JP6081060B2 - Robot apparatus, control program, and computer-readable recording medium recording the control program - Google Patents

Description

  The present invention relates to a robot apparatus and the like.

  In recent years, domestic support robots for general households have begun to spread.

  Patent Document 1 discloses a vacuum cleaner robot that automatically cleans a vacuum cleaner that cleans a house in accordance with an operation instruction given from a communication terminal via a communication network. It has a function of storing information related to its own operating state as device information such as standby (non-operating state), operating normally, falling down, and the remaining battery level. Transmits this device information to the mobile phone. "

JP 2005-118354 A (published May 12, 2005)

  However, as disclosed in Patent Document 1, when a numerical value indicating device information is transmitted as it is to the mobile terminal, the user must confirm a large number of numerical values in order to grasp the operating state of the cleaner. I must. That is, since it is difficult to grasp the operating state of the vacuum cleaner at first glance, user convenience is impaired.

  The present invention has been made in view of the above-mentioned problems, and the purpose of the present invention is to replace various types of information acquired by the device with expressions that are summarized so that the overview of the information can be grasped at a glance. Another object of the present invention is to provide a robot apparatus that notifies the outside.

  In order to solve the above-described problem, the robot apparatus according to the present invention transmits determination information for determining general information that summarizes the acquired information acquired by the own device, and the general information determined by the determination means to an external device. Transmitting means, wherein the determining means determines the general information by selecting from a plurality of options according to the acquired information.

  According to the above configuration, first, general information summarizing the acquired information acquired by the own device is determined by selecting from a plurality of options according to the acquired information. Then, the determined summary information is transmitted to the external device.

  Therefore, the acquired information acquired by the own device can be transmitted to the external device in place of the generalized information instead of being transmitted to the external device as it is.

  Therefore, the user can grasp the outline of the acquired information more easily by confirming the general information on the external device than when directly confirming the acquired information, and the user convenience is improved. .

  Furthermore, the robot apparatus according to the present invention may be configured such that the transmission unit further transmits the acquired information to the external apparatus.

  According to the above configuration, the acquired information itself is transmitted to the external device in addition to the general information.

  Therefore, the user can also confirm the acquired information in addition to confirming the general information on the external device.

  Furthermore, the robot apparatus according to the present invention may be configured such that the general information is information indicating a state of the state of the own device calculated using the acquired information.

  According to said structure, general information is information which shows the condition (for example, good / normal / bad) of the own machine.

  Therefore, the acquired information acquired by the own device is not transmitted as it is to the external device, but information indicating the state of the own device can be replaced with the external device and transmitted. Therefore, there is an effect that the outline of the acquired information can be grasped by a simple action of confirming the state of the robot apparatus.

  Furthermore, in the robot apparatus according to the present invention, when the power of the own device is turned on, the determination unit determines the general information, and the transmission unit transmits the determined general information to the external device. It may be a configuration.

  According to the above configuration, the general information is determined when the power of the own device is turned on, and the determined general information is transmitted to the external device.

  Therefore, at the timing when the power of the robot apparatus is turned on, an outline of the acquired information at that time can be confirmed by the external apparatus.

  Further, in the robot apparatus according to the present invention, the transmission unit may be configured to transmit the summary information determined this time only when the summary information most recently determined by the determination unit is different from the summary information determined by the determination unit. It may be configured to transmit to an external device.

  According to the above configuration, only when the most recently determined summary information is different from the currently determined summary information, the currently determined summary information is transmitted to the external device.

  Therefore, the general information is not transmitted to the external device every time the general information is determined, but the general information is transmitted to the external device only when the general information is changed.

  Therefore, there is an effect that the outline of the acquired information at that time can be confirmed by the external device at the timing when the general information changes.

  Furthermore, the robot apparatus according to the present invention may be configured such that the transmission unit further transmits a message associated with the general information to be transmitted to the external apparatus.

  According to said structure, in addition to general information, the message matched with general information is transmitted to an external device.

  Therefore, there is an effect that a message accompanying the general information can be transmitted to the external device together with the general information.

  Furthermore, the robot apparatus according to the present invention further includes a secondary battery that is a power supply source for supplying power to the own device, and a battery remaining amount measuring unit that measures a battery remaining amount of the secondary battery, The determining unit may be configured to determine the general information using the remaining battery level measured by the remaining battery level measuring unit as the acquired information.

  According to said structure, the said summary information is determined by making the battery residual amount of a secondary battery into the said acquisition information.

  Therefore, instead of directly transmitting the remaining battery level of the secondary battery to the external device, it is possible to transmit general information about the remaining battery level to the external device.

  Therefore, it is possible to obtain an overview of the remaining battery level of the secondary battery by checking the summary information with the external device.

  Furthermore, the robot apparatus according to the present invention is configured to electrically connect a secondary battery, which is a power supply source for supplying power to the own machine, and a charging stand for charging the secondary battery. A moving control means for moving the mobile information, and the determining means determines the general information using the acquired information as to whether or not the own device is connected to the charging base as a result of movement by the moving control means. It may be.

  According to said structure, the said summary information is determined by making into the said acquisition information whether the own machine was connected with the charging stand.

  Therefore, it is possible not to transmit whether or not the own device is connected to the charging stand to the external device as it is, but to transmit general information summarizing that fact to the external device.

  Therefore, there is an effect that it is possible to grasp whether or not the own device is connected to the charging stand by checking the general information on the external device.

  Furthermore, the robot apparatus according to the present invention includes a cleaning unit that performs cleaning, a cleaning number storage unit that stores the number of times cleaning is performed, and the cleaning number storage unit that is stored in the cleaning number storage unit every time cleaning is performed. Cleaning number storage means for increasing and updating the number of times, and the determination means associates a total value of the number of times stored in the cleaning number storage unit in association with a day included in a predetermined period. The acquisition information may be configured to determine the general information.

  According to the above configuration, each time cleaning is performed, the number of times of cleaning associated with the day on which the cleaning is performed is increased by one and updated. Then, the general information is determined using the total number of times associated with the days included in the predetermined period as the acquired information.

  Therefore, instead of transmitting the total number of cleanings performed within a predetermined period to the external device as it is, it is possible to transmit general information summarizing the total number of times to the external device.

  Therefore, by confirming the summary information with the external device, there is an effect that it is possible to grasp the summary of the total number of times cleaning has been performed within a predetermined period.

  Furthermore, the robot apparatus according to the present invention further includes a cleaning date storage unit that stores an execution date when cleaning is performed, and a cleaning date storage unit that stores the execution date in the cleaning date storage unit when cleaning is performed. And the determination means determines the general information using the total value of the number of execution days included in a predetermined period among the execution dates stored in the cleaning date storage unit as the acquired information. May be.

  According to said structure, the said summary information is determined by making into a said acquisition information the total value of the number of execution days included in the predetermined period among the execution days which performed cleaning.

  Therefore, instead of transmitting the total date of cleaning within a predetermined period to the external device as it is, it is possible to transmit general information summarizing the total date to the external device.

  Therefore, by confirming the general information on the external device, there is an effect that an outline of the total date on which cleaning is performed within a predetermined period can be grasped.

  Furthermore, the robot apparatus according to the present invention further includes a motor that sucks dust and a current value measuring unit that measures a current value of the motor, and the determining unit is configured to determine the current value measured by the current value measuring unit. The acquisition information may be configured to determine the general information.

  According to said structure, the said general information is determined by making into the said acquisition information the electric current value of the motor which attracts dust.

  Therefore, instead of transmitting the current value of the motor that sucks dust to the external device as it is, it is possible to transmit general information summarizing the current value to the external device. The accumulated amount of dust in the dust collecting unit that collects dust can be estimated by the current value of the motor.

  Therefore, it is possible to obtain an outline of the accumulated amount of dust in the dust collecting unit by confirming the general information with the external device.

  Furthermore, the robot apparatus according to the present invention further includes a detachable dust collecting unit for collecting dust, and the determining means uses the acquired information as to whether or not the dust collecting unit has been removed. The configuration may be such that the general information is determined.

  According to said structure, the said summary information is determined by making into the said acquisition information whether the dust collection part was removed.

  Therefore, it is not possible to transmit to the external device as it is whether or not the dust collection unit has been removed, but it is possible to transmit general information summarizing that fact to the external device.

  Therefore, there is an effect that it is possible to grasp whether or not the dust collection unit has been removed by confirming the general information with the external device.

  Furthermore, the robot apparatus according to the present invention further includes an acquisition information / value storage unit that stores the acquisition information and a value for specifying the general information in association with each other, and the determination unit includes the acquisition information and the acquisition information. In accordance with a configuration in which the values stored in the acquired information / value storage unit are acquired in association with each other, and the general information is selected from the options according to the result of adding the acquired value and the value acquired from the outside. There may be.

  According to said structure, the said general information can be selected using the value acquired from the outside.

  Therefore, there is an effect that the summary information considering the value acquired from the outside can be transmitted to the external device.

  The robot apparatus may be realized by a computer. In this case, the robot apparatus control program for realizing the robot apparatus by the computer by operating the computer as each of the means, and recording the program. Such computer-readable recording media also fall within the scope of the present invention.

  As described above, the robot apparatus according to the present invention includes a determination unit that determines general information that summarizes the acquired information acquired by the own device, and a transmission unit that transmits the general information determined by the determination unit to an external device. The determining means determines the general information by selecting from a plurality of options according to the acquired information.

  Therefore, the user can check the summary information on the external device and can easily obtain an overview of the acquired information in a short time compared to the case of directly checking the acquired information. The effect of doing.

It is a perspective view of the self-propelled cleaner of one embodiment of the present invention. It is side surface sectional drawing of the said self-propelled cleaner. It is a bottom view of the self-propelled cleaner. It is a figure which shows an example of the operation panel of the said self-propelled cleaner. It is side surface sectional drawing of the said self-propelled cleaner, and has shown the case where the cover part of a main body housing | casing is opened and a dust collecting part is taken out. It is a perspective view of the charging stand which charges the said self-propelled cleaner. It is a block diagram which shows the functional structure of the said self-propelled cleaner. It is a block diagram which shows the structure of the memory | storage part and control part of the said self-propelled cleaner. (A) is a schematic diagram which shows an example of the data memorize | stored in the frequency | count of cleaning / calculation value memory | storage part contained in the said memory | storage part. (B) is a schematic diagram which shows an example of the data memorize | stored in the cleaning days / calculation value memory | storage part contained in the said memory | storage part. It is a schematic diagram which shows an example of the coefficient which the emotion calculating part contained in the said control part uses. It is a schematic diagram which shows the correspondence of the emotion value obtained as a result calculated by the emotion calculating part contained in the said control part, and an emotion. It is a flowchart which shows the flow of the process in the said self-propelled cleaner. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled cleaner which concerns on other one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the battery remaining amount / calculated value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the electric current value / calculation value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the elapsed time / calculated value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the state / calculated value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the state / calculated value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the frequency | count of collision / calculation value memory | storage part contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the frequency | count of fall avoidance / calculation value memory | storage parts contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the frequency | count of odor / calculated value memory | storage parts contained in the said memory | storage part. It is a block diagram which shows the structure of the memory | storage part and control part of the self-propelled (vacuum) cleaner which concerns on further another one Embodiment of this invention. It is a schematic diagram which shows an example of the data memorize | stored in the temperature / calculated value memory | storage part contained in the said memory | storage part.

[Outline of the Invention]
As an embodiment of the robot apparatus according to the present invention, a self-propelled cleaner (robot apparatus) 1 will be described below as an example. In addition to the self-propelled cleaner 1, the robot apparatus can be widely applied to robot apparatuses such as a housework helper robot, an air cleaning robot, a security robot, or a pet robot.

  The self-propelled cleaner 1 according to the present invention is a device that performs cleaning by sucking dust while self-propelled. The self-propelled cleaner 1 includes information acquired by the self-propelled cleaner 1 (specifically, information obtained as a result of performing cleaning, information indicating the state of each part of the own device, and operation instructions for the own device). The main feature is that the information is replaced with an expression (hereinafter referred to as "summary information") that can be grasped at a glance, and the summary information is transmitted to an external device. Yes.

  A typical example of the general information is information indicating the state (good or bad) of the state of the self-propelled cleaner 1 calculated from the information acquired by the self-propelled cleaner 1. Below, the state of the state of the self-propelled cleaner 1 will be described as being expressed by the “emotion” of the self-propelled cleaner 1 when the self-propelled cleaner 1 is anthropomorphic. In this case, the self-propelled cleaner 1 transmits an emotion as an expression summarizing information acquired by the self-propelled cleaner 1 to an external device.

  The emotion of the self-propelled cleaner 1 is determined by selecting from a plurality of options. In each embodiment, it is assumed that there are three choices: “good mood” with good mood, “normal” with normal mood, and “bad mood” with bad mood. The emotion selection method will be described later. Note that “upper mood” means that the state of the self-propelled cleaner 1 is good, and “normal” means that the state of the self-propelled cleaner 1 is not bad but cannot be said to be good. , "Moody" represents that the state of the self-propelled cleaner 1 is poor.

  Further, the “personality” of the self-propelled cleaner 1 may be configured to be selectable by the user. Typical examples of personality are “emotion type” with long emotional duration, “moderate type” with normal emotional duration, and “tolerance type” with short emotional duration. By selecting these types, it is possible to adjust the emotion persistence according to the user's preference.

  A typical example of a transmission destination external device is a mobile terminal (smart phone, tablet terminal, PC, or the like) that has been paired with the self-propelled cleaner 1. In this case, the external device displays the emotion transmitted from the self-propelled cleaner 1 on a display unit such as a touch panel so that the user can browse. Another typical example of the external device may be a server device that provides a website such as a blog or SNS (Social Networking Service). The external device in this case holds the emotion transmitted from the self-propelled cleaner 1 in a format that the user can browse using a Web browser or the like. In addition, the self-propelled cleaner 1 and the portable terminal are not necessarily paired.

  In addition, this invention is not limited to a self-propelled cleaner, It is applicable also to the cleaner which is not self-propelled.

Embodiment 1
An embodiment of the present invention will be described below with reference to FIGS.

(Structure of self-propelled vacuum cleaner)
1-3, the perspective view, side sectional drawing, and bottom view of the self-propelled cleaner 1 of this embodiment are shown, respectively.

  As shown in FIG. 1, the self-propelled cleaner 1 includes a self-propelled cleaner 1 body having an outer frame formed of a circular body housing 2 in plan view, and a battery (secondary) as shown in FIG. Battery) 14 and a drive wheel 29 driven by a power supply source, and is a device that collects dust (cleans) while running on its own.

  As shown in FIG. 1, an operation panel 50 for inputting instructions to the self-propelled cleaner 1, an LED (Light Emitting Diode) lamp 51, and a dust collecting unit 30 are provided on the upper surface of the main body housing 2. A lid 3 is provided that opens and closes when taking in and out. In the present embodiment, the main body housing 2 has a shape in which the upper surface and the bottom surface form a circle, but is not limited to this shape.

  In the present embodiment, the LED lamp 51 is provided around the upper surface of the main body housing 2, and the lighting color and lighting pattern change according to the state of the self-propelled cleaner 1 as described later. It is like that. A lamp other than the LED may be provided. Moreover, you may provide an LED lamp in the vicinity of the exhaust port 7 provided in the upper surface of the main body.

  The operation panel 50 includes an operation switch (operation unit) that receives input of various instructions, data such as characters and numbers, and a display (display unit) that displays various information to be presented to the user. Is provided. The operation panel 50 may be provided as a touch panel. The operation panel 50 may be provided with a display LED.

  FIG. 4 shows an example of the operation panel 50. The operation panel 50 shown in FIG. 4 operates a “start and stop button” 501 for instructing start and stop of cleaning, a “mode selection button” 502 for selecting a cleaning mode, and operating the current time and the self-propelled cleaner 1. A “timer set button” 505 provided to set the reservation time, a time display unit 504 for displaying the current time and the reservation time, a garbage disposal lamp 506 that is turned on when it is detected that the dust collecting container 31 described later is full, Is provided. Further, the operation panel 50 displays a “battery mark” 503 indicating the amount of charge of the battery 14. These are merely examples, and the operation panel 50 may include an operation unit and a display unit that realize functions other than these.

  As shown in FIGS. 2 and 3, a pair of drive wheels 29 that protrude from the bottom surface and rotate about a horizontal rotation shaft 29 a are arranged on the bottom surface of the main body housing 2. The rotation shaft 29 a of the drive wheel 29 is disposed on the center line C of the main body housing 2. When both wheels of the drive wheel 29 rotate in the same direction, the self-propelled cleaner 1 advances and retreats, and when rotated in the reverse direction, the self-propelled cleaner 1 rotates around the center line C of the main body housing 2. When the drive wheel 29 is driven by the battery 14, the self-propelled cleaner 1 is self-propelled. Below, the front in the advancing direction when the self-propelled cleaner 1 performs self-propelled cleaning is referred to as the front and the rear as the rear. Moreover, the movement along the traveling direction when performing cleaning is called forward, and the movement along the direction opposite to the traveling direction when performing cleaning is called backward. Also. In the peripheral surface (side surface) of the main body housing 2, a surface facing the traveling direction when cleaning is referred to as a front surface, and a surface located on the opposite side of the front surface is referred to as a back surface. The back surface is a surface that faces the traveling direction when the vehicle moves backward.

  During cleaning, when the main housing 2 reaches the periphery of the cleaning area or when it collides with an obstacle on the path, the drive wheels 29 are stopped. Then, both wheels of the drive wheel 29 are rotated in opposite directions, and the main body of the self-propelled cleaner 1 is rotated around the center line C of the main body housing 2 to change its direction and turn. Accordingly, the self-propelled cleaner 1 can be self-propelled over the entire desired cleaning area and can be self-propelled while avoiding obstacles. Note that the self-propelled cleaner 1 may be moved backward by reversing both wheels of the drive wheel 29 with respect to forward movement.

  A suction port 6 is provided in front of the bottom surface of the main body housing 2. The suction port 6 is formed so as to face the floor surface F by an open surface of a recess 8 that is recessed in the bottom surface of the main body housing 2. A rotating brush 9 that rotates on a horizontal rotating shaft is disposed in the recess 8, and a side brush 10 that rotates on a vertical rotating shaft is disposed on both sides of the recess 8.

  Further, a roller-shaped front wheel 27 is provided on the bottom surface of the main body housing 2 in front of the suction port 6. Further, a rear wheel 26 made of a free wheel is provided at the rear end (rear end) of the bottom surface of the main body housing 2. In the self-propelled cleaner 1, the weight is distributed in the front-rear direction with respect to the drive wheel 29 disposed in the center of the main body housing 2, and the front wheel 27 is separated from the floor surface F so that the rotating brush 9, the drive wheel 29 and the rear wheel are separated. 26 is grounded on the floor F and cleaning is performed. For this reason, dust in front of the course can be guided to the suction port 6 without being blocked by the front wheel 27. The front wheel 27 contacts the step appearing on the course so that the self-propelled cleaner 1 can easily get over the step.

  A bumper 5 is provided around the main body housing 2 to buffer the impact and vibration on the main body of the self-propelled cleaner 1. When the self-propelled cleaner 1 detects that the bumper 5 has come into contact with an obstacle during traveling, the traveling direction is changed and the traveling is continued.

  A charging terminal 4 that charges the battery 14 is exposed at the rear end of the peripheral surface of the main body housing 2. In the present embodiment, two charging terminals 4 are provided above and below the rear end of the peripheral surface of the main body housing 2, but one or three or more charging terminals 4 may be provided. The self-propelled cleaner 1 returns to the place where the charging stand 40 is installed after cleaning or when the charge amount falls below a predetermined value. Then, the battery 14 is charged by bringing the charging terminal 4 into contact with the power supply terminal 41 provided on the charging stand 40. The rear surface of the charging base 40 connected to the commercial power supply (the surface not facing the peripheral surface of the main body housing 2) is usually installed along the side wall S in the room. The charging stand 40 will be described later.

  The battery 14 is a power supply source for the entire self-propelled cleaner 1. The battery 14 is desirably a large capacity rechargeable battery that can be repeatedly charged and discharged. For example, a lead battery, a nickel metal hydride battery, a lithium ion battery, or a capacitor may be used.

  A dust collection unit 30 that collects dust is disposed in the main body housing 2. The dust collection unit 30 is disposed above the rotation shaft 29 a of the drive wheel 29 and is housed in a dust collection chamber 39 provided in the main body housing 2. Since the dust collecting unit 30 is disposed above the rotating shaft 29a of the drive wheel 29, the weight balance of the main body housing 2 is maintained even if the weight increases due to dust collection. The dust collection chamber 39 is composed of an isolation chamber whose four peripheral surfaces and bottom are covered, and is formed to extend in the axial direction of the rotary brush 9 so as to partition the inside of the main body housing 2. Each wall surface of the dust collection chamber 39 is closed except for the front wall extending in the axial direction of the rotating brush 9. The front wall of the dust collecting chamber 39 is provided with a first intake passage 11 communicating with the recess 8 and a second intake passage 12 disposed above the recess 8 and communicating with the motor unit (motor) 20.

  As shown in FIG. 5, the dust collecting unit 30 can be inserted into and removed from the main body housing 2 by opening the lid 3 of the main body housing 2. The dust collection unit 30 is formed by attaching an upper cover 32 having a filter 33 to the upper part of a bottomed dust collection container 31. The upper cover 32 is locked to the dust collecting container 31 by a movable locking part 32a, and opens and closes the upper surface of the dust collecting container 31 by operating the locking part 32a. Thereby, the dust accumulated in the dust collecting container 31 can be discarded.

  On the peripheral surface of the dust collecting container 31, an inflow path 34 that opens to the front end of the inlet 34 a and communicates with the first intake path 11 is provided. Further, an inflow portion 34 b that guides the airflow downward by bending is provided in the dust collecting container 31 continuously to the inflow passage 34. On the peripheral surface of the upper cover 32, an outflow path 35 that opens to the front end and opens to the second intake path 12 is provided.

  A packing (not shown) that is in close contact with the front wall of the dust collecting chamber 39 is provided around the inflow port 34a and the outflow port 35a. Thereby, the inside of the dust collection chamber 39 in which the dust collection unit 30 is accommodated is sealed. The opening surface of the inflow port 34a, the opening surface of the outflow port 35a, and the front wall of the dust collecting chamber 39 are formed in an inclined surface, and deterioration of the packing due to sliding when the dust collecting unit 30 is put in and out can be prevented.

  A control board 15 is disposed in the upper part of the main body housing 2 behind the dust collection chamber 39. The control board 15 is provided with a later-described control unit (cleaning means) 52 that controls each part of the self-propelled cleaner 1 and a later-described storage unit 57 that stores various data. A detachable battery 14 is disposed in the lower part of the rear of the dust collection chamber 39. The battery 14 is charged from the charging stand 40 via the charging terminal 4 and supplies power to the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, the electric blower 22, and the like.

  In the self-propelled cleaner 1 having the above-described configuration, when a cleaning operation is instructed, electric power is supplied from the battery 14, and the electric blower 22, an ion generator 62, a driving wheel 29, a rotating brush 9, and a side brush described later are supplied. 10 is driven. As a result, the self-propelled cleaner 1 causes the rotating brush 9, the drive wheel 29 and the rear wheel 26 to come into contact with the floor surface F to self-travel in a predetermined cleaning area, and includes dust on the floor surface F from the suction port 6. Airflow is inhaled. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 9 and guided into the recess 8. Further, the dust on the side of the suction port 6 is guided to the suction port 6 by the rotation of the side brush 10.

  The airflow sucked from the suction port 6 flows rearward through the first intake passage 11 as shown by an arrow A1 in FIG. 2, and flows into the dust collecting unit 30 through the inflow port 34a. The airflow that has flowed into the dust collector 30 collects dust by the filter 33 and flows out of the dust collector 30 through the outlet 35a. Thereby, dust is collected and accumulated in the dust collecting container 31. The airflow flowing out from the dust collection unit 30 flows forward through the second intake passage 12 as indicated by an arrow A2 and flows into the electric blower 22 of the motor unit 20.

  The airflow that has passed through the electric blower 22 is exhausted upward and rearward as indicated by an arrow A3 from an exhaust port 7 provided on the upper surface of the main body housing 2. Note that an ion generator (not shown) is provided in the vicinity of the electric blower 22, and an airflow containing ions is exhausted from the exhaust port 7.

  As described above, the room is cleaned, and ions contained in the exhaust of the self-propelled self-propelled cleaner 1 are spread throughout the room to be sterilized and deodorized in the room. At this time, since the air is exhausted upward from the exhaust port 7, it is possible to prevent the dust on the floor surface F from being rolled up and improve the cleanliness of the room.

  A part of the airflow containing ions flowing through the second intake passage 12 may be guided to the recess 8. If comprised in this way, ion will be contained in the airflow guide | induced to the 1st intake path 11 from the suction inlet 6. FIG. Thereby, sterilization and deodorization of the dust collection container 31 and the filter 33 of the dust collection part 30 can be performed.

  The charging stand 40 is a device for charging the battery 14 of the self-propelled cleaner 1, and the charging stand 40 includes a charging circuit for controlling charging of the battery 14 and the like inside.

  As shown in FIG. 6, the front surface of the charging stand 40 (the surface facing the peripheral surface of the main body housing 2) has a self-propelled cleaner at a position where it can contact the charging terminal 4 of the self-propelled cleaner 1. The same number of feeding terminals 41 as the charging terminals 4 are provided. The power supply terminal 41 protrudes from the front surface of the charging stand 40 in a state where it is not in contact with anything, and can be pushed back until the front end surface of the power supply terminal 41 and the front surface of the charging stand 40 become substantially flat. . When the charging terminal 4 of the self-propelled cleaner 1 is in contact (electrically connected) with the power supply terminal 41 of the charging base 40 and is pushed until the front end surface of the power supply terminal 41 becomes substantially flat with the front surface of the charging base 40. The electric current from the commercial power source connected to the charging stand 40 flows through the self-propelled cleaner 1 in conduction with the contact. In this state, the battery 14 can be charged.

  Further, the charging stand 40 is configured to transmit a feedback signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41. When the self-propelled cleaner 1 detects the end of cleaning or the charge amount of the battery 14 falls below a predetermined value, the self-propelled cleaner 1 detects the feedback signal emitted from the charging base 40 and the charging base 40 is installed. Return home automatically. Here, the end of cleaning may be detected, for example, by detecting that the self-propelled cleaner 1 has moved a certain distance or a certain time has passed, or by detecting the cleaning state of the cleaning area with a sensor or the like. Good. Alternatively, the self-propelled cleaner 1 receives 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 50 or a remote control device described later or a terminal device connected by wireless communication. It may be done.

  In the present embodiment, an infrared signal is transmitted as a feedback signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41, but a signal other than the infrared signal may be transmitted. The feedback signal is always transmitted if the charging stand 40 is connected to a commercial power source and the self-propelled cleaner 1 is away from the charging stand 40.

  In the present embodiment, the self-propelled cleaner 1 detects the return signal, moves forward (in other words, moves the front surface in the direction of travel), and returns to the vicinity of the place where the charging stand 40 is installed. It stops and turns around the center line C of the main body housing 2 until the charging terminal 4 comes to a position facing the power supply terminal 41. Thereafter, the main body housing 2 starts retreating (in other words, the rear surface is moved in the traveling direction). In the self-propelled cleaner 1, after the charging terminal 4 comes into contact with the power supply terminal 41, the self-propelled cleaner 1 is further retracted so that the front end surface of the power supply terminal 41 in contact with the charging terminal 4 and the front surface of the charging stand 40 are substantially flat. When it reaches a position (position where the pushing back of the power supply terminal 41 stops, docking position), the power supply from the power supply terminal 41 is detected and the backward movement is stopped. Charging is performed in this stopped state. In addition, the process regarding the return of the self-propelled cleaner 1 and the docking of the charging terminal 4 and the power supply terminal 41 (the docking of the self-propelled cleaner 1 and the charging stand 40) can use a known technique.

  For docking between the charging terminal 4 and the power supply terminal 41, for example, a rear sensor is installed on the back surface (rear end) of the main body housing 2, and the self-propelled cleaner 1 is moved backward while detecting a return signal with the rear sensor. Can be done. When the rear sensor no longer detects the feedback signal, the self-propelled cleaner 1 is rotated forward (clockwise) or reversely (counterclockwise) by a small amount around the center line C of the main body housing 2 to return the feedback signal. After detecting, move backwards. In this way, the positions of the charging terminal 4 and the power feeding terminal 41 can be aligned by retracting the main body housing 2 while always detecting the feedback signal.

  Both the rear sensor and the charging terminal 4 are preferably provided on a line parallel to the rotation shaft 29 a of the drive wheel 29. If provided in this way, the rear sensor moves backward while maintaining detection of the feedback signal from the charging stand 40, and the charging terminal 4 can be appropriately connected to the power feeding terminal 41.

  Moreover, the self-propelled cleaner 1 can drive the electric blower 22 and the ion generating device in a state where the charging terminal 4 and the power feeding terminal 41 are connected by setting, that is, while the battery 14 is being charged and after the charging is completed. It may be configured as follows. If comprised in this way, the airflow containing ion will be discharge | released upwards and backwards from the exhaust port 7 during charge and after completion | finish of charge. Since the charging terminal 4 is provided at the rear end of the main body housing 2, the airflow including ions flows in the direction of the charging stand 40. Here, when the back surface of the charging stand 40 is installed along the indoor side wall S, the airflow including ions rises along the side wall S. The airflow circulates along the indoor ceiling wall and the opposite side wall. Accordingly, the ions are spread throughout the room, and the sterilizing effect and the deodorizing effect can be improved.

  In addition, the self-propelled cleaner 1 is provided with an environment detection unit that detects the state of the surrounding environment. Based on the state of the surrounding environment detected by the environment detection unit, the self-propelled cleaner 1 stays at a specific location for a certain period of time, It may be configured to release an air stream containing ions from.

  In the present embodiment, the self-propelled cleaner 1 can be operated not only from the operation panel 50 provided in the self-machine, but also from a remote control device (not shown) by infrared communication such as IrDA and IrSS (registered trademark). It is like that. The self-propelled cleaner 1 is operated via a terminal device (not shown) such as a smartphone connected by wireless communication such as Bluetooth (registered trademark), WiFi (registered trademark), ZigBee (registered trademark), or the like. You can also do that. Moreover, it is also possible to transmit data from the self-propelled cleaner 1 to a terminal device connected by wireless communication. That is, the self-propelled cleaner 1 can perform two-way communication with a terminal device connected by a wireless radio wave method. Self-propelled cleaner 1 may be connected to a wide area wireless network. In this case, the operation of the self-propelled cleaner 1 can be performed from a terminal device connected to a wide area wireless network.

  Furthermore, the self-propelled cleaner 1 may be capable of performing voice input operations. Moreover, the self-propelled cleaner 1 may be configured to output sound data stored in the self-propelled cleaner 1.

  Moreover, the self-propelled cleaner 1 includes various sensors, and is configured to avoid obstacles and to be able to self-propel without falling from steps or stairs. Examples of such sensors include a cliff sensor (step detection sensor), an obstacle detection sensor, a human sensor, a CCD (Charge-Coupled Device) camera, and the like. These are merely examples and need not all be provided. The cliff sensor and the human sensor can be configured by, for example, an infrared sensor, and the obstacle detection sensor can be configured by, for example, an ultrasonic sensor.

  Self-propelled cleaner 1 is provided with an acceleration sensor, a distance detection sensor, an angle sensor, etc., for example, and operation etc. during cleaning may be controlled. Furthermore, the self-propelled cleaner 1 may include a temperature measurement unit and an odor measurement unit as will be described later, and may be controlled to perform cleaning, ion emission, and the like according to the measurement result.

  In the present embodiment, the self-propelled cleaner 1 is described as a suction-type cleaner, but the self-propelled cleaner 1 can also be applied to, for example, a mop-type cleaner. Self-propelled cleaner 1 may be not only for home use but also for business use.

  Moreover, in this embodiment, although the self-propelled cleaner 1 is provided with the ion generator 62, it does not necessarily need to be provided.

(Functional configuration of self-propelled vacuum cleaner)
Next, the functional configuration of the self-propelled cleaner 1 will be described. As shown in FIG. 7, the self-propelled cleaner 1 includes a control unit 52, a communication control unit (communication control means) 53, an operation panel 50, an LED lamp lighting unit 54, an LED lamp 51, a voltage detection unit 55, a charging terminal. 4, battery 14, storage unit 57, travel drive unit 58, rotary brush drive unit 59, rotary brush 9, side brush drive unit 60, side brush 10, drive wheel 29, blower 61, ion generator 62, voice input unit 63, an audio output unit 64, a level difference detection unit 65, an odor measurement unit 66, a temperature measurement unit 67, and a collision detection unit 68. Description of the previously described members is omitted.

  The control unit 52 is a self-propelled cleaner based on the programs and data stored in the storage unit 57 and the programs and data input from the operation panel 50, the remote control device, and the terminal device connected by wireless communication. 1 is a block for controlling various operations of 1. The control unit 52 is provided on the control board 15 described above.

  The communication control unit 53 is a block that controls data transmission / reception with an external device. A control signal or the like for controlling the self-propelled cleaner 1 is received from the remote controller or the terminal device connected by wireless communication. Moreover, the data memorize | stored in the self-propelled cleaner 1 and the data measurable with the self-propelled cleaner 1 are transmitted with respect to the terminal device connected by radio | wireless communication. The communication control unit 53 also receives a feedback signal from the charging stand 40.

  The LED lamp lighting unit 54 is a block that supplies driving current to the LED lamp 51 and controls the lighting of the LED lamp 51. The LED lamp lighting unit 54 changes the lighting color and lighting pattern in accordance with the state of the self-propelled cleaner 1. For example, cleaning mode for cleaning, charging mode for charging, ion generation without cleaning (ion generation will be described later), emergency mode for emergency , The color and lighting pattern may be changed.

  The voltage detection unit 55 is a block that detects the voltage of the battery 14, and obtains the charge amount of the battery 14 from the detected voltage. The charging terminal 4 is electrically connected to the battery 14.

  The storage unit 57 includes (1) a control program executed by the control unit 52 of the self-propelled cleaner 1, (2) an OS program executed by the control unit 52, and (3) the control unit 52 of the self-propelled cleaner 1 And (4) various data to be read when the application program is executed. Alternatively, (5) the control unit 52 stores data and calculation results used for calculations in the course of executing various functions. For example, the above data (1) to (4) are stored in a nonvolatile storage device such as a ROM (read only memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), an HDD (Hard Disc Drive), etc. Is remembered. For example, the data (5) is stored in a volatile storage device such as a RAM (Random Access Memory).

  Further, the storage unit 57 stores various condition settings relating to the operation of the self-propelled cleaner 1 received from the remote control device or the terminal device described above via the operation panel 50 or the communication control unit 53. Furthermore, the storage unit 57 may store a travel map around the installation location of the self-propelled cleaner 1. The travel map is information related to travel such as the travel route and travel speed of the self-propelled cleaner 1 or information related to the area to be cleaned. The travel map may be set in advance by the user and stored in the storage unit 57, or the self-propelled cleaner 1 itself may be automatically recorded.

  The travel drive unit 58 includes a motor driver, a drive wheel motor, and the like, and is a block that drives the drive wheels 29 by determining a rotation direction, a rotation angle, and the like based on a control signal from the control unit 52.

  The rotating brush drive unit 59 includes a motor driver, a rotating brush motor, and the like, and is a block that determines the number of rotations and the like based on a control signal from the control unit 52 and drives the rotating brush 9.

  The side brush drive unit 60 includes a motor driver, a side brush motor, and the like, and is a block that determines the number of rotations and the like based on a control signal from the control unit 52 and drives the side brush 10.

  The blower device 61 corresponds to the motor unit 20 described above, and includes the electric blower 22 and the like, and is a device that performs intake and exhaust from the inside of the main body housing 2.

  The ion generator 62 is an apparatus that generates ions when driven under the control of the controller 52.

  In the present embodiment, the ion generator 62 is assumed to be a plasma cluster ion (registered trademark) generator. Therefore, the ion generator 62 is provided with a plasma cluster ion generating element, and the plasma cluster ion generating element includes a positive ion generating unit that generates positive ions and a negative ion generating unit that generates negative ions. Yes. Such an ion generating element is disclosed in detail in Japanese Patent Application Laid-Open No. 2002-58731 filed earlier by the present applicant.

  Ions generated from the ion generator 62 are discharged out of the main body housing 2 by the blower 61. The self-propelled cleaner 1 can execute the cleaning operation and the ion generation operation at the same time under the control of the control unit 52, and can also execute the cleaning operation and the ion generation operation independently. It is.

  The voice input unit 63 is a voice input device such as a microphone, and inputs voice to the self-propelled cleaner 1 from the outside.

  The audio output unit 64 is an audio output device such as a speaker, and outputs audio according to the audio data stored in the storage unit 57.

  The level difference detection unit 65 is a sensor that detects a level difference on the traveling surface of the self-propelled cleaner 1, and includes, for example, a cliff sensor.

  The odor measuring unit 66 is an odor sensor that measures the odor around the self-propelled cleaner 1, and includes, for example, a gas sensor.

  The temperature measuring unit 67 is a temperature sensor that measures the temperature around the self-propelled cleaner 1, and includes, for example, a thermistor.

  The collision detection unit 68 is a contact sensor that detects that the bumper 5 has collided with an obstacle.

  Next, the configuration of the storage unit 57 and the control unit 52 will be described in detail with reference to FIGS.

(Configuration of storage unit)
The storage unit 57 includes a cleaning number storage unit 571, a cleaning days storage unit 572, a cleaning number / calculated value storage unit (acquired information / value storage unit) 573, and a cleaning days / calculated value storage unit (acquired information / value storage unit). 574). Further, a message storage unit 570 may be included.

  The cleaning number storage unit 571 stores the number of times that the self-propelled cleaner 1 performs cleaning (hereinafter referred to as the number of cleanings) every day. In addition, the cleaning days storage unit 572 stores, for each day, whether or not the self-propelled cleaner 1 has performed cleaning. Even if the cleaning is performed a plurality of times on the same day, the information recorded in the cleaning days storage unit 572 is only that the cleaning is performed on that day. The data stored in the cleaning number storage unit 571 and the cleaning days storage unit 572 are updated by a cleaning history information storage unit 401 described later.

  In addition, the self-propelled cleaner 1 can perform cleaning in the cleaning modes shown in the following (N1) to (N4). The cleaning number storage unit 571 and the cleaning days storage unit 572 may store data for each cleaning mode, or may store data without distinguishing the cleaning mode.

  (N1) The entire range that can be cleaned is cleaned (hereinafter referred to as auto mode). (N2) A predetermined circular area is cleaned (hereinafter referred to as spot 1 mode). (N3) A circular area having a size different from that of the spot 1 mode is cleaned (hereinafter referred to as spot 2 mode). (N4) Clean the wall (hereinafter referred to as the wall mode).

  In addition, it is preferable that the data stored in the cleaning number storage unit 571 and the cleaning days storage unit 572 are configured to be reset to an initial value (usually “0”) by a predetermined trigger.

  Next, the number of cleanings / calculated value storage unit 573 stores the number of cleanings in association with an emotion calculation value M1, which is a parameter used for calculation performed by an emotion calculation unit 251 described later. When the personality type of the self-propelled cleaner 1 can be set, the emotion calculation value M1 associated with the number of cleanings may be stored for each personality type. The data stored in the number of cleanings / calculated value storage unit 573 may be set in advance or may be set by the user.

  An example of data stored in the number of cleanings / calculated value storage unit 573 will be described with reference to FIG. FIG. 9A is a schematic diagram illustrating an example of data stored in the number of cleanings / calculated value storage unit 573. In the example shown in the figure, 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.

  Next, the cleaning days / calculated value storage unit 574 stores the number of days of cleaning (hereinafter referred to as cleaning days) and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the number of cleaning days may be stored for each personality type. The data stored in the cleaning days / calculated value storage unit 574 may be set in advance or may be set by the user.

  An example of data stored in the cleaning days / calculated value storage unit 574 will be described with reference to FIG. FIG. 9B is a schematic diagram illustrating an example of data stored in the cleaning days / calculated value storage unit 574. In the example shown in the figure, the number of days for cleaning is divided into three stages: “less than 4 days”, “more than 4 days but less than 7 days”, and “7 days”. The calculated value M1 is associated.

  Next, the message storage unit 570 stores the emotion and the message expressing the emotion in association with each other. For example, the emotion of “good feeling” and the message “very good” are stored in association with each other. Further, for example, “normal” emotion and “normal state” message are stored in association with each other. Further, for example, the emotion of “moody” and the message “not good” are stored in association with each other. Note that the message stored in the message storage unit 570 may be set in advance or may be set by the user.

  Note that the message stored in the message storage unit 570 is not limited to character information, and may be an image such as an icon. For example, a smile icon may be stored in association with the “good mood” emotion, an expressionless face icon may be associated with the “normal” emotion, and an angry face icon may be associated with the “moody” emotion. In this way, it is preferable that the emotion of the self-propelled cleaner 1 can be determined at a glance.

(Configuration of control unit)
The control unit 52 includes an event detection unit 101, an emotion selection unit (determination unit) 201, a transmission processing unit 301, and a cleaning history information storage unit (cleaning frequency storage unit, cleaning days storage unit) 401.

First, the event detection unit 101 detects the occurrence of an event that triggers the emotion selection unit 201 to select an emotion. Typical examples of events detected by the event detection unit 101 are events shown in the following (E1) to (E3).
(E1) The self-propelled cleaner 1 is turned on and started up (hereinafter referred to as a start event). (E2) The communication connection between the self-propelled cleaner 1 and the external device is established (hereinafter referred to as a connection establishment event). (E3) The self-propelled cleaner 1 receives a control signal indicating a data acquisition request from an external device (hereinafter referred to as a request reception event).

  In order to detect the occurrence of an activation event, a connection establishment event, and a request reception event, the event detection unit 101 includes an activation detection unit 111, a connection establishment detection unit 121, and a request reception detection unit 131.

  The activation detector 111 detects that the self-propelled cleaner 1 has been turned on and activated in order to detect an activation event.

  The connection establishment detection unit 121 detects that a communication connection with an external device has been established via the communication control unit 53 of the self-propelled cleaner 1 in order to detect a connection establishment event. Since a communication connection establishment procedure may be a generally known procedure, a description thereof is omitted here.

  The request reception detection unit 131 detects that the control signal received via the communication control unit 53 indicates a data acquisition request in order to detect a request reception event. Since the control signal reception procedure may be a generally known procedure, the description thereof is omitted here.

  Next, the emotion selection unit 201 will be described. When the event detection unit 101 detects the occurrence of an event, the emotion selection unit 201 changes the emotion of the self-propelled cleaner 1 according to the frequency of cleaning performed by the self-propelled cleaner 1. Select from "Normal" and "Moody".

  The frequency of cleaning refers to the number of times cleaning was performed during the most recent predetermined period (hereinafter referred to as period T) (hereinafter referred to as the number of times of most recent cleaning), and the number of days cleaning was performed during period T (hereinafter referred to as the latest). At least one of cleaning days). In addition, the frequency of such cleaning is information that can be acquired by the self-propelled cleaner 1, and is also a kind of device information of the self-propelled cleaner 1.

  As typical examples of the period T, (1) the period from the time of shipment of the self-propelled cleaner 1 to the present, (2) the main power supply of the self-propelled cleaner 1 has been turned on most recently, (3) the last few days, and so on.

  The emotion selection unit 201 includes a calculation value determination unit 231 and an emotion calculation unit 251. First, the calculated value determination unit 231 performs the cleaning performed by the self-propelled cleaner 1 using the emotion calculation value M1, which is a parameter used for the calculation performed by the emotion calculation unit 251 when the event detection unit 101 detects the occurrence of an event. It is decided according to the frequency.

  A case where the latest number of cleanings is used as the frequency of cleaning will be described. In this case, the calculated value determination unit 231 first acquires the number of cleanings for each day included in the period T, which is stored in the cleaning number storage unit 571. Then, the emotion calculation value M1 stored in the cleaning number / calculated value storage unit 573 is acquired in association with the acquired total number of cleaning times.

  In the case where the period T is the latest seven days, a specific example will be described. When the data shown in FIG. 9A is stored in the number of cleanings / calculated value storage unit 573, the total value of the number of cleanings in the most recent seven days is less than 4, and the self-propelled cleaner 1 When the personality is an emotion type, the calculation value determination unit 231 acquires “−10” as the emotion calculation 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 a mild type, the calculated value determination unit 231 acquires “−7” as the emotion calculated value M1. Similarly, when the total number of cleanings is less than 4 and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 231 acquires “−5” as the emotion calculated value M1.

  Next, the case where the latest cleaning days are used as the frequency of cleaning will be described. In this case, the calculated value determination unit 231 first acquires the number of days on which cleaning was performed within the period T, which is stored in the cleaning days storage unit 572. Then, the emotion calculation value M1 stored in the cleaning days / calculation value storage unit 574 is acquired in association with the acquired number.

  In the case where the period T is the latest seven days, a specific example will be described. When the data shown in FIG. 9B is stored in the cleaning days / calculated value storage unit 574, the total value of the cleaning days for the most recent 7 days is less than 4, and the self-propelled cleaner 1 When the personality is an emotion type, the calculation value determination unit 231 acquires “−20” as the emotion calculation value M1. Similarly, when the total value of the cleaning days is less than 4 and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 231 acquires “−14” as the emotion calculated value M1. Similarly, when the total value of the cleaning days is less than 4 and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 231 acquires “−10” as the emotion calculated value M1.

  Note that which of the most recent cleaning count and the most recent cleaning days is used as the cleaning frequency may be selected at random, or may be selected with a predetermined priority.

  Next, the emotion calculation unit 251 calculates an emotion value M for specifying an emotion by a predetermined calculation expression using the emotion calculation value M1 determined by the calculation value determination unit 231. 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.

  An example of the coefficient m will be described with reference to FIG. FIG. 10 is a schematic diagram illustrating an example of the coefficient m. In this example, the coefficient m is set for each personality type of the self-propelled cleaner 1. As shown in the figure, 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 an emotion type, 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” is data received from the outside via the communication control unit 53, and is typically a point value acquired as a result of a user executing a predetermined game or the like on a mobile terminal or the like. Note that the data is not limited to the point value, and may be other data.

  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, by using the above (Equation 3), it is possible to obtain an emotion value M obtained by adding points acquired as a result of a user playing a predetermined game on a mobile terminal or the like.

  And the emotion calculation part 251 selects the emotion of the self-propelled cleaner 1 according to the value of the emotion value M obtained as the calculation result. For example, as shown in FIG. 11, when the emotion value M is associated with the emotion, if the emotion value M is 25 or more, “good feeling”, if the emotion value M is −25 or more and less than 25, “normal” “If the emotion value M is less than −25,“ moody ”is selected.

  Next, the transmission processing unit 301 will be described. The transmission processing unit 301 transmits the emotion selected by the emotion selection unit 201 to the external device via the communication control unit 53. Typical examples of transmission modes are (S1) to (S3) below.

  (S1) The self-propelled vacuum cleaner 1 and the portable terminal that has been paired are transmitted via a wireless LAN or the Internet by e-mail or the like.

  (S2) The data acquisition request is transmitted to the portable terminal by e-mail or the like via a wireless LAN or the Internet.

  (S3) A server apparatus registered in advance (for example, a server apparatus providing a website such as a blog or SNS) is transmitted using a HTTP protocol or the like via a wireless LAN or the Internet.

  Typical examples of the timing at which the transmission processing unit 301 transmits emotions are the following (T1) to (T2).

  (T1) Each time the emotion selection unit 201 selects an emotion, the selected emotion is transmitted.

  (T2) The emotion selected this time is transmitted only when the emotion selected by the emotion selection unit 201 last time is different from the emotion selected by the emotion selection unit 201 this time.

  Furthermore, the transmission processing unit 301 may transmit a message stored in the message storage unit 570 in association with the emotion to be transmitted to the external device via the communication control unit 53. The message may be transmitted only when there is a request from an external device.

  Further, the transmission processing unit 301 uses the communication control unit 53 to determine the number of daily cleanings stored in the cleaning number storage unit 571 and / or the presence / absence of daily cleaning stored in the cleaning day storage unit 572. May be transmitted to an external device. These pieces of information may be transmitted only when there is a request from an external device.

  Next, the cleaning history information storage unit 401 will be described. When the self-propelled cleaner 1 starts cleaning, the cleaning history information storage unit 401 updates the number of cleanings stored in the cleaning number storage unit 571 and informs the cleaning days storage unit 572 that cleaning has been performed. Record. Depending on the data structure of the cleaning number storage unit 571 and the cleaning days storage unit 572, the cleaning history information storage unit 401 may store data for each cleaning mode, or store data without distinguishing the cleaning mode. May be.

(Process flow)
Next, the flow of processing in the self-propelled cleaner 1 will be described with reference to FIG. FIG. 12 is a flowchart showing a process flow in the self-propelled cleaner 1.

  First, when the event detecting unit 101 detects the occurrence of an event (YES in step (hereinafter simply referred to as “S”) 11), the calculated value determining unit 231 determines the emotion calculated value M1 (S12).

  Then, the emotion calculation unit 251 calculates the emotion value M using the emotion calculation value M1 determined in step S12 (S13), and selects an emotion according to the value of the emotion value M (S14).

  Then, the transmission processing unit 301 transmits the emotion selected in step S14 to the external device (S15). At this time, a message stored in the message storage unit 570 in association with the emotion to be transmitted may be transmitted to the external device.

[Embodiment 2]
Another embodiment of the present invention will be described below with reference to FIGS. 13 and 14. For convenience of explanation, members having the same functions as the members shown in the above-described embodiment are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The structure of the memory | storage part 57 and the control part 52 of the self-propelled cleaner 1 which concerns on this embodiment is demonstrated referring FIG. FIG. 13 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a battery remaining amount / calculated value storage unit (acquired information / value storage unit) 575. Further, a message storage unit 570 may be included.

  The remaining battery level / calculated value storage unit 575 stores the remaining battery level of the battery 14 and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the remaining battery level may be stored for each personality type. The data stored in the remaining battery level / calculated value storage unit 575 may be set in advance or may be set by the user.

  An example of data stored in the remaining battery level / calculated value storage unit 575 will be described with reference to FIG. FIG. 14 is a schematic diagram illustrating an example of data stored in the remaining battery level / calculated value storage unit 575. In the example shown in the figure, the remaining battery level is divided into three levels: “less than 20%”, “20% or more and less than 90%”, and “90% or more”. Emotion calculation values M1 are associated with each other.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 202, a transmission processing unit 301, and a battery remaining amount measurement unit (battery remaining amount measurement unit) 402.

  First, the remaining battery level measurement unit 402 measures the remaining battery level of the battery 14 via the voltage detection unit 55 in response to a request for measuring the remaining battery level of the battery 14. Note that the remaining battery level of the battery 14 is obtained from the difference between the remaining battery level at full charge and the remaining battery level at measurement.

  Next, when the event detection unit 101 detects the occurrence of an event, the emotion selection unit 202 changes the emotion of the self-propelled cleaner 1 according to the remaining battery level of the battery 14, such as “good feeling”, “normal”, Select from “moody”. The battery remaining amount of the battery 14 is information that can be acquired by the self-propelled cleaner 1, and is also a kind of device information of the self-propelled cleaner 1.

  The emotion selection unit 202 includes a calculation value determination unit 232 and an emotion calculation unit 251. First, the calculation value determination unit 232 requests the remaining battery level measurement unit 402 to measure the remaining battery level of the battery 14, and acquires the remaining battery level measured by the remaining battery level measurement unit 402. Then, the emotion calculation value M1 stored in the remaining battery level / calculated value storage unit 575 is acquired in association with the acquired remaining battery level.

  A case where the data shown in FIG. 14 is stored in the remaining battery level / calculated value storage unit 575 will be described as a specific example. When the remaining battery level is less than 20% and the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 232 acquires “−50” as the emotion calculation value M1. Similarly, when the remaining battery level is less than 20% and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 232 acquires “−35” as the emotion calculated value M1. Similarly, when the remaining battery level is less than 20% and the personality of the self-propelled cleaner 1 is a permissive type, the calculated value determining unit 232 acquires “−25” as the emotion calculated value M1.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 232 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 3]
Still another embodiment of the present invention will be described below with reference to FIGS. 15 and 16. For convenience of explanation, members having the same functions as the members shown in the above-described embodiment are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The structure of the memory | storage part 57 and the control part 52 of the self-propelled cleaner 1 which concerns on this embodiment is demonstrated referring FIG. FIG. 15 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a current value / calculated value storage unit (acquired information / value storage unit) 576. Further, a message storage unit 570 may be included.

  The current value / calculated value storage unit 576 stores the current value of the motor unit 20 and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the current value may be stored for each personality type. Note that data stored in the current value / calculated value storage unit 576 may be set in advance or may be set by the user.

  An example of data stored in the current value / calculated value storage unit 576 will be described with reference to FIG. FIG. 16 is a schematic diagram illustrating an example of data stored in the current value / calculated value storage unit 576. In the example shown in the figure, the current value is divided into three levels: “less than 1.4 A”, “1.4 A or more and less than 1.6 A”, and “1.6 A or more”. The emotion calculation value M1 for each type is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 203, a transmission processing unit 301, and a current value measurement unit 403.

  First, the current value measuring unit 403 measures the current value of the motor unit 20 in response to a request for measuring the current value of the motor unit 20.

  next. When the event detection unit 101 detects the occurrence of an event, the emotion selection unit 203 displays the emotion of the self-propelled cleaner 1 according to the accumulated amount of dust in the dust collection unit 30 as “good feeling” or “normal”. , And “moody”. The accumulated amount of dust in the dust collecting unit 30 is information that can be acquired by the self-propelled cleaner 1, and is also a kind of device information of the self-propelled cleaner 1.

  The emotion selection unit 203 includes a calculation value determination unit 233 and an emotion calculation unit 251.

  The accumulated amount of dust in the dust collecting unit 30 can be estimated from the current value of the motor unit 20 being driven. Therefore, the calculation value determining unit 233 first requests the current value measuring unit 403 to measure the current value of the motor unit 20 and acquires the current value measured by the current value measuring unit 403. Then, the emotion calculation value M1 stored in the current value / calculation value storage unit 576 is acquired in association with the acquired current value.

  A case where the data shown in FIG. 16 is stored in the current value / calculated value storage unit 576 will be described as a specific example. When the current value is less than 1.4 A and the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 233 acquires “−20” as the emotion calculation value M1. Similarly, when the current value is less than 1.4 A and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 233 acquires “−14” as the emotion calculated value M1. Similarly, when the current value is less than 1.4 A and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 233 acquires “−10” as the emotion calculated value M1.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 233 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 4]
Still another embodiment of the present invention will be described below with reference to FIGS. 17 and 18. For convenience of explanation, members having the same functions as the members shown in the above-described embodiment are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The configuration of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment will be described with reference to FIG. FIG. 17 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes an elapsed time / calculated value storage unit 577. Further, a message storage unit 570 may be included.

  The elapsed time / calculated value storage unit 577 stores time information indicating time and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the time information may be stored for each personality type. The data stored in the elapsed time / calculated value storage unit 577 may be set in advance or may be set by the user.

  An example of data stored in the elapsed time / calculated value storage unit 577 will be described with reference to FIG. FIG. 18 is a schematic diagram illustrating an example of data stored in the elapsed time / calculated value storage unit 577. In the example shown in the figure, the time information is divided into three stages, “less than 2 days”, “more than 2 days but less than 5 days”, and “more than 5 days”. Emotion calculation value M1 is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an operation instruction detection unit 102, an emotion selection unit (determination unit) 204, and a transmission processing unit 301.

  The operation instruction detection unit 102 detects operation instructions for the self-propelled cleaner 1 shown in the following (D1) to (D3). (D1) An operation instruction input by voice from the voice input unit 63. (D2) An operation instruction indicated by a control signal received via the communication control unit 53 from an external device such as a portable terminal or a remote control owned by the user. (D3) An operation instruction directly input by the user on the operation panel 50.

  For this purpose, the operation instruction detection unit 102 includes a voice detection unit 141, a command detection unit 151, and an operation detection unit 161.

  The voice detection unit 141 detects that the operation instruction is input by comparing the voice input from the voice input unit 63 with the voice related to the operation instruction registered in the storage unit 57 in advance. Note that the user may be able to register the sound related to the operation instruction.

  The command detection unit 151 detects that a control signal indicating an operation instruction has been received via the communication control unit 53.

  The operation detection unit 161 detects that an operation indicating an operation instruction is input on the operation panel 50.

  Next, the emotion selection unit 204 detects the emotion of the self-propelled cleaner 1 when the event detection unit 101 detects the occurrence of an event, and the elapsed time since the operation instruction detection unit 102 detected the operation instruction most recently. The user selects from “good feeling”, “normal”, and “bad feeling”. The elapsed time since the most recent operation instruction was detected is information that can be acquired by the self-propelled cleaner 1, and is also a kind of device information of the self-propelled cleaner 1.

  The emotion selection unit 204 includes a calculation value determination unit 234 and an emotion calculation unit 251. The calculated value determination unit 234 measures the elapsed time since the operation instruction detection unit 102 detected the operation instruction most recently. Then, when the event detection unit 101 detects the occurrence of an event, the emotion calculation value M1 stored in the elapsed time / calculation value storage unit 577 is acquired in association with the measured elapsed time.

  A case where the data shown in FIG. 18 is stored in the elapsed time / calculated value storage unit 577 will be described as a specific example. When the elapsed time is 5 days or more and the personality of the self-propelled cleaner 1 is an emotion type, the calculated value determination unit 234 acquires “−10” as the calculated emotion value M1. Similarly, when the elapsed time is 5 days or more and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 234 acquires “−7” as the emotion calculated value M1. Similarly, when the elapsed time is 5 days or more and the personality of the self-propelled cleaner 1 is a tolerance type, the calculation value determination unit 234 acquires “−5” as the emotion calculation value M1.

(Process flow)
The processing flow in the present embodiment is the same as the processing flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 234 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 5]
Still another embodiment of the present invention will be described below with reference to FIGS. 19 and 20. For convenience of explanation, members having the same functions as those shown in the first to fourth embodiments are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The structure of the memory | storage part 57 and the control part 52 of the self-propelled cleaner 1 which concerns on this embodiment is demonstrated referring FIG. FIG. 19 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a state / calculated value storage unit (acquired information / value storage unit) 578A. Further, a message storage unit 570 may be included.

  The state / calculated value storage unit 578A stores the attachment / detachment state of the dust collecting unit 30 and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 may be stored for each personality type. The data stored in state / calculated value storage section 578A may be set in advance or may be set by the user.

  An example of data stored in the state / calculated value storage unit 578A will be described with reference to FIG. FIG. 20 is a schematic diagram illustrating an example of data stored in the state / calculated value storage unit 578A. In the example shown in the figure, the emotion calculation value M1 for each personality type is associated with the state where the dust collection unit 30 is attached, and the dust collection unit 30 is removed. Also, the emotion calculation value M1 for each personality type is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 206, a transmission processing unit (transmission unit) 301, and an attachment / detachment determination unit 404.

  The attachment / detachment determination unit 404 determines the attachment / detachment state (whether the dust collection unit 30 is attached or removed) of the dust collecting unit 30. The attachment / detachment state of the dust collecting unit 30 is information that can be acquired by the self-propelled cleaner 1.

  Next, the emotion selection unit 206 will be described. The emotion selection unit 206 includes a calculation value determination unit 236 and an emotion calculation unit 251. When the event detection unit 101 detects the occurrence of an event, the calculation value determination unit 236 causes the attachment / detachment determination unit 404 to determine the attachment / detachment state of the dust collecting unit 30 and determines the emotion calculation value M1 according to the determination result. , Acquired from the state / calculated value storage unit 578A.

  A case where the data shown in FIG. 20 is stored in the state / calculated value storage unit 578A will be described as a specific example. When it is determined by the attachment / detachment determination unit 404 that the dust collecting unit 30 is attached, when the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 236 calculates the emotion calculation value M1. As a result, “20” is acquired. Similarly, when the personality of the self-propelled cleaner 1 is a mild type, the calculation value determination unit 236 acquires “17” as the emotion calculation value M1. Similarly, when the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 236 acquires “15” as the emotion calculated value M1.

  On the other hand, when it is determined by the attachment / detachment determination unit 404 that the dust collecting unit 30 has been removed, if the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 236 performs the emotion calculation. “10” is acquired as the value M1. Similarly, when the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 236 acquires “7” as the emotion calculated value M1. Similarly, when the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 236 acquires “5” as the emotion calculated value M1.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 236 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 6]
Still another embodiment of the present invention will be described with reference to FIGS. 21 and 22 as follows. For convenience of explanation, members having the same functions as those shown in the first to fifth embodiments are denoted by the same reference numerals, and the description thereof is omitted unless otherwise specified.

  The structure of the memory | storage part 57 and the control part 52 of the self-propelled cleaner 1 which concerns on this embodiment is demonstrated referring FIG. FIG. 21 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a state / calculated value storage unit (acquired information / value storage unit) 578B. Further, a message storage unit 570 may be included.

  The state / calculated value storage unit 578B stores whether or not the return to the charging stand 40 of the self-propelled cleaner 1 is successful and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 may be stored for each personality type. The data stored in state / calculated value storage unit 578B may be set in advance or may be set by the user.

  An example of data stored in the state / calculated value storage unit 578B will be described with reference to FIG. FIG. 22 is a schematic diagram illustrating an example of data stored in the state / calculated value storage unit 578B. In the example shown in the figure, the emotion calculation value M1 for each personality type is associated with the state where the self-propelled cleaner 1 has returned to the charging stand 40 (completed normally). The emotion calculation value M1 for each personality type is also associated with the state in which the self-propelled cleaner 1 could not return to the charging stand 40 (abnormally terminated).

  Note that the return failure occurs when the battery level is low during return and the self-propelled cleaner 1 stops, and when there is an obstacle in the return path and the return cannot be performed.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 207, a feedback control unit (movement control unit) 405, and a transmission processing unit 301.

  The feedback control unit 405 moves the self-propelled cleaner 1 so as to be connected to the power supply terminal 41 of the charging stand 40 when the cleaning is completed or the charge amount falls below a predetermined value (that is, the charging stand 40 The drive wheels 29 are controlled via the travel drive unit 58. As a result of the feedback control, a history of information indicating whether or not the self-propelled cleaner 1 has returned to the charging stand 40 is retained. In addition, whether it returned to the charging stand 40 is the information which the self-propelled cleaner 1 can acquire.

  Next, the emotion selection unit 207 will be described. The emotion selection unit 207 includes a calculation value determination unit 237 and an emotion calculation unit 251. When the event detection unit 101 detects the occurrence of an event, the calculated value determination unit 237 acquires the emotion calculated value M1 from the state / calculated value storage unit 578B according to the latest feedback control result by the feedback control unit 405. .

  The case where the data shown in FIG. 22 is stored in the state / calculated value storage unit 578B will be described as a specific example. When returning to the charging stand 40 as a result of the return control and the personality of the self-propelled cleaner 1 is an emotion type, the calculated value determination unit 237 acquires “20” as the calculated emotion value M1. Similarly, when the personality of the self-propelled cleaner 1 is a mild type, the calculation value determination unit 237 acquires “14” as the emotion calculation value M1. Similarly, when the personality of the self-propelled cleaner 1 is a tolerance type, the calculation value determination unit 237 acquires “10” as the emotion calculation value M1.

  On the other hand, if the personality of the self-propelled cleaner 1 is the emotion type when the feedback control does not return to the charging stand 40, the calculated value determination unit 237 acquires “−20” as the emotion calculated value M1. To do. Similarly, when the personality of the self-propelled cleaner 1 is a mild type, the calculation value determination unit 237 acquires “−14” as the emotion calculation value M1. Similarly, when the personality of the self-propelled cleaner 1 is a tolerance type, the calculation value determination unit 237 acquires “−10” as the emotion calculation value M1.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculation value determination unit 237 determines the emotion calculation value M1 instead of the calculation value determination unit 231. Therefore, explanation is omitted.

[Embodiment 7]
Still another embodiment of the present invention will be described below with reference to FIGS. For convenience of explanation, members having the same functions as those of the members shown in the first to sixth embodiments are given the same reference numerals, and explanations thereof are omitted unless specifically described.

  The configuration of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment will be described with reference to FIG. FIG. 23 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a collision count / calculated value storage unit 579. Further, a message storage unit 570 may be included.

  The number of collisions / calculated value storage unit 579 stores the number of times the self-propelled cleaner 1 collides with a wall or an obstacle during cleaning (hereinafter referred to as the number of collisions) and the emotion calculated value M1 in association with each other. It is. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the number of collisions may be stored for each personality type. The data stored in the number of collisions / calculated value storage unit 579 may be set in advance or may be set by the user.

  An example of data stored in the number of collisions / calculated value storage unit 579 will be described with reference to FIG. FIG. 24 is a schematic diagram illustrating an example of data stored in the number of collisions / calculated value storage unit 579. In the example shown in the figure, the number of collisions is divided into three stages of “less than 30 times”, “more than 30 times but less than 60 times”, and “more than 60 times”. Emotion calculation value M1 is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination means) 208, and a collision management unit 406.

  The collision management unit 406 counts the number of collisions each time a collision is detected by the collision detection unit 68. The collision management unit 406 calculates the number of collisions since the shipment of the self-propelled cleaner 1 and the number of collisions since the power of the self-propelled cleaner 1 was turned on most recently and entered the standby state. You may count. The number of collisions after entering the standby state is reset to an initial value (usually “0”) when the power is turned off and the state transits to the sleep state. The number of collisions is information that can be acquired by the self-propelled cleaner 1.

  Next, the emotion selection unit 208 includes a calculation value determination unit 238 and an emotion calculation unit 251. When the event detection unit 101 detects the occurrence of an event, the calculation value determination unit 238 stores the emotion calculation value M1 associated with the number of collisions counted by the collision management unit 406 as the number of collisions / calculation value storage. Obtained from the part 579.

  A case where the data shown in FIG. 24 is stored in the number of collisions / calculated value storage unit 579 will be described as a specific example. When the number of collisions is a value of 30 times or more and less than 60 times, and the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 238 acquires “−50” as the emotion calculation value M1. Similarly, when the number of collisions is 30 or more and less than 60 and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 238 acquires “−30” as the emotion calculated value M1. To do. Similarly, when the number of collisions is 30 or more and less than 60 and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 238 acquires “−20” as the emotion calculated value M1. To do.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 238 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 8]
Still another embodiment of the present invention will be described below with reference to FIGS. 25 and 26. FIG. For convenience of explanation, members having the same functions as those of the members shown in the first to seventh embodiments are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The configuration of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment will be described with reference to FIG. FIG. 25 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a fall avoidance count / calculated value storage unit 580. Further, a message storage unit 570 may be included.

  The number of fall avoidance / calculated value storage unit 580 stores the number of times the self-propelled cleaner 1 has avoided a fall due to a step (hereinafter referred to as the number of fall avoidance) and the emotion calculated value M1 in association with each other. . When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the number of fall avoidances may be stored for each personality type. The data stored in drop avoidance count / calculated value storage unit 580 may be set in advance or may be set by the user.

  An example of data stored in the fall avoidance count / calculated value storage unit 580 will be described with reference to FIG. FIG. 26 is a schematic diagram illustrating an example of data stored in the fall avoidance count / calculated value storage unit 580. In the example shown in the figure, the number of fall avoidance times 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 values M1 are associated with each other.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 209, and a fall avoidance management unit 407.

  The fall avoidance management unit 407 instructs the level difference detection unit 65 to detect a level difference when the self-propelled cleaner 1 starts cleaning. Count. The fall avoidance management unit 407 includes the number of times of avoidance of the self-propelled cleaner 1 from the time of shipment and the number of times of avoidance of the fall after the self-propelled cleaner 1 is turned on and is in a standby state. Each of these may be counted. The number of fall avoidances after entering the standby state is reset to an initial value (usually “0”) when the power is turned off and the state transits to the sleep state. Note that the number of times of falling avoidance is information that the self-propelled cleaner 1 can acquire.

  Next, the emotion selection unit 209 includes a calculation value determination unit 239 and an emotion calculation unit 251. When the event detection unit 101 detects the occurrence of an event, the calculation value determination unit 239 uses the emotion calculation value M1 associated with the number of fall avoidances counted by the fall avoidance management unit 407 as the number of fall avoidance times / calculation. Obtained from the value storage unit 580.

  A case where the data shown in FIG. 26 is stored in the fall avoidance count / calculated value storage unit 580 will be described as a specific example. When the number of times of falling avoidance is 4 or more and less than 7 and the personality of the self-propelled cleaner 1 is an emotion type, the calculated value determination unit 239 acquires “−50” as the emotion calculated value M1. Similarly, when the number of times of falling avoidance is 4 or more and less than 7 and the personality of the self-propelled cleaner 1 is a mild type, the calculation value determination unit 239 sets “−30” as the emotion calculation value M1. get. Similarly, when the fall avoidance count is a value of 4 times or more and less than 7 times and the personality of the self-propelled cleaner 1 is a permissive type, the calculation value determination unit 239 sets “−20” as the emotion calculation value M1. get.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 239 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 9]
Still another embodiment of the present invention will be described below with reference to FIGS. For convenience of explanation, members having the same functions as those shown in Embodiments 1 to 8 are given the same reference numerals, and the explanation thereof is omitted unless otherwise specified.

  The configuration of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment will be described with reference to FIG. FIG. 27 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

  The storage unit 57 according to the present embodiment includes an odor number / calculated value storage unit 581. Further, a message storage unit 570 may be included.

  The odor frequency / calculated value storage unit 581 stores the number of times the self-propelled cleaner 1 detects an odor exceeding a predetermined value during traveling (hereinafter referred to as the odor frequency) and the emotion calculated value M1 in association with each other. Is. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the number of odors may be stored for each personality type. The data stored in the odor frequency / calculated value storage unit 581 may be set in advance or may be set by the user.

  An example of data stored in the odor count / calculated value storage unit 581 will be described with reference to FIG. FIG. 28 is a schematic diagram illustrating an example of data stored in the odor number / calculated value storage unit 581. In the example shown in the figure, the number of odors is divided into three stages, “less than 3 times”, “more than 3 times and less than 5 times”, and “more than 5 times”. Emotion calculation value M1 is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 210, and an odor management unit 408.

  The odor management unit 408 instructs the odor measurement unit 66 to measure odor at the start of cleaning of the self-propelled cleaner 1, and each time an odor exceeding a predetermined value is measured by the odor measurement unit 66, Count the number of odors. When the cleaning is completed, the counted number of odors is reset to an initial value (usually “0”). In addition, it is the information which self-propelled cleaner 1 can acquire that the odor exceeding a predetermined value was measured.

  Next, the emotion selection unit 210 includes a calculation value determination unit 240 and an emotion calculation unit 251. When the event detection unit 101 detects the occurrence of an event, the calculated value determining unit 240 displays the emotion calculated value M1 associated with the number of odors counted by the odor management unit 408 as the number of odors / calculated value storage unit. 581.

  A case where the data shown in FIG. 28 is stored in the odor number / calculated value storage unit 581 will be described as a specific example. When the number of odors is 3 or more and less than 5 and the personality of the self-propelled cleaner 1 is an emotion type, the calculated value determination unit 240 acquires “−50” as the emotion calculated value M1. Similarly, when the number of odors is 3 or more and less than 5 and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 240 acquires “−30” as the emotion calculated value M1. To do. Similarly, when the number of odors is 3 or more and less than 5 and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 240 acquires “−20” as the emotion calculated value M1. To do.

(Process flow)
The processing flow in the present embodiment is the same as the processing flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 240 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 10]
Still another embodiment of the present invention will be described below with reference to FIGS. 29 and 30. FIG. For convenience of explanation, members having the same functions as those of the members shown in the first to ninth embodiments are given the same reference numerals, and explanations thereof are omitted unless otherwise specified.

  The structure of the memory | storage part 57 and the control part 52 of the self-propelled cleaner 1 which concerns on this embodiment is demonstrated referring FIG. FIG. 29 is a block diagram illustrating configurations of the storage unit 57 and the control unit 52 of the self-propelled cleaner 1 according to the present embodiment. The configuration of the self-propelled cleaner 1 according to the present embodiment is the same as that of the self-propelled cleaner 1 according to the first embodiment except for the storage unit 57 and the control unit 52.

(Configuration of storage unit)
The storage unit 57 according to the present embodiment includes a temperature / calculated value storage unit 582. Further, a message storage unit 570 may be included.

  The temperature / calculated value storage unit 582 stores the temperature and the emotion calculated value M1 in association with each other. When the personality type of the self-propelled cleaner 1 is settable, the emotion calculation value M1 associated with the temperature may be stored for each personality type. The data stored in the temperature / calculated value storage unit 582 may be set in advance or may be set by the user.

  An example of data stored in the temperature / calculated value storage unit 582 will be described with reference to FIG. FIG. 30 is a schematic diagram illustrating an example of data stored in the temperature / calculated value storage unit 582. In the example shown in the figure, the temperature is divided into three levels: “less than 13 ° C.”, “13 ° C. or more and less than 30 ° C.”, and “30 ° C. or more”. The calculated value M1 is associated.

(Configuration of control unit)
The control unit 52 according to the present embodiment includes an event detection unit 101, an emotion selection unit (determination unit) 211, and a temperature management unit 409.

  The temperature management unit 409 requests the temperature measurement unit 67 to measure the air temperature every predetermined period, and acquires the air temperature measured by the temperature measurement unit 67.

  The emotion selection unit 211 includes a calculation value determination unit 241 and an emotion calculation unit 251. When the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 241 associates the temperature acquired by the temperature management unit 409 with the emotion calculated value M1 stored in the temperature / calculated value storage unit 582. To get.

  A case where the data shown in FIG. 30 is stored in the temperature / calculated value storage unit 582 will be described as a specific example. When the temperature is less than 13 ° C. and the personality of the self-propelled cleaner 1 is an emotion type, the calculation value determination unit 241 acquires “−150” as the emotion calculation value M1. Similarly, when the temperature is less than 13 ° C. and the personality of the self-propelled cleaner 1 is a mild type, the calculated value determination unit 241 acquires “−100” as the emotion calculated value M1. Similarly, when the temperature is less than 13 ° C. and the personality of the self-propelled cleaner 1 is a tolerance type, the calculated value determination unit 241 acquires “−50” as the emotion calculated value M1.

(Process flow)
The process flow in the present embodiment is the same as the process flow in the self-propelled cleaner 1 of the first embodiment, except that the calculated value determining unit 241 determines the emotion calculated value M1 instead of the calculated value determining unit 231. Therefore, explanation is omitted.

[Embodiment 11]
There are many pieces of information that can be acquired by the self-propelled cleaner 1 in addition to the information described in the above embodiment. When self-propelled cleaner 1 is the composition which can acquire the information shown in the following (G1)-(G25), self-propelled cleaner 1 chooses an emotion using these information, and chooses the selected emotion. It is good also as a structure which transmits to an external device. Note that the emotion selection method is the same as in each of the embodiments described above. That is, after the emotion selection value M1 is determined by the emotion selection unit, the emotion value M is calculated by a predetermined calculation formula, and the emotion is selected according to the value of the emotion value M.

(G1) The date and time when the main power was turned on for the first time and the self-propelled cleaner 1 was started (G2) The date and time when the main power was turned on and the self-propelled cleaner 1 was started last time (G3) The power was turned on last time (G4) Number of times the ion generator 62 is operated from the time of shipment (G5) Ion generation since the main power supply was turned on most recently Number of times the device 62 was operated (G6) Number of times the self-propelled cleaner 1 could not return to the charging stand 40 since shipment (G7) Self-propelled cleaner since the main power supply was turned on most recently Number of times 1 cannot return to charging stand 40 (G8) Cumulative value of travel distance of self-propelled cleaner 1 from the time of shipment (travel distance can be measured using an encoder of travel drive unit 58) )
(G9) Travel distance of self-propelled cleaner 1 when cleaning was performed last time (G10) Cumulative value of number of times collision was avoided by ultrasonic sensor since shipment (G11) Drive wheel from shipment Cumulative value of the number of times 29 has floated from the floor (G12) Cumulative value of the number of times the collision has been avoided by the ultrasonic sensor after entering the standby state (G13) The driving wheel 29 after the standby state has entered the floor Cumulative value of number of floats from surface (G14) Whether overdischarge was detected in battery 14 (G15) Whether overcharge was detected in battery 14 (G16) Whether overcurrent was detected in battery 14 (G17) Date and time when self-propelled cleaner 1 received an operation instruction last time (G18) Cumulative value of the number of times operation instructions for self-propelled cleaner 1 were received since shipment (G19) ) Cumulative value of the number of times operation instructions for the self-propelled cleaner 1 have been received since entering the standby state (G20) Opening / closing state of the lid 3 (G21) Self-propelled cleaner by setting a timer from the time of shipment (G22) Cumulative value of the number of times that the self-propelled cleaner 1 has performed cleaning by setting the timer since the main power supply was turned on recently (G23) Cumulative value of operating time of ion generator 62 (G24) Image or streaming video taken by CCD camera mounted on self-propelled cleaner 1 (G25) Various setting information (in self-propelled cleaner 1 Information indicating the current date and time set, circular area to be cleaned in spot 1 mode and spot 2 mode (diameter 2 m / diameter 3 m / diameter 4 m), presence / absence of operation sound of operation panel 50, audio output unit 64 Volume of output audio (Auto / OFF / level 1 / level 2 / level 3), personality of the self-propelled cleaner 1 (emotion type / mild type / tolerant type), and the user recorded in the self-propelled cleaner 1 Voice data indicating the name of the self-propelled cleaner 1, the language of the voice output by the self-propelled cleaner 1 (standard language / Kansai dialect / English / Chinese), and the user registered in the self-propelled cleaner 1 And whether or not the emotion selection unit 201-211 is operated)
[Modification 1]
In each of the above-described embodiments, as a result of selecting the emotion of the self-propelled cleaner 1, the emotion may become “normal” or “moody”. However, for example, it is preferable that the emotion of the self-propelled cleaner 1 is “good feeling” on a day (birthday or the like) that is pleasing to the user.

  Therefore, when the system date for selecting emotions in the emotion selection units 201 to 211 matches the date registered in advance in the self-propelled cleaner 1 by the user, the system date is stored in the storage unit 57 as an exception process. A configuration may be adopted in which the emotion value M is set to a predetermined large value so that the emotion becomes “good” without acquiring the emotion calculation value M1 that has been performed.

  Thereby, according to a user's setting, the day when the emotion of the self-propelled cleaner 1 must be "good feeling" can be provided.

[Modification 2]
Further, the self-propelled cleaner 1 may be configured to select an emotion in consideration of information received from the outside via the communication control unit 53 and transmit the selected emotion to an external device. The information received from the outside is typically M2 used for calculating the emotion value M described above.

[Combination of each embodiment]
Embodiments obtained by appropriately combining the technical means disclosed in the respective embodiments described above are also included in the technical scope of the present invention.

  That is, (1) frequency of cleaning, (2) remaining battery capacity of the battery 14, (3) accumulated amount of dust in the dust collecting unit 30, (4) elapsed time since the event occurred, (5) collection Removal of the dust part 30, (6) successful return failure and return failure to the charging base 40, (7) collision with an obstacle, (8) avoidance of fall, (9) odor around, (10) ambient temperature, It is good also as a structure which selects the emotion of the self-propelled cleaner 1 combining several of these.

  That is, the control part 52 and the memory | storage part 57 may be comprised so that the block described in each of Embodiment 1-11 may be included simultaneously. When the control unit 52 is configured to include two or more of the emotion selection units of each embodiment, a plurality of emotion calculation values M1 can be determined. In this case, according to a predetermined priority or condition, The emotion calculation value M1 may be determined.

[Application to other electronic devices]
The technical idea of transmitting to the external device the feelings of the user's emotion according to various information that can be acquired by the user's own machine can also be applied to electronic devices other than the vacuum cleaner. For example, the present invention can be applied to electronic devices such as an air cleaner, a humidifier, and a dehumidifier.

[Realization of control unit]
Finally, the control unit 52 of the self-propelled cleaner 1 may be configured as hardware by a logic circuit formed on an integrated circuit (IC chip), or realized by software using a CPU as follows. May be.

  When realized by software, the self-propelled cleaner 1 includes a CPU that executes instructions of a control program for realizing each function, a ROM (read only memory) that stores the program, and a RAM (random access) that expands the program. memory), a storage device (recording medium) such as a memory for storing the program and various data. An object of the present invention is a record in which the program code (execution format program, intermediate code program, source program) of the control program of the self-propelled cleaner 1 which is software that realizes the above-described functions is recorded in a computer-readable manner This can also be achieved by supplying a medium to the self-propelled cleaner 1 and reading and executing the program code recorded on the recording medium by the computer (or CPU or MPU).

  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, semiconductor memories such as mask ROM / EPROM / EEPROM / flash ROM, logic circuits such as PLD (Programmable Logic Device), etc. it can.

  Moreover, the self-propelled cleaner 1 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, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication. A net or the like is available. Further, the transmission medium constituting the communication network is not particularly limited. For example, even in the case of wired such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, ADSL line, etc., infrared rays such as IrDA and remote control, Bluetooth ( (Registered trademark), IEEE802.11 radio, HDR (High Data Rate), NFC (Near Field Communication), DLNA (Digital Living Network Alliance), mobile phone network, satellite line, terrestrial digital network, etc. .

  Thus, in this specification, the means does not necessarily mean physical means, but includes cases where the functions of the means are realized by software. Further, the function of one means may be realized by two or more physical means, or the functions of two or more means may be realized by one physical means.

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

  The present invention can be applied to a vacuum cleaner. In particular, it can be suitably applied to a self-propelled cleaner.

1 Self-propelled vacuum cleaner (robot device)
14 Battery (secondary battery)
20 Motor unit (motor)
29 Drive Wheel 30 Dust Collection Unit 40 Charging Stand 52 Control Unit (Cleaning Means)
53 Communication control unit (communication control means)
201-211 emotion selection part (decision means)
301 Transmission processing unit (transmission means)
401 Cleaning history information storage (cleaning frequency storage means, cleaning days storage means)
402 Battery remaining amount measuring unit (battery remaining amount measuring means)
403 Current value measuring unit (current value measuring means)
405 Feedback control unit (movement control means)
571 Cleaning frequency storage unit 572 Cleaning days storage unit 573 Cleaning frequency / calculated value storage unit (acquired information / value storage unit)
574 Cleaning days / calculated value storage (acquired information / value storage)
575 Battery remaining amount / calculated value storage unit (acquired information / value storage unit)
576 Current value / calculated value storage unit (acquired information / value storage unit)
578A State / calculated value storage unit (acquired information / value storage unit)
578B State / calculated value storage unit (acquired information / value storage unit)

Claims (14)

A determination means for determining general information that summarizes the acquired information acquired by the aircraft;
Transmission means for transmitting the general information determined by the determination means to an external device,
The determining means determines the general information by selecting from a plurality of options according to the acquired information,
Cleaning means for performing cleaning;
A cleaning number storage unit for storing the number of times cleaning has been performed;
The number of times stored in the cleaning number storage unit is updated by increasing by one each time cleaning is performed,
The said determination means determines the said summary information by making the total value of the said frequency | count stored in the said cleaning frequency memory | storage part in association with a predetermined period into the said acquisition information. The robot apparatus according to claim 1 , wherein the general information is information indicating a state of the state of the own device calculated using the acquired information. It said transmitting means further robotic device according to claim 1 or 2, characterized in that transmitting the acquired information to the external device. When your machine is turned on,
The determining means determines the general information,
It said transmission means, the robot apparatus according to any one of 3 summary information the determined claims 1 and transmits to the external device. The transmission means transmits the general information determined this time to the external device only when the general information determined most recently by the determination means is different from the general information determined by the determination means this time. The robot apparatus according to any one of claims 1 to 4 . It said transmitting means further robotic device according messages associated with summary information to be transmitted to any one of claims 1 to 5, characterized in that to transmit to the external device. A secondary battery that is a power supply source for supplying power to the device;
Battery level measuring means for measuring the remaining battery level of the secondary battery,
It said determining means, the battery remaining amount in which the remaining battery level measuring means is measured as the acquired information, the robot apparatus according to any one of claims 1 to 6, characterized in that determining the summary information. A secondary battery that is a power supply source for supplying power to the device;
A movement control means for moving the own device so as to be electrically connected to a charging stand for charging the secondary battery;
Said determining means, any own apparatus as a result of movement by the movement controlling means whether or not connected to the charger as the acquired information, the claim 1, characterized in that determining the summary information 7 The robot apparatus of Claim 1. A cleaning date storage unit for storing the date of execution of cleaning;
The determining means determines the general information using the total value of the number of execution days included in a predetermined period among the execution dates stored in the cleaning date storage unit as the acquired information. The robot apparatus according to claim 1 . A motor for sucking dust,
A current value measuring means for measuring the current value of the motor;
It said determining means, a current value above the current value measuring means is measured as the acquired information, the robot apparatus according to claim 1 or 9, characterized in that determining the summary information. Further equipped with a detachable dust collecting part for collecting dust,
11. The robot apparatus according to claim 1, wherein the determining unit determines the general information using the acquired information as to whether or not the dust collection unit has been removed. An acquisition information / value storage unit that stores the acquisition information and a value for specifying the general information in association with each other;
The determination means acquires a value stored in the acquisition information / value storage unit in association with the acquisition information, and adds the selected value according to a result of adding the acquired value and an externally acquired value. The robot apparatus according to any one of claims 1 to 11, wherein the general information is selected from: A control program for operating the computer provided in the robot system according to any one of claims 1 1 2, the control program causing the computer to function as each means described above. A computer-readable recording medium a control program according to claim 1 3.

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