and the event of pulling down whether debris collection section 30 occurred detect.As mentioned above, the dust amount of debris collection section 30 detects according to the current value of electric blowing machine 15.The event of pulling down of debris collection section 30 according to being disposed at the inside of robot cleaner 1, detect the signal of the not shown proximity transducer having or not of debris collection section 30 and detect.

115 pairs of signal receiving parts 6 of signal detecting part have inverse signal from cradle 40, detect with indicate the input (reception) of relevant signal from the action of remote control.

Then, emotion determination section 120 is described.Emotion determination section 120 has operation values determination section 121 and emotion operational part 122.

Dust amount, residual capacity of battery or the generation event of operation values determination section 121 based on dust suction number of times, debris collection section, determines the emotion operation values M1 as the parameter of the computing of carrying out for emotion operational part 122 when determining emotion value M.

To determining that based on dust suction number of times the situation of emotion operation values M1 describes.In this case, operation values determination section 121 first obtain be stored in control part 100 during the dust suction number of times of T.And the aggregate values that obtains the dust suction number of times of obtaining with this is mapped and is stored in the emotion operation values M1 of dust suction number of times operation values storage part 211.

During supposing, T goes on to say for nearest 7 days.When with reference to table 1, in the nearest aggregate values less than 4 of the dust suction number of times of 7 days,, the personality of robot cleaner 1 while being Class1, operation values determination section 121 is obtained " 10 " as emotion operation values M1.Equally, in the aggregate values less than 4 of dust suction number of times,, the personality of self-propelled suction cleaner 1 while being type 2, operation values determination section 121 is obtained " 7 " as emotion operation values M1.Equally, in the aggregate values less than 4 of dust suction number of times,, the personality of self-propelled suction cleaner 1 while being type 3, operation values determination section 121 is obtained " 5 " as emotion operation values M1.

The emotion operation values M1 that emotion operational part 122 is used operation values determination section 121 to determine, utilizes the arithmetic expression computing of regulation for determining the emotion value M of emotion.The typical case of arithmetic expression is following (formula 1)～(formula 3), but is not limited to this, can apply various arithmetic expressions.

M=M1 (formula 1)

M=m * M0+M1 (formula 2)

M=m * M0+M1+M2 (formula 3)

At this, emotion value M when " M0 " represents last time computing.In addition, " m " represents according to from the computing coefficient that changes of the elapsed time moment of emotion value M (more than 0 below 1) last time.Coefficient m becomes the longer less value of elapsed time from the moment of last time computing emotion value M.

An example that represents Coefficient m in table 7.As shown in table 7, every kind of character type of robot cleaner 1 is set to Coefficient m.In addition, the Coefficient m value of being set as is along with the elapsed time the moment from computing emotion value M last time and diminish.For example, if personality is Class1, and if elapsed time less than 1 hour, Coefficient m is 1, but is when more than 18 hours when the elapsed time, Coefficient m becomes 0.6.

[table 7]

In addition, " M2 " represents the result of the game of stipulating with enforcement such as portable terminal devices as user etc. and the score that obtains.This score for example sends to robot cleaner 1 by internet and WLAN.

In above-mentioned (formula 1), by emotion operation values M1 former state be made as this emotion value M.On the other hand, in above-mentioned (formula 2), the time can be when from computing is last time through being reflected as emotion value M last time this emotion value M.In addition, when using above-mentioned (formula 3), can also obtain adding the result of the game of stipulating with portable terminal device etc. as user and the emotion value M of the score gained that obtains.

And emotion operational part 122, according to the value of the emotion value M obtaining as operation result, is selected the emotion of robot cleaner 1.For example, if emotion value M is more than 25, select " good mood ", if emotion value M is more than-25 and less than 25, select " common ", if emotion value M deficiency-25 is selected " bad mood ".

Above, to determining that based on dust suction number of times the situation of emotion operation values M1 is illustrated, but in the situation that the dust amount based on debris collection section 30, residual capacity of battery determine, replacement is with reference to the tables of data of table 1, and respectively with reference to the tables of data of table 2 or table 3, operation values determination section 121 can be obtained emotion operation values M1 thus.

In addition, in the situation that determining based on generation event, with reference to the tables of data of table 4, operation values determination section 121 can be obtained emotion operation values M1 thus.

Voice output control part 130 makes the vocabulary corresponding with the acoustic information that is stored in acoustic information storage part 220 or music from audio output unit 9 outputs.

At this, be stored in the emotion that the 1st acoustic information of the 1st acoustic information storage part 221 and emotion determination section 122 determine and be independently output.Particularly, when test section 110 detects while there is the event relevant with robot cleaner 1, in the numbering shown in table 5 is designated, and vocabulary or the music corresponding with the acoustic information of appointed numbering are output.

In addition, the 2nd acoustic information that is stored in the 2nd acoustic information storage part 222 is output from a plurality of acoustic informations are selected in the emotion determining based on emotion determination section 122.Particularly, when test section 110 detects while there is the event relevant with robot cleaner 1, in numbering shown in table 6 one is designated, the acoustic information that the emotion that selection and emotion determination section 122 determine from a plurality of acoustic informations of specified numbering is mapped, vocabulary or the music corresponding with selected acoustic information are output.

At this, in the above-described embodiment, to the electric power feed unit as to robot device, the situation that robot cleaner 1 possesses battery 16 is illustrated, but except the characteristic relevant with battery 16, also can directly to robot cleaner 1, supply with electric power from source power supply.In addition, also can be used together battery 16 and source power supply.In this case, test section 110 detect that the electric power having or not from source power supply to robot cleaner 1 is supplied with, the electric power supply condition of degradation transient voltage.In addition, emotion determination section 120 is configured to: the electric power supply condition detecting based on test section 110 determines emotion.

Then, the handling process of robot cleaner 1 output vocabulary or music is described.

(embodiment 1)

In embodiment 1, the situation of robot cleaner 1 being exported separately respectively to the 1st acoustic information or the 2nd acoustic information describes.Fig. 8 means the flow chart of the handling process of embodiment 1.In addition, in Fig. 8 and flow chart illustrated in fig. 9, with " S " expression " step ".In addition, also use in the text " S " expression " step ".

First, test section 110 detects the generation (S11) of the event relevant with robot cleaner 1.Then, control part 100 is specified the acoustic information (S12) corresponding with the event detecting.For example, the appointment of acoustic information is undertaken by the particular number of appointment table 5,6 illustrated tables of data.

Then, the specified acoustic information of control part 100 judgement is the 1st acoustic information or the 2nd acoustic information (S13).For example, be that the 1st acoustic information or the judgement of the 2nd acoustic information can the numbering based on specified be carried out.In table 5 and 6 illustrative tables of data, the 1st acoustic information and numbering 1001～1017 storages that are mapped, the 2nd acoustic information with number 1101～1104 storages that are mapped.

In the situation that test section 110 is judged as specified acoustic information, be the 2nd acoustic information, in S14, operation values determination section 121 determines emotion operation values M1 with reference to operation values storage part 210.And emotion operational part 122 is used the emotion operation values M1 computing emotion value M (S15) determining in step S14, selects emotion (S16) according to the value of emotion value M.And voice output control part 130 is selected the acoustic information corresponding with selected emotion (S17) by reference the 2nd acoustic information storage part 214, and from audio output unit 9 outputs (S18).

On the other hand, in S13, in the situation that control part 100 is judged as specified acoustic information, be the 1st acoustic information, do not determine the emotion of robot cleaner 1, and enter S18, specified acoustic information is output.

The following situation of take describes as example, and test section 110 detects the generation of events, and as the acoustic information of output, numbering 1101 is designated.In S13, being judged as specified numbering is the 2nd acoustic information.And, enter into the step that determines emotion, in S16, select emotion.At this, in the situation that selected emotion is " good mood ", the tables of data based on shown in table 6, from the 2nd acoustic information selection numbering 1101A " very well ".In addition, in the situation that selected emotion is " common ", from the 2nd acoustic information, select numbering 1101B " all right ".In addition, in the situation that selected emotion is " bad mood ", from the 2nd acoustic information, select " will rebestir " of numbering 1101C.And the vocabulary corresponding with selected the 2nd acoustic information or music are from audio output unit 9 outputs.

Then, the following situation of take describes as example, and test section 110 detects the generation of events, and as the acoustic information of output, numbering 1001 is designated.In S13, being judged as specified numbering is the 1st acoustic information.When being judged as specified numbering and being the 1st acoustic information, do not determine the emotion of robot cleaner 1, enter into S18.And the tables of data based on shown in table 5 is selected numbering 1001 " having understood ", and is exported from audio output unit 9 from the 1st acoustic information.

As mentioned above, by the output sound corresponding with the 1st specified acoustic information and the sound corresponding with selected the 2nd acoustic information of emotion based on robot cleaner 1, can carry out diverse voice output in simple mode.In addition, because the sound corresponding with the 1st acoustic information emotion based on robot cleaner 1 and changing not in the sound of exporting, thus the correct content of the sound of recognition machine people dust catcher 1 output of user, state that can paying attention robot cleaner 1.

(embodiment 2)

In embodiment 2, to robot cleaner 1, the 1st acoustic information is connected and situation about exporting describes with the 2nd acoustic information.Fig. 9 means the flow chart of the handling process of embodiment 2.To carrying out the step of the processing identical with embodiment 1, description thereof is omitted.

First, test section 110 detects the generation (S21) of the event relevant with robot cleaner 1.Then, control part 100 is specified the acoustic information (S22) corresponding with detected event.

Then, the acoustic information of control part 100 judgement outputs is the 1st acoustic information or the 2nd acoustic information (S23).At this, in embodiment 2, be judged as in the situation that the acoustic information of exporting in S23 is the 1st acoustic information, emotion determination section 120 also determines emotion.And, in S24～26, determining after emotion, voice output control part 130 is selected the 2nd acoustic information (S27) with reference to the 2nd acoustic information storage part 222.The selection of the 2nd acoustic information can be carried out arbitrarily from the acoustic information corresponding with emotion, also can carry out with specifying.

Then, voice output control part 130 makes the sound corresponding with the 1st specified acoustic information be connected with the sound corresponding with selected the 2nd acoustic information, from audio output unit 9 output sounds (S28).Particularly, can as " the 2nd acoustic information the 1st acoustic information ", before the 1st acoustic information, connect the 2nd acoustic information and carry out output sound, also can as " the 1st acoustic information the 2nd acoustic information ", after the 1st acoustic information, connect the 2nd acoustic information and carry out output sound, can also as " the 2nd acoustic information the 1st acoustic information the 2nd acoustic information ", in the front and back of the 1st acoustic information, connect the 2nd acoustic information and carry out output sound.In addition, in the situation that be judged as the acoustic information of output in S23, be the 2nd acoustic information, implement S14～S18 of embodiment 1.

The following situation of take describes as example, and test section 110 detects the generation of events, and as the acoustic information of output, " dust suction starts " of numbering 1011 is designated.In S23, being judged as specified numbering is the 1st acoustic information.Then, enter into the step that determines emotion, in S26, select emotion.At this, in the situation that selected emotion is " good mood ", the tables of data based on shown in table 6 is selected arbitrarily in numbering 1101A～1104A from the 2nd acoustic information.In addition, in the situation that selected emotion is " common ", random of selecting in numbering 1101B～1104B from the 2nd acoustic information.In addition, in the situation that selected emotion is " bad mood ", random (S27) selecting in 1101C～1104C from the 2nd acoustic information.Suppose to select numbering 1101A " very well " to go on to say from the 2nd acoustic information.

Voice output control part 130 makes to be connected with " very well " of selected the 2nd acoustic information as " dust suction starts " of the numbering 1011 of the 1st specified acoustic information, from audio output unit 9 output sounds.(S28)。For example, output sound is " very well dust suction starts ", " dust suction starts very well ", " very well dust suction starts very well ".

In addition, what is called makes the sound corresponding with the 1st acoustic information be connected and export with the sound corresponding with the 2nd acoustic information, between the sound that is not only included in connection and exports, there is no the complete non-existent situation of time of voice output, and comprise the situation that has certain hour.That is the situation that, broadly comprises the sound corresponding with the 1st acoustic information and export continuously with sound corresponding to the 2nd acoustic information.

As mentioned above, by making the sound corresponding with the 1st specified acoustic information be connected and export with sound corresponding to selected the 2nd acoustic information of emotion with based on robot cleaner 1, can carry out diverse output sound in simple mode.In addition, because the sound corresponding with the 1st acoustic information emotion based on robot cleaner 1 and changing not in the sound of exporting, so the content of the sound of correctly recognition machine people dust catcher 1 output of user, the state of energy paying attention robot cleaner 1.

(other embodiment)

In the situation that robot cleaner 1 makes the 1st acoustic information be connected with the 2nd acoustic information to export, in the S27 of Fig. 9, selected the 2nd acoustic information can be a plurality of.For example, suppose that the 1st specified acoustic information is " please clear up rubbish " of numbering 1015, the personality based on selected " bad mood ", selects " will rebestir " of numbering 1101C and " the poorest mood " of numbering 1104C from the 2nd acoustic information.Now, output control part 130 connects acoustic information as " will rebestir and please clear up the poorest mood of rubbish ", and from audio output unit 9 outputs.

In addition, in the above-described embodiment, as robot device of the present invention, robot cleaner 1 is described, but the other robot device that also can be widely used in the output sounds such as household service robot, machine people with fresh air, guard robot or pet robot.

And, in the above-described embodiment, also can, so that control substrate 17 modularizations of the whole or major part that comprises control part 100 and storage part 200 also circulate, by being assembled into main body, as finished product, manufacture.

And, at least a portion of robot device's control part also can be configured to hardware by the logic circuit being formed on integrated circuit (IC chip), and can be according to using like that CPU (Central Processing Unit: central processing unit) utilize software to realize below.

(the 2nd embodiment)

Below, other the embodiment as robot device of the present invention, describes robot cleaner with reference to accompanying drawing.In addition, for convenience of explanation, to having the parts of the function identical with the 1st embodiment, mark identical unit number, description thereof is omitted.

In the 1st embodiment, exemplified with following formation, the generation event of emotion determination section based on relevant with robot cleaner, from " good mood ", " common ", " bad mood " 3 stages, determine the emotion (being equivalent to operation result) of robot cleaner, based on this emotion information (information being output) that selects a sound, from robot cleaner output sound.In the 2nd embodiment, will as an example, describe as follows, based on this emotion, select the information (information being output) such as character, image, from robot cleaner, send output.

Robot cleaner 1A in present embodiment, replaces the audio output unit 9 that the robot cleaner 1 in the 1st embodiment possesses, and possesses radio section 19 described later (with reference to Figure 11, Figure 12), is connected with communication network.The schematic diagram that represents the robot cleaner that is connected with other the communication network of embodiment of the present invention in Figure 10.As shown in the figure, robot cleaner 1A utilizes wireless LAN base station 90 to be connected to LAN (the Local Area Network: LAN) in room 95.And robot cleaner 1A is configured to, the transmission that can set up information by internet 91 and portable terminal device communication network 92 and user's portable terminal device 93 receives.Portable terminal device 93 has the display part 94 that shows character, image etc.

In addition, in the inside of main body casing 2 (Fig. 1 reference), be provided with radio section 19.Radio section 19 is endowed IP (Internet Protocol: Internet communications protocol) address and URL (Uniform Resource Locator: uniform resource locator), can use HTTP (Hyper Text Transfer Protocol: the transmission of HTTP) carrying out information receives.For example, the transmission of information receives by according to SMTP (Simple Mail Transfer Protocol: Simple Mail Transfer protocol) carry out with transmission reception Email between portable terminal device 93.

In addition, below as the example sending from the information of robot cleaner 1A, the situation that robot cleaner 1A is sent to portable terminal device 93 by Email describes, but sends and be not limited only to this from the information of robot cleaner 1A.For example, as so-called blog, microblogging, for being recorded on webpage, situation that information is sent to outside server (not shown) etc. is also contained in the present invention certainly.

Other the formation of robot cleaner of embodiment that represents robot device of the present invention in Figure 11.As shown in the figure, robot cleaner 1A, replaces the audio output unit 9 that robot cleaner 1 (with reference to Fig. 6) possesses, and possesses radio section 19.The formation that represents storage part 200A and the control part 100A of the robot cleaner 1A in Figure 11 in Figure 12.The control part 100A of robot cleaner 1A, replaces the voice output control part 130 that the control part 100 in robot cleaner 1 (with reference to Fig. 7) possesses, and possesses radio control section 140.In addition, the storage part 200A of robot cleaner 1A, replaces the acoustic information storage part 220 that the storage part 200 in robot cleaner 1 (with reference to Fig. 7) possesses, and possesses information storage part 220A.

After will describe in detail, the emotion value M based on using emotion operation values M1 computing determines the emotion of robot cleaner A1, the emotion based on determined is selected the information sending, and from robot cleaner 1A, sends (output).

Then, information storage part 220A is described.Information storage part 220A memory by using radio section 19 outputs to outside character information and image information.In addition, information storage part 220A has the 1st information storage part 221A and the 2nd information storage part 222A.

The 1st information that the emotion that the 1st information storage part 221A storage and emotion determination section 120 determine is independently output.

An example that represents the tables of data of the 1st information in table 8.As shown in table 8, the 1st information and numbering 1001～1010 storages that are mapped, in the appointed situation of arbitrary numbering in numbering 1001～1010, the information of correspondence is output from radio section 19.

[table 8]

Numbering	The 1st information
		1001	Understood
1002	Be
		1003	Good morning
1004	Hello
		1005	Good night
1006	Good night
		1007	Welcome
1008	You return
		1009	I have returned
1010	What can I help you
		1011	Dust suction starts
1012	Dust suction finishes
		1013	Start reservation running
1014	Dead battery
		1015	Please clear up rubbish
1016	Image A
		1017	Image B

The 2nd information storage part 222A stores the emotion determining based on emotion determination section 120 and the 2nd information of exporting.

An example that represents the tables of data of the 2nd information in table 9.As shown in table 9, the storage that is mapped of the 2nd information and 1101～1104 numbering.In addition, the 2nd information determines from emotion determination section 120 3 stages of " good mood ", " common ", " bad mood " and arbitrary emotion are mapped.Particularly, when being " good mood ", emotion value grade exports 1101A～1104A.In addition, when being " common ", emotion value grade exports 1101B～1104B.In addition, when being " bad mood ", emotion value grade exports 1101C～1104C.

[table 9]

Numbering	Emotion	The 2nd information
			1101A	Good mood	Very well
1102A	Good mood	Best mood
			1103A	Good mood	Relax once in a while
1104A	Good mood	Image C
			1101B	Common	All right
1102B	Common	Gather together and go ahead
			1103B	Common	You are arduous
1104B	Common	Image D
			1101C	Bad mood	Rebestir
1102C	Bad mood	The poorest mood
			1103C	Bad mood	Dust suction once in a while
1104C	Bad mood	Image E

In addition, as robot cleaner 1A canned data, the situation that stores arbitrary information of character or image for a numbering is described, but also can store for a numbering information of character and image.For example, can to 1001 numbering storages, " start dust suction.Image A ", also can be " very well to the numbering storage of 1101A.Image C ".

In addition, robot cleaner 1A canned data, can be also sound or animation information, can be also graphic character representing with special character code, label etc.

Emotion operational part 122 in emotion determination section 120, " M2 " in the formula 3 of the typical case of the arithmetic expression of computing emotion value M represents the result of the game of stipulating with enforcements such as portable terminal devices 93 (with reference to Figure 10) as user etc. and the score that obtains.This score sends to robot cleaner 1A by communication network, by radio section 19, is received.

The transmission that radio control section 140 is controlled the information of radio section 19 receives.The information being received by radio section 19 except above-mentioned from user, send score value M2, can be also the action indication of robot cleaner 1A, the reservation indication of action.On the other hand, the information sending from radio section 19 is the 1st information and the 2nd information that is stored in information storage part 220A.

At this, the emotion that the 1st information does not determine based on emotion determination section 122 and exporting.Particularly, when test section 110 detects while there is the event relevant with robot cleaner 1A, in the numbering shown in table 8 is designated, and the information of appointed numbering is output.

In addition, the emotion that the 2nd information determines according to emotion determination section 122 is from a plurality of Information Selection output.Particularly, when test section 110 detects while there is the event relevant with robot cleaner 1A, in numbering shown in table 9 one is designated, information output that the emotion that selection and emotion determination section 122 determine from a plurality of information of appointed numbering is mapped.

Then, the handling process of robot cleaner 1A output character information or image information is described.

(embodiment 3)

In embodiment 3, the situation of robot cleaner 1A being exported respectively individually to the 1st information or the 2nd information describes.Figure 13 means the flow chart of the handling process of embodiment 3.In addition, in the flow chart of Figure 13 and Figure 14 explanation, with " S " expression " step ".In addition, also use in the text " S " expression " step ".

First, test section 110 detects the generation (S31) of the event relevant with robot cleaner 1A.Then, control part 100 is specified the information (S32) corresponding with detected event.For example, the appointment of information is undertaken by the particular number of appointment table 8,9 illustrative tables of data.

Then, the specified information of control part 100 judgement is the 1st information or the 2nd information (S33).For example, be the 1st information or the judgement of the 2nd information, can the numbering based on specified carry out.In table 8 and 9 illustrative tables of data, the 1st information and numbering 1001～1010 storages that are mapped, the 2nd information with number 1101～1104 storages that are mapped.

In the situation that test section 110 is judged as specified information, be the 2nd information (situation that is), in S34, operation values determination section 121, with reference to operation values storage part 210, determines emotion operation values M1.And emotion operational part 122 is used the emotion operation values M1 computing emotion value M (S35) determining in step S34, selects emotion (S36) according to the value of emotion value M.And radio control section 140, by with reference to the 2nd information storage part 222A, is selected the information corresponding with selected emotion (S37).And radio control section 140 sends to the information of selection user's portable terminal device 93 (S38) from radio section 19 use Emails.User opens Email by operation portable terminal device 93, can confirm to be shown in character, the image of display part 94.

On the other hand, in S33, when control part 100 is judged as (no situation) in the situation that specified information is the 1st information, do not determine the emotion of robot cleaner 1A, enter into S38, specified information sends to user's portable terminal device 93 from radio section 19 use Emails.

Test section 110 detects the generation of events, and as the information of output, the 1101 appointed situations of numbering of take describe as example.In S33, being judged as specified numbering is the 2nd information.Then, enter into the step that determines emotion, in S36, select emotion.At this, in the situation that selected emotion is " good mood ", the tables of data based on shown in table 9 is selected " very well " of numbering 1101A from the 2nd information.In addition, in the situation that selected emotion is " common ", from the 2nd information, select " all right " of numbering 1101B.In addition, in the situation that selected emotion is " bad mood ", from the 2nd information, select " will rebestir " of numbering 1101C.Then, selected information sends from radio section 19 use Emails.

Then, test section 110 detects the generation of events, and as the information of output, the 1001 appointed situations of numbering of take describe as example.In S33, being judged as specified numbering is the 1st information.When being judged as specified numbering and being the 1st information, do not determine robot cleaner 1A emotion, enter into S38.And the tables of data based on shown in table 8 is selected the " dust suction of numbering 1001 since the 1st information.", from radio section 19 use Emails, send.

As mentioned above, based on emotion, do not send the 1st information, and send the 2nd information based on emotion, can carry out in simple mode the transmission of diverse information thus, user can feel the friendliness of robot cleaner.In addition, because the 1st information emotion based on robot cleaner 1A and changing not in the information sending, thus the correct content of the information of recognition machine people dust catcher 1A output of user, state that can paying attention robot cleaner 1A.

(embodiment 4)

In embodiment 4, the situation that makes the 1st information be connected output with the 2nd information to robot cleaner 1A describes.Figure 14 means the flow chart of the handling process of embodiment 4.To carrying out the step of the processing identical with embodiment 3, description thereof is omitted.

First, test section 110 detects the generation (S41) of the event relevant with robot cleaner 1A.Then, control part 100 is specified the information (S42) corresponding with detected event.

Then, whether the information of control part 100 judgement outputs is the 1st information (S43).At this, in embodiment 4, in the situation that be judged as the information of output in S43, be the 1st information, emotion determination section 120 determines emotion.Then, at S44～46 middle finger, pledge love after sense, radio control section 140 is selected the 2nd information with reference to the 2nd information storage part 222A.The selection of the 2nd information can be carried out arbitrarily from the information corresponding with emotion, also can carry out with specifying.

Then, radio control section 140 is connected the 1st specified information with selected the 2nd information, from radio section 19 outputs (S48).Particularly, can as " the 2nd information+1st information ", before the 1st information, connect the 2nd information output, also can as " the 1st information+2nd information ", after the 1st information, connect the 2nd information output, can also as " the 2nd information+2nd, information+1st information " like that in the front and back of the 1st information, connect the 2nd information and also export.And the information of combination sends from radio section 19 use Emails.In addition, in the situation that be judged as the information of output in S43, be the 2nd information, enforcement be S34～S38 of embodiment 3.

The following situation of take describes as example, and test section 110 detects the generation of events, as the information of output, numbering 1001 " start dust suction." designated.In S43, being judged as specified numbering is the 1st information.Then, enter into the step that determines emotion, in S46, select emotion.At this, in the situation that selected emotion is " good mood ", the tables of data based on shown in table 9 is selected arbitrarily in numbering 1101A～1104A from the 2nd information.In addition, in the situation that selected emotion is " common ", random of selecting in numbering 1101B～1104B from the 2nd information.In addition, in the situation that selected emotion is " bad mood ", random (S47) selecting in 1101C～1104C from the 2nd information.Suppose to select numbering 1101A " very well " to go on to say from the 2nd information.

Radio control section 140 " starts dust suction using the specified numbering 1001 as the 1st information." and selected the 2nd information is " very well." connect.For example, connect into " very well.Dust suction starts.", " dust suction starts.Very well.", " very well.Dust suction starts.Very well ".Then, the information connecting sends (S48) from radio section 19 use Emails.

As mentioned above, the 1st information not sending based on emotion be connected and sent with the 2nd information sending based on emotion, can carry out by simple mode the output of diverse information thus.In addition, because the 1st information emotion based on robot cleaner 1A and changing not in the information of exporting, thus the correct content of the information of recognition machine people dust catcher 1A output of user, state that can paying attention robot cleaner 1A.

(other embodiment)

The in the situation that of the 1st information being connected and being exported with the 2nd information at robot cleaner 1A, in the S47 of Figure 14, selected the 2nd information can be a plurality of.For example, suppose that the 1st specified information is " starting to preengage and move of numbering 1004.", the personality based on selected " bad mood ", from the 2nd Information Selection numbering 1101C " will rebestir " and numbering 1104C " the poorest mood ".Now, radio control section 140 is as " rebestired.Start reservation operation.The poorest mood." such link information, by radio section 19, exported.

In addition, can be also, robot cleaner 1A will send in the insertion articles such as image, animation, sound, graphic character, in addition, also the file of image etc. can be appended in Email and sends.User is by operation portable terminal device 93, can confirm image that display part 94 from portable terminal device, not shown audio output unit are exported etc.In this case, the user who receives information can pass through vision or Auditory identification information.

In addition, can be also that robot cleaner 1A sends to the server (not shown) that is connected with communication network or the management devices (not shown) of robot cleaner 1A by the information of output.In this case, user operates portable terminal device 93, with reference to server or management devices, or download file, can confirm thus the information sending from robot cleaner 1A.In this case, user can confirm the information sending from robot cleaner 1A in the lump, in addition, can confirm the duty of robot cleaner 1A, the resume such as mood of the generation of event, robot cleaner 1A.

In addition, in the above-described embodiment, to communication network as in room 95, use the situation of wireless LAN base station 90 to be illustrated, but also can use the base station of the short-distance wireless of Bluetooth (registration mark) etc.In addition, also can be connected with the communication network in room 95 with wired.

And, in the 1st above-mentioned embodiment, the 2nd embodiment, as robot device of the present invention, robot cleaner 1,1A are illustrated, but in addition it can also be widely used in the robot device of the output informations such as household service robot, machine people with fresh air, guard robot or pet robot.

And, in the above-described embodiment, also can, by control substrate 17 modularizations of the whole or major part that comprises control part 100,100A and storage part 200,200A circulation, by being assembled into main body, as finished product, manufacture.In addition, at least a portion of robot device's control part also can be configured to hardware by the logic circuit being formed on integrated circuit (IC chip), and can be according to following use CPU (Central Processing Unit: CPU) realize by software.

Read-only storage), RAM that said procedure is launched (random access memory: random access memory), the storage devices such as memory (recording medium) of storage said procedure and various data etc. in the situation that realizing by software, the CPU that robot device possesses the order of carrying out the control program realize each function is (read only memory:, the ROM of storage said procedure.And, by recording medium being supplied with to above-mentioned robot device, (or CPU, MPU (micro processing unit: microprocessing unit)) read program code the execution that is recorded in recording medium to its computer, above-mentioned recording medium reads by calculating function robot device's the program code (execute form program, intermediate code program, source program) of control program recording as realizing the software of above-mentioned functions, thereby can reach object of the present invention.

As above-mentioned recording medium, can use the class such as the tape such as tape, cassette tape; The dish class that comprises the CDs such as disk, CD-ROM/MO/MD/DVD/CD-R such as soft (registration mark) dish/hard disk; The card such as IC-card (comprising storage card)/light-card class; Or mask rom/EPROM (Erasable Programmable Read Only Memory: Erasable Programmable Read Only Memory EPROM)/EEPROM (registration mark) (Electrically Erasable Programmable Read-Only Memory: the semiconductor memory class of Electrically Erasable Read Only Memory)/flash rom etc.; PLD) etc. and PLD (Programmable logic device: logic circuit class etc.

In addition, also robot device can be configured to and can be connected with communication network, via communication network, provide said procedure code.ISDN), VAN (value added network: value-added network), CATV communication network, VPN (virtual private network), telephone wire road network, mobile communicating net, satellite communication network etc. as this communication network, be not particularly limited, such as utilizing internet, in-house network, extranet, LAN, ISDN (Integrated Services Digital Network:.In addition, as the transfer medium that forms communication network, be not particularly limited, for example, no matter be IEEE1394, USB (Universal Serial Bus: USB), power line is carried, cable tv circuit, telephone wire, ADSL (Asymmetric Digital Subscriber Line: ADSL) circuit etc. is wired, or as IrDA, the infrared ray that remote controller is such, Bluetooth (registration 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 live broadcast network alliance), portable electric phone network, satellite circuit, wireless can the utilization of surface wave digital network etc.

(summary)

Robot device of the present invention is characterised in that, possess: the voice output unit of output sound, based on detection information, detect the detecting unit of the generation of event, and storage is as the sound information storage unit of the acoustic information of the voice signal from voice output unit output, the 1st single acoustic information that sound information storage unit storage is corresponding with the 1st event and a plurality of 2nd acoustic informations corresponding with the 2nd event, the sound that voice output unit output is corresponding with the 1st acoustic information and the 2nd acoustic information, the 2nd acoustic information is selected from a plurality of the 2nd acoustic informations according to event.

In addition, preferably, in robot device of the present invention, voice output unit is connected the 1st acoustic information to export with the 2nd acoustic information.

Robot device of the present invention is characterised in that, possess: send the information transmitting unit of information, the detecting unit of generation that detects event based on detection information and the information memory cell of the information that storage sends from information transmitting unit, the 1st single information that information memory cell storage is corresponding with the 1st event and a plurality of 2nd information corresponding with the 2nd event, information transmitting unit sends the 1st information and the 2nd information, and the 2nd information is selected from a plurality of the 2nd information according to event.

In addition, preferably, in robot device of the present invention, information transmitting unit is connected the 1st information to export with the 2nd information.

In addition, preferably, robot device of the present invention also possesses the electric power feed unit of robot device being supplied with to electric power, and detecting unit detects electric power supply condition from electric power feed unit as event.

In addition, preferably, robot device of the present invention also possesses the dust suction unit that carries out dust suction, and detecting unit detects the information relevant with dust suction as event.

In addition, preferably, robot device of the present invention also possesses the dust suction number of times memory cell that the number of times of dust suction is carried out in storage, and detecting unit detects number of times as event.

In addition, preferably, robot device of the present invention also possesses utilizing the debris collection section of the dust control of dust that dust suction unit removes, and detecting unit detects the dust amount of debris collection section as event.

In addition, robot device can also utilize computer to realize, in this case, by making computer be realized robot device's robot device's control program by computer as above-mentioned each cell operation and the recording medium that records the embodied on computer readable of this control program is also contained in category of the present invention.

The present invention is not limited to above-mentioned embodiment, can in the scope shown in claim, carry out various changes, by different embodiments respectively appropriately combined the and embodiment that obtains of disclosed technical approach be also contained in technical scope of the present invention.

industrial utilizability

Robot device of the present invention, control program and the tape deck that records the embodied on computer readable of control program, can extensively utilize as object the robot device who possesses sound output function; Or the robot device by information such as character, images to outside output.

description of reference numerals

1,1A robot cleaner

40 cradles

5 guidance panels

8 Speech input portions

9 audio output units

16 batteries

17 control substrate

19 radio sections

30 debris collection section

31 dust collecting containers

100,100A control part

110 test sections

111 panel operation test sections

112 sound detection portions

113 dust amount test sections

114 residual capacity of battery test sections

115 signal detecting parts

120 emotion determination sections

130 voice output control parts

140 radio control section

200,200A storage part

210 operation values storage parts

211 dust suction number of times operation values storage parts

212 dust amount operation values storage parts

213 residual capacity of battery operation values storage parts

214 event operation value storage parts

220 acoustic information storage parts

220A information storage part

221 the 1st acoustic information storage parts

221A the 1st information storage part

222 the 2nd acoustic information storage parts

222A the 2nd information storage part

Claims

1. a robot device, is characterized in that, possesses:

Output unit, its output information;

Detecting unit, it detects the generation of event based on detection information;

Information memory cell, its storage is from the information of above-mentioned output unit output; And

Arithmetic element, it uses state with this robot device predetermined operation values that is mapped to carry out computing,

The storage of above-mentioned information memory cell and single the 1st information being mapped of event and the 2nd information being mapped with the operation result of event and above-mentioned arithmetic element,

2. robot device according to claim 1, it is characterized in that, above-mentioned output unit is when according to event output the 1st information, at least one information in the 2nd information being mapped with the operation result of above-mentioned arithmetic element is connected and is exported with the 1st information, and and the event being mapped with the 2nd information irrelevant.

3. robot device according to claim 1 and 2, is characterized in that,

Also possess the dust suction unit that carries out dust suction,

The number of times of dust suction that the predetermined above-mentioned robot device's of above-mentioned operation values state is residual capacity of battery in this robot device, implemented in specified time limit or any state in the amount of the control of dust that dust suction unit reclaims.

4. according to the robot device described in any one in claims 1 to 3, it is characterized in that,

Above-mentioned output unit is the voice output unit of exporting as the sound of information,

Above-mentioned information memory cell is that storage is as the sound information storage unit of the acoustic information of the signal of the sound from the output of tut output unit.

5. according to the robot device described in any one in claims 1 to 3, it is characterized in that,

Above-mentioned output unit is the information transmitting unit that sends output information,

The information that above-mentioned information memory cell storage sends from above-mentioned information transmitting unit.

6. a robot device, possesses:

Voice output unit, its output sound;

Detecting unit, it detects the generation of event based on detection information; And

Sound information storage unit, the acoustic information of the signal of the sound that its storage conduct is exported from tut output unit,

The 1st single acoustic information that the storage of tut information memory cell is corresponding with the 1st event and a plurality of 2nd acoustic informations corresponding with the 2nd event,

The sound that the output of tut output unit is corresponding with above-mentioned the 1st acoustic information and above-mentioned the 2nd acoustic information,

Above-mentioned the 2nd acoustic information is selected from a plurality of above-mentioned the 2nd acoustic informations according to above-mentioned event.

7. robot device according to claim 6, tut output unit is connected above-mentioned the 1st information export with above-mentioned the 2nd information.

8. a robot device, is characterized in that, possesses:

Information transmitting unit, its transmission information;

Information memory cell, the information that its storage sends from above-mentioned information transmitting unit,

The 1st single information that above-mentioned information memory cell storage is corresponding with the 1st event and a plurality of 2nd information corresponding with the 2nd event,

Above-mentioned information transmitting unit sends above-mentioned the 1st information and above-mentioned the 2nd information,

Above-mentioned the 2nd information is selected from a plurality of above-mentioned the 2nd information according to above-mentioned event.

9. robot device according to claim 8, above-mentioned information transmitting unit is connected above-mentioned the 1st information and send with above-mentioned the 2nd information.

10. according to the robot device described in any one in claim 1 to 9, it is characterized in that,

Also possess the electric power feed unit of robot device being supplied with to electric power,

Above-mentioned detecting unit detects electric power supply condition from above-mentioned electric power feed unit as above-mentioned event.

11. according to the robot device described in any one in claim 1 to 10,

Also possess the dust suction unit that carries out dust suction,

Above-mentioned detecting unit detects the information relevant with dust suction as above-mentioned event.

12. according to the robot device described in any one in claim 1 to 11, it is characterized in that,

Also possess storage and carry out the dust suction number of times memory cell of the number of times of dust suction,

Above-mentioned detecting unit detects above-mentioned number of times as above-mentioned event.

13. according to the robot device described in claim 11 or 12, it is characterized in that,

Also possess utilizing the debris collection section of the dust control of dust that above-mentioned dust suction unit removes,

Above-mentioned detecting unit detects the dust amount of above-mentioned debris collection section as above-mentioned event.

14. 1 kinds of control programs, it is the control program of the computer operation that possesses of the robot device described in any one making in claim 1 to 13, for making above-mentioned computer as each above-mentioned unit performance function.

The recording medium of 15. 1 kinds of embodied on computer readable, it records the control program described in claim 14.