JP6486422B2 - Robot device, control program, and computer-readable recording medium recording control program - Google Patents

Description

  The present invention relates to a robot apparatus or the like, and more particularly to a robot apparatus or the like that outputs sound.

  2. Description of the Related Art Conventionally, in a robot apparatus such as a pet robot imitating a pet animal, a device that talks to a user or has a conversation with the user is known. Also known is a robot apparatus that defines a pseudo emotional state of the robot apparatus and responds differently to the user according to the emotion.

  For example, Patent Document 1 includes various sensors such as a microphone and a touch sensor, determines the emotion of the robot from input information from the sensor, and based on the determined emotion, the order of the vocabulary and word strings of the speech generated by the robot, A robot that changes the position and intonation of the pose of a synthesized sound and outputs it from a speaker is described. Thereby, it is said that a synthetic sound rich in emotion can be output.

JP 2002-304188 A

  However, in the robot described in Patent Document 1, although there are many variations in the output sound, if it is determined that the emotion is high, all of the sound output by the robot is changed. As a result, since all of the voice output by the robot is output differently from the normal output, the user may not be able to recognize the content of the voice correctly, and the robot status cannot be grasped. There was a problem.

  The present invention has been made in view of the above problems, and its purpose is to allow the user to correctly recognize the content of the output sound even when the number of output variations increases, and to correctly grasp the state of the robot apparatus. An object of the present invention is to provide a robot apparatus, a control program, and a computer-readable recording medium on which the control program is recorded.

The robot apparatus according to the present invention includes a sound output unit that outputs sound, a detection unit that detects occurrence of an event based on the detection information, and a sound that stores sound information that is a sound signal output from the sound output unit. Information storage means, and the sound information storage means stores a single first sound information corresponding to the first event and a plurality of second sound information corresponding to the second event. The output means outputs a sound corresponding to the first sound information and the second sound information, and the second sound information is selected from a plurality of second sound information according to the event. And

  In the robot apparatus according to the present invention, it is preferable that the sound output means outputs the first sound information and the second sound information connected to each other.

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

  Moreover, it is preferable that the robot apparatus according to the present invention further includes a cleaning unit that performs cleaning, and the detection unit detects information related to cleaning as an event.

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

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

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

  According to the present invention, even when there are a large number of output sound variations, the user can correctly recognize the content and can correctly grasp the state of the robot apparatus, the control program, and the control program are recorded. The computer-readable recording apparatus can be provided.

It is a perspective view of robot cleaner 1 concerning one embodiment of the present invention. It is a mimetic diagram of operation panel 5 concerning one embodiment of the present invention. It is a bottom view of robot cleaner 1 concerning one embodiment of the present invention. (A) is a schematic diagram in an AA line section of robot cleaner 1 of Drawing 3 concerning one embodiment of the present invention. FIG. 2B is a cross-sectional view of the dust collection unit 30 taken out from the robot cleaner 1. It is a perspective view of the charging stand 40 which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the robot cleaner 1 which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the memory | storage part 200 of the robot cleaner 1 of FIG. 6, and the control part 100 concerning one Embodiment of this invention. It is a flowchart which shows the flow of the process in Example 1 of this invention .

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

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

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

The sound information is a sound signal related to vocabulary or music that is output from the sound output means.
(Robot device structure)
FIG. 1 is a perspective view of a robot cleaner. As shown in FIG. 1, the robot cleaner 1 includes a circular main body housing 2 in plan view and a drive wheel 12 (see FIG. 3) for self-running, and collects dust while running on its own. It is. On the upper surface of the main body housing 2, a lid 3 that opens and closes when the dust collecting unit 30 (see FIG. 4) is taken in and out, an operation panel 5 that inputs instructions to the robot cleaner 1, and will be described later. A signal receiving unit 6 that receives a feedback signal from the charging base 40 and a signal from a remote controller (not shown), and an exhaust port 7 through which air from which dust has been removed by the dust collecting unit 30 are exhausted are provided. Further, a sound input unit 8 and a sound output unit 9 are provided on the side surface of the main body housing 2, and a pair of side brushes 10 are provided on the bottom end of the main body housing 2.

  FIG. 2 shows an example of the operation panel 5. The operation panel 5 is provided so that a start and stop button 51 for instructing start and stop of cleaning, a mode selection button 52 for selecting a cleaning mode, a current time and a reserved time for operating the robot cleaner 1 can be set. Timer set button 53, time display unit 54 for displaying the current time and reservation time, a garbage disposal lamp 55 that is turned on when it is detected that the dust collecting container 31 described later is full, and the charge amount of the battery 16 described later. A battery mark 56 indicating the above.

  FIG. 3 is a bottom view of the robot cleaner 1. As shown in FIG. 3, a pair of drive wheels 12 are provided on the bottom surface of the main body housing 2 so as to protrude from the bottom surface. The robot cleaner 1 moves forward and backward when both wheels of the drive wheel 12 rotate in the same direction, and the robot cleaner 1 changes direction when both wheels rotate in the opposite direction. Here, the traveling direction when the robot cleaner 1 performs self-running and cleaning is defined as the front, and is indicated by an arrow (upward when viewed from the paper) in FIG. The direction opposite to the traveling direction is the rear.

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

  Fig.4 (a) has shown the schematic diagram in the AA sectional view of the robot cleaner 1 of FIG. In FIG. 4A, the robot cleaner 1 is in a charged state. As shown in the figure, the robot cleaner 1 includes a dust collection unit 30, an electric blower 15, a battery 16, and a control board 17 inside the main body housing 2. The dust collection unit 30 includes a bottomed dust collection container 31 and a filter 32 provided on the top of the dust collection container 31. Here, when the dust in the dust collecting container is thrown away, the lid 3 can be opened and the dust collecting part 30 can be taken out from the main body housing 2. FIG. 4B shows a cross-sectional view of the dust collecting unit 30 taken out from the robot cleaner 1.

  In addition, in this embodiment, although the case where the dust collection part 30 is the bottomed dust collection container 31 is illustrated, the dust collection part of this invention is not limited only to a dust collection container. Of course, for example, a bag-shaped dust collecting bag or a dust collecting filter may be employed as the dust collecting portion of the present invention.

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

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

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

  In addition, the charging stand 40 is provided with a 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. When the cleaning of the robot 1 is detected, or when the charge amount of the battery 16 is lower than a predetermined value, the robot cleaner 1 detects a feedback signal emitted from the charging stand 40 to the place where the charging stand 40 is installed. Return automatically. Here, the end of cleaning may be detected, for example, by detecting that the robot cleaner 1 has moved a certain distance or a certain time has passed. Alternatively, it may be performed by receiving an instruction prompting the user to return to the charging stand 40 such as a cleaning end instruction or an interruption instruction by the operation panel 5 or the remote control device. The feedback signal is always transmitted from the signal transmission unit 42 if the robot cleaner 1 is away from the charging stand 40.

As the feedback signal, for example, an infrared signal is transmitted from the signal transmission unit 42. Here, infrared communication methods can be widely used, for example, IrDA (Infrared Data Association) or the like. The communication method may be performed by a method other than infrared rays.
For example, a communication method using wireless LAN (Local Area Network) such as IEEE802.11 or short-range wireless such as Bluetooth (registered trademark) may be used.
(Robot device configuration)
FIG. 6 shows a configuration of the robot cleaner 1 according to one embodiment of the robot apparatus of the present invention. As illustrated, the robot cleaner 1 includes a control unit 100, an operation panel 5, a sound input unit 8, a dust collection unit 3, a battery 16, a storage unit 200, a signal reception unit 6, and a sound output. Unit 9, travel drive unit 101, drive wheel 12, rotary brush drive unit 102, rotary brush 11, side brush drive unit 103, side brush 10, electric blower 15, and ion generator 18. I have.

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

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

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

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

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

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

FIG. 7 shows a detailed configuration of the storage unit 200 and the control unit 100 of the robot cleaner 1 in FIG. In FIG. 7, the description of a part of the configuration in FIG. 6 is omitted.
(Configuration of storage unit)
The storage unit 200 includes a cleaning count storage unit 201, a calculated value storage unit 210, and a sound information storage unit 220.

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

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

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

塵埃量演算値記憶部２１２は、感情演算値Ｍ１を集塵部３０の塵埃量と対応付けて記憶している。表２に集塵部３０の塵埃量と対応付けて記憶される感情演算値Ｍ１の一例を示す。ここで、本実施形態においては、集塵部３０の塵埃量を電動送風機１５の電流値より判断している。具体的には、電流値が１．４Ａ未満であるとき、塵埃量が多いと判断し、１．４Ａ以上1．６Ａ未満であるとき、塵埃量が普通と判断し、１．６Ａ以上であるとき
、集塵量が少ないと判断する。
表２に示すように、塵埃量が「多い」、「普通」、「少ない」の３段階に分けられており、各段階に対して、性格のタイプ毎の感情演算値Ｍ１が対応付けられている。

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

電池残量演算値記憶部２１３は、感情演算値Ｍ１をバッテリ１６の電池残量と対応付けて記憶している。表３に電池残量と対応付けて記憶される感情演算値Ｍ１の一例を示す。表３に示すように、電流量が「２０％未満」、「２０％以上９０％未満」、「９０％以上」の３段階に分けられており、各段階に対して、性格のタイプ毎の感情演算値Ｍ１が対応付けられている。

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

イベント演算値記憶部２１４は、使用者がロボット掃除機１に対して声かけを行ったときや、集塵部３０を本体筐体２から取り外してゴミ捨てを行ったときに発生するイベントと、感情演算値Ｍ１とを対応付けて記憶している。

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

  An example of the calculated operation value M1 is shown in Table 4. As shown in Table 4, “panel input event” that occurs when there is an input from the panel operation unit 5, “sound input event” that occurs when there is an input from the sound input unit 9, signal input "Signal input event" that occurs when there is an input (reception) to the unit 6 from the remote control device, "Dust collector removal event" that occurs when the dust collector 30 is removed from the body housing 2, “Return success event” that occurs when the robot cleaner 1 has successfully returned to the charging stand 40 and charging of the battery 16 from the charging stand 40 has started, and occurs when the robot cleaner 1 has failed to return to the charging stand 40 The emotion calculation value M1 for each personality type is associated with the “return failure event”. As will be described in detail later, the emotion of the robot cleaner 1 is determined based on the emotion value M calculated using the emotion calculation value M1, the vocabulary and music are selected based on the determined emotion, and the robot Sound is output from the vacuum cleaner.

次に、音情報記憶部２２０について説明する。音情報記憶部２２０は、音出力部９によって外部に出力される、語彙または音楽の音情報を記憶している。また、音情報記憶部２２０は、第１音情報記憶部２２１と、第２音情報記憶部２２２とを含んでいる。第１音情報記憶部２２１は、感情決定部１２０が決定する感情に関係なく出力される音情報である第１音情報を記憶している。

Next, the sound information storage unit 220 will be described. The sound information storage unit 220 stores vocabulary or music sound information output to the outside by the sound output unit 9. The sound information storage unit 220 includes a first sound information storage unit 221 and a second sound information storage unit 222. The first sound information storage unit 221 stores first sound information that is sound information output regardless of the emotion determined by the emotion determination unit 120.

  Table 5 shows an example of the data table of the first sound information. As shown in Table 5, the first sound information is stored in association with the numbers 1001 to 1017. When any one of the numbers 1001 to 1017 is designated, the corresponding sound information is stored in the sound output unit. 9 is output as sound.

第２音情報記憶部２２２は、感情決定部１２０が決定する感情に基づいて出力される音情報である第２音情報を記憶している。表６に第２音情報のデータテーブルの一例を示す。表６に示すように、第２音情報は、１１０１〜１１０４の番号と対応付けて記憶されている。また、第２音情報は、感情決定部１２０が決定する「上機嫌」、「普通」、「不機嫌」の何れかの感情に対応付けられている。そして、感情値レベルが「上機嫌」のときは、１１０１Ａ〜１１０４Ａが出力される。また、感情値レベルが「普通」のときは、１１０１Ｂ〜１１０４Ｂが出力される。また、感情値レベルが「不機嫌」のときは、１１０１Ｃ〜１１０４Ｃが出力される。

The second sound information storage unit 222 stores second sound information that is sound information output based on the emotion determined by the emotion determination unit 120. Table 6 shows an example of the data table of the second sound information. As shown in Table 6, the second sound information is stored in association with the numbers 1101 to 1104. In addition, the second sound information is associated with any emotion of “upper mood”, “normal”, and “bad mood” determined by the emotion determination unit 120. When the emotion value level is “good feeling”, 1101A to 1104A are output. When the emotion value level is “normal”, 1101B to 1104B are output. Also, when the emotion value level is “moody”, 1101C to 1104C are output.

ここで、ロボット掃除機１が記憶する音情報として、一つの番号に対して語彙または音楽のどちらかの情報が記憶されている場合について説明したが、一つの番号に対して語彙と音楽の両方の情報が記憶されていてもよい。例えば、１００１の番号に、「分かりました 音楽Ａ」が記憶されていても良く、１１０１Ａの番号に「絶好調 音楽Ｃ」が記憶されていてもよい。

Here, as the sound information stored in the robot cleaner 1, a case has been described in which either vocabulary or music information is stored for one number, but both vocabulary and music are stored for one number. May be stored. For example, “I understand music A” may be stored in the number 1001, and “excellent music C” may be stored in the number 1101A.

The sound information stored for one number may be composed of a plurality of distinguishable vocabulary or music information. For example, “Good morning cleaning start” may be stored in the number 1003. "Music C music D" may be stored in the number 1104A. (Configuration of control unit)
The control unit 100 includes a detection unit 110, an emotion selection unit 120, and a sound output control unit 130.

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

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

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

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

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

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

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

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

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

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

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

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

また、「Ｍ２」は、ユーザが携帯端末などで所定のゲーム等を実施した結果として獲得したポイント値を表している。当該ポイント値は、例えば、インターネットと無線ＬＡＮを介してロボット掃除機１に送信される。

Further, “M2” represents a point value acquired as a result of a user executing a predetermined game or the like on a mobile terminal or the like. The point value is transmitted to the robot cleaner 1 via the Internet and a wireless LAN, for example.

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

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

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

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

  The sound output control unit 130 causes the sound output unit 9 to output vocabulary or music corresponding to the sound information stored in the sound information storage unit 220.

  Here, the first sound information stored in the first sound information storage unit 221 is output regardless of the emotion determined by the emotion determination unit 122. Specifically, when the detection unit 110 detects the occurrence of an event related to the robot cleaner 1, one of the numbers shown in Table 5 is designated, and the vocabulary or music corresponding to the sound information of the designated number is output. Is done.

  The second sound information stored in the second sound information storage unit 222 is output after being selected from the plurality of sound information based on the emotion determined by the emotion determination unit 122. Specifically, when the detection unit 110 detects the occurrence of an event related to the robot cleaner 1, one of the numbers shown in Table 6 is designated, and the emotion determination unit is selected from a plurality of sound information of the designated numbers. The sound information associated with the emotion determined by 122 is selected, and the vocabulary or music corresponding to the selected sound information is output.

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

Next, the flow of processing in which the robot cleaner 1 outputs vocabulary or music will be described.
Example 1
In Example 1, the case where the robot cleaner 1 outputs 1st sound information or 2nd sound information independently is demonstrated. FIG. 8 is a flowchart illustrating the processing flow of the first embodiment. In the flowchart illustrated in FIG. 8 , “step” is represented by “S”. In the text, “S” represents “step”.

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

  Next, the control unit 100 determines whether the designated sound information is the first sound information or the second sound information (S13). For example, it can be determined whether the first sound information or the second sound information is based on a designated number. In the data tables illustrated in Tables 5 and 6, the first sound information is stored in association with numbers 1001 to 1017, and the second sound information is stored in association with numbers 1101 to 1104.

  When the detection unit 110 determines that the designated sound information is the second sound information, in S14, the calculation value determination unit 121 refers to the calculation value storage unit 210 to determine the emotion calculation value M1. Then, the emotion calculation unit 122 calculates the emotion value M using the emotion calculation value M1 determined in step S14 (S15), and selects an emotion according to the value of the emotion value M (S16). And the sound output control part 130 selects the sound information corresponding to the selected emotion by referring to the 2nd sound information storage part 214 (S17), and outputs it from the sound output part 9 (S18).

  On the other hand, when the control unit 100 determines in S13 that the designated sound information is the first sound information, the process proceeds to S18 without determining the emotion of the robot cleaner 1, and the designated sound information is output. Is done.

  A case will be described as an example where the detection unit 110 detects the occurrence of an event and the number 1101 is designated as sound information to be output. In S13, it is determined that the designated number is the second sound information. Then, the process proceeds to a step of determining an emotion, and an emotion is selected in S16. Here, when the selected emotion is “good feeling”, based on the data table shown in Table 6, “best” of the number 1101A is selected from the second sound information. If the selected emotion is “normal”, “so-so” with the number 1101B is selected from the second sound information. In addition, when the selected emotion is “moody”, “I want to refresh” number 1101C is selected from the second sound information. Then, the vocabulary or music corresponding to the selected second sound information is output from the sound output unit 9.

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

As described above, the sound corresponding to the designated first sound information and the sound corresponding to the second sound information selected based on the emotion of the robot cleaner 1 can be output by simple means. It is possible to output a lot of sound. Moreover, since the sound corresponding to 1st sound information is not changed based on the emotion of the robot cleaner 1 among the sounds output, the user can recognize the content of the sound which the robot cleaner 1 outputs correctly. The state of the robot cleaner 1 can be correctly grasped .

( Other examples )

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

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

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

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

The robot apparatus may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited. For example, the Internet, intranet, extranet, LAN, ISDN (Integrated Services Digital Network), VAN (value added network), CAT
A V communication network, a virtual private network, a telephone line network, a mobile communication network, a satellite communication network, etc. can be used. Further, the transmission medium constituting the communication network is not particularly limited. For example, the transmission medium may be wired such as IEEE 1394, USB (Universal Serial Bus), power line carrier, cable TV line, telephone line, ADSL (Asymmetric Digital Subscriber Line) line. , Infrared such as IrDA and remote control, Bluetooth (registered trademark), IEEE 802.11 wireless, HDR (High Data Rate), NFC (Near Field Communication), DLNA (registered trademark) (Digital Living Network Alliance), mobile phone network, It can also be used by radio such as satellite links and terrestrial digital networks.

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

  The robot apparatus, the control program, and the computer-readable recording apparatus that records the control program according to the present invention can be widely used for a robot apparatus having a sound output function.

DESCRIPTION OF SYMBOLS 1 Robot cleaner 40 Charging stand 5 Operation panel 8 Audio | voice input part 9 Audio | voice output part 16 Battery 17 Control board 30 Dust collection part 31 Dust collection container 100 Control part 110 Detection part 111 Panel operation detection part 112 Voice detection part 113 Dust amount detection Unit 114 battery remaining amount detection unit 115 signal detection unit 120 emotion determination unit 130 sound output control unit 200 storage unit 210 calculation value storage unit 211 cleaning number calculation value storage unit 212 dust amount calculation value storage unit 213 battery remaining amount calculation value storage unit 214 Event calculation value storage unit 220 Sound information storage unit 221 First sound information storage unit 222 Second sound information storage unit

Claims (6)

Sound output means for outputting sound;
Detection means for detecting the occurrence of multiple types of events;
Sound information storage means for storing a plurality of sound information which are sound signals output from the sound output means;
Sound output control means for designating any of the sound information stored in the sound information storage means and causing the sound output means to output the sound information;
Emotion determination means for determining an emotion value by calculation using an emotion calculation value associated with some of the plurality of events detected by the detection means as a calculation parameter;
The sound information storage means includes second sound information in which a plurality of sound information is associated with each of the partial events, and one sound information in which one sound information is associated with each of other events. 1 sound information is stored,
When the second sound information corresponds to the detected event, the sound output control means selects one from a plurality of second sound information associated with the event based on the emotion value, and the sound output means Robot device that outputs to   The emotion determination means is configured to calculate an emotion by further using an emotion calculation value as a calculation parameter determined for each elapsed time from the previous calculation of the event, or a value related to an event not related to the event. The robot apparatus according to claim 1, wherein a value is determined.   The robot according to claim 1, wherein the emotion calculation value is based on one calculation parameter group selected from a plurality of calculation parameter groups prepared so that different values can be taken by different individuals for the same event. apparatus.   The robot apparatus according to claim 1, wherein the event includes at least one of a change in a value indicating a state, an operation instruction, an operation start, an operation end, an external temperature, and a specific time. Sound output means for outputting sound;
Detection means for detecting the occurrence of multiple types of events;
Sound information storage means for storing a plurality of sound information which are sound signals output from the sound output means;
A program for controlling a robot apparatus comprising a control means,
Emotion determination means for determining an emotion value by calculation using an emotion calculation value associated with some of the plurality of events detected by the detection means as an operation parameter; and stored in the sound information storage means Causing the control means to execute a process as a sound output control means for specifying any of the sound information and causing the sound output means to output the sound information;
The sound information storage means includes second sound information in which a plurality of sound information is associated with each of the partial events, and one sound information in which one sound information is associated with each of other events. 1 sound information is stored,
When the second sound information corresponds to the detected event, the sound output control means selects one from a plurality of second sound information associated with the event based on the emotion value, and the sound output means Control program to be output to   A computer-readable recording medium on which the control program according to claim 5 is recorded.

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