JP2001191274A - Data holding device, robot device, modification device and modification method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve an entertainment property of a virtual creature or a robot device. SOLUTION: In a data holding device holding program data for the virtual creature and a robot device, a changing means changing the program held in the holding means under the control of external equipment is arranged. In the changing device and the changing method for changing the program for the virtual creature or the robot device, a predetermined question is asked to a user, and reflecting the answer from the user to the question, the data for changing the program of the virtual creature or the robot device is produced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art In recent years, many robots and stuffed animals which autonomously act according to external inputs and surrounding conditions have been commercialized. In addition, without having such an entity in a three-dimensional space, a personal computer,
Many characters that are held as data inside portable terminal devices such as game machines and telephones and that act autonomously on the displays of these personal computers or portable terminal devices have appeared.

[0003] In the following, a character which is stored as software in hardware having a recording medium such as a personal computer, a portable terminal device such as a game machine and a telephone, a robot and a stuffed toy, and which is programmed to act or operate is referred to as a character. Called virtual creatures.

[0004]

However, in such conventional virtual creatures, personalities such as emotional tendencies, instinct tendencies and personalities, and behavioral forms such as actions, actions and sounds are determined in advance by specifications. However, there is a problem that it is not suitable for all users' preferences and living environments.

[0005] Therefore, in such a virtual creature, if it is possible to select the personality and the behavior form according to the user's preference and living environment, the fun as the virtual creature is improved, and the entertainment of the virtual creature is improved. It is considered that the property can be improved.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and it is an object of the present invention to propose a data holding device, a robot device, a changing device, and a changing method capable of improving the entertainment property of a virtual creature or a robot device. .

[0007]

According to the present invention, there is provided a data holding device, comprising: a holding unit for holding software of a virtual creature; and a software for changing the software under control of an external device. A change means is provided. As a result, in this data holding device,
The software of the virtual creature can be changed in consideration of the user's will.

Further, in the present invention, the robot device is provided with holding means for holding software and changing means for changing the software under the control of an external device. As a result, in this robot device,
The software can be changed according to the user's will.

Further, in the present invention, in a changing device for changing software of a virtual creature, a question means for asking a user a predetermined question and generating data for changing the software while reflecting an answer of the user to the question are generated. And a data generating means for performing the processing. As a result, this changing device can change the software of the virtual creature while taking the user's intention into account.

Further, in the present invention, in the changing method for changing the software of the virtual creature, a first step of giving a predetermined question to the user and changing the software of the virtual creature while reflecting the user's answer to the question are provided. And a second step of generating the data. As a result, according to this changing method, the software of the virtual creature can be changed while taking the user's intention into account.

Further, according to the present invention, there is provided a changing device for changing software of a robot device, a question means for asking a user a predetermined question, and a predetermined device for changing software of the robot device while reflecting an answer of the user to the question. And a data generating means for generating the data. As a result, this changing device can change the software of the robot device while taking the user's intention into account.

Further, according to the present invention, in the changing method for changing the software of the robot device, the first step of giving a predetermined question to the user and the changing of the software of the robot device while reflecting the answer of the user to the question are provided. And a second step of generating the predetermined data. As a result, according to this changing method, it is possible to change the software of the robot device while taking the user's intention into consideration.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings.

(1) Configuration of Pet Robot (1-1) Configuration of Pet Robot According to the Present Embodiment In FIG. 1, reference numeral 1 denotes a pet robot as a whole according to the present embodiment. The leg units 3A to 3D are connected to each other, and the head unit 4 and the tail unit 5 are connected to the front end and the rear end of the body unit 2, respectively.

In this case, as shown in FIG. 2, a controller 10 for controlling the entire operation of the pet robot 1, a battery 11 serving as a power source for the pet robot 1, a battery sensor 12 and An internal sensor unit 14 including the thermal sensor 13 and the like are housed.

The head unit 4 has a microphone 15 corresponding to the "ears" of the pet robot and a CCD (Charge Coupled De) corresponding to the "eyes".
vice) camera 16, touch sensor 17, "mouth"
Are arranged at predetermined positions.

Further, the joints of the leg units 3A to 3D, the leg units 3A to 3D and the trunk unit 2
Each coupling portion of the coupling portion of the head unit 4 and body unit 2, and each actuator 19 ₁ ~ is like the connecting portions of the tail unit 5 and the body unit 2
19 _n are provided.

The microphone 15 of the head unit 4
Collects a command sound such as “walk”, “down” or “follow the ball” given as a musical scale by a user via a sound commander (not shown), and obtains an obtained audio signal S.
1 is sent to the controller 10. CCD camera 1
6 captures an image of the surroundings and sends the obtained image signal S2 to the controller 10.

As shown in FIG. 1, the touch sensor 17 is provided above the head unit 4, and detects a pressure applied by a physical action such as "stroke" or "hit" from the user. Then, the detection result is sent to the controller 10 as a pressure detection signal S3.

Further, the battery sensor 12 of the body unit 2 detects the remaining energy of the battery 11, and uses the detection result as a remaining battery detection signal S4.
0, the heat sensor 13 detects the heat inside the pet robot 1 and sends the detection result to the controller 10 as a heat detection signal S5.

The controller 10 includes a microphone 15,
Surrounding conditions are determined based on the audio signal S1, image signal S2, pressure detection signal S3, remaining battery detection signal S4, heat detection signal S5, and the like provided from the CCD camera 16, the touch sensor 17, the battery sensor 12, and the heat sensor 13. And whether or not there is a command from the user and whether or not there is an action from the user.

The controller 10 determines a subsequent action or operation based on the result of the determination and a control program including various control parameters stored in advance in the memory 10A.
By driving the ₁ ~ 19 _n, or to shake the head unit 4 up and down and right and left, or to move the tail 5A of the tail unit 5, Ya behaviors such as to walk by driving the leg units 3A~3D Perform the operation. In the following, a set of actions is defined and used as an action.

At this time, the controller 10 outputs a sound based on the sound signal S6 to the outside by giving a predetermined sound signal S6 to the speaker 18 if necessary, or the position of the "eye" of the pet robot 1 LED (Light Emitting D)
(iode) blinks.

In this way, the pet robot 1 can behave autonomously based on the surrounding conditions, control programs stored in the memory 10A, and the like.

(1-2) Software Configuration of Control Program The software configuration of the above-described control program in the pet robot 1 is shown in FIG. As is clear from FIG. 3, the control program includes a semantic conversion object 20, an emotion / instinct generation object 21, an action determination object 22, and an action generation object 23.

In this case, the meaning conversion object 20 is
Microphone 15, CCD camera 16, touch sensor 1
7. Input audio signal S1, image signal S2, pressure detection signal S3, remaining battery detection signal S4, and heat detection signal S5 provided from battery sensor 12 and heat sensor 13,
Based on these, "hit", "stroke", "ball detected", "battery low",
It recognizes a specific external state and internal state such as “the internal temperature has become high” and notifies the recognition result to the emotion / instinct generation object 21 and the action determination object 22.

The emotion / instinct generation object 21 receives a recognition result given from the meaning conversion object 20, personal information 24 which is one of the control parameters stored in the memory 10A, and an action decision object 22 as described later. The emotion and the instinct state of the pet robot 1 are determined based on the notification indicating the executed action, and when the emotion and the instinct state exceed a predetermined level, the action determination object 22 is notified.

That is, the emotion / instinct generation object 21
Is a total of 6 representing the strength of each of the emotions "joy,""sadness,""anger,""surprise,""fear," and "disgust."
Emotion model that holds two parameters,
It has an instinct model that holds a total of four parameters that represent the strengths of the desires “search desire”, “exercise desire”, and “appetite”, respectively.

In the memory 10A, as the personal information 24, for example, the parameter of "anger" is increased and the parameter of "joy" is decreased when "hit", and the parameter of "joy" is increased when "stroke". Together with the recognition result of the semantic conversion object 20 such as lowering the parameter of “anger” and increasing the parameter of “greatness” and increasing the parameter of “joy” when a certain action is expressed;
In response to the notification that the action has been performed from No. 2, data indicating which emotion or desire parameter value should be increased or decreased is stored.

The emotion / instinct generation object 21
Periodically changes the value of the corresponding emotion or desire parameter of the emotion model or the instinct model based on the personal information based on the recognition result given from the semantic conversion object 20, the notification from the action determination object 22, and the like. .

More specifically, the emotion / instinct generation object 21 sets the parameter value of each emotion before one cycle of the emotion to E _(n-1) , the recognition result given during the cycle, and the action determination. the numerical value obtained by a predetermined calculation based on the contents of the notification from the object 22 P, the coefficient values representing the preset sensitivity to the emotion as k _e,
Next formula

[0032]

(Equation 1)

Then, the parameter value E _(n) of the next cycle of the emotion is calculated, and the parameter value of the emotion is changed to this parameter value E _(n) .

The emotion / instinct generation object 21
For each desire, the parameter value one cycle before the desire is I _(n-1) , and the numerical value obtained by a predetermined calculation based on the recognition result given during the cycle and the notification content from the action determination object 22 is Q , And a coefficient value representing a preset sensitivity to the desire is defined as k _i ,

[0035]

(Equation 2)

Thus, the parameter value I _(n) of the next cycle of the desire is calculated, and the parameter value of the desire is changed to this parameter value I _(n) .

Then, the emotion / instinct generation object 21
When the parameter value of any emotion or desire parameter exceeds a value set in advance for the emotion or instinct as a result of the updating process of each parameter value, the action determination object 22 Notify.

The action determination object 22 includes a recognition result given from the meaning conversion object 20, a notification from the emotion / instinct generation object 21, and an action model 25 which is one of the control parameters stored in the memory 10A.
Then, the subsequent action is determined based on the above, and the determination result is notified to the action generation object 23.

In the case of this embodiment, the action determination object 22 uses the method shown in FIG.
One node (state) NODE _{0 to} NOD as shown in FIG.
Transition probabilities are respectively set whether to transition from E _n to any other node NODE ₀ ~NODE _n relative to the arc _{ARC 1 ~ARC n-1} that connects between the nodes _{NODE 0 ~NODE n P 1 ~P n} + 1 An algorithm called a probabilistic automaton that is determined stochastically based on is used.

More specifically, a state transition table 26 as shown in FIG. 5 for each of the nodes NODE _{0 to} NODE _n is stored in the memory 10A as the behavior model 25, and the behavior determination object 22 The following action is set based on Table 26.

That is, in the state transition table 26, input events (recognition results) as transition conditions at the nodes NODE _{0 to} NODE _n are listed in a row of “input event” in order of priority, and further conditions for the transition conditions are described. It is described in the corresponding columns in the rows of “data name” and “data range”.

Therefore, in the node NODE ₁₀₀ represented by the state transition table of FIG. 5, when the recognition result of “detection of ball (BALL)” is given, the “size ( SIZE) is "0
Range from (0, 1000) to
When a recognition result of “obstacle detected (OBSTACLE)” is given, the “distance” to the obstacle given together with the recognition result is “0 to 0”.
A range of 100 (0, 100) "is a condition for transition to another node.

In the node NODE ₁₀₀ , even when there is no input of the recognition result, the emotion / instinct generation object 21 which the action decision object refers to periodically.
Among the parameter values of each emotion and each desire of the emotion model and the instinct model in the table, "joy (JOY)" and "surprise (SU
"PRISE)" or "Sadness"
Is within the range of 50 to 100 (5
(0, 100) ", it is possible to transit to another node.

[0044] In the state transition table 26, along with the node name that can transition from the node NODE ₀ ~NODE _n in the column of "transition destination node" in the column of "probability of transition to another node" is listed, " Other nodes NODE that can transition when all the conditions described in each row of “input event name”, “data value” and “data range” are met
The transition probability from _{0 to} NODE _n is described in the row of “output action” in the column of “transition probability to another node”.
Note that the sum of the transition probabilities of each row in the column of “transition probability to another node” is 100%.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 26 of FIG.
LL) ", and given a recognition result that the" size "of the ball is in the range of 0 to 1000 (0, 1000), the transition probability of" 30 [%] " Can be transited to “node NODE ₁₂₀ (node ₁₂₀ )”, at which time the action of “ACTION 1” is output.

The behavior model 25 includes the nodes NODE _{0 to} NOD described as the state transition table 26.
E _n is configured as several leads. When the recognition result is given from the semantic conversion object 20 or when a notice is given from the emotion / instinct generation object 21, the action determination object 22 stores the corresponding node NODE ₀ stored in the memory 10A.
The following action and motion determined probabilistically using the status transition table 26 of ~NODE _n, is adapted to notify the determined result to the behavior generation object 23.

The action generation object 23 drives the corresponding actuators 19 _{1 to} 19 _n as needed so that the pet robot 1 expresses the specified action or action based on the notification from the action determination object 22. Control or one of the control parameters stored in the memory 10A.
A corresponding audio signal S6 (FIG. 2) is generated and sent to the speaker 18 based on the corresponding sound data in the sound data file, or one of the control parameters stored in the memory 10A. Based on the corresponding light emission data in the light emission data file, the LED at the position of the "eye" blinks in a corresponding light emission pattern.

As described above, the pet robot 1 can perform an autonomous action according to its own and surrounding conditions, instructions and actions from the user, based on the control program.

(2) Configuration of Network System 30 According to the Present Embodiment (2-1) Configuration of Network System 30 In the case of the pet robot 1, the body unit 2 is connected to a USB (Universal Serial Bus).
A connector (not shown) is provided in accordance with a predetermined standard such as, for example, the controller 10 accesses the controller 10 via the connector only during a period before the pet robot 1 is initially activated, and controls the controller 10. And the memory 10
Various control parameters included in the control program stored in A can be rewritten according to the user's preference, living environment, and the like.

FIG. 6 shows a network system 30 capable of rewriting such various control parameters of the pet robot 1.

In the network system 30, the personal terminals 31A to 31C are connected to the Internet provider 35 via the satellite communication line 32, the cable television line 33, the telephone line 34, and the like.
The Internet provider 35 is the Internet 3
6 is connected to a server 38 of a data distributor 37, and a personal terminal 31 </ b> D is directly connected to the server 38 via a general public line 39.

In this case, each of the personal terminals 31A to 31D
It is a normal personal computer installed in a general household or the like, communicates with a server 38 via the Internet 36 or a general public line 39 to transmit and receive necessary data to and from the server 38, and controls a controller of the pet robot 1. The controller 10 communicates with the controller 10 via the above-described connector, and allows the controller 10 to rewrite various control parameters in the memory 10A.

The server 38 is a Web server provided on the data distributor 37 side, and
Alternatively, screen data of various screens described below are transmitted to the personal terminals 31A to 31D accessed via the general public line 39, or necessary image data is generated to correspond to an image based on the image data. It can be displayed on the screen.

FIG. 7 shows the configuration of the server 38.
As is clear from FIG. 7, the server 38 is an LA having a built-in interface circuit for the Internet 36.
N (Local Area Network) card 4
0, a modem 41 as an interface circuit for the general public line 39, and a CPU for controlling the entire server 38
42, a temporary storage medium 43 composed of a semiconductor memory or the like as a work memory of the CPU 42, and a storage medium 44 such as a hard disk device in which various data for the server 38 to perform processing described below are stored. I have.

In the server 38, data and commands supplied from the personal terminals 31A to 31D accessed via the Internet 36 or the general public line 39 are transmitted to the CPU via the LAN card 40 or the modem 41.
42, and executes a predetermined process based on the data or command and the control information stored in the storage medium 44.

Then, the CPU 42 generates the screen data of the corresponding screen according to the processing result as necessary, and sends it to the corresponding personal terminals 31A to 31D via the LAN card 40 or the modem 41. It has been done.

(2-2) Procedure for Customizing Pet Robot 1 Next, a procedure for rewriting various control parameters of the pet robot 1 using the network system 30 will be described. The network system 30 determines the preset internal state of the pet robot 1 such as the emotional tendency, instinct tendency and personality, and the behavioral form such as behavior, action and sound according to the customization procedure RT shown in FIG. In addition, specifications can be changed (customized) according to the living environment.

That is, in the network system 30,
First, the user of the pet robot 1 sets the personal terminals 31A to 31A.
D to access the server 38 (step SP
1). As a result, a question screen 50 as shown in FIGS. 9A and 9B is displayed on the displays of the personal terminals 31A to 31D based on the screen data transmitted from the server 38 (step SP2).

The question screen 50 displays the changeable items (hereinafter, referred to as changeable internal state items and changeable behavior form items, respectively) of the pet robot 1 in the user's preference. And various questions when customizing according to the living environment.

Here, in the case of the pet robot 1, such changeable internal state items include “emotional tendency” (easy to get angry, joyful, pessimistic, etc.) and “instinctive tendency” as shown in FIG. " (Dogs, dragons, sheep, etc.). The changeable behavior form items include “behavior” (dog type, cat type or robot type) and “motion” (emotion /
There are, for example, the relationship between instinct and motion), “sound” (wanwan, pussy, etc.), and “light emission” (relation between emotion / instinct and light emission pattern, etc.).

On the question screen 50, when these changeable internal state items and changeable behavior form items are changed in accordance with the user's preference and living environment, a "favorite software" for hearing the user's preference and living environment is displayed. (FIG. 9 (A)) and “user's living environment” (FIG. 9
Various questions regarding (B)) and options for answering the questions are listed.

For example, as for “favorite software”, “questions for pet robot”,
“Pet robot sound” and “Pet robot action type” are listed as options for answering these questions, “1.
3. Banzai "," 1. Wan Wan 2. Yawning 3. Laser "," 1. Dog type 2. Cat type 3. Robot type ", and the like.

Regarding the “user's life style”, questions such as “user's age”, “user's occupation”,
“Room size of user” is raised, and “1.0-10 2.1.
0-20 3.30-40 ".

On the question screen 50, the user can select an answer to the question by sequentially clicking the corresponding option by operating the mouse on the question, and the color of the character of the selected option can be selected. Has been made to change.

Thus, for each question item described on the question screen 50, the user inputs an answer by sequentially clicking the corresponding option (step SP3).

On the other hand, the CPU 42 of the server 38 (FIG. 7)
Analyzes the user's preference for each changeable internal state item and each changeable behavior form item and the living environment of the user based on the user's answer to each question item obtained in this way (step SP4). Based on the analysis result, the standard various control parameters of the pet robot 1 stored in advance in the storage medium 44 are changed (step SP5).

More specifically, the CPU 42 performs a change process regarding “emotional tendency” among the changeable internal state items as follows.
By varying the amount of change of the emotion to the input by changing the respective values of the coefficients k _e of the emotion of emotion or instinct generating object 21 described above (FIG. 3), or to the pet robot 1 easily anger easily or pleasure By modifying the personal information 24 (FIG. 3) stored in the memory 10A, the parameter value of a certain emotion is raised or lowered with respect to a specific input.

[0068] The CPU42, as a process related to "instinct trend", by changing the amount of change in the desire for input by changing the value of the coefficient k _i of each desire of the emotion-instinct generation object 21, the pet robot 1 To make the instinct tend to be harder or more curious,
Is modified to raise or lower a parameter value of a certain desire for a specific input.

[0069] Further CPU42, as a process related to "character", emotion or instinct each emotion and the coefficient k _e of the desire of generating object _21, and the value of k _i to change each of the emotions and the desire for the input By changing the amount of change, the character is made cheerful or insane, or by modifying the personal information 24, the parameter value of a certain emotion or a certain desire is raised or lowered with respect to a specific input.

[0070] Further CPU42, as a process related to "constellation", and determines the "constellation" from the current date, the coefficient of each emotion and each desire emotion or instinct generating object 21 k _e, the value of k _i The "emotional tendency", the "instinct tendency" and the "character" are changed to predetermined tendencies by changing the "constellation" respectively, and the corresponding part of the behavior model 25 (FIG. 3) is changed to the " The behavior pattern expressed by the pet robot 1 is changed so as to be modified in accordance with the constellation as described below.

For example, in the case of “Taurus”, the coefficient of each emotion and each desire of the emotion / instinct generation object 21 has “emotional tendency”, “instinct tendency” and “character” like “cow”. k _e, while changing each of the values of _{k i,} "cow"
The behavior model 25 is changed so that a large number of behavior patterns imitating are expressed. Also, in the case of “Virgo”, the emotion / instinct generation object 21 has “emotional tendency”, “instinct tendency”, and “personality” like “female (or female)”.
Each emotion and the coefficient k _e of the _desire, while changing each value of k _i, to change the behavior model 25 as behavior patterns seems "female (or female)" is often expressed.

In the same manner, the CPU 42 executes the “Zodiac”
As processing relating, and determines the "zodiac" from the current date, modified to suit each emotion and the coefficient k _e of each desire emotion or instinct generating object _21, the value of k _i to the "Zodiac" respectively In this way, "emotional tendency", "instinct tendency" and "personality" are changed to a predetermined tendency,
In addition, the action pattern expressed by the pet robot 1 is changed by correcting the corresponding part of the action model 25 in accordance with the “zodiac sign” as described later.

[0073] For example, "emotion tendency" such as in the case of "dog", "dog", "instinct trend" and the coefficient of each emotion and each desire of the emotion-instinct generated object 21 so as to have a "personality" k _e , K _i , while changing the behavior model 25 so that a large number of behavior patterns replicating “dog” are expressed.

On the other hand, the CPU 42 corrects the corresponding part of the behavior model 25 (FIG. 3) stored in the memory 10A as described above as the processing relating to the “action” in each of the changeable behavior form items. The behavior pattern of the pet robot 1 is corrected. For example, at a certain node of the behavior model 25, “when the parameter value of the emotion of“ anger ”in the emotion / instinct generation object 21 is“ 100 ”, the action of“ punch ”is expressed with the transition probability“ 50 [%] ”;
In addition, at this time, the parameter value “100” of the emotion of “anger” is changed to “90” in the case where “sound data for“ punch ”is reproduced and light emission data for“ punch ”are reproduced”. , The transition probability “50 [%]” is modified to “80 [%]”, and the behavior, sound, and light emission pattern that appear are modified, deleted, or added to modify the behavior model 25. .

The CPU 42 adds or deletes the corresponding motion data (data for generating the motion) and records the “relation between the internal state and the motion” in the behavior model 25 as the process relating to the “motion”. Correct the part that is. For example, if a certain node of the behavior model 25 is described as “express the operation of“ Banzai ”when the parameter value of“ joy ”becomes“ 100 ””, the parameter value of “joy” When "100" is reached, the action of "inspiring pose" is developed. "

Further, the CPU 42 adds or deletes sound data or light emission data for generating a corresponding sound or light emission pattern, or performs processing such as “internal state and sound emission” in the behavior model 25 as “sound” and “light emission” processing. "Relation" or "relation between internal state and light emission pattern" is corrected.

It should be noted that which of these changeable internal state items and each of the changeable behavior form items are to be changed in accordance with the user's answer to each of the questions on the question screen 50 and how are to be changed. . For example, as shown in FIG. 11, when the user's answer to the question item of “motion of the pet robot” is “pee” and “grow”, the changeable behavior form items “action” and “action” are changed. Has been changed, and motion data for generating the actions of "pee" and "grow" has been added,
The behavior model 25 is changed so as to express the actions of “pee” and “grow”.

If the user's answer to the question “Pet robot character” is “obedient”, the changeable behavior form item “action” and the changeable internal state item “character” are changed. , 10 for "Hand" input
The behavior model 25 is changed so that the hand is returned by 0 [%], and the personal information 24 is changed so that the parameter of "joy" is increased in response to the input of "hand".

When the CPU 42 of the server 38 customizes various standard control parameters according to the user's preference and living environment by such a change process, it transmits predetermined screen data to the corresponding personal terminals 31A to 31D. Thereby, the simulation screen 60 as shown in FIG. 12 is displayed on the displays of the personal terminals 31A to 31D (step SP6).

The simulation screen 60 is a screen for simulating and displaying the internal state and behavior of the pet robot 1 based on the result of the user's answer to each question on the question screen 50 described above. It is. And this simulation screen 6
At 0, a three-dimensional image 61 of the pet robot 1 generated by the CPU 42 of the server 38 is displayed.

On the simulation screen 60, some movements (for example, “walk”, “Banzai”, “laugh”) and some sounds (for example, “yawn”, “wan-wan”) are displayed on the left side of the preview column 62. And a plurality of sample motion buttons 63A-63
C and sample sound buttons 64A and 64B are provided.
By pressing the 3C or the sample sound buttons 64A and 64B, the sample motion buttons 63A to 63C or the sample sound buttons 64A and 64A are displayed on the three-dimensional image 61 displayed in the preview field 62.
It is made possible to cause the user to perform an action or operation according to 64B, and to output corresponding sounds from the speakers of the personal terminals 31A to 31D.

Further, on the simulation screen 60, a play button 65A and a stop button 65B are provided on the right side of the preview section 62, and the play button 65A
By pressing, the three-dimensional image 61 of the pet robot 1 displayed in the preview field 62 can be made to autonomously act on the basis of the various control parameters customized as described above. By performing a pressing operation, the action of the three-dimensional image 61 can be stopped.

Further, the simulation screen 60 is provided with first to fourth rotation buttons 66A to 66D, a zoom-in button 67A and a zoom-out button 67B, and these first to fourth rotation buttons 66A to 66D are provided.
By pressing the can rotate the 3-dimensional images 61 displayed in the preview column 62 in the corresponding direction of rotation (arrow a _{1 ~} arrow a _4), also the zoom-in button 67A or the zoom-out button 67B By performing the pressing operation, the three-dimensional image 61
Can be enlarged or reduced.

Then, the user purchases the pet robot 1 based on the action pattern, sound, and the like of the three-dimensional image 61 displayed on the simulation screen 60.
It is determined whether or not the specifications of the internal state and the behavior form are acceptable (step SP7).

If the user does not like this specification, the user can click the cancel button 68.
In this case, the above-described question screen 50 (FIG. 9) is displayed again on the displays of the personal terminals 31A to 31D based on the screen data transmitted from the server 38 thereafter.
Thus, the user can use this question screen 50 to select options again for each question item.

On the other hand, the user clicks the OK button 69 if the specification is satisfactory. In this case, various control parameters customized as described above are transferred to the corresponding personal terminals 31A to 31D, and the various control parameters are transferred to the personal terminals 31A to 31D.
Is recorded on the hard disk (step SP
8).

Then, the user subsequently enters the personal terminal 31
A to 31D and the pet robot 1 are connected via a cable, and the controller 10 of the pet robot 1 is controlled using the personal terminals 31A to 31D. The control parameters are rewritten to the customized software downloaded to the personal terminals 31A to 31D as described above (step SP9). This allows the pet robot 1 to be customized according to the user's preferences and living environment.

(3) Operation and Effect of the Embodiment In the above configuration, in this network system 30, the user uses the personal terminals 31A to 31D to access the server 3
8 and select answers to the various questions described on the question screen 50 displayed in this way.

The server 38 analyzes the user's answer to each of the questions input in this manner, customizes various control parameters of the standard pet robot 1 owned by the server 38 based on the analysis result, The pet robot 1 that behaves based on the customized various control parameters is displayed by simulation.

Further, the user determines whether or not the specifications are acceptable based on the simulation, and downloads the various customized control parameters to the user's personal terminals 31A to 31D if the specifications are satisfactory. After that, the user connects the personal terminals 31A to 31D and the pet robot 1 with a cable, and the personal terminals 31A to 31D.
Controller 1 of pet robot 1 using A to 31D
0 to rewrite various control parameters stored in the memory 10A with the downloaded software.

Therefore, according to the network system 30, the internal state and behavior of the pet robot 1 can be changed according to the user's preference and living environment.
It is possible to improve the user's attachment feeling and closeness to the pet robot 1 and improve the interest as the pet robot.

In this network system 30,
As described above, the answers to the various questions on the question screen 50 can be input in an alternative manner, so that the operation of the user can be simplified and the customization of the pet robot 1 as described above can be facilitated.

Further, in the network system 30, since the result of the customization processing by the CPU 42 of the server 38 is displayed by simulation,
It is easy to imagine what kind of pet robot 1 is actually customized, and it is possible to customize the pet robot 1 closer to the ideal of the user.

According to the above configuration, the user's preferences and living environment are inquired, the user's answers to the questions are analyzed, and various control parameters of the pet robot 1 are changed based on the analysis result. Memory 10A
By rewriting the various control parameters stored in to the various control parameters after the change processing,
The pet robot 1 can be customized according to the user's preference and living environment. In this way, the user's affection and affinity for the pet robot 1 can be improved, and the interest as the pet robot can be improved. Thus, the entertainment property of the pet robot 1 can be improved.

(4) Other Embodiments In the above embodiment, the case where the network system according to the present invention is configured as shown in FIG. 6 has been described. However, the present invention is not limited to this. In addition, various configurations can be widely applied.

In the above-described embodiment, the case where the present invention is applied to the network system 30 for customizing the pet robot 1 configured as shown in FIG. 1 has been described. The present invention is not limited to this, and can be widely applied to, for example, virtual creatures other than the pet robot 1, a data holding device and a robot device for holding program data of the virtual creature, a stuffed animal, and the like.

Further, in the above embodiment, “emotional tendency”, “instinct tendency”, “character”, “constellation” and “zodiac” are changeable internal state items, and “action”, “motion”, “motion” Although the case where the "sound" and "lighting pattern" are set as changeable behavior form items has been described,
The present invention is not limited to this, and other items may be used as the changeable internal state item and the changeable behavior mode item.

In this case, for example, in the case of a virtual creature or a robot apparatus that “grows”, the growth level (the level of difficulty or complexity of action or operation) is set as a changeable internal state related item. May be.

Further, in the above-described embodiment, a case has been described where the server 38 customizes the pet robot 1 by reflecting both the user's preference and the living environment. However, the present invention is not limited to this. Pet robot 1 reflecting only one of user's preference and living environment
May be customized.

Furthermore, in the above-described embodiment, a case has been described in which various customized control parameters are provided to the controller 10 of the pet robot 1 via a cable. However, the present invention is not limited to this. The method may be provided by a signal, and various other methods can be widely applied as a method of providing various customized control parameters to the controller 10 of the pet robot 1.

Furthermore, in the above-described embodiment, a case has been described in which various control parameters of the pet robot 1 can be changed using the network system 30 configured as shown in FIG. The present invention is not limited to this, and such processing may be directly performed using only the personal terminals 31A to 31D. In this case, the above software of the server 38 is transferred to the personal terminals 31A to 31A.
31D may be provided in a form such as a CD-ROM or download.

In this case, an inquiry means (the server 38 in the case of the embodiment) for asking a question about a user's preference and a living environment, and a control program for the pet robot 1 while reflecting the user's answer to the question are prepared. Any of the change data generating means (the server 38 in the case of the embodiment) for generating the data for changing is the personal terminal 31A.
~ 31D.

Further, in the above-described embodiment, a case has been described in which various control parameters of the pet robot 1 are changed according to “events” such as “zodiac signs” and “constellations”. May be used to change various control parameters of the pet robot 1 relating to how to walk, personality, and the like.

Further, in the above-described embodiment, the case where the memory 10A is applied as the holding means for holding the control program in the pet robot 1 has been described. However, the present invention is not limited to this, and the present invention is not limited to this. Various other holding means, such as a tape or a recording medium, which can hold data, can be widely applied.

Further, in the above-described embodiment, as a changing means for changing the control program stored in the memory 10A of the pet robot 1 under the control of the external device, the controller which controls the operation of the entire pet robot 1 is provided. Although the description has been given of the case where the control unit 10 is applied, such a change unit may be provided separately from the controller 10.

Further, in the above-described embodiment, the case where the data for changing the control program of the pet robot 1 is various customized control parameters has been described, but the present invention is not limited to this, and the present invention is not limited thereto. The CPU 42 generates some change data for changing various control parameters of the pet robot 1, and based on the change data, the personal terminals 31A to 31D generate various control parameters customized according to the user's preference and living environment. You may do it.

Further, in the above embodiment, the customization of the pet robot 1 is
Has been described above only during the period before the initial startup, but the present invention is not limited to this, and may be performed after the initial startup of the pet robot 1.

[0108]

As described above, according to the present invention, in a data holding device for holding software of a virtual creature, the software of the virtual creature is changed under the control of an external device. Can be changed while taking the user's intention into account. Thus, a data holding device that can improve the user's affinity and attachment to the virtual creature and thus can improve the entertainment property of the virtual creature can be realized.

Further, according to the present invention, in the robot apparatus, the software can be changed under the control of the external device, so that the software can be changed in consideration of the user's intention. In this way, it is possible to realize a robot device that can improve the user's affinity and attachment to the robot device and thus can improve the entertainment property of the robot device.

Further, according to the present invention, in the changing apparatus and method for changing software of a virtual creature, a predetermined question is asked to a user, and data for changing the software of the virtual creature while reflecting the user's answer to the question is reflected. Is generated, the software of the virtual creature can be changed while reflecting the user's intention. As a result, it is possible to realize a change device and a method capable of improving the user's affinity and attachment to the virtual creature and thus improving the entertainment property of the virtual creature.

Further, according to the present invention, in a changing device and method for changing software of a robot device, a predetermined question is given to a user, and data for changing the software of the robot device while reflecting the user's answer to the question is reflected. Is generated, the software of the robot device can be changed while taking the user's intention into consideration. In this way, it is possible to realize a changing device and method that can improve the user's affinity and attachment to the robot device and thus can improve the entertainment of the virtual creature.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a pet robot according to the present embodiment.

FIG. 2 is a block diagram showing a circuit configuration of the pet robot shown in FIG.

FIG. 3 is a block diagram illustrating a software configuration of the pet robot.

FIG. 4 is a conceptual diagram illustrating a stochastic automaton.

FIG. 5 is a conceptual diagram showing a state transition table.

FIG. 6 is a block diagram showing a configuration of a network system according to the present embodiment.

FIG. 7 is a block diagram illustrating a schematic configuration of a server.

FIG. 8 is a flowchart showing a customization procedure.

FIG. 9 is a schematic diagram illustrating a question screen.

FIG. 10 is a schematic diagram for explaining a changeable internal state item and a changeable behavior form item;

FIG. 11 is a schematic diagram illustrating a procedure for changing software in a server;

FIG. 12 is a schematic diagram illustrating a simulation screen.

[Explanation of symbols]

1 ... pet robot, 10 ... controller, 10A
…… Memory, 30 …… Network system, 31A-
31D personal terminal, 38 server, 42 CP
U, 50... Question screen, 60... Simulation screen.

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[Procedure amendment]

[Submission Date] January 11, 2000 (2000.1.1)
1)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0032

[Correction method] Change

[Correction contents]

[0032]

[Equation 1] E _(n) = k _e P + E _(n-1) (1)

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction contents]

[0035]

## EQU2 ## I _(n) = k _i × Q + I _(n-1) (2)

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] Fig. 6

[Correction method] Change

[Correction contents]

FIG. 6

 ──────────────────────────────────────────────────続 き Continuing on the front page F term (reference) 2C150 BA06 CA02 DA05 DA24 DA26 DA27 DA28 DF03 DF04 DF06 DF33 ED42 ED52 EF03 EF13 EF16 EF23 EF29 EF33 EF36 3F060 AA00 CA14 CA26 GA05 GA13 GB06 GB21 GD12 GD14 GD15 HA02

Claims (12)

[Claims] 1. A holding device for holding said software of a virtual creature which is present as software and programmed to act or operate, comprising: holding means for holding said software of said virtual creature; and control of an external device. And a changing means for changing the software held in the holding means. 2. The method according to claim 1, wherein the changing means changes the software held in the holding means under control of an external device only during a period before the virtual creature is initially activated. Item 2. The data holding device according to Item 1. 3. A robot apparatus which performs an action based on predetermined software, wherein a holding means for holding the software, and a changing means for changing the software held in the holding means under the control of an external device. A robot device comprising: 4. The method according to claim 1, wherein the changing means changes the software held in the holding means under control of an external device only during a period before the virtual creature is initially activated. Item 4. The robot device according to item 3. 5. A changing device for changing said software of a virtual creature, which exists as software and is programmed to act or operate, comprising: question means for asking a user a predetermined question; A data generating means for generating predetermined data for changing the software of the virtual creature while reflecting the data. 6. The data generating means analyzes the user's preference and / or living environment based on the user's answer to the question, and generates the data for changing the software based on the analysis result. The change device according to claim 5, wherein the change is performed. 7. A changing device for changing the software of a virtual creature, which exists as software and is programmed to act or operate, comprising: a first step of asking a user a predetermined question; A second step of generating predetermined data for changing the software of the virtual creature while reflecting the answer. 8. In the second step, the user's preference and / or living environment is analyzed based on the user's answer to the question, and the data for changing the software is analyzed based on the analysis result. The changing method according to claim 7, wherein the changing method is generated. 9. A changing device for changing said software of a robot device which acts or operates based on predetermined software, wherein said question means for asking a user a predetermined question, and said user's answer to said question is reflected while reflecting said user's answer. A data generating means for generating predetermined data for changing the software of the robot device. 10. The predetermined data for analyzing the user's preference and / or living environment based on the user's answer to the question and changing the software based on the analysis result. 10. The changing device according to claim 9, wherein: 11. A changing method for changing said software of a robot device which acts or operates based on predetermined software, wherein a first step of asking a user a predetermined question, and reflecting the user's answer to the question are reflected. A second step of generating predetermined data for changing the software of the robot device. 12. In the second step, the preference and / or living environment of the user is analyzed based on the user's answer to the question, and the predetermined software for changing the software based on the analysis result is provided. The method according to claim 11, wherein data is generated.