JP2017192851A - Robot device, control program, and computer readable recording medium recording control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device capable of increasing variations of information output, a control program, and a computer readable recording device recording the control program.SOLUTION: A robot device (1) includes: information transmitting means (9) transmitting information; detection means (110) detecting an occurrence of an event on the basis of detection information; and information storage means (220) storing the information transmitted by the information transmitting means (9). The information storage means (220) stores single first information corresponding to a first event and a plurality of pieces of second information corresponding to a second event. The information transmitting means (9) transmits the first information and the second information, and the second information is selected from the plurality of pieces of second information according to the event.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a robot apparatus and the like, and more particularly to a robot apparatus and the like that transmits information such as characters and images to the outside of the robot.

  2. Description of the Related Art Conventionally, in a robot apparatus that performs a specific work on behalf of a person, an apparatus that transmits information regarding an operation state of the robot apparatus or information regarding an abnormality occurring in the robot apparatus to the outside is known.

  For example, Patent Document 1 uses information on a vacuum cleaner robot having a wireless LAN unit therein, such as that the vacuum cleaner robot is operating or on standby, has fallen, or the remaining battery level is low. It is described that an e-mail is sent to a person's mobile phone.

JP 2005-118354 A

  However, the vacuum cleaner robot described in Patent Document 1 merely transmits information related to the operating state of the vacuum cleaner robot and information related to an abnormality occurring in the vacuum cleaner robot, and there are few variations in the information to be transmitted. . Therefore, the user receives only specific information from the cleaner robot, and there is a problem that the user is less likely to feel familiar with the cleaner robot.

  The present invention has been made in view of the above-described problems, and the purpose thereof is a robot apparatus capable of increasing variations in information to be output, a control program, and a computer-readable recording of the control program. It is to provide a recording apparatus.

The robot apparatus according to the present invention includes information transmission means for transmitting information, detection means for detecting occurrence of an event based on detection information, and information storage means for storing information transmitted from the information transmission means, The information storage means stores a single first information corresponding to the first event and a plurality of second information corresponding to the second event, and the information transmission means includes the first information And the second information is transmitted, and the second information is selected from a plurality of second information according to the event.

  Moreover, in the robot apparatus according to the present invention, it is preferable that the information transmitting means outputs the first information and the second information connected to each other.

  The robot apparatus according to the present invention preferably further includes power supply means for supplying power to the robot apparatus, and the detection means preferably detects a power supply state from the power supply means as an event.

The robot apparatus according to the present invention further includes a cleaning unit that performs cleaning, and the detection unit includes:
It is preferable to detect information regarding cleaning as the event.

  The robot apparatus according to the present invention preferably further includes a cleaning number storage unit that stores the number of times cleaning has been performed, and the detection unit preferably detects the number of times as an event.

  The robot apparatus according to the present invention preferably further includes a dust collection unit that collects dust removed by the cleaning unit, and the detection unit preferably detects the amount of dust in the dust collection unit as an event.

  The robot apparatus may be realized by a computer. In this case, a control program for the robot apparatus that causes the robot apparatus to be realized by the computer by operating the computer as the above-described means, and a computer reading that records the program. Possible recording media also fall within the scope of the present invention.

  According to the present invention, it is possible to provide a robot apparatus capable of increasing variations in information to be output, a control program, and a computer-readable recording apparatus that records the control program.

It is a mimetic diagram of robot cleaner 1 connected with a communication network concerning one embodiment of the present invention. It is a perspective view of robot cleaner 1 concerning one embodiment of the present invention. It is a schematic diagram which shows an example of the operation panel 5 which concerns on one Embodiment of this invention. 1 is a bottom view of a robot cleaner 1 according to an embodiment of the present invention. (A) is a schematic diagram in an AA line section of robot cleaner 1 of Drawing 4 concerning one embodiment of the present invention. FIG. 2B is a cross-sectional view of the dust collection unit 30 taken out from the robot cleaner 1. It is a perspective view of the charging stand 40 which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the robot cleaner 1 which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the memory | storage part 200 of the robot cleaner 1 of FIG. 7, and the control part 100 concerning one Embodiment of this invention. It is a flowchart which shows the flow of the process in Example 1 of this invention. It is a flowchart which shows the flow of the process in Example 2 of this invention.

  As an embodiment of a robot apparatus according to the present invention, a robot cleaner will be described with reference to the drawings.

  As an embodiment, the emotion determination unit described later determines the emotion of the robot cleaner from the three stages of “upper mood”, “normal”, and “unpleasant mood” based on the generated event related to the robot cleaner. An example in which information such as characters and images is selected and transmitted from the robot cleaner will be described.

  The event is a state inside and outside the robot cleaner that can be detected by the controller of the robot cleaner. For example, the event is a parameter value related to the robot cleaner, such as a remaining battery level, a change in the parameter value, an operation instruction to the robot cleaner, start or end of the operation, an external temperature, a specific time, or the like.

The robot cleaner includes a wireless unit described later and is connected to a communication network. FIG. 1 shows a schematic diagram of a robot cleaner connected to a communication network according to an embodiment of the present invention. As shown in the figure, the robot cleaner 1 is connected to a LAN (Local Area) in a house 95 by a wireless LAN base station 90.
Network). And the robot cleaner 1 is comprised so that transmission / reception of a user's portable terminal 93 can be performed via the internet 91 and the portable terminal communication network 92. FIG. The portable terminal 93 has a display unit 94 that displays characters, images, and the like.

Below, the structure of the robot cleaner 1 is demonstrated in detail.
(Robot vacuum cleaner structure)
FIG. 2 is a perspective view of the robot cleaner 1. As shown in the figure, the robot cleaner 1 is a device that includes a circular main body housing 2 in plan view and a drive wheel 12 (see FIG. 4) for self-running, and collects dust while running on its own. . On the upper surface of the main body housing 2, a lid portion 3 that opens and closes when the dust collection portion 30 (see FIG. 5) is taken in and out, an operation panel 5 that inputs instructions to the robot cleaner 1, and will be described later. A signal receiving unit 6 that receives a feedback signal from the charging base 40 and a signal from a remote controller (not shown), and an exhaust port 7 through which air from which dust has been removed by the dust collecting unit 30 are exhausted are provided. In addition, a sound input unit 8 is provided on the side surface of the main body housing 2, and a pair of side brushes 10 are provided on the bottom end of the main body housing 2.

In addition, a wireless unit 9 is provided inside the main body housing 2. The wireless communication unit 9 is given an IP (Internet Protocol) address and a URL (Uniform Resource Locator), and can transmit and receive information using HTTP (Hyper Text Transfer Protocol). For example, transmission / reception of information is performed by transmitting / receiving an electronic mail to / from the portable terminal 93 according to SMTP (Simple Mail Transfer Protocol).

  In the following, a case where the robot cleaner 1 transmits an e-mail to the portable terminal 93 will be described as an example of information transmission from the robot cleaner 1. However, information transmission from the robot cleaner 1 is not limited thereto. . For example, the present invention includes a case where information is transmitted to an external server (not shown) so as to be described on a web page such as a so-called blog or mini-blog.

  FIG. 3 shows an example of the operation panel 5. The operation panel 5 is provided so that a start and stop button 51 for instructing start and stop of cleaning, a mode selection button 52 for selecting a cleaning mode, a current time and a reserved time for operating the robot cleaner 1 can be set. Timer set button 53, time display unit 54 for displaying the current time and reserved time, a garbage disposal lamp 55 that is turned on when it is detected that the dust collecting container 31 described later is full, and the charge amount of the battery 16 described later. A battery mark 56 indicating the above.

  FIG. 4 is a bottom view of the robot cleaner 1. As shown in FIG. 4, a pair of drive wheels 12 are provided on the bottom surface of the main body housing 2 so as to protrude from the bottom surface. The robot cleaner 1 moves forward and backward when both wheels of the drive wheel 12 rotate in the same direction, and the robot cleaner 1 changes direction when both wheels rotate in the opposite direction. Here, the advancing direction when the robot cleaner 1 performs self-running and cleaning is defined as the front, and is indicated by an arrow (upward when viewed from the paper) in FIG. The direction opposite to the traveling direction is the rear.

  A dust suction port 33, a pair of side brushes 10 that rotate on a rotation axis perpendicular to the floor surface, and a front wheel 13 are provided in front of the bottom surface of the main body housing 2, and a rear wheel 14 is provided at the rear of the bottom surface. Is provided. The suction port 33 is recessed on the bottom surface of the cleaner so that the open surface faces the floor surface. A rotating brush 11 that rotates on a rotating shaft that is supported in parallel with the floor surface is disposed inside the suction port.

Fig.5 (a) has shown the schematic diagram in the AA sectional view of the robot cleaner 1 of FIG. In FIG. 5A, the robot cleaner 1 is in a charged state. As shown in the figure, the robot cleaner 1 includes a dust collection unit 30, an electric blower 15, a battery 16, and a control board 17 inside the main body housing 2. The dust collection unit 30 includes a bottomed dust collection container 31 and a filter 32 provided on the top of the dust collection container 31. Here, when the dust in the dust collecting container is thrown away, the lid 3 can be opened and the dust collecting part 30 can be taken out from the main body housing 2. FIG. 5B shows a cross-sectional view of the dust collecting unit 30 taken out from the robot cleaner 1.

  In the present embodiment, the dust collecting unit 30 is illustrated as having a bottomed dust collecting container 31, but the dust collecting unit of the present invention is not limited to a dust collecting container. For example, it is a matter of course that the dust collecting part of the present invention may be configured with only a bag-shaped dust collecting bag or a dust collecting filter.

  The dust collection unit 30 communicates with the first intake passage 34 and the second intake passage 35. The airflow sucked from the suction port 33 flows through the first intake passage 34 rearward as shown by the arrow B1 and flows into the dust collecting unit 30. The airflow that flows into the dust collection unit 30 collects dust by the filter 32 and flows out of the dust collection unit 30. Thereafter, as indicated by an arrow B <b> 2, the second intake passage 35 is circulated forward and flows into the electric blower 15. Next, the air is exhausted upward and rearward as indicated by an arrow B <b> 3 from an exhaust port 7 provided on the upper surface of the main housing 2. Note that an ion generator (not shown) may be provided in the vicinity of the electric blower 15, and in that case, an airflow containing ions is exhausted from the exhaust port 7.

  The battery 16 is a power supply source of the robot cleaner 1. When a cleaning operation is instructed, the battery 16 is supplied with power, and the electric blower 15, the drive wheel 12, the rotating brush 11, and the side brush 10 are driven. . Thereby, the robot cleaner 1 is self-propelled in a predetermined cleaning area, and dust on the floor surface F is sucked from the suction port 31. The battery 16 is preferably a large-capacity rechargeable battery that can be repeatedly charged and discharged. For example, a lead battery, a nickel metal hydride battery, or a lithium ion battery is used. A charging terminal 4 that charges the battery 16 is provided at the rear end of the peripheral surface of the main body housing 2. The control board 17 is provided with a control circuit that controls each part of the robot cleaner 1.

  FIG. 6 shows a perspective view of the charging stand 40. As shown in FIGS. 5 and 6, the charging stand 40 is a device for charging the battery 16 of the robot cleaner 1. In the charging stand 40, a power supply terminal 41 is provided at a position facing the peripheral surface of the main body housing 2 and in contact with the charging terminal 4 of the robot cleaner 1. When the charging terminal 4 of the robot cleaner 1 is electrically connected to the power supply terminal 41 of the charging stand 40, the current from the commercial power source connected to the charging stand 40 flows to the self-propelled cleaner 1, It can be charged.

In addition, the charging stand 40 is provided with a wireless transmission unit 42 that transmits a feedback signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41. When the cleaning of the robot 1 is detected, or when the charge amount of the battery 16 is lower than a predetermined value, the robot cleaner 1 detects a feedback signal emitted from the charging stand 40 to the place where the charging stand 40 is installed. Return automatically. Here, the end of cleaning may be detected, for example, by detecting that the robot cleaner 1 has moved a certain distance or a certain time has passed. Alternatively, it may be performed by receiving an instruction prompting the user to return to the charging stand 40 such as a cleaning end instruction or an interruption instruction from the operation panel 5 or the remote control device. For example, an infrared signal is transmitted as the feedback signal. If the robot cleaner 1 is separated from the charging stand 40, the feedback signal is always transmitted from the signal transmission unit 42.
(Robot device configuration)
FIG. 7 shows a configuration of a robot cleaner according to an embodiment of the robot apparatus of the present invention. As shown in the figure, the robot cleaner 1 includes a control unit 100, a wireless unit 9, an operation panel 5, a signal receiving unit 6, a sound input unit 8, a dust collecting unit 30, a battery 16, and a storage unit. 200, travel drive unit 101, drive wheel 12, rotary brush drive unit 102, rotary brush 11, side brush drive unit 103, side brush 10, electric blower 15, and ion generator 18. ing.

  The control unit 100 is provided on the control board 17 described above, and based on programs and data stored in the storage unit 200 and instructions input from the operation panel 5 or the remote control device, various types of the robot cleaner 1 are provided. Control the operation.

  The traveling drive unit 101 includes a drive wheel motor and the like and a drive unit for these motors, and drives the drive wheel 12 by determining a rotation direction, a rotation angle, and the like based on a control signal from the control unit 100.

  The rotating brush drive unit 102 includes a rotating brush motor and the like and a driving unit for these motors, determines the number of rotations based on a control signal from the control unit 100, and drives the rotating brush 11.

  The side brush drive unit 103 includes a side brush motor and the like and their drive units, and drives the side brush 10 by determining the number of rotations and the like based on a control signal from the control unit 100.

  In addition, about the component which attached | subjected the code | symbol same as the above-mentioned description, description is abbreviate | omitted as having the same function.

  Next, the configuration of the storage unit 200 and the control unit 100 will be described in detail.

FIG. 8 shows the configuration of the storage unit 200 and the control unit 100 of the robot cleaner 1 in FIG.
(Configuration of storage unit)
The storage unit 200 includes a cleaning count storage unit 201, a calculated value storage unit 210, and an information storage unit 220.

  The cleaning number storage unit 201 stores the number of cleanings performed by the robot cleaner 1 every day as the number of cleanings. Note that the number of cleanings recorded in the cleaning number storage unit 201 is once stored in the control unit 100 and then updated.

  The calculation value storage unit 210 stores an emotion calculation value M1, which is a parameter used for calculation performed by the emotion calculation unit 122 described later, and includes a cleaning count calculation value storage unit 211, a dust amount calculation value storage unit 212, and a remaining battery level. A calculation value storage unit 213 and an event calculation value storage unit 214 are included.

The cleaning number calculation value storage unit 211 stores the emotion calculation value M1 in association with the number of cleanings. Table 1 shows an example of the emotion calculation value M1 stored in association with the number of cleanings. In Table 1,
The number of cleanings indicates the number of cleanings in the most recent week, and types 1 to 3 indicate the types of personality of the robot cleaner. As shown in Table 1, the number of cleanings is divided into three stages: “less than 4 times”, “more than 4 times but less than 7 times”, and “more than 7 times”. Emotion calculation value M1 is associated. As will be described in detail later, the emotion of the robot cleaner 1 is determined based on the emotion value M calculated using the emotion calculation value M1, information to be transmitted is selected based on the determined emotion, and the robot Sent from the vacuum cleaner 1.

The dust amount calculation value storage unit 212 stores the emotion calculation value M1 in association with the dust amount of the dust collection unit 30. Table 2 shows an example of the emotion calculation value M1 stored in association with the dust amount of the dust collection unit 30. Here, in the present embodiment, the dust amount of the dust collecting unit 30 is determined from the current value of the electric blower 15. Specifically, when the current value is less than 1.4A, it is determined that the amount of dust is large, and when it is 1.4A or more and less than 1.6A, the amount of dust is determined to be normal and is 1.6A or more. When it is judged that the amount of dust collection is small. As shown in Table 2, the amount of dust is divided into three levels, “large”, “normal”, and “low”, and an emotion calculation value M1 for each personality type is associated with each level. Yes.

  The remaining battery charge calculation value storage unit 213 stores the emotion calculation value M1 in association with the remaining battery charge of the battery 16. Table 3 shows an example of the emotion calculation value M1 stored in association with the remaining battery level. As shown in Table 3, the amount of current is divided into three levels: “less than 20%”, “20% or more and less than 90%”, and “90% or more”. Emotion calculation value M1 is associated.

  The event calculation value storage unit 214 is an event that occurs when the user calls out to the robot cleaner 1 or when the dust collecting unit 30 is removed from the main body housing 2 and discarded. The emotion calculation value M1 is stored in association with each other.

  An example of the calculated operation value M1 is shown in Table 4. As shown in Table 4, a “panel input event” that occurs when there is an input from the panel operation unit 5, a “sound input event” that occurs when there is an input from the sound input unit 9, and a signal receiving unit 6 "signal input event" that occurs when an input is received from the remote control device, "dust collector removal event" that occurs when the dust collector 30 is removed from the body housing 2, and the robot cleaner 1 Is successfully returned to the charging base 40 and charging of the battery 16 from the charging base 40 is started, and a “return success event” that occurs when the robot cleaner 1 fails to return to the charging base 40. The emotion calculation value M1 for each personality type is associated with the “failure event”. As will be described in detail later, the emotion of the robot cleaner 1 is determined based on the emotion value M calculated using the emotion calculation value M1, information to be transmitted is selected based on the determined emotion, and the robot Sent from the vacuum cleaner 1.

  Next, the information storage unit 220 will be described. The information storage unit 220 stores character information and image information output to the outside by the wireless unit 9. The information storage unit 220 includes a first information storage unit 221 and a second information storage unit 222.

  The first information storage unit 221 stores first information output regardless of the emotion determined by the emotion determination unit 120.

  Table 5 shows an example of the data table of the first information. As shown in Table 5, the first information is stored in association with the numbers 1001 to 1010, and when any one of the numbers 1001 to 1010 is designated, the corresponding information is transmitted from the wireless unit 9. Is output.

  The second information storage unit 222 stores second information that is output based on the emotion determined by the emotion determination unit 120.

  Table 6 shows an example of the data table of the second information. As shown in Table 6, the second information is stored in association with the numbers 1101 to 1104. The second information is associated with any of the emotions from the three stages of “upper mood”, “ordinary”, and “bad mood” determined by the emotion determination unit 120. Specifically, when the emotion value level is “good feeling”, 1101A to 1104A are output. When the emotion value level is “normal”, 1101B to 1104B are output. Also, when the emotion value level is “moody”, 1101C to 1104C are output.

  In addition, although the case where the information of either a character or an image was memorize | stored with respect to one number was demonstrated as the information which the robot cleaner 1 memorize | stores, the information of both the character and the image with respect to one number May be stored. For example, “cleaning starts. Image A” may be stored in the number 1001, and “excellent. Image C” may be stored in the number 1101 A.

The information stored by the robot cleaner 1 may be voice or moving picture information, or may be a special character code or a pictograph represented by a tag.
(Configuration of control unit)
The control unit 100 includes a detection unit 110, an emotion selection unit 120, and a wireless control unit 130.

  The detection unit 110 detects the occurrence of an event related to the robot cleaner 1. The detection unit 110 includes a panel operation detection unit 111, a sound detection unit 112, a dust collection unit detection unit 113, a battery remaining amount detection unit 114, and a signal detection unit 115. The control unit 100 performs control related to operation instructions such as a cleaning start instruction, a cleaning end instruction, a cleaning pause instruction, a moving direction change instruction, a main body turning instruction, and a return instruction to the charging stand 40. .

  The panel operation detection unit 111 detects whether or not an input indicating an operation instruction is received on the operation panel 5. When an input indicating an operation instruction is detected, the panel operation detection unit 111 determines that a panel input event has occurred.

  When the sound detection unit 112 collates the sound input from the sound input unit 8 with the sound information regarding the operation instruction registered in the storage unit 200 in advance, and determines that they match, a sound input event has occurred. Judge.

The dust collection unit detection unit 113 detects the amount of dust in the dust collection unit 30 and whether a removal event of the dust collection unit 30 has occurred. As described above, the amount of dust in the dust collection unit 30 is detected from the current value of the electric blower 15. The removal event of the dust collecting unit 30 is detected from a signal of a proximity sensor (not shown) that is arranged inside the robot cleaner 1 and detects the presence or absence of the dust collecting unit 30.

  The signal detector 115 detects that a feedback signal from the charging stand 40 or a signal related to an operation instruction from the remote control device has been input (received) to the signal receiver 6.

  Next, the emotion determination unit 120 will be described. The emotion determination unit 120 includes a calculation value determination unit 121 and an emotion calculation unit 122.

  The calculation value determination unit 121 uses the emotion calculation value M1, which is a parameter used for calculation performed by the emotion calculation unit 122 when determining the emotion value M, as the number of cleanings, the amount of dust in the dust collection unit, the remaining battery level, or the occurrence event. Determine based on.

  A case where the emotion calculation value M1 is determined based on the number of cleanings will be described. In this case, the calculation value determination unit 121 first acquires the number of cleanings in the period T stored in the control unit 100. Then, the emotion calculation value M <b> 1 stored in the cleaning number calculation value storage unit 211 is acquired in association with the acquired total number of cleaning times.

  The description will be continued assuming that the period T is the latest seven days. Referring to Table 1, when the total value of the number of cleanings in the most recent seven days is less than 4 and the character of the robot cleaner 1 is type 1, the calculated value determination unit 121 sets “−” as the emotion calculated value M1. 10 ”is acquired. Similarly, when the total value of the number of cleanings is less than 4 and the personality of the self-propelled cleaner 1 is type 2, the calculated value determination unit 121 acquires “−7” as the emotion calculated value M1. Similarly, when the total value of the number of cleanings is less than 4 and the personality of the self-propelled cleaner 1 is type 3, the calculated value determination unit 121 acquires “−5” as the emotion calculated value M1.

  The emotion calculation unit 122 uses the emotion calculation value M1 determined by the calculation value determination unit 121 to calculate an emotion value M for specifying an emotion using a predetermined calculation formula. Typical examples of the arithmetic expression are the following (Expression 1) to (Expression 3), but are not limited to these, and various arithmetic expressions can be applied.

M = M1 (Formula 1)
M = m × M0 + M1 (Formula 2)
M = m × M0 + M1 + M2 (Formula 3)
Here, “M0” represents the emotion value M when calculated last time. “M” represents a coefficient (0 or more and 1 or less) that varies according to the elapsed time from the time when the emotion value M was calculated last time. The coefficient m becomes smaller as the elapsed time from the time when the emotion value M is calculated last time is longer.

  Table 7 shows an example of the coefficient m. As shown in Table 7, a coefficient m is set for each character type of the robot cleaner 1. The coefficient m is set so that the value decreases as time elapses from the time when the previous emotion value M is calculated. For example, if the personality is type 1, the coefficient m is 1 if the elapsed time is less than 1 hour, but the coefficient m is 0.6 if the elapsed time is 18 hours or more.

  “M2” represents a point value acquired as a result of the user executing a predetermined game or the like on the mobile terminal 93 or the like. The point value is transmitted to the robot cleaner 1 via the communication network and received by the wireless unit 9.

  In the above (Formula 1), the emotion calculation value M1 is used as the current emotion value M as it is. On the other hand, in the above (Formula 2), the previous emotion value M can be reflected in the current emotion value M as time elapses from the previous calculation. Further, when the above (Equation 3) is used, it is possible to obtain an emotion value M obtained by adding points acquired as a result of the user playing a predetermined game on the portable terminal 93 or the like.

  And the emotion calculation part 122 selects the emotion of the robot cleaner 1 according to the value of the emotion value M obtained as a calculation result. For example, when the emotion value M is 25 or more, “good feeling” is selected, when the emotion value M is −25 or more and less than 25, “normal” is selected, and when the emotion value M is less than −25, “dislike” is selected.

  In the above, the case where the emotion calculation value M1 is determined based on the number of times of cleaning has been described. However, in the case where the emotion calculation value M1 is determined based on the dust amount of the dust collecting unit 30 and the remaining battery level, instead of referring to the data table of Table 1. By referring to the data table of Table 2 or Table 3, the calculated value determination unit 121 can acquire the emotion calculated value M1.

  Moreover, when determining based on an occurrence event, the calculation value determination part 121 can acquire the emotion calculation value M1 by referring to the data table of Table 4.

  The wireless control unit 130 controls transmission / reception of information of the wireless unit 9. The information received by the wireless unit 9 may be an operation instruction for the robot cleaner 1 or an operation reservation instruction other than the point value M2 transmitted from the user. On the other hand, the information transmitted from the wireless unit 9 is first information and second information stored in the information storage unit 220.

  Here, the first information is output without being based on the emotion determined by the emotion determination unit 122. Specifically, when the detection unit 110 detects the occurrence of an event related to the robot cleaner 1, one of the numbers shown in Table 5 is specified, and information of the specified number is output.

  The second information is selected from a plurality of pieces of information based on the emotion determined by the emotion determination unit 122 and output. Specifically, when the detection unit 110 detects the occurrence of an event related to the robot cleaner 1, one of the numbers shown in Table 6 is designated, and the emotion determination unit 122 is selected from a plurality of pieces of information of the designated number. The information associated with the emotion determined by is selected and output.

Here, in the above-described embodiment, the case where the robot cleaner 1 includes the battery 16 as the power supply means to the robot apparatus has been described. However, except for the features related to the battery 16, the robot cleaner 1 is directly connected to the robot cleaner 1 from a commercial power source. Power may be supplied. Battery 1
6 and a commercial power source may be used in combination. In that case, the detection unit 110 detects a power supply state such as the presence or absence of power supply from the commercial power supply to the robot cleaner 1 and an instantaneous voltage drop. Emotion determination unit 120 is configured to determine an emotion based on the power supply state detected by detection unit 110.

Next, the flow of processing in which the robot cleaner 1 outputs character information or image information will be described.
Example 1
In the first embodiment, a case where the robot cleaner 1 outputs the first information or the second information individually will be described. FIG. 9 is a flowchart illustrating the processing flow of the first embodiment. In the flowcharts described with reference to FIGS. 9 and 10, “step” is represented by “S”. In the text, “S” represents “step”.

  First, the detection part 110 detects generation | occurrence | production of the event regarding the robot cleaner 1 (S11). Next, the control unit 100 specifies information corresponding to the detected event (S12). For example, the designation of information is performed by designating a specific number of the data table exemplified in Tables 5 and 6.

  Next, the control unit 100 determines whether the designated information is the first information or the second information (S13). For example, it can be determined whether the first information or the second information is based on a designated number. In the data tables illustrated in Tables 5 and 6, the first information is stored in association with the numbers 1001 to 1010, and the second information is stored in association with the numbers 1101 to 1104.

  When the detection unit 110 determines that the specified information is the second information (in the case of YES), in S14, the calculated value determining unit 121 refers to the calculated value storage unit 210 and calculates the emotion calculated value M1. To decide. Then, the emotion calculation unit 122 calculates the emotion value M using the emotion calculation value M1 determined in step S14 (S15), and selects an emotion according to the value of the emotion value M (S16). Then, the wireless control unit 130 selects information corresponding to the selected emotion by referring to the second information storage unit 222 (S17). Then, the wireless control unit 130 transmits the selected information from the wireless unit 9 to the user's portable terminal 93 by electronic mail. (S18). The user can check the characters and images displayed on the display unit 94 by operating the mobile terminal 93 to open the e-mail.

  On the other hand, when the control unit 100 determines in S13 that the specified information is the first information (in the case of NO), the process proceeds to S18 without determining the emotion of the robot cleaner 1 and is specified. The information is transmitted from the wireless unit 9 to the user's portable terminal 93 by electronic mail.

  A case will be described as an example where the detection unit 110 detects the occurrence of an event and designates a number 1101 as information to be output. In S13, it is determined that the designated number is the second information. Then, the process proceeds to a step of determining an emotion, and an emotion is selected in S16. Here, when the selected emotion is “good feeling”, based on the data table shown in Table 6, “excellent” of the number 1101A is selected from the second information. If the selected emotion is “normal”, “so-so” of the number 1101B is selected from the second information. If the selected emotion is “moment”, “I want to refresh” number 1101C is selected from the second information. Then, the selected information is transmitted from the wireless unit 9 by electronic mail.

  Next, the case where the detection unit 110 detects the occurrence of an event and the number 1001 is designated as information to be output will be described as an example. In S13, it is determined that the designated number is the first information. If it is determined that the designated number is the first information, the process proceeds to S18 without determining the emotion of the robot cleaner 1. Then, based on the data table shown in Table 5, the number 1001 “Start cleaning” is selected from the first sound information, and is transmitted from the wireless unit 9 by e-mail.

As described above, by transmitting the first information without being based on emotions and by transmitting the second information based on emotions, it is possible to transmit information with many variations by simple means. Can feel familiar with the robot cleaner. Moreover, since the 1st information is not changed based on the emotion of the robot cleaner 1 among the information transmitted, the user can recognize the content of the information which the robot cleaner 1 outputs correctly, and the robot cleaner The state of 1 can be grasped correctly.
(Example 2)
In the second embodiment, a case where the robot cleaner 1 connects and outputs the first information and the second information will be described. FIG. 10 is a flowchart illustrating the processing flow of the second embodiment. Description of the steps for performing the same processing as in the first embodiment is omitted.
First, the detection part 110 detects generation | occurrence | production of the event regarding the robot cleaner 1 (S21). Next, the control unit 100 designates information corresponding to the detected event (S22).

  Next, the control unit 100 determines whether the information to be output is the first information (S23). Here, in the second embodiment, when it is determined that the information output in S23 is the first information, the emotion determination unit 120 determines the emotion. And after an emotion is determined in S24-26, the radio | wireless control part 130 selects 2nd information with reference to a 2nd information storage part. The selection of the second information may be performed arbitrarily from information corresponding to emotions or may be specified.

  Next, the wireless control unit connects the designated first information and the selected second information, and outputs them from the wireless unit 9 (S28). Specifically, the second information may be connected and output before the first information, such as “second information + first information”, and “first information + second information” may be output. As described above, the second information may be output after being connected to the first information, and the second information may be output before and after the first information such as “second information + first information + second information”. You may connect and output the information. The combined information is transmitted from the wireless unit 9 by electronic mail.

  An example will be described in which the detection unit 110 detects the occurrence of an event and designates “start cleaning” as the number 1001 as information to be output. In S23, it is determined that the designated number is the first information. Then, the process proceeds to a step of determining an emotion, and an emotion is selected in S26. Here, when the selected emotion is “good feeling”, one of the numbers 1101A to 1104A is arbitrarily selected from the second information based on the data table shown in Table 6. If the selected emotion is “normal”, one of the numbers 1101B to 1104B is randomly selected from the second information. Further, when the selected emotion is “moody”, one of 1101C to 1104C is selected at random from the second information (S27). The description will be continued on the assumption that “the best” of the number 1101A is selected from the second information.

  The wireless control unit 130 connects the designated first information “start cleaning” with the number 1001 to the “best condition” of the selected second information. For example, it can be linked to “Great condition. Start of cleaning.”, “Start of cleaning. Then, the connected information is transmitted by e-mail from the wireless unit 9 (S28).

As described above, by connecting the first information transmitted without being based on emotion and the second information transmitted based on emotion, and transmitting the information, a variety of information can be output with simple means. It can be carried out. Moreover, since the 1st information is not changed based on the emotion of the robot cleaner 1 among the information output, the user can recognize the content of the information which the robot cleaner 1 outputs correctly, and the robot cleaner The state of 1 can be grasped correctly.
(Other examples)
When the robot cleaner 1 connects and outputs the first information and the second information, the second sound information selected in S27 in FIG. 10 may be plural. For example, the designated first information is “Start reserved driving” with the number 1004, and based on the selected “moody” personality, the second information with the number 1101C “I want to refresh” ”And“ lowest mood ”of number 1104C are selected. At this time, the wireless control unit 130 connects the information and outputs it from the wireless unit 9 as “I want to refresh. The reservation operation starts. The lowest feeling”.

  Further, the robot cleaner 1 may transmit images, moving images, sounds, pictograms and the like inserted in a sentence, or may transmit files such as images attached to an e-mail. The user can check an image output from the display unit 94 of the mobile terminal or a sound output unit (not shown) by operating the mobile terminal 93. In this case, the user who has received the information can recognize the information visually or audibly.

  Further, the robot cleaner 1 may transmit information to be output to a server (not shown) connected to the communication network or a management device (not shown) of the robot cleaner 1. In this case, the user can check the information transmitted from the robot cleaner 1 by operating the portable terminal 93 to refer to the server or the management device or download the file. In this case, the user can collectively check the information transmitted from the robot cleaner 1, the operating state of the robot cleaner 1, the occurrence of an event, the mood of the robot cleaner, etc. It may be possible to check the history of

  In the above-described embodiment, the case where the wireless LAN base station 90 is used as the communication network in the house 95 has been described. However, a short-range wireless base station such as Bluetooth (registered trademark) may be used. Further, it may be connected to a communication network in the house 95 by wire.

  Furthermore, in the above-described embodiment, the robot cleaner 1 has been described as the robot apparatus according to the present invention. However, other information such as a robot for helping with housework, an air cleaning robot, a security robot, or a pet robot is output. It can be widely applied to robot devices.

  Furthermore, in the above-described embodiment, the control board 17 including all or a main part of the control unit 100 and the storage unit 200 may be distributed as a unit and manufactured as a finished product by being incorporated in the main body. Further, at least a part of the control unit of the robot apparatus may be configured as hardware by a logic circuit formed on an integrated circuit (IC chip), or using a CPU (Central Processing Unit) as follows. It may be realized by software.

When realized by software, the robot apparatus includes a CPU that executes instructions of a control program that realizes each function, a ROM (read only memory) that stores the program, a RAM (random access memory) that expands the program, A storage device (recording medium) such as a memory for storing programs and various data is provided. An object of the present invention is to provide a recording medium in which a program code (execution format program, intermediate code program, source program) of a control program for a robot apparatus, which is software that realizes the functions described above, is recorded in a computer-readable manner. This can also be achieved by supplying the robot apparatus and reading and executing the program code recorded on the recording medium by the computer (or CPU or MPU (micro processing unit)).

Examples of the recording medium include tapes such as magnetic tapes and cassette tapes, magnetic disks such as floppy (registered trademark) disks / hard disks, and disks including optical disks such as CD-ROM / MO / MD / DVD / CD-R. IC cards (including memory cards) / optical cards, mask ROM / EPROM (Erasable Programmable Read Only Memory) / EEPROM (Electrically Erasable Programmable Read-Only
Memory) / semiconductor memories such as flash ROM, logic circuits such as PLD (Programmable logic device), and the like can be used.

The robot apparatus may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited. For example, the Internet, intranet, extranet, LAN, ISDN (Integrated Services Digital Network), VAN (value added network), CATV communication network, virtual private network (virtual private network), A telephone line network, a mobile communication network, a satellite communication network, etc. can be used. Further, the transmission medium constituting the communication network is not particularly limited. For example, the transmission medium may be wired such as IEEE 1395, USB (Universal Serial Bus), power line carrier, cable TV line, telephone line, ADSL (Asymmetric Digital Subscriber Line) line. , Infrared such as IrDA and remote control, Bluetooth (registered trademark), IEEE 802.11 wireless, HDR (High Data Rate), NFC (Near Field Communication), DLNA (registered trademark) (Digital Living Network Alliance), mobile phone network, It can also be used by radio such as satellite links and terrestrial digital networks.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments can be obtained by appropriately combining technical means disclosed in different embodiments. The form is also included in the technical scope of the present invention.

  The robot apparatus, the control program, and the computer-readable recording apparatus that records the control program according to the present invention can be widely used for a robot apparatus that outputs information such as characters and images to the outside.

DESCRIPTION OF SYMBOLS 1 Robot cleaner 40 Charging stand 5 Operation panel 8 Sound input part 9 Radio | wireless part (information output means)
DESCRIPTION OF SYMBOLS 16 Battery 17 Control board 30 Dust collection part 31 Dust collection container 100 Control part 110 Detection part 111 Panel operation detection part 112 Sound detection part 113 Dust amount detection part 114 Battery residual quantity detection part 115 Signal detection part 120 Emotion determination part 130 Wireless control Unit 200 storage unit 210 calculation value storage unit 211 cleaning frequency calculation value storage unit 212 dust amount calculation value storage unit 213 battery remaining amount calculation value storage unit 214 event calculation value storage unit 220 information storage unit 221 first information storage unit 222 first 2 information storage unit

Claims (8)

An information transmitting means for transmitting information;
Detection means for detecting the occurrence of an event based on detection information;
Information storage means for storing information transmitted from the information transmission means,
The information storage means stores a single first information corresponding to a first event, and a plurality of second information corresponding to a second event,
The information transmitting means transmits the first information and the second information,
The robot apparatus, wherein the second information is selected from a plurality of the second information according to the event.   The robot apparatus according to claim 1, wherein the information transmission unit transmits the first information and the second information in a connected manner. A power supply means for supplying power to the robot apparatus;
The robot apparatus according to claim 1, wherein the detection unit detects a power supply state from the power supply unit as the event. It further includes a cleaning means for cleaning,
The robot device according to claim 1, wherein the detection unit detects information related to cleaning as the event. A cleaning number storage means for storing the number of times cleaning has been performed;
The robot apparatus according to claim 4, wherein the detection unit detects the number of times as the event. A dust collecting part for collecting the dust removed by the cleaning means;
The robot apparatus according to claim 4, wherein the detection unit detects the amount of dust in the dust collecting unit as the event.   A control program for operating a computer included in the robot apparatus according to any one of claims 1 to 6, wherein the control program causes the computer to function as each of the means.   A computer-readable recording medium on which the control program according to claim 7 is recorded.

Images