TW201345680A - Robot apparatus, control program, and computer-readable recording medium having control program recorded thereon - Google Patents

Abstract

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

Description

Robot device, control program, and computer readable recording medium recording the control program

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

In recent years, home-supporting robots for the general family have begun to spread.

Patent Document 1 discloses a vacuum cleaner that automatically cleans a vacuum cleaner robot and cleans the room based on an operation instruction given from a communication terminal via a communication network, and discloses that the "vacuum cleaner robot has standby (non-operational state). Information about the state of operation, such as normal operation, fall, battery remaining amount, etc., is a function of machine information memory. The vacuum cleaner robot sends the machine information to the mobile phone.".

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Laid-Open Patent Publication No. 2005-118354 (published on May 12, 2005)

However, as disclosed in Patent Document 1, when the numerical value of the device information or the like is directly transmitted to the portable terminal, the user must confirm the operation state of the vacuum cleaner. Multiple values. That is, since it is difficult to grasp the operating state of the vacuum cleaner at a glance, the convenience of the user is impaired.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a robot device that notifies the various information acquired by the device into a summary that can be grasped at a glance of the summary of the information. .

In order to solve the above problems, a robot apparatus according to an aspect of the present invention includes: a decision mechanism that determines summary information of the acquired information acquired by the local machine; and a transmitting mechanism that directs the summary information determined by the determining means to the external device Transmitting; and the determining means determines the summary information by selecting from the plurality of selection items according to the obtaining information.

According to an aspect of the present invention, since the user can confirm the summary information by the external device, it is easy to grasp the summary of the acquired information in a shorter time than when the information is directly confirmed, thereby facilitating the user's convenience. Improve the effect.

1‧‧‧Self-propelled vacuum cleaner (robot device)

2‧‧‧ body frame

3‧‧‧ Cover

4‧‧‧Charging terminal

5‧‧‧buffer

6‧‧‧Inhalation

7‧‧‧Exhaust port

8‧‧‧ recess

9‧‧‧Rotary brush

10‧‧‧ side brush

11‧‧‧1st inspiratory road

12‧‧‧2nd inhalation path

14‧‧‧Battery (secondary battery)

15‧‧‧Control substrate

20‧‧‧Motor unit (motor)

22‧‧‧Electric blower

26‧‧‧ Rear wheel

27‧‧‧ front wheel

29‧‧‧Drive wheel

29a‧‧‧Rotary axis

30‧‧‧Dust collection department

31‧‧‧dust container

32‧‧‧Upper cover

32a‧‧‧Deduction Department

33‧‧‧Filter

34‧‧‧Incoming road

34a‧‧‧Inlet

34b‧‧‧Inflows

35‧‧‧Outflow

35a‧‧‧Export

39‧‧‧dust room

40‧‧‧Charging station

41‧‧‧Power supply terminal

50‧‧‧Operator panel

51‧‧‧LED lights

52‧‧‧Control Department (vacuum mechanism)

53‧‧‧Communication Control Department (Communication Control Agency)

54‧‧‧LED lighting unit

55‧‧‧Voltage Detection Department

57‧‧‧Memory Department

58‧‧‧Travel Drive Department

59‧‧‧Rotary brush drive

60‧‧‧ side brush drive

61‧‧‧Air supply device

62‧‧‧Ion generator

63‧‧‧Sound Input Department

64‧‧‧Sound Output Department

65‧‧‧Step Detection Department

66‧‧‧Smell Measurement Department

67‧‧‧ Temperature Measurement Department

68‧‧‧ Collision Detection Department

101‧‧‧Event Detection Department

102‧‧‧Action indication detection department

111‧‧‧Starting the detection department

121‧‧‧Connection establishment detection department

131‧‧‧Request to receive detection department

141‧‧‧Sound Detection Department

151‧‧‧ Command Detection Department

161‧‧‧Operation and Detection Department

201~211‧‧‧Emotional Choice Department (Decision Agency)

231‧‧‧ Operational Value Determination Department

232‧‧‧Operational Value Determination Department

233‧‧‧ Operational Value Determination Department

234‧‧‧Operational Value Determination Department

236‧‧‧ Operational Value Determination Department

237‧‧‧Operational Value Determination Department

238‧‧‧Operational Value Determination Department

239‧‧‧ Operational Value Determination Department

240‧‧‧Operational Value Determination Department

241‧‧‧ Calculation Value Determination Department

251‧‧‧Emotional Computing Department

301‧‧‧Transmission processing unit (sending unit)

401‧‧‧Dust collection history information storage unit (vacuum count storage mechanism, vacuum days) Storage organization)

402‧‧‧Battery remaining amount measurement unit (battery remaining amount measuring mechanism)

403‧‧‧ Current value measuring unit (current value measuring unit)

404‧‧‧Loading and Unloading Department

405‧‧‧Return to Control Department (Moving Control Agency)

406‧‧‧Collision Management Department

407‧‧‧Down in the Avoidance Management Department

408‧‧‧Smell Management Department

409‧‧‧ Temperature Management Department

501‧‧‧Start and stop buttons

502‧‧‧ mode selection button

503‧‧‧ battery mark

504‧‧‧Time display department

505‧‧‧Time setting button

506‧‧‧Dumping garbage lights

570‧‧‧Information Memory Department

571‧‧‧Dust collection memory

572‧‧‧Dust-washing days memory

573‧‧‧Dust collection count/calculated value memory unit (calculated value memory unit)

574‧‧‧Dust-cleaning days/calculated value memory unit (calculated value memory unit)

575‧‧‧Battery remaining/calculated value memory unit (calculated value memory unit)

576‧‧‧ Current value/calculated value memory unit (calculated value memory unit)

577‧‧‧Time/Operational Value Memory

578A‧‧‧Status/calculated value memory unit (calculated value memory unit)

578B‧‧‧Status/calculated value memory unit (calculated value memory unit)

579‧‧‧ Collision Times/Operational Value Memory

580‧‧‧Drop Avoidance/Operation Value Memory

581‧‧‧Smell count/calculated value memory

582‧‧‧ Temperature/Operational Value Memory

A1‧‧‧ arrow

A2‧‧‧ arrow

A3‧‧‧ arrow

C‧‧‧ center line

F‧‧‧Floor

S‧‧‧ side wall

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a self-propelled vacuum cleaner according to an embodiment of the present invention.

Figure 2 is a side cross-sectional view of the above self-propelled vacuum cleaner.

Figure 3 is a bottom plan view of the above self-propelled vacuum cleaner.

Fig. 4 is a view showing an example of an operation panel of the self-propelled vacuum cleaner.

Fig. 5 is a side cross-sectional view showing the above self-propelled vacuum cleaner, showing a state in which the cover portion of the main body casing is opened to take out the dust collecting portion.

Fig. 6 is a perspective view of a charging stand for charging the self-propelled vacuum cleaner.

Fig. 7 is a block diagram showing the functional configuration of the self-propelled vacuum cleaner.

Fig. 8 is a block diagram showing the configuration of a memory unit and a control unit of the self-propelled vacuum cleaner.

Fig. 9 (a) is a schematic view showing an example of information stored in the number of times of cleaning/calculation value included in the memory unit. (b) is a pattern diagram showing an example of information stored in the number of days of vacuuming/calculated value memory included in the memory unit.

FIG. 10 is a schematic diagram showing an example of coefficients used by the emotion calculation unit included in the control unit.

Fig. 11 is a schematic diagram showing the correspondence relationship between the emotion value and the emotion obtained as a result of the calculation by the emotion calculation unit included in the control unit.

Fig. 12 is a flow chart showing the processing flow of the self-propelled vacuum cleaner described above.

Fig. 13 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to another embodiment of the present invention.

Fig. 14 is a schematic view showing an example of information stored in the battery remaining amount/calculated value memory unit included in the memory unit.

Fig. 15 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 16 is a schematic view showing an example of information stored in the current value/operating value memory unit included in the memory unit.

Fig. 17 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 18 is a schematic view showing an example of information stored in the elapsed time/operating value memory unit included in the above-mentioned memory unit.

Fig. 19 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 20 is a schematic diagram showing an example of information stored in the state/calculation value storage unit included in the above-mentioned memory unit.

Fig. 21 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 22 is a schematic diagram showing an example of information stored in the state/calculation value storage unit included in the above-mentioned memory unit.

Fig. 23 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 24 is a schematic view showing an example of information stored in the collision number/calculation value storage unit included in the above-mentioned memory unit.

Fig. 25 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 26 is a schematic diagram showing an example of information stored in the number of fall avoidance/calculation value storage units included in the above-mentioned memory unit.

Fig. 27 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 28 is a schematic view showing an example of information stored in the odor frequency/calculation value storage unit included in the memory unit.

Fig. 29 is a block diagram showing the configuration of a memory unit and a control unit of a self-propelled vacuum cleaner according to still another embodiment of the present invention.

Fig. 30 is a schematic view showing an example of information stored in the temperature/calculation value storage unit included in the above-mentioned memory unit.

[Summary of the Invention]

As an embodiment of the robot apparatus of the present invention, a self-propelled vacuum cleaner (robot device) 1 will be described below as an example. Further, as the robot apparatus, in addition to the self-propelled vacuum cleaner 1, a robot apparatus such as a housekeeping robot, an air cleaning robot, a guard robot, or a pet robot can be widely applied.

The self-propelled vacuum cleaner 1 of the present invention is a device for self-propelled and attracting dust to perform dust suction. The main feature of the self-propelled vacuum cleaner 1 is the information to be obtained by the self-propelled vacuum cleaner 1. (In particular, the information obtained as a result of the implementation of the vacuum, the information indicating the status of each part of the machine, the information on the instructions of the machine, etc.) is converted into a performance that is summarized at a glance at the summary of the information. (Hereinafter, it is described as general information), and the summary information of the conversion is transmitted to an external device.

A typical example of general information is information indicating the state (good or bad) of the self-propelled vacuum cleaner 1 based on the information obtained by the self-propelled vacuum cleaner 1. Hereinafter, the state of the self-propelled vacuum cleaner 1 will be described as an "emotional" expression of the self-propelled vacuum cleaner 1 in the case where the self-propelled vacuum cleaner 1 is anthropomorphized. In this case, the self-propelled vacuum cleaner 1 transmits the emotion of the performance of the information acquired by the self-propelled vacuum cleaner 1 to the external device.

In addition, the emotion of the self-propelled vacuum cleaner 1 is determined from a plurality of selections. In each of the embodiments, there are three choices of "pleasure" in a good mood, "general" in a general mood, and "unpleasantness" in a bad mood. The method of selecting emotions will be described later. In addition, "pleasure" indicates that the state of the self-propelled vacuum cleaner 1 is good, and "general" indicates that the state of the self-propelled vacuum cleaner 1 is not bad but not good, and "unpleasantness" indicates that the state of the self-propelled vacuum cleaner 1 is poor.

Furthermore, the user can also select the "character" of the self-propelled vacuum cleaner 1. A typical example of personality is the "emotional type" in which the duration of emotion is long, the "moderate" type in which the emotion is sustained, and the "tolerant type" in which the duration of emotion is short. By selecting these types, the degree of persistence of emotions can be adjusted according to the preferences of the user.

Further, a typical example of the external device at the transmitting end is a portable terminal (smartphone, tablet terminal, PC, etc.) that performs pairing processing with the self-propelled vacuum cleaner 1. In this case, the external device displays the emotion transmitted from the self-propelled vacuum cleaner 1 on the display unit such as a touch panel so that the user can view it. As another typical example of the external device, a server device that provides a website such as a blog or a SNS (Social Networking Service) may also be used. The external device in this case holds the emotion transmitted from the self-propelled vacuum cleaner 1 in a form that the user can view using a web browser or the like. In addition, the self-propelled vacuum cleaner 1 and the portable terminal do not need to be paired.

Further, the present invention is not limited to a self-propelled vacuum cleaner, and can also be applied to a vacuum cleaner that does not self-propelled.

[Embodiment 1]

An embodiment of the present invention will be described below based on Figs. 1 to 12 .

(structure of self-propelled vacuum cleaner)

1 to 3 are a perspective view, a side cross-sectional view, and a bottom view of the self-propelled vacuum cleaner 1 of the present embodiment.

As shown in FIG. 1, the self-propelled vacuum cleaner 1 has a main body of the self-propelled vacuum cleaner 1 which is formed into a frame by a circular body frame 2 in plan view, and as shown in FIG. 22, a battery (secondary battery) 14 is used. A driving wheel 29 driven by a power supply source, and a device for self-propelled and dust collecting (dusting) on the one hand.

As shown in FIG. 1 , an operation panel 50 for instructing the self-propelled vacuum cleaner 1 , an LED (Light Emitting Diode) lamp 51 , and a dust collecting portion are provided on the upper surface of the main body casing 2 . 30 The lid portion 3 that opens and closes when entering and leaving. Further, in the present embodiment, the main body casing 2 has a circular shape on its upper surface and bottom surface, 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 casing 2. As will be described later, the color of the lighting and the lighting pattern change in accordance with the state of the self-propelled vacuum cleaner 1. In addition, you can also set a lamp other than the LED. Further, the LED lamp may be disposed in the vicinity of the exhaust port 7 provided on the upper surface of the body.

The operation panel 50 is provided with an operation switch (operation unit) for accepting input of various instructions, characters, numbers, and the like from the operation of the user, and a display (display unit) for displaying various information presented to the user. The operation panel 50 can also be provided as a touch panel. Further, a display LED may be provided on the operation panel 50.

An example of the operation panel 50 is shown in FIG. The operation panel 50 shown in FIG. 4 is provided with a "start and stop button" 501 for instructing start and stop of dust collection; a "mode selection button" 502 for selecting a dust collection mode; and a preset for setting the current time or for operating the self-propelled vacuum cleaner 1 The "timing setting button" 505 at the time of the display; the time display unit 504 that displays the current time or the reserved time; and the garbage lamp 506 that is turned on when the dust collecting container 31 to be described later is full. Further, the operation panel 50 displays a "battery mark" 503 indicating the amount of charge of the battery 14. These examples are merely illustrative, and the operation panel 50 may be provided with an operation unit or a display unit that realizes other functions.

As shown in FIGS. 2 and 3, on the bottom surface of the main body casing 2, a pair of driving wheels 29 projecting from the bottom surface and rotating by a horizontal rotating shaft 29a are disposed. The rotation shaft 29a of the drive wheel 29 is disposed on the center line C of the body casing 2. When the two wheels of the drive wheel 29 rotate in the same direction, the self-propelled vacuum cleaner 1 advances and retreats, and when the opposite direction rotates, the self-propelled vacuum cleaner 1 rotates around the center line C of the body casing 2. The drive wheel 29 is driven by the battery 14, whereby the self-propelled vacuum cleaner 1 is self-propelled. Hereinafter, the front surface in the traveling direction when the self-propelled vacuum cleaner 1 is self-propelled and is vacuumed is referred to as the front side, and the rear side is referred to as the rear side. Further, the movement along the traveling direction at the time of dust collection is referred to as advancement, and the movement in the opposite direction to the traveling direction at the time of dust collection is referred to as backward movement. Moreover, the surface on the circumferential surface (side surface) of the main body casing 2 toward the traveling direction at the time of dust collection is referred to as the front surface, and the surface located on the opposite side to the front surface is referred to as the back surface. The back side is the side facing the direction of travel when retreating.

In the dust suction, when the main body casing 2 reaches the periphery of the dust suction region or collides with an obstacle on the approach road, the drive wheels 29 are stopped. Then, the two wheels of the drive wheel 29 are rotated in opposite directions to each other, and the body of the self-propelled cleaner 1 is rotated about the center line C of the body casing 2 to change the direction of rotation. Thereby, the self-propelled vacuum cleaner 1 can be self-propelled in the entire desired dust collecting area and avoid obstacles to self-propelled. Alternatively, the two wheels of the drive wheel 29 may be reversed when they are relatively advanced, and the self-propelled vacuum cleaner 1 may be retracted.

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

Further, on the bottom surface of the main body casing 2, a drum-shaped front wheel 27 is further provided in front of the suction port 6. Further, a rear wheel 26 is formed by a free wheel at a rear end portion (rear end) of the bottom surface of the main body casing 2. The self-propelled vacuum cleaner 1 distributes weight in the front-rear direction of the drive wheel 29 disposed at the center of the main body casing 2, the front wheel 27 is separated from the floor F, and the rotating brush 9, the drive wheel 29, and the rear wheel 26 are grounded to the floor F for vacuuming. . Therefore, the dust in front of the approach can be introduced into the suction port 6 without being blocked by the front wheel 27. The front wheel 27 is grounded to the step appearing on the approach road, so that the self-propelled vacuum cleaner 1 easily crosses the step.

A damper 5 is provided around the body casing 2 to cushion the impact or vibration of the body of the self-propelled vacuum cleaner 1. When the self-propelled vacuum cleaner 1 detects that the damper 5 is in contact with an obstacle during walking, it changes its traveling direction and continues to walk.

At the rear end of the peripheral surface of the main body casing 2, a charging terminal 4 for charging the battery 14 is exposed. In the present embodiment, the charging terminal 4 is provided two above and below the rear surface of the main body of the main body casing 2, but one or three or more may be provided. The self-propelled vacuum cleaner 1 returns to the place where the charging stand 40 is provided after vacuuming or when the amount of charge is lower than a specific value. Then, the charging terminal 4 is connected to the power supply terminal 41 provided on the charging stand 40, and the battery 14 is charged. The back surface of the charging stand 40 connected to the commercial power source (not facing the circumference of the main body casing 2) is usually disposed along the side wall S of the room. The charging stand 40 will be described later.

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

A dust collecting portion 30 that collects dust is disposed in the main body casing 2. The dust collecting portion 30 is disposed above the rotating shaft 29a of the drive wheel 29 and housed in the dust collecting chamber 39 provided in the main body casing 2. Since the dust collecting portion 30 is disposed above the rotating shaft 29a of the drive wheel 29, the weight balance of the main body casing 2 can be maintained even if the weight is increased due to dust collection. The dust collecting chamber 39 includes an insulating chamber covering the circumferential surface and the bottom surface of the four sides, and is formed to extend in the axial direction of the rotating brush 9 so as to partition the inside of the main body casing 2. The walls of the dust collecting chamber 39 are apart from the wall before the axial direction of the rotating brush 9 They are occluded separately. A first intake passage 11 that communicates with the recessed portion 8 and a second intake passage 12 that is disposed above the recessed portion 8 and communicates with the motor unit (motor) 20 is provided on the wall of the dust collecting chamber 39.

The dust collecting portion 30 can be moved in and out of the main body casing 2 by opening the lid portion 3 of the main body casing 2 as shown in FIG. The dust collecting portion 30 is formed by attaching the upper cover 32 of the filter 33 to the upper portion of the bottomed dust collecting container 31. The upper cover 32 is fastened to the dust collecting container 31 by the movable locking portion 32a, and the upper surface of the dust collecting container 31 is opened and closed by the operation of the locking portion 32a. Thereby, the dust accumulated in the dust collecting container 31 can be discarded.

An inflow path 34 that opens at the front end and opens the inflow port 34a to communicate with the first intake passage 11 is provided on the circumferential surface of the dust collecting container 31. Further, the dust collecting container 31 is provided with an inflow portion 34b continuous with the inflow path 34 and introducing a gas flow downward by bending. An outflow path 35 that opens at the front end to open the outflow port 35a and communicates with the second intake passage 12 is provided on the circumferential surface of the upper cover 32.

A gasket (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 collecting chamber 39 in which the dust collecting part 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 as inclined surfaces, and deterioration of the gasket due to sliding when the dust collecting portion 30 is moved in and out can be prevented.

The control board 15 is disposed above the dust collecting chamber 39 in the main body casing 2. A control unit (dusting mechanism) 52, which will be described later, which controls each part of the self-propelled vacuum cleaner 1, or a memory unit 57, which will be described later, will be provided on the control board 15. A detachable battery 14 is disposed below the dust collecting chamber 39. The battery 14 is charged from the charging stand 40 via the charging terminal 4, and supplies electric power to each of the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, and the electric blower 22.

In the self-propelled vacuum cleaner 1 configured as described above, when the cleaning operation is instructed, the electric power from the battery 14 is supplied, and the electric blower 22, the ion generating device 62, the driving wheel 29, the rotating brush 9, and the side brush 10 which will be described later are driven. Thereby, the rotating brush 9, the driving wheel 29, and the rear wheel 26 of the self-propelled vacuum cleaner 1 are grounded to the floor F, and self-propelled in a specific dust collecting area, and the airflow containing the dust of the floor F is sucked from the suction port 6. At this time, the floor F is rotated by the rotation of the rotating brush 9. The dust on the upper side is raised and introduced into the recess 8. Further, the dust on the side of the suction port 6 is introduced into the suction port 6 by the rotation of the side brush 10.

The airflow sucked from the suction port 6 flows through the first intake passage 11 as shown by an arrow A1 in Fig. 2, and flows into the dust collecting portion 30 via the inflow port 34a. The airflow that has flowed into the dust collecting portion 30 collects dust by the filter 33, and flows out of the dust collecting portion 30 via the outflow port 35a. Thereby, dust dust is accumulated in the dust collecting container 31. The airflow flowing out of the dust collecting portion 30 flows 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 by the electric blower 22 is exhausted from the exhaust port 7 provided on the upper surface of the main body casing 2 to the rear upper side as indicated by an arrow A3. Further, an ion generating device (not shown) is provided in the vicinity of the electric blower 22, and an air stream containing ions is discharged from the exhaust port 7.

As described above, the indoor dust is collected, and the ions contained in the exhaust gas of the self-propelled self-propelled vacuum cleaner 1 are sterilized or deodorized indoors. At this time, since the exhaust is exhausted upward from the exhaust port 7, the dust of the floor F can be prevented from rising, and the cleanliness of the room can be improved.

A part of the airflow including the ions flowing through the second intake passage 12 may be introduced into the recess 8. According to this configuration, ions are introduced into the gas flow introduced into the first intake passage 11 from the suction port 6. Thereby, sterilization and deodorization of the dust collecting container 31 or the filter 33 of the dust collecting part 30 can be performed.

The charging stand 40 is a device for charging the battery 14 of the self-propelled vacuum cleaner 1, and the charging stand 40 is internally provided with a charging circuit for controlling charging of the battery 14.

As shown in FIG. 6, on the front surface of the charging stand 40 (facing the surface of the main body frame 2), the self-propelled vacuum cleaner can be disposed at a position in contact with the charging terminal 4 of the self-propelled vacuum cleaner 1. 1 of the charging terminal 4 has the same number of power supply terminals 41. The power supply terminal 41 protrudes from the front surface of the charging stand 40 without being in contact with any object, 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 are substantially flat. When the charging terminal 4 of the self-propelled vacuum cleaner 1 is in electrical contact with the power supply terminal 41 of the charging stand 40, if the front end surface of the power supply terminal 41 and the front surface of the charging stand 40 are substantially flat, then the connection is made. Point on, but from The current of the commercial power source connected to the charging stand 40 flows to the self-propelled vacuum cleaner 1. The battery 14 can be charged in this state.

Further, the charging station 40 is configured to transmit a return signal indicating the installation location of the charging station 40 and the position of the power supply terminal 41. The self-propelled vacuum cleaner 1 detects the return signal transmitted from the charging station 40 when it detects the end of the cleaning or the amount of charge of the battery 14 is lower than a specific value, and automatically returns to the place where the charging station 40 is provided. Here, the detection of the end of the dust collection can be performed, for example, by detecting the self-propelled vacuum cleaner 1 moving a certain distance or a certain period of time, or detecting the cleaning state of the dust collection area by a sensor or the like. Alternatively, the self-propelled vacuum cleaner 1 may be used to receive an instruction to promote the return to the charging station 40, such as a vacuum end instruction or an interruption instruction, from the operation panel 50 or a remote control device or a wireless communication connection terminal device to be described later.

In the present embodiment, the infrared signal is transmitted as a return signal indicating the installation location of the charging station 40 and the position of the power supply terminal 41, but a signal other than the infrared signal may be transmitted. When the charging stand 40 is connected to the commercial power source and the self-propelled vacuum cleaner 1 is separated from the charging stand 40, the return signal is continuously transmitted.

In the present embodiment, when the self-propelled (vacuum) cleaner 1 detects the return signal and advances (in other words, moves the front side toward the traveling direction) to return to the vicinity of the installation place of the charging station 40, the self-propelled vacuum cleaner 1 temporarily stops and surrounds the center of the main body casing 2. The wire C is rotated until the charging terminal 4 comes to a position opposed to the power supply terminal 41. Thereafter, the main body casing 2 starts to retreat (in other words, the rear surface is moved toward the traveling direction). The self-propelled vacuum cleaner 1 is further retracted after the charging terminal 4 comes into contact with the power supply terminal 41, and comes to a position where the front end surface of the power supply terminal 41 that is in contact with the charging terminal 4 and the front surface of the charging station 40 are substantially flat (the pushback of the power supply terminal 41 is stopped). When the position and the docking position are up, the energization from the power supply terminal 41 is detected, and the backward movement is stopped. Charging is performed in this stopped state. Further, a known technique can be used for the return of the self-propelled vacuum cleaner 1 and the docking of the charging terminal 4 and the power supply terminal 41 (the docking of the self-propelled vacuum cleaner 1 and the charging station 40).

The charging terminal 4 is connected to the power supply terminal 41. For example, the rear sensor can be disposed on the back (rear end) of the main body frame 2, the rear sensor can detect the return signal, and the self-propelled vacuum cleaner 1 can be retracted. And proceed. If the rear sensor does not detect the return signal, the self-propelled vacuum cleaner 1 is rotated around the center line C of the main body frame 2 by a slight forward rotation (clockwise rotation) or reverse rotation (counterclockwise rotation), and after detecting the return signal Go back. In this manner, on the one hand, the detection of the return signal is always maintained and the main body casing 2 is retracted, whereby the position of the charging terminal 4 and the power supply terminal 41 can be aligned.

Further, the rear sensor and the charging terminal 4 are preferably disposed in common on a line parallel to the rotating shaft 29a of the driving wheel 29. In this manner, the rear sensor maintains the detection of the return signal from the charging stand 40 and retreats, and the charging terminal 4 and the power supply terminal 41 can be appropriately connected.

Further, the self-propelled vacuum cleaner 1 can be configured to drive the electric blower 22 and the ion generating device in a state where the charging terminal 4 is connected to the power supply terminal 41, that is, during charging of the battery 14 and after charging is completed, according to the setting. According to this configuration, after charging and charging are completed, a stream containing ions is discharged from the exhaust port 7 to the upper rear side. Since the charging terminal 4 is provided at the rear end of the main body casing 2, the air current containing ions flows in the direction of the charging stand 40. Here, when the back surface of the charging stand 40 is disposed along the side wall S of the room, the air stream containing ions rises along the side wall S. The airflow circulates along the top wall of the room and the opposite side walls. Therefore, the ions can be spread throughout the room, thereby improving the sterilization effect or the deodorizing effect.

Further, the self-propelled (vacuum) cleaner 1 may be provided with an environment detecting unit for detecting a surrounding environment, and may be released from the exhaust port 7 by staying at a specific portion for a predetermined period of time based on the state of the surrounding environment detected by the environment detecting unit. A stream containing ions.

In the present embodiment, the self-propelled vacuum cleaner 1 can be operated by a remote control device (not shown) by infrared communication such as IrDA or IrSS (registered trademark) by the operation panel 50 provided by itself. In addition, the self-propelled vacuum cleaner 1 can also be connected via wireless communication using Bluetooth (registered trademark), WiFi (registered trademark), and ZigBee (registered trademark) A terminal device (not shown) such as a telephone is operated. Further, it is also possible to transmit data from the self-propelled vacuum cleaner 1 to the terminal device connected by wireless communication. That is, the self-propelled vacuum cleaner 1 can perform bidirectional communication with a terminal device connected by radio waves. Moreover, the self-propelled vacuum cleaner 1 can also be connected to a wide area wireless network. In this case, the operation of the self-propelled vacuum cleaner 1 can be performed from a terminal device connected to a wide area wireless network.

Furthermore, the self-propelled vacuum cleaner 1 can also perform an input operation using sound. Moreover, the self-propelled vacuum cleaner 1 can also be configured to output the sound data stored in the self-propelled vacuum cleaner 1.

Further, the self-propelled vacuum cleaner 1 is configured to include various sensors, which can avoid obstacles and do not fall away from steps or steps. Examples of such a sensor include a cliff sensor (step sensor), an obstacle detecting sensor, a human sensor, a CCD (Charge-Coupled Device) camera, and the like. . These are merely examples and do not need to have such a whole. The cliff sensor or the human sensor can be constituted, for example, by an infrared sensor, and the obstacle detecting sensor can be constituted, for example, by an ultrasonic sensor.

Further, the self-propelled vacuum cleaner 1 may include, for example, an acceleration sensor, a distance detecting sensor, an angle sensor, and the like, and controls an operation or the like in the dust collection. Further, the self-propelled vacuum cleaner 1 may include a temperature measuring unit or an odor measuring unit as described later to perform control such as dust collection or ion emission according to the measurement result.

In the present embodiment, the self-propelled vacuum cleaner 1 will be described as a suction type cleaner, but the self-propelled cleaner 1 can be applied to, for example, a mop type cleaner. Moreover, the self-propelled vacuum cleaner 1 is not only a household user but also a business user.

Further, in the present embodiment, the self-propelled (vacuum) cleaner 1 is provided with the ion generating device 62, but it is not necessarily required.

(The function of the self-propelled vacuum cleaner)

Next, the functional configuration of the self-propelled vacuum cleaner 1 will be described. As shown in FIG. 7, the self-propelled vacuum cleaner 1 includes a control unit 52, a communication control unit (communication control unit) 53, and operation. Panel 50, LED lamp lighting unit 54, LED lamp 51, voltage detecting unit 55, charging terminal 4, battery 14, memory unit 57, traveling drive unit 58, rotating brush drive unit 59, rotating brush 9, and side brush driving unit 60 The side brush 10, the drive wheel 29, the air blowing device 61, the ion generating device 62, the sound input unit 63, the sound output unit 64, the step detecting unit 65, the odor measuring unit 66, the temperature measuring unit 67, and the collision detecting unit 68. The description of the configuration of the front is omitted.

The control unit 52 performs various types of the self-propelled vacuum cleaner 1 based on the program or data stored in the storage unit 57, and based on the program and data input from the front panel, the remote control device, and the terminal device connected by the wireless communication. Block of action control. The control unit 52 is provided on the control board 15.

The communication control unit 53 controls the block of transmission and reception of data with the external device. The control device for controlling the self-propelled vacuum cleaner 1 or the like is received from the remote control device or the terminal device connected by wireless communication. Further, the terminal device that is connected by the wireless communication transmits the data stored in the self-propelled vacuum cleaner 1 or the data that can be measured by the self-propelled vacuum cleaner 1. The communication control unit 53 also receives a return signal from the charging station 40.

The LED lamp lighting unit 54 supplies a driving current to the LED lamp 51, and controls the lighting block of the LED lamp 51. The LED lamp lighting unit 54 is configured to change the color of the lighting and the lighting pattern in accordance with the state of the self-propelled vacuum cleaner 1. For example, the color generation mode may be performed according to the dust generation mode in which the dust is being collected, the charging mode during charging, the ion generation mode in which ion generation is performed (the generation of ions will be described later), and the emergency state mode in which an emergency occurs. The lighting pattern changes.

The voltage detecting unit 55 detects a block of the voltage of the battery 14, and determines the amount of charge of the battery 14 based on the detected voltage. The battery 14 is electrically connected to the charging terminal 4 .

The memory unit 57 is a memory program (1) a control program executed by the control unit 52 of the self-propelled vacuum cleaner 1, (2) an OS program executed by the control unit 52, and (3) a control unit 52 for executing various types of the self-propelled vacuum cleaner 1. Functional application, and (4) various materials read when the application is executed By. Alternatively, the memory (5) is used for calculating the data and the calculation result in the course of executing various functions. For example, the above data of (1) to (4) are memorized in ROM (read only memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered) Non-volatile memory devices such as (trademark) (Electrically EPROM) and HDD (Hard Disc Drive). For example, the data of the above (5) is stored in a volatile memory device such as a RAM (Random Access Memory).

Further, the storage unit 57 stores various condition settings of the operation of the self-propelled vacuum cleaner 1 that is received from the remote control device or the terminal device that has passed through the operation panel 50 or the communication control unit 53. Furthermore, the memory unit 57 can also memorize the walking map around the installation place of the self-propelled vacuum cleaner 1. The walking map is information about walking such as a walking path or a walking speed of the self-propelled vacuum cleaner 1, or is information about a dust collecting area. The walking map may be pre-set by the user and stored in the memory unit 57, or may be configured by the self-propelled vacuum cleaner 1 itself.

The travel drive unit 58 includes a motor driver, a drive wheel motor, and the like, and determines a rotation direction, a rotation angle, and the like based on a control signal from the control unit 52 to drive the drive wheels 29 to be driven.

The rotary brush drive unit 59 includes a motor driver, a rotary brush motor, and the like, and the number of rotations or the like is determined based on a control signal from the control unit 52 to drive the rotary brush 9 to be driven.

The side brush driving unit 60 includes a motor driver, a side brush motor, and the like, and the number of rotations or the like is determined based on a control signal from the control unit 52 to drive the side brush 10 to be driven.

The air blowing device 61 corresponds to the motor unit 20 that has been driven forward, and is provided with an electric blower 22 and the like, and performs an air intake to the inside of the main body casing 2 and an exhaust gas from the inside.

The ion generating device 62 is a device that generates ions after being driven under the control of the control unit 52.

In the present embodiment, the ion generating device 62 is a plasma cluster ion (registered trademark) generating device. Thereby, a plasma cluster ion generating element is provided in the ion generating device 62, and the plasma cluster ion generating element includes a positive ion generating portion that generates a positive ion and a negative ion generating portion that generates a negative ion. Further, such an ion generating element is disclosed in detail in Japanese Laid-Open Patent Publication No. 2002-58731, which is hereby incorporated by reference.

The ions generated from the ion generating device 62 are discharged to the outside of the main body casing 2 by the air blowing device 61. Further, the self-propelled vacuum cleaner 1 can simultaneously perform the dust suction operation and the ion generation operation under the control of the control unit 52, and the dust collection operation and the ion generation operation can be separately performed.

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

The sound output unit 64 is a sound output device such as a speaker, and outputs a sound to the outside in accordance with the sound data stored in the memory unit 57.

The step detection unit 65 is a sensor that detects a step difference of the running surface of the self-propelled vacuum cleaner 1, and includes, for example, a cliff sensor or the like.

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

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

The collision detecting unit 68 detects a contact sensor in which the damper 5 collides with an obstacle.

Next, the configuration of the memory unit 57 and the control unit 52 will be described in detail with reference to FIGS. 8 to 11.

(Composition of memory)

The memory unit 57 includes a dust collection frequency storage unit 571, a dust collection day memory unit 572, a dust collection count/calculated value storage unit (calculated value storage unit) 573, and a dust collection days/calculated value storage unit (calculated value storage unit) 574. Furthermore, a message memory unit 570 can also be included.

The dust collection frequency storage unit 571 stores the number of times the self-propelled vacuum cleaner 1 has performed the cleaning (hereinafter referred to as the number of times of cleaning). Further, the dust-collecting day memory unit 572 records whether or not the self-propelled vacuum cleaner 1 has been vacuumed every day. Further, even if a plurality of times of vacuuming have been performed on the same day, the information recorded in the dust-collecting day memory unit 572 indicates only that the dust has been applied on that day. The data stored in the dust collection frequency storage unit 571 and the dust collection day storage unit 572 is updated by the cleaning history information storage unit 401 which will be described later.

Further, the self-propelled vacuum cleaner 1 can perform vacuuming in the dust collection mode shown by the following (N1) to (N4). The cleaning frequency storage unit 571 and the cleaning day storage unit 572 can store data for each cleaning mode, and can store data without distinguishing the cleaning mode.

(N1) A mode in which the entire range of the dust can be vacuumed (automatic mode). (N2) A mode in which a specific circular area is vacuumed (point 1 mode). (N3) A mode for vacuuming a circular range of a different size from the point 1 mode (point 2 mode). (N4) The mode of vacuuming the wall (wall side mode).

Further, the data stored in the dust collection frequency storage unit 571 and the dust collection number storage unit 572 is preferably configured to be reset to an initial value (usually "0") by a specific trigger.

Then, the number of times of cleaning/calculation value storage unit 573 is stored in association with the number of times of cleaning and the emotion calculation value M1 which is a parameter used for calculation by the emotion calculation unit 251 which will be described later. When the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, the emotion calculation value M1 corresponding to the number of times of cleaning can be stored for each personality type. Further, the data stored in the number of times of cleaning/calculation value storage unit 573 can be set in advance or can be set by the user.

An example of the data stored in the number of times of cleaning/calculated value storage unit 573 will be described with reference to Fig. 9(a). Fig. 9(a) is a schematic view showing an example of information stored in the number of times of cleaning/calculation value storage unit 573. In the example shown in the figure, the number of vacuums is divided into three stages: "less than 4 times", "4 times or more, less than 7 times", and "7 times or more". Each character type corresponds to each stage. The emotional calculation value M1.

Next, the number of days of vacuuming/calculated value storage unit 574 is stored in association with the number of days (hereinafter referred to as the number of days of cleaning) on which the dust is applied, in association with the emotion calculation value M1. When the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, the emotion calculation value M1 corresponding to the number of days of cleaning can be stored for each personality type. Further, the data stored in the dust-cleaning days/calculated value storage unit 574 may be set in advance or may be set by the user.

An example of the data stored in the dust collection days/calculated value storage unit 574 will be described with reference to Fig. 9(b). Fig. 9(b) is a schematic view showing an example of information stored in the dust collection days/calculated value storage unit 574. In the example shown in the figure, the number of vacuuming is divided into three stages of "less than 4 days", "4 days or more and less than 7 days", and "7 days". The emotional calculation values for each personality type are corresponding to each stage. M1.

Next, the message memory unit 570 associates the emotion with the message expressing the emotion. For example, the emotion of "pleasure" is corresponding to the message of "very good state". Also, for example, the "general" emotion is recorded in correspondence with the "general state" message. Also, for example, the emotions of "unpleasantness" are correlated with the message of "poor state". In addition, the message memorized in the message memory unit 570 may be a preset or may be set by a user.

Further, the message stored in the message memory unit 570 is not limited to the text information, and may be an image such as an icon. For example, you can also remember the smiley face icon for the emotion of "pleasure", the icon of the face with no expression on the "general" emotion, and the icon of the face of the angry face for the emotion of "unpleasantness". It is better to judge the emotion of the self-propelled vacuum cleaner 1 at a glance.

(Composition of Control Department)

The control unit 52 includes an event detecting unit 101, an emotion selecting unit (determination means) 201, a transmission processing unit 301, and a dust collection history information storage unit (a dust collection frequency storage unit and a dust collection day storage unit) 401.

First, the event detecting unit 101 detects the occurrence of an event that becomes the trigger for selecting the emotion by the emotion selecting unit 201. Typical examples of events detected by the event detecting unit 101 are events shown in the following (E1) to (E3).

(E1) The power of the self-propelled vacuum cleaner 1 is turned on (hereinafter, referred to as a start event).

(E2) The communication connection between the self-propelled vacuum cleaner 1 and the external device is established (hereinafter, referred to as a connection establishment event).

(E3) The self-propelled (vacuum) cleaner 1 receives a control signal (hereinafter referred to as a request reception event) indicating a data acquisition request from an external device.

The event detecting unit 101 includes a start detecting unit 111, a connection establishing detecting unit 121, and a request receiving detecting unit 131 to detect a start event, a connection establishment event, and a request receiving event.

The startup detecting unit 111 detects the power source for starting the self-propelled vacuum cleaner 1 in order to detect the startup event.

The connection establishment detecting unit 121 detects the connection establishment event, and detects that the communication connection between the communication control unit 53 via the self-propelled cleaner 1 and the external device is established. Since the order of establishing the communication connection is only required to be generally known, the description thereof is omitted here.

The request reception detecting unit 131 detects the request reception event, and detects that the control signal received via the communication control unit 53 indicates the material acquisition requester. Since the order of receiving the control signals is as long as it is generally known, the description thereof is omitted here.

Next, the emotion selection unit 201 will be described. When the event detecting unit 101 detects the occurrence of an event, the emotion selecting unit 201 selects the emotion of the self-propelled vacuum cleaner 1 from "pleasure", "general", and "unpleasant" according to the frequency of the vacuuming performed by the self-propelled cleaner 1. .

The frequency of the dust collection is the number of times of vacuuming in the most recent specific period (hereinafter, referred to as period T) (hereinafter, referred to as the number of recent dust collections), and the number of days of vacuuming in the period T (hereinafter, referred to as the number of days of recent vacuuming). At least either. In addition, such a dust collection frequency is a kind of information that can be obtained by the self-propelled vacuum cleaner 1, and is also a kind of machine information of the self-propelled vacuum cleaner 1.

In addition, as a typical example of the period T, (1) the self-propelled vacuum cleaner 1 is shipped to In the past, (2) the period from the main power supply of the self-propelled vacuum cleaner 1 to the present, (3) the most recent days.

The emotion selection unit 201 includes an operation value determination unit 231 and an emotion calculation unit 251. First, when the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 231 determines the emotion calculated value M1 which is a parameter used for the calculation performed by the emotion calculating unit 251 based on the frequency of the cleaning performed by the self-propelled cleaner 1 .

First, the case where the number of recent dust collections is used as the dust collection frequency will be described. In this case, the calculated value determining unit 231 first acquires the number of times of cleaning of each day included in the period T stored in the cleaning frequency storage unit 571. Then, the emotion calculation value M1 stored in the number of times of cleaning/calculation value storage unit 573 is obtained in association with the total value of the number of times of the collected dust.

In the case where the period T is the last 7 days, a specific example will be described. When the data shown in FIG. 9(a) is stored in the number of times of cleaning/calculated value storage unit 573, the total value of the number of times of dust collection in the last 7 days is less than 4, and the character of the self-propelled vacuum cleaner 1 is sentimental, the calculated value The determination unit 231 acquires "-10" as the emotion calculation value M1. Similarly, when the total value of the number of times of cleaning is less than 4 and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 231 acquires "-7" as the emotion calculated value M1. Similarly, when the total value of the number of times of cleaning is less than 4 and the character of the self-propelled (vacuum) cleaner 1 is a tolerant type, the calculated value determining unit 231 acquires "-5" as the emotion calculated value M1.

Next, a case where the number of recent dust collection days is used as the dust collection frequency will be described. In this case, the calculated value determining unit 231 first acquires the number of days of performing the cleaning in the period T stored in the cleaning day number storage unit 572. Then, the emotion calculation value M1 stored in the dust collection days/calculated value storage unit 574 corresponding to the number of acquisitions is acquired.

In the case where the period T is the last 7 days, a specific example will be described. In the case where the data shown in FIG. 9(b) is stored in the dust-collecting days/calculated value memory unit 574, the total value of the dust-collecting days in the last 7 days is less than 4, and the character of the self-propelled vacuum cleaner 1 is emotional, the calculated value The determination unit 231 acquires "-20" as the emotion calculation value M1. Similarly, when the total value of the dust collection day is less than 4 and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determination unit 231 acquires "-14" as the emotion calculation value M1. Similarly, when the total value of the dust collection day is less than 4 and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determination unit 231 acquires "-10" as the emotion calculation value M1.

Further, whether or not any of the recent number of times of cleaning and the number of days of the most recent cleaning are used as the cleaning frequency may be selected at random or by setting a specific priority.

Next, the emotion selection unit 251 calculates the emotion value M for the specific emotion based on the specific calculation formula using the emotion calculation value M1 determined by the calculation value determination unit 231. Typical examples of the arithmetic expressions are the following (Formula 1) to (Formula 3), but are not limited thereto, 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" indicates the emotion value M at the time of the previous calculation.

Further, "m" indicates a coefficient (0 or more and 1 or less) that varies according to the elapsed time from the time when the previous emotional value M is calculated. The coefficient m is a value that is smaller as the elapsed time from the previous time of calculating the emotion value M is smaller.

An example of the coefficient m will be described with reference to Fig. 10 . Fig. 10 is a schematic view showing an example of the coefficient m. In this example, the coefficient m is set for each character type of the self-propelled vacuum cleaner 1. As shown in the figure, the coefficient m is set in such a manner that the value of the previous emotional value M from the time of the calculation becomes smaller as time passes. For example, if the personality is emotional, the coefficient m is 1 when the elapsed time is less than 1 hour, and the coefficient m is 0.6 when the elapsed time is 18 hours or longer.

In addition, the "M2" is a data received from the outside via the communication control unit 53, and is typically a point value obtained by a user as a result of performing a specific game or the like by a mobile terminal or the like. In addition, it is not limited to point values, but may be other materials.

In the above (Formula 1), the emotion calculation value M1 is directly used as the current emotion value M. phase In this case, in the above (Equation 2), the previous emotional value M can be reflected on the current emotional value M based on the passage of time from the previous calculation. Further, by using the above (Formula 3), it is possible to obtain an emotion value M which is a point obtained by the user as a result of performing a specific game with a portable terminal or the like.

Then, the emotion calculation unit 251 selects the emotion of the self-propelled vacuum cleaner 1 in accordance with the value of the emotion value M obtained as a result of the calculation. For example, as shown in FIG. 11, when the emotion value M corresponds to the emotion, if the emotion value M is 25 or more, "pleasure" is selected, and if the emotion value M is -25 or more and less than 25, "general" is selected, if emotion If the value M is less than -25, select "Unpleasant".

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 the transmission form are as follows (S1) to (S3).

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

(S2) The portable terminal that has transmitted the data acquisition request is transmitted by e-mail or the like via the wireless LAN or the network.

(S3) Sending to a pre-registered server device (for example, a server device provided with a website such as a blog or SNS) via an HTTP protocol or the like via a wireless LAN or a network.

Further, typical examples of the timing at which the transmission processing unit 301 transmits emotions are as follows (T1) to (T2).

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

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

Further, the transmission processing unit 301 can transmit the 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. Alternatively, the message may be sent only if there is a request from an external device.

Furthermore, the transmission processing unit 301 can also store the daily memory in the cleaning frequency storage unit 571. The number of times of cleaning, and/or the presence or absence of dusting per day stored in the number of days of cleaning of the dust-collecting unit 572 is transmitted to the external device via the communication control unit 53. In addition, such information may also be sent 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 vacuum cleaner 1 starts vacuuming, the cleaning history information storage unit 401 updates the number of times of cleaning stored in the cleaning frequency storage unit 571, and memorizes the purpose of performing the cleaning in the cleaning day number storage unit 572. Further, the dust collection history information storage unit 401 can store data in each of the cleaning modes according to the data structure of the cleaning frequency storage unit 571 and the cleaning day storage unit 572, and can store the data without distinguishing the cleaning mode.

(process flow)

Next, the processing flow of the self-propelled vacuum cleaner 1 will be described with reference to FIG. Fig. 12 is a flow chart showing the processing flow of the self-propelled vacuum cleaner 1.

First, when the event detecting unit 101 detects the occurrence of an event (YES in the 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 the 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 corresponding to 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 . It is to be noted that the same reference numerals are given to members having the same functions as those of the above-described embodiments, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 13 . Figure 13 is a view showing the self-propelled vacuum cleaner 1 of the present embodiment A block diagram of the structure of the memory unit 57 and the control unit 52. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The storage unit 57 of the present embodiment includes a battery remaining amount/calculated value storage unit (calculated value storage unit) 575. Furthermore, a message memory unit 570 can also be included.

The battery remaining amount/calculated value storage unit 575 stores the battery remaining amount of the battery 14 in association with the emotion calculation value M1. In the case where the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 corresponding to the remaining amount of the battery for each personality type. Further, the data stored in the remaining battery amount/calculated value storage unit 575 can be set in advance or can be set by the user.

An example of the data stored in the remaining battery amount/calculated value storage unit 575 will be described with reference to FIG. FIG. 14 is a schematic diagram showing an example of information stored in the battery remaining amount/calculated value storage unit 575. In the example shown in the figure, the remaining amount of the battery is divided into three stages: "less than 20%", "20% or more is less than 90%", and "90% or more". For each stage, there is a corresponding emotion of each personality type. The operation value M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 202, a transmission processing unit 301, and a battery remaining amount measuring unit (battery remaining amount measuring means) 402.

First, the battery remaining amount measuring unit 402 measures the battery remaining amount of the battery 14 via the voltage detecting unit 55 based on the measurement request of the battery remaining amount of the battery 14. Further, the remaining battery amount of the battery 14 is obtained from the difference between the remaining amount of the battery at the time of full charge and the remaining amount of the battery at the time of measurement.

Next, when the event detecting unit 101 detects the occurrence of an event, the emotion selecting unit 202 selects "pleasure", "general", and "unpleasant" from the battery remaining amount of the battery 14. Choose the emotion of the self-propelled vacuum cleaner 1. In addition, the battery remaining amount of the battery 14 is information that can be obtained by the self-propelled vacuum cleaner 1, and is also a kind of machine information of the self-propelled vacuum cleaner 1.

The emotion selection unit 202 includes an operation value determination unit 232 and an emotion calculation unit 251. The calculated value determining unit 232 first requests the battery remaining amount measuring unit 402 to measure the battery remaining amount of the battery 14 and acquires the remaining battery amount measured by the battery remaining amount measuring unit 402. Then, the emotion calculation value M1 stored in the battery remaining amount/calculated value storage unit 575 corresponding to the acquired battery remaining amount is acquired.

A case where the data shown in FIG. 14 is stored in the battery remaining amount/calculated value memory unit 575 will be described as a specific example. When the remaining amount of the battery is less than 20% and the character of the self-propelled vacuum cleaner 1 is sentimental, the calculated value determining unit 232 acquires "-50" as the emotion calculated value M1. Similarly, when the remaining amount of the battery is less than 20% and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 232 acquires "-35" as the emotion calculated value M1. Similarly, when the remaining amount of the battery is less than 20% and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 232 acquires "-25" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 232, and the description thereof is omitted.

[Embodiment 3]

Still another embodiment of the present invention will be described below with reference to Figs. 15 and 16 . It is to be noted that the same reference numerals are given to members having the same functions as those of the above-described embodiments, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 15 . Fig. 15 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. Further, the configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the self-propelled vacuum cleaning of the first embodiment except for the memory unit 57 and the control unit 52. The device 1 is the same.

(Composition of memory)

The memory unit 57 of the present embodiment includes a current value/calculated value memory unit (calculated value memory unit) 576. Furthermore, a message memory unit 570 can also be included.

The current value/calculated value storage unit 576 stores the current value of the motor unit 20 in association with the emotion calculation value M1. In the case where the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 corresponding to the current value for each personality type. Further, the data stored in the current value/calculated value memory unit 576 can be set in advance or can be set by the user.

An example of the data stored in the current value/calculated value storage unit 576 will be described with reference to Fig. 16 . Fig. 16 is a schematic diagram showing an example of the data stored in the current value/calculated value memory unit 576. In the example shown in the figure, the current value is divided into three stages of "less than 1.4 A", "1.4 A or more and less than 1.6 A", and "1.6 A or more". For each stage, there is corresponding emotional calculation for each personality type. The value is M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 203, a transmission processing unit 301, and a current value measuring unit 403.

First, the current value measuring unit 403 measures the current value of the motor unit 20 based on the measurement request of the current value of the motor unit 20.

Next, when the event detecting unit 101 detects the occurrence of an event, the emotion selecting unit 203 selects the self-propelled vacuum cleaner 1 from "pleasure", "general", and "unpleasant" based on the amount of dust accumulated in the dust collecting portion 30. Emotions. In addition, the amount of dust accumulated in the dust collecting portion 30 is information that can be obtained by the self-propelled vacuum cleaner 1, and is also one of the machine information of the self-propelled vacuum cleaner 1.

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

The accumulated amount of dust in the dust collecting portion 30 can be grasped based on the current value of the motor unit 20 in the driving. Therefore, the calculated value determining unit 233 first requests the current value measuring unit 403 The current value of the motor unit 20 is measured, and the current value measured by the current value measuring unit 403 is obtained. Then, the emotion calculation value M1 stored in the current value/calculation value storage unit 576 corresponding to the acquired current value is obtained.

The case where the data shown in FIG. 16 is stored in the current value/calculated value memory unit 576 will be described as a specific example. When the current value is less than 1.4 A and the character of the self-propelled vacuum cleaner 1 is emotional, the calculated value determining unit 233 acquires "-20" as the emotion calculated value M1. Similarly, when the current value is less than 1.4 A and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 233 acquires "-14" as the emotion calculated value M1. Similarly, when the current value is less than 1.4 A and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 233 acquires "-10" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 233, and the description thereof is omitted.

[Embodiment 4]

Still another embodiment of the present invention will be described below with reference to Figs. 17 and 18 . It is to be noted that the same reference numerals are given to members having the same functions as those of the above-described embodiments, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 17 . Fig. 17 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The storage unit 57 of the present embodiment includes an elapsed time/calculated value storage unit 577. Furthermore, a message memory unit 570 can also be included.

The elapsed time/calculated value storage unit 577 stores the time information indicating the time and the emotion calculation value M1. In the case where the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 corresponding to the time information for each personality type. Further, the data stored in the elapsed time/calculated value storage unit 577 can be set in advance or set by the user.

An example of the data stored in the elapsed time/calculated value storage unit 577 will be described with reference to FIG. 18. Fig. 18 is a schematic diagram showing an example of the data stored in the elapsed time/calculated value storage unit 577. In the example shown in the same figure, the time information is divided into three stages of "less than 2 days", "2 days or more and less than 5 days", and "5 days or more". For each stage, there is corresponding emotional calculation for each personality type. The value is M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an operation instruction detecting unit 102, an emotion selecting unit (determination means) 204, and a transmission processing unit 301.

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

Therefore, the operation instruction detecting unit 102 includes the sound detecting unit 141, the command detecting unit 151, and the operation detecting unit 161.

The sound detecting unit 141 detects the input operation instruction by collating the sound input from the sound input unit 63 with the sound of the operation instruction registered in advance in the storage unit 57. In addition, the sound of the action indication can also be registered by the user.

The command detecting unit 151 detects that a control signal indicating an operation instruction is received via the communication control unit 53.

The operation detecting unit 161 detects an operation of inputting an operation instruction by the operation panel 50.

When the event detecting unit 101 detects the occurrence of an event, the emotion selecting unit 204 selects from "pleasure", "general", and "unpleasant" based on the elapsed time after the operation instruction detecting unit 102 has recently detected the operation instruction. The emotion of the walking vacuum cleaner 1. In addition, the elapsed time after the detection of the motion indication is the information that can be obtained by the self-propelled vacuum cleaner 1 and is also one of the machine information of the self-propelled vacuum cleaner 1.

The emotion selection unit 204 includes an operation value determination unit 234 and an emotion calculation unit 251. The calculated value determining unit 234 measures the elapsed time after the operation instruction detecting unit 102 has recently detected the operation instruction. When the event detecting unit 101 detects the occurrence of the event, the event detecting unit 101 acquires the emotion calculated value M1 stored in the elapsed time/calculated value storage unit 577 corresponding to the elapsed time of the measurement.

The 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. As shown in FIG. 18, when the elapsed time is 5 days or longer and the character of the self-propelled (vacuum) cleaner 1 is sentimental, the calculation value determination unit 234 acquires "-10" as the emotion calculation value M1. Similarly, when the elapsed time is 5 days or longer and the character of the self-propelled (vacuum) cleaner 1 is mild, the calculation value determination unit 234 acquires "-7" as the emotion calculation value M1. Similarly, when the elapsed time is 5 days or longer and the character of the self-propelled (vacuum) cleaner 1 is a tolerant type, the calculation value determination unit 234 acquires "-5" as the emotion calculation value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 234, and the description thereof is omitted.

[Embodiment 5]

Still another embodiment of the present invention will be described below with reference to Figs. 19 and 20 . For the sake of convenience of explanation, members having the same functions as those of the members shown in the first to fourth embodiments are denoted by the same reference numerals, and the description thereof will be omitted unless otherwise specified.

Referring to Fig. 19, the memory unit 57 of the self-propelled vacuum cleaner 1 of the present embodiment and The configuration of the control unit 52 will be described. Fig. 19 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The storage unit 57 of the present embodiment includes a state/calculated value storage unit (calculated value storage unit) 578A. Furthermore, a message memory unit 570 can also be included.

The state/calculation value storage unit 578A stores the state in which the dust collecting unit 30 is attached or detached in association with the emotion calculation value M1. In the case where the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 for each personality type. Further, the data stored in the status/calculated value storage unit 578A may be set in advance or may be set by the user.

An example of the information stored in the state/calculated value storage unit 578A will be described with reference to Fig. 20 . Fig. 20 is a schematic diagram showing an example of information stored in the state/calculated value storage unit 578A. In the example shown in the figure, the state in which the dust collecting portion 30 is attached corresponds to the emotion calculation value M1 of each personality type, and the state in which the dust collecting portion 30 has been removed is also correspondingly The emotional operation value M1 of the personality type.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 206, a transmission processing unit (transmission unit) 301, and an attaching and detaching determining unit 404.

The attaching and detaching determination unit 404 determines the loading/unloading state (installed state or removed state) of the dust collecting unit 30. In addition, the loading and unloading state of the dust collecting portion 30 is information that can be acquired by the self-propelled vacuum cleaner 1.

Next, the emotion selection unit 206 will be described. The emotion selection unit 206 includes an operation value determination unit 236 and an emotion calculation unit 251. When the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 236 causes the attaching and detaching determining unit 404 to determine the loading/unloading state of the dust collecting unit 30, and acquires the emotion calculated value M1 from the state/calculated value storage unit 578A based on the determination result. .

The case where the data shown in FIG. 20 is memorized in the state/calculated value memory unit 578A is The system is explained. When the state of the self-propelled (vacuum) cleaner 1 is an emotion type, the calculation value determination unit 236 acquires "20" as the emotion calculation value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a gentle type, the calculated value determining unit 236 acquires "17" as the emotion calculated value M1. Similarly, when the character of the self-propelled (vacuum) cleaner 1 is a tolerant type, the calculation value determination unit 236 acquires "15" as the emotion calculation value M1.

On the other hand, when the state of the self-propelled (vacuum) cleaner 1 is an emotional type, the calculated value determining unit 236 acquires "10" as the case where the state of the self-propelled (vacuum) cleaner 1 is an emotion type. Emotional operation value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a gentle type, the calculated value determining unit 236 acquires "7" as the emotion calculated value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 236 acquires "5" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 236, and the description thereof is omitted.

[Embodiment 6]

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

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 21 . Fig. 21 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The storage unit 57 of the present embodiment includes a state/calculated value storage unit (calculated value storage unit) 578B. Furthermore, a message memory unit 570 can also be included.

The state/calculated value storage unit 578B stores whether or not the return of the self-propelled (vacuum) cleaner 1 to the charging station 40 corresponds to the emotion calculation value M1. In the case where the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 for each personality type. Further, the data stored in the status/calculated value storage unit 578B may be set in advance or may be set by the user.

An example of the data stored in the state/calculated value storage unit 578B will be described with reference to Fig. 22 . Fig. 22 is a schematic diagram showing an example of information stored in the state/calculated value storage unit 578B. In the example shown in the figure, the state in which the self-propelled vacuum cleaner 1 is returned to the charging station 40 (normal end) corresponds to the emotion calculation value M1 of each personality type, and the self-propelled vacuum cleaner 1 cannot be returned. The state to the charging station 40 (abnormal end) also corresponds to the emotion calculation value M1 of each personality type.

In addition, the return failure occurs when the remaining battery amount decreases during the return, the self-propelled vacuum cleaner 1 stops, and the return path has an obstacle and cannot return.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 207, a return control unit (moving control means) 405, and a transmission processing unit 301.

The return control unit 405 moves the self-propelled vacuum cleaner 1 (that is, returns to the charging stand 40) so as to be connected to the power supply terminal 41 of the charging stand 40 when the cleaning is completed or when the amount of charge is lower than a specific value. The drive wheel 29 is controlled via the travel drive unit 58. Then, as a result of the return control, a history indicating whether or not the self-propelled cleaner 1 has returned to the charging station 40 is maintained. In addition, whether or not the information that can be obtained by the self-propelled vacuum cleaner 1 of the charging station 40 has been returned.

Next, the emotion selection unit 207 will be described. The emotion selection unit 207 includes an operation value determination unit 237 and an emotion calculation unit 251. The calculated value determining unit 237 checks the event detecting unit 101. When the occurrence of the event is detected, the emotion calculation value M1 is acquired from the state/calculation value storage unit 578B based on the latest return control result of the return control unit 405.

A 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 the character of the self-propelled (vacuum) cleaner 1 is sentimental, the calculation value determination unit 237 acquires "20" as the emotion calculation value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a gentle type, the calculated value determining unit 237 acquires "14" as the emotion calculated value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 237 acquires "10" as the emotion calculated value M1.

On the other hand, when the character of the self-propelled (vacuum) cleaner 1 is sentimental, as a result of the return control, the calculated value determining unit 237 acquires "-20" as the emotion calculation value M1. . Similarly, when the character of the self-propelled vacuum cleaner 1 is a gentle type, the calculated value determining unit 237 acquires "-14" as the emotion calculated value M1. Similarly, when the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 237 acquires "-10" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 237, and the description thereof is omitted.

[Embodiment 7]

Still another embodiment of the present invention will be described below with reference to Figs. 23 and 24 . For the sake of convenience of explanation, members having the same functions as those of the members shown in the first to sixth embodiments are denoted by the same reference numerals, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 23 . Fig. 23 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. In addition, the self-propelled suction of the embodiment The structure of the dust remover 1 is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The memory unit 57 of the present embodiment includes the collision number/calculation value storage unit 579. Furthermore, a message memory unit 570 can also be included.

The collision number/calculation value storage unit 579 stores the number of times the self-propelled vacuum cleaner 1 collides with a wall or an obstacle during dust collection (hereinafter referred to as the number of collisions) in association with the emotion calculation value M1. In the case where the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, the emotion calculation value M1 corresponding to the number of collisions can be memorized for each personality type. Further, the data stored in the collision number/calculation value storage unit 579 may be set in advance or may be set by the user.

An example of the data stored in the collision number/calculation value storage unit 579 will be described with reference to FIG. Fig. 24 is a schematic diagram showing an example of the data stored in the collision number/calculation value storage unit 579. In the example shown in the figure, the number of collisions is divided into three stages: "less than 30 times", "more than 30 times less than 60 times", and "60 times or more". There are corresponding emotional calculation values for each personality type for each stage. M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 208, and a collision managing unit 406.

The collision management unit 406 counts the number of collisions each time the collision detecting unit 68 detects a collision. Further, the collision management unit 406 may count the number of collisions from the time when the self-propelled vacuum cleaner 1 is shipped, and the number of collisions after the self-propelled vacuum cleaner 1 is powered on and the standby state is reached. In addition, the number of collisions after the standby state is reset to the initial value (usually "0") when the power is turned off and the sleep state is changed. In addition, the number of collisions is information that can be obtained by the self-propelled vacuum cleaner 1.

Next, the emotion selection unit 208 includes an operation value determination unit 238 and an emotion calculation unit 251. When the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 238 acquires the emotion calculated value M1 corresponding to the number of collisions counted by the collision managing unit 406 from the collision number/calculated value storage unit 579.

The case where the data shown in FIG. 24 is memorized in the collision number/calculation value storage unit 579 will be described as a specific example. When the number of collisions is 30 or more and less than 60, and the character of the self-propelled (vacuum) cleaner 1 is sentimental, 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 character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 238 acquires "-30" as the emotion calculation value M1. Similarly, when the number of collisions is 30 or more and less than 60, and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 238 acquires "-20" as the emotion calculation value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 238, and the description thereof is omitted.

[Embodiment 8]

Still another embodiment of the present invention will be described below with reference to Figs. 25 and 26 . It is to be noted that the same reference numerals are given to members having the same functions as those of the members of the first to seventh embodiments for convenience of explanation, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 25 . Fig. 25 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The memory unit 57 of the present embodiment includes a drop avoidance count/calculation value storage unit 580. again The message memory unit 570 can also be included.

The number of times of the avoidance avoidance/calculation value storage unit 580 is such that the self-propelled vacuum cleaner 1 avoids the number of times of falling due to the step (hereinafter, referred to as the number of fall avoidances) and corresponds to the emotion calculation value M1. In the case where the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to configure the emotion calculation value M1 corresponding to the number of fall avoidance times for each personality type. Further, the data stored in the drop avoidance count/calculated value storage unit 580 may be set in advance or may be set by the user.

An example of the data stored in the drop avoidance count/calculated value storage unit 580 will be described with reference to FIG. FIG. 26 is a schematic diagram showing an example of information stored in the drop avoidance count/calculated value storage unit 580. In the example shown in the figure, the number of fallback avoidances is divided into three stages: "less than 4 times", "4 times or more less than 7 times", and "7 times or more". For each stage, there is a corresponding emotion of each personality type. The operation value M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 209, and a fall avoidance management unit 407.

The fall avoidance management unit 407 instructs the step detection unit 65 to detect the step difference when the dust collection of the self-propelled cleaner 1 is started, and counts the number of fall avoidance times each time the step detection unit 65 detects the step. In addition, the fall avoidance management unit 407 can also count the number of fall avoidance times at the time of shipment from the self-propelled vacuum cleaner 1 and the number of fall avoidance times after the self-propelled vacuum cleaner 1 is powered on and the standby state is reached. The number of fallbacks after the standby state is reset to the initial value (usually "0") when the power is turned off and turned to the sleep state. In addition, the number of falling avoidances is information that can be obtained by the self-propelled vacuum cleaner 1.

Next, the emotion selection unit 209 includes an operation value determination unit 239 and an emotion calculation unit 251. When the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 239 acquires the emotion calculated value M1 corresponding to the number of falling avoidance counts counted by the fall avoidance management unit 407 from the drop avoidance count/calculated value storage unit 580.

The case where the data shown in FIG. 26 is stored in the drop avoidance count/calculated value storage unit 580 will be described as a specific example. When the number of times of the fallback is four or more and less than seven, and the character of the self-propelled vacuum cleaner 1 is sentimental, the calculated value determining unit 239 acquires "-50" as the emotion calculated value M1. Similarly, when the number of times of the fallback is four or more and less than seven, and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 239 acquires "-30" as the emotion calculated value M1. Similarly, when the number of times of the fallback is four or more and less than seven, and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 239 acquires "-20" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 239, and the description thereof is omitted.

[Embodiment 9]

Still another embodiment of the present invention will be described below with reference to FIGS. 27 and 28. For the sake of convenience of explanation, members having the same functions as those of the members shown in the first to eighth embodiments are denoted by the same reference numerals, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 27 . Fig. 27 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

The memory unit 57 of the present embodiment includes an odor count/calculation value storage unit 581. Furthermore, a message memory unit 570 can also be included.

The odor count/calculation value storage unit 581 is a memory that the self-propelled vacuum cleaner 1 detects the number of odors exceeding a specific value during walking (hereinafter referred to as the number of odors) in association with the emotion calculation value M1. In the case where the personality type of the self-propelled vacuum cleaner 1 can be set, and further, It is also possible to store the emotion calculation value M1 corresponding to the number of odors for each personality type. Further, the data stored in the odor count/calculation value storage unit 581 can be set in advance or can be set by the user.

An example of the data stored in the odor count/calculated value storage unit 581 will be described with reference to Fig. 28 . FIG. 28 is a schematic diagram showing an example of information stored in the odor count/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", "3 times or more less than 5 times", and "5 times or more". For each stage, there is corresponding emotional calculation for each personality type. The value is M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 210, and an odor management unit 408.

The odor management unit 408 instructs the scent measurement unit 66 to measure the odor when the dust collection of the self-propelled vacuum cleaner 1 is started, and counts the number of odors each time the odor measurement unit 66 measures the odor exceeding a specific value. In addition, at the end of the vacuuming, the counted number of odours is reset to the initial value (usually "0"). In addition, the odor which exceeds a specific value is measured as information which can be obtained by the self-propelled vacuum cleaner 1.

Next, the emotion selection unit 210 includes an operation value determination unit 240 and an emotion calculation unit 251. When the event detecting unit 101 detects the occurrence of an event, the calculated value determining unit 240 acquires the emotion calculated value M1 corresponding to the number of times of the odor counted by the odor managing unit 408 from the odor count/calculated value storage unit 581.

The case where the data shown in FIG. 28 is stored in the odor count/calculated value memory unit 581 will be described as a specific example. When the number of odors is three or more and less than five, and the character of the self-propelled vacuum cleaner 1 is sentimental, the calculated value determining unit 240 acquires "-50" as the emotion calculated value M1. Similarly, when the number of odors is three or more and less than five, and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 240 acquires "-30" as the emotion calculated value M1. Similarly, the number of scent is 3 or more times less than 5 times and the character of the self-propelled vacuum cleaner 1 is tolerant. In the case of the type, the calculated value determining unit 240 acquires "-20" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 240 instead of the calculated value determining unit 231. Therefore, the description thereof is omitted.

[Embodiment 10]

Still another embodiment of the present invention will be described below with reference to FIGS. 29 and 30. For the sake of convenience of explanation, members having the same functions as those of the members shown in the first to ninth embodiments are denoted by the same reference numerals, and the description thereof will be omitted unless otherwise specified.

The configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment will be described with reference to Fig. 29 . Fig. 29 is a block diagram showing the configuration of the memory unit 57 and the control unit 52 of the self-propelled vacuum cleaner 1 of the present embodiment. The configuration of the self-propelled vacuum cleaner 1 of the present embodiment is the same as that of the self-propelled vacuum cleaner 1 of the first embodiment except for the memory unit 57 and the control unit 52.

(Composition of memory)

The memory unit 57 of the present embodiment includes a temperature/calculated value memory unit 582. Furthermore, a message memory unit 570 can also be included.

The temperature/calculation value storage unit 582 stores the temperature in association with the emotion calculation value M1. In the case where the configuration of the personality type of the self-propelled vacuum cleaner 1 can be set, it is also possible to store the emotion calculation value M1 corresponding to the temperature for each personality type. In addition, the data stored in the temperature/calculated value memory unit 582 may be preset or set by the user.

An example of the data stored in the temperature/calculated value storage unit 582 will be described with reference to FIG. FIG. 30 is a schematic diagram showing an example of information stored in the temperature/operating value memory unit 582. In the example shown in the figure, the temperature is divided into three stages of "less than 13 ° C", "13 ° C or more and less than 30 ° C", and "30 ° C or more". For each stage, there is corresponding emotional calculation for each personality type. The value is M1.

(Composition of Control Department)

The control unit 52 of the present embodiment includes an event detecting unit 101, an emotion selecting unit (determination means) 210, and a temperature management unit 409.

The temperature management unit 409 requests the temperature measurement unit 67 to measure the temperature in each specific period, and acquires the temperature measured by the temperature measurement unit 67.

The emotion selection unit 211 includes an operation 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 acquires the emotion calculated value M1 stored in the temperature/calculated value storage unit 582 corresponding to the temperature acquired by the temperature managing unit 409.

The case where the data shown in FIG. 30 is stored in the temperature/calculated value memory unit 582 will be described as a specific example. When the temperature is less than 13 ° C and the character of the self-propelled vacuum cleaner 1 is emotional, the calculated value determining unit 241 acquires "-150" as the emotion calculated value M1. Similarly, when the temperature is less than 13 ° C and the character of the self-propelled vacuum cleaner 1 is mild, the calculated value determining unit 241 acquires "-100" as the emotion calculated value M1. Similarly, when the temperature is less than 13 ° C and the character of the self-propelled vacuum cleaner 1 is a tolerant type, the calculated value determining unit 241 acquires "-50" as the emotion calculated value M1.

(process flow)

The processing flow of the present embodiment is the same as the processing flow of the self-propelled vacuum cleaner 1 of the first embodiment except that the calculated value M1 is determined by the calculated value determining unit 241, and the description thereof is omitted.

[Embodiment 11]

The information that can be obtained by the self-propelled vacuum cleaner 1 is also present in a large amount in addition to the information described in the above embodiments. When the self-propelled vacuum cleaner 1 is configured to acquire the information shown in the following (G1) to (G25), the self-propelled vacuum cleaner 1 may use the information to select emotions, and the emotion of the selection may be external. The device sends. In addition, the method of choosing emotions and the above The form is the same. In other words, after the emotion calculation unit determines the emotion calculation value M1, the emotion value M is calculated based on the specific calculation formula, and the emotion is selected according to the value of the emotion value M.

(G1) When the main power supply is first put into operation and the self-propelled vacuum cleaner 1 is started

(G2) When the main power supply was last applied and the self-propelled vacuum cleaner 1 was started

(G3) The date when the self-propelled vacuum cleaner 1 was started from the sleep state to the standby state when the power was turned on last time.

(G4) Number of times the ion generating device 62 is operated since shipment

(G5) Number of times the ion generating device 62 is operated after the main power source is recently put into operation

(G6) The number of times the self-propelled vacuum cleaner 1 cannot return to the charging station 40 at the time of shipment

(G7) The number of times the self-propelled vacuum cleaner 1 cannot return to the charging station 40 after the main power supply has been put into power

(G8) The cumulative value of the walking distance of the self-propelled vacuum cleaner 1 at the time of shipment (the walking distance can be measured using the encoder of the traveling drive unit 58)

(G9) The walking distance of the self-propelled vacuum cleaner 1 when the last vacuuming is performed

(G10) Cumulative value of the number of times the ultrasonic sensor is used to avoid collisions since shipment

(G11) Cumulative value of the number of times the drive wheel 29 floats from the floor at the time of shipment

(G12) The cumulative value of the number of times the ultrasonic sensor is used to avoid collision after becoming the standby state

(G13) The cumulative value of the number of times the drive wheel 29 floats from the floor after the standby state is reached.

(G14) Is the overdischarge in the battery 14 detected?

(G15) Is the overcharge in the battery 14 detected?

(G16) Is overcurrent detected in battery 14?

(G17) When the last self-propelled vacuum cleaner 1 accepted the operation instruction

(G18) Cumulative value of the number of times the operation instruction of the self-propelled vacuum cleaner 1 is accepted at the time of shipment

(G19) The number of times the operation of the self-propelled vacuum cleaner 1 is accepted after the standby state is reached. Cumulative value

(G20) opening and closing state of the lid portion 3

(G21) The cumulative value of the number of times of vacuuming by the self-propelled vacuum cleaner 1 by timing setting at the time of shipment

(G22) The cumulative value of the number of times the self-propelled vacuum cleaner 1 performs the vacuuming by the timing setting after the main power supply is recently applied.

(G23) The cumulative value of the operation time of the ion generating device 62 at the time of shipment

(G24) Image or flow image captured by a CCD camera mounted on the self-propelled vacuum cleaner 1

(G25) Various setting information (the current time set by the self-propelled vacuum cleaner 1 indicates information on a circular area that is vacuumed in the point 1 mode and the point 2 mode (diameter 2 m / diameter 3 m / diameter 4 m), operation The sound of the sound output from the sound output unit 64 (Auto/OFF/Level 1/Level 2/Level 3), the character of the self-propelled vacuum cleaner 1 (emotional/moderate/ Tolerance type) indicates the sound data of the name of the self-propelled vacuum cleaner 1 recorded by the user in the self-propelled vacuum cleaner 1 and the language of the sound output by the self-propelled vacuum cleaner 1 (Standard / Kansai accent / English / Chinese), user Whether the emotion selection unit 201 to 211 is operated on the birthday of the user registered in the self-propelled vacuum cleaner 1)

[Variation 1]

In each of the above embodiments, the emotion of the self-propelled vacuum cleaner 1 is selected, and as a result, the emotion is "normal" or "unpleasant". However, for example, when the user is a happy day (birthday, etc.), the emotion of the self-propelled vacuum cleaner 1 is preferably "pleasant".

Therefore, when the system date when the emotions are selected by the emotion selecting units 201 to 211 coincides with the date when the user registers in advance with the self-propelled vacuum cleaner 1, the exception processing may not acquire the emotion calculation stored in the memory unit 57. The value M1, in order to make the emotion "pleasure", makes the emotion value M a specific larger value.

Thereby, according to the user's setting, the emotion of the self-propelled vacuum cleaner 1 must be set to be "Happy" day.

[Variation 2]

The self-propelled vacuum cleaner 1 may be further 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 so-called externally received information is typically the M2 used to calculate the sentiment value M.

[combination of each embodiment]

The embodiments obtained by appropriately combining the technical means disclosed in each of the above embodiments are also included in the technical scope of the present invention.

That is, it may be configured to combine (1) the frequency of the dust collection, (2) the remaining amount of the battery of the battery 14, (3) the amount of accumulated dust in the dust collecting portion 30, and (4) the elapsed time after the event is generated, (5) The dust part 30 is removed, (6) the return to the charging station 40 is successful and the return fails, (7) the collision with the obstacle, (8) the fall of the fall, (9) the surrounding smell, and (10) the surrounding temperature In the middle of a plurality, choose the emotion of the self-propelled vacuum cleaner 1.

In other words, the control unit 52 and the storage unit 57 may be configured to include the blocks disclosed in the first to eleventh embodiments. When the controller 52 is configured to include two or more of the emotion selection units of the respective embodiments, the plurality of emotion selection units M1 can be determined. However, in this case, the emotion calculation is determined according to the specific priority or condition. The value M1 can be.

[Application to other electronic machines]

The technical idea of sending the device to an external device based on the emotional quality of the information that can be obtained by the device can also be applied to an electronic device other than the vacuum cleaner. For example, it can also be applied to electronic devices such as air cleaners, humidifiers, and dehumidifiers.

[Implementation form of the control department]

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

When using software to implement the situation, the self-propelled vacuum cleaner 1 has: performing various functions The CPU of the command of the control program, the ROM (read only memory) storing the above program, the RAM (random access memory) for expanding the program, and the memory for storing the program and various materials. Body memory device (recording medium), etc. Further, the object of the present invention is to record a recording medium (execution program, intermediate encoding program, source program) of a control program of the self-propelled vacuum cleaner 1 which is a software that realizes the above-described functions, which can be readable by computer. Provided to the self-propelled vacuum cleaner 1 described above, the computer (or CPU or MPU) reads and executes the program code recorded on the recording medium.

As the recording medium, for example, a magnetic tape such as a magnetic tape or a cassette tape, a magnetic disk including a soft (registered trademark) disk/hard disk, or a magnetic disk such as a CD-ROM/MO/MD/DVD/CD-R can be used. Disc, IC card (including memory card) / optical card, or semiconductor memory such as mask ROM/EPROM/EEPROM (registered trademark)/flash ROM, PLD (Programmable logic device: Programmable Logic Device) and other logic circuits.

Further, the self-propelled vacuum cleaner 1 can be connected to the communication network, and the program code can be supplied via the communication network. The communication network is not particularly limited, and for example, an internet, an internal network, an inter-network, a LAN, an ISDN, a VAN, a CATV communication network, a virtual private network, a telephone line network, Mobile communication network, satellite communication network, and the like. Further, the transmission medium constituting the communication network is not particularly limited, and for example, a cable such as IEEE1394, USB, power line transmission, cable TV line, telephone line, or ADSL line, or infrared such as IrDA or remote control, Bluetooth (registered trademark) can be used. ), IEEE802.11 wireless, HDR (High Data Rate), NFC (Near Field Communication), DLNA (Digital Living Network Alliance), mobile phone network, satellite line, Ground wave digital network and other wireless.

As such, in this specification, the so-called mechanism does not necessarily mean a physical institution. It includes the use of software to implement the functions of each organization. Furthermore, it is possible to realize the function of one mechanism by using two or more physical mechanisms, or to realize the functions of two or more mechanisms by one physical mechanism.

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

In order to solve the above problems, the robot apparatus of the present invention is characterized by comprising: a decision mechanism that determines general information that summarizes the acquired information acquired by the local machine; and a transmitting mechanism that transmits the summary information determined by the determining means to the external device, and The determining means determines the summary information by selecting from a plurality of selection items based on the acquired information.

According to the above configuration, first, the summary information summarizing the acquired information acquired by the local machine is determined by selecting from the plurality of selection items based on the acquired information. Then, the summary information of the decision is sent to the external device.

Thereby, the acquisition information acquired by the local device can be directly transmitted to the external device, and converted into the summarized general information to be transmitted to the external device.

Therefore, by confirming the summary information by the external device, the user can grasp the summary of the acquired information more easily than the case where the information is directly confirmed. Therefore, the user's convenience is improved.

Furthermore, the robot apparatus of the present invention may be configured such that the transmitting means further transmits the acquired information to the external device.

According to the above configuration, in addition to the summary information, the acquisition information itself is also transmitted to the external device.

In this way, the user can confirm the acquisition information in addition to the external device confirmation summary information.

Furthermore, the robot apparatus of the present invention may be configured such that the summary information indicates information on the state of the local machine calculated using the acquired information.

According to the above configuration, the general information is information indicating the state of the machine (for example, good/general/bad, etc.).

Thereby, the information acquired by the local device can be directly transmitted to the external device, and the information indicating the state of the local machine can be converted and transmitted to the external device. Therefore, the effect of obtaining the outline of the information can be grasped by the simple behavior of confirming the state of the robot apparatus.

Furthermore, the robot apparatus of the present invention may be configured to determine the summary information when the power of the unit is turned on, and the transmission unit transmits the determined summary information to the external apparatus.

According to the above configuration, when the power of the own machine is input, the summary information is determined, and the summary information of the determination is transmitted to the external device.

Thereby, the effect of the summary of the acquired information at that time can be confirmed by the external device at the time when the power of the robot device is input.

Furthermore, the robot apparatus of the present invention may be configured such that, when the general information determined recently by the determining means is different from the general information determined by the determining means, the transmitting means may send the summary information of the decision to the outside. The device sends.

According to the above configuration, only the summary information of the recent decision is different from the summary information of the current decision, and the summary information of the decision is transmitted to the external device.

In this way, the summary information is not sent to the external device every time the summary information is decided, but the summary information is sent to the external device only when the information is changed.

Therefore, it is possible to use an external device to confirm the effect of the summary of the acquired information at that point in time when the information is changed.

Furthermore, the robot apparatus of the present invention may be configured such that the transmitting means further transmits a message corresponding to the summary information to be transmitted to the external device.

According to the above configuration, in addition to the summary information, the message corresponding to the summary information is transmitted to the external device.

Thereby, the effect of transmitting the message accompanying the summary information together with the summary information to the external device can be exerted.

Furthermore, the robot apparatus of the present invention may further include a secondary battery that is a power supply source for supplying power to the machine, and a battery remaining amount measuring unit that measures a remaining battery amount of the secondary battery, and the determination The mechanism determines the above summary information by using the remaining amount of the battery measured by the battery remaining amount measuring means as the above-mentioned acquisition information.

According to the above configuration, the above-described summary information is determined by using the remaining battery amount of the secondary battery as the acquisition information.

Thereby, instead of directly transmitting the remaining battery amount of the secondary battery to the external device, the summary information summarizing the remaining amount of the battery may be transmitted to the external device.

Therefore, it is possible to grasp the effect of the outline of the battery remaining amount of the secondary battery by confirming the summary information by the external device.

Furthermore, the robot apparatus of the present invention may further comprise: a secondary battery for supplying a power supply source for supplying power to the machine; and a movement control mechanism for charging the secondary battery The charging station is electrically connected to move the unit; and the determining means determines whether the unit is connected to the charging station as a result of the movement of the mobile control unit as the acquisition information, and determines the summary information.

According to the above configuration, whether or not the unit has been connected to the charging station as the above-described acquisition information determines the above summary information.

Thereby, it is possible to transmit the general information summarizing the purpose to the external device instead of directly connecting the device to the charging station to the external device.

Therefore, it is possible to grasp whether or not the unit is connected to the charging stand by confirming the summary information by the external device.

Furthermore, the robot apparatus of the present invention may be further configured to include: a dust collecting mechanism that performs dust collection; a memory count memory unit that memorizes the number of times the dust is being cleaned; and a memory that is stored in the dust collecting frequency storage unit each time the dust is performed Increase the number of times and update the suction The dust number storage means; and the determination means determines the summary information by using the total value of the number of times stored in the dust collection frequency storage unit corresponding to the date included in the specific period as the acquisition information.

According to the above configuration, first, each time the cleaning is performed, the number of times of performing the cleaning corresponding to the day on which the cleaning is performed is increased by one time and updated. Then, the total value of the above-mentioned times corresponding to the date included in the specific period is used as the above-mentioned acquisition information, and the above summary information is determined.

Thereby, instead of directly transmitting the total number of times of performing the cleaning in the specific period to the external device, the summary information summarizing the total number of times may be transmitted to the external device.

Therefore, it is possible to grasp the effect of performing the summary of the total number of times of cleaning in a specific period by confirming the summary information by the external device.

Furthermore, the robot apparatus of the present invention may further include: a cleaning day memory unit that memorizes an execution day of performing the cleaning; and a cleaning day storage unit that stores the execution date in the cleaning day memory unit when the cleaning is performed; And the determination unit determines the summary information by using the total value of the number of execution days included in the execution date and the specific period of the cleaning day memory unit as the acquisition information.

According to the above configuration, the summary information is determined by using the total value of the number of execution days included in the execution day of the cleaning and the specific period as the acquisition information.

Thereby, instead of transmitting the total date of the cleaning performed in the specific period to the external device, the summary information summarized for the total date may be transmitted to the external device.

Therefore, it is possible to grasp the effect of performing the summary of the total date of the cleaning in a specific period by confirming the summary information by the external device.

Furthermore, the robot apparatus of the present invention may further include: a motor that attracts dust; and a current value measuring unit that measures a current value of the motor; and the determining unit uses the current value measured by the current value measuring unit as the acquisition. Information, and decide the above summary information.

According to the above configuration, the current value of the motor that attracts dust is used as the acquisition information to determine the summary information.

Thereby, instead of transmitting the current value of the dust-absorbing motor directly to the external device, the summary information summarizing the current value may be transmitted to the external device. In addition, the amount of accumulated dust in the dust collecting portion of the dust is collected, and the estimated amount can be grasped based on the current value of the motor.

Therefore, it is possible to grasp the outline of the accumulation amount of dust in the dust collecting portion by confirming the summary information by the external device.

Furthermore, the robot apparatus of the present invention may be configured to further include a detachable dust collecting portion for collecting dust, and the determining means determines whether or not the dust collecting portion has been removed as the acquisition information.

According to the above configuration, whether or not the dust collecting unit has been removed as the above-described acquisition information determines the summary information.

Thereby, it is possible to transmit the summary information summarizing the purpose to the external device instead of directly transmitting the dust collecting unit to the external device.

Therefore, by confirming the summary information by the external device, it is possible to grasp whether or not the dust collecting portion has been removed.

Furthermore, the robot apparatus of the present invention may be further configured to include a calculation value storage unit that stores the acquisition information and the value for specifying the summary information, and the determination unit acquires the acquisition information. The value stored in the calculation value storage unit is selected from the selection items based on the result of adding the acquired value to the value obtained from the outside.

According to the above configuration, the summary information can be selected using the value obtained from the outside.

Therefore, it is effective to transmit the summary information in consideration of the value obtained from the outside to the external device.

In addition, the above-mentioned robot device can also be realized by a computer. In this case, the robot device of the robot device is realized by a computer by operating a computer as the above-mentioned various mechanisms. The control program and the computer readable recording medium on which it is recorded are also included in the scope of the present invention.

[Industrial availability]

The invention is applicable to a vacuum cleaner. In particular, it can be preferably applied to a self-propelled vacuum cleaner.

1‧‧‧Self-propelled vacuum cleaner

52‧‧‧Control Department

53‧‧‧Communication Control Department

57‧‧‧Memory Department

101‧‧‧Event Detection Department

111‧‧‧Starting the detection department

121‧‧‧Connection establishment detection department

131‧‧‧Request to receive detection department

201‧‧‧Emotional Choice Department

231‧‧‧ Operational Value Determination Department

251‧‧‧Emotional Computing Department

301‧‧‧Transmission Processing Department

401‧‧‧Dust History Information Storage Department

570‧‧‧Information Memory Department

571‧‧‧Dust collection memory

572‧‧‧Dust-washing days memory

573‧‧‧Dust collection/computation value memory

574‧‧‧Dust-washing days/calculated value memory

Claims (15)

A robot apparatus, comprising: a determining mechanism that determines summary information of the acquired information acquired by the local machine; and a transmitting mechanism that transmits the summary information determined by the determining institution to the external device; and the determining institution borrows The summary information is determined by selecting from a plurality of selection items based on the acquired information. The robot apparatus of claim 1, wherein the transmitting means further transmits the acquired information to the external device. The robot apparatus of claim 1 or 2, wherein the summary information is information indicating a state of the local machine calculated using the acquired information. The robot apparatus according to any one of claims 1 to 3, wherein, when the power of the local machine is turned on, the determining means determines the summary information, and the transmitting means transmits the determined summary information to the external device. The robot apparatus according to any one of claims 1 to 4, wherein the transmitting means only summarizes the summary information of the decision only when the summary information recently determined by the determining means is different from the summary information determined by the determining means The above external device transmits. The robot apparatus according to any one of claims 1 to 5, wherein the transmitting means further transmits a message corresponding to the summary information to be transmitted to the external device. The robot apparatus according to any one of claims 1 to 6, further comprising: a secondary battery that is a power supply source for supplying power to the machine; The battery remaining amount measuring means for measuring the remaining battery level of the secondary battery; and the determining means determines the summary information by using the remaining amount of the battery measured by the battery remaining amount measuring means as the acquisition information. The robot apparatus according to any one of claims 1 to 7, further comprising: a secondary battery that is a power supply source for supplying power to the machine; and electrically connected to a charging station for charging the secondary battery The mobile control unit that moves the unit; and the determination unit determines whether the unit is connected to the charging station as the result of the movement of the mobile control unit as the acquisition information, and determines the summary information. The robot apparatus according to any one of claims 1 to 8, further comprising: a dust suction mechanism that performs dust collection; a memory count portion that memorizes the number of times the dust has been performed; and the number of times of cleaning the dust every time the dust is performed The number of times of storage of the memory unit is increased by one time and updated, and the determination means determines the summary information by using the total value of the number of times stored in the number-of-dusts number storage unit corresponding to the specific period as the acquisition information. The robot apparatus according to claim 9, further comprising: a cleaning day memory unit that memorizes an execution day of performing the cleaning; and a cleaning day storage unit that stores the execution date in the cleaning day memory unit when the cleaning is performed; The determination unit determines the summary information by using the total value of the number of execution days included in the execution date of the cleaning day memory unit and the specific period included in the specific period as the acquisition information. The robot apparatus of claim 9 or 10, which further comprises: a motor for attracting dust; and a current value measuring means for measuring a current value of the motor; and the determining means determines the summary information by using the current value measured by the current value measuring means as the acquisition information. The robot apparatus according to any one of claims 9 to 11, further comprising a detachable dust collecting portion for collecting dust, wherein the determining means determines whether the dust collecting portion has been detached as the acquisition information General information. The robot apparatus according to any one of claims 1 to 12, further comprising: an operation value memory portion that memorizes the acquisition information and the value for specifying the summary information, and the determining means acquires the acquired information Correspondingly, the value is stored in the calculated value memory unit, and the summary information is selected from the selection items based on the result of adding the acquired value to the value obtained from the outside. A control program for causing a computer actor provided in the robot apparatus according to any one of claims 1 to 13 to operate the computer as each of the above-described mechanisms. A computer readable recording medium recorded with a control program as in claim 14.