JP2002118973A - Battery charger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce dimensions of a battery charger, while a battery can be charged without difficulties. SOLUTION: This charger has approximately a box shape, whose height is reduced gradually, from one end in its longitudinal direction toward the other end. The largest height is approximately the same as the height of the abdominal part of a robot device 1, when it stands on its four legs, and a horizontal length is not longer than the width between the left and right legs of the robot device 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a charging device,
In particular, the present invention relates to a toy charging device equipped with a rechargeable battery.

[0002]

2. Description of the Related Art In recent years, there have been provided toys whose appearance is modeled on animals such as dogs and cats, and such toys are driven by batteries or the like. There is a so-called charging station as a charging device for charging the battery of such a toy. Toys were charged by being joined to a charging station.

[0003]

However, various problems occur depending on the shape of the charging station. For example, charging stations that are too large take up space and are inconvenient to carry. In addition, the rechargeable battery cannot be charged unless the toy can be securely attached.

Accordingly, the present invention has been proposed in view of such a conventional situation, and even if the size is reduced,
It is an object of the present invention to provide a charging device capable of charging a battery without any inconvenience.

[0005]

In order to achieve the above-mentioned object, a charging device according to the present invention is a charging device for a toy provided with a rechargeable battery, has a substantially box shape, and has a longitudinal direction. It is characterized by comprising a housing whose height gradually decreases from one end to the other end, and a connection means electrically connected to the toy and supplying at least power.

Here, the toy is a robot device that walks on four legs. The length of the charging device in the lateral direction is equal to or less than the width of the right and left feet of the toy, and the top surface conforms to the shape of the abdomen of the toy. And the connection means is provided on the upper surface of the housing.

[0007] A connection portion for connecting a conductive wire having a connection terminal for supplying power from a DC power supply to the bottom surface, and a guide groove extending from the connection portion to at least one end in the longitudinal direction of the bottom surface are provided. There are things.

[0008]

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

A charging device according to the present invention is a charging device for charging a toy having a rechargeable battery, particularly a robot device that walks on four legs, and has a substantially box shape, and has one end in the longitudinal direction and the other end. It has a housing whose height gradually decreases toward. The length in the lateral direction of the charging device according to the present invention is formed shorter than the stride of a robot device that walks four feet, and the upper surface is formed so as to conform to the shape of the abdomen of the toy.

[0010] The charging device according to the present invention includes a terminal for supplying power and a connection terminal for the robot device, and can supply power to the toy and exchange information between the toy.

Further, in the charging device according to the present invention, a power supply connecting portion for supplying power from a DC power supply to the bottom surface, and a conductive wire is guided from the connecting portion to one end and the other end in the longitudinal direction of the bottom surface. And a guide groove.

In the present embodiment, the configuration of the robot device will be described first, and then the application of the present invention in the robot device will be described in detail.

The robot apparatus 1 to which the present invention is applied is a so-called pet robot provided with a body unit, a leg unit, a head unit, and a tail unit, simulating a "dog".

As shown in FIG. 1, the robot unit 1 has leg units 3 on the front, rear, left and right sides of the body unit 2.
A, 3B, 3C and 3D are connected.
Also, a head unit 4 is provided at the front end of the body unit 2,
The tail unit 5 is connected to the rear end of the body unit 2.

As shown in FIG. 2, a CPU (Central Processing Unit) 10 and a DRAM (Digital
dynamic Random Access Memory) 11, Flash RO
M (Read Only Memory) 12, PC (Personal Compute)
r) a control unit 16 formed by connecting a card interface circuit 13 and a signal processing circuit 14 to each other via an internal bus 15; and a battery which is a power source of the robot apparatus 1 and which can be repeatedly charged and discharged. 1
7 are stored. In the body unit 2,
The angular velocity sensor 18 and the acceleration sensor 19 for detecting the direction of the robot device 1 and the acceleration of the movement are stored.

Further, the head unit 4 receives a CCD (Charge Coupled Device) camera 20 for capturing an image of an external situation and a pressure received by a physical action such as “stroke” and “hit” from the user. A touch sensor 21 for detection, a distance sensor 22 for measuring a distance to an object located ahead, a microphone 23 for collecting external sound, and a speaker 24 for outputting a sound such as a cry. And an LED (Light Emitting Diode) (not shown) or the like corresponding to an “eye” of the robot apparatus 1 is arranged at a predetermined position.

Further, the relation between the leg units 3A to 3D is described.
Knot part, each leg unit 3A to 3D and body unit
2, the head unit 4 and the body unit 2
For connecting parts with
Number of actuators 25 ₁To 25_nAnd the potentio
Meter 26₁To 26_nAnd are arranged. Where the example
For example, actuator 25₁~ 25_nHas a servo motor
I have. Therefore, the robot device 1 is
G, head unit 4 and tail unit 5 are servo motors
Is controlled to drive the target posture or target
Actions can be taken.

The above-described angular velocity sensor 18 and acceleration sensor 1
9 connection, the touch sensor 21, distance sensor 22, microphone 23, speaker 24 and various sensors such as potentiometers, and each actuator includes a signal processing circuit 14 of the corresponding hub 27 ₁ to control unit 16 via a 27 _n Have been. In addition, CCD camera 2
0 and the battery 17 are directly connected to the signal processing circuit 14, respectively.

The signal processing circuit 14 sequentially receives sensor data, image data, audio data, and the like supplied from each of the above-described sensors, and sequentially stores them at predetermined positions in the DRAM 11 via the internal bus 15.

The signal processing circuit 14 includes a battery 17
Battery data indicating the remaining amount of power supplied from the CPU 11 is sequentially fetched and stored at a predetermined position in the DRAM 11.

The sensor data, image data, audio data, and remaining battery data stored in the DRAM 11 in this manner are used when the CPU 10 controls the operation of the robot apparatus 1.

The CPU 10 reads the control program stored in the flash ROM 12 and stores it in the DRAM 11 at the initial stage when the power of the robot apparatus 1 is turned on. Alternatively, the CPU 10 reads out a control program stored in a semiconductor memory device, for example, a so-called memory card 28 mounted on a PC card slot of the body unit 2 not shown in FIG. Store.

The CPU 10, based on the sensor data, image data, audio data, and remaining battery power data sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above, and the status of itself and the surroundings from the user. Judges whether there is any instruction and action.

Further, the CPU 10 determines this result and
The action based on the control program stored in the RAM 11 is determined. CPU10, by driving the actuator that requires from the actuator 25 ₁ to 25 _n based on the determination result, or for example, swung the head unit 4 up and down and right and left, move the tail of the tail unit 5 Then, each of the leg units 3A to 3D is driven to walk.

The CPU 10 generates audio data as necessary, and outputs the audio data to the speaker 24 via the signal processing circuit 14.
To supply. Further, the CPU 10 generates a signal for instructing turning on / off of the LED, and turns on / off the LED.

As described above, the robot apparatus 1 acts autonomously according to the situation of itself and the surroundings, and the instructions and actions from the user.

Next, FIG. 3 shows a software configuration of a control program in the robot apparatus 1.

In FIG. 3, a device driver layer 30 is located at the lowest layer of the control program, and is composed of a plurality of device drivers.
It is composed of a set 31. In this case, each device driver is an object permitted to directly access hardware used in a normal computer, such as the CCD camera 20 and a timer, and performs processing upon receiving an interrupt from the corresponding hardware.

The robotic server object 32 is located at the lowest layer of the device driver layer 30, and provides software for providing an interface for accessing hardware such as the various sensors and actuators described above. It comprises a group of device driver managers 35 and a designed robot 36 which is a group of software for managing the mechanism of the robot apparatus 1.

The manager object 37 includes an object manager 38 and a service manager 39.
It is composed of Object Manager 38
Is a software group that manages activation and termination of each software group included in the robotic server object 32, the middleware layer 40, and the application layer 41. Service Manager 39
Is a group of software for managing the connection of each object based on the connection information between the objects described in the connection file stored in the memory card 28.

The middleware layer 40 is located on the upper layer of the robotic server object 32 and is composed of a group of software for providing basic functions of the robot apparatus 1 such as image processing and voice processing. .

Further, the application layer 41 includes:
It is located on the upper layer of the middleware layer 40 and is composed of a software group for determining the behavior of the robot apparatus 1 based on a processing result processed by each software group constituting the middleware layer 40. Have been.

As shown in FIG. 4, the middle wear layer 40 includes a signal processing module 50 for noise detection, a signal processing module 51 for temperature detection, a signal processing module 52 for brightness detection, and a signal processing module 53 for scale recognition. , Distance detection signal processing module 54, attitude detection signal processing module 55, touch sensor signal processing module 5
6. Recognition system 60 having motion detection signal processing module 57, color recognition signal processing module 58, input semantics converter module 59, etc., output semantics converter module 68, attitude management signal processing module 61, tracking signal processing module 6
2, a signal processing module 63 for motion reproduction, a signal processing module 64 for walking, a signal processing module 65 for falling over, a signal processing module 66 for LED lighting, a recognition system 69 having a signal processing module 67 for sound reproduction, etc. ing.

Each of the signal processing modules 50 to 58 of the recognition system 60 fetches the corresponding data among the sensor data, image data, and voice data read from the DRAM 11 by the virtual robot 33 of the robotic server object 32. , Performs predetermined processing based on the data, and provides the processing result to the input semantics converter module 59. Here, for example, the virtual robot 33 is configured as a part that exchanges or converts signals according to a predetermined communication protocol.

The input semantics converter module 59 detects, for example, "noisy", "hot", "bright", "ball detected", and "fallover" based on the processing results given from each of the signal processing modules 50 to 58. "Has been stroked,""beaten,""de mi
Recognize self and surrounding conditions, such as "hearing the scale of the sound", "detected a moving object", "detected an obstacle", etc., and commands and actions from the user. Output to

As shown in FIG. 5, the application layer 41 is composed of five modules: a behavior model library 70, a behavior switching module 71, a learning module 72, an emotion model 73, and an instinct model 74.

The behavior model library 70 includes, for example,
As shown in FIG. 6, "when the battery level is low", "when the vehicle returns to fall", "when avoiding an obstacle", "when expressing emotion", "when the ball is detected", and the like. Independent behavior models 70 _{1 to} 7 are respectively associated with several pre-selected condition items.
0 _n is provided.

These behavior models 70 _{1 to} 70 _n are provided as necessary when a recognition result is given from the input semantics converter module 59 or when a certain time has passed since the last recognition result was given. The subsequent actions are determined with reference to the corresponding emotion parameter values held in the emotion model 73 and the corresponding desire parameter values held in the instinct model 74 as described later, and the determined result is changed to the action switching. Output to the module 71.

In the case of the robot apparatus 1 according to the present embodiment, each of the behavior models 70 _{1 to} 70 _n is transferred from _one node (node) NODE _{0 to} NODE _n as shown in FIG. Whether to make a transition or not is determined by using an algorithm called a finite probability automaton. Finite stochastic automaton is a node (state) NO
Whether the transition from one node of DE _{0 to} NODE _n to another node is determined by an arc AR connecting the nodes.
This is an algorithm that determines stochastically based on transition probabilities P _{1 to} P _n set corresponding to C _{1 to} ARC _n , respectively.

More specifically, each of the behavior models 70 _{1 to} 70
_n corresponds to nodes NODE _{0 to} NODE _n forming their own behavior models 70 _{1 to} 70 _n , respectively, and a state transition table 8 as shown in FIG.
It has 0.

In the state transition table 80, an input event (recognition result) as a transition condition at a certain node is preferentially listed in a row of "input event name", and a further condition for the transition condition is "data name". And "data range" are described in the corresponding columns in the rows.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 80 in FIG. 8, for example, when a recognition result of “detection of ball (BALL)” is given, the “NO” of the ball given together with the recognition result is given. Size (SI
ZE) is in the range of “0 to 1000”, or when a recognition result of “obstacle detected (OBSTACLE)” is given, the “distance (DISTANCE)” to the obstacle given together with the recognition result is given. ) "Is" 0
To 100 "is a condition for transition to another node.

In the NODE ₁₀₀ , even when there is no input of a recognition result, the behavior models 70 _{1 to} 70 _n
Model 73 and instinct model 74 that the user periodically refers to
Of the parameter values of each emotion and each desire held in
“Joy”, “Surprise”, and “Sadness” held in the emotion model 73
When any of the parameter values of “S)” is in the range of “50 to 100”, it is possible to make a transition to another node.

In the state transition table 80, the column of “Transition destination node” corresponding to the column of “Transition probability to another node” includes
The names of transition destination nodes that can transition from the nodes NODE _{0 to} NODE _n are listed. Also, when all the conditions described in the rows of “input event name”, “data value”, and “data range” are met, the transition probability to another node to which transition is possible is “ It is described in the corresponding part in the column of “transition probability”. The action to be output when transitioning to the node is described in the row of “output action” in the column of “transition probability to another node”.

The sum of the transition probabilities of each row in the column "Transition probabilities to other nodes" is 100 [%].

Therefore, in the node NODE 100 shown in the state transition table 80 of FIG. 8, for example, “ball is detected (BALL)”, and “SIZE” of the ball is in the range of “0 to 1000”. If the recognition result is given, it is possible to transit to “node NODE ₁₂₀ (node 120)” with a probability of “30 [%]”, and at that time, the action of “ACTION 1” is output.

Each of the behavior models 70 _{1 to} 70 _n corresponds to the node NO described in the state transition table 80.
A plurality of DE _{0 to} NODE _n are connected. Each behavior model, stochastically determine the next action by utilizing a state transition table of the node NODE ₀ to NODE _n corresponding to when the recognition result from the input semantics converter module 59 given action switching determination results Output to the module 71.

The action switching module 71 shown in FIG. 5 includes the action models 70 _{1 to} 70 _n of the action model library 70.
Of the actions output from each of the actions, a command output from a predetermined high-priority action model is selected, and a command to execute the action (hereinafter, referred to as an action command) is transmitted to the middleware layer. 40 to the output semantics converter module 68. In addition,
In the present embodiment, the behavior model marked on the lower side in FIG. 6 has a higher priority.

The action switching module 71 notifies the learning module 72, the emotion model 73, and the instinct model 74 that the action has been completed, based on the action completion information provided from the output semantics converter module 68 after the action is completed. .

On the other hand, the learning module 72 inputs, from among the recognition results given from the input semantics converter module 59, the recognition results of the teachings received from the user, such as "hitted" and "stroked". I do.

Then, based on the recognition result and the notification from the action switching module 71, the learning module 72 lowers the probability of occurrence of the action when "beaten (scolded)" and "strokes ( praised obtained) "sometimes to increase the expression probability of that action, among the behavior model 70 ₁ to 70 _n in the behavioral model library 70, to change the transition probabilities of the corresponding behavior model.

On the other hand, the emotion model 73 indicates “joy (JO
Y), “Sadness”, “Angry (AN)
GER), "Surprise", "Disgust" (DISGUST), and "Fear" (FEAR), a parameter representing the strength of each of the six emotions. Then, the emotion model 73 sends the parameter values of each of these emotions to the specific recognition results such as “hit” and “stroke” from the input semantics converter module 59, the elapsed time, and the notification from the action switching module 71. Is periodically updated based on the above.

More specifically, the emotion model 73 is provided with a predetermined calculation based on the recognition result given from the input semantics converter module 59, the behavior of the robot device 1 at that time, the elapsed time since the last update, and the like. It is calculated by the formula.

[0054] The amount of variation of affective ΔE [t], E [t ] of the current parameter value of the emotion, the coefficient representing the sensitivity of the emotion as k _e, in the next period by equation (1) below The parameter value E [t + 1] of the emotion is calculated, and the parameter value of the emotion is updated by replacing the parameter value E [t] with the parameter value E [t] of the current emotion. The emotion model 73 updates the parameter values of all emotions in the same manner.

[0055]

(Equation 1)

The degree to which each recognition result and the notification from the output semantics converter module 68 affect the variation ΔE [t] of the parameter value of each emotion is determined in advance. Is a variation ΔE of the parameter value of the emotion of “anger”.
[T] is greatly affected, and a recognition result such as "stroke" has a large effect on the parameter value ΔE [t] of the emotion of "joy".

Here, the notification from the output semantics converter module 68 is so-called action feedback information (action completion information), and is information on the appearance result of the action. The emotion model 73 changes the emotion according to such information. This means that, for example, the action of “barking” lowers the emotional level of anger.

The notification from the output semantics converter module 68 is sent to the learning module 72 described above.
The learning module 72 changes the corresponding transition probabilities of the behavior models 70 _{1 to} 70 _n based on the notification. The feedback of the action result may be made by the output of the action switching modulator 71 (the action to which the emotion is added).

On the other hand, the instinct model 74 includes, for example, “Exercise”, “Affection”
N), "Appetite", "Curiosity (C
For each of the four desires independent of each other, a parameter indicating the strength of the desire is held. Then, the instinct model 74 periodically updates these parameter values of the desire based on the recognition result given from the input semantics converter module 59, the elapsed time, the notification from the action switching module 71, and the like.

More specifically, in the instinct model 74, for “exercise desire”, “affection desire”, and “curiosity”, based on a recognition result, an elapsed time, a notification from the output semantics converter module 68, etc. It is calculated from the calculation formula. ΔI the variation desire this time [k], I [k] of the parameter value of the current desire, as the coefficient k _i indicating the sensitivity of the desire, the following by using the equation (2) below a predetermined cycle The parameter value I [k + 1] of that desire in the cycle
Is calculated, and the parameter value of the desire is updated by replacing the calculation result with the current parameter value I [k] of the desire. Similarly, the instinct model 74 updates the parameter values of each desire excluding “appetite”.

[0061]

(Equation 2)

The degree to which the recognition result and the notification from the output semantics converter module 68 affect the variation ΔI [k] of the parameter value of each desire is determined in advance. For example, the output semantics converter module 68 The notification from 68 has a great effect on the variation ΔI [k] of the parameter value of “fatigue”.

In this embodiment, each emotion and
And the parameter value of each desire (instinct) is 0 to 10
It is regulated to fluctuate in the range up to zero.
Number k _e, K_iIs also set individually for each emotion and each desire
ing.

On the other hand, the output semantics converter module 68 of the middleware layer 40 is, as shown in FIG. 4, "forward" and "pleased" given from the action switching module 71 of the application layer 41 as described above. , "Sound" or "tracking the ball" is given to the corresponding signal processing modules 61 to 67 of the recognition system 69.

When an action command is given, the signal processing modules 61 to 67 receive servo command values and the like to be given to the corresponding actuators 25 _{1 to} 25 _n in order to perform the action based on the action command. The data is sequentially transmitted to the corresponding _{one of} the actuators 25 _{1 to} 25 _n via the virtual robot 33 of the robotic server object 32 and the signal processing circuit 14 in sequence.

The signal processing modules 61 to 67
Generates audio data of the sound output from the speaker 24 and / or data relating to the operation of the LED of the “eye”, and generates these data from the robotic server object 3.
The signal is sequentially transmitted to the speaker 24 or the LED via the second virtual robot 33 and the signal processing circuit 14.

In this way, the robot apparatus 1 can perform autonomous actions according to its own (internal) and surrounding (external) conditions, instructions and actions from the user based on the control program. It has become.

As described above, since the robot apparatus 1 can act autonomously on the basis of the emotion model 73 and the instinct model 74, for example, by connecting a conductive wire to the robot apparatus 1, Supply hinders the operation of the robot apparatus 1. Therefore, the robot device 1
Has a battery 17 as shown in FIG. 2 and is driven by electric power supplied from the battery 17. The charging device according to the present invention is suitably used as a charging device that charges a battery 17 as a charging battery provided in the robot device 1.

Hereinafter, a configuration example of the charging device 201 according to the present invention will be described in detail with reference to FIGS. 9 to 13.

The charging device 201 includes a robot device receiving portion 211 on which the robot device 1 is mounted, a display portion 212 for displaying the state of charge of the robot device, a front cover 213 covering a part of the display portion 212, A portion 214, a bottom recess 215 having a connection portion for taking in power from a DC power supply, and at least a first guide groove 216 and a second guide groove 217 for guiding a power cord.

The charging device 201 is formed as a half-drop type whose height gradually decreases along one curved surface from one end to the other end in the longitudinal direction of the charging device. At this time, the display unit 212 is provided on the higher end face. Hereinafter, the surface on which the display unit 212 is provided is referred to as a front surface, and the lower end portion is referred to as a rear end portion.

The highest part of the charging device 201 is formed at a height substantially equal to the height of the abdomen when the robot device 1 stands on four legs and stands still. In addition, the charging device 2
The length in the lateral direction of 01 is less than or equal to the width of the right and left feet of the robot device 1.

In the charging device 201, the robot device receiving portion 211 has a substantially curved shape along the abdomen of the robot device 1. 9 to 1
As shown in FIG. 1, a connection portion 218 and a mounting detection portion 219 are provided on the main surface of the robot device receiving portion 211.

The connecting portion 218 is provided at a position corresponding to the connecting portion provided on the robot device 1 when the robot device 1 is mounted. Although not shown, the connection portion 218 has a function as a connector for power supply and information exchange, and contacts the connection portion on the robot device 1 when the robot device 1 is mounted, and To supply power. In addition, the power storage device receives power storage information of a rechargeable battery mounted on the robot device 1 and information on an internal state of the robot device 1.

FIG. 13 shows a specific configuration example of the connection section 218. 13A shows the connection unit 218 in a state where the robot device 1 is not mounted, and FIG.
The connection part 218 in a state where the robot device 1 is mounted is shown.

The connecting portion 218 is connected to the connector cover 231.
In the state where the robot apparatus 1 is not mounted,
The connector portion 232 having functions for power supply and information exchange is covered with the connector portion cover 231. The connector cover 231 is urged with an elastic force, and is pushed down when the robot device 1 comes into contact with the robot device receiving portion 211. When the connector cover 231 is pressed down, the connector cover 231 is pressed.
The power supply and information exchange connector 232 covered by the power supply is exposed and connected to a connection unit (not shown) provided in the robot apparatus 1.

The mounting detector 219 is provided at a position where the robot device 1 comes into contact when the robot device 1 is mounted. The mounting detection unit 219 includes the robot device receiving unit 21
When the robot device 1 is mounted on the robot device receiving portion 211, the charging device 201 is protruded by the abdomen of the robot device 1 when the robot device 1 is mounted on the robot device receiving portion 211. Pushed down inside. The mounting detection device 219 thereby detects that the robot device 1 is mounted. When detecting that the robot device 1 is mounted, the mounting detection device 219 starts charging and acquires information on the internal state of the robot device 1.

The display unit 212 is, for example, a liquid crystal display device, and stores at least the storage information of the rechargeable battery mounted on the main body of the robot device 1 and the emotion in the emotion model 74 of the robot device 1 obtained through the information exchange connector. The information of the internal state according to the parameter and the parameter of the desire in the instinct model 74, or various other information is displayed. The display unit 212 also displays power storage information and the like of a rechargeable battery serving as a sub-battery charged in a charging unit 220 described below.

The front cover 213 is provided on the display unit 2 on the front.
An opening is provided at a location corresponding to No. 12. The front cover 213 is formed in a substantially L shape so as to cover the operation unit 214 provided on the upper surface and the periphery of the display unit.

The front cover 213 is pivotally mounted at a predetermined position near the bottom surface, and is openable and closable with respect to the main body of the charging device 201 so as to extend in the longitudinal direction of the charging device 201.

The operation unit 214 is, for example,
And is provided on the top surface. A charging unit 220 that charges a rechargeable battery as a sub-battery is provided next to the operation unit 214.

The bottom recess 215 is formed in a substantially central portion of the bottom surface of the charging device 201 so as to have a substantially concave cross section from the bottom surface toward the inside of the charging device 201. A power supply connection unit 233 for taking in power is provided. A first guide groove 216 and a second guide groove 217 extend from the bottom surface recess 215 along the bottom surface of the charging device 201.

The first guide groove 216 has a power cord 224 for supplying power to the power connection portion 233.
Are formed on the bottom surface of the charging device 201 with a size substantially equal to the diameter of the charging device 201. The first guide groove 216 extends from the bottom recess 215 toward the front surface of the charging device 201 in parallel with the longitudinal direction of the charging device 201. After the first guide groove 216 is bent right and left at an angle of about 90 ° with respect to the longitudinal direction of the charging device 201 near the front surface,
It is extended in parallel with the lateral direction of the charging device 201. The first guide groove 216 is further bent at approximately 90 ° in the front direction of the charging device 201 and extended, and is connected to the first lead-out portion 221.

On the other hand, the diameter of the second guide groove 217 is substantially equal to the diameter of the power supply cord 224 for supplying power to the power supply connection portion 233, and the charging device 201
Is a narrow groove formed on the bottom surface of the. Second guide groove 217
Bottom recess 215 parallel to the longitudinal direction of charging device 201
Extending toward the rear end of the charging device 201 from
It is connected to the second lead-out section 222.

The first guide groove 216 and the second guide groove 217 are provided with claws 223. Therefore, the power cord 224 is stably stored along the guide groove by being pressed by the claw portion 223.

The first lead-out portion and the second lead-out portion are formed as openings having substantially the same shape as the diameter of each guide groove.
Are formed on the side surface and the rear end side surface.

The first deriving unit 221 supplies the power cord 224
FIG. 9 shows a state in which is derived. At this time, the power cord 224 can be led out from both the left and right sides with respect to the front surface. FIGS. 11 and 1 show the state when the power cord 224 is derived from the second deriving unit 222.
2 is shown. 12, a power plug 225 for supplying a current from a DC power supply is inserted into the bottom recess 215, and a power cord 224 extended from the power plug 225 is secondly led out along the second guide groove 217. Part 2
22 is shown.

As described above, the power cord 224 connected to the power connection portion 233 of the bottom recess 215 is connected to the charging device 20.
A first guide groove 216 formed on one bottom surface, or a second guide groove
Are accommodated along the guide groove 217.

As described above, the charging device 201
When the robot apparatus 1 is turned to the front from the rear end of the charging apparatus 201, the robot apparatus 1 is placed in the “squatting posture” with the abdomen placed on the robot apparatus receiving section 211 on the upper surface. Charge. That is, the charging device 201 fits within the width of the main body of the robot device 1 (the width of the right and left feet), and can be charged as long as there is a space having at least the width of the main body of the robot device 1. Also, at this time, the charging device 201 is
Is provided with a power supply connection portion 233 on the inner surface thereof, so that the connection with the power supply plug 225 is always stably maintained. Therefore, the charging device 201 enables stable power supply to the robot device 1.

The charging device 201 has a shape in which the height gradually decreases from one end in the longitudinal direction of the charging device 201 toward the other end. Is formed at a height substantially equal to the height to the abdomen when standing and standing still, and
The length of the robot 1 in the lateral direction is equal to or less than the width of the right and left feet of the robot device 1.

Therefore, the charging device 201 is, for example,
Even when the robot apparatus 1 performs the charging operation autonomously, the charging operation of the robot apparatus 1 is not prevented. That is,
The robot device 1 enters from the lower end side of the charging device 201, advances while straddling the charging device 201, stops the advancing operation when the abdomen reaches the robot device receiving portion 211, By shifting the abdomen to the device receiving portion 211 and shifting to the resting position (“squatting position”), the robot is connected to the connecting portion 218 of the robot device receiving portion 211 and autonomously controls charging operation and output of information on the internal state. It is possible to do.

The present invention is not limited to only the above-described embodiment, and it goes without saying that various changes can be made without departing from the spirit of the present invention.

[0093]

As described in detail above, the charging device according to the present invention is a toy charging device provided with a rechargeable battery, has a substantially box-like shape, and has one end extending from one end in the longitudinal direction to the other end. It has a housing whose height gradually decreases, and connection means electrically connected to the toy and supplying at least electric power.

Here, the toy is a robot device that walks on four legs, and the length of the charging device in the lateral direction is equal to or less than the width of the right and left feet of the toy, and the top surface conforms to the shape of the abdomen of the toy. And the connection means is provided on the upper surface of the housing.

Further, a connection portion for connecting a conductive wire having a connection terminal for supplying power from a DC power supply to the bottom surface, and a guide groove extending from the connection portion to at least one longitudinal end of the bottom surface are provided. There are things.

Accordingly, the charging device according to the present invention
Charging is possible as long as there is a space having at least the width of the main body (width of the right and left feet) of the robot device.

Further, the charging device according to the present invention is provided with a connection portion in the concave portion on the bottom surface so that the connection terminal from the DC power supply is always stably held. Therefore, the charging device is stable with respect to the robot device. Enables power supply.

Further, the charging device according to the present invention does not hinder the charging operation when the robot device performs the charging operation autonomously.

[Brief description of the drawings]

FIG. 1 is an external view showing an external appearance of a robot device provided with a rechargeable battery charged by a charging device according to the present invention.

FIG. 2 is a configuration diagram showing a configuration of a robot device including a rechargeable battery charged by the charging device according to the present invention.

FIG. 3 is a configuration diagram illustrating a software configuration of a control program in the robot device.

FIG. 4 shows a control program in the robot apparatus.
FIG. 3 is a configuration diagram illustrating a configuration of a middleware layer.

FIG. 5 shows a control program in the robot apparatus.
FIG. 2 is a configuration diagram illustrating a configuration of an application layer.

FIG. 6 shows a control program in the robot apparatus.
FIG. 3 is a configuration diagram illustrating a configuration of an action model library.

FIG. 7 is a schematic diagram illustrating a finite probability automaton that is an algorithm for determining an action of a robot device.

FIG. 8 is a diagram illustrating a state transition condition for determining an action of the robot device.

FIG. 9 is an external view showing the external appearance of the charging device according to the present invention.

FIG. 10 is an external view showing the external appearance of the charging device according to the present invention with the front cover opened.

FIG. 11 is an external view showing the external appearance of the charging device according to the present invention.

FIG. 12 is a plan view showing a bottom surface of the charging device according to the present invention.

FIG. 13 is a schematic diagram showing an outline of a connection portion between the charging device and the robot device according to the present invention.

[Explanation of symbols]

1 robot device, 2 body unit, 3A, 3B,
3C, 3D leg unit, 4 head unit, 5 tail unit, 201 charging device, 211 robot device receiving unit, 212 display unit, 213 front cover, 214 operation unit, 215 power connection unit, 216 first guide groove , 2
17 second guide groove, 218 connection part, 219 mounting detection part, 220 charging part, 221 first lead-out part, 22
2 second lead-out section, 223 claw section, 224 power cord, 231 connector section cover, 232 connector section,
233 Power supply terminal

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Kinoshita 6-7-35 Kita-Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation (72) Inventor Jun Uchiyama 6-35, Kita-Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation (72) Inventor Yoshiaki Kumagai 6-7-35 Kita-Shinagawa, Shinagawa-ku, Tokyo Sony Inside (72) Inventor Toru 6-7-35 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni F term (reference) 2C150 CA02 DA05 DA24 DA26 DA27 DA28 FA03 FA04 5G003 AA01 FA01 5H030 AS11 AS18 BB01 DD04 DD11

Claims (11)

[Claims] 1. A toy charging device provided with a rechargeable battery, wherein the housing has a substantially box shape, and a height gradually decreases from one end to the other end in the longitudinal direction; And a connection means for supplying power at least. 2. The charging device according to claim 1, wherein the toy is a four-legged walking robot device, and the length in the lateral direction is equal to or less than the width of the right and left feet of the toy. 3. The charging device according to claim 1, wherein the toy is a robot device that walks on four legs, and an upper surface of the toy has a shape conforming to a shape of an abdomen of the toy. 4. The charging device according to claim 1, wherein said connection means is provided on an upper surface of said housing. 5. The connecting means comprises: a conductive portion electrically connected to the toy; and a conductive portion cover covering the conductive portion, wherein the conductive portion cover is provided when the toy is not mounted. The charging device according to claim 1, wherein the charging unit covers the conductive unit, and exposes the conductive unit when the toy is mounted. 6. The charging device according to claim 1, wherein the connection means performs power supply to the toy and information exchange between the toy. 7. The charging device according to claim 1, further comprising a mounting detection unit that detects whether the toy is mounted. 8. The charging device according to claim 1, further comprising display means, wherein the display means displays at least status information of the toy. 9. The charging device according to claim 8, wherein the state information includes power storage information of the mounted toy. 10. The charging device according to claim 8, wherein the toy is a robot device that operates based on an internal state, and wherein the display unit displays the internal state. 11. A connection portion for connecting a conductive wire having a connection terminal for supplying power from a DC power supply to a bottom surface, a guide groove extending from the connection portion to at least one end in a longitudinal direction of the bottom surface. The charging device according to claim 1, further comprising: