JPH0632712B2 - Robotic device for special events - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a robot device, and more particularly to an event robot device that can perform walking, conversation and other actions substantially similar to a human by remote control.

[Conventional technology]

Various robot devices have been developed, which include a voice device that emits a predetermined plurality of greeting words in response to a human greeting word, or that can move a neck, an arm, and a foot.
This type of robot device is mainly used for attracting customers.

However, the movement of this kind of robot device is far from the movement of a human, and even if it responds to a human greeting, for example, it is merely a constant response to the human utterance. It was extremely simple, such as broadcasting a set word.

[Problems to be solved by the invention]

The present invention has been made from the above perspective,
An object of the present invention is to provide at low cost a highly realistic robot apparatus that can perform the same operation as a human being by remote control.

[Means for solving problems]

Thus, the above-mentioned object is achieved by an event robot apparatus comprising the following components a, b and c.

a) A casing including a body casing and a pair of left and right leg casings provided below the casing, each of which is provided with the following constituent elements, and a drive wheel for movement at each end thereof. The pair of left and right supporting legs that reach the inside of the body casing through the inside of the leg casing and support the body casing at the upper end, and drive the drive wheels provided on the supporting legs to move the robot, and A drive for supporting the leg casing of the left and right wheels, and driving the pair of left and right leg casings with a phase difference of 180 ° with respect to each other about a single axis perpendicular to the central longitudinal section of the body casing. A device, a pair of left and right arms protruding from the body casing, a device for expanding and contracting at least one of the pair of left and right arms, and a device provided at the free end of the one arm A device that opens and closes the part of the hand, a TV camera that captures the surrounding scene, a wireless transmitter that converts the image captured by the TV camera into an electrical signal and sends it, a microphone, and the above microphone. A wireless transmitter that converts voice into an electrical signal and transmits it, an audio signal receiver equipped with a speaker, a transmitter that transmits an audio signal to the audio signal receiver, and a receiver that receives a control signal from the outside. A robot body comprising: a device that controls the operation of each part based on a control signal received by the receiver; and a power supply device that supplies power to each device.

b) A television receiver that is provided separately from the robot body and receives signals from a transmitter that transmits video and audio signals of the robot body.

c) A signal is provided separately from the robot body, which generates signals for controlling movement of the robot body, opening and closing of hands and arms, expansion and contraction of the robot body, and other operations of the main part of the robot body. Radio control device to transmit.

[Work]

By constructing as described above, it is possible to perform substantially the same actions as human beings with a variety of realities by remote control, so when used as a customer attraction robot device, an extremely high customer attraction effect can be obtained. is there.

〔Example〕

 The present invention will be described in detail below with reference to the drawings.

FIG. 1 is a perspective view showing the appearance of a robot body used in an embodiment of the present invention, FIG. 2 is a perspective view showing the outline of the configuration of a main device attached to the robot body, and FIG.
FIG. 4 is a perspective view showing the structure of the supporting leg, and FIG. 4 is a perspective view showing the external structure of the wireless control device.

1 to 4, 1 is an event robot device, 2 is a hatch, 3 is a body casing, 4 is a light emitting device, 5 is a U
An HF antenna, 6 is a left hand that is provided at the free end of an arm 7 protruding from the body casing 3, and is normally closed by a built-in spring, and 8 is a right arm that protrudes from the body casing 3 and is telescopically attached. , 9 is the above right arm 8
A right hand provided at the tip of the microphone so that it can be opened and closed freely, 10 is a microphone holder, 11 is a microphone attached to the microphone holder 10, 12 is a speaker of an audio signal receiving device incorporated in the body casing 3, and 13 and 14 are 2 is a leg casing, 15 is a receiving antenna, 16 is a receiving antenna unit having a built-in device for moving and rotating the receiving antenna 15 up and down, and 17 is when the receiving antenna 15 is rotated. A strobe unit with a built-in device that randomly emits three-color strobes, 18 is a control box, 19 is an antenna arm, 20 is a TV camera with a wide lens and a lens cover, 21 is the TV camera 20
UHF transmitter connected to, 22 is battery, 23
Is a plurality of lamps that are housed in the light emitting device 4 of the robot device and that automatically flashes according to the volume of the sound signal transmitted from the wireless microphone, and 24 is a device for expanding and contracting the right arm. Among them, 25 is a support leg, 26 is a frame, 27 is a board, 28 and 29 are pulleys, 30 is a timing belt, 31 is a crank,
Reference numeral 31a is its support portion, 32 is a motor, 33 is a gear attached to the shaft of the motor 32, 34 is a drive shaft that rotatably supports a drive wheel 35, 36 is a gear, 37 is a driven wheel, and 38 is a holder. , 39 and 40 are rotary shafts, 41 and 42 are cranks, 41a and
42a is a supporting part thereof, and in FIG. 4, 43 is a radio controller, 44 is an antenna switch,
Reference numeral 45 is a right hand opening / closing switch, 46 is a right arm extension switch, 47 is a left foot drive switch, 48 is a right foot drive switch, and 49 is a transmitting antenna.

Thus, the robot body 1 of the event robot apparatus according to the present invention is remotely operated by the wireless controller 40, and a casing including the body casing 3 and the leg casings 13 and 14 will be described below. And a component.

The body casing 3 has a wide-lens TV camera 20 for photographing the surroundings of the robot body 1 and a lens cover attached thereto, and a microphone 11 for collecting ambient sounds.
Is attached to the microphone holder 10.

Thus, the scene around the robot body 1 captured by the TV camera 20 and the sound around the robot body 1 captured by the microphone 11 are
After being converted into an electric signal by a conversion device (not shown) built in the UH, the UH is transmitted from a transmitter (not shown).
It is transmitted via the F antenna 5.

A reception antenna 15 is attached to the top of the body casing 3 to receive a control signal from the wireless control device 43 and a voice signal from the wireless microphone. Furthermore, the receiving antenna 15 is moved downward and rotated by a device built in the antenna unit 16 based on the control signal of the wireless control device 43. Especially, when the receiving antenna 15 is rotated, it is housed in the strobe unit 17. The three-colored flashes are emitted randomly.

The left arm 7 of the robot body 1 is provided so as to project from the upper casing 3 and remote control is not possible, but a hand 6 is provided at the tip thereof so that it can be opened and closed, and a spring is provided inside the hand 6, which It is configured so that the fingers of the hand 6 can be opened and closed.

On the other hand, the right hand 9 is configured such that the arm 8 is expanded and contracted by the right arm expansion and contraction device 24, and the opening and closing control device for the part of the hand 9 (not shown) can be opened and closed freely.

A plurality of lamps 23 are housed in the light-emitting devices 4 and 4 of the robot body 1, and are configured to automatically blink according to the volume and the like when a voice signal is transmitted from the wireless microphone. There is.

Next, the supporting leg 25 accommodated in the leg casings 13 and 14 will be described with reference to FIG. Since each leg casing 13 and 14 accommodates a supporting leg 25 having a similar structure,
Here, only one of them will be described.

The upper end of the frame 26 is connected to the body casing 3, and the lower end of the frame 26 is connected via the board 27 to the drive wheels 35 and the driven wheels.
The robot body 1 is attached so that the robot body 1 can stand upright and run.

More specifically, the board 27 has a motor 32 having a gear 33 attached to a shaft thereof, a drive wheel 35 having a gear 36 fixed thereto, and a drive shaft 34 and a driven wheel 37 rotatably supporting the drive wheel 35. A holder 38 for rotatably supporting is attached.

The frame 26 and the board 27 are entirely covered with a leg casing 13, and the leg casing 13 has cranks 31, 41 and
It is supported by 42 for circular motion.

The gear 33 attached to the shaft of the motor 32 meshes with the gear 36 fixed to the drive wheel 35, and
The drive wheel 35 is rotated via the gear 36 in accordance with the rotation of the.

Further, the pulleys 28 and 29 are rotatably supported by rotating shafts 39 and 40, respectively, and the timing belt 30 is suspended around the pulleys 28 and 29. Further, one end of the rotating shaft 39 which rotatably supports the pulley 28 is provided. Is provided with a gear that is driven by a motor (not shown), and rotates with the rotation of the motor.

A crank 41 is attached to the other end of the rotary shaft 39, and the crank 31 and the crank 31 are respectively attached to both ends of the rotary shaft 40.
42 is attached, and the support portion 41 of each of the above cranks is attached.
The a, 31a and 42a are rotatably connected to the inner wall surface of the leg casing 13.

Therefore, the robot body 1 travels by the rotation of the drive wheels 35. At this time, the leg casing 13 rotatably supported by the body casing 3 is operated by the cranks 31, 41 and 42. A circular motion is applied, and at the same time, the other body casing 14 is
A circular motion with a phase difference of 80 ° is given, so that when the robot moves, it looks like walking like a human.

Next, a method of controlling the robot body 1 by the wireless control device 40 will be described.

At the time of use, first, the transmitting antenna 49 of the wireless control device 43 is extended by hand, and the antenna switch 44 is raised upward to raise the transmitting antenna 15 of the robot body 1. The receiving antenna 15 can be pulled down by lowering the antenna switch 44 downward.

After that, the robot main body 1 can be moved forward by raising the left foot drive switch 47 and the right foot drive switch 48, and can be moved backward by lowering both the switches 47 and 48 downward. Further, if the left foot drive switch 47 is raised and the right foot drive switch 48 is lowered, the robot body 1 can be rotated to the right, and the left foot drive switch 47 can be lowered and the right foot drive switch 48 can be raised. It can be rotated.

Further, the right hand 6 of the robot body 1 can be opened by raising the right hand open / close switch 45 upward, and the right hand 6 can be closed by lowering it downward. Further, by raising the right arm telescopic switch 46 upward, the robot body 1
The right arm 7 can be extended, and the right arm 7 can be contracted by lowering it.

Then, the robot apparatus 1 is placed in a place where people gather, the receiving antenna 15 of the robot body 1 is extended, and the television camera 20 and the microphone 11 are operated.

A person who controls the robot main body 1 by the wireless control device 43 is a person who controls the robot main body 1 at a place where a monitor TV is placed away from the robot main body 1 and the surrounding scene captured by the television camera 20 and the microphone 11 attached to the robot main body 1. While controlling the respective switches of the wireless control device 43 while watching on the screen of the monitor television, the user talks with a person in front of the robot device using a wireless microphone or the like.

That is, to explain this more specifically, the robot body 1
If people around you call out to the robot body 1, you can see the person who called out with the TV camera 20.
A voice uttered by a person is captured by the microphone 11, converted into an electric signal, and then transmitted from a transmitter (not shown) housed in the robot body 1 via the UHF antenna 5.

The monitor TV receives the signal from the transmitter, and the screen of the monitor TV shows the figure of the calling person, and the speaker of the monitor TV shows the robot body 1
The voice that you call is played back.

Then, the person who operates the wireless control device 43 controls each control switch of the wireless control device 43 while watching the screen of the monitor TV, and moves toward the person who speaks to the robot body 1 as described above. The robot body 1 is moved or the right hand 9 is extended, and an appropriate conversation is performed through a wireless microphone (not shown) and a speaker 12 of the audio signal receiving device.

〔The invention's effect〕

Since the present invention is configured as described above, according to the present invention, since it is possible to perform substantially the same operations as a human being with a variety of realities by remote control, when used as a robot for attracting customers, An extremely high customer attraction effect can be obtained.

The present invention is not limited to the above embodiments. That is, for example, in this embodiment, the wireless controller controls the right hand arm of the robot body to be expanded and contracted, and the hand is opened and closed. It may be configured as follows. It is also recommended that the shape of the robot main body be a well-known cartoon hero or a charactor doll. Other, antenna,
The mounting positions of the television camera and the microphone, the control method of each part, and the like can be freely designed and changed within the scope of the object of the present invention, and the present invention includes all of them.

[Brief description of drawings]

FIG. 1 is a perspective view showing the appearance of a robot body used in an embodiment of the present invention, FIG. 2 is a perspective view showing the outline of the configuration of a main device attached to the robot body, and FIG.
FIG. 4 is a perspective view showing the structure of the supporting leg, and FIG. 4 is a perspective view showing the external structure of the wireless control device. 1 ... Robot body 3 ... Body casing 4 ... Light emitting device 5 ... UHF antenna 6 ... Left hand 7 ... Left arm 8 ... Right arm 9 ... Right hand 11 ... Microphone 13, 14 ... Leg casing 15 …… Reception antenna 16 …… Reception antenna unit 17 …… Strobe unit 18 …… Control box 20 …… TV camera 22 …… Battery 24 …… Right arm telescopic device 26 …… Frame 27 …… Board 28,29 …… Pulley 30 …… Timing belt 31, 41, 42 …… Crank 31a, 41a, 42a …… Support 32… Motor 43 …… Wireless controller 44 …… Antenna switch 45 …… Right hand open / close switch 46 …… Right arm telescopic switch 47 …… Left foot drive switch 48 …… Right foot drive switch 49 …… Transmission antenna

Claims (4)

[Claims] 1. An event robot apparatus comprising the following components a, b and c. a) A casing composed of a body casing (3) and a pair of left and right leg casings (13, 14) provided below the casing, to which the following components are attached, and a drive for movement at each end thereof. A pair of left and right wheels, each of which has a wheel (35), passes through the pair of left and right leg casings (13, 14) into the trunk casing (3), and supports the trunk casing (3) at its upper end. The robot is moved by driving the support leg (25) and a drive wheel (35) provided on the support leg (25), and the pair of left and right leg casings (13, 14) are supported to drive the drive wheel (35). ) Drive the pair of left and right leg casings (13, 14) above each other.
A drive device for making a circular motion about an axis perpendicular to the central longitudinal section of the body casing (3) with a phase difference of 80 °, and a pair of left and right arms (7, 8) provided so as to project from the body casing (3). ), A device (24) for extending and contracting at least one of the pair of left and right arms (7, 8), and hands (6, 9) provided at the free ends of the one arm (7, 8).
A device that opens and closes the area, a TV camera (20) that captures the surrounding scene, a wireless transmitter that converts the video captured by the TV camera (20) into an electrical signal and sends it, and a microphone (11). And a radio transmitter for converting the voice captured by the microphone (11) into an electric signal and transmitting the voice signal, a voice signal receiving device having a speaker (12), and a transmission for transmitting the voice signal to the voice signal receiving device Machine, a receiver that receives a control signal from the outside, a device that controls the operation of each unit based on the control signal received by the receiver, and a power supply device that supplies desired power to each of the components, Robot body (1) consisting of. b) A television receiver that is provided separately from the robot body (1) and receives signals from a transmitter that transmits video and audio signals of the robot body (1). c) Generating signals for controlling movement of the robot body (1), opening / closing and expanding / contracting movements of the hands (6, 9) and arms (7, 8), and other main parts of the robot body (1), A radio control device (43) for transmitting to the control signal receiver of 1). 2. A light emitting device (4) which blinks when sound is emitted from a speaker (12) of an audio signal receiving device provided in the body casing (3) or the leg casings (13, 14). The event robot apparatus according to claim 1, further comprising: 3. The event robot apparatus according to claim 2, wherein the light emitting device (4) is composed of an LED. 4. The entertainment robot according to any one of claims 1, 2, and 3, wherein the antenna (15) of the receiver is extendable and rotatable.