CN104053391A - Robot device, control program, and computer-readable recording medium with said program recorded thereon - Google Patents

Robot device, control program, and computer-readable recording medium with said program recorded thereon Download PDF

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Publication number
CN104053391A
CN104053391A CN201380005480.4A CN201380005480A CN104053391A CN 104053391 A CN104053391 A CN 104053391A CN 201380005480 A CN201380005480 A CN 201380005480A CN 104053391 A CN104053391 A CN 104053391A
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CN
China
Prior art keywords
mentioned
self
operation values
emotion
suction cleaner
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201380005480.4A
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Chinese (zh)
Other versions
CN104053391B (en
Inventor
坪井雅伦
松本正士
箭竹麻美
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
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Sharp Corp
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Filing date
Publication date
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Publication of CN104053391A publication Critical patent/CN104053391A/en
Application granted granted Critical
Publication of CN104053391B publication Critical patent/CN104053391B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

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

Abstract

The self-propelled cleaner (1) of the present invention is provided with: an emotion selection unit (201) that determines summary information in which information acquired by the self-propelled vacuum cleaner is summarized; and a transmission processing unit that transmits the determined summary information to an external device. The emotion selection unit (201) determines the summary information by selecting from a plurality of options in accordance with the acquired information.

Description

Robot device, control program and record the computer-readable medium storing of this control program
Technical field
The present invention relates to robot device etc.
Background technology
In recent years, the household service robot towards general family starts to popularize.
In patent documentation 1, disclose a kind of dust catcher, it is automatically to carry out the dust collector robot of dust suction, and according to from communication terminal via communication network give with running indication and in cleaning chamber, disclose that " class that dust collector robot has (non-operating condition) in standby, runs well, falls, residual capacity of battery is how many etc. is about the information of self operating condition function as machine information memory.Dust collector robot sends this machine information to mobile phone.”。
prior art document
patent documentation
Patent documentation 1: Japanese Laid-Open Patent Publication " TOHKEMY 2005-118354 communique (on May 12nd, 2005 is open) "
Summary of the invention
the problem that invention will solve
But as disclosed in patent documentation 1, during situation that the numerical value etc. that represents machine information is directly sent to portable terminal, user, for holding the operating condition of dust catcher, must confirm a plurality of numerical value.That is, owing to being difficult to a glance, hold the operating condition of dust catcher, so damage user's convenience.
The present invention puts in view of the above problems and completes, and its object is to provide a kind of various information that the machine is obtained to convert the performance of summarizing can hold the degree of the summary of this information at a glance to, on this basis to the robot device of external notification etc.
for the scheme of dealing with problems
For addressing the above problem, the robot device of one embodiment of the present invention possesses: determination means, and it determines the summary information of the obtaining information that summary the machine is obtained; And transmitting mechanism, its summary information that above-mentioned determination means is determined sends to external device (ED); And above-mentioned determination means utilization selects to determine above-mentioned summary information from a plurality of options according to above-mentioned obtaining information.
invention effect
According to an embodiment of the present invention, because user can utilize external device (ED), confirm summary information, and compare the summary of easily holding obtaining information in shorter time with the situation of direct confirmation obtaining information, therefore bring into play the effect of user's convenience raising.
Accompanying drawing explanation
Fig. 1 is the stereogram of the self-propelled suction cleaner of one embodiment of the present invention.
Fig. 2 is the side cutaway view of above-mentioned self-propelled suction cleaner.
Fig. 3 is the lower view of above-mentioned self-propelled suction cleaner.
Fig. 4 means the figure of an example of the guidance panel of above-mentioned self-propelled suction cleaner.
Fig. 5 is the side cutaway view of above-mentioned self-propelled suction cleaner, means the situation of the cap taking-up debris collection section of opening body casing.
Fig. 6 is the stereogram of cradle that above-mentioned self-propelled suction cleaner is charged.
Fig. 7 means the block diagram of the function composing of above-mentioned self-propelled suction cleaner.
Fig. 8 means the block diagram of the memory portion of above-mentioned self-propelled suction cleaner and the formation of control part.
Fig. 9 (a) means the schematic diagram of an example of remembering the data in contained dust suction number of times/operation values memory portion of above-mentioned memory portion.(b) mean the schematic diagram of an example of remembering the data in contained dust suction number of days/operation values memory portion of above-mentioned memory portion.
Figure 10 means the schematic diagram of an example of the coefficient that the contained emotion operational part of above-mentioned control part is used.
Figure 11 means the schematic diagram of the corresponding relation of emotion value that the result as the contained emotion operational part computing of above-mentioned control part obtains and emotion.
Figure 12 means the flow chart of the handling process of above-mentioned self-propelled suction cleaner.
Figure 13 means the memory portion of self-propelled suction cleaner of another embodiment of the present invention and the block diagram of the formation of control part.
Figure 14 means the schematic diagram of an example of remembering the data in contained residual capacity of battery/operation values memory portion of above-mentioned memory portion.
Figure 15 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 16 means the schematic diagram of an example of remembering the data in contained current value/operation values memory portion of above-mentioned memory portion.
Figure 17 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 18 means the schematic diagram of an example of remembering the data in contained elapsed time/operation values memory portion of above-mentioned memory portion.
Figure 19 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 20 means the schematic diagram of an example of remembering the data in contained state/operation values memory portion of above-mentioned memory portion.
Figure 21 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 22 means the schematic diagram of an example of remembering the data in contained state/operation values memory portion of above-mentioned memory portion.
Figure 23 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 24 means the schematic diagram of an example of remembering the data in contained collision frequency/operation values memory portion of above-mentioned memory portion.
Figure 25 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 26 means the schematic diagram of remembering in the contained example that falls the data in avoidance number of times/operation values memory portion of above-mentioned memory portion.
Figure 27 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 28 means the schematic diagram of an example of remembering the data in contained foul smell number of times/operation values memory portion of above-mentioned memory portion.
Figure 29 means the memory portion of self-propelled suction cleaner of of the present invention and then another embodiment and the block diagram of the formation of control part.
Figure 30 means the schematic diagram of an example of remembering the data in contained temperature/operation values memory portion of above-mentioned memory portion.
The specific embodiment
[summary of the present invention]
As a robot device's of the present invention embodiment, below take self-propelled suction cleaner (robot device) 1 and describe as example.In addition, as robot device, except self-propelled suction cleaner 1, can extensive use household service robot, the robot device such as air cleaner machine people, guard robot or pet robot.
Self-propelled suction cleaner 1 of the present invention is automatically walk on the one hand and attract dust and the device that carries out dust suction.The principal character of self-propelled suction cleaner 1 is: the information of obtaining with self-propelled suction cleaner 1 (is specifically sayed, the information obtaining as the result of implementing dust suction, represent the machine each portion state information, about the information of the action indication to the machine etc.) be converted to can hold the performance that the degree of the summary of this information summarizes at a glance (following, be denoted as summary information), and the summary information of this conversion is sent to external device (ED).
The typical case of summary information is the information of calculating according to the information of obtaining with self-propelled suction cleaner 1, represent the state status (quality) of self-propelled suction cleaner 1.Below, " emotion " shower of the self-propelled suction cleaner 1 using the state status of self-propelled suction cleaner 1 as the situation so that self-propelled suction cleaner 1 is personalized describes.During this situation, self-propelled suction cleaner 1 is that the emotion as summarizing the performance of the information of obtaining with self-propelled suction cleaner 1 is sent to external device (ED).
In addition, the emotion of self-propelled suction cleaner 1 is from a plurality of options, to select to determine.In each embodiment, good " good mood " in the vein, " common " that mood is common, " bad mood " 3 options that mood is poor.To the system of selection of emotion by aftermentioned.In addition, " good mood " represents the in good condition of self-propelled suction cleaner 1, and the state of " common " expression self-propelled suction cleaner 1 is not bad but cannot say for sure well, and " bad mood " represents that the state of self-propelled suction cleaner 1 is bad.
In addition, also can be configured to " personality " that user can select self-propelled suction cleaner 1.The typical case of personality is long " affective style " of persistence of emotion, common " the gentle type " of persistence of emotion, and shorter " the tolerant type " of the persistence of emotion.Utilize and select these types, and can regulate according to user's hobby the lasting degree of emotion.
In addition, the typical case of the external device (ED) of transmitting terminal is to complete with self-propelled suction cleaner 1 portable terminal (smart phone, dull and stereotyped terminal, PC etc.) that pairing is processed.The mode that the external device (ED) of this situation can be read with user, is shown in the emotion sending from self-propelled suction cleaner 1 display part of touch panel etc.Social networking service) as other typical case of external device (ED), also can be blog or SNS (Social Networking Service: the server unit of website such as is provided.The external device (ED) of this situation can use the form of the readings such as Web browser to keep the emotion sending from self-propelled suction cleaner 1 with user.In addition, self-propelled suction cleaner 1 and portable terminal are without certain pairing.
In addition, the present invention is not limited to self-propelled suction cleaner, also can be applicable to the dust catcher that can automatically not walk.
[embodiment 1]
For one embodiment of the present invention, based on Fig. 1～Figure 12, be described as follows.
(structure of self-propelled suction cleaner)
The stereogram, side-looking, profile, the lower view that in Fig. 1～3, represent respectively the self-propelled suction cleaner 1 of present embodiment.
Self-propelled suction cleaner 1 is as shown in Figure 1, the body casing 2 overlook with lower circle forms self-propelled suction cleaner 1 body of housings, with as shown in figure 22, the driving wheel 29 driving battery (secondary cell) 14 as electric power supply source, and the also device of control of dust (dust suction) of automatically walking on the one hand.
As shown in Figure 1, in the upper surface of body casing 2, be provided with guidance panel 50, LED (the Light Emitting Diode: light emitting diode) lamp 51 and the cap 3 that opens and closes while making debris collection section 30 turnover that self-propelled suction cleaner 1 is indicated to input.In addition, in present embodiment, body casing 2 is the conglobate shape of its upper surface and bottom surface, but is not limited to this shape.
The upper surface that LED lamp 51 is located at body casing 2 in the present embodiment, as described later, coordinates the state of self-propelled suction cleaner 1 around, the color of lighting and light change in pattern.In addition, LED lamp in addition also can be set.In addition, LED lamp also can be located at the exhaust outlet 7 that arranges at the upper surface of body near.
On guidance panel 50, be provided with according to accept the console switch (operating portion) of the input of the data such as various indications, word, numeral from user's operation, with the display (display part) showing the various information of user's prompting.Guidance panel 50 also can be set to touch panel.In addition, also demonstration LED can be set on guidance panel 50.
An example that represents guidance panel 50 in Fig. 4." starting and stop button " 501 that guidance panel 50 shown in Fig. 4 possesses the beginning of indication dust suction and stops; Can select " the model selection button " 502 of dust suction pattern; The reservation that can set the current moment or make self-propelled suction cleaner 1 running " time set button " 505 constantly; Show the moment or reservation moment display part 504 constantly at present; The garbage-cleaning lamp 506 of lighting when dust collecting container 31 described later is filled detected.In addition, guidance panel 50 shows " battery mark " 503 of the charge volume that represents battery 14.These are simple illustrations, and guidance panel 50 also can possess realizes these operating portion or display parts of function in addition.
As shown in Figure 2,3, in the bottom surface of body casing 2, dispose from bottom surface outstanding and with the pair of driving wheels 29 of the rotating shaft 29a rotation of level.The rotating shaft 29a of driving wheel 29 is disposed on the center line C of body casing 2.The two-wheeled of driving wheel 29 is self-propelled suction cleaner 1 advance and retreat when same direction rotation, and while in the opposite direction rotating, self-propelled suction cleaner 1 is around the center line C rotation of body casing 2.Driving wheel 29 is driven by battery 14, and therefore, self-propelled suction cleaner 1 is walked automatically.Below, by self-propelled suction cleaner 1 automatically walking and direct of travel while carrying out dust suction be called the place ahead above, will be called rear below.In addition, the movement of the direct of travel when carrying out dust suction is called and is advanced, the rightabout movement of direct of travel along when carrying out dust suction is called and is retreated.In addition, before the face side face of body casing 2 (side) is upper, the direct of travel when carrying out dust suction is called, by being positioned at the face of opposition side above, be called the back side.The back side is the face of the direct of travel when retreating.
In dust suction, body casing 2 arrive dust suction regions periphery situation or with route on barrier collision time, driving wheel 29 stops.Then, make the two-wheeled in the opposite direction rotation mutually of driving wheel 29, centered by the center line C of body casing 2, make self-propelled suction cleaner 1 body rotation, and change towards rotation.Therefore, can make self-propelled suction cleaner 1 walking automatically in the dust suction region integral body of expectation, and avoiding obstacles is walked automatically.In addition, reversion in the time of also can making the two-wheeled of driving wheel 29 relatively advance, and self-propelled suction cleaner 1 is retreated.
The place ahead, bottom surface at body casing 2 is provided with suction inlet 6.Suction inlet 6 is to utilize the open surface be arranged with in the recess 8 of the bottom surface of body casing 2, towards floor F, forms.In recess 8, dispose the rotating brush 9 with the rotating shaft rotation of level, in two sides of recess 8, dispose the side brush 10 with vertical rotating shaft rotation.
In addition, in the bottom surface of body casing 2, suction inlet 6 so that the place ahead be provided with the front-wheel 27 of roll shape.In addition, the rear end (rear end) in the bottom surface of body casing 2, is provided with the trailing wheel 26 consisting of independent wheel.Self-propelled suction cleaner 1 is dispensed weight on driving wheel 29 fore-and-aft directions at the center that is placed in body box body 2 that match, and front-wheel 27 leaves from floor F, and rotating brush 9, driving wheel 29 and trailing wheel 26 carry out dust suction with floor F ground connection.Therefore, the dust in route the place ahead can be can't help to front-wheel 27 blocks and imports suction inlet 6.Front-wheel 27 with appear at the step ground connection on route, thereby self-propelled suction cleaner 1 easily strides across step.
Surrounding at body casing 2 is provided with buffer 5, and impact or the vibration of buffering to self-propelled suction cleaner 1 body.If buffer 5 detected in self-propelled suction cleaner 1 walking, contact with barrier, change direct of travel and walk on.
In the rear end of the side face of body casing 2, expose the charging terminal 4 that is provided with the charging of carrying out battery 14.In the present embodiment, charging terminal 4 has 2 on the rear end of the side face of body casing 2, but also can arrange more than 1 or 3.Self-propelled suction cleaner 1 after dust suction or charge volume during lower than setting, is back to the place that is provided with cradle 40.Then, connect charging terminal 4 being located on the power supply terminal 41 of cradle 40, and battery 14 is charged.The back side face of the side face subtend of body casing 2 (not with) that is connected in the cradle 40 of source power supply arranges along indoor sidewall S conventionally.To cradle 40 by aftermentioned.
Battery 14 is electric power supply sources of self-propelled suction cleaner 1 integral body.As battery 14, expect for rechargeable jumbo rechargable battery.Can use such as excide battery, Ni-MH battery, lithium ion battery or capacitor etc.
In body casing 2, dispose the debris collection section 30 of collecting dust.Debris collection section 30 is disposed at the rotating shaft 29a top of driving wheel 29, and is accommodated in the dust storage chamber 39 of being located in body casing 2.Because debris collection section 30 is disposed at the top of the rotating shaft 29a of driving wheel 29, therefore, even because control of dust weight becomes large, still can maintain the weight balancing of body casing 2.Dust storage chamber 39 comprises the cubic side face of covering and the isolation ward of bottom surface, the formation that extends axially in the mode in separated body casing 2 at rotating brush 9.Each wall of dust storage chamber 39 is except inaccessible respectively the axially extended antetheca of rotating brush 9.On the antetheca of dust storage chamber 39, be provided with the 1st air-breathing road 11 being communicated with recess 8 and be disposed at recess 8 above and the 2nd air-breathing road 12 that is communicated with electric motor units (motor) 20.
Debris collection section 30 is utilized the cap 3 of opening as shown in Figure 5 body casing 2, and body casing 2 turnover relatively.Debris collection section 30 is to have the top installation of the dust collecting container 31 at the end have the upper lid 32 of filter 33 and form.Upper lid 32 utilizes movable snap portion 32a button to terminate in dust collecting container 31, according to the upper surface of the controlled opening/closing dust collecting container 31 of snap portion 32a.Therefore, can discard the dust that is piled up in dust collecting container 31.
At the side face of dust collecting container 31, be provided with in front end and make inflow entrance 34a opening and the inflow road 34 that is communicated with the 1st air-breathing road 11.In addition, in dust collecting container 31, be provided with and flow into road 34 continuously and utilize the crooked 34b of inflow portion that imports air-flow downwards.At the side face of upper lid 32, be provided with in front end and make flow export 35a opening and the outflow road 35 that is communicated with the 2nd air-breathing road 12.
In the surrounding of inflow entrance 34a and flow export 35a, be provided with the liner (not shown) that the antetheca with dust storage chamber 39 connects airtight.Therefore, that the dust storage chamber 39 of taking in debris collection section 30 is interior airtight.The antetheca of the opening surface of the opening surface of inflow entrance 34a, flow export 35a and dust storage chamber 39 forms inclined plane, and liner due to slip can prevent because of debris collection section 30 turnover time is deteriorated.
Substrate 15 is controlled in the top configuration at the rear of the dust storage chamber 39 in body casing 2.Controlling the memory described later portion 57 that the control part described later (dust collection mechanism) 52 of each portion that controls self-propelled suction cleaner 1 is set on substrate 15 or remembers various data.Bottom at the rear of dust storage chamber 39 configures detachable battery 14.Battery 14 from cradle 40 chargings, is supplied with electric power to controlling each portions such as substrate 15, driving wheel 29, rotating brush 9, side brush 10 and electric blowing machine 22 via charging terminal 4.
In the self-propelled suction cleaner 1 of above-mentioned formation, if indication dust suction running is supplied with the electric power from battery 14, and driven electric blowing machine 22, ion generating device described later 62, driving wheel 29, rotating brush 9 and side brush 10.Therefore, the rotating brush 9 of self-propelled suction cleaner 1, driving wheel 29 and trailing wheel 26 and floor F ground connection, and walking automatically in definite dust suction region, the air-flow of the dust that comprises floor F from suction inlet 6 suctions.Now, utilize the rotation of rotating brush 9 and the dust on the F of floor is raised up, thereby import in recess 8.In addition, utilize the rotation of side brush 10 and the dust of the side of suction inlet 6 is imported to suction inlet 6.
The air-flow sucking from suction inlet 6 is the 1st air-breathing road 11 of rearward circulating as shown in the arrow A 1 of Fig. 2, and flows into debris collection section 30 via inflow entrance 34a.The air-flow that flows into debris collection section 30 is caught collection dust by filter 33, and flows out from debris collection section 30 via flow export 35a.Therefore, dust control of dust is piled up in dust collecting container 31.The air-flow flowing out from debris collection section 30 is the 2nd air-breathing road 12 of forwards circulating as shown in arrow A 2, and flows into the electric blowing machine 22 of electric motor units 20.
Air-flow by electric blowing machine 22 from the exhaust outlet 7 of being located at body casing 2 upper surfaces as shown in arrow A 3 to back upper place exhaust.In addition, near electric blowing machine 22, possesses ion generating device (not icon), the air-flow that comprises ion from exhaust outlet 7 discharges.
As more than, carry out indoor dust suction, and automatically the contained ion of exhaust of the self-propelled suction cleaner 1 of walking spreads all over and carries out indoor degerming or deodorizing indoor.Now, owing to being from exhaust outlet 7 exhaust upward, therefore can preventing that the dust of floor F from kicking up, and improve indoor cleannes.
The mode that also a part that comprises the air-flow by the mobile ion in the 2nd air-breathing road 12 can be imported in recess 8 forms.Form if so, the air-flow that imports the 1st air-breathing road 11 from suction inlet 6 contains ion.Therefore, can carry out degerming and the deodorizing of dust collecting container 31 or the filter 33 of debris collection section 30.
Cradle 40 is the devices that charge in order to the battery 14 to self-propelled suction cleaner 1, and cradle 40 possesses in inside to be controlled to the charging circuit of the charging of battery 14 etc.
As shown in Figure 6, before cradle 40 (with the face of the side face subtend of body casing 2), on the position that can contact with the charging terminal 4 of self-propelled suction cleaner 1, be provided with and the charging terminal 4 of self-propelled suction cleaner 1 power supply terminal 41 with number.Power supply terminal 41 not with the state of any object contact under, outstanding above from cradle 40, and can push back until the front end face of power supply terminal 41 and cradle 40 before general planar.At the charging terminal 4 of self-propelled suction cleaner 1 and the power supply terminal 41 of cradle 40, contact under the state of (electrically contacting), if pushing is until the general planar above of the front end face of power supply terminal 41 and cradle 40, with contact conducting, and the current flowing of the source power supply connecting from cradle 40 is in self-propelled suction cleaner 1.Can under this state, to battery 14, charge.
In addition, cradle 40 is that the mode that sends the inverse signal of the position that place and power supply terminal 41 are set that represents cradle 40 forms.Self-propelled suction cleaner 1 during lower than the situation of setting, detect the inverse signal sending from cradle 40, and auto-returned is to the place that is provided with cradle 40 at the charge volume that situation that dust suction finishes or battery 14 detected.Herein, the detection that dust suction finishes is for example can utilize detection self-propelled suction cleaner 1 to move a certain distance or process certain hour, or detects the cleaning state in dust suction region and carry out with sensor.Or, also can utilize the terminal installation of self-propelled suction cleaner 1 from utilizing guidance panel 50 or remote control described later or radio communication to connect, accept promotion that dust suction finishes indication or interrupt indication etc. and carry out to the indication of returning of cradle 40.
In the present embodiment, though send infrared signal as the inverse signal that represents the position that place and power supply terminal 41 are set of cradle 40, also can send infrared signal signal in addition.If cradle 40 is connected with source power supply, and self-propelled suction cleaner 1 leaves from cradle 40, constantly sends inverse signal.
In the present embodiment, self-propelled suction cleaner 1 detects inverse signal, and advance (in other words, make towards direct of travel, move above) be back to cradle 40 place is set when neighbouring, temporarily stop, around the center line C rotation of body casing 2, until charging terminal 4 is come the position with power supply terminal 41 subtends.Thereafter, body casing 2 starts to retreat (in other words, making the back side move towards direct of travel).Self-propelled suction cleaner 1 contacts laggard with power supply terminal 41 and retreats at charging terminal 4, and come the front end face of the power supply terminal 41 contacting with charging terminal 4 and cradle 40 general planar position above (power supply terminal 41 push back the position stopping, docking location) in the time of till, the energising from power supply terminal 41 detected, and stop retreating.Under this halted state, charge.In addition, about returning and the processing of docking (self-propelled suction cleaner 1 docks with cradle 40) of charging terminal 4 and power supply terminal 41 of self-propelled suction cleaner 1, can use known technology.
Charging terminal 4 docks with power supply terminal 41, for example, can utilize and on the one hand at the back side (rear end) of body casing 2, rear sensor is set, and with rear sensor, detects inverse signal, and self-propelled suction cleaner 1 is retreated and carries out.If rear sensor does not detect inverse signal, make self-propelled suction cleaner 1 around the center line C of body casing 2 with micro-forward (turning clockwise) or reversion (being rotated counterclockwise), retreat after inverse signal being detected.So, maintain all the time the detection of inverse signal and body casing 2 is retreated on the one hand, therefore can make the position alignment of charging terminal 4 and power supply terminal 41.
In addition, rear sensor and charging terminal 4 are preferably and are co-located on the line parallel with the rotating shaft 29a of driving wheel 29.Arrange if so, rear sensor maintains on the one hand from the detection of the inverse signal of cradle 40 and retreats, and can suitably carry out charging terminal 4 to be connected with power supply terminal 41.
In addition, self-propelled suction cleaner 1 can be configured to according to setting, and the state being connected with power supply terminal 41 at charging terminal 4, is in the charging of battery 14 and after charging finishes, and can drive electric blowing machine 22 and ion generating device.Form if so,, in charging and after charging finishes, from exhaust outlet 7 to back upper place, emit the air-flow that comprises ion.Because charging terminal 4 is located at the rear end of body casing 2, so the air-flow that comprises ion is in the direction circulation of cradle 40.Herein, during situation that the back side of cradle 40 arranges along indoor sidewall S, the air-flow that comprises ion can rise along sidewall S.This air-flow is along the sidewall circulation of indoor roof and subtend.Therefore, ion can spread all over indoor integral body, thereby improves bacteria-eliminating efficacy or deodorizing effect.
In addition, also can be configured to and on self-propelled suction cleaner 1, be provided with the environment measuring portion of detecting surrounding enviroment state, the state of the surrounding enviroment that detect based on environment measuring portion, stops certain hour at privileged site, and from exhaust outlet 7, emits the air-flow that comprises ion.
In the present embodiment, self-propelled suction cleaner 1 not only utilizes the guidance panel 50 self possessing, and also utilizes the infrared communications such as IrDA, IrSS (registration mark), utilizes remote control (not icon) and can operate.In addition, self-propelled suction cleaner 1 also can operate via the terminal installation (not icon) of the intelligent mobile phone that utilizes the radio communication such as Bluetooth (registration mark), WiFi (registration mark), ZigBee (registration mark) to connect etc.In addition, the end terminal device transmits data that also can utilize radio communication to connect from 1 pair of self-propelled suction cleaner.That is, self-propelled suction cleaner 1 can carry out two-way communication with the terminal installation being connected in radio wave mode.In addition, self-propelled suction cleaner 1 also can be connected with the wireless network of wide area.During this situation, can carry out the operation to self-propelled suction cleaner 1 from being connected in the terminal installation of the wireless network of wide area.
In addition, self-propelled suction cleaner 1 also can utilize sound to carry out input operation.In addition, self-propelled suction cleaner 1 also can be exported the mode of remembering in the voice data of self-propelled suction cleaner 1 and forms.
In addition, self-propelled suction cleaner 1 is configured to possesses various sensors, can avoiding obstacles, and can from step or ladder not fall and walking automatically.As sensor so, for example, can enumerate steep cliff sensor (step sensor), detection of obstacles sensor, force-feeling sensor, CCD (Charge-Coupled Device: charge coupled device) video camera etc.These are simple illustrations, and all without possessing these.Steep cliff sensor or force-feeling sensor for example infrared ray sensor form, and in addition, detection of obstacles sensor for example ultrasonic sensor forms.
In addition, self-propelled suction cleaner 1 can be such as possessing acceleration transducer, distance detects sensor and angular transducer etc., and control action in dust suction etc.In addition, self-propelled suction cleaner 1 also can possess temperature measuring portion or foul smell determination part as described later, in the mode of carrying out emitting etc. according to the dust suction of measurement result or ion, controls.
In the present embodiment, self-propelled suction cleaner 1 is described as aspiration-type dust catcher, but self-propelled suction cleaner 1 for example also can be applicable to mop type dust catcher.In addition, self-propelled suction cleaner 1 is not only home-use, and the business that also can be is used.
In addition, in the present embodiment, though self-propelled suction cleaner 1 possesses ion generating device 62, without necessarily possessing.
(function composing of self-propelled suction cleaner)
Then, the function composing for self-propelled suction cleaner 1 describes.Self-propelled suction cleaner 1 is as shown in Figure 7, possesses control part 52, communication control unit (Control on Communication mechanism) 53, guidance panel 50, LED lamp point highlights 54, LED lamp 51, voltage detection department 55, charging terminal 14, battery 14, memory portion 57, walking drive division 58, rotating brush drive division 59, rotating brush 9, side brush drive division 60, side brush 10, driving wheel 29, air-supply arrangement 61, ion generating device 62, Speech input portion 63, audio output unit 64, step test section 65, foul smell determination part 66, temperature measuring portion 67 and collision detection portion 68.To the formation front going out, description thereof is omitted.
Control part 52 is program or the data based on remembering in memory portion 57, and then the guidance panel based on from front going out 50, remote control and utilize program, the data of the terminal installation input that radio communication connects, and the module of control of carrying out the exercises of self-propelled suction cleaner 1.Control part 52 is located on above-mentioned control substrate 15.
Communication control unit 53 is modules that the transmission of the data of control and external device (ED) receives.The remote control in the past going out or the terminal installation that utilizes radio communication to connect, receive in order to control the control signal etc. of self-propelled suction cleaner 1.In addition, to the terminal installation that utilizes radio communication to connect, send and remember in the data of self-propelled suction cleaner 1 or the data can self-propelled suction cleaner 1 measured.Communication control unit 53 also receives the inverse signal from cradle 40.
LED lamp point highlights 54 is that LED lamp 51 is supplied with to drive current, controls the module of lighting of LED lamp 51.LED lamp point highlights 54 coordinates the state of self-propelled suction cleaner 1, makes the color of lighting and lights change in pattern.For example, also can be charge mode according to just carrying out in the dust suction pattern, charging of dust suction, do not carry out dust suction and just carrying out ion generation (ion is occurred aftermentioned) ion emergence pattern, there is the emergency situation pattern of emergency situation, and make color and light change in pattern.
Voltage detection department 55 is the modules that detect the voltage of battery 14, tries to achieve the charge volume of battery 14 according to detected voltage.In the mode that battery 14 is electrically connected to charging terminal 4, form.
The various data that memory portion 57 is control programs of carrying out of the control part 52 of memory (1) self-propelled suction cleaner 1, the OS program that (2) control part 52 is carried out, (3) control part 52 read while carrying out this application program in order to the application program of the various functions carrying out self-propelled suction cleaner 1 and have and (4).Or, be that memory (5) control part 52 is carried out and in the process of various functions, is used in the data of computing and operation result etc.For example, by the data accumulating of above-mentioned (1)～(4) read-only storage), flash memory, EPROM (EraSable Programmable ROM: programmable ROM can erase), EEPROM (registration mark) (Electrically EPROM: electronics EPROM), HDD (Hard Disc Drive: in non-volatile memory unit hard disk drive) etc. in ROM (read only memory:.For example, by the data accumulating of above-mentioned (5) random access memory) etc. in RAM (Random Access Memory: in volatility memory storage.
In addition, the remote control that 57 memories of memory portion go out via guidance panel 50 or communication control unit 53 in the past or the various conditions of terminal installation action that accept, self-propelled suction cleaner 1 are set.In addition, the walking chart that place periphery is set of self-propelled suction cleaner 1 also can be remembered by memory portion 57.So-called walking chart, be the walking path of self-propelled suction cleaner 1 or speed of travel etc. and so on about the information of walking, or, relate to the information in dust suction region.Walking chart also can user preset and remember in memory portion 57, also can self-propelled suction cleaner 1 self self registering mode form.
Walking drive division 58 is to possess motor driver, driving wheel motor etc., and the control signal based on from control part 52 determines direction of rotation, the anglec of rotation etc., and the module that driving wheel 29 is driven.
Rotating brush drive division 59 is to possess motor driver, rotating brush motor etc., and the decision of the control signal based on from control part 52 rotating speed etc., and the module that rotating brush 9 is driven.
Side brush drive division 60 is to possess motor driver, side brush motor etc., and the decision of the control signal based on from control part 52 rotating speed etc., and the modules that side brush 10 is driven.
The electric motor units 20 going out before air-supply arrangement 61 is equivalent to, is to possess electric blowing machine 22 etc., and carries out to the air-breathing of body casing 2 inside and from the device of inner exhaust.
Ion generating device 62 is after driving under the control of control part 52, to produce the device of ion.
In the present embodiment, ion generating device 62 is plasmoid ion (registration mark) generation devices.Therefore, on ion generating device 62, be provided with plasmoid ion generating device, plasmoid ion generating device possess produce cation cation generating unit, with the anion generating unit that produces anion.In addition, so ion generating device is to be disclosed in detail in No. 2002-58731, the TOHKEMY of previously application of this case applicant.
The ion producing from ion generating device 62, utilizes air-supply arrangement 61 to discharge to the outside of body casing 2.In addition, utilize the control of control part 52, self-propelled suction cleaner 1 can carry out dust suction action simultaneously and ion moves, and in addition, also can carry out separately respectively dust suction action and ion and move.
Speech input portion 63 is the audio input device such as microphone, is from outside to self-propelled suction cleaner 1 sound import.
Audio output unit 64 is the voice outputs such as loudspeaker, is according to remembering voice data in memory portion 57 to outside output sound.
Step test section 65 is the sensors of step that detect the walking surface of self-propelled suction cleaner 1, for example, comprise steep cliff sensor.
Foul smell determination part 66 is the foul smell sensor of measuring the foul smell of self-propelled suction cleaner 1 periphery, for example air inclusion sensor.
Temperature measuring portion 67 is temperature sensors of measuring the temperature of self-propelled suction cleaner 1 periphery, such as comprising thermistor etc.
Collision detection portion 68 is feelers of detection buffer 5 and barrier collision.
Then, one side is with reference to Fig. 8～11, for the formation detailed description of memory portion 57 and control part 52.
(formation of memory portion)
Memory portion 57 comprises dust suction number of times memory portion 571, dust suction number of days memory portion 572, dust suction number of times/operation values memory portion (operation values memory portion) 573 and dust suction number of days/operation values memory portion (operation values memory portion) 574.In addition, also can comprise information memory portion 570.
Dust suction number of times memory portion 571 remembers self-propelled suction cleaner 1 every day to have implemented the number of times of dust suction (following, to be denoted as dust suction number of times).In addition, dust suction number of days memory portion 572 remembers self-propelled suction cleaner 1 every day whether to have implemented dust suction.In addition, even if carried out same day the inferior dust suction of plural number, the information that is recorded in dust suction number of days memory portion 572 only represents that this day implemented the situation of dust suction.In addition, the data of remembering in dust suction number of times memory portion 571 and dust suction number of days memory portion 572 are to utilize dust suction record information storage part 401 described later to upgrade.
In addition, self-propelled suction cleaner 1 can following (N1)～and the dust suction pattern shown in (N4) implements dust suction.Dust suction pattern can, according to each dust suction schematic memory data, also can not distinguished and data memory by dust suction number of times memory portion 571 and dust suction number of days memory portion 572.
(N1) pattern (automatic mode) of four corner that can dust suction being carried out to dust suction.(N2) specific border circular areas is carried out to the pattern (point 1 pattern) of dust suction.(N3) to the pattern (point 2 patterns) of carrying out dust suction from the circular scope of the different sizes of point 1 pattern.(N4) wall limit is carried out to the pattern (wall edge mode) of dust suction.
In addition, remember the data in dust suction number of times memory portion 571 and dust suction number of days memory portion 572, the mode that is preferably to utilize certain triggers to reset to initial value (being generally " 0 ") forms.
Then, dust suction number of times/operation values memory portion 573 is that parameter that dust suction number of times, the computing carried out with emotion operational part 251 described later are used is that emotion operation values M1 is corresponding and remember.In the time of can setting the situation of formation of character type of self-propelled suction cleaner 1, and then also can be the formation of remembering the emotion operation values M1 corresponding with dust suction number of times according to each character type.In addition, remember in the data of dust suction number of times/operation values memory portion 573 and can preset, also can be set by user.
One side, with reference to Fig. 9 (a), illustrates an example of remembering in the data of dust suction number of times/operation values memory portion 573.Fig. 9 (a) means the schematic diagram of remembering in an example of the data of dust suction number of times/operation values memory portion 573.In the example shown in same figure, dust suction number of times is divided into " discontented 4 times ", " 4 times above discontented 7 times " and " more than 7 times " 3 stages, relatively should have the emotion operation values M1 of each character type to each stage.
Then, dust suction number of days/operation values memory portion 574 is that the number of days of implementing dust suction (following, be denoted as dust suction number of days) is corresponding with emotion operation values M1 and remember.In the time of can setting the situation of formation of character type of self-propelled suction cleaner 1, and then also can be the formation of remembering the emotion operation values M1 corresponding with dust suction number of days according to each character type.In addition, remember in the data of dust suction number of days/operation values memory portion 574 and can be and preset, also can be set by user.
One side, with reference to Fig. 9 (b), illustrates an example of remembering in the data of dust suction number of days/operation values memory portion 574.Fig. 9 (b) means the schematic diagram of remembering in an example of the data of dust suction number of days/operation values memory portion 574.In the example shown in same figure, dust suction number of times is divided into 3 stages of " discontented 4 days ", " 4 above discontented 7 days " and " 7 days ", relatively should have the emotion operation values M1 of each character type to each stage.
Then, information memory portion 570 is by emotion, corresponding and remember with the message of performance emotion.For example the message of the emotion of " good mood " and " very good state " is corresponding and remember.In addition, for example, the message of the emotion of " common " and " normal state " is corresponding and remember.In addition, for example, the message of the emotion of " bad mood " and " not good state " is corresponding and remember.In addition, remember in the message of information memory portion 570 and can be and preset, also can be set by user.
In addition, remember in the message of information memory portion 570 and be not limited to Word message, also can be the images such as icon.For example, also can be to the corresponding memory of the emotion of " good mood " smiling face icon, the icon to the expressionless face of the corresponding memory of the emotion of " common ", the icon to the angry face of the corresponding memory of the emotion of " bad mood ".A glance can judge the emotion of self-propelled suction cleaner 1 if so, is preferred.
(formation of control part)
Control part 52 comprises event detection portion 101, emotion selection portion (determination means)) 201, transmission processing portion 301 and dust suction record information storage part (dust suction number of times storing mechanism, dust suction number of days storing mechanism) 401.
First, event detection portion 101 is the generations that detect the event of the trigger that becomes emotion selection portion 201 selection emotions.The typical case of the event that event detection portion 101 is detected is the event shown in following (E1)～(E3).(E1) connect the power supply of self-propelled suction cleaner 1 and start (following, to be denoted as startup event).(E2) self-propelled suction cleaner 1 is established (following, to be denoted as and to connect establishment event) with the communication connection of external device (ED).(E3) self-propelled suction cleaner 1 receives the control signal (following, to be denoted as request receiving event) that represents data acquisition request from external device (ED).
For detecting the generation of startup event, connection establishment event and request receiving event, event detection portion 101 comprises start detection portion 111, connects and establish test section 121 and request receiving test section 131.
Start detection portion 111, for detecting startup event, connects and detect the power supply that starts self-propelled suction cleaner 1.
Connect and establish test section 121 for detecting connection establishment event, and detect via the communication control unit 53 of self-propelled suction cleaner 1 and the communication connection of external device (ED), establish.As long as known to using conventionally, therefore, description thereof is omitted herein due to the establishment step of communication connection.
Request receiving test section 131, for detecting request receiving event, means data acquisition request and detect the control signal receiving via communication control unit 53.Due to the receiving step of control signal, as long as known to using conventionally, therefore, description thereof is omitted herein.
Then, for emotion selection portion 201, describe.When emotion selection portion 201 detects the generation of event in event detection portion 101, the frequency of the dust suction of implementing according to self-propelled suction cleaner 1, the emotion of selection self-propelled suction cleaner 1 from " good mood ", " common ", " bad mood ".
So-called dust suction frequency, that nearest specified time limit is (following, T during being denoted as) in, implement dust suction number of times (following, to be denoted as nearest dust suction number of times) and during implement in T dust suction number of days (following, to be denoted as nearest dust suction number of days) at least any.In addition, so dust suction frequency is the retrievable information of self-propelled suction cleaner 1, is also machine information a kind of of self-propelled suction cleaner 1.
In addition, as during the typical case of T, can enumerate the dispatching from the factory during so far of (1) self-propelled suction cleaner 1, (2) are connected after the main power source of self-propelled suction cleaner 1 to during so far, between (3) nearest a few days etc.
Emotion selection portion 201 comprises operation values determination section 231 and emotion operational part 251.First, when operation values determination section 231 detects the generation of event in event detection portion 101, the parameter that the computing that the frequency decision emotion operational part 251 of the dust suction of implementing according to self-propelled suction cleaner 1 carries out is used is emotion operation values M1.
First, for situation about using nearest dust suction number of times as dust suction frequency, describe.During this situation, operation values determination section 231 first obtain be stored in dust suction number of times memory portion 571, during the dust suction number of times of T contained each day.Then, obtain the aggregate value of the dust suction number of times obtaining with this corresponding and remember in the emotion operation values M1 of dust suction number of times/operation values memory portion 573.
In the situation that during T be between nearest 7 days, lift concrete example and describe.In the situation that the data accumulating shown in Fig. 9 (a) is in dust suction number of times/operation values memory portion 573, when the aggregate value discontented 4 of the dust suction number of times between nearest 7 days and the personality of self-propelled suction cleaner 1 are affective style, operation values determination section 231 obtains " 10 " as emotion operation values M1.Equally, when the personality of the aggregate value of dust suction number of times discontented 4 and self-propelled suction cleaner 1 is gentle type, operation values determination section 231 obtains " 7 " as emotion operation values M1.Equally, when the personality of the aggregate value of dust suction number of times discontented 4 and self-propelled suction cleaner 1 is tolerant type, operation values determination section 231 obtains " 5 " as emotion operation values M1.
Then, for situation about using nearest dust suction number of days as dust suction frequency, describe.During this situation, operation values determination section 231 first obtain be stored in dust suction number of days memory portion 572, during implement the quantity of the day of dust suction in T.Then, obtain the corresponding and note of the quantity of obtaining with this hundred million in the emotion operation values M1 of dust suction number of days/operation values memory portion 574.
In the situation that during T be between nearest 7 days, lift concrete example and describe.In the situation that the data accumulating shown in Fig. 9 (b) is in dust suction number of days/operation values memory portion 574, when the aggregate value discontented 4 of the dust suction day between nearest 7 days and the personality of self-propelled suction cleaner 1 are affective style, operation values determination section 231 obtains " 20 " as emotion operation values M1.Equally, when the personality of the aggregate value of dust suction day discontented 4 and self-propelled suction cleaner 1 is gentle type, operation values determination section 231 obtains " one 14 " as emotion operation values M1.Equally, when the personality of the aggregate value of dust suction day discontented 4 and self-propelled suction cleaner 1 is tolerant type, operation values determination section 231 obtains " 10 " as emotion operation values M1.
In addition, about whether using nearest dust suction number of times and recently any of dust suction number of days as dust suction frequency, use, can select at random any, also specific priority can be set and select.
Then, the emotion operation values M1 that emotion selection portion 251 is used operation values determination section 231 to determine, expression formula according to the rules, computing is in order to determine the emotion value M of emotion.The typical case of expression formula is following (formula 1)～(formula 3), but is not limited to these, can apply various expression formulas.
M=M1 ... (formula 1)
M=m * M0+M1 ... (formula 2)
M=m * M0+M1+M2 ... (formula 3)
Emotion value M when herein, " M0 " represents previous operation.
In addition, the coefficient that " m " represents to change according to the elapsed time in the moment from the front emotion value M of computing (more than 0 below 1).Coefficient m is from longer less value of the elapsed time in the moment of previous operation emotion value M.
One side, with reference to Figure 10, illustrates an example of Coefficient m.Figure 10 means the schematic diagram of an example of Coefficient m.In this embodiment, with each character type of self-propelled suction cleaner 1, set Coefficient m.As shown in the figure, Coefficient m with the moment from the previous emotion value of computing M along with the time through and mode that value diminishes is set.For example, if personality is affective style, during discontented 1 hour of elapsed time, Coefficient m is 1, and the elapsed time is 18 hours when above, and Coefficient m is 0.6.
In addition, " M2 " is the data that receive from outside via communication control unit 53, and typical case's speech is the score that result was obtained with enforcement regulation game such as portable terminal etc. as user.In addition, be not limited to score, also can be other data.
In above-mentioned (formula 1), using emotion operation values M1 directly as this emotion value M.With respect to this, in above-mentioned (formula 2), can according to the time when the previous computing through and previous emotion value M is reflected on this emotion value M.In addition, if use above-mentioned (formula 3), and then can obtain and add and carry out the emotion value M of the point that result was obtained of particular game as user with portable terminal etc.
Then, emotion operational part 251, according to the value of the emotion value M obtaining as operation result, is selected the emotion of self-propelled suction cleaner 1.For example, as shown in figure 11, during the emotion value M situation corresponding with emotion, if emotion value M more than 25 selects " good mood ", if emotion value M is more than 1 discontented 25 selection " common ", if emotion value M is discontented with one 25 selections " bad mood ".
Then, for transmission processing portion 301, describe.Transmission processing portion 301 is via communication control unit 53, and the emotion that emotion selection portion 201 is selected sends to external device (ED).The typical case of send mode is following (S1)～(S3).
(S1), to self-propelled suction cleaner 1 and the portable terminal that completes pairing and process, via WLAN or network, with Email etc., send.
(S2) to sending the portable terminal of data acquisition request, via WLAN or network and send with Email etc.
(S3) for example, to the server unit of registered in advance (, providing the server unit of the websites such as blog or SNS), via WLAN or network and use http protocol etc. to send.
In addition, transmission processing portion 301 to send the typical case of the sequential of emotions are following (T1)～(T2).
(T1), when each emotion selection portion 201 is selected emotion, send the emotion of this selection.
(T2), during the different situation of the emotion of only selecting for 201 last time in emotion selection portion, the emotions of this time selecting with emotion selection portion 201, send this this time emotion of selection.
In addition, transmission processing portion 301 also can by with become that to send the emotion of object corresponding and remember in the message of information memory portion 570, via communication control unit 53, to external device (ED), send.In addition, message also can be only sends when situation about having from the request of external device (ED).
In addition, transmission processing portion 301 also can implement nothing by remembering in the dust suction number of times of every day of dust suction number of times memory portion 571 and/or remembering in the dust suction of every day of dust suction number of days memory portion 572, via communication control unit 53, to external device (ED), sends.In addition, these information also can be only send when situation about having from the request of external device (ED).
Then, for dust suction record information storage part 401, describe.Dust suction record information storage part 401, when self-propelled suction cleaner 1 starts dust suction, upgrades and remembers in the dust suction number of times of dust suction number of times memory portion 571, and the situation of implementing dust suction is remembered in dust suction number of days memory portion 572.In addition, dust suction record information storage part 401 can, according to the data structure of dust suction number of times memory portion 571 and dust suction number of days memory portion 572, with each dust suction pattern storage data, also can not distinguished dust suction pattern and store data.
(handling process)
Then, one side, with reference to Figure 12, describes for the handling process of self-propelled suction cleaner 1.Figure 12 means the flow chart of the handling process of self-propelled suction cleaner 1.
First, if event detection portion 101 detects the generation (being yes in step (following, to be simply denoted as " S ") 11) of event, operation values determination section 231 determines emotion operation values M1 (S12).
Then, the emotion operation values M1 computing emotion value M (S13) that emotion operational part 251 is used step S12 to determine, and select emotion (S14) according to the value of emotion value M.
Then, transmission processing portion 301 sends (S15) by the selected emotion of step S14 to external device (ED).Now, also can by with become that to send the emotion of object corresponding and remember in the message of information memory portion 570 and send to external device (ED).
[embodiment 2]
For another embodiment of the present invention, based on Figure 13 and Figure 14, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in above-mentioned embodiment, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 13, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 13 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises residual capacity of battery/operation values memory portion (operation values memory portion) 575.In addition, also can comprise information memory portion 570.
Residual capacity of battery/operation values memory portion 575 is that the residual capacity of battery of battery 14 is corresponding with emotion operation values M1 and remember.For can set the situation of formation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with residual capacity of battery.In addition, remember in the data of residual capacity of battery/operation values memory portion 575 and can preset, also can be set by user.
One side, with reference to Figure 14, illustrates an example of remembering in the data of residual capacity of battery/operation values memory portion 575.Figure 14 means the schematic diagram of remembering in an example of the data of residual capacity of battery/operation values memory portion 575.In the example shown in same figure, residual capacity of battery is divided into " discontented 20% ", " more than 20% being discontented with 90% " and " more than 90% " 3 stages, to each stage, relatively should have the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 202, transmission processing portion 301 and residual capacity of battery determination part (residual capacity of battery is measured mechanism) 402.
First, residual capacity of battery determination part 402 is the mensuration requirements according to the residual capacity of battery of battery 14, measures the residual capacity of battery of battery 14 via voltage detection department 55.In addition, the differing from of residual capacity of battery that the residual capacity of battery of battery 14 is residual capacity of battery when being full of electricity when measuring tried to achieve.
Then,, when emotion selection portion 202 detects the generation of event in event detection portion 101, according to the residual capacity of battery of battery 14, from " good mood ", " common " and " bad mood ", select the emotion of self-propelled suction cleaner 1.In addition, the residual capacity of battery of battery 14 is the retrievable information of self-propelled suction cleaner 1, is also machine information a kind of of self-propelled suction cleaner 1.
Emotion selection portion 202 comprises operation values determination section 232 and emotion operational part 251.Operation values determination section 232 is the mensuration to the residual capacity of battery of residual capacity of battery determination part 402 request batteries 14 first, obtains the residual capacity of battery that residual capacity of battery determination part 402 is measured.Then, obtain the residual capacity of battery obtaining with this corresponding and remember in the emotion operation values M1 of residual capacity of battery/operation values memory portion 575.
Enumerating the data accumulating shown in Figure 14 is that concrete example describes in the situation of residual capacity of battery/operation values memory portion 575.In the situation that the personality of residual capacity of battery discontented 20% and self-propelled suction cleaner 1 is affective style, operation values determination section 232 obtains " 50 " as emotion operation values M1.Equally, during situation that the personality of residual capacity of battery discontented 20% and self-propelled suction cleaner 1 is gentle type, operation values determination section 232 obtains " 35 " as emotion operation values M1.Equally, during situation that the personality of residual capacity of battery discontented 20% and self-propelled suction cleaner 1 is tolerant type, operation values determination section 232 obtains " one 25 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 232 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 3]
For of the present invention and then another embodiment, based on Figure 15 and Figure 16, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in above-mentioned embodiment, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 15, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 15 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises current value/operation values memory portion (operation values memory portion) 576.In addition, also can comprise information memory portion 570.
Current value/operation values memory portion 576 is by the current value of electric motor units 20, corresponding with emotion operation values M1 and remember.For can set the situation of formation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with current value.In addition, remember in the data of current value/operation values memory portion 576 and can preset, also can be set by user.
One side, with reference to Figure 16, illustrates an example of remembering in the data of current value/operation values memory portion 576.Figure 16 means the schematic diagram of remembering in an example of the data of current value/operation values memory portion 576.In the example shown in same figure, current value is divided into " discontented 1.4A ", " 1.4A is discontented 1.6A above " and " more than 1.6A " 3 stages, to each stage, relatively should have the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 203, transmission processing portion 301 and current value determination part 403.
First, current value determination part 403 is the mensuration requests according to the current value of electric motor units 20, measures the current value of electric motor units 20.
Then,, when emotion selection portion 203 detects the generation of event in event detection portion 101, according to the accumulation of the dust in debris collection section 30, from " good mood ", " common ", " bad mood ", select the emotion of self-propelled suction cleaner 1.In addition, the accumulation of the dust in debris collection section 30 is the retrievable information of self-propelled suction cleaner 1, is also machine information a kind of of self-propelled suction cleaner 1.
Emotion selection portion 203 comprises operation values determination section 233 and emotion operational part 251.
The accumulation of the dust in debris collection section 30 can be held estimator according to the current value of the electric motor units 20 in driving.Therefore, operation values determination section 233 is the mensuration to the current value of current value determination part 403 request electric motor units 20 first, obtains the current value that current value determination part 403 is measured.Then, obtain the current value obtaining with this corresponding and remember in the emotion operation values M1 of current value/operation values memory portion 576.
Act is that concrete example describes by the data accumulating shown in Figure 16 in the situation of current value/operation values memory portion 576.During situation that the personality of the discontented 1.4A of current value and self-propelled suction cleaner 1 is affective style, operation values determination section 233 obtains " 20 " as emotion operation values M1.Equally, during situation that the personality of the discontented 1.4A of current value and self-propelled suction cleaner 1 is gentle type, operation values determination section 233 obtains " 14 " as emotion operation values M1.Equally, during situation that the personality of the discontented 1.4A of current value and self-propelled suction cleaner 1 is tolerant type, operation values determination section 233 obtains " 10 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 233 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 4]
For of the present invention and then another embodiment, based on Figure 17 and Figure 18, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in above-mentioned embodiment, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 17, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 17 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises elapsed time/operation values memory portion 577.In addition, also can comprise information memory portion 570.
Elapsed time/operation values memory portion 577 is by the temporal information that represents the time, corresponding with emotion operation values M1 and remember.For can set the situation of formation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with temporal information.In addition, remember in the data of elapsed time/operation values memory portion 577 and can preset, also can be set by user.
One side, with reference to Figure 18, illustrates an example of remembering in the data of elapsed time/operation values memory portion 577.Figure 18 means the schematic diagram of remembering in an example of the data of elapsed time/operation values memory portion 577.In the example shown in same figure, temporal information is divided into " discontented 2 days ", " 2 above discontented 5 days " and " more than 5 days " 3 stages, to each stage, relatively should have the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, action indication test section 102, emotion selection portion (determination means) 204 and transmission processing portion 301.
Action indication test section 102 detects the indication of the action to self-propelled suction cleaner 1 shown in following (D1)～(D3).(D1) from Speech input portion 63, utilize the action indication of Speech input.(D2) the action indication shown in the control signal receiving via communication control unit 53 from external device (ED)s such as all portable terminals of user or remote controls.(D3) the action indication that user directly inputs with guidance panel 50.
Therefore, action indication test section 102 comprises sound detection portion 141, order test section 151 and operation detection part 161.
Sound detection portion 141 utilizes the sound from 63 inputs of Speech input portion, contrasts with the sound about action indication of registered in advance in memory portion 57, and detects input action indication.In addition, about the sound of action indication, also can be logined by user.
Order test section 151 detects via communication control unit 53 and receives the control signal that represents action indication.
Operation detection part 161 detects the operation that represents action indication with guidance panel 50 inputs.
Then, when emotion selection portion 204 detects the generation of event in event detection portion 101, according to action indication test section 102, the elapsed time after action indication detected recently, from " good mood ", " common ", " bad mood ", select the emotion of self-propelled suction cleaner 1.In addition, the elapsed time detecting recently after action indication is the retrievable information of self-propelled suction cleaner 1, is also machine information a kind of of self-propelled suction cleaner 1.
Emotion selection portion 204 comprises operation values determination section 234 and emotion operational part 251.Operation values determination section 234 is measured action indication test section 102 and the elapsed time after action indication detected recently.Then, when event detection portion 101 detects the generation of event, obtain elapsed time with this measurement corresponding and remember in the emotion operation values M1 of elapsed time/operation values memory portion 577.
Act is that concrete example describes by the data accumulating shown in Figure 18 in the situation of elapsed time/operation values memory portion 577.As shown in figure 18, while being personality above and self-propelled suction cleaner 1 on the 5th situation that is affective style, operation values determination section 234 obtains " 10 " as emotion operation values M1 the elapsed time.Equally, while being personality above and self-propelled suction cleaner 1 on the 5th situation that is gentle type, operation values determination section 234 obtains " 7 " as emotion operation values M1 the elapsed time.Equally, while being personality above and self-propelled suction cleaner 1 on the 5th situation that is tolerant type, operation values determination section 234 obtains " 5 " as emotion operation values M1 the elapsed time.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 234 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 5]
For of the present invention and then another embodiment, based on Figure 19 and Figure 20, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～4, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 19, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 19 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises the 578A of state/operation values memory portion (operation values memory portion).In addition, also can comprise information memory portion 570.
State/operation values memory 578A of portion is that the mounting or dismounting state of debris collection section 30 is corresponding with emotion operation values M1 and remember.For can set the situation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1.In addition, remember in the data of state/operation values memory 578A of portion and can preset, also can be set by user.
One side, with reference to Figure 20, illustrates an example of remembering in the data of state/operation values memory 578A of portion.Figure 20 means the schematic diagram of remembering in an example of the data of state/operation values memory 578A of portion.In the example shown in same figure, to the state of debris collection section 30 is installed, relatively should there is the emotion operation values M1 of each character type, in addition, to pulling down the state of debris collection section 30, also relatively should there is the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 206, transmission processing portion (transmitting mechanism) 301 and mounting or dismounting detection unit 404.
Mounting or dismounting detection unit 404 is judged the mounting or dismounting state (installment state or pull down state) of debris collection section 30.In addition, the mounting or dismounting state of debris collection section 30 is the retrievable information of self-propelled suction cleaner 1.
Then, for emotion selection portion 206, describe.Emotion selection portion 206 comprises operation values determination section 236 and emotion operational part 251.When operation values determination section 236 detects the generation of event in event detection portion 101, make to install and remove the mounting or dismounting state that detection unit 404 is judged debris collection section 30, and according to this result of determination, from the memory of state/operation values, the 578A of portion obtains emotion operation values M1.
Act is that concrete example describes by the data accumulating shown in Figure 20 in the situation of state/operation values memory 578A of portion.In the situation that utilize mounting or dismounting detection unit 404 to be judged to be the state that debris collection section 30 is installed, during situation that the personality of self-propelled suction cleaner 1 is affective style, operation values determination section 236 obtains " 20 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is gentle type, operation values determination section 236 obtains " 17 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is tolerant type, operation values determination section 236 obtains " 15 " as emotion operation values M1.
On the other hand, in the situation that utilize mounting or dismounting detection unit 404 to be judged to be the state of pulling down debris collection section 30, during situation that the personality of self-propelled suction cleaner 1 is affective style, operation values determination section 236 obtains " 10 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is gentle type, operation values determination section 236 obtains " 7 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is tolerant type, operation values determination section 236 obtains " 5 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 236 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 6]
For of the present invention and then another embodiment, based on Figure 21 and Figure 22, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～5, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 21, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 21 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises the 578B of state/operation values memory portion (operation values memory portion).In addition, also can comprise information memory portion 570.
State/operation values memory 578B of portion be by self-propelled suction cleaner 1 to cradle 40 to return to whether success corresponding with emotion operation values M1 and remember.For can set the situation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1.In addition, remember in the data of state/operation values memory 578B of portion and can preset, also can be set by user.
One side, with reference to Figure 22, illustrates data one example of remembering in state/operation values memory 578B of portion.Figure 22 means the schematic diagram of remembering in data one example of state/operation values memory 578B of portion.In the example shown in same figure, self-propelled suction cleaner 1 is back to the state of cradle 40 (normal termination), the emotion operation values M1 that relatively should have each character type, in addition, to self-propelled suction cleaner 1, cannot be back to the state of cradle 40 (abnormal ending), also relatively should have the emotion operation values M1 of each character type.
In addition, return failure be return to that middle residual capacity of battery tails off and on situation that self-propelled suction cleaner 1 stops and return path, have barrier and cannot return situation time produce.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 207, returns to control part (moving control mechanism) 405 and transmission processing portion 301.
Return to control part 405 when dust suction finishes or charge volume during lower than setting, the mode being connected with the power supply terminal 41 with fill-radio station 40, makes self-propelled suction cleaner 1 move (that is, to cradle 40, returning), so, via walking drive division 58, control driving wheel 29.Then, as the result of returning to control, keep representing whether self-propelled suction cleaner 1 has been back to the resume of the information of cradle 40.In addition, whether being back to cradle 40 is the retrievable information of self-propelled suction cleaner 1.
Then, for emotion selection portion 207, describe.Emotion selection portion 207 comprises operation values determination section 237 and emotion operational part 251.When operation values determination section 237 detects the generation of event in event detection portion 101, according to the nearest control result of returning of returning to control part 405, from the memory of state/operation values, the 578B of portion obtains emotion operation values M1.
Act is that concrete example describes by the data accumulating shown in Figure 22 in the situation of state/operation values memory 578B of portion.In the situation that as returning to the result of control and being back to cradle 40, during situation that the personality of self-propelled suction cleaner 1 is affective style, operation values determination section 237 obtains " 20 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is gentle type, operation values determination section 237 obtains " 14 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is tolerant type, operation values determination section 237 obtains " 10 " as emotion operation values M1.
On the other hand, in the situation that as returning to the result of control and not being back to cradle 40, during situation that the personality of self-propelled suction cleaner 1 is affective style, operation values determination section 237 obtains " 20 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is gentle type, operation values determination section 237 obtains " 14 " as emotion operation values M1.Equally, during situation that the personality of self-propelled suction cleaner 1 is tolerant type, operation values determination section 237 obtains " 10 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 237 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 7]
For of the present invention and then another embodiment, based on Figure 23 and Figure 24, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～6, except the situation of special description, the description thereof will be omitted.
One side, with reference to Figure 23, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 23 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises collision frequency/operation values memory portion 579.In addition, also can comprise information memory portion 570.
Collision frequency/operation values memory portion 579 is that self-propelled suction cleaner 1 is corresponding with emotion operation values M1 and remember with the number of times (following, to be denoted as collision frequency) of wall or barrier collision in dust suction.For can set the situation of formation of character type of self-propelled suction cleaner 1 time, and then also can be the formation of remembering the emotion operation values M1 corresponding with collision frequency according to each character type.In addition, remember in the data of collision frequency/operation values memory portion 579 and can preset, also can be set by user.
One side, with reference to Figure 24, illustrates data one example of remembering in collision frequency/operation values memory portion 579.Figure 24 means the schematic diagram of remembering in data one example of collision frequency/operation values memory portion 579.In the example shown in same figure, collision frequency is divided into " discontented 30 times ", " 30 times above discontented 60 times " and " more than 60 times " 3 stages, relatively should have the emotion operation values M1 of each character type to each stage.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 208 and clunk management portion 406.
Clunk management portion 406 counts collision frequency when at every turn with collision detection portion 68 collision detection.In addition, the collision frequency of clunk management portion 406 when also count enable is dispatched from the factory apart from self-propelled suction cleaner 1, switch on power recently and become each number of times of collision frequency after holding state with self-propelled suction cleaner 1.In addition, become and when collision frequency after holding state is transformed into resting state at deenergization, reset to initial value (being generally " 0 ").In addition, collision frequency is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 208 comprises operation values determination section 238 and emotion operational part 251.When operation values determination section 238 detects the generation of event in event detection portion 101, from collision frequency/operation values memory portion 579, obtain the emotion operation values M1 corresponding with the collision frequency of counting with clunk management portion 406.
Act is that concrete example describes by the data accumulating shown in Figure 24 in the situation of collision frequency/operation values memory portion 579.Collision frequency is the personality of the value of 30 times above discontented 60 times and self-propelled suction cleaner 1 while being affective style, and operation values determination section 238 obtains " 50 " as emotion operation values M1.Same, collision frequency is the personality of 30 above values of discontented 60 times and self-propelled suction cleaner 1 while being gentle type, and operation values determination section 238 obtains " 30 " as emotion operation values M1.Same, collision frequency is the personality of 30 above values of discontented 60 times and self-propelled suction cleaner 1 while being tolerant type, and operation values determination section 238 obtains " 20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 238 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 8]
For of the present invention and then another embodiment, based on Figure 25 and Figure 26, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～7, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 25, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 25 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises the avoidance number of times/operation values memory portion 580 that falls.In addition, also can comprise information memory portion 570.
Fall avoidance number of times/operation values memory portion 580 and be self-propelled suction cleaner 1 is avoided because number of times (following, to be denoted as to fall and to avoid number of times) that step falls is corresponding with emotion operation values M1 and being remembered.For can set the situation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with falling avoidance number of times.In addition, remember in the data that fall avoidance number of times/operation values memory portion 580 and can preset, also can be set by user.
One side, with reference to Figure 26, illustrates an example of remembering in falling the data of avoidance number of times/operation values memory portion 580.Figure 26 means the schematic diagram of an example of remembering in falling the data of avoidance number of times/operation values memory portion 580.In the example shown in same figure, fall avoidance number of times and be divided into " discontented 4 times ", " 4 times above discontented 7 times " and " more than 7 times " 3 stages, to each stage, relatively should there is the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 209 and falls avoids management department 407.
Fall and avoid management department 407 when the dust suction of self-propelled suction cleaner 1 starts, the detection to step test section 65 indication steps, and while detecting step with step test section 65, counting falls avoidance number of times at every turn.In addition, falling falling when avoiding management department 407 also count enable is apart from the dispatching from the factory of self-propelled suction cleaner 1 avoids number of times, switches on power recently and become falling after holding state and avoid each number of times of number of times with self-propelled suction cleaner 1.Become and fall avoidance number of times after holding state, while being transformed into resting state at deenergization, reset to initial value (being generally " 0 ").In addition, falling avoidance number of times is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 209 comprises operation values determination section 239 and emotion operational part 251.When operation values determination section 239 detects the generation of event in event detection portion 101, from falling avoidance number of times/operation values memory portion 580, obtain and avoid falling that management department 407 counts and avoid the corresponding emotion operation values M1 of number of times with utilizing to fall.
Act is that concrete example describes by the data accumulating shown in Figure 26 in the situation that falls avoidance number of times/operation values memory portion 580.Fall that to avoid number of times be the personality of 4 above values of discontented 7 times and self-propelled suction cleaner 1 while being affective style, operation values determination section 239 obtains " 50 " as emotion operation values M1.Equally, fall that to avoid number of times be the personality of 4 above values of discontented 7 times and self-propelled suction cleaner 1 while being gentle type, operation values determination section 239 obtains " 30 " as emotion operation values M1.Equally, fall that to avoid number of times be the personality of 4 above values of discontented 7 times and self-propelled suction cleaner 1 while being tolerant type, operation values determination section 239 obtains " 20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 239 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 9]
For of the present invention and then another embodiment, based on Figure 27 and Figure 28, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～8, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 27, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 27 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
The memory portion 57 of present embodiment comprises foul smell number of times/operation values memory portion 581.In addition, also can comprise information memory portion 570.
Foul smell number of times/operation values memory portion 581 is that self-propelled suction cleaner 1 is detected to number of times over the foul smell of setting (following, to be denoted as foul smell number of times) in walking is corresponding with emotion operation values M1 and remember.For can set the situation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with foul smell number of times.In addition, remember in the data of foul smell number of times/operation values memory portion 581 and can preset, also can be set by user.
One side, with reference to Figure 28, illustrates an example of remembering in the data of foul smell number of times/operation values memory portion 581.Figure 28 means the schematic diagram of remembering in an example of the data of foul smell number of times/operation values memory portion 581.In the example shown in same figure, foul smell number of times is divided into " discontented 3 times ", " 3 times above discontented 5 times " and " more than 5 times " 3 stages, to each stage, relatively should have the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 210 and foul smell management department 408.
Foul smell management department 408 when the dust suction of self-propelled suction cleaner 1 starts, the mensuration to foul smell determination part 66 indication foul smell, and while at every turn measuring with foul smell determination part 66 foul smell that surpasses setting, counting foul smell number of times.In addition, when dust suction finishes, counted foul smell number of times is reset to initial value (being generally " 0 ").In addition, the foul smell of measuring over setting is the retrievable information of self-propelled suction cleaner 1.
Then, emotion selection portion 210 comprises operation values determination section 240 and emotion operational part 251.When operation values determination section 240 detects the generation of event in event detection portion 101, from foul smell number of times/operation values memory portion 581, obtain the emotion operation values M1 corresponding with the foul smell number of times that utilizes foul smell management department 408 to count.
Act is that concrete example describes by the data accumulating shown in Figure 28 in the situation of foul smell number of times/operation values memory portion 581.Foul smell number of times is the personality of the value of 3 times above discontented 5 times and self-propelled suction cleaner 1 while being affective style, and operation values determination section 240 obtains " 50 " as emotion operation values M1.Equally, foul smell number of times is the personality of the value of 3 times above discontented 5 times and self-propelled suction cleaner 1 while being gentle type, and operation values determination section 240 obtains " 30 " as emotion operation values M1.Equally, foul smell number of times is the personality of the value of 3 times above discontented 5 times and self-propelled suction cleaner 1 while being tolerant type, and operation values determination section 240 obtains " 20 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 240 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 10]
For of the present invention and then another embodiment, based on Figure 29 and Figure 30, be described as follows.In addition, for convenience of description, and to having the member mark same-sign of identical function with each member shown in embodiment 1～9, except disclosed especially situation, the description thereof will be omitted.
One side, with reference to Figure 29, describes for the memory portion 57 of self-propelled suction cleaner 1 and the formation of control part 52 of present embodiment.Figure 29 means the memory portion 57 of self-propelled suction cleaner 1 of present embodiment and the block diagram of the formation of control part 52.In addition, the formation of the self-propelled suction cleaner 1 of present embodiment is except memory portion 57 and control part 52, identical with the self-propelled suction cleaner 1 of embodiment 1.
(formation of memory portion)
The memory portion 57 of present embodiment comprises temperature/operation values memory portion 582.In addition, also can comprise information memory portion 570.
Temperature/operation values memory portion 582 is that temperature is corresponding with emotion operation values M1 and remember.For can set the situation of formation of character type of self-propelled suction cleaner 1 time, and then, also can be the formation with each character type memory emotion operation values M1 corresponding with temperature.In addition, remember in the data of temperature/operation values memory portion 582 and can preset, also can be set by user.
One side, with reference to Figure 30, illustrates data one example of remembering in temperature/operation values memory portion 582.Figure 30 means the schematic diagram of remembering in an example of the data of temperature/operation values memory portion 582.In the example shown in same figure, temperature is divided into " discontented 13 ℃ ", " 13 ℃ above discontented 30 ℃ " and " more than 30 ℃ " 3 stages, to each stage, relatively should have the emotion operation values M1 of each character type.
(formation of control part)
The control part 52 of present embodiment comprises event detection portion 101, emotion selection portion (determination means) 210 and temperature treatment portion 409.
Temperature treatment portion 409 is in each specified time limit, and the mensuration to temperature measuring portion 67 request temperature, obtains the temperature that temperature measuring portion 67 measures.
Emotion selection portion 211 comprises operation values determination section 241 and emotion operational part 251.When operation values determination section 241 detects the generation of event in event detection portion 101, obtain the temperature obtaining with temperature treatment portion 409 corresponding and remember in the emotion operation values M1 of temperature/operation values memory portion 582.
Act is that concrete example describes by the data accumulating shown in Figure 30 in the situation of temperature/operation values memory portion 582.During situation that the personality of temperature discontented 13 ℃ and self-propelled suction cleaner 1 is affective style, operation values determination section 241 obtains " 150 " as emotion operation values M1.Equally, during situation that the personality of temperature discontented 13 ℃ and self-propelled suction cleaner 1 is gentle type, operation values determination section 241 obtains " 100 " as emotion operation values M1.Equally, during situation that the personality of temperature discontented 13 ℃ and self-propelled suction cleaner 1 is tolerant type, operation values determination section 241 obtains " 50 " as emotion operation values M1.
(handling process)
The handling process of present embodiment, is determined the point of emotion operation values M1 by operation values determination section 241 except replacing operation values determination section 231, identical with the handling process of the self-propelled suction cleaner 1 of embodiment 1, and therefore description thereof is omitted.
[embodiment 11]
The retrievable information of self-propelled suction cleaner 1 also exists in a large number beyond the illustrated information of above-mentioned embodiment.Self-propelled suction cleaner 1 for can obtain the situation of the formation of information shown in following (G1)～(G25) time, also can be configured to self-propelled suction cleaner 1 and use these Information Selection emotions, and the emotion of this selection is sent to external device (ED).In addition, select the method for emotion identical with the respective embodiments described above.That is,, determining with emotion selection portion on the basis of emotion operation values M1, according to particular expression formula computing emotion value M, according to the value of emotion value M, select emotion.
(G1) connect for the first time main power source and during day that self-propelled suction cleaner 1 starts
(G2) connected main power source last time and during day that self-propelled suction cleaner 1 starts
(G3) switched on power last time and during self-propelled suction cleaner 1 starts from day from resting state to holding state
(G4) number of times that makes ion generating device 62 runnings while certainly dispatching from the factory
(G5) connect recently the number of times that makes ion generating device 62 runnings after main power source
(G6) while certainly dispatching from the factory, self-propelled suction cleaner 1 cannot be back to the number of times of cradle 40
(G7) connect recently after main power source, self-propelled suction cleaner 1 cannot be back to the number of times of cradle 40
(G8) aggregate-value of travel distance while certainly dispatching from the factory, self-propelled suction cleaner 1 (travel distance can be used the encoder of walking drive division 58 to measure)
(G9) travel distance while implementing last time dust suction, self-propelled suction cleaner 1
(G10) ultrasonic sensor that utilizes while certainly dispatching from the factory is avoided the aggregate-value of the number of times of collision
(G11) aggregate-value of number of times while certainly dispatching from the factory, that driving wheel 29 floats from floor
(G12) ultrasonic sensor that utilizes becoming after holding state is avoided the aggregate-value of the number of times of collision
(G13) become the aggregate-value of number of times after holding state, that driving wheel 29 floats from floor
(G14) over-discharge in battery 14 whether detected
(G15) whether detect in battery 14 and overcharge
(G16) in battery 14, overcurrent whether detected
(G17) when last time, self-propelled suction cleaner 1 was accepted the day of action indication
(G18) aggregate-value of accepting the number of times that the action of self-propelled suction cleaner 1 is indicated while certainly dispatching from the factory
(G19) become the aggregate-value to the number of times of the action indication of self-propelled suction cleaner 1 of accepting after holding state
(G20) open and-shut mode of cap 3
(G21) when dispatching from the factory, utilize timing setting and self-propelled suction cleaner 1 is implemented the aggregate-value of the number of times of dust suction
(G22) connect recently after main power source utilize timing setting and self-propelled suction cleaner 1 is implemented the aggregate-value of the number of times of dust suction
(G23) aggregate-value of actuation time while certainly dispatching from the factory, ion generating device 62
(G24) image or the mobile shadow to be equipped on the ccd video camera of self-propelled suction cleaner 1, taken
(G25) various set informations (self-propelled suction cleaner 1 set current day time, expression is to put the information (diameter 2m/ diameter 3m/ diameter 4m) of the border circular areas of 1 pattern and point 2 pattern dust suctions, having or not of the operation sound of guidance panel 50, the volume of the sound of exporting from audio output unit 64 ((Auto)/quiet (OFF)/grade 1/ grade 2/ grade 3 automatically), the personality of self-propelled suction cleaner 1 (affective style/gentle type/tolerant type), represent that user's recording is at the voice data of the name of the self-propelled suction cleaner 1 of self-propelled suction cleaner 1, the language (standard speech/Northwest accent/English/Chinese) of the sound of self-propelled suction cleaner 1 output, user's login is in the user's of self-propelled suction cleaner 1 birthday, whether make 201～211 actions of emotion selection portion)
[changing example 1]
In the respective embodiments described above, select the emotion of self-propelled suction cleaner 1, it is the situation of " common " or " bad mood " that result has emotion.But for example, for user, during for gratifying day (birthday etc.), the emotion of self-propelled suction cleaner 1 is preferably " good mood ".
Therefore, system data when selecting emotion with emotion selection portion 201～211 with by user, logined in advance date at self-propelled suction cleaner 1 when consistent, by way of exception process, also can be and do not obtain memory at the emotion operation values M1 of memory portion 57, and so that emotion becomes the mode of " good mood ", make emotion value M become the formation of the higher value of regulation.
Therefore, can be according to user's setting, the emotion one that self-propelled suction cleaner 1 is set is decided to be the day of " good mood ".
[changing example 2]
Self-propelled suction cleaner 1 also can and then be configured to be considered from the information of outside reception, to select emotion via communication control unit 53, and the emotion of this selection is sent to external device (ED).The so-called information receiving from outside, typical case is the above-mentioned M2 in order to computing emotion value M.
[combination of each embodiment]
Embodiment about disclosed technical body obtains respectively in appropriately combined the respective embodiments described above, is also included in the technical scope of the present invention.
; also can be configured to combination (1) dust suction frequency; (2) residual capacity of battery of battery 14; (3) the dust accumulation in debris collection section 30; (4) elapsed time after event generation; (5) debris collection section 30 pulls down; (6) to cradle 40, return to successfully and return failure; (7) with the collision of barrier; (8) avoidance falling; (9) foul smell of periphery, and the several data in (10) periphery temperature, and the emotion of selection self-propelled suction cleaner 1.
That is, control part 52 and memory portion 57 also can comprise simultaneously embodiment 1～11 respectively the mode of disclosed module form.While forming the situation of controller 52 in 2 in the emotion selection portion that comprises each embodiment above modes, can determine a plurality of emotion selection portion M1, but, during this situation, as long as relative importance value or conditional decision emotion operation values M1 according to the rules.
[application to other electronic equipments]
By the technological thought sending to external device (ED) according to the emotion quality of the machine of the various information of can the machine obtaining, also can apply the electronic equipment beyond dust catcher.For example, also can be applicable to the electronic equipments such as air cleaner, humidifier, dehumidifier.
[implementation of control part]
Finally, the control part 52 of self-propelled suction cleaner 1 can utilize the logic circuit being formed on integrated circuit (1C wafer) to form as hardware, also can use as follows CPU to utilize software to realize.
While utilizing the situation that software realizes, self-propelled suction cleaner 1 possesses: carry out the order of the control program of realizing each function CPU, read-only storage), launch RAM (the random access memory: of said procedure random access memory), the memory storages such as internal memory (recording medium) of storage said procedure and various data etc. store ROM (the read only memory: of said procedure.And, object of the present invention also can be utilized and can computer read that to record the software of realizing above-mentioned functions be that the recording medium of the program coding (execute form program, intermediate code program, source program) of the control program of self-propelled suction cleaner 1 is supplied in above-mentioned self-propelled suction cleaner 1, and this computer (or CPU or MPU) reads executive logging in the formula coding of recording medium and reaches.
As above-mentioned recording medium, for example, can use the tape classes such as tape or cartridge; The disk sort that comprises the CDs such as the disks such as soft (registration mark) disk/hard disk or CD-ROM/MO/MD/DVD/CD-R; The card such as 1C card (comprising memory card)/light-card class; Or protected type ROM/EPROM/EEPROM (registration mark)/semiconductor memory classes such as flash ROM; Programmable logical device) PLD (Programmable logic device: the logic circuit class etc. such as.
In addition, self-propelled suction cleaner 1 can be connected with telecommunication network and form, and said procedure coding is supplied with via telecommunication network.As this telecommunication network, be not particularly limited, for example, can utilize internet, internal network, business's internet, LAN, ISDN, VAN, CATV communication network, Virtual Private Network (virtual private network), telephone wire road network, mobile communicating net, satellite communication network etc.In addition, as the transfer medium that forms telecommunication network, be not particularly limited, for example, can utilize IEEE1394, USB, power line conveyance, cable tv circuit, telephone wire, adsl lines etc. are wired, or as the infrared ray of IrDA or remote control, 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), mobile telephone network, satellite circuit, ground digital nets etc. are wireless.
So, in this manual, so-called mechanism not necessarily means physical mechanism, also comprises the situation of utilizing software to realize the function of each mechanism.In addition, can utilize 2 above physical mechanism to realize the function of Yi Ge mechanism, or utilize 1 physical mechanism to realize the function of 2 above mechanisms.
The present invention is not limited to the respective embodiments described above, can in scope shown in claim, carry out various changes, and the embodiment about disclosed technical body obtains respectively in appropriately combined different embodiments, is also included in the technical scope of the present invention.
For addressing the above problem, being characterized as of robot device of the present invention possesses: determination means, and it determines the summary information of the obtaining information that summary the machine is obtained; And transmitting mechanism, its summary information that above-mentioned determination means is determined sends to external device (ED), and above-mentioned determination means utilization selects to determine above-mentioned summary information from a plurality of options according to above-mentioned obtaining information.
According to above-mentioned formation, first, utilize the summary information of the obtaining information selects from a plurality of options according to above-mentioned obtaining information to determine that summary the machine is obtained.Then, the summary information of this decision is sent to external device (ED).
Therefore, the obtaining information that can the machine not obtained directly sends to external device (ED), and the summary information converting to through summarizing sends to external device (ED).
Therefore, user utilizes external device (ED) confirmation summary information, and than the situation of direct confirmation obtaining information, more easily holds the summary of obtaining information, therefore brings into play the effect of user's convenience raising.
In addition, robot device of the present invention also can be configured to above-mentioned transmitting mechanism and then above-mentioned obtaining information is sent to above-mentioned external device (ED).
According to above-mentioned formation, except summary information, obtaining information itself also sends to external device (ED).
Therefore, user confirms, outside summary information, also can confirm obtaining information divided by external device (ED).
In addition, robot device of the present invention also can be configured to the information that above-mentioned summary information means the local state situation that the above-mentioned obtaining information of use is calculated.
According to above-mentioned formation, summary information means the information of local state situation (for example, good/common/bad etc.).
Therefore, the obtaining information that can the machine not obtained directly sends to external device (ED), and the information conversion that represents local state situation is sent in to external device (ED).Therefore, performance utilization is confirmed the simple and easy behavior of robot device's state status, and can hold the effect of the summary of obtaining information.
In addition,, when robot device of the present invention also can be configured to the power supply of connecting the machine, above-mentioned determination means determines above-mentioned summary information, and above-mentioned transmitting mechanism sends the summary information of this decision to above-mentioned external device (ED).
According to above-mentioned formation, in the timing of connecting the power supply of the machine, determine summary information, and the summary information of this decision is sent to external device (ED).
Therefore, the timing of robot device's power supply is being connected in performance, confirms the effect of the summary of the obtaining information under this regularly with external device (ED).
In addition, when summary information that robot device of the present invention also can be configured to summary information that above-mentioned transmitting mechanism only determines recently in above-mentioned determination means, this time determine with above-mentioned determination means is different, by this this time the summary information of decision to above-mentioned external device (ED), send.
According to above-mentioned formation, only in the summary information determining recently, when different with the summary information of this decision, by this this time the summary information of decision to external device (ED), send.
Therefore, during not each decision summary information, summary information is sent to external device (ED), and only when summary information changes, summary information is sent to external device (ED).
Therefore, the timing that performance changes in summary information, can external device (ED) confirms the effect of the summary of the obtaining information under this regularly.
In addition, robot device of the present invention also can be configured to above-mentioned transmitting mechanism and then the corresponding message of the summary information with becoming transmission object is sent to above-mentioned external device (ED).
According to above-mentioned formation, except summary information, the message corresponding with summary information sent to external device (ED).
Therefore the effect that, performance can send together with summary information the message that accompany summary information to external device (ED).
In addition, robot device of the present invention also can be configured to and then to possess in order to the machine is supplied with to the electric power supply source of electric power be secondary cell; And the residual capacity of battery of measuring the residual capacity of battery of above-mentioned secondary cell measures mechanism, above-mentioned determination means is measured residual capacity of battery that mechanism measures as above-mentioned obtaining information using above-mentioned residual capacity of battery, and determines above-mentioned summary information.
According to above-mentioned formation, using the residual capacity of battery of secondary cell as above-mentioned obtaining information, and determine above-mentioned summary information.
Therefore, can not the residual capacity of battery of secondary cell directly be sent to external device (ED), and the summary information that this residual capacity of battery is summarized is sent to external device (ED).
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect of summary of the residual capacity of battery of secondary cell.
In addition, robot device of the present invention also can be configured to and then possess: secondary cell, and it is in order to the machine is supplied with to the electric power supply source of electric power; And moving control mechanism, its mode being electrically connected to the cradle with in order to above-mentioned secondary cell is charged moves the machine; Above-mentioned determination means using as utilize above-mentioned moving control mechanism movement result and whether the machine has been connected with above-mentioned cradle as above-mentioned obtaining information, and determine above-mentioned summary information.
According to above-mentioned formation, whether the machine is connected as above-mentioned obtaining information with cradle, and determines above-mentioned summary information.
Therefore, can not whether the machine be connected with cradle directly and send to external device (ED), and the summary information of summarizing its situation has been sent to external device (ED).
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect whether the machine has been connected with cradle.
In addition, robot device of the present invention also can be configured to and then possess: the dust collection mechanism of carrying out dust suction; The dust suction number of times memory portion of the number of times of memory executed dust suction: and while carrying out dust suction, making to remember in the above-mentioned number of times of above-mentioned dust suction number of times memory portion increases by 1 time and the dust suction number of times storing mechanism upgraded at every turn; Above-mentioned determination means is using the aggregate value of above-mentioned number of times corresponding with contained day specified time limit and that be stored in above-mentioned dust suction number of times memory portion as above-mentioned obtaining information, and determines above-mentioned summary information.
According to above-mentioned formation, first, while carrying out dust suction, make the number of times of the executed dust suction corresponding with the day of carrying out this dust suction increase by 1 time and upgrade at every turn.Then, using with specified time limit contained day corresponding above-mentioned number of times aggregate value as above-mentioned obtaining information, and determine above-mentioned summary information.
Therefore, can not the total number of times of carrying out dust suction in specified time limit directly be sent to external device (ED), and the summary information that this total number of times is summarized is sent to external device (ED).
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect of the summary of the total number of times of carrying out dust suction in specified time limit.
In addition, robot device of the present invention also can be configured to and then possess: the dust suction day memory portion of the execution day of memory executed dust suction; And during with executed dust suction, be stored in to the dust suction day storing mechanism of above-mentioned dust suction day memory portion the above-mentioned execution day; Above-mentioned determination means using being stored in above-mentioned execution day of above-mentioned dust suction day memory portion, the aggregate value of the quantity of above-mentioned execution day that specified time limit is contained is as above-mentioned obtaining information, and determines above-mentioned summary information.
According to above-mentioned formation, using in the execution day of executed dust suction, the aggregate value of the quantity of contained execution day specified time limit is as above-mentioned obtaining information, and determines above-mentioned summary information.
Therefore, can not the total day of carrying out dust suction in specified time limit directly be sent to external device (ED), and the summary information that this total day is summarized is sent to external device (ED).
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect of the summary of the total day of carrying out dust suction in specified time limit.
In addition, robot device of the present invention also can be configured to and then possess: the motor that attracts dust; And the current value of measuring the current value of above-mentioned motor is measured mechanism; Above-mentioned determination means is measured current value that mechanism measures as above-mentioned obtaining information using above-mentioned current value, and determines above-mentioned summary information.
According to above-mentioned formation, using the current value of the motor of attraction dust as above-mentioned obtaining information, and determine above-mentioned summary information.
Therefore, can not will attract the current value of the motor of dust directly to external device (ED), to send, and the summary information that this current value is summarized is sent to external device (ED).In addition, the accumulation of the dust in the debris collection section of collection dust, can hold estimator according to the current value of motor.
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect of summary of the accumulation of the dust in debris collection section.
In addition, robot device of the present invention also can be configured to and then possess to collect the detachable debris collection section of dust, and whether above-mentioned determination means will pull down above-mentioned debris collection section as above-mentioned obtaining information, and determine above-mentioned summary information.
According to above-mentioned formation, will whether pull down debris collection section as above-mentioned obtaining information, and determine above-mentioned summary information.
Therefore, can not will whether pull down debris collection section directly to external device (ED) transmission, and the summary information of summarizing its situation has been sent to external device (ED).
Therefore, performance utilizes external device (ED) to confirm summary information, and can hold the effect of whether pulling down debris collection section.
In addition, robot device of the present invention also can be configured to and then possess by above-mentioned obtaining information, with in order to determine the corresponding and operation values memory portion of memory of the value of above-mentioned summary information, above-mentioned determination means is obtained corresponding with above-mentioned obtaining information and is stored in the value of above-mentioned operation values memory portion, according to the value that this is obtained and the result that the value of obtaining from outside is added, from above-mentioned options, select above-mentioned summary information.
According to above-mentioned formation, can use the value of obtaining from outside and select above-mentioned summary information.
Therefore the effect that, performance can send the summary information of considering the value of obtaining from outside to external device (ED).
In addition, above-mentioned robot device also can utilize computer realization, during this situation, utilizes to make computer as above-mentioned each mechanism action and with the above-mentioned robot device's of computer realization above-mentioned robot device's control program; And the computer-readable medium storing that records it is also contained in category of the present invention.
industrial utilizability
The present invention can be applicable to dust catcher.Especially can finely be applied to self-propelled suction cleaner.
description of reference numerals
1 self-propelled suction cleaner (robot device)
14 batteries (secondary cell)
20 electric motor units (motor)
29 driving wheels
30 debris collection section
40 cradles
52 control parts (dust collection mechanism)
53 communication control units (Control on Communication mechanism)
201-211 emotion selection portion (determination means)
301 transmission processing portions (transmitting mechanism)
401 dust suction record information storage parts (dust suction number of times storing mechanism, dust suction number of days storing mechanism)
402 residual capacity of battery determination parts (residual capacity of battery is measured mechanism)
403 current value determination parts (current value is measured mechanism)
405 return to control part (moving control mechanism)
571 dust suction number of times memory portions
572 dust suction number of days memory portions
573 dust suction number of times/operation values memory portions (operation values memory portion)
574 dust suction number of days/operation values memory portions (operation values memory portion)
575 residual capacity of battery/operation values memory portion (operation values memory portion)
576 current values/operation values memory portion (operation values memory portion)
578A state/operation values memory portion (operation values memory portion)
578B state/operation values memory portion (operation values memory portion)

Claims (15)

1. a robot device, is characterized in that, possesses:
Determination means, it determines the summary information of the obtaining information that summary the machine is obtained; And
Transmitting mechanism, its summary information that above-mentioned determination means is determined sends to external device (ED),
Above-mentioned determination means utilization selects to determine above-mentioned summary information from a plurality of options according to above-mentioned obtaining information.
2. robot device as claimed in claim 1, wherein,
Above-mentioned transmitting mechanism and then above-mentioned obtaining information is sent to above-mentioned external device (ED).
3. robot device as claimed in claim 1 or 2, wherein, above-mentioned summary information means the information of the state status of the machine of using above-mentioned obtaining information and calculating.
4. robot device as claimed any one in claims 1 to 3, wherein,
When the power connection of the machine,
Above-mentioned determination means determines above-mentioned summary information, and
Above-mentioned transmitting mechanism sends the summary information of this decision to above-mentioned external device (ED).
5. the robot device as described in any one in claim 1 to 4, wherein,
When this summary information determining of the summary information that above-mentioned transmitting mechanism only determines recently in above-mentioned determination means and above-mentioned determination means is different, the summary information that this is this time determined sends to above-mentioned external device (ED).
6. the robot device as described in any one in claim 1 to 5, wherein,
Above-mentioned transmitting mechanism and then the corresponding message of the summary information with as sending object is sent to above-mentioned external device (ED).
7. the robot device as described in any one in claim 1 to 6, wherein,
And then possess:
In order to the machine is supplied with to the electric power supply source of electric power, it is secondary cell; And
Measure the residual capacity of battery of the residual capacity of battery of above-mentioned secondary cell and measure mechanism,
Above-mentioned determination means is measured residual capacity of battery that mechanism measures as above-mentioned obtaining information using above-mentioned residual capacity of battery, and determines above-mentioned summary information.
8. the robot device as described in any one in claim 1 to 7, wherein,
And then possess:
In order to the machine is supplied with to the electric power supply source of electric power, it is secondary cell; And
Make the machine move the moving control mechanism being electrically connected to the cradle with in order to above-mentioned secondary cell is charged,
Above-mentioned determination means whether as the result of the movement of above-mentioned moving control mechanism and be connected with above-mentioned cradle as above-mentioned obtaining information, and determines above-mentioned summary information using the machine.
9. the robot device as described in any one in claim 1 to 8, wherein,
And then possess:
Carry out the dust collection mechanism of dust suction;
The dust suction number of times memory portion of the number of times of memory executed dust suction; And
Each while carrying out dust suction, make to remember in the above-mentioned number of times increase of above-mentioned dust suction number of times memory portion once and the dust suction number of times storing mechanism of upgrading,
Above-mentioned determination means is using the aggregate value of above-mentioned number of times corresponding with specified time limit and that be stored in above-mentioned dust suction number of times memory portion as above-mentioned obtaining information, and determines above-mentioned summary information.
10. robot device as claimed in claim 9, wherein,
And then possess:
The dust suction day memory portion of the execution day of memory executed dust suction; And
During executed dust suction, be stored in to the dust suction day storing mechanism of above-mentioned dust suction day memory portion the above-mentioned execution day,
Above-mentioned determination means using being stored in above-mentioned execution day of above-mentioned dust suction day memory portion, the aggregate value of the quantity of above-mentioned execution day that specified time limit is contained is as above-mentioned obtaining information, and determines above-mentioned summary information.
11. robot devices as described in claim 9 or 10, wherein,
And then possess:
Attract the motor of dust; And
Measure the current value of the current value of above-mentioned motor and measure mechanism,
Above-mentioned determination means is measured current value that mechanism measures as above-mentioned obtaining information using above-mentioned current value, and determines above-mentioned summary information.
12. robot devices as described in any one in claim 9 to 11, wherein,
And then the debris collection section that can install and remove that possesses to collect dust,
Whether above-mentioned determination means has been pulled down above-mentioned debris collection section as above-mentioned obtaining information, and determines above-mentioned summary information.
13. robot devices as described in any one in claim 1 to 12, wherein,
And then possess by above-mentioned obtaining information with in order to determine the corresponding and operation values memory portion of memory of the value of above-mentioned summary information,
Above-mentioned determination means is obtained corresponding with above-mentioned obtaining information and is stored in the value of above-mentioned operation values memory portion, according to the value that this is obtained and the result that the value of obtaining from outside is added, selects above-mentioned summary information from above-mentioned options.
14. 1 kinds of control programs, it is to make the computer action that in claim 1 to 13, the robot device described in any one possesses, and uses so that above-mentioned computer is brought into play function as above-mentioned each mechanism.
15.-kind of computer-readable medium storing, it records the control program described in claim 14.
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