JP2003071144A - Robot apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a robot apparatus enhancing an entertaining property. SOLUTION: The robot apparatus is provided with a microphone inside a head part unit, wherein the robotic gear comprises a fixing and holding part provided on a specified place of the head part unit and for fixing and holding the microphone so that a front end of the microphone is exposed from a surface of the head part unit, a moving mechanism part movably fixed on the fixing and holding part and an ear cover where a hole with a size larger than that of the front end of the microphone is formed. When the ear cover moves together with the moving mechanism part, the front end of the microphone is always kept out of contact with the hole of the ear cover.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus, and is suitable for application to, for example, a pet robot.

[0002]

2. Description of the Related Art In recent years, a four-legged walking type pet robot has been developed and sold by the present applicant. Such a pet robot has a shape similar to dogs and cats raised in ordinary households, and is designed to be able to autonomously act according to the user's actions such as “striking” and “stroking” and the surrounding environment. It was done by.

In this pet robot, in order to give the whole body an appearance similar to a dog or cat, the head, body, legs and the like resembling dogs and cats are connected to each other as a unit. I am configuring.

[0004] For example, in a head unit corresponding to the head of a pet robot, a resin material is molded into an appearance similar to a dog or a cat (hereinafter referred to as a head cover), and the appearance is different from that of a cover. An ear portion having a predetermined shape corresponding to the upper “ear” is movably connected, and a microphone corresponding to the substantial “ear” is housed inside the head cover.

[0005]

However, in the mechanism in which the microphone is housed inside the head cover like the ear of the head unit, when the head cover also serves as the microphone cover, the head cover is used. It is easy to pick up noise such as mechanical sound generated inside the inside of the microphone, especially when the ear is located above the microphone, and useful sounds from the outside are muffled to make it difficult to pick up, while rubbing noise caused by the movement of the ear. There was a problem that it was easy to pick up.

Further, since the microphone has to be incorporated inside the head cover, workability at the time of assembling is poor, and since the sound emission hole for the microphone is opened in the head cover itself, the sound emission hole has the size of the microphone. It is difficult to secure a sufficient aperture ratio depending on the size, and the degree of freedom in design is limited.

On the other hand, when the microphone is directly attached to the outer side of the head cover and the inner side of the ear portion, the ear portion also serves as the microphone cover, so that noise such as rubbing noise generated when the ear portion moves can be easily picked up. Since the microphone also moves integrally with the ear in the movable direction, there is a risk that the directivity of the microphone during sound collection may be obstructed.

Further, since a microphone must be incorporated inside the ear, workability during assembly is poor, and since a sound emitting hole for a microphone is opened in the ear itself,
It is difficult to secure a sufficient aperture ratio for the sound emission hole according to the size of the microphone, and there is a limitation that the degree of freedom in design is reduced.

Further, in such an ear portion movably connected to the head unit, usually, a power source is provided inside the head unit, and the ear portion is moved with respect to the head unit by the control of the power source. As described above, it is very difficult to make a natural motion of animals such as dogs and cats, and there is a problem that the visual effect of the pet robot on the user is lowered.

Further, while the ears are moved by the power source in the head unit, a driving sound of the power source is generated, which causes a problem that the auditory effect of the pet robot as a user is deteriorated. .

Further, in the head unit, since the ears are movably connected to the head cover in a state of protruding from the head cover, not only the ears but also the ears when a large impact is applied from the outside, The connection mechanism between the ear unit and the head unit might be damaged. If the microphone is attached directly to the ear, the microphone may be damaged.

The present invention has been made in consideration of the above points, and an object thereof is to propose a robot apparatus capable of improving the entertainment property.

[0013]

In order to solve such a problem, according to the present invention, in a robot apparatus in which a microphone is provided in a head unit, the robot is provided at a predetermined position of the head unit and the tip of the microphone is the head. A fixed holding part for fixedly holding the microphone in the head unit so as to be exposed from the surface of the unit, a movable mechanism part movably attached to the fixed holding part, and a movable mechanism part attached to the movable mechanism part. Provided with an ear cover having a hole larger in size than the tip, and when the ear cover moves integrally with the movable mechanism part, the tip of the microphone is always kept in non-contact with the hole of the ear cover. did.

As described above, in the pet robot, even if the ear cover attached to the head unit is moved with respect to the head unit, it is possible to prevent the microphone from picking up the rubbing sound of the ear cover. it can.

Further, according to the present invention, engaging means for detachably engaging the ear cover and the movable mechanism portion is formed between the ear cover and the movable mechanism portion, and the microphone is used when the ear cover is removed from the movable mechanism portion. The tip of the is always kept out of contact with the hole in the ear cover.

As a result, in this pet robot, even when some kind of external force is applied to the ear cover, only the ear cover comes off from the head unit, so that the head unit can be prevented from being damaged and the pet robot can be operated. Even when the ear cover is removed, it is possible to prevent the rubbing sound of the ear cover from being picked up by the microphone.

Further, in the present invention, balance adjusting means for adjusting the movable balance with respect to the head unit is provided in the movable mechanism section, and the balance adjusting means adjusts the tilted state of the ear cover due to gravity to a desired state.

As a result, in this pet robot, the tilted state of the ear cover due to gravity can be adjusted to a desired state without using any power source. [Detailed Description of the Invention]

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Structure of Pet Robot According to this Embodiment In FIG. 1, reference numeral 1 denotes the pet robot according to this embodiment as a whole, and leg units 3A to 3D are connected to the front, rear, left and right of the body unit 2, respectively. In addition, the head unit 5 is connected to the front end of the body unit 2 with the collar 4 interposed therebetween.

In this case, in the body unit 2, as shown in FIG. 2, a controller 10 for controlling the operation of the pet robot 1 as a whole, a battery 11 as a power source of the pet robot 1, a battery sensor 12 and Various internal sensors such as the temperature sensor 13 and the like, a speaker 14 that functions as a substantial “mouth” of the pet robot 1, a detachable external memory 15 in which various control parameters are stored, and the like are stored. In addition, near the rear end of the upper surface of the body unit 2, an LED (Light Emitting D
An external tail portion 17 made of a joystick in which the iode 16 is housed is provided so as to project.

Further, the head unit 5 has a CCD (Charge Cou) which corresponds to substantially "eyes" of the pet robot 1.
pled device) A camera 18 and a microphone 19 corresponding to a virtual “ear” are housed, and a corner portion 21 having a predetermined shape and containing an LED 20 is provided on the top of the head (FIG. 1).
Are provided so as to project.

Furthermore, the knee joint portion of each leg unit 3A to 3D, each leg unit 3A to 3D, and the body unit 2
Actuators 22 corresponding to the respective degrees of freedom for the hip joints that connect the head units 5 and the body unit 2 and the like.
_{1 to} 22 _n and potentiometers 23 ₁ to 23 _n are arranged.

The CCD camera 18 of the head unit 5
Captures the surrounding situation and sends the obtained image signal S1 to the controller 10. In addition, the microphone 19 collects voice commands such as “walk”, “sitting” or “follow the ball” and ambient sounds emitted by the user, and sends the voice signal S2 thus obtained to the controller 10.

Further, the battery sensor 1 of the body unit 2
2 detects the remaining amount of the battery 11, sends the detection result to the controller 10 as a battery remaining amount detection signal S3, and the temperature sensor 13 detects the internal temperature of the body unit 2 and outputs the detection result to the temperature. The detection signal S4 is sent to the controller 10.

Further, each potentiometer 23₁~ 23_n
Is the output shaft of the corresponding actuator 221 to 22n.
The rotation angle is detected, and the detection result is the angle detection signal S5.₁~
S5 _nTo the controller 10 as a body unit
The tail portion 17 of the gland 2 responds to this when the user operates it.
The same operation detection signal S6 is sent to the controller 10.

The controller 10 includes a CCD camera 18,
Microphone 19, battery sensor 12, temperature sensor 1
3. Potentiometers 23 ₁ to 23 _n and tail portion 17
Based on the image signal S1, the audio signal S2, the battery remaining amount detection signal S3, the temperature detection signal S4, the angle detection signals S5 _{1 to} S5 _{n, the} operation detection signal S6, etc. given from Determines whether there is a command from the user and whether there is an action from the user.

Then, the controller 10 determines the subsequent action based on the result of this determination and the control program stored in advance in the internal memory 10A and various control parameters stored in the external memory 15, and is required based on the determined result. By vibrating the different actuators 22 _{1 to} 22 _n , the pet robot 1 is caused to perform actions such as swinging the head unit 5 up and down, left and right, and driving the leg units 3A to 3D to walk.

Further, at this time, the controller 10 outputs a voice based on the voice signal S7 to the outside by giving a predetermined voice signal S7 to the speaker 14 as necessary, or inside the corner portion 21 or the tail portion 17. The LEDs 20, 16 are turned on, turned off, or blinked.

In this way, the pet robot 10 behaves autonomously in accordance with the external and internal conditions, the presence / absence of commands and actions from the user, various control parameters stored in the external memory 15, and the like. It is designed to get you.

(2) Processing of Controller 10 Here, the processing of the controller 10 relating to such action generation of the pet robot 1 will be described.

As shown in FIG. 3, when the processing contents of the controller 10 relating to the action generation of the pet robot 1 are functionally classified, the state recognition unit 30 that recognizes the external and internal states and the recognition result of the state recognition unit 30. An emotion / instinct model 31 that determines an emotion and an instinct state based on the action, and an action that determines the next action based on the recognition result of the state recognition unit 30 and the emotion / instinct state determined in the emotion / instinct model 31 Based on the determination unit 32, a posture transition control unit 33 that makes a series of motion plans of the pet robot 1 for performing the action or action decided by the action determination unit 32, and the action plan made by the posture transition control unit 33 LED16,
20 and actuators 22 _{1 to} 22 _{n and the} like, and a device control unit 34 that controls devices.

In this case, the state recognizing section 30 includes an image signal S1 and a voice signal S2 provided from the CCD camera 18, the microphone 19, the battery sensor 12, the temperature sensor 13, the potentiometers 23 ₁ to 23 _{n, the} tail section 17, and the like.
Battery level detection signal S3, the temperature detection signal S4, recognizes a particular state based on the various sensor signal S10 such as the angle detection signal S5 _{1-S5 n} and the operation detection signal S6, the recognition result as the state recognition information D1 Emotional / instinct model 31
Also, the action determination unit 32 is notified.

Specifically, the state recognizing section 30 constantly monitors the image signal S1 given from the CCD camera 18 and, for example, "a red round object" or "an object located in the traveling direction" is included in the image based on the image signal S1. When it detects "," it recognizes that "there is a ball" and "there is an obstacle", and notifies the emotion / instinct model 31 and the action determination unit 32 of the recognition result.

The state recognition unit 30 also includes a microphone 19
The audio signal S2 given by the HMM (Hi
When various voices such as “walk”, “prone”, “follow the ball” are recognized by a voice recognition method such as the dden Markov Model) method, the voice is notified to the emotion / instinct model 31 and the action determination unit 32.

Further, the state recognition section 30 recognizes the remaining amount of the battery and the internal temperature based on the battery remaining amount detection signal S3 and the temperature detection signal S4 provided from the battery sensor 12 and the temperature sensor 14, respectively, and the recognition result is emotional.・
The instinct model 31 and the action determination unit 32 are notified.

Further, the state recognizing section 30 has an angle detection signal S5 ₁ given from each of the potentiometers 23 ₁ to 23 _n.
To S5 _n are constantly monitored, and, for example, the angle detection signals S5 ₁ from the potentiometers 23 ₁ to 23 _n corresponding to the actuators 22 _{1 to} 22 _n in the pitch direction of the head unit 5, respectively.
When it is detected that the head unit 5 is pushed downward or upward based on S5 _n , it is recognized as "praised" or "scold" and the recognition result is the emotion / instinct model 3
1 and the action determination unit 32 are notified.

Further, the state recognition section 30 constantly monitors the operation detection signal S6 given from the tail section 17, and when it detects that the tail section 17 is operated based on the operation detection signal S6, it responds to the operation. The intention of the user is recognized, and the recognition result is notified to the emotion / instinct model 31 and the action determination unit 32.

The emotion / instinctive model unit 31 is "joyful",
With respect to a total of six emotions of “sadness”, “surprise”, “fear”, “disgust”, and “anger”, a parameter representing the intensity of the emotion is held for each emotion. The emotion / instinct model unit 31 then sets the parameter values of each of these emotions based on specific recognition results such as “praised” and “scold” given as the state recognition information D1 from the state recognition unit 30. Change sequentially.

Similarly, the emotion / instinctive model unit 31 determines five independent desires of "love desire", "search desire", "exercise desire", "charge desire" and "sleep desire". , Each of these desires holds a parameter indicating the strength of the desire. And the emotion / instinct model part 31
The parameter value of each of these desires is set to the state recognition unit 3 respectively.
It is sequentially changed based on the recognition result from 0, the elapsed time, and the like.

On the other hand, the action deciding section 32 includes the state recognizing section 30.
When the state recognition information D1 is given by the user, when a certain time has passed after the current action, or when the emotion or instinct model 31 has any emotion or instinct parameter value exceeding a threshold value, The next action is determined based on the control program stored in the internal memory 10A and the control parameters stored in the external memory 15.

Specifically, the action determining unit 32 sets the state to the node N as shown in FIG. 4 as a method of determining the next action.
Expressed as D _{A0 to} ND _An , one node ND _A0
From which node ND _{A0 to} ND _An is completed at its own node ND _{A0 to} NDAn or an arc AR _A0 connecting each node ND _{A0 to} ND _An
~ Transition Probability P ₀ Set for AR _An ~
An algorithm called a probabilistic automaton that determines probabilistically based on P _n is used.

In this case, the connection relation between the nodes ND _{A0 to} ND _An and the arcs A in this probability automaton.
R _A0 to Ar transition probability _P 1 to P _n and for _An, the external memory 1 as the arc _AR A0 _{to Ar An} action associated respectively control parameters (action model)
Stored in 5.

The action determining section 32 then recognizes the state, for example.
When the state recognition information D1 is given from the section 30,
Node (ND_A0) Has passed a certain time
When, any emotion in the emotion / instinct model part 31
Or when the instinct's parameter value exceeds the threshold,
The next transition destination node (N
D_A0~ ND_An) Each arc AR_A0~ AR_AnAgainst
Transition probability P₀~ P _nProbabilistically based on
Node (ND_A0~ ND_An) And the original
Mode (ND_A0) Is connected to the arc (AR_A0~ AR
_An) As the action to be expressed next
And notifies the posture transition control unit 33 as the action determination information D2
To do.

In the posture transition control section 33, when the action decision information D2 is given from the action decision section 32, a series of action plans of the pet robot 1 for taking an action based on the action decision information D2 are made, and the action is concerned. The operation command information D3 based on the plan is output to the device control unit 34.

In this case, the posture transition control unit 33 determines the postures of the pet robot 1 shown in FIG.
_{B0 to} ND _B2, and transitionable nodes ND _{B0 to} ND
Conclusion In a directed arc _AR B0 _{to Ar B2} representing the operation between _B2, and the operation to complete on one node _ND B0 _{to ND B2} using a directed graph to represent as a self-operating arc _AR C0 _{~AR C3.}

Specifically, in the case of the pet robot 1, the postures such as "standing", "sitting", and "falling down" are associated with the nodes ND _{B0 to} ND _B2 , respectively.
Each directed arc AR _{B0 to} AR _B2 connecting between these nodes ND _{B0 to} ND _B2 is associated with an operation for transitioning the posture. Also, each self-moving arc A
R _{C 0 to A} RC ₃ are associated with various actions such as “walking”, “dancing”, “shaking the head”, and “handing” that can be expressed in the corresponding postures.

Then, the posture transition control unit 33 receives the action commands such as “stand”, “walk”, and “dance” from the action determining unit 32 as the action determining information D2, and then the directed arcs AR _{B0 to} AR _B2. while following the direction, the current node _ND B0 _{to ND B2} nodes specified attitude or operation associated with the _ND B0 _{to ND B2} or directed arc _AR B0 _{to Ar B2} or self operating arc _{AR C0} ~
A shortest route to AR _C3 is searched, and each directed arc AR _{B0 to} AR _B2 and the self-moving arc A on the searched route are searched.
The operation commands for sequentially performing the operations respectively associated with R _{C0 to} AR _C3 are sequentially output to the device control unit 34 as the operation command information D3.

For example, when the pet robot 1 is in the "sitting" posture, the posture control control unit 33 receives the action command "slap your limbs in the prone state" from the action determining unit 32. Is a motion called "falling down" associated with a directed arc AR _B1 connecting between the node ND _B1 corresponding to the "sit" posture and the node ND _B2 corresponding to the "down" posture (hereinafter, this will be referred to as "falling down". Motion command ”and a motion“ flapping hands and feet ”associated with the self-motion arc AR _C3 (hereinafter, referred to as“ motion ”).
This is referred to as a “limb and flap operation”) and is sequentially sent to the device control unit 34.

In the device control section 34, each directed arc AR of the directed graph held by the posture transition control section 33.
_{B0 to} AR _B2 and each self-moving arc AR _{C0 to} AR _C3
Each of the motions, such as which actuator 22 _{1 to} 22 _n (FIG. 2) is driven at which timing and in order to cause the pet robot 1 to express the motion in association with each motion associated with each motion. A file that defines the time-series control contents of the actuators 22 _{1 to} 22 _n (hereinafter, referred to as operation file)
In the external memory 15.

[0051] The device control unit 34, each time the given operation command information D3 from the posture transition control unit 33, are sequentially reproduced corresponding operation file based on the control parameters stored in the operation file drive signals S11 ₁ ~
S11 generates _n, by a corresponding actuator ₂₂ 1 through 22 _n for controlling the driving based on the driving signal _S11 1 ～S11 _n, expressing an operation corresponding to the pet robot 1.

Therefore, for example, when the pet robot 1 is in the "sit" posture, the device control section 34 is sequentially given the above-mentioned "prone movement" and "limb slap movement" operation commands from the posture transition control section 33. In such a case, first, each of the corresponding actuators 22 _{1 to} 22 _n is sequentially controlled in time series on the basis of the motion file corresponding to the “lie down motion” to cause the pet robot 1 to perform the “lie down motion”. Following this, the pet robot 1 is caused to express the “limb slap movement” by sequentially controlling the corresponding actuators 22 _{1 to} 22 _n in time series based on the motion file corresponding to the “limb slap movement”.
As a result, the pet robot 1 as a whole exhibits a series of motions in which the posture is changed from “sitting” to “falling down” and then “fluttering hands and feet”.

Further, the device control unit 34 controls the WA of various sounds.
Multiple audio files that are VE files and LED1
A plurality of LEs in which drive data of 6 and 20 (FIG. 2) are stored
The pet drive 1 has a D drive file in the external memory 15, and when the motion file is played back, the voice file and / or the LED drive file associated with the motion file are played back at the same time, thereby causing the pet robot 1 to move. In addition, output audio from the speaker 14 (Fig. 2),
The LEDs 16 and 20 are driven to blink.

In this manner, the controller 10 can make the pet robot 1 act autonomously according to external and internal conditions, a command from the user and the presence / absence of an action.

(3) Structure of Head Unit of Pet Robot Next, the structure of the head unit 5 of the pet robot 1 will be described. In this pet robot 1, in the head unit 5, as shown in FIG. 6 (A), a bone portion (not shown) in which the CCD camera 18 and the like are incorporated (see FIG. 9 described later).
40) is fixedly held in a head cover 41 formed by molding a synthetic resin material such as plastic into an external shape resembling an animal, for example.

Here, as shown in FIG. 6 (B), the head cover 41 is a cover half having a two-part structure that can be vertically divided into a front head and a back head (hereinafter referred to as a front cover and a rear cover, respectively). 41A and 41B, the front cover 41A (FIG. 7) and the rear cover 41B (FIG. 8) have a substantially hemispherical shell shape with a predetermined wall thickness, and the inner wall surface is substantially along the curved shape of the outer wall surface. It is molded smoothly.

First, the front cover 41A is shown in FIG.
As shown in FIG.
Notch 41AF with a predetermined shape according to the neck and neck (not shown)
₁~ 41AF_FourIs formed and the outside in the central part
For the nose and mouth, which correspond to the apparent "nose" and "mouth,"
Holes 41A for distance sensor and CCD camera respectively
H ₁, 41AH_TwoIs opened.

On the other hand, the rear cover 41B is shown in FIG.
As described above, the ears 41, corners, and
Notch 41BF with a predetermined shape according to the neck (not shown)₁
~ 41BF_FourAccording to the binaural part
Notch 41BF₁, 41BF _TwoScrews on the underside of
Screw hole for fixing 41BN₁, 41BN_TwoIs formed
It

Further, as shown in FIGS. 7 and 8, frames of predetermined shapes (hereinafter referred to as front frame and rear frame, respectively) 42A and 42B are detachably attached to the front cover 41A and the rear cover 41B. It is designed to fit.

First, as shown in FIG. 8, the rear frame 42B has a disc portion 42BS having an outer peripheral shape corresponding to the peripheral edge portion 41BF of the rear cover 41B, and the disc portion 42B.
Storage chambers 42BA, 42BB, 42BC for storing and holding both ears and corners are formed at the peripheral edge of S, and half of the bone portion 40 is stored and held in the center of the disk portion 42BS. Storage chamber 42BD is formed, and a notch 42BF having a predetermined shape corresponding to the neck portion is formed at the lower end of the storage chamber 42BD.
Are formed.

On the other hand, as shown in FIG. 7, the front frame 42A has a disc portion 42AS having an outer peripheral shape corresponding to the peripheral edge portion 41AF of the front cover 41A, and a rear frame 42B is provided at the peripheral end of the disc portion. Fitting portion 42A corresponding to the outer shape of the formed plurality of storage chambers 42BA to 42BC
A to 42AC are respectively formed, and a storage chamber 42AD for storing and holding half of the bone portion 40 is formed in the center of the disc portion 42AS.
A predetermined notch 42AF corresponding to the neck portion is formed at the lower end of the.

7 and 8, the front cover 41A and the rear cover 41B are provided with a plurality of groove portions 41A on the inner side surfaces near the peripheral portions 41AF and 41BF, respectively.
G and 41BG are formed at predetermined intervals, and the front frame 42A and the rear frame 42B have a plurality of protrusions 42AT and 42A on the disk portions 42AS and 42BS, respectively.
BTs are formed at predetermined intervals corresponding to the respective groove portions.

Thus, when the front cover 41A and the rear cover 41B are fitted to the corresponding front frame 42A and rear frame 42B, the plurality of groove portions 4 are formed.
Protrusions 42AT and 4 corresponding to 1AG and 41BG, respectively
By fitting the 2BT, the front cover 41A
Between the front frame 42A and the rear cover 41B
The rear frame 42B and the rear frame 42B can be integrally fixed (hereinafter, referred to as a front half unit 43A and a rear half unit 43B, respectively).

Then, as shown in FIG. 9, the front half unit 43A and the rear half unit 43B are fitted together from both sides with the bone portion 40 sandwiched therebetween, and a plurality of screws (not shown) are provided. Using the first half unit 4
The head unit 5 in which the bone portion 40 is fixedly held by fixing the 3A and the latter half unit 43B to each other.
Is designed to get you.

In the latter half unit 43B (FIG. 9),
Microphone 19 and LE provided on both ears and corners
The wiring drawn out from D16 and the control circuit board connected through the wiring are housed in the gap between the rear cover 41B and the rear frame 42B.

In the front half unit 43A (FIG. 9),
A distance sensor (not shown) provided at the nose and mouth and wirings drawn from the CCD camera 18 and a control circuit board connected through the wirings are provided between the front cover 41A and the front frame 42A. It is designed to be housed in a gap.

(4) Structure of the ears of the head unit In the above-mentioned rear frame 42B (FIG. 8), the disc portion 42B is used.
The disc portion 4 is placed at a predetermined position corresponding to both ears in S.
Box-shaped storage chambers 42BA, 42BB each having an opening toward the outer radial direction of 2BS are integrally formed.

The rear frame 42B is provided in each storage chamber 4
A pair of plate-like protrusions 42 that form the outer walls of 2BA and 42BB
BX and 42BY are formed to project outward in the radial direction,
At approximately the tip positions of the plate-like protrusions 42BX and 42BY,
Through holes 42BP and 42BQ are provided so as to be located on the same straight line along the thickness direction of the disk portion 42BS.

Here, both ears 5A and 5B of the head unit 5 are
As shown in FIG. 10, each of the rear frames 42B
The sound emitting part 50 fixedly held in the storage chambers 42BA, 42BB formed in the above, the movable mechanism part 51 movably connected to the storage chambers 42BA, 42BB, and the movable mechanism part 51 detachably. It is configured by being connected to an ear cover 52 (FIG. 6), which is a partial shape of a spherical shell that forms the “ear” on which the external appearance is hooked.

The sound emitting section 50, as shown in FIG.
The microphone 19 is fixed to a substantially T-shaped base plate 50B, and the base plate 50B is stored in the storage chamber 42BA.
The protrusion 42BZ (FIG. 8) formed in the 42BB is positioned and fixed by being screwed.

The microphone 19 is a substantially cylindrical microphone cover 19A made of an aluminum material in consideration of measures against static electricity.
And a plurality of sound output holes 19AH are opened at the tip of the microphone cover 19A.

As shown in FIG. 12, the movable mechanism portion 51 includes a pair of substantially arcuate arm portions 51A, 51 arranged in parallel.
B, a bridging member 51C bridging between the arm portions 51A and 51B, and a plate 53 of a predetermined weight made of a metal material such as iron fixed to the outer bottom surface of the bridging member 51C.

The pair of arm portions 51A and 51B have fixed shafts 51AS and
51BS is formed so as to project outward, and projections 51AM and 51BM having a spherical end toward the inside (hereinafter referred to as spherical projections) 51AM and 51BM corresponding to the fixed shafts 51AS and 51BS are the same on the inner wall surfaces. It is formed so as to project on the line.

On the inner wall surface of each arm 51A, 51B, a pair of ribs 51AR ₁ , 51 parallel to each other are provided.
AR ₂ , 51BR ₁ and 51BR ₂ are formed, and the stepped portion 51AR in which the tips of the ribs 51AR ₁ , 51AR ₂ , 51BR ₁ and 51BR ₂ are inclined so as to descend inward from each other.
D ₁ , 51ARD ₂ , 51BRD ₁ , 51BRD ₂ .

Further, fixed shafts 51AS, 51BS and spherical projections 51A are provided on both sides of the tip of each arm 51A, 51B.
Bridge member 51 that is perpendicular to the axial direction of M and 51BM
A member extending in the outward direction parallel to the bottom surface of C (hereinafter,
Called extension members) 51AL ₁ , 51AL ₂ , 51B
L ₁ and 51BL ₂ are integrally formed, and each extension member 51AL ₁ , 51AL ₂ , 51BL ₁ and 51BL ₂ has a flat surface (hereinafter referred to as a contact surface) 51 at the tip thereof.
ALF ₁ , 51ALF ₂ , 51BLF ₁ , 51BLF ₂
Are formed.

Further, a plate 53 fixed to the outer bottom surface of a bridging member 51C bridging between the arm portions 51A and 51B.
The fixed position and / or weight of the ear cover 52
The weight is adjusted in advance to a predetermined state in consideration of the weight.

Further, the ear cover 52 (FIGS. 6A and 6B) is a partial shape of a spherical shell, and has a circular hole slightly larger in diameter than the microphone cover 19A of the microphone 19 at a predetermined position. (Hereinafter, this is referred to as a microphone exposure hole) 52H is opened, and the microphone exposure hole 52 is provided.
The tip of the microphone cover 19A is exposed via H.

In the ear cover 52, the outer curved surface is smoothly processed, and the inner curved surface has a pair of arcuate projecting walls (hereinafter, referred to as a hooking wall) at the tip as shown in FIG. An annular protrusion 52C having 52CA and 52CB is formed so as to protrude with the microphone exposing hole 52H as the inner diameter.

The annular projection 52C formed on the inner curved surface of the ear cover 52 has a pair of engaging walls 52CA and 52C.
B is formed so as to project so as to be opposed to each other through the center of the microphone exposure hole 52H.
Fitting holes 52CAH and 52CBH are formed in A and 52CB along the facing direction. These fitting holes 52CAH and 52CBH are provided in the movable mechanism section 51 described above.
The size and size are determined so that the spherical projections 51AM and 51BM (FIG. 12) formed on the pair of arm portions 51A and 51B in FIG.

Further, a pair of hooks on the annular projection 52C are provided.
In the joint walls 52CA and 52CB, the tips are respectively described above.
Pair of arm portions 51A and 51 in the movable mechanism portion 51
Each rib 51AR formed on the inner wall surface of B₁, 51A
R_Two, 51BR₁, 51BR_TwoStepped part 51 ARD
₁, 51ARD_Two, 51BRD₁, 51BRD_TwoAbut
So that each step 51ARD₁, 51ARD_Two,
51 BRD₁, 51BRD _TwoTo have a tilt angle according to
End face (hereinafter referred to as a guide face) 51 CAG ₁,
51 CAG_Two, 51CBG₁, 51CBG_TwoIs formed
ing.

Further, on the inner curved surface of the ear cover 52, a plurality of angular projections 52TA to 52T are formed around the annular projection 52C.
D is formed so as to project, and the respective angular projections 52TA to 5TA
The end faces 52TAE to 52TDE of 2TD each have a pair of arm portions 51A and 51A in the movable mechanism portion 51 described above.
Extension members 51AL ₁ and 51 formed on both sides of the tip of B
Contact surface 51AL of AL ₂ , 51BL ₁ , 51BL _{2
F 1, 51ALF 2, 51BLF 1} , are made as 51BLF ₂ and may abut.

In the ears 5A and 5B having such a structure, first, the storage chambers 42BA and 42BB of the rear frame 42B (FIG. 8).
To the through holes 42BP and 42BQ formed in the pair of plate-shaped protrusions 42BX and 42BY protruding from the movable mechanism portion 51.
By inserting the fixed shafts 51AS and 51BS formed on the pair of arm portions 51A and 51B of FIG. 12 from the inside of the corresponding plate-like protrusions 42BX and 42BY,
The movable mechanism portion 51 is held rotatably with respect to the rear frame 42B about the fixed shafts 51AS and 51BS.

At this time, the bridge member 51C of the movable mechanism portion 51
The front and rear ends of the storage chamber 42BA of the rear frame 42B, 4
Since it contacts the inner wall of 2BB, the storage chamber 42B concerned
By attaching a shock absorbing material (not shown) such as Polon (trade name) or felt to the contact portions (including the protrusion 42BZ) of the front and rear ends of A and 42BB in advance, The bridge member 51C is the rear frame 4
It is possible to prevent an impact sound from being generated when it collides with the inner walls of the 2B storage chambers 42BA and 42BB.

The movable range of the movable mechanism portion 51 in this case is such that when the ear cover 52 is attached,
The positions of the inner walls of the storage chambers 42BA, 42BB of the rear frame 42B with which the front and rear ends of the bridge member 51C contact are preset so that the upper and lower ends of 2 do not contact the head cover 41.

Then, the movable mechanism 51 is attached to the rear frame 42.
In the state of being rotatably accommodated and stored in the B storage chambers 42BA, 42BB, the base plate 50B of the sound emitting unit 50 is movable mechanism unit 5
By fixing the sound emitting unit 50 in the storage chambers 42BA, 42BB so as to cover the bridge member 51C of No. 1 in a non-contact manner, the movable mechanism 51 is rotated when the movable mechanism unit 51 rotates with respect to the rear frame 42B. A pair of arm parts 5 of the part 51
The inner wall surfaces of 1A and 51B pass through the spaces on both sides of the microphone cover 19A without touching the microphone cover 19A of the microphone 19.

The rear frame 42B is attached to the rear cover 4
1B to form the latter half unit 43B, and the front frame 42A to the front cover 41A.
After the front half unit 43A is formed by fitting the two together, the latter half unit 43B and the front half unit 43A are fitted together from both sides with the bone portion 40 sandwiched between them to obtain the head unit 5. Notches of the head cover 41 41AF ₁ , 41AF ₂ , 41BF ₁ , 41BF
₂ includes a pair of plate-like protrusions 42B of the rear frame 42B.
X, 42BY and microphone cover 19A for microphone 19
And the plate-shaped projections 42BX, 42B
The pair of arm portions 51A and 51B of the movable mechanism portion 51 that is rotatably engaged with Y protrudes.

Next, when the ear cover 52 is attached to the movable mechanism portion 51 in this state, first, the pair of engaging walls 52CA and 52CB formed on the annular protrusion of the ear cover 52 are connected to the pair of arm portions 51A of the movable mechanism portion 51. By pressing while sandwiching between the 51B, the respective hanging wall 52C
Fitting holes 52CAH, 52CB formed in A, 52CB
H is fitted into the spherical projections 51AM and 51BM formed on the respective arm portions 51A and 51B.

At this time, each engaging wall 52C of the ear cover 52
Guide surface 51CAG at the tip of A, 52CB₁, 51CA
G_Two, 51CBG₁, 51CBG_TwoBut the corresponding arm
Ribs 51AR of parts 51A and 51B₁, 51AR_Two, 51
BR₁, 51BR_TwoStepped part 51 ARD₁, 51A
RD_Two, 51BRD₁, 51BRD_TwoAbutting on
Is formed around the annular protrusion 52C of the ear cover 52.
The plurality of angular protrusions 52TA to 52TD are a pair of arm portions.
Extension members 51AL of 51A and 51B₁, 51AL _Two,
51BL₁, 51BL_TwoContact surface 51ALF₁, 51A
LF_Two, 51 BLF ₁, 51 BLF_TwoTo abut
Position the ear cover 52 with respect to the movable mechanism 51
It can be fixedly held in the pressed state.

Further, before the ear cover 52 is attached, the microphone 1 fixedly held in the head unit 5 is held.
Although the microphone cover 19A of 9 is protruding from the head cover 41, when the ear cover 52 is attached to the movable mechanism portion 51, whether or not the ear cover 52 and the movable mechanism portion 51 are integrally movable. Regardless, the microphone cover 19A is adapted to be exposed through the microphone exposure hole 52H without touching the microphone exposure hole 52H formed in the ear cover 52.

(5) Operation and effects of the present embodiment With the above configuration, the microphones 19 are provided in the ears 5A and 5B of the head unit 5 of the pet robot 1.
Is fixedly held in the head unit 5 and the microphone cover 19A is made to project from the head cover 41, and the ear cover 52 is attached to the movable mechanism portion 51 which is movably mounted within the head unit 5 within a predetermined range. Attach it so that it hangs.

At this time, the microphone cover 19A is the ear cover 5
Although it is exposed through the microphone exposure hole 52H formed in 2, the ear cover 52 is not in contact with the microphone exposure hole 52H regardless of whether or not the ear cover 52 moves integrally with the movable mechanism portion 51. Therefore, even if the ear cover 52 moves due to gravity or an external force, it is possible to prevent the microphone 19 from picking up the rubbing sound of the ear cover 52.

Further, when removing the ear cover 52 from the movable mechanism portion 51, as shown in FIG. 14A, the ear cover 52 is turned up from below with respect to the head unit 5 (arrow When an external force is applied (in the a direction), the pair of upper angular projections 52TA, 52TC formed around the annular projection 52C of the ear cover 52 are extended by the corresponding pair of arm portions 51A, 51B. Member 51A
L ₁ , 51BL ₁ abutment surface 51ALF ₁ , 51BLF ₁
And the engaging wall 52C of the annular protrusion 52C of the ear cover 52 with the contact position as the center of rotation.
Fitting holes 52CAH, 52CB formed in A, 52CB
H is each arm part 51A, 51 of the movable mechanism part 51.
The ear cover 52 is detached from the movable mechanism portion 51 by coming off from the spherical projection 52C formed on the B and coming off.

At this time, depending on the position to which the external force in the above-mentioned turning-up direction is applied, each hooking wall 5 of the ear cover 52.
2 CA, 52 CB tip guide surface 51 CAG ₁ , 51
CBG ₁ corresponds to rib 5 of corresponding arm 51A, 51B
1AR _1, 51BR stepped portion 51ARD ₁ of the tip of the _1, 51
Each engaging wall 52C of the annular protrusion 52C of the ear cover 52 is contacted with the BRD ₁ and the contact position is the center of rotation.
Fitting holes 52CAH, 52CB formed in A, 52CB
H is each arm part 51A, 51 of the movable mechanism part 51.
The ear cover 52 is detached from the movable mechanism portion 51 by coming off and coming off from the spherical protrusions 51AM and 51BM formed on B.

On the other hand, the ear cover 52 is removed from the movable mechanism portion 51.
When removing the ear cover, as shown in FIG.
-52 with the microphone cover 19A as the center of rotation
External force to twist the unit 5 (in the direction of arrow b)
Is given, the annular protrusion 52C of the ear cover 52 is
Fitting hole 52 formed in each hanging wall 52CA, 52CB of
CAH and 52CBH are the respective arms of the movable mechanism section 51.
Spherical projections 51AM, 5 formed on the hollow portions 51A, 51B.
After coming off from the 1BM and coming off, each hooking wall 5 of the ear cover 52
Guide surface 51CAG at the tip of 2CA, 52CB₁, 51
CAG_Two, 51CBG₁, 51CBG_TwoBut the corresponding
Ribs 51AR of the arm portions 51A and 51B₁, 51AR_Two,
51BR₁, 51BR_TwoStepped part 51 ARD₁5,
1 ARD _Two, 51BRD₁, 51BRD_TwoAbut on
By moving up, the ear cover 52 is moved to the movable mechanism section 5.
It can be removed from 1.

As described above, even when an external force is applied to the ear cover 52, only the ear cover 52 is the head unit 5.
When the head unit 5 is disengaged, damage to the head unit 5 can be prevented in advance.

When an external force is applied to the head unit 5 so as to flip the ear cover 52 upward from the lower side, and the ear cover 52 is attached to the head unit 5 with the microphone cover 19A being substantially the center of rotation. Even when an external force is applied to twist the microphone, the microphone fixed in the head unit 5 is released before the ear cover 52 fixedly held by the movable mechanism 51 is removed from the movable mechanism 51. The microphone cover 19A of 19 is always the ear cover 5
Since the non-contact state is maintained in the microphone exposure hole 52H formed in 2, the rub noise caused by the ear cover 52 is removed even when the ear cover 52 is removed during the operation of the pet robot 1. It is possible to prevent the microphone 19 from picking up.

Further, in the movable mechanism portion 51 mounted in the head unit 5, the fixed position and / or the weight of the plate 53 fixed to the outer bottom surface of the bridge member 51C bridging between the pair of arm portions 51A and 51B is set to the ear. By adjusting to a predetermined value according to the weight of the cover 52, the head unit 5 can set the inclination of the ear cover 52 to a desired state according to the inclination.

Further, when the ear cover 52 is driven by gravity, a power source is unnecessary, so that the driving sound of the power source can be prevented from being generated, and the tilted state of the ear cover 52 depending on the gravity can be reduced. Can be adjusted.

For example, when the position of the ear cover 52 with respect to the head unit 5 in the normal state is shown in FIG. 6A, the head unit 5 is tilted in the rotation direction about the nose as shown in FIG. When this is done, the ear cover 52 on the inclined side is tilted in the same manner as in the normal state, thereby giving the user a visual impression as if the "ears" of a real animal were hanging due to gravity. be able to.

Further, in the ears 5A and 5B of the head unit 5 of the pet robot, the microphone 19 is fixedly held in the head unit 5 and the microphone cover 19A is projected from the head cover 41 as described above. By doing so, it is possible to prevent noise such as mechanical sound generated inside the head cover 41 from being picked up, and prevent useful sound from the outside from being collected and becoming difficult to pick up.

Since there is nothing to block the microphone cover 19A, it is possible to design the sound emission hole 19AH formed in the microphone cover 19A with a high degree of freedom by ensuring a sufficient aperture ratio according to the size of the microphone 19. At the same time, it is possible to secure sufficient directivity when the microphone 19 collects sound. Furthermore, since the microphone 19 can be easily incorporated from the outside of the head cover 41, workability during assembly can be improved.

According to the above configuration, in the pet robot 1, the microphone cover 19A of the microphone 19 fixedly held in the head unit 5 is removed from the head cover 41 in the ears 5A and 5B of the head unit 5. The ear cover 52 is attached to the head unit 5 so as to be detachable and movable in a predetermined range so that the ear cover 52 is always in non-contact with the microphone cover 19A. It is possible to prevent the microphone 19 from being picked up, and even when an external force is applied to the ear cover 52, only the ear cover 52 is disengaged from the head unit 5, so that the head unit 5
It is possible to prevent damage to the product.

Furthermore, in the head unit 5, by adjusting the fixed position and / or weight of the plate attached to the movable mechanism portion 51 that moves integrally when engaged with the ear cover 52, the tilted state of the ear cover 52 due to gravity is adjusted. It can be adjusted to a desired state without the use of any power source, thus giving the user a visual impression as if the "ear" of a real animal were hanging due to gravity.

(6) Other Embodiments In the above-described embodiments, the case where the present invention is applied to the four-legged walking type pet robot 1 has been described, but the present invention is not limited to this. As long as a microphone is provided in the head unit, it can be widely applied to robot devices of various configurations other than four legs.

Further, in the above-described embodiment, the microphone 19 is provided in a predetermined position of the head unit 5 and is fixed in the head unit 5 so that the tip of the microphone 19 is exposed from the surface of the head unit 5. A sound emitting unit (fixed holding unit) 50 to hold, a movable mechanism unit 51 movably attached to the sound emitting unit 50, a microphone attached to the movable mechanism unit 51 and having a size larger than the tip of the microphone 19. An ear cover 52 having an exposure hole 52H is provided, and when the ear cover 52 moves integrally with the movable mechanism section 51, the tip 19A of the microphone 19 is always in contact with the microphone exposure hole 52H of the ear cover 52. The case where the non-contact state is maintained has been described, but the present invention is not limited to this, and the microphone is used when the ear cover 52 moves with respect to the head unit 5. If it is possible to 9 of the tip 19A is always maintained non-contact state with the microphone exposed hole 52H of the ear covers 52, it can be widely applied those various other configurations.

Further, in the above-described embodiment, the head unit 5 is formed between the ear cover 52 and the movable mechanism portion 51, and is used as an engaging means for detachably engaging the ear cover 52 and the movable mechanism portion 51. Annular protrusion 52 of cover 52
Fitting hole 5 formed in each of the hanging walls 52CA and 52CB of C
2CAH, 52CBH and each arm 5 of the movable mechanism 51
1A, 51B is applied to the spherical projection 52C, and a pair of upper angular projections 52TA, 52TC formed around the annular projection 52C of the ear cover 52 and each arm portion 51A of the movable mechanism portion 51. Each extension member 51 of 51B
Contact surface of AL ₁ and 51BL ₁ 51ALF ₁ and 51BLF
₁ and, further, each hanging wall 52C of the ear cover 52
Guide surfaces 51CAG ₁ and 51CB at the tips of A and 52CB
G ₁ and the respective arm portions 51A, 51B rib 51AR _1, step portion 51ARD ₁ of the tip of 51BR ₁ of the movable mechanism 51,
It has dealt with the case of applying the 51BRD _1, the present invention is not limited to this, short ear cover 52 upon removal from the movable mechanism part 51, the tip 19A of the microphone 19 is a microphone exposed ear cover 52 As long as the non-contact state with the use hole 52H can be always maintained, various other configurations may be applied.

Further, in the above embodiment, the bridge member 51C for bridging between the pair of arm portions 51A and 51B is provided as the balance adjusting means provided in the movable mechanism portion 51 and adjusting the movable balance with respect to the head unit 5. Applying the plate 53 fixed to the outer bottom surface, the plate 5
The fixed position and / or the weight of No. 3 are adjusted in advance to a predetermined value according to the weight of the ear cover 52, and the head unit 5 sets the inclination of the ear cover 52 to a desired state according to the inclination. However, the present invention is not limited to this, and if the tilted state of the ear cover due to gravity can be adjusted to a desired state, balance adjusting means having various other configurations may be applied. May be.

[0108]

As described above, according to the present invention, in the robot apparatus in which the microphone is provided in the head unit, the robot is provided at the predetermined position of the head unit and the tip of the microphone is exposed from the surface of the head unit. As described above, a fixed holding part for fixedly holding the microphone in the head unit, a movable mechanism part movably attached to the fixed holding part, and a size larger than the tip of the microphone attached to the movable mechanism part. By providing an ear cover with a hole formed in the head cover, the tip of the microphone is kept in non-contact with the hole of the ear cover when the ear cover moves integrally with the movable mechanism section. Prevents the microphone from picking up the rubbing sound from the ear cover even when the ear cover attached to the head unit moves with respect to the head unit. Rukoto can, thus the robot apparatus can be realized which can improve entertainment property.

Further, according to the present invention, engaging means for detachably engaging the ear cover and the movable mechanism portion is formed between the ear cover and the movable mechanism portion, and when removing the ear cover from the movable mechanism portion, Since the tip of the microphone is kept in non-contact with the hole of the ear cover, it is possible to prevent damage to the head unit even when some external force is applied to the ear cover, and also to prevent the head unit from being damaged during operation. Even when the cover is removed, it is possible to prevent the microphone from picking up a rubbing sound caused by the ear cover, and thus it is possible to realize a robot device capable of improving entertainment.

Further, according to the present invention, the balance adjusting means for adjusting the movable balance with respect to the head unit is provided in the movable mechanism section, and the balance adjusting means adjusts the inclination state of the ear cover due to gravity to a desired state. As a result, the tilted state of the ear cover due to gravity can be adjusted to a desired state without using any power source, and thus it is possible to realize a robot apparatus capable of improving entertainment by giving a visual impression to the user.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an external configuration of a pet robot according to this embodiment.

FIG. 2 is a block diagram showing an internal configuration of a pet robot.

FIG. 3 is a block diagram for explaining processing of a controller.

FIG. 4 is a conceptual diagram for explaining a probability automaton.

FIG. 5 is a conceptual diagram for explaining a directed graph.

6A and 6B are a front view and a perspective view showing an external configuration of a head unit according to the present embodiment.

FIG. 7 is a perspective view showing configurations of a front cover and a front frame.

FIG. 8 is a perspective view showing configurations of a rear cover and a rear frame.

FIG. 9 is a perspective view for explaining the relationship between the front half unit and the rear half unit and the bone portion.

FIG. 10 is a schematic diagram showing a configuration of an ear portion of the head unit.

FIG. 11 is a partial perspective view showing a configuration of a sound emitting unit.

FIG. 12 is a partial perspective view showing the configuration of a movable mechanism section.

FIG. 13 is a partial perspective view showing the configuration of the inner curved surface of the ear cover.

14A and 14B are a front view and a perspective view for explaining a detached state of the ear cover.

FIG. 15 is a front view for explaining an inclined state of the ear cover.

[Explanation of symbols]

1 ... Pet robot, 2 ... Body unit, 5 ...
Head unit, 5A, 5B ... Ear, 10 ... Controller, 10A ... Internal memory, 14 ... Speaker, 15
...... External memory, 19 ...... Microphone, 30 ...... State recognition part, 31 ...... Emotion / instinct model part, 32 ...... Action decision part, 40 ...... Bone part, 41 ...... Head cover, 41A
... Front cover, 41B ... Rear cover, 42A ...
Front frame, 42B Rear frame, 43A
...... First half unit, 43B ...... Second half unit, 50
...... Sound emitting part, 51 …… Movable mechanism part, 52 …… Ear cover,
53 ... plate, S2 ... voice signal, D1 ... state recognition information, D2 ... action decision information.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2C150 DA05 DA24 DA26 DA27 DA28                       DF03 DF04 DF06 DF33 ED42                       ED47 ED52 EF07 EF16 EF17                       EF23 EF28 EF29 EF33 EF36                 3C007 AS36 CS08 KS39 KX02 WA02                       WA14 WC00 WC25

Claims (3)

[Claims] 1. A robot apparatus in which a microphone is provided in a head unit, wherein the microphone is provided at a predetermined position of the head unit, and the tip of the microphone is exposed from the surface of the head unit. A fixed holding portion for fixedly holding the head unit, a movable mechanism portion movably attached to the fixed holding portion, a hole attached to the movable mechanism portion, and having a size larger than the tip of the microphone. A robot characterized by comprising a formed ear cover, wherein when the ear cover moves integrally with the movable mechanism section, the tip of the microphone is always kept in non-contact with the hole of the ear cover. apparatus. 2. An engaging means which is formed between the ear cover and the movable mechanism section and which detachably engages the ear cover and the movable mechanism section, wherein when removing the ear cover from the movable mechanism section, The robot apparatus according to claim 1, wherein a tip of the microphone is always kept in a non-contact state with a hole of the ear cover. 3. A balance adjusting means provided on the movable mechanism section for adjusting a movable balance with respect to the head unit, wherein the balance adjusting means adjusts a tilted state of the ear cover due to gravity to a desired state. The robot apparatus according to claim 1, wherein: