WO2013141206A1 - ロボット装置、情報提供装置及び情報提供システム - Google Patents

ロボット装置、情報提供装置及び情報提供システム Download PDF

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Publication number
WO2013141206A1
WO2013141206A1 PCT/JP2013/057662 JP2013057662W WO2013141206A1 WO 2013141206 A1 WO2013141206 A1 WO 2013141206A1 JP 2013057662 W JP2013057662 W JP 2013057662W WO 2013141206 A1 WO2013141206 A1 WO 2013141206A1
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WO
WIPO (PCT)
Prior art keywords
information
unit
robot cleaner
robot
related information
Prior art date
Application number
PCT/JP2013/057662
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English (en)
French (fr)
Japanese (ja)
Inventor
実雄 阪本
Original Assignee
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by シャープ株式会社 filed Critical シャープ株式会社
Priority to CN201380013177.9A priority Critical patent/CN104185436A/zh
Publication of WO2013141206A1 publication Critical patent/WO2013141206A1/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • the present invention relates to a robot apparatus and the like, and more particularly to a robot apparatus, an information providing apparatus, and an information providing system that transmit detection information.
  • self-propelled vacuum cleaners that perform self-propelled cleaning are known.
  • the self-propelled cleaner may perform cleaning when the user is not nearby, in which case the user cannot confirm the operation of the self-propelled cleaner, for example, a self-propelled cleaner such as a malfunction Since it is impossible to know the state of the self-propelled cleaner, a technique for transmitting the state of the self-propelled cleaner to the user is known.
  • Patent Document 1 describes a self-propelled cleaner network system.
  • FIG. 18 is a schematic diagram showing a configuration of the self-propelled cleaner network system disclosed in Patent Document 1.
  • the self-propelled cleaner network system includes a self-propelled cleaner 500 and terminal devices 501 and 502 having communication means for communicating with the self-propelled cleaner 500.
  • the user inputs reservation information using the terminal device 501, and the self-propelled cleaner 500 receives and stores the input reservation information via the wireless LAN and self-activates immediately before the scheduled cleaning start time. Run the diagnostic program. If there is an abnormality in the self-diagnosis result, the self-diagnosis result is transmitted as maintenance information to the terminal device 502 selected as the designated contact by the user.
  • the present invention has been made in view of the above problems, and its purpose is to provide a robot apparatus and information capable of presenting various related information for dealing with a state such as a malfunction of the robot apparatus to the user. It is to provide a providing apparatus and an information providing system.
  • a robot apparatus is a robot apparatus that communicates with an information providing apparatus, and includes detection information transmitting means for transmitting detection information indicating the state of the robot apparatus to the information providing apparatus, and related information related to the detection information. Is provided with related information receiving means for receiving information from the information providing apparatus and related information output means for presenting related information.
  • presenting information is not limited to, for example, displaying on a robot device or outputting sound, but transferring information from the robot device to an external device and displaying it on a transfer destination external device or outputting sound. The case where it does is included.
  • An information providing apparatus includes a detection information receiving unit that receives detection information representing a state of a robot apparatus, and a related information transmission unit that transmits related information related to the detection information to the robot apparatus.
  • An information providing system includes a robot apparatus and an information providing apparatus, and the robot apparatus is a robot apparatus that communicates with the information providing apparatus, and detects detection information indicating the state of the robot apparatus.
  • Detection information transmitting means for transmitting to the information providing apparatus, related information receiving means for receiving related information related to the detection information from the information providing apparatus, and related information output means for presenting the related information.
  • a detection information receiving means for receiving detection information representing the state of the robot apparatus, and a related information transmission means for transmitting related information related to the detection information to the robot apparatus.
  • the present invention it is possible to provide a robot apparatus, an information providing apparatus, and an information providing system capable of presenting various related information for dealing with a state such as a malfunction of the robot apparatus to a user.
  • FIG. 5 is a schematic diagram of the robot cleaner of FIG. 4 taken along line AA according to the first embodiment of the present invention. It is a perspective view of the charging stand which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the robot cleaner which concerns on Embodiment 1 of this invention.
  • FIG. 8 is a block diagram illustrating a configuration of a control unit and the like of the robot cleaner in FIG. 7 according to the first embodiment of the present invention. It is a figure which shows an example of the detection information which concerns on Embodiment 1 of this invention and a robot cleaner transmits. It is a figure which concerns on Embodiment 1 of this invention and shows an example of a detection information code data table. It is a block diagram which shows the structure of the information provision apparatus which concerns on Embodiment 1 of this invention.
  • FIG. 10 is a diagram illustrating an example of a corresponding code data table according to the first embodiment of the present invention. It is a flowchart which shows the process which concerns on Embodiment 1 of this invention and the robot cleaner 1 outputs pertinent information.
  • FIG. 8 is a block diagram illustrating a configuration of a control unit or the like of the robot cleaner in FIG. 7 according to the second embodiment of the present invention. It is a figure which concerns on Embodiment 2 of this invention and shows an example of the detection information which a robot cleaner transmits. It is a figure which concerns on Embodiment 2 of this invention and shows an example of a detection information code data table. It is a figure which concerns on Embodiment 2 of this invention and shows an example of a corresponding code data table. It is a schematic diagram which shows the structure of the self-propelled cleaner network system described in Patent Document 1.
  • the robot apparatus transmits detection information indicating the state of the robot apparatus to the information providing apparatus.
  • the information providing apparatus receives detection information from the robot apparatus, and transmits related information related to the received detection information to the robot apparatus or the like.
  • the related information is information related to the state of the robot apparatus.
  • the related information may include, for example, product information of the robot apparatus or its constituent members, service information related to the robot apparatus, or guidance information for dealing with a problem.
  • the product information may include, for example, advertisement information related to the robot apparatus or its constituent members.
  • Specific examples of the related information may include link information (URL: Uniform Resource Locator) for accessing the Internet, an e-mail address or a telephone number.
  • the related information includes, for example, information such as characters, sounds, and images.
  • a robot cleaner will be described with reference to the drawings as an embodiment of a robot apparatus according to the present invention.
  • the robot cleaner 1 uses information indicating the content of a defect as first detection information as an information providing device 301. Send to. Further, the information providing apparatus 301 stores related information related to the first detection information, and returns related information related to the transmitted first detection information to the robot cleaner 1 or the like.
  • FIG. 1 is a schematic diagram illustrating a configuration of an information providing system 300 according to the present embodiment.
  • the information providing system 300 includes a robot cleaner 1 and an information providing device 301.
  • a LAN Local Area Network
  • the Internet 95 are employed as an example of a communication network.
  • the robot cleaner 1 is a robot apparatus that performs self-propelled cleaning in the house 94. Moreover, the robot cleaner 1 includes a wireless unit 18 (see FIGS. 5 and 7), which will be described later, and is connected to the wireless LAN base station 93 in a state capable of wireless communication.
  • the type of the house 94 is not particularly limited, and a place having an environment in which the robot apparatus can be used, such as a business office, a store, a conference room, or a warehouse, in addition to a building where people live. If so, the present invention can be applied. Further, as an example, the case where the robot cleaner is used in the space in the building as the house 94 is described, but the robot device may be used in an outdoor space, or in a moving space such as a vehicle, a ship, or a train. The present invention can also be applied when using a robot apparatus.
  • the wireless LAN base station 93 is a relay machine for establishing a wireless LAN connection, and is connected to the robot cleaner 1.
  • the wireless LAN base station 93 is connected to the Internet 95. Therefore, the robot cleaner 1 can be connected to the Internet 95 via the wireless LAN base station 93.
  • the Internet 95 is a computer network connected so as to be able to communicate with each other using a communication protocol such as TCP (Transmission Control Protocol), IP (Internet Protocol) or HTTP (Hyper Text Transfer Protocol). It is connected to the information providing apparatus 301.
  • TCP Transmission Control Protocol
  • IP Internet Protocol
  • HTTP Hyper Text Transfer Protocol
  • the information providing device 301 is a device for providing related information to at least one robot cleaner 1 to be managed, and is connected to the Internet 95.
  • the robot cleaner 1 and the information providing apparatus 301 are both connected via the wireless LAN base station 93 and the Internet 95. Can communicate with each other.
  • the robot cleaner 1 is described as being connected to the information providing apparatus 301 via the wireless LAN base station 93 and the Internet 95 so as to be capable of bidirectional communication. Is not necessarily connected to the information providing apparatus 301 via the wireless LAN base station 93 and the Internet 95.
  • the robot cleaner 1 may be connected to the information providing apparatus 301 via either the wireless LAN base station 93 or the Internet 95.
  • a wireless device such as Bluetooth (registered trademark) or ZigBee (registered trademark) is used. You may communicate using a radio wave system.
  • FIG. 1 illustrates the case where the information providing apparatus 301 is outside the house 94, but various embodiments can be applied without departing from the spirit of the present invention.
  • the information providing apparatus 301 is in the house 94 and is connected to a wireless network or a LAN in the house 94.
  • the corresponding information is collected via the network in the outdoor part of the house, or the corresponding information is stored in advance.
  • An embodiment that provides related information to the robot cleaner 1 or the portable terminal 91 may be used.
  • the information providing device 301 is a PC (Personal Computer) in the house 94, a mobile phone, a portable information terminal, a network-connected TV, a network-connected information display capable of displaying digital signage, or a network-connectable It can also be applied to an electronic blackboard.
  • PC Personal Computer
  • a terminal device 91 may be connected to the communication network.
  • the terminal device 91 is a device that can output related information received from the robot cleaner 1 as characters, sounds, images, or the like, and includes a display unit 92 and a voice output unit (not shown).
  • the terminal device 91 is, for example, a smartphone, a tablet terminal, a mobile phone, a PDA (Personal Digital Assistance), a high-performance remote controller, a notebook PC, a desktop PC, a game machine, a TV connectable to a network, an information display, or a network connectable An electronic blackboard.
  • the terminal apparatus 91 is connected to the wireless LAN base station 93.
  • the terminal device 91 can perform bidirectional communication with the robot cleaner 1 via the wireless LAN base station 93. Further, the terminal device 91 can perform bidirectional communication with the information providing device 301 via the wireless LAN base station 93 and the Internet 95.
  • the terminal device 91 may be capable of operating the robot cleaner 1 by transmitting an operation signal, or configured to acquire various information from the robot cleaner 1. Good.
  • the robot cleaner 1 transmits detection information to the information providing apparatus 301 in which the network connection address information is registered in advance.
  • the information providing apparatus 301 receives the detection information and transmits related information related to the detection information to the robot cleaner 1 or the like.
  • a typical example in which the information providing apparatus 301 transmits related information and its characteristics are shown below.
  • Information providing device 301 transmits related information to robot cleaner 1 in which network connection address information is registered in advance.
  • the user can confirm the related information by operating the robot cleaner 1 and displaying the received related information on the display unit 53 (see FIG. 3) of the robot cleaner 1 described later. That is, the robot cleaner 1 presents the relevant information to the user by displaying the relevant information on the display unit of the robot cleaner 1.
  • E2 When transmitting from the robot cleaner 1 to the terminal device 91 after transmission to the robot apparatus 1
  • the information providing apparatus 301 sends related information to the robot cleaner 1 in which the network connection address information is registered in advance. Send.
  • the robot cleaner 1 transmits the received related information to the terminal device 91 in which network connection address information is registered in advance.
  • the user can confirm the related information by operating the terminal device 91 and displaying the received related information on the display unit 92 of the terminal device 91. That is, the robot cleaner 1 presents related information to the user by transferring the related information to the terminal device 91.
  • the information providing device 301 transmits related information to the robot cleaner 1 and the terminal device 91 in which network connection address information is registered in advance.
  • the user operates the robot cleaner 1 or the portable terminal 91 to check the related information by displaying the received related information on the display unit of the robot cleaner 1 or the display unit 92 of the terminal device 91.
  • the robot cleaner 1 presents the related information to the user by displaying the related information on the display unit of the robot cleaner 1 or the display unit 92 of the terminal device 91.
  • E4 When Transmitting Only to the Terminal Device 91
  • the information providing device 301 transmits related information only to the terminal device 91 in which the network connection address information is registered in advance.
  • the user can confirm the related information by operating the terminal device 91 and displaying the received related information on the display unit 92 of the terminal device 91.
  • the robot cleaner 1 does not present the related information directly to the user, but the user can check the related information as in the case of E1 to E3.
  • E1 to E4 are merely examples, and the present invention is not limited to these. Needless to say, it is possible to appropriately combine some or all of the methods E1 to E4 according to the type of detection information and if necessary, and when combined, the respective operational effects are exhibited.
  • FIG. 2 is a perspective view of the robot cleaner 1.
  • the robot cleaner 1 is a device that includes a circular main body housing 2 and a driving wheel 13 (described later) for self-propelling in plan view, and collects dust while self-propelling.
  • the advancing direction when the robot cleaner 1 performs self-running and cleaning is defined as the forward direction, and is indicated by an arrow in FIG.
  • the direction opposite to the traveling direction is the rear.
  • a lid 3 On the upper surface of the main body housing 2, a lid 3 that opens and closes when a dust collection unit 30 (see FIG.
  • a signal receiving unit 9 that receives a feedback signal from a charging base 40 (see FIG. 6), which will be described later, and a signal from a remote control device (not shown), and an exhaust port through which air from which dust has been removed by the dust collecting unit 30 is exhausted 6 is provided.
  • a sound input unit 7 for inputting instructions by voice to the robot cleaner 1
  • a sound output unit (related information output means) 8 for outputting messages and music
  • a pair of side brushes 11 is provided at the bottom end of the main body housing 2.
  • the travel sensor 10 detects an obstacle such as a wall or furniture, and is constituted by an infrared sensor.
  • the obstacle sensor 10a that detects an obstacle approaching the front and the housing 2 collide with the obstacle. It has a contact sensor 10b that is detected by a microswitch (not shown) provided inside the housing 2.
  • the obstacle sensor 10a is formed with an infrared sensor
  • the obstacle sensor 10a is not limited to an infrared sensor.
  • the obstacle sensor 10a for example, a proximity sensor using ultrasonic waves or electromagnetic waves can be widely used.
  • the running sensor 10 has the obstruction sensor 10a and the contact sensor 10b, you may provide only either one sensor.
  • the travel sensor 10 may be a step sensor configured by an infrared sensor or the like, or an image sensor that images the periphery, the ceiling, or the surface to be cleaned of the robot cleaner 1.
  • FIG. 3 shows a schematic diagram of the operation panel 5.
  • the operation panel 5 includes an operation unit 51, a notification unit 52, and a display unit (related information output unit) 53.
  • the operation unit 51 is a switch for inputting an instruction to the robot cleaner 1, for example, a start and stop switch for instructing the start and stop of cleaning, a mode selection switch for selecting a cleaning mode, and a current time or A timer set switch is provided so as to be able to set a reserved time for operating the robot cleaner 1.
  • the notification unit 52 includes a lamp such as an LED (Light Emitted Diode), and notifies the user of the state of the robot cleaner 1. For example, the notification unit 52 notifies that the robot cleaner 1 has received related information from the information providing apparatus 301. Further, the notification unit 52 may notify that the dust collection container 31 described later is full or the remaining charge of the battery (power supply unit) 19 described later.
  • a lamp such as an LED (Light Emitted Diode)
  • the display unit 53 is configured by liquid crystal, organic EL (Electro Luminescence), or the like, and displays related information received by the robot cleaner 1 from the information providing device 301, the current time, the start time of the reserved operation, or the like.
  • the operation unit 51 may be configured using a touch panel or a soft key, and the notification by the notification unit 52 may be performed by a display operation of the display unit 5.
  • FIG. 4 shows a bottom view of the robot cleaner 1.
  • a pair of drive wheels 13 are provided on the bottom surface of the main body housing 2 so as to protrude from the bottom surface.
  • the robot cleaner 1 advances and retreats when both wheels of the drive wheel 13 rotate in the same direction, and the robot cleaner 1 changes direction when both wheels rotate in the opposite direction.
  • a dust suction port 33, a pair of side brushes 11 and a front wheel 14 that rotate on a rotation axis perpendicular to the floor surface are provided in front of the bottom surface of the main body housing 2.
  • a rear wheel 15 is provided behind the bottom surface.
  • the suction port 33 is recessed on the bottom surface of the cleaner so that the open surface faces the floor surface.
  • a rotating brush 12 that rotates on a rotating shaft that is supported in parallel with the floor surface is disposed inside the suction port.
  • FIG. 5 is a schematic view of the robot cleaner 1 in FIG. 4 taken along line AA.
  • FIG. 5 shows that the robot cleaner 1 is in a charged state docked with the charging stand 40.
  • the robot cleaner 1 includes a control board 17 provided with a control circuit for controlling each part of the dust collector 30, the electric blower 16, the robot cleaner 1, a radio unit 18, and a body housing 2.
  • a battery 19 is provided.
  • the dust collecting unit 30 includes a dust collecting container 31 with a bottom and a filter 32 provided on the upper part of the dust collecting container 31.
  • the dust collecting unit 30 can be taken out from the main body housing 2 by opening the lid 3 upward when viewed from the paper surface.
  • the dust collection part 30 is not limited only to a dust collection container.
  • the dust collection unit 30 may be configured only by a bag-shaped dust collection bag or a dust collection filter.
  • the dust collecting unit 30 communicates with the first intake passage 34 and the second intake passage 35.
  • the airflow sucked from the suction port 33 flows through the first intake passage 34 rearward as shown by the arrow B1 and flows into the dust collecting unit 30.
  • the airflow that flows into the dust collection unit 30 collects dust by the filter 32 and flows out of the dust collection unit 30.
  • the second intake passage 35 is circulated forward and flows into the electric blower 16.
  • the air is exhausted upward and rearward as indicated by an arrow B ⁇ b> 3 from an exhaust port 6 provided on the upper surface of the main body housing 2.
  • an ion generator (ion generator) 20 described later is provided in the vicinity of the electric blower 16. In the vicinity of the electric blower 16, an ion generator (ion generator) 20 described later is provided. In that case, an airflow containing ions is exhausted from the exhaust port 6.
  • the wireless unit (detection information transmitting unit, related information receiving unit, and related information output unit) 18 is assigned an IP address and URL, and is connected to the information providing apparatus 301 via the wireless LAN base station 93 and the Internet 95 using HTTP. Information can be transmitted and received, and information can be transmitted and received with the terminal device 91 via the wireless LAN base station 93.
  • the battery 19 is a power supply source of the robot cleaner 1.
  • the battery 19 is supplied with power, and the electric blower 16, the ion generator 20, the drive wheel 13, the rotating brush 12, and the side brush 11 are supplied. Is driven.
  • the robot cleaner 1 is self-propelled in a predetermined cleaning area, and the dust on the floor surface F is sucked from the suction port 33.
  • the battery 19 is desirably a large-capacity rechargeable battery that can be repeatedly charged and discharged.
  • a lead battery, a nickel metal hydride battery, or a lithium ion battery is used.
  • a charging terminal 4 for charging the battery 19 is provided at the rear end of the peripheral surface of the main body housing 2.
  • FIG. 6 shows a perspective view of the charging stand 40.
  • the charging stand 40 is a device for charging the battery 19 of the robot cleaner 1.
  • a power supply terminal 41 is provided at a position facing the peripheral surface of the main body housing 2 and in contact with the charging terminal 4 of the robot cleaner 1.
  • the charging terminal 4 of the robot cleaner 1 is electrically connected to the power supply terminal 41 of the charging stand 40, the current from the commercial power source to which the charging stand 40 is connected flows to the robot cleaner 1 and charges the battery 19. can do.
  • the charging stand 40 is provided with a signal transmission unit 42 that transmits a feedback signal indicating the installation location of the charging stand 40 and the position of the power supply terminal 41.
  • the robot cleaner 1 detects a feedback signal emitted from the charging base 40 to the place where the charging base 40 is installed. Return automatically.
  • the end of cleaning may be detected by detecting that the robot cleaner 1 has moved a certain distance or a certain time has passed.
  • the detection of the end of cleaning may be performed by receiving an instruction prompting the user to return to the charging stand 40 such as a cleaning end instruction or a cleaning interruption instruction by the operation panel 5 or the remote control device. For example, if an infrared signal is transmitted and the robot cleaner 1 is away from the charging stand 40, a feedback signal is always transmitted from the signal transmission unit 42.
  • the robot cleaner 1 includes the battery 19 as a power supply means to the robot apparatus.
  • the robot cleaner 1 is directly connected to the robot cleaner 1 from a commercial power source. Power may be supplied. Further, the battery 19 and a commercial power source may be used in combination.
  • FIG. 7 is a block diagram showing a configuration of the robot cleaner 1.
  • components having the same reference numerals as those described above have the same functions and description thereof is omitted.
  • the robot cleaner 1 includes a travel sensor 10, a battery 19, an ion generator 20, a side brush drive unit 101, a side brush 11, a rotary brush drive unit 102, a rotary brush 12, a travel drive unit 103, a drive wheel 13, and an electric blower 16. , A control unit 100, a storage unit 120, a wireless unit 18, an operation panel 5, a signal receiving unit 9, a sound input unit 7, a sound output unit 8, and a dust collecting unit 30.
  • the ion generator 20 is a device that generates positive ions and / or negative ions.
  • the ion generator 20 includes an ion generation electrode, and generates positive ions and / or negative ions by performing corona discharge.
  • the side brush drive unit 101 includes side brush motors and drive units (not shown), and drives the side brush 11 by determining the number of rotations based on a control signal from the control unit 100.
  • the rotary brush drive unit 102 includes a rotary brush motor (not shown) and their drive units, and determines the number of rotations and the like based on a control signal from the control unit 100 to drive the rotary brush 12.
  • the travel drive unit 103 includes drive wheel motors and drive units (not shown), and drives the drive wheels 13 by determining the rotation direction and the rotation angle based on the control signal from the control unit 100.
  • the control unit 100 is provided on the control board 17 described above, and is based on a program or data stored in the storage unit 120 or an instruction input from the operation panel 5 or a remote control device (not shown). Controls various operations.
  • the storage unit 120 stores various programs executed by the control unit 100, various data read by the control unit 100, and the like.
  • the program includes a malfunction detection program for the malfunction detection unit 110 (see FIG. 8) described later to detect a malfunction of the robot cleaner 1.
  • the data includes data that is referred to when a malfunction detection unit 110 described later performs malfunction detection of the robot cleaner 1.
  • Programs and data are stored in a nonvolatile storage device such as a ROM (read only memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM) or HDD (Hard Disk Drive), or a RAM (Random Access Memory). ) And other volatile storage devices.
  • FIG. 8 is a block diagram showing the configuration of the control unit 100 and the like of the robot cleaner 1 in FIG.
  • the control unit 100 includes a failure detection unit 110 that detects a failure occurring in the robot cleaner 1.
  • the failure detection unit 110 includes a battery failure detection unit 111, an ion generator failure detection unit 112, and a drive unit failure detection unit 113.
  • the battery malfunction detection unit 111 detects a malfunction of the battery 19.
  • the battery malfunction detection unit 111 detects a voltage when the battery 19 is fully charged, and the battery 19 malfunctions when the detected voltage is equal to or lower than the voltage stored in the storage unit 120 in advance. Judge that there is.
  • the battery malfunction detection unit 111 may detect a malfunction of the battery 19 by a method other than the voltage of the battery 19. For example, the battery malfunction detection unit 111 may detect the malfunction of the battery 19 from the internal resistance of the battery 19 or the capacity of the battery 19.
  • the ion generator failure detection unit 112 detects a failure of the ion generator 20.
  • the ion generator malfunction detector 112 detects whether or not the ion generator 20 is discharged, and if the non-discharge period is longer than the period stored in advance in the storage unit, the ion generator 20 Judge that there is a problem.
  • the ion generator failure detection unit 112 may detect a failure of the ion generator 20 by a method other than the presence or absence of discharge of the ion generator 20.
  • the ion generator malfunction detector 112 may detect a malfunction of the ion generator 20 from the number or concentration of ions emitted from the exhaust port 6.
  • the drive unit failure detection unit 113 detects a failure of the side brush drive unit (drive unit) 101, the rotary brush drive unit (drive unit) 102, and the travel drive unit (drive unit) 103.
  • the drive unit malfunction detection unit 113 detects the number of rotations of the motor when the motor of each drive unit is driven in a predetermined pattern, and the detected number of rotations is stored in the storage unit 120 in advance. When the number of revolutions is lower than that, a malfunction of each drive unit is detected.
  • the drive unit failure detection unit 113 may detect a failure of each drive unit from a method other than the rotation speed of the motor of each drive unit. For example, the drive unit failure detection unit 113 may detect a failure of each drive unit from the output torque of the motor of each drive unit or the temperature of the motor or the vicinity thereof.
  • the failure detection unit 110 detects a failure in the battery 19, the ion generator 20, the side brush drive unit 101, the rotating brush drive unit 102, and the travel drive unit 103 will be described.
  • the unit 110 may detect some of the malfunctions.
  • the defect detection unit 110 may detect a defect other than those described above.
  • the malfunction detection unit 110 may detect a malfunction of the travel sensor 10 or the radio unit 18.
  • control unit 100 transmits detection information including first detection information indicating the content of the defect detected by the defect detection unit 110 to the information providing apparatus 301 via the wireless unit (related information transmission unit) 18.
  • FIG. 9 shows an example of the data configuration of the detection information 150 transmitted by the robot cleaner 1.
  • the detection information 150 includes a robot cleaner ID 161 for the information providing apparatus 301 to identify the robot cleaner 1 and a first detection information code 162 representing the first detection information.
  • the storage unit 120 includes a detection information code storage unit 121 and a reception information storage unit 124.
  • the detection information code storage unit 121 stores a first detection information code representing the content of the defect detected by the defect detection unit 110.
  • FIG. 10 shows an example of the data structure of the detection information code data table 151 stored in the detection information code storage unit 121.
  • the first detection information code 162 is associated with the defect 163 detected by the defect detection unit 110.
  • the reception information storage unit 124 stores related information received from the information providing apparatus 301.
  • the related information stored in the reception information storage unit 124 is output via the display unit 53, the sound output unit 8, or the wireless unit 18.
  • “XXX” and “YYY” of the defect 163 indicate an arbitrary defect that has not been described in the present embodiment. For example, various troubles such as a trouble of the traveling sensor 10 or the wireless unit 18 can be applied.
  • FIG. 11 is a block diagram showing the configuration of the information providing apparatus 301.
  • the information providing apparatus 301 includes a communication unit (detection information receiving unit, related information transmission unit) 302, a control unit 303, and a storage unit 310 for connecting to the Internet 95, which is a communication network.
  • the storage unit 310 stores various programs executed by the control unit 303, various data read by the control unit 303, and the like.
  • the program includes a program for the control unit 303 (to be described later) to search for corresponding information using a detection information code transmitted from the robot cleaner 1 as a key.
  • Programs and data are stored in a nonvolatile storage device such as a ROM (read only memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM) or HDD (Hard Disk Drive), or a RAM (Random Access Memory). ) And other volatile storage devices.
  • the storage unit 310 includes a related information storage unit 311 that stores related information to be transmitted to the robot cleaner 1.
  • the related information storage unit 311 stores a correspondence code indicating the related information and a detection information code received from the robot cleaner 1 in association with each other.
  • FIG. 12 shows an example of the corresponding code data table 152.
  • the corresponding code 164 is associated with the first detection information code 162.
  • the correspondence code data table 152 a plurality of first detection information codes are associated with the same correspondence code. For example, “0001” and “0004” that are the first detection information code 162 are associated with “A” that is the corresponding code 164.
  • the information providing apparatus 301 does not need to store related information for each first detection information code 162, and can reduce the capacity of the storage unit 310.
  • the control unit 303 controls the information providing apparatus 301 based on a program or data stored in the storage unit 310 or information transmitted from the robot cleaner 1. Further, the control unit 303 searches the corresponding code data table 152 using the first detection information code 162 received from the robot cleaner 1 as a key. If the corresponding code 164 corresponding to the received first detection information code 162 is registered as a result of the search, the related information of the corresponding code 164 is output to the robot cleaner 1.
  • FIG. 13 shows a process in which the robot cleaner 1 outputs related information. Note that “step” is represented by “S” in the flowcharts described in FIG. In the sentence, “S” represents “step”.
  • the failure detection unit 110 of the robot cleaner 1 executes a failure detection program (S1).
  • the defect detection unit 110 detects defects in the battery 19, the ion generator 20, the side brush drive unit 101, the rotating brush drive unit 102, and the travel drive unit 103.
  • the defect detection program is executed, for example, when the robot cleaner 1 returns to the charging stand 40 or before the scheduled cleaning start time set by the user.
  • the malfunction detection unit 110 determines whether or not there is a malfunction in the robot cleaner 1 (S2).
  • the robot cleaner 1 contains the 1st detection information code 162 showing the content of the detected malfunction.
  • the detection information 150 is transmitted from the wireless unit (detection information transmission means) 18 to the information providing apparatus 301 (S3).
  • the failure detection unit 110 determines in S2 that there is no failure in the robot cleaner 1 (NO in S2), the robot cleaner 1 ends the process without transmitting the detection information.
  • the detection information 150 transmitted from the robot cleaner 1 may be transmitted to the information providing apparatus 301 via the terminal device 91 or the like (see FIG. 1). By executing such processing, the detection information 150 can be transmitted to the information providing device 301 even when the robot cleaner 1 cannot communicate with the wireless LAN base station 93.
  • the information providing apparatus 301 receives the detection information 150 via the communication unit (detection information receiving unit) 302 (S4).
  • the control unit 303 searches the corresponding code data table 152 using the first detection information code 162 of the received detection information 151 as a key (S5).
  • the control unit 303 searches the corresponding code data table 152 and determines whether or not the corresponding code 164 corresponding to the first detection information code 162 is stored (S6).
  • the control unit 303 sends the related information of the correspondence code 164 from the communication unit (related information transmission means) 302 to the robot cleaning. It is transmitted to the machine 1 by electronic mail (S7).
  • the control unit 303 determines in S6 that the corresponding code 164 corresponding to the received detection information code 162 is not stored (NO in S6), the information providing apparatus 301 transmits related information. The process is finished without.
  • the information providing apparatus 301 ends the process without transmitting the related information, but the information indicating that there is no related information. Can be transmitted as a kind of related information.
  • the related information may be transmitted by a method other than electronic mail.
  • the process in which the robot cleaner 1 outputs related information will be described.
  • the robot cleaner 1 receives related information from the information providing apparatus 301 via the wireless unit (related information receiving means) 18 (S8).
  • the received related information is stored in the reception information storage unit 124.
  • the robot cleaner 1 outputs the received related information (S9).
  • the robot cleaner 1 outputs the received related information from the display unit (related information output unit) 53 or the sound output unit (related information output unit) 8 of the operation panel 5 (E1).
  • the user can confirm related information from characters or images displayed on the display unit 53 or voice or music output from the sound output unit 8. That is, the robot cleaner 1 can present the received related information by displaying it on the display unit 53 of the operation panel of the robot cleaner 1 or outputting sound from the sound output unit 8. In this case, it is not necessary to perform communication from the information providing apparatus 301 to the terminal apparatus 91, and communication processing by the terminal apparatus 91 is not necessary.
  • the robot cleaner 1 may output the received related information by transmitting it by e-mail to the terminal device 91 registered in advance via the wireless unit (related information output means) 18 (E2). .
  • the user can check the related information by operating the terminal device 91 to display characters or images on the display unit 92 of the terminal device 91 or outputting voice or music from the sound output unit. That is, the robot cleaner 1 can present related information by transmitting the related information to the terminal device 91 using electronic mail.
  • This case is particularly suitable when the robot cleaner 1 is away from the user or is lost. Furthermore, it is suitable when the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information.
  • the information providing apparatus 301 may transmit related information to both the robot cleaner 1 and the terminal device 91 (E3).
  • the robot cleaner 1 or the terminal device 91 is in a state incapable of receiving (including when the wireless function is broken, the radio wave condition is deteriorated, or when the battery is dead), it can be confirmed in any way as long as it is not in the state of reception.
  • the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information, the related information can be confirmed on the terminal device 91 side.
  • the information providing apparatus 301 may transmit related information only to the terminal apparatus 91 (E4).
  • the robot cleaner 1 it is suitable when the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information.
  • the robot cleaner 1 since the robot cleaner 1 does not need to receive related information, the robot cleaner 1 is suitable when the robot cleaner 1 is in a communication disabled state (including when the wireless function is broken, the radio wave condition is deteriorated, or the battery is dead).
  • the robot cleaner 1 or the terminal device 91 outputs related information related to detection information representing the content of the malfunction of the robot cleaner 1. Therefore, the robot cleaner 1 can present the received related information, and the user can acquire related information related to the malfunction of the robot cleaner 1.
  • the robot cleaner 1 may present the received information by outputting the related information. With such a configuration, it is possible to confirm related information received when the user desires. Further, when the user thinks that the related information is unnecessary, the related information can not be output.
  • the related information output instruction may be input from other than the operation panel 5.
  • the related information output instruction may be input from the remote control device or the sound input unit 7, or a data acquisition request may be input from the terminal device 91 via the wireless unit 18.
  • the related information output by the robot cleaner 1 may include an electronic coupon.
  • the user's willingness to purchase the robot cleaner 1 or its components can be increased.
  • Embodiment 2 Another embodiment of the present invention will be described with reference to the drawings.
  • the component demonstrated in Embodiment 1 it shall have the same function as Embodiment 1, the same code
  • the robot cleaner 1 transmits information representing the contents of the malfunction of the robot cleaner 1 to the information providing device 301 as the first detection information, and further information representing the operation status of the robot cleaner 1. Is transmitted to the information providing apparatus 301 as the second detection information.
  • the related information is related to the first detection information and the second detection information.
  • the driving situation is, for example, a driving situation performed by the robot cleaner 1, and includes, for example, the number of times of driving or driving frequency or a tendency of driving time.
  • FIG. 14 is a block diagram showing the configuration of the control unit 100 and the like of the robot cleaner 1 in this embodiment.
  • the control unit 100 includes an operation state detection unit 130.
  • running condition detection part 130 detects the frequency
  • control unit 100 transmits, via the wireless unit 18, detection information 153 including first detection information indicating the content of the malfunction of the robot cleaner 1 and second detection information indicating the operation status of the robot cleaner 1. To the information providing apparatus 301.
  • FIG. 15 shows an example of detection information 153 transmitted by the robot cleaner 1.
  • the detection information 153 includes a robot cleaner ID 161 for the information providing apparatus 301 to identify the robot cleaner 1, a first detection information code 165, and a second detection information code 167.
  • the storage unit 120 includes a detection information code storage unit 122, an operation status storage unit 123, and a reception information storage unit 124.
  • the detection information code storage unit 122 stores a first detection information code representing the content of the defect detected by the defect detection unit 110 and a second detection information code representing the operation status of the robot cleaner 1.
  • the driving status storage unit 123 stores, for example, the number of cleaning operations of the robot cleaner 1 during the latest fixed period as the driving status.
  • FIG. 16 shows an example of the detection information code data table 154 of the second detection information. As illustrated, in the detection information code data table 154, the second detection information code 167 is associated with the number of cleaning operations 166.
  • the related information storage unit 311 stores related information in association with the first detection information and the second detection information.
  • FIG. 17 shows an example of the corresponding code data table 155.
  • the corresponding code data table 155 the corresponding code 168 is associated with the first detection information code 165 and the second detection information code 167.
  • the control unit 303 searches the corresponding code data table 155 using the first detection information code 165 and the second detection information code 167 received from the robot cleaner 1 as keys.
  • the search when it is determined that the corresponding code 168 corresponding to the first detection information code 165 and the second detection information code 167 is registered, the related information of the corresponding code 168 is output to the robot cleaner 1. To do.
  • combinations of different first detection information codes 165 and second detection information codes 167 are associated with the same corresponding code. For example, a combination of “0001” that is the first detection information code 165 and “1001” that is the second detection information code 167 and “0003” that is the first detection information code 165 and the second detection information code 167 The combination of “1003” is associated with “A” that is the corresponding code 168.
  • the information providing apparatus 301 does not need to store related information for each combination of the first detection information code 165 and the second detection information code 167, and increases the capacity of the storage unit 310. Can be small.
  • the robot cleaner 1 presents the related information by outputting the received related information from the display unit 53 or the sound output unit 8 of the operation panel 5 (E1).
  • the user can confirm related information from characters or images displayed on the display unit 53 or voice or music output from the sound output unit 8.
  • the robot cleaner 1 may present the related information by outputting the received related information by sending it to the terminal device 91 registered in advance by e-mail (E2).
  • the user can confirm the related information by operating the terminal device 91 to display, for example, characters or images on the display unit 92 of the terminal device 91 or outputting voice or music from the sound output unit. .
  • This is particularly suitable when the robot cleaner 1 is away from the user or is lost.
  • it is suitable when the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information.
  • the information providing apparatus 301 may transmit related information to both the robot cleaner 1 and the terminal device 91 (E3).
  • the robot cleaner 1 or the terminal device 91 is in a state incapable of receiving (including when the wireless function is broken, the radio wave condition is deteriorated, or when the battery is dead), it can be confirmed in any way as long as it is not in the state of reception.
  • the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information, the related information can be confirmed on the terminal device 91 side.
  • the information providing apparatus 301 may transmit related information only to the terminal apparatus 91 (E4).
  • the robot cleaner 1 it is suitable when the robot cleaner 1 does not have or lacks the performance (resolution, size, number of colors, display processing function, etc.) for displaying the received related information.
  • the robot cleaner 1 since the robot cleaner 1 does not need to receive related information, the robot cleaner 1 is suitable when the robot cleaner 1 is in a communication disabled state (including when the wireless function is broken, the radio wave condition is deteriorated, or the battery is dead).
  • running condition detection part 130 demonstrated the case where the frequency
  • running condition detection part 130 is You may detect the driving
  • the driving condition detection unit 130 may detect the frequency of the cleaning operation of the robot cleaner 1 or the tendency of the time during which the robot cleaner 1 performs the cleaning operation as the second detection information.
  • both pieces of detection information may be transmitted simultaneously or substantially simultaneously, or both pieces of detection information may be transmitted together as a single piece of detection information.
  • the robot cleaner 1 or the terminal device 91 outputs detection information indicating the content of the malfunction of the robot cleaner 1 and related information corresponding to the operation status of the robot cleaner 1.
  • the user can acquire the related information related to the malfunction of the robot cleaner 1 and the driving situation.
  • the robot cleaner 1 may output and present the received related information when the user operates the operation panel 5 and inputs an instruction to output related information.
  • the related information output instruction may be input from other than the operation panel 5.
  • the related information output instruction may be input from the remote control device or the sound input unit 7, or a data acquisition request may be input from the terminal device 91 via the wireless unit 18.
  • the related information output by the robot cleaner 1 may include an electronic coupon.
  • the robot cleaner has been described as the robot apparatus.
  • the robot apparatus of the present invention includes a wide variety of robot apparatuses that perform specific work on behalf of the user.
  • the robot apparatus of the present invention includes a security robot or a pet robot.
  • control unit of the robot apparatus, the information providing apparatus, or the terminal apparatus may be configured as hardware by a logic circuit formed on an integrated circuit (IC chip), or a CPU (Central Processing Unit) It may be realized by software using
  • the robot apparatus, the information providing apparatus, or the terminal apparatus includes a CPU that executes instructions of a control program that realizes each function, a ROM (read only memory) that stores the program, and a RAM (random) that expands the program access memory) and a storage device (recording medium) such as a memory for storing programs and various data.
  • An object of the present invention is to enable a computer to read a program code (execution format program, intermediate code program or source program) of a control program for a robot apparatus, an information providing apparatus, or a terminal apparatus that is software that realizes the above-described functions.
  • the recorded recording medium is also supplied to a robot apparatus, an information providing apparatus or a terminal apparatus, and the computer (or CPU or MPU (micro processing unit)) reads out and executes the program code recorded on the recording medium. Is achievable.
  • Examples of the recording medium include tapes such as magnetic tape and cassette tape, magnetic disks such as floppy (registered trademark) disks and hard disks, and disks including optical disks such as CD-ROM, MO, MD, DVD, and CD-R.
  • ICs including memory cards) or optical cards, mask ROM, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory) or flash ROM Memory or logic circuits such as PLD (Programmable logic device) can be used.
  • the robot device, the information providing device, or the terminal device may be configured to be connectable to a communication network, and the program code may be supplied via the communication network.
  • the communication network is not particularly limited.
  • the Internet an intranet, an extranet, a LAN, an ISDN (Integrated Services Digital Network), a VAN (value added network), a CATV communication network, a virtual private network (virtual private network), A telephone line network, a mobile communication network, a satellite communication network, or the like can be used.
  • the transmission medium constituting the communication network is not particularly limited. For example, IEEE 1395, USB (Universal Serial Bus), power line carrier, cable TV line, telephone line or ADSL (Asymmetric Digital Subscriber Line) line, etc.
  • infrared such as IrDA or remote control
  • Bluetooth registered trademark
  • IEEE802.11 wireless High Data Rate
  • HDR High Data Rate
  • NFC Near Field Communication
  • DLNA Digital Living Network Alliance
  • mobile phone network satellite line or ground It can also be used by radio such as a wave digital network.
  • the detection information may include first detection information representing the content of the malfunction of the robot apparatus.
  • the detection information may include second detection information indicating the operation status of the robot apparatus.
  • the related information may include product information related to the robot apparatus or its component parts.
  • the product information may be advertisement information.
  • the robot apparatus may further include an instruction input unit that inputs an instruction to the robot apparatus, and the related information output unit may output the related information when the instruction is input to the instruction input unit. .
  • the robot apparatus may further include power supply means for supplying power to the robot apparatus, and the first detection information may be information indicating a malfunction of the power supply means.
  • the robot apparatus may further include ion generation means, and the first detection information may be information indicating a malfunction of the ion generation means.
  • the robot apparatus may further include a driving unit that drives the robot apparatus, and the first detection information may be information indicating a malfunction of the driving unit.
  • the robot apparatus, information providing apparatus, and information providing system according to the present invention can be widely used for robot apparatuses that transmit detection information.
  • Robot cleaner 5 Operation panel (instruction input unit) 53 Display Unit 11 Side Brush 12 Rotating Brush 13 Drive Wheel 18 Radio Unit 19 Battery (Power Supply Unit) 20
  • Ion generator (ion generator) 100 control unit (detection information transmission means, related information reception means, related information output means) 101 Side brush drive unit (drive unit) 102 Rotating brush drive unit (drive unit) 103 Traveling drive unit (drive unit) DESCRIPTION OF SYMBOLS 110 Defect detection part 111 Battery defect detection part 112 Ion generator defect detection part 113 Drive part defect detection part 120 Storage part 121,122 Detection information code storage part 123 Operation condition storage part 124 Reception information storage part 300 Information provision system 301 Information provision Device 302 Communication unit 303 Control unit 310 Storage unit 311 Related information storage unit

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Information Transfer Between Computers (AREA)
  • Computer And Data Communications (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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