JP6145302B2 - Electronics - Google Patents

Description

  The present invention relates to an electronic device that receives an instruction from a user and returns a message corresponding to the instruction.

  In recent years, home appliance robots are becoming popular. The robot here is not limited to a robot in a narrow sense such as a humanoid imitating a human or a so-called pet robot imitating a pet. Rather, it is a broad definition that includes household electronic devices that have developed familiar electronic devices such as vacuum cleaners and washing machines, and have made it possible to operate autonomously by applying many sensors, actuators, and microcomputers that control them. It is a robot.

Some of such home appliance robots convey a message to the user by voice using a technique such as voice synthesis, and further, some can communicate with a person using voice recognition.
A person communicates his / her feelings and feelings to another person through conversation and receives a response from the other person, thereby thinking, releasing stress, and being healed. In an environment where the number of elderly people living alone is increasing due to aging, communication with neighbors in the city is decreasing, stress is increasing, etc., the ability of home appliance robots to have natural conversations with people is also accepted and required by users It is becoming.

  The following technologies are related to natural communication between robots and people. For example, emotions of emotion models that are updated with the number and time of actions from users such as pet robots such as “struck” and “struck” (for example, “joy”, “sadness”, and “fear”) Etc.) and the number of emotions and desires used for action generation in a robot apparatus that generates actions based on parameter values of instinctive model desires (for example, “loving desire” and “exercise desire”). There has been proposed one that restricts to increase or decrease automatically (for example, see Patent Document 1).

The robot apparatus has five “growth stages” of “birth”, “childhood”, “boyhood”, “adolescence”, and “adulthood” as growth processes.
Also, in a robot apparatus that presents a problem to the user and acts based on an answer obtained from the user, an apparatus that determines an action to be performed this time based on a use history has been proposed (for example, see Patent Document 2). As a specific example, when there are many correct answers up to the previous time, the act of praising “Wow” is executed in a short time with an expression that has a strong degree of correct answer rate.
On the other hand, there has been proposed a mobile robot that outputs different audio information corresponding to an operation state of the mobile robot (when charging and cleaning is started) (for example, see Patent Document 3).

JP 2001-157777 A JP 2006-344203 A JP 2003-340166 A

In order to realize more natural communication between a robot and a person, it is necessary not only to respond appropriately to the user's talk and instructions, but also to give variations to the response so as not to bore the user.
Because pet robots are primarily intended for communication with humans, they can perform complex processing using emotion models and instinct models for processing to generate actions, but home appliances where communication is a secondary function Robots and the like need to realize natural communication with simple processing. In addition, it is necessary to respond appropriately in relation to the function of home appliances, which is the main purpose.
The present invention has been made in consideration of the above-described circumstances, and provides an electronic device that makes an appropriate and human-like response to a user instruction.

  The present invention relates in advance to a history storage unit that stores a used history, a message control unit that determines a message to be output to a user, and a plurality of messages according to usage conditions in association with weight values of each message. A message storage unit for storing, and a voice output unit for outputting the determined message. When the message control unit detects the occurrence of a predetermined event, the message control unit stores the event and the history stored in the history storage unit. A message corresponding to a suitable usage situation is searched from the message storage unit, and when more messages are obtained as a result of the search than the number of messages to be output, a weight value associated with each message is used. Provided is an electronic device characterized by selecting a message.

  In this invention, when the message control unit detects the occurrence of a predetermined event, the message control unit searches the message storage unit for a message corresponding to the event and a usage situation that matches the history stored in the history storage unit. When a number of messages that are larger than the number of messages to be output are obtained as a result of the search, a message is selected using a weight value associated with each message. Appropriate messages are selected, and by using weight values, uniform responses can be avoided and responses giving a more human impression.

It is a block diagram showing a schematic structure of a self-propelled cleaner which is one mode of electronic equipment concerning this invention. It is a top view which shows one Embodiment of the self-propelled cleaner concerning this invention. It is a side view showing one embodiment of the self-propelled cleaner concerning this invention. It is a front view showing one embodiment of the self-propelled cleaner concerning this invention. It is AA arrow sectional drawing of the self-propelled cleaner shown in FIG. It is a BB arrow sectional view of Drawing 3. It is a flowchart which shows the process of the control part at the time of the self-propelled cleaner of this invention measuring the width of a cleaning area. It is explanatory drawing which shows operation | movement of the self-propelled cleaner corresponding to the process of FIG. It is explanatory drawing which shows an example of the message which the message control part concerning this invention manages. It is a flowchart which shows an example of the process which the message control part concerning this invention and a control part perform. It is a flowchart which shows the process following FIG. It is explanatory drawing which shows the example from which the message which the message control part concerning this invention manages is different. It is explanatory drawing which shows the further different example of the message which the message control part which concerns on this invention manages. It is explanatory drawing which shows the message of English corresponding to FIG. It is a flowchart which shows the example from which the message control part concerning this invention and the process which a control part performs differs (Embodiment 2). It is a flowchart which shows the process following FIG. It is a flowchart which shows the process following FIG.

Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.
≪Configuration of self-propelled vacuum cleaner≫
FIG. 1 is a block diagram showing a schematic configuration of a self-propelled cleaner which is an aspect of the electronic apparatus according to the present invention. As shown in FIG. 1, the self-propelled cleaner according to the present invention mainly includes a rotary brush 9, a side brush 10, a control unit 11, a rechargeable battery 12, an obstacle detection unit 14, and a dust collection unit 15. Furthermore, a power unit 21, a right drive wheel 22R, a left drive wheel 22L, an intake port 31, an exhaust port 32, an electric blower 115, an ion generation unit 117, and a wireless signal communication unit 217 are provided. Furthermore, an audio output unit 221, a speaker 223, and a dust level detection unit 225 are provided.
The power unit 21, the left driving wheel 22L, and the right driving wheel 22R correspond to a traveling unit in a preferable aspect of the present invention described later.
The rotating brush 9, the side brush 10, the dust collecting portion 15, the air inlet 31, the air outlet 32, the electric blower 115, and the brush motor 119 correspond to a suction dust collecting portion in a preferable aspect of the present invention described later.

The self-propelled cleaner of the present invention is a self-propelled cleaner that cleans the area by self-propelling the area to be cleaned while sucking air containing dust in the area and exhausting the air from which the dust is removed. It is. The self-propelled cleaner according to the present invention has a function of autonomously returning to a charging stand (not shown) when cleaning is completed.
2 to 4 are external views showing an embodiment of the self-propelled cleaner according to the present invention. 2 is a plan view, FIG. 3 is a side view, and FIG. 4 is a front view.
5 is a cross-sectional view of the self-propelled cleaner shown in FIG. 6 is a cross-sectional view taken along the line BB in FIG.

As shown in FIGS. 2-6, the self-propelled cleaner 1 has a disk-shaped appearance.
The self-propelled cleaner 1 includes a bottom plate 2a on which an internal mechanism of the cleaner is mounted, and a top plate 2b in which a concave portion that houses the dust collecting portion 15 is formed. The edge of the rear half of the bottom plate 2a is surrounded by the rear side plate 2d. On the top plate 2b, a lid 3 that covers the upper opening of the recess 213 is disposed so as to be openable and closable.

  The outer peripheral portion of the self-propelled cleaner 1 and the upper edge portion from the outer peripheral portion to the lid portion are covered with an annular bumper 2c in plan view. The bumper 2c is fixed in a state where it can be displaced to some extent in the horizontal direction with respect to the top plate 2b.

  A front ultrasonic sensor 14F is arranged in front of the bumper, and a left ultrasonic sensor 14L is arranged in front of the left. Further, a right ultrasonic sensor 14R is disposed on the right front side.

  A radio signal communication unit 217 is disposed on the upper front portion of the bumper 2c so as to protrude upward. The wireless signal communication unit 217 receives a wireless signal from an operation remote controller (not shown) or a wireless signal transmitter of a charging stand. The control unit 11 is a microcomputer, a memory, and peripheral circuits mounted on the circuit board, and controls the traveling and other operations of the self-propelled cleaner 1 in response to an instruction indicated by the wireless signal. In this embodiment, the radio signal communication unit 217 is attached to the bumper 2c.

  The bottom plate 2a is formed with a plurality of holes that expose the right driving wheel 22R, the left driving wheel 22L, and the rear wheel 26 from the bottom plate 2a and project downward. Further, the bottom plate 2a is formed with an intake port 31, a rotary brush 9 in the back, a side brush 10 on the left and right of the intake port 31, a front floor surface detection sensor 18 on the front end, and a left wheel floor in front of the left drive wheel 22L. A right wheel floor surface detection sensor 19R is disposed in front of the surface detection sensor 19L and the right drive wheel 22R.

The self-propelled cleaner 1 travels in the direction in which the right driving wheel 22R and the left driving wheel 22L rotate forward in the same direction and moves forward, and the front ultrasonic sensor 14F is disposed. Further, the left and right drive wheels rotate backward in the same direction and move backward, and turn by rotating in opposite directions. For example, when the self-propelled cleaner 1 reaches the periphery of the cleaning region by each sensor of the obstacle detection unit 14 and detects an obstacle on the course, the left and right drive wheels are decelerated and then stopped. Thereafter, the left and right drive wheels are rotated in opposite directions to turn and change directions. In this way, the self-propelled cleaner 1 self-propels while avoiding obstacles over the entire installation location or the entire desired range.
Here, the front means the forward direction of the self-propelled cleaner 1 (upward along the plane of the paper in FIG. 2), and the rear means the backward direction of the self-propelled cleaner 1 (the plane of paper in FIG. 2). Along the bottom).

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the self-propelled cleaner 1, and mainly includes a CPU, a rewritable nonvolatile memory (for example, a flash ROM), a RAM used as a work memory, This is realized by a microcomputer including an I / O controller, a timer, and the like.
The CPU organically operates each hardware based on a control program stored in advance in the non-volatile memory and expanded in the RAM to execute the cleaning function, the traveling function, and the like of the present invention.

  The control unit 11 includes a message control unit 11a, a history storage unit 11b, and a message storage unit 11c. The function of the message control unit 11a is realized when the CPU executes a module related to message control processing in the control program. The history storage unit 11b is a part that stores data related to a history of the use of the self-propelled cleaner 1 in the nonvolatile memory. The message storage unit 11c is a part that stores data related to messages in the nonvolatile memory.

The rechargeable battery 12 is a part that supplies power to each functional element of the self-propelled cleaner 1, and is a part that mainly supplies power for performing a cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used. The rechargeable battery 12 is hidden in the control unit 11 in FIG.
The rechargeable battery 12 is charged by bringing the exposed charging terminals into contact with each other in a state where the self-propelled cleaner 1 is brought close to a charging stand (not shown).

The obstacle detection unit 14, particularly the left, front, and right sensors 14L, 14F, and 14R, contact or approach obstacles such as indoor walls, desks, and chairs while the self-propelled cleaner 1 is traveling. This is the part that detects this. The obstacle detection unit 14 detects proximity to the obstacle using an ultrasonic sensor. Instead of the ultrasonic sensor or together with the ultrasonic sensor, other types of non-contact sensors such as an infrared distance measuring sensor may be used.
The left contact sensor 14CL and the right contact sensor 14CR are disposed inside the bumper 2c in order to detect that the self-propelled cleaner 1 has come into contact with an obstacle during traveling. The CPU knows that the bumper 2c has collided with the obstacle and its direction based on the output signals from the left contact sensor 14CL and the right contact sensor 14CR.

The front floor surface detection sensor 18, the left wheel floor surface detection sensor 19L, and the right wheel floor surface detection sensor 19R detect steps such as descending stairs.
Based on the signal output from the obstacle detection unit 14, the CPU recognizes the position where an obstacle or a step exists. Based on the recognized obstacle and step position information, the next direction to travel is determined while avoiding the obstacle and step. The left wheel floor surface detection sensor 19L and the right wheel floor surface detection sensor 19R detect a step on the left front or right front in the traveling direction outside the detection range of the front floor surface detection sensor 18. This detects the downstairs and prevents the self-propelled cleaner 1 from falling onto the downstairs.

  The power unit 21 is a part that realizes traveling by a drive motor that rotates and stops the left and right drive wheels of the self-propelled cleaner 1. The power unit 21 is configured such that the left drive wheel 22L and the right drive wheel 22R can be independently rotated in both forward and reverse directions by respective drive motors. As a result, it is possible to realize traveling states such as forward movement, backward movement, turning, and acceleration / deceleration of the self-propelled cleaner 1.

The intake port 31 and the exhaust port 32 are portions that perform intake and exhaust of air for cleaning, respectively.
The dust collection unit 15 is a part that performs a cleaning function for collecting indoor dust and dust, and mainly includes a dust collection container 15a (not shown), a filter unit 15b, and a cover unit 15c that covers the dust collection container and the filter unit. Provide (see FIG. 6). Moreover, it has the inflow path 31a connected with the inlet port 31, and the discharge path 32a which guides air to the exhaust port 32 (refer FIG. 5 and FIG. 6). On the side wall of the inflow path 31a, a light emitting unit 225a and a light receiving unit 225b of a transmissive photosensor are arranged opposite to each other (see FIG. 5). This photosensor functions as a dust level detection unit 225 that detects a certain degree of dust sucked together with air from the air inlet 31. When there is a lot of dust contained in the airflow passing through the inflow path, the light from the photo sensor is blocked by the dust, so that it is possible to detect some degree of dust based on the intensity of the light reaching the light receiving unit 225b. . The dust level may be determined by averaging the intensity of light detected by the light receiving unit 225b for a certain period. An electric blower 115 is disposed in the discharge path. The electric blower 115 sucks air from the intake port 31, guides the air into the dust collecting container via the inflow passage, and discharges the air after dust collection from the exhaust port 32 to the outside via the discharge passage. Is generated.

  A rotary brush 9 that rotates about an axis parallel to the bottom surface is provided at the back of the intake port 31, and a side brush 10 that rotates about a rotational axis perpendicular to the bottom surface is provided on the left and right sides of the intake port 31. Is provided. The rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 10 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of side brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and a brush motor 119 provided in the vicinity thereof, a pulley, a belt, etc. It is connected via a power transmission mechanism that includes it.

Moreover, the self-propelled cleaner 1 according to this embodiment has an ion generation function as an additional function. An ion generation unit 117 is provided in the discharge path. When the ion generation unit 117 operates, the airflow discharged from the exhaust port includes ions generated by the ion generation unit 117 (for example, plasma cluster ions (registered trademark) or negative ions may be used). The air containing the ions is exhausted from an exhaust port 32 provided on the upper surface of the housing 2. Indoor air sterilization and deodorization are performed by the air containing the ions. In the case of negative ions, it is also known to give a relaxing effect to humans. At this time, air is exhausted from the exhaust port 32 obliquely upward to the rear, so that the dust on the floor surface is prevented from being rolled up, and the cleanliness of the room can be improved. In addition, the dust can be gradually discharged, and the collected dust can be reliably discarded.
A part of the ions generated by the ion generator 117 may be guided to the inflow path. In this way, since ions are included in the airflow guided from the intake port 31 to the inflow path, it is possible to sterilize and deodorize a dust collection container and a filter (not shown) of the dust collection unit 15.

The audio output unit 221 generates an audio signal using audio data stored in advance in the message storage unit 11c under the control of the message control unit 11a, and outputs the generated audio signal from the speaker 223. The voice is used to prompt the user for an operation, inform the state of the self-propelled cleaner 1, and perform other communications. In particular, the present invention is used to output a message in response to an instruction from a user.
≪Measurement of the size of the cleaning area≫
The self-propelled cleaner 1 according to this embodiment, after receiving an instruction to start cleaning, measures the size of the area to be cleaned before starting the cleaning operation, and determines the size of the area obtained by the measurement. Determine the cleaning time according to the degree. A specific example will be described. The user can cancel this function. When the function is released, the self-propelled cleaner 1 finishes the cleaning operation when a predetermined time has elapsed or when the remaining capacity of the rechargeable battery 12 falls below a predetermined threshold, and returns to the charging stand 100. To do.
FIG. 7 is a flowchart showing an example of processing executed by the control unit 11 when the self-propelled cleaner 1 of the present invention measures the size of the cleaning area.
FIG. 8 is an explanatory diagram showing the operation of the self-propelled cleaner 1 corresponding to the process of FIG. 8B and 8C, reference numerals common to those in FIG. 8A are omitted.

  In this embodiment, the charging stand 100 is installed near the wall of the room to be cleaned, and the self-propelled cleaner 1 returns to the charging stand 100 after the cleaning work and docks the rear end side with the charging stand 100. The rechargeable battery 12 is charged. Waiting for an instruction to start the next cleaning while docking with charging stand 100. When the user sends an instruction to start cleaning to the self-propelled cleaner 1 using a remote controller (not shown) during standby, the control unit 11 receives the instruction via the wireless signal communication unit 217. In response to the received instruction to start cleaning, the controller 11 moves the housing 2 forward and travels from the wall toward the center of the room (step S11). During advance, the routine loops through steps S11 and S12 and S13 described later.

The operation of the self-propelled cleaner 1 at this stage corresponds to FIG. That is, the self-propelled cleaner 1 moves away from the charging stand 100 near the wall and travels in the direction of the arrow RT1.
In FIG. 8A, the area to be cleaned is a rectangular room surrounded by the sidewall SW. Here, a direction along the side wall SW on which the charging stand 100 is installed is defined as an X-axis direction, and a direction perpendicular to the X-axis direction is defined as a Y-axis direction.

During the forward movement, the control unit 11 determines whether the obstacle detection unit 14 has detected an obstacle in front of the housing 2 (step S12).
When the obstacle detection unit 14 does not detect an obstacle in front of the housing 2 (when the determination in step S12 is No), the control unit 11 proceeds to step S13 and determines whether or not the vehicle has advanced a predetermined distance. Judging.
On the other hand, when the obstacle detection unit 14 detects an obstacle in front of the housing 2 (when the determination in step S12 is Yes), the control unit 11 proceeds to step S14.

In step S13, the control unit 11 determines whether or not the housing 2 has advanced a predetermined distance (for example, 2 m) from the charging stand 100 (step S13). The predetermined distance may be a predetermined distance, or the user may execute a setting menu to store the distance. That is, when the user places the self-propelled vacuum cleaner 1 near the center of the room and executes the menu, the control unit 11 returns the self-propelled vacuum cleaner 1 to the charging base 100 based on an induction signal generated by the charging base 100. The travel distance and direction are stored in the non-volatile memory.
When the casing 2 has advanced by a predetermined distance from the charging stand 100 (when the determination in step S13 is Yes), the control unit 11 proceeds to step S14.
On the other hand, when the housing 2 has not advanced the predetermined distance from the charging stand 100 (when the determination in step S13 is No), the routine returns to step S11 and loops.

  When an obstacle is detected forward in step S12 or when the vehicle has advanced a predetermined distance in step S13 (Yes in step S13), in step S14, the controller 11 detects the surrounding obstacles. The housing 2 is stopped (step S14).

  Here, the detection position is not limited to one place, and an obstacle may be detected at a plurality of positions. By detecting at a plurality of positions in this way, it is possible to accurately detect the position of the obstacle even if the detection accuracy of the obstacle detection unit 14 is low. For example, in a large room, a surrounding obstacle may be detected every time the casing 2 advances 2 m from the charging stand 100.

Subsequently, the control unit 11 causes the obstacle detection unit 14 to detect the direction in front of the housing 2 and the distance from the housing 2 to the obstacle, and stores them in the nonvolatile memory (step S15).
At this time, as shown in FIG. 8A, the control unit 11 moves from the obstacle detection unit 14 to the case 2 with the direction (Y-axis positive direction) in which the case 2 has advanced along the path RT1 as a reference direction. The distance L1 to the obstacle ahead of is stored in a nonvolatile memory. In this embodiment, the obstacle detection unit 14 can measure the distance to the obstacle without contact. Specifically, for example, an ultrasonic sensor may be used to measure the distance to the obstacle based on the intensity of the reflected wave and the delay time. If a reflected wave cannot be detected, the maximum value in the measurable range may be used as the distance to the obstacle.

Subsequently, the control unit 11 changes the direction of the casing 2 90 degrees clockwise from the reference direction (step S16). And the distance to the front obstacle in the direction changed direction is preserve | saved at a non-volatile memory.
Thereafter, the control unit 11 determines whether or not the housing 2 has turned 360 ° from the reference direction. If the direction has not yet changed 360 ° from the reference direction (if the determination in step S17 is No), the routine loops back to step S15 and changes direction by 90 ° to determine the distance to the obstacle in that direction. Measure and store in non-volatile memory.
If the housing 2 has changed 360 degrees from the reference direction (when the determination in step S17 is Yes), the routine proceeds to step S18.
On the other hand, the housing 2 is

As shown in FIG. 8B, the measured values L1, L2, L3, and L4 of the distance to the obstacle ahead are stored in the nonvolatile memory for the directions MD1, MD2, MD3, and MD4 in increments of 90 ° from the reference direction. Store.
Table 1 shows a configuration example of a data table in which the distance to the obstacle measured in this way is stored.

  In Table 1 above, the detection direction is the direction viewed from the front of the housing 2 and is represented by the directions of arrows MD1 to MD4 in FIG. 8B. The rotation angle represents an angle with reference to a direction (direction along the route RT1 in FIG. 8A) in which the housing 2 has left the charging stand 100 and moved forward to the cleaning region. The distance to the obstacle represents the distance (m) from the obstacle detection unit 14 to the obstacle in front of the housing 2.

Note that the increment of the direction change angle of the housing 2, 90 °, is merely an example, and may be set to another rotation angle. For example, the direction of the housing 2 may be changed in units of 45 ° (see FIG. 8C). Further, it is not necessary to stop the rotation operation of the housing 2 for detection, and an obstacle is detected at a predetermined timing (for example, 10 times per second) while the rotation operation of the housing 2 is maintained. You may do it.
Further, it is not always necessary to change the direction of the housing 2 in order to detect an obstacle. For example, the obstacle detection unit 14 is provided on the front, rear, left, and right sides of the housing 2 so The distance of the obstacles may be detected at a time. Further, instead of using the obstacle detection unit 14, for example, the self-propelled cleaner 1 includes a camera and an image recognition unit, and an image recognition unit analyzes an image acquired by the camera, whereby the distance and direction to the obstacle. May be detected.

  Next, the control part 11 estimates the area of the cleaning area which should be self-propelled based on the detection result of step S15-step S17 (step S18). For example, assuming a rectangular cleaning area CA1 as shown by a chain line in FIG. 8B, the diameter of the housing 2 can be estimated as LD (m) as shown in Table 2 below.

Alternatively, as indicated by a chain line in FIG. 8C, the distance to the obstacle in each direction may be connected by a curve, and the area surrounded by the curve may be estimated as the area of the cleaning area.
Next, the control unit 11 determines the cleaning time of the self-propelled cleaner 1 from the start of cleaning to the start of returning to the charging stand 100 based on the estimated area of the cleaning region (step S19).

As a specific method for determining the cleaning time, for example, the control unit 11 predetermines a correspondence relationship between the estimated area (m ² ) of the cleaning region and the cleaning time (minutes) as shown in Table 3 below. Determine by referring to the correspondence.
For example, when the estimated area EA1 of the cleaning region is about 24 (m ² ), the estimated area is between 20 and 30 (m ² ), so the cleaning time is 40 minutes from the correspondence relationship in Table 3. I understand that.

Here, the correspondence relationship in Table 3 indicates that when the self-propelled cleaner 1 is self-propelled in a room of each estimated area, for example, the self-propelled cleaner 1 covers 99% or more of the indoor area. An experiment for measuring the average time required for traveling at the design stage can be performed and set based on the result of the experiment.
The increment of the estimated area may be determined in units of the size of a Japanese room such as 4 tatami mats, 6 tatami mats, and 8 tatami mats.

  When the cleaning time is determined, the control unit 11 starts the cleaning operation and controls the vehicle to travel inside the room. And when the determined cleaning time passes, it controls so that the self-propelled cleaner 1 may be returned to the charging stand 100.

(Embodiment 1)
Next, processing executed by the message control unit 11a will be described. In this embodiment, the message control unit 11a is included in the control unit 11, and its function is realized by a microcomputer executing a predetermined control program stored in advance in a nonvolatile memory.

The microcomputer realizes a function as the control unit 11 by performing multitask processing on a control program of a plurality of modules. The function of the message control unit 11a is realized by the microcomputer executing a specific module among the plurality of modules described above.
Hereinafter, a process related to the message control unit 11a which is characteristic in the present invention will be described.

  FIG. 9 is an explanatory diagram illustrating an example of a message managed by the message control unit 11a. These messages are output as a response to any one of the messages that matches the usage status when an instruction to start the cleaning operation is received. The instruction to start the cleaning operation is given as an easy-to-understand example of the trigger for outputting the message. Besides, various triggers such as turning on the power, starting the measurement of the cleaning area, ending the measurement, ending the cleaning, docking to the charging stand 100, etc. And various messages that are appropriate for those opportunities.

  As shown in FIG. 9, each message is associated with the appearance rate as a weight value and stored in advance in the message storage unit 11c. In addition, conditions (speech conditions) for outputting each message are defined. For example, the message “May be the same room as before?” With the number M32 is associated with 30 as the value of the appearance rate, and the size of the cleaning area estimated by measuring before the start of the cleaning operation is the previous cleaning operation. It is determined in advance that a candidate for output is the same size as the size of the room where the operation is performed. In addition, when the previous cleaning time is 5 minutes (speaking condition), it is determined to output a message M33 that “cleaned for 5 minutes before”. The message M33 is associated with the appearance rate 100.

  In this embodiment, the self-propelled cleaner 1 has a function of measuring the size of the cleaning area and autonomously determining the cleaning time based on the measured size. However, when the room is cluttered and there are many obstacles, or when the shape of the cleaning area is complicated, accurate measurement may not be possible. In that case, cleaning may be completed in a shorter time than the cleaning time suitable for the size of the room. By notifying this by a message, the user can be prompted to clean up the room, cancel the function of measuring the size of the room, or take appropriate measures.

10 and 11 are flowcharts illustrating an example of processing executed by the control unit 11 and the message control unit 11a. As shown in FIG. 10, the message control unit 11a waits for an instruction to start cleaning from the user (step S31), and first outputs a standard message indicating that the instruction has been received when the instruction is received. Control is performed (step S33). For example, the message is “I understand!”. Here, the instruction to start cleaning is an example of an event according to the present application.
Further, in response to the instruction, the control unit 11 measures the width of the cleaning area and determines the cleaning time based on the measured degree of width (step S35). The details are as shown in FIG. In step S43, which will be described later, the control unit 11 stores the measured size and the determined cleaning time in the history storage unit 11b as a history, but before that, performs the following processing.

  The message control unit 11a is determined based on the degree of the width measured in step S35 and the determined cleaning time, and the history stored in the history storage unit 11b, that is, the degree of the width measured before and the same. The cleaning time is compared (step S37). Then, if a message that matches the usage status is searched (step S39), if it is found (Yes in step S39), the matching message is extracted as a candidate (step S41). If there is no matching message (No in step S39), the routine proceeds to step S43.

In subsequent step S43, the control unit 11 stores the size of the area measured in step S35 and the determined cleaning time in the history storage unit 11b as a history.
When there are a plurality of messages extracted as candidates in step S41, the message control unit 11a selects one message with a probability corresponding to the appearance rate (step S51), and the selected message is sent to the voice output unit 221. Through the speaker 223.

The process in which the message control unit 11a selects a message with a probability corresponding to the appearance rate in step S51 will be described with a specific example.
Suppose that the situation where the self-propelled cleaner 1 is used is as follows. The self-propelled vacuum cleaner performed the cleaning work for 20 minutes yesterday. And today we clean in the same room as yesterday.
Yesterday's cleaning time and room size are stored in the history storage unit 11b. Referring to the utterance conditions in FIG. 9, it can be seen that the messages suitable for this use situation are M32 and M43. In step S51, the message control unit 11a determines that the size of the room cleaned yesterday stored in the history storage unit 11b is the same as the size of the room measured this time, and extracts the message M32 as a candidate. . On the other hand, the message M31 is excluded from the candidates. According to the history, since the cleaning time for yesterday is 20 minutes, it is determined that none of M33, M28 + M34, and M28 + M35 is a candidate. Further, the message M43 is always listed as a candidate because there is no particular limitation condition.

  Therefore, the message control unit 11a selects one of the two messages M32 and M43. At the time of selection, each message is selected with a probability corresponding to the weight value of each message, that is, the appearance rate. As shown in FIG. 9, the appearance rate of both M32 and M43 is 30. Therefore, any one message is selected under the condition of selecting with equal probability. Such selection can be realized by combining, for example, a process of generating a random number (may be a pseudo-random number) and a process of making each message correspond to the random number in advance. The number of random numbers associated with the messages M32 and M43 may be set to the ratio of the appearance rates of both, that is, 30:30. If a sufficiently large number of random numbers are generated with respect to the number of candidates and the appearance rate, this method can be applied regardless of the number of candidates and the appearance rate.

  Returning to the description of FIG. After outputting the response message in step S53, the control unit 11 controls to start the cleaning operation (step S55). Then, after waiting for the end of the cleaning time determined based on the size measurement (step S67), the self-propelled cleaner 1 is returned to the charging stand (step S69). After returning to the charging stand (step S71), the routine returns to the initial step S31 and waits for the next cleaning start instruction.

(Embodiment 2)
In the first embodiment, the measured extent of the cleaning area and the cleaning time based thereon are given as examples of usage conditions. In this embodiment, a mode in which some other usage situations are added will be described.
FIG. 12 is an explanatory diagram illustrating different examples of messages managed by the message control unit 11a. As shown in FIG. 12, in addition to the size of the room and the cleaning time, the number of dust detections at the previous cleaning, the number of collisions with obstacles at the previous cleaning, the number of cleanings performed from the beginning, The elapsed time from cleaning is determined as the usage status.

  The number of detections of dust corresponds to the number of times dust is detected by the dust level detection unit 225 during the cleaning operation. The number of collisions corresponds to the number of times the left contact sensor 14CL and the right contact sensor 14CR detect contact with an obstacle during the cleaning operation. The number of cleaning starts from the beginning and the elapsed time from the previous cleaning may be recorded by the timer at the time of the start of cleaning or at the end of cleaning, and the number of times of cleaning may be counted. The number of dust detections, the number of collisions, the cleaning start time and the number of times, etc. are stored in the history storage unit 11b by the control unit 11 at the start of cleaning or during cleaning work when the event occurs.

  FIG. 13 is an explanatory diagram showing still another example of a message managed by the message control unit 11a. FIG. 14 is an explanatory diagram showing an English message corresponding to FIG. In addition to FIG.9 and FIG.12, in the aspect shown in FIG.13 and FIG.14, a message increases according to the use period after the self-propelled cleaner 1 was installed. The period of use may be a period after the power is first turned on after unpacking, but may be, for example, a cumulative period in which the self-propelled cleaner 1 is performing a cleaning operation, and waits for it. It may be a period including the inside.

  In the example of FIGS. 13 and 14, there are seven messages that can be output from the factory shipment stage, that is, the use start stage, and four messages are added when one month elapses. Three months after two months have passed, one message M28 + M35 is added. After six months, two more messages M43 and M44 are added. In the aspect of FIG. 13, since the variation of the response message increases as the date and time from the start of use, it is possible to give the user an impression that the number of words increases with the growth, and the number of messages is fixed Response that gives a more human impression is possible.

15 to 17 are flowcharts illustrating different examples of processing executed by the control unit 11 and the message control unit 11a. This is processing corresponding to the messages in FIG. 12, FIG. 13 and FIG. Portions that are the same as those in FIGS. 10 and 11 are given the same reference numerals. Therefore, the description of the overlapping part is omitted or simplified.
In FIG. 15, the processes from the beginning steps S31 to S43 are the same as those in FIG. That is, the control unit 11 receives a cleaning start instruction, measures the size of the cleaning area, and determines the cleaning time. The message control unit 11a extracts suitable messages as candidates. And the control part 11 stores the extent and the cleaning time which were obtained by measurement as a log | history.

  Subsequently, the message control unit 11a refers to another usage status included in the history stored in the history storage unit 11b (step S45). The other usage conditions are the number of dust detections when the previous cleaning was performed, the number of collisions with an obstacle when the previous cleaning was performed, the number of cleanings performed from the initial stage, and the time when the previous cleaning was started. The number of dust detection during the cleaning operation is stored as a history in step S61, which will be described later, and the number of collisions is stored in step S65, which will be described later. The start time and the cumulative number of cleaning operations are stored as a history in step S57 described later. Before storing these histories in the history storage unit, the control unit 11 and the message control unit 11a perform the following processing.

  First, based on the history referred to in step S45, it is checked whether there is a message that matches the usage status, and a matching message is extracted as a candidate (step S47 in FIG. 16). Then, when there are a plurality of extracted messages as candidates in Steps S41 and S49, the message control unit 11a selects one message with a probability corresponding to the appearance rate (Step S51) and controls to output (Step S51). S53).

Here, a specific example is given and demonstrated about the process which the message control part 11a selects a message with the probability according to the appearance rate.
Suppose that the situation where the self-propelled cleaner 1 is used is as follows. Self-propelled cleaner 1 has passed 1.5 months after purchase. Yesterday cleaning was performed for 20 minutes. And today we clean in the same room as yesterday. Moreover, the dust level detection part 225 detected dust 5 times during the last cleaning operation. The number of collisions was 10 times. This is the 72nd cleaning.

The message shown in FIG. 13 will be described as an example. Referring to the utterance condition in FIG. 13, since the usage period is 1.5 months, a total of 11 messages can be candidates, including 7 messages that can be output from the time of factory shipment and 4 messages that can be output after one month. .
Among these, regarding the size of the cleaning area, the message control unit 11a determines that the message that matches the usage status is M32 and that M31 does not match.

Further, since the previous detection count is 5 with respect to the dust detection count, it is determined that the message M28 + M36 does not match the usage status and M28 + M37 matches.
Further, since the previous collision number is 10 with respect to the number of collisions, it is determined that none of the messages M28 + M39 and M28 + M41 match the use situation.
Furthermore, since yesterday's cleaning time is 20 minutes, the message control unit 11a determines that neither M33 nor M28 + M34 is suitable for the use situation.
Since the number of times of cleaning is the 72nd, it is determined that the message M42 does not conform to the use situation.
Further, since the message M38 does not have a limitation condition, it is determined that the message M38 is suitable for the usage situation.
As described above, the message control unit 11a uses the three messages M32, M28 + M37, and M38 whose utterance conditions match the usage status as candidates.
Then, the message control unit 11a selects one of the three messages M32, M28 + M37, and M38 with a probability corresponding to the ratio of the appearance rates associated with each message, that is, 30:30:50.

Returning to the description of FIG. The control unit 11 performs control so as to start the cleaning work (step S55). Furthermore, the number of times the cleaning operation has been performed is updated and stored in the history storage unit 11b together with the time when the cleaning operation is started (step S57).
During the cleaning operation, the control unit 11 monitors whether the dust level detection unit 225 has detected dust (step S59), and when dust is detected, updates the number of times and stores it in the history (step S61).

  Further, it is monitored whether the left contact sensor 14CL and the right contact sensor 14CR detect contact with an obstacle during the cleaning operation (step S63 in FIG. 17), and when a collision is detected, the number of times is updated and recorded in the history. Store (step S65). Steps S59 to S67 are looped until the cleaning time determined based on the measurement of the area ends (step S67). The process after the cleaning time ends (Yes in step S67) is the same as in FIG.

(Embodiment 3)
In the second embodiment, a mode has been described in which the number of messages is increased as the usage period elapses. Conversely, even if a message that is not output when a predetermined usage period elapses is added. In this way, it is possible to give the user an impression that the language changes as it grows.
As a modified example, the value of the appearance rate corresponding to each message may be changed as the usage period elapses so that the user feels that the variation of the response message changes.

(Embodiment 4)
In the above-described embodiment, the case where an instruction to start a cleaning operation is received as an event for outputting a message has been described as an example, but another example of the event will be described below.
The event is a return to the charging stand 100 of the self-propelled cleaner 1, and the message control unit 11a detects the occurrence of an event when the cleaning is finished and returns to the charging stand, and a message to be output is output. You may make a selection. The message selection by the message control unit 11a in this case can be performed in the same manner as in the above-described embodiment.

(Other embodiments)
In addition to the above-described embodiment, some modified examples will be described.
In the first embodiment, it has been described that the function of the message control unit 11a is realized by the microcomputer included in the control unit 11 executing a predetermined control program stored in advance in the nonvolatile memory. In addition to the control program, the nonvolatile memory may store data related to the history storage unit 11b and the message storage unit 11c in advance. (Embodiment 5)

  In the description relating to the processing of step S33 in FIG. 10, when the message control unit 11a receives an instruction, it is described that it outputs a standard message indicating that the instruction has been received. Instead of a message, the self-propelled vacuum cleaner 1 is driven in a specific pattern, such as turning left and right at a slightly advanced position, or the side brush is operated in a specific pattern, and the response to the instruction is expressed by a gesture. May be. (Embodiment 6)

  If the remaining capacity of the rechargeable battery 12 is equal to or less than a predetermined threshold when the cleaning start instruction is received, the message control unit 11a determines that the cleaning operation cannot be started, and displays a display or response indicating that the instruction cannot be received. You may make it return. (Embodiment 7)

As mentioned above,
(I) An electronic device according to the present invention includes a history storage unit that stores a used history, a message control unit that determines a message to be output to a user, and a plurality of messages corresponding to usage conditions. A message storage unit preliminarily stored in association with the weight value; and a voice output unit that outputs the determined message. When the message control unit detects occurrence of a predetermined event, the event and the history storage unit When a message corresponding to the usage situation that matches the history stored in the message storage unit is searched from the message storage unit and more messages than the number of messages to be output are obtained as a result of the search, they are associated with each message. The message is selected using the weight value.

In the present invention, the electronic device includes the self-propelled cleaner described in the embodiment, but is not limited thereto, and includes, for example, a home appliance robot such as a washing machine, a home appliance such as a refrigerator, and an air conditioner.
The history storage unit stores a history of use of the electronic device. A specific mode is a predetermined storage area secured in a writable nonvolatile memory, for example, a nonvolatile memory element.

  The message control unit receives an instruction from the user and determines a message for the instruction. The specific mode is, for example, a function realized by a microcomputer executing a control program stored in advance in a nonvolatile memory. In an embodiment to be described later, the message control unit corresponds to a partial function of the control unit that controls the entire electronic device.

The message storage unit stores a plurality of messages in association with the weight value of each message. The weight value is a value related to the probability of selecting each message. The specific mode is, for example, a data table of message data stored in advance in a nonvolatile memory.
The voice output unit outputs message data as voice. Specific examples thereof include a speech synthesis circuit, a D / A converter, and an amplifier.
The message may be an additional response to be output before or after a predetermined response to the instruction.

Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) The message storage unit stores an initial message group that can be used from the beginning and an additional message group that can be used after a predetermined period of time has passed in association with the period, and the message control unit An additional message group after the associated period has elapsed may be included in the search target.
In this way, additional message groups that have passed the associated period will be added, so the variation of reply messages will spread over time, and a self-propelled vacuum cleaner capable of natural communication that will not bore the user. realizable.
(Iii) The electronic device travels in a region to be cleaned, an obstacle detection unit that detects an obstacle, a suction dust collection unit that sucks and collects dust, and the operation of the traveling unit and the suction dust collection unit The self-propelled cleaner may further include a control unit that controls

  (Iv) The predetermined event is reception of an instruction to start cleaning or end of cleaning, and the control unit determines the size of a cleaning area to be cleaned using the travel unit and the obstacle detection unit at the start of cleaning. Measuring, measuring the width of the cleaning area and determining the cleaning time based on the width, counting the number of collisions with obstacles during the cleaning work, counting the cumulative number of cleaning work execution, Record at least one of the cleaning work execution time, and record at least one of the area of the cleaning area, the cleaning time, the number of collisions, the number of cleaning work executions, and the cleaning work execution time as a history. Stored in the history storage unit, the message control unit stores the previous cleaning area size stored in the history storage unit, the previous cleaning time, the previous number of collisions, the number of previous cleaning operations, and the previous cleaning. Work Time may be determined a message to be output according to at least one.

  In this way, at least the size of the cleaning area measured after receiving an instruction to start cleaning, the cleaning time based on the cleaning area, the number of collisions with obstacles, the cumulative number of cleaning executions, and the frequency of cleaning executions are at least A self-propelled cleaner that outputs an appropriate message based on one can be realized.

As a mode of measuring the width of the cleaning area using the traveling unit and the obstacle detection unit, for example, the following can be considered. When a non-contact sensor such as an ultrasonic sensor is provided as an obstacle detection unit, the presence or absence of an obstacle in each direction is measured while turning the self-propelled cleaner at a predetermined position using the traveling unit. It is determined whether or not there is a wall in the detectable range in each direction. If there is a wall, estimate the distance to the wall. Alternatively, a travel route that travels along the wall surface of the self-propelled cleaner is recorded, and the width of the cleaning area is measured based on the travel route.
As the obstacle detection unit, an ultrasonic sensor that detects an obstacle without contact, a switch that detects a displacement due to a collision, an acceleration sensor that detects an impact due to a collision, a camera and an image recognition circuit, and the like are applicable.

(V) A dust level detection unit that detects the degree of dust in the area to be cleaned is further provided, and the control unit detects the number of collisions with an obstacle during the cleaning operation, and is detected by the dust level detection unit during the cleaning operation. Some degree of dust may be stored in the history storage unit as a history.
In this way, the message control unit can output a reply message according to not only the size of the area to be cleaned but also the degree of dust stored as history.
As the dust level detection unit, for example, a transmissive optical sensor arranged at a portion of an intake port for sucking dust can be applied.

Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

1: Self-propelled cleaner, 2a: Bottom plate, 2b: Top plate, 2c: Bumper, 2d: Back side plate, 3: Lid, 9: Rotating brush, 10: Side brush, 11: Control unit, 11a: Message control 11b: History storage unit, 11c: Message storage unit, 12: Rechargeable battery, 14: Obstacle detection unit, 14CL: Left contact sensor, 14CR: Right contact sensor, 14F: Front ultrasonic sensor, 14L: Above left Sonic sensor, 14R: right ultrasonic sensor, 15: dust collecting part, 15a: dust collecting container, 15b: filter part, cover part 15c, 18: front floor surface detection sensor, 19L: left wheel floor surface detection sensor, 19R: Right wheel floor detection sensor, 21: power unit, 22L: left drive wheel, 22R: right drive wheel, 26: rear wheel, 31: suction , 31a: inflow path, 32: exhaust port, 32a: discharge path, 100: charging stand, 115: electric blower, 117: ion generator, 119: brush motor, 217: wireless signal communication section, 221: audio output section 223: Speaker, 225: Dust level detection unit

Claims (5)

A history storage unit that stores a history of work performed based on user instructions ;
A message control unit for determining a message to be output to the user;
A message storage unit that stores in advance a plurality of messages according to the implementation status of the work in association with the weight value of each message;
An audio output unit for outputting the determined message;
When the message control unit detects that an instruction from the user has been received or that the work based on the instruction has been completed as an event , the message control unit conforms to the event and the work history stored in the history storage unit. When a message corresponding to the implementation status is searched from the message storage unit and more messages than the number of messages to be output are obtained as a result of the search, a weight value associated with each message is used. An electronic device characterized by selecting a message. The message storage unit stores an initial message group that can be output from the beginning, and an additional message group that can be output after a predetermined period has elapsed, in association with the period,
The electronic device according to claim 1, wherein the message control unit includes an additional message group after the associated period has elapsed in the search target.   The electronic device controls operations of a traveling unit that travels in an area to be cleaned, an obstacle detecting unit that detects an obstacle, a suction dust collecting unit that sucks and collects dust, and the traveling unit and the suction dust collecting unit. The electronic device according to claim 1, wherein the electronic device further comprises a control unit. The predetermined event is reception of an instruction to start cleaning or end of cleaning,
The control unit measures the width of the cleaning area to be cleaned using the traveling unit and the obstacle detection unit at the start of the cleaning, or measures the width of the cleaning area and cleans based on the width. At least one of determining the time, counting the number of collisions with obstacles during the cleaning operation, counting the cumulative number of cleaning operations, or recording the cleaning operation execution time, and Storing at least one of the area, the cleaning time, the number of collisions, the number of times of performing the cleaning work, and the time of performing the cleaning work as a history in the history storage unit,
The message control unit includes at least one of the previous cleaning area size stored in the history storage unit, the previous cleaning time, the previous number of collisions, the previous cleaning operation execution time, and the previous cleaning operation execution time. The electronic device according to claim 3, wherein a message to be output is determined based on the information. A dust level detector for detecting the degree of dust in the area to be cleaned;
The electronic device according to claim 3, wherein the control unit further stores, in the history storage unit, a certain degree of dust detected by the dust level detection unit during a cleaning operation as a history.