JP2002192485A - Robot device, information display system and method, robot system, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To have a dialogue with a robot device. SOLUTION: The personal computer displays original words 110 of a message, its translation 111, an image 112, a message 113 of a user, etc., as a diary screen using information stored by the robot device 1 in a memory card and data of database stored in a storage device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device, an information display system and a method therefor, a robot system, and a recording medium, and more particularly, to a robot device having an external shape imitating an animal, and such a robot. The present invention relates to an information display system and method using the device, a robot system, and a recording medium.

[0002]

2. Description of the Related Art In recent years, there has been proposed an autonomous robot apparatus that behaves autonomously according to the surrounding environment and internal state. The appearance of the robot device is imitated by an animal such as a dog, and the robot changes its emotions and instinct according to the surrounding environment and internal conditions, and acts based on the changed emotion and instinct. There is something to do. Such a robotic device can be made into a pet or a member of a family, and a user can enjoy various conversations with such a robotic device.

[0003]

By the way, the robot apparatus has a conversation with a user by voice or action using a microphone, a leg, or the like of the robot apparatus. However, the user cannot know the emotions and the like of the robot device in words. In particular, a user who lives together with a robot device as a pet or a member of a family necessarily wants to have a verbal dialog with the robot device.

Accordingly, the present invention has been made in view of the above circumstances, and has been made in view of the above circumstances. It is an object to provide a method, a robot system, and a recording medium.

[0005]

According to the present invention, there is provided a robot apparatus for acquiring information to be displayed on an information display device, and information acquired by the information acquiring means. Information transfer means for transferring the information to the information display device.

A robot device having such a configuration is
Information to be displayed on the information display device is acquired by the information acquisition unit, and the information acquired by the information acquisition unit is transferred to the information display device by the information transfer unit.

[0007] Such a robot device transfers the information obtained by itself to an information processing device or the like that displays a document on an information display unit based on the information obtained by the robot device.

Further, the information display system according to the present invention comprises:
In order to solve the above-mentioned problem, a robot apparatus includes an information acquisition unit for acquiring information and an information transfer unit for transferring the information acquired by the information acquisition unit.
Further, the information display system includes an information processing device that displays a sentence on the information display unit using a sentence pattern prepared in advance based on the information acquired by the information transfer unit transferred by the information transfer unit. .

Thus, in the information display system,
The robot device acquires information by the information acquisition unit, and transfers the information acquired by the information acquisition unit to the information display unit by the information transfer unit. On the other hand, the information processing apparatus displays a sentence on the information display unit using a sentence pattern prepared in advance, based on the information acquired by the information acquisition unit transferred by the information transfer unit.

[0010] Such an information display system displays a document on the information display unit based on the information acquired by the robot device.

According to another aspect of the present invention, there is provided an information display method comprising: obtaining information by a robot device; and preparing the information in advance in the information processing device based on the information obtained by the robot device. The sentence is displayed on the information display unit using the sentence pattern. That is, according to the information display method, a document is displayed on the information display unit based on the information acquired by the robot device.

Further, the robot system according to the present invention comprises:
In order to solve the above-mentioned problems, a robot device that acts autonomously, an information processing device that processes information based on the robot device, and an image display unit that displays contents related to information processed by the information processing device Is provided.

Here, in the robot system, the robot device has information acquisition means for acquiring activity information based on the activity of the robot device, and storage means for storing the activity information acquired by the information acquisition means. The information processing apparatus has a message pattern storage unit in which a plurality of messages or sentences are stored, and a diary creating unit that creates a diary for the robot device based on the activity information and the message or sentence, The image display means displays the diary created by the diary creation means.

In such a robot system, a diary relating to the robot device is displayed on the image display means based on the activity information acquired by the robot device.

Further, in order to solve the above-mentioned problems, the information display method according to the present invention obtains activity information based on the activity of the robot device by a robot device acting autonomously. A diary for the robot device is created based on the message or the sentence in the message pattern storage unit in which a plurality of messages or sentences are stored and the activity information, and displayed on the image display unit. That is, according to the information display method, a diary related to the robot device is displayed on the image display means based on the activity information acquired by the robot device.

Further, in order to solve the above-mentioned problems, a recording medium according to the present invention comprises, from activity information based on the activity of a robot apparatus that behaves autonomously, and a plurality of messages or sentences, a diary about the robot apparatus. Record the program to create. That is, according to the program recorded on the recording medium, a diary relating to the robot device is displayed on the image display means based on the activity information acquired by the robot device.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings. This embodiment is an autonomous robot device that autonomously behaves according to a surrounding environment or an internal state. The robot device 1 is a diary (DI) started on an information processing device such as a personal computer.
ARY) has a function for realizing the function.

In the embodiment, first, the configuration of the robot device will be described, and then the diary function using the robot device will be described in detail.

(1) Configuration of Robot Apparatus According to the Present Embodiment As shown in FIG. 1, a so-called pet robot having a shape imitating an animal such as a "dog" is provided. The units 3A, 3B, 3C, 3D are connected, 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.

As shown in FIG. 2, a CPU (Central Processing Unit) 10 and a DRA
M (Dynamic Random Access Memory) 11, Flash ROM (Read 0nly Memory) 12, PC (Personal Co.)
A controller 16 formed by interconnecting a card interface circuit 13 and a signal processing circuit 14 via an internal bus 15 and a battery 17 as a power source of the robot apparatus 1 are housed therein. . The body unit 2 also houses an angular velocity sensor 18 and an acceleration sensor 19 for detecting the acceleration of the direction and movement of the robot device 1.

The head unit 4 has an image pickup device 20 such as a CCD (Charge Coupled Device) camera for picking up an image of an external situation, and physical actions such as "stroke" and "hit" from the user. , A distance sensor 22 for measuring a distance to an object located ahead, a microphone 23 for collecting external sound, and outputting a sound such as a cry. (Light Emitting Diode) corresponding to a speaker 24 for performing the operation and an external “eye” of the robot apparatus 1
(Not shown) 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
The actuators 25 _{1 for the} degrees of freedom are respectively provided at the connection portions of the head unit 4 and the trunk unit 2, and at the connection portion of the tail 5 A of the tail unit 5.
To 25 _n and potentiometers 26 _{1 to} 26 _n are provided. For example, each of the actuators 25 _{1 to} 25 _n has a servomotor. By driving the servo motor, the leg units 3A to 3D are controlled, and transition to a target posture or operation is made.

The angular velocity sensor 18, acceleration sensor 19, touch sensor 21, distance sensor 22, microphone 23, speaker 24 and each potentiometer 2
6 _1-26 various sensors and LED and the actuator ₂₅ 1 to 25 _n, such as _n is connected to the signal processing circuit 14 of the control unit 16 via a corresponding hub ₂₇ 1 ~ 27 _n, the imaging device 20 and the battery 17
Are directly connected to the signal processing circuit 14, respectively.

The signal processing circuit 14 sequentially takes in the sensor data, image data, and audio data supplied from each of the above-mentioned sensors, and sequentially stores them at predetermined positions in the DRAM 11 via the internal bus 15. In addition, the signal processing circuit 14 sequentially takes in remaining battery power data indicating the remaining battery power supplied from the battery 17 and stores the data at a predetermined position in the DRAM 11.

The sensor data, image data, audio data, and remaining battery data stored in the DRAM 11 as described above are then transmitted to the robot apparatus 1 by the CPU 10.
It is used when controlling the operation of.

In practice, when the power of the robot apparatus 1 is turned on, the CPU 10 executes the control program stored in the memory card 28 or the flash ROM 12 inserted in the PC card slot (not shown) of the body unit 2 into the P.
The data is read out via the C card interface circuit 13 or directly and stored in the DRAM 11.

The CPU 10 then determines the status of itself and its surroundings and the usage based on the sensor data, image data, audio data, and remaining battery data sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above. Judge the instruction from the person and the presence or absence of the action.

Furthermore, CPU 10 is configured to determine a subsequent action based on the control program stored in the determination result and DRAM 11, by driving the actuator ₂₅ 1 to 25 _n required based on the determination result, the head The unit 4 can be swung up and down, left and right, the tail 5A of the tail unit 5 can be moved, and each leg unit 3A can be moved.
3D is driven to perform an action such as walking.

At this time, the CPU 10 generates audio data as necessary, and supplies the generated audio data to the speaker 24 as an audio signal via the signal processing circuit 14 to output an audio based on the audio signal to the outside. LE above
D is turned on, off or blinked.

In this way, the robot device 1 can autonomously act in accordance with the situation of itself and the surroundings, and instructions and actions from the user.

(2) Software Configuration of Control Program Here, the software configuration of the above-described control program in the robot device 1 is as shown in FIG. In FIG. 3, a device driver layer 30 is located at the lowest layer of the control program, and includes a plurality of device drivers.
It comprises a device driver set 31 composed of drivers. In this case, each device driver
An object that is allowed to directly access hardware used in a normal computer, such as the imaging device 20 (FIG. 2) and a timer, and performs processing in response to an interrupt from the corresponding hardware.

The robotic server object 32 is located at the lowest layer of the device driver layer 30 and includes, for example, the various sensors and actuators 2 described above.
A virtual robot 33 comprising a software group that provides a 5 _to 253 interface for accessing hardware such as _n, a bus word manager 34 made of a software suite for managing the power supply switching, the other various device A device driver manager 35, which is a group of software for managing drivers, and a designed driver, which is a group of software for managing the mechanism of the robot device 1,
And a robot 36.

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, and includes a service manager 39.
Are 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 (FIG. 2).

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 sound processing. I have. Further, the application layer 41 is located above the middleware layer 40, and
It is composed of a software group for determining an action of the robot apparatus 1 based on a processing result processed by each software group constituting the layer 40.

FIG. 4 shows specific software configurations of the middleware layer 40 and the application layer 41, respectively.

In the above description, the case where the signal processing module 53 for scale recognition or the signal processing module 58 for color recognition for performing image processing or sound processing is provided in the middleware layer 40 is described. Although described, for example, these functions can be provided in the application 41.

As shown in FIG. 4, the middle wear layer 40 is for noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, touch sensor,
Each signal processing module 50 for motion detection and color recognition
58 and input semantics converter module 5
9 and an output semantics converter module 68 and signal processing modules 61 to 67 for attitude management, tracking, motion reproduction, walking, fallback recovery, LED lighting and sound reproduction. And an output system 69.

Each signal processing module 50 to 50 of the recognition system 60
Numeral 58 fetches corresponding data among the sensor data, image data, and audio data read from the DRAM 11 (FIG. 2) by the virtual robot 33 of the robotic server object 32, and performs predetermined processing based on the data. Is given 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 "noisy", "hot", "bright", "ball detected", and "fallover" based on the processing results given from each of the signal processing modules 50 to 58. Self and surrounding conditions such as `` has been stroked '', `` stroked '', `` hitted '', `` he heard the domes '', `` detected a moving object '' or `` detected an obstacle '', and the user , And outputs the recognition result to the application layer 41 (FIG. 2).

As shown in FIG. 5, the application layer 41 includes 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.

As shown in FIG. 6, the behavior model library 70 includes “when the remaining battery power is low”, “returns to fall”, “when avoiding obstacles”, and “when expressing emotions”. , And independent action models 70 ₁ to 70 _n are respectively provided corresponding to some pre-selected condition items such as “when a ball is detected”.

The behavior models 70 ₁ to 70 _n
Are stored in the emotion model 73 as described later, as necessary, when a recognition result is given from the input semantics converter module 59 or when a certain period of time has passed since the last recognition result was given. The next action is determined with reference to the corresponding emotion parameter value and the corresponding desire parameter value held in the instinct model 74, and the determination result is output to the action switching module 71.

In the case of this embodiment, each of the behavior models 70 ₁ to 70 _n uses the following method to determine the next behavior.
One node (state) NODE _{0 to} N as shown in FIG.
The transition probability _P 1 to P _n which is set respectively arc _ARC 1 _{~ARC n1} connecting between whether to transition from ODE _n to any other node NODE ₀ ~NODE _n each node NODE ₀ ~NODE _n An algorithm called a finite stochastic automaton that determines stochastically on the basis is used.

More specifically, each of the behavior models 70 ₁ to 70 _1
n has a state transition table 80 as shown in FIG. 8 for each of the nodes NODE _{0 to} NODE _n corresponding to the nodes NODE ₀ to NODE _n forming their own behavior models 70 ₁ to 70 _n , respectively. ing.

In the state transition table 80, the node NO
Input events (recognition results) as transition conditions in DE _{0 to} NODE _n are listed in order of priority in the column of “input event name”, and further conditions for the transition condition are columns of “data name” and “data range”. In the corresponding line.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 80 in FIG.
LL) ”, the“ size (SIZ) of the ball given together with the recognition result is given.
E) 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 in the range of “0 to 100”, which is a condition for transitioning to another node.

In the node NODE ₁₀₀ , even when the recognition result is not input, the behavior model 70 ₁
Of the parameter values of each emotion and each desire held in the emotion model 73 and the instinct model 74 which are periodically referred to by the _n- 70n, “joy” and “surprise” held in the emotion model 73 are stored. )) Or "Sadness (SUDNESS)" when the parameter value is in the range of "50 to 100", it is possible to transition to another node.

In the state transition table 80, the names of nodes that can transition from the nodes NODE ₀ to NODE _n are listed in the row of “transition destination node” in the column of “transition probability to another node”. Input event name ",
Other nodes NOD that can transition when all the conditions described in the columns of “data name” and “data range” are met
The transition probabilities from E _{0 to} NODE _n are respectively described in corresponding portions in the column of “transition probability to other nodes”, and the action to be output when transitioning to that node NODE _{0 to} NODE _n is “other It is described in the row of “output action” in the column of “transition probability to node”. Note that the sum of the 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 80 in FIG. 8, for example, “ball is detected (BALL)”, and the “SIZE” of the ball is in the range of “0 to 1000”. Is given, the probability of “30 [%]” and “node N
ODE ₁₂₀ (node 120) "and then" A
The action of “CTION1” is output.

Each of the behavior models 70 ₁ to 70 _n has the node NO described in the state transition table 80 as described above.
DE ₀ to NODE _n are connected to each other, and when a recognition result is given from the input semantics converter module 59 or the like, the probability is calculated using the state transition table of the corresponding nodes NODE ₀ to NODE _n. The next action is determined, and the determination result is output to the action switching 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.
Among the actions which are output from, select an action that is output from a predetermined higher priority behavior model 70 ₁ to 70 _n, the command to the effect that execute the action (hereinafter, referred to as an action command )) Middleware
The output is sent to the output semantics converter module 68 of the layer 40. Incidentally, in this embodiment, the behavior model, labeled on the lower side in FIG. 6 70 ₁ to 70 _n
The higher the priority, the higher the 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 the recognition result of the teaching received from the user, such as “hit” or “stroke”, among the recognition results given from the input semantics converter module 59. 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, behavior model 70 _1-7 corresponding in behavioral model library 70
Change the corresponding transition probabilities of 0 _n .

On the other hand, the emotion model 73 indicates “joy (jo
y) "," sadness "," anger ",
For a total of six emotions, “surprise”, “disgust”, and “fear”, a parameter indicating the strength of the emotion is stored for each emotion. Then, the emotion model 73 converts the parameter values of each of these emotions into specific recognition results such as “hit” and “stroke” given from the input semantics converter module 59 and the elapsed time and action switching module 71. Update periodically based on notification from This update is an update of data on the memory card 28.
For this reason, the latest parameter values of various emotions of the robot device 1 are stored in the memory card 28. In this case, the memory card 28
Specifically, the writing of the parameter value to the
This is realized by one function of the CPU 10 of writing the parameter value acquired by the information acquisition function to the memory card 28.
The same applies to the instinct model 74 described later. In this manner, the CPU 10 stores various types of information acquired by the information acquisition function in the memory card 28.

More specifically, the emotion model 73 is 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. The amount of change of the emotion at that time calculated by the equation is expressed by △ E
[T], E [t] of the current parameter value of the emotion, the coefficient representing the sensitivity of the emotion as k _e, (1) the parameter value of the emotion in a next period by equation E [t +
1] is calculated, and the current parameter value E of the emotion is calculated.
The parameter value of the emotion is updated by replacing it with [t]. The emotion model 73 updates the parameter values of all emotions in the same manner.

[0057]

(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 the amount of change in the parameter value of the emotion of “anger” △ E
[T] is greatly affected, and the recognition result such as “stroke” is the variation amount of the parameter value of the emotion of “joy” 喜 び E
[T] is greatly affected.

Here, the notification from the output semantics converter module 68 is so-called action feedback information (action completion information), information on the appearance result of the action, and the emotion model 73 also uses such information. Change emotions. This is, for example, a behavior such as "barking" that lowers the emotional level of anger. The notification from the output semantics converter module 68 is also input to the learning module 72 described above, the learning module 72 changes the corresponding transition probability of the behavioral 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 module 71 (the action to which the emotion is added).

On the other hand, the instinct model 74 is “exercise desire (exer
cise) "," affection "," appetite "
e), “curiosity” and “sleep”
For each of the four independent needs described in "p)", a parameter indicating the strength of the need is held. Then, the instinct model 74 periodically updates the parameter values of the desires 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. This update is an update of data on the memory card 28. Because of this, the memory card 28
Stores the latest parameter values of various needs of the robot apparatus 1.

More specifically, the instinct model 74 determines the “movement desire”, “affection desire”, and “curiosity” based on the recognition result, the elapsed time, the notification from the output semantics converter module 68, and the like. The change amount of the desire at that time calculated by the arithmetic expression is ΔI [k],
Assuming that the parameter value of the current desire is I [k] and the coefficient k _i representing the sensitivity of the desire is a parameter value I [k +
1] is calculated, and the calculation result is replaced with the current parameter value I [k] of the desire to update the parameter value of the desire. Similarly, the instinct model 74 updates the parameter values of each desire except “appetite”.

[0063]

(Equation 2)

Note that 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 68 The notification from the module 68 has a large effect on the variation ΔI [k] of the parameter value of “fatigue”.

In the present embodiment, the parameter values of each emotion and each desire (instinct) are regulated so as to fluctuate in the range of 0 to 100, respectively.
_e, the value of k _i is also set individually for each emotion and each desire.

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

The signal processing modules 61 to 6
7, when an action command is given, based on the action command, a servo command value to be given to a corresponding actuator 25 _{1 to} 25 _n (FIG. 2) in order to perform the action;
The audio data of the sound output from the speaker 24 (FIG. 2) or the driving data to be given to the LED or the “tail” of the “eye” is generated, and these data are transmitted to the virtual robot 33 of the robotic server object 32 and the signal. The signals are sequentially transmitted to the corresponding actuators 25 _{1 to} 25 _n or the speakers 24 or the LEDs via the processing circuit 14 (FIG. 2).

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

(3) Diary Function (3-1) System A diary (DIARY) function is realized by the robot device 1 described above. In the diary function, actually, information stored in the memory card 28 by the robot device 1 is referred to, and a diary that is described by the robot device is displayed in an information processing device such as a personal computer. Specifically, a system that realizes a diary function is configured as shown in FIG. In this system, in the robot device 1, various types of information based on the activity of the robot device 1, for example, a memory card 28 in which activity information is stored is attached to the personal computer 100. Note that information may be transmitted wirelessly without using a memory card. Then, in the personal computer 100, a diary which is described by the robot apparatus is displayed on the monitor 101 based on the information stored in the attached memory card 28. Here, the personal computer 100 operates based on information (activity information and the like) stored in the memory card 28 serving as information transfer means.
The information processing apparatus is configured to display a text such as a diary on a monitor 101 serving as an image display unit using a text or a message pattern prepared in advance. The personal computer 100 stores a program for creating a diary or the like based on activity information and a sentence or message pattern.

(3-2) Information to be Displayed A personal computer 10 for realizing the diary function
As shown in the table below, the information to be displayed on the monitor 101 of No. 0 is a sentence by the robot apparatus (translation is written in the original language), a captured image (for example, one sheet), a character and a character comment, a user comment, Today's date, calendar, etc. are mentioned.

[0071]

[Table 1]

The information is displayed on the monitor 101 as a diary screen (hereinafter, a diary screen). Specifically, the monitor 101 displays a diary screen as shown in FIG. The monitor 101 has
As shown in FIG. 10 as a specific example, a sentence in which the translation 111 is written in addition to the original language 110 by the robot apparatus 1, a captured image 112, a user's comment 113, and the like are displayed.
The monitor 101 also displays a so-called icon for executing a predetermined function. For example, by selecting the “calendar” icon 114, a calendar dialog is displayed, and the user can specify a date and view the diary. Specifically, by selecting the “calendar” icon 114, the date on which the diary exists can be viewed on the calendar.

The display of the diary screen on the monitor 101 is realized by, for example, executing application software. For example, the personal computer 100 outputs a diary screen on the monitor 101 as shown in FIG. 10 by using the information acquired by the robot device 1 stored in the memory card 28 by executing the application software. .

In the robot device 1, the image obtained by the imaging device 20 is stored in the memory card 28 as a still image at a predetermined timing.
The timing for storing the still image in the memory card 28 is based on the condition that the emotion parameter has reached a predetermined value, which will be described later in detail.

As shown in FIG. 10, the still image stored in the memory card 28 can be output to the monitor 101 while being included in the diary image, as shown in FIG. In such a case, the diary looks like a picture diary.

Further, for example, the diary screen is prepared as image information prepared in advance as a predetermined format, and information created based on the information (or data) obtained in the robot apparatus 1 is such information. The diary screen is pasted at a desired position on the diary screen in the format, and finally a diary screen as shown in FIG.

Further, the diary screen can be constructed in a so-called browser format as browsing software. Thereby, the user can browse the diary screen without using the designated PC application software.

(3-3) Pattern of Displayed Message As described above, the monitor 101 displays various messages on the diary screen. The message pattern is stored in a storage device (for example, a hard disk (HD) device) of the personal computer 100, for example. In the personal computer 100, a message pattern is selected based on the data acquired by the robot device 1, and displayed at a desired position on the diary screen as words of the robot device. At this time, a message in a virtual language that is accepted in the robot world is displayed, and its translation (for example, Japanese) is also displayed. In the present embodiment, as shown in FIG. 10, an example is shown in which five messages are displayed together with the original language 110 and the translation 111.

The original language that is accepted in the robot world and its translation are stored in a storage device of the personal computer 100 in a form corresponding to, for example, a table or the like, and based on this, the original language 110 and its translation 11
1 is displayed as a message. The language as shown in FIG. 11 has, for example, a Japanese or alphabet table as a translation corresponding to the language as a table.

Further, such message patterns are stored by being classified into a plurality of groups. For example, message patterns are classified into groups as shown in the following table.

[0081]

[Table 2]

As shown in this table, for example, messages are grouped as birthday type, anniversary type, growth type, input / output information type, adult type change type, growth and instinct type, and others. In addition, these groups are assigned priorities. Such grouped messages are selected on the condition that the content to be displayed, that is, the original data exists in the memory card 28, and that the priority order thereof is satisfied.

As described above, since the number of messages that can be displayed on the diary screen is limited (five in this embodiment), a group is selected based on the assigned priority, and One message is displayed. The priority order is determined based on, for example, the degree of eventability. For example, looking at a birthday and an anniversary for a certain person, the birthday is usually once a year, and the anniversary is usually several times a year. For this reason, the birthday system is set higher than the anniversary system priority. As a result, the group is selected as follows.

For example, the birthday system has the highest priority, but if there is no data used for the message to be displayed on the memory card 28, for example, the data used for the message to be displayed is stored in the memory card 28. Select the second anniversary with the second priority. Then, a message prepared for the anniversary is displayed based on the data.

Each group includes a memory card 28
There are a plurality of types of messages indicating the same purpose in accordance with the data stored in the, and one message can be selected at random, for example. Also, the prepared message may be immutable as a whole message,
A message in which only a specific portion is made variable in accordance with data stored in the memory card 28 may be used. For example, as for the variable part, the subject of the message and the like can be cited. Hereinafter, specific examples of the messages prepared for each group will be described.

(3-3-1) Birthday Group Message This birthday group is selected when birthday data exists. Examples of the message prepared as a birthday-related message include, for example, “Today is birthday of (variable part)”. In the birthday group, there are a plurality of types of messages having the same purpose as the above contents.

The message shown in the above example further has a variable part, and the variable part is the name of the subject of the birthday. That is, for example, the variable portion is a name given to the robot apparatus 1 by a user or a name of the user. Such a variable part is selected based on data about a birthday.

For example, data registered by a user or the like by another application software is used for birthday data.

That is, there are cases where various data relating to the user and the like are stored as a database on the personal computer 100 at a certain occasion by another application software or the like. Here, the various data are the birthdays, names, etc. of the users themselves and their related persons. The application software of the diary function selects a message by using birthday data registered as such a database, for example, a birthday or a name. By selecting a message by such a method, it is possible to display a message on the birthday of the user in the diary function without inputting birthday data when executing the application software for the diary function. In this way, the user may be surprised to see his birthday message in the diary, even though he does not remember typing.

The birthday data of the robot device 1 is stored in the memory card 28, and a message is selected by using the data. For example, the robot apparatus 1 keeps a start date and time log at the time of the first start after purchase, and uses this start date and time log as birthday data.

As described above, the birthday group message is prepared, the variable section is selected based on the birthday data, and the message by the variable section is displayed on the diary screen. Also, since there are a plurality of messages in the birthday group, one message is selected at random and displayed. This prevents a message having the same content from being displayed many times during a birthday.

Further, as a birthday-related message, a message other than the day of the birthday, for example, one week before, three days before, the previous day, and even the next day can be displayed.
For example, a message shown in the following table is prepared as a birthday message displayed on a day other than such a birthday. Here, too, prepare a message with a variable part.

[0093]

[Table 3]

[0094] Thus, even on days other than the day of the birthday,
You will see a message about your birthday. The message prepared one week ago is displayed, for example, on any day from four days ago to one week ago. The same applies to the message three days ago.

(3-3-2) Message of anniversary group This anniversary group is selected when anniversary data exists. As a display message prepared as an anniversary system, for example, “Today is (variable part) day of (anniversary)” or the like. In the anniversary group, there are a plurality of types of messages having the same purpose as those described above.

For example, the anniversary includes a peculiar anniversary of the person and a common (for example, the entire nation) anniversary. This makes it possible to classify the robot device into a message requiring a variable part such as a name given by a user or a user name, and a message not requiring such a variable part. For this reason, messages are prepared by classifying as shown in the table below according to whether or not there is a variable portion.

[0097]

[Table 4]

[0098]

[Table 5]

[0099] Examples of the variable portion include the display shown in the following table.

[0100]

[Table 6]

Messages are prepared by being classified as described above. As a result, a message is selected based on the anniversary data, and if necessary, a variable section is selected, and the message is displayed on the diary screen. Also, since there are a plurality of messages in the anniversary group, one message is selected at random and displayed.

Further, as the data for selecting such a message or the variable part, data registered by the user at another occasion is used as in the case described in the birthday system.

Further, similarly to the birthday system described above, a message can be displayed on a day other than the anniversary day. For example, examples of anniversary messages displayed on days other than such anniversaries include those shown in the following table. Here, too, prepare a message with a variable part.

[0104]

[Table 7]

As a result, even on days other than the anniversary day,
The message about the anniversary will be displayed.

(3-3-3) Message of Growing Nikkei Group This growing Nikkei group is selected when growth data exists. In addition, examples of the message prepared as a growing Nikkei include "Today, one adult." Then, in the group of growing Japanese descent, there are a plurality of types of messages having the same purpose as the above contents.

The robot apparatus 1 has a growth model that changes in a plurality of stages from childhood to adult, for example.
They take action according to their stage of growth. Then, in the robot device 1, the data of the growth stage described above is stored in the memory card. In the group of the growing Japanese descent, the selection is made with reference to the stage change information on the growth stage stored in the memory card 28, and the corresponding message is selected. Then, the selected message is displayed in the diary screen. In addition, since there are a plurality of messages in the group of growing Nikkei, one message is selected at random and displayed.

Further, messages of the growth Japanese system are prepared according to each stage of the growth stage. This allows
Even if the growth stage goes up to the next stage, a message having a different expression will be displayed between the child and the adult at the advanced stage, even if the content indicates that they have grown.

(3-3-4) Input / output semantics (Se
First, the input / output semantics is information that is input / output to / from the robot apparatus 1 is information that can be interpreted by a user (for example, recognition information). Interpreted based on "struck" and "stroked"
Or information that is interpreted as a self-action, such as “Kicked the ball”, “Handed”, and the like. Therefore, I / O semantics messages are
Such information is based on information interpretable by the user. This input / output semantics is data updated on the memory card 28 in the robot device 1.

For example, messages prepared as an input / output semantics system include “(user name) is (input semantics) in (time variable part)” and “today is a lot (output semantics)”. No.

Here, since the input / output semantics can be basically taken a plurality of times in one day, a message whose time zone is variable is prepared. Examples of the display of the time variable section include a display corresponding to each time as shown in the following table.

[0112]

[Table 8]

[0113] In the case of a time zone other than the above, for example, a plurality of time zones 1 to 3, the time variable section may be hidden by treating it as "today".

Further, messages are prepared by classifying them into those with a variable part and those without a variable part according to the contents of input / output semantics. Furthermore, even if the semantics have a variable portion, a message with a variable portion display and a message without a variable portion display are prepared. Then, for each semantics, a plurality of types of messages having the same meaning are prepared.

Further, since the robot apparatus 1 has many input / output semantics, it is possible to select a semantic candidate displayed as a message. For example, as for the input / output semantics, since the input / output log and its activation time are obtained, the frequency of occurrence per unit time (for example, the value obtained by dividing the number of activations based on the input / output log by the time) is calculated, and the calculated Those exceeding the threshold are considered as candidates. Here, the predetermined threshold is prepared for each semantics to be selected.

If the number of input / output semantics candidates exceeds the maximum number of messages that can be displayed on the diary screen (for example, five in this embodiment), the candidates are further narrowed down. . For example, candidates are narrowed down by selecting at random the maximum number of messages that can be displayed.

In some cases, it has been determined that some messages of the above-mentioned birthday, anniversary, or growth-related groups having a higher priority have already been displayed. Narrow the number of candidates by the number.

As described above, the input / output semantics group messages are prepared, and the messages are generated based on the semantics stored in the memory card 28 (in some cases, the semantics further selected and set as candidates). When selected, the message is displayed in the diary screen. Also, since a plurality of messages are prepared for the same semantics, one message is selected at random and displayed.

As described above, even if a message corresponding to the semantics is selected, if the number of displayed messages (five in the present embodiment) is less than the number of messages to be displayed, a message having a low priority is described below. A message prepared for such an adult type, growth, instinct, or others is selected and displayed on the diary screen.

It should be noted that, specifically, input / output semantics having contents as shown in FIGS. 12 to 16 are prepared, and a plurality of messages are prepared for each input / output semantics as occasion demands.

(3-3-5) Message of Group of Type Change System in Growth First, the type change in growth is a type change in the same growth stage. The type (for example, personality) of the robot apparatus 1 changes at a certain growth stage, and the robot apparatus 1 acts according to the type. The type change in growth is a type change in such the same growth stage, and is a so-called lateral growth change. For this reason, the Japanese growth system described above refers to so-called vertical growth.

In the robot device 1, the type of the above-mentioned growth is stored in the memory card. The group of the type change in the growth is selected with reference to such a type stored in the memory card 28, and the selection of the corresponding message is made.

For example, a message prepared as a type change system during growth includes, for example, "Today, one adult."

Further, a message of the type change type in growth can be prepared according to each growth stage. Thereby, according to the changed type, the content indicating the growth can be displayed as a message having a different expression.

(3-3-6) Emotion, Message of Instinct Group Examples of the emotion and the message prepared as the instinct group include "I have been slept all day today". For example, the robot device 1 selects a message according to the state of emotion, the state of instinct or the degree of arousal, and the degree of interaction. The emotion, the instinct or the degree of arousal, and the degree of interaction are data that the robot apparatus 1 updates on the memory card 28. Based on the data stored in the memory card 28, an emotional or instinct group is selected, and a message is selected.

In the robot apparatus 1, the emotion is constituted by a plurality of emotions, and the instinct is constituted by a plurality of desires. Therefore, if a message is selected on the condition that a plurality of emotions, a plurality of desires, a degree of arousal, and a degree of interaction simply change, many messages are selected. The values are sampled every minute) and a candidate is first selected based on the average value.

The selection of a candidate is performed, for example, by comparing the above-mentioned values of emotion or instinct, arousal level or interaction level (for example, average value) with a predetermined threshold value. For example, it is assumed that the thresholds are prepared corresponding to the emotions and the like to be compared. For example, a candidate is selected by classifying the case as being equal to or less than the lower threshold or the case being equal to or greater than the upper threshold.

When the number of candidates exceeds the maximum number of display messages (for example, five in this embodiment), the candidates are further narrowed down. For example, candidates are narrowed down by selecting at random the maximum number of messages that can be displayed.

Furthermore, since there are cases where it has been determined that some of the above groups having higher priorities are to be displayed, only the remaining displayable number is selected at random in consideration of this.

As described above, the emotion and instinct group messages are prepared, and the emotional state, instinct state or arousal level, and the degree of awakening stored in the memory card 28, and the degree of interaction (which may be further selected in some cases). The message is selected based on the candidate, and the message is displayed in the diary screen. Also, since a plurality of messages are prepared for the same purpose, one message is selected at random and displayed.

(3-3-7) Other Messages Other messages include, for example, "Today was nothing day." Or "I want to be stronger because I was born as a robot." Such a message is a message in a case where data used for each system as described above cannot be obtained. Accordingly, even if there is no change in the surrounding conditions, including the robot apparatus 1 itself, at least Messages can be displayed on the diary screen. Also, messages are displayed randomly for the number of displayed messages.

As described above, a group is selected, a message is selected in the selected group, and in some cases, a variable portion is selected, and finally, as shown in FIG. The included diary screen is displayed on the monitor 101. This allows the user to communicate with the robot apparatus 1 in words.

(3-4) Acquisition of Image in Robot Apparatus The robot apparatus 1 can attach an image in addition to writing a message in the diary as described above. here,
The acquisition of the attached image will be specifically described.
For example, a case where imaging information is obtained according to an emotional state will be described.

As described above, the robot apparatus 1 changes the parameter value of the emotion of the emotion model according to the surrounding situation and the internal situation, and acquires the captured image as follows according to this value. ing. Also, regarding emotions and emotions,
Examples include “joy” and “fear”. For example, a captured image is acquired based on the parameter value of “fear”.

As shown in FIG. 17, in step S1, CPU 10 determines whether or not the output value (emotional parameter) of emotion model 73 has reached a predetermined threshold.
If it is determined in step S1 that the output value of the emotion model 73 does not exceed the predetermined threshold, the process proceeds to step S1.
Return to If it is determined in step S1 that the output value of the emotion model 73 exceeds a predetermined threshold, the process proceeds to step S2.

In step S2, the CPU 10 determines whether the storage area of the memory card 28 is free. If it is determined in step S2 that the storage area is free, the process proceeds to step S3 where the CPU 10 stores the image data captured from the imaging device 20 in the memory card 2
8 in an empty area. At this time, CPU1
0 stores date and time data and emotion parameters as characteristic information of the image data in association with the image data.

In step S4, the CPU 10 rearranges the captured images in descending order of the output of the emotion model 73,
It returns to step S1. That is, as shown in FIG.
The storage area of the memory card 28 includes a header 111 storing date and time data and emotion parameters as characteristic information.
And an image data unit 112 storing captured image data
The CPU 10 sorts the captured image data in descending order of the emotion parameter value.

If it is determined in step S2 that the storage area is not empty, the process proceeds to step S5, where the CPU
10 judges whether or not the current output value of the emotion model 73 is larger than the minimum value of the parameter value of the emotion accompanying the captured image data stored in the memory card 28.
That is, in FIG. 18, it is determined whether the parameter value is larger than the parameter value of the emotion arranged at the bottom. If it is determined in step S5 that it is not larger (smaller) than the stored minimum value of the emotion output, step S5 is executed.
Return to 1.

In step S5, the current output value is
If it is determined that the stored emotion parameter value is larger than the minimum value, the process proceeds to step S6, in which the CPU 10
Deletes the image data corresponding to the minimum value of the emotion parameter value.

Then, the process proceeds to a step S3, in which the parameter values of the emotion at that time are stored. Thus, the emotion parameter values are stored in the memory card 28 in descending order.

By the above processing, the robot apparatus 1
With reference to the emotion information of the emotion model, the image data can be stored in the memory card 28 as the storage means. Thereby, in the personal computer 100,
As described above, the image having the largest parameter value among the images stored in the memory card 28 can be displayed on the diary screen on which the various messages described above are displayed. Thereby, for example, a captured image P as shown in FIG. 19 is displayed in the diary screen. The captured image illustrated in FIG. 19 is an image when the parameter value of the emotional feeling takes the maximum value because the user feels fear at an obstacle (for example, a sofa or the like) in front of him / her.

In the above example, the acquisition of image data based on the parameter values of the emotion model has been described, but the present invention is not limited to this. For example, image data can be acquired based on data such as the parameter values of the instinct model and the magnitude of the external stimulus.

In addition, a captured image is not always obtained. In such a case, as shown in FIG. 20, a character resembling a human is displayed on the diary screen at a position where a captured image would normally be, and a message by the character such as "I did not take a picture" is displayed. indicate. Note that the message by the character is not limited to this, and may be, for example, "the photograph has been deleted ..." as shown in FIG.

In the above-described embodiment, the case where the memory card 28 is used as a medium for transferring data to the personal computer 100 has been described. But,
The present invention is not limited to this, and the robot apparatus 1 and the personal computer 100 are connected by wired or wireless communication means.
In the case of 0, the diary function can be executed based on data transmitted from the robot apparatus 1 via such communication means.

In the above-described embodiment, the diary screen and the message for realizing the diary function have been specifically described. However, the present invention is not limited to this.

Further, in the above-described embodiment, the group of the message is described as a birthday group or an anniversary group. However, it is needless to say that the present invention is not limited to this.

In the above-described embodiment, messages and the like constituting the contents of the diary can be constructed as a database, but such a database can be downloaded from the Internet or the like. This allows
The contents of the existing database can be updated with the data existing on the net, and a diary without a break can be created.

Further, in the above-described embodiment, the imaging timing of the image to be included in the diary contents is based on the emotion or the like, but the present invention is not limited to this. For example, a voice command from a user or the like may be used as the imaging timing.

[0149]

According to the present invention, there is provided a robot apparatus comprising: an information acquisition unit for acquiring information to be displayed on an information display device; and an information transfer unit for transferring information acquired by the information acquisition unit to the information display device. By having
Information to be displayed on the information display device can be acquired by the information acquisition unit, and the information acquired by the information acquisition unit can be transferred to the information display device by the information transfer unit.

As a result, the robot device can transfer the information obtained by itself to an information processing device or the like that displays a document on the information display unit based on the information obtained by the robot device.

Further, the information display system according to the present invention comprises:
A robot device comprising: an information acquisition unit for acquiring information; and an information transfer unit for transferring the information acquired by the information acquisition unit. The information acquisition unit transfers the information acquired by the information acquisition unit. Based on the information processing device that displays a sentence on the information display unit using a sentence pattern prepared in advance, information is obtained by the information obtaining unit in the robot device, and obtained by the information obtaining unit. Information can be transferred to the information processing device by the information transfer unit. Further, in the information processing apparatus, a sentence can be displayed on the information display unit using a sentence pattern prepared in advance, based on the information acquired by the information acquisition means transferred by the information transfer means.

Thus, the information display system can display a document on the information display unit based on the information acquired by the robot device.

Further, in the information display method according to the present invention, information is acquired by a robot device,
A document is displayed on the information display unit based on the information obtained by the robot device by displaying the text on the information display unit using a prepared sentence pattern based on the information obtained by the robot device. be able to.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an external configuration of a robot device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a circuit configuration of the robot device described above.

FIG. 3 is a block diagram illustrating a software configuration of the robot device described above.

FIG. 4 is a block diagram illustrating a configuration of a middleware layer in a software configuration of the robot device described above.

FIG. 5 is a block diagram showing a configuration of an application layer in the software configuration of the robot device described above.

FIG. 6 is a block diagram showing a configuration of the behavior model library of the application layer.

FIG. 7 is a diagram used to explain a finite probability automaton that is information for determining an action of the robot apparatus.

FIG. 8 is a diagram showing a state transition table prepared for each node of the finite probability automaton.

FIG. 9 is a perspective view showing a system configuration according to an embodiment of the present invention.

FIG. 10 is a diagram showing a diary screen.

FIG. 11 is a diagram showing an example language cited as being used in the robot world.

FIG. 12 is a diagram illustrating a first half of a specific example of input semantics.

FIG. 13 is a diagram illustrating a latter half of a specific example of input semantics.

FIG. 14 is a diagram illustrating a first half of a specific example of output semantics.

FIG. 15 is a diagram illustrating a middle part of a specific example of output semantics.

FIG. 16 is a diagram illustrating a latter half of a specific example of output semantics.

FIG. 17 is a flowchart showing a series of steps for acquiring a captured image based on parameter values of emotions.

FIG. 18 is a diagram showing captured image data arranged based on emotion parameter values.

FIG. 19 is a diagram illustrating an example of an image displayed on a diary screen.

FIG. 20 is a diagram showing a diary screen on which characters and messages by the characters are displayed.

FIG. 21 is a diagram showing another message example of the character.

[Explanation of symbols]

1 robot device, 10 CPU, 28 memory card, 100 personal computer

Claims (30)

[Claims] 1. A robot device in which acquired information is displayed on an information display device, wherein the information acquisition device acquires information to be displayed on the information display device, and the information acquisition device acquires the information acquired by the information acquisition device. A robot device comprising: an information transfer unit for transferring the information to an information display device. 2. The robot device according to claim 1, wherein the information display device is an information processing device equipped with a display unit. 3. The robot apparatus according to claim 1, wherein said information acquisition means acquires information from outside. 4. The robot apparatus according to claim 3, wherein said information acquisition means is an imaging means. 5. The robot apparatus according to claim 1, wherein said information acquiring means acquires internal information. 6. An action based on an emotional state that changes in accordance with external information and / or an internal state, wherein the information acquiring unit acquires the emotional state as the internal information. The robot device as described. 7. An action based on an instinct state that changes according to external information and / or an internal state, wherein the information acquisition unit acquires the instinct state as the internal information. The robot device as described. 8. An action based on a growth state that changes in accordance with external information and / or an internal state, wherein the information obtaining means obtains the growth state as the internal information. The robot device as described. 9. The robot apparatus according to claim 5, wherein the robot is autonomously acting, and wherein the information acquiring means acquires a result of the autonomous action as the internal information. 10. The information transfer means is a detachable external storage means, wherein the information acquired by the information acquisition means is stored in the external storage means, and the information is stored in the external storage means. The robot apparatus according to claim 1, wherein the information display device displays the information based on the information. 11. A robot apparatus comprising: information acquisition means for acquiring information; information transfer means for transferring information acquired by said information acquisition means; and said information acquisition means transferred by said information transfer means. An information display system comprising: an information processing device that displays a sentence on an information display unit using a sentence pattern prepared in advance based on the information acquired by the user. 12. The information processing apparatus according to claim 1, further comprising a step of writing a robot world language prepared in advance along with the sentence on the information display unit based on the information obtained by the information transfer unit. The information display system according to claim 11, wherein 13. The information display device according to claim 11, wherein the information processing device displays a human character or an animal character acting in accordance with the information displayed on the information display device on the information display unit. system. 14. The information processing device according to claim 1, wherein the information on the database owned by the information processing device is used to display a sentence on the information display unit using a sentence pattern prepared in advance. The information display system according to claim 11. 15. The information processing apparatus prepares a sentence pattern by classifying the text pattern into a plurality of types of groups assigned with priorities, and the information processing apparatus stores the information acquired by the information transfer unit and the priority information. Select groups based on ranking,
The information display system according to claim 11, wherein a sentence is displayed on the information processing unit using a sentence pattern in the group. 16. The plurality of types of groups include at least birthday, anniversary, growth, input / output information of the robot device,
The groups are classified into robot device personality and robot device emotions and instinct. The information display system according to claim 15, wherein the information display system is attached. 17. The information display system according to claim 11, wherein said information acquisition means acquires information from outside the robot device. 18. The information display according to claim 17, wherein the information acquisition unit is an imaging unit, and the information processing device displays an image captured by the imaging unit on the information display unit. system. 19. The information acquisition means according to claim 11, wherein the information acquisition means acquires information inside the robot device.
Information display system described. 20. The robot apparatus according to claim 1, wherein the external information and / or
20. The information display system according to claim 19, wherein the information acquisition unit acts based on an emotional state that changes according to the internal state, and the information acquisition unit acquires the emotional state as the internal information. 21. The robot device, comprising:
20. The information display system according to claim 19, wherein the information display device acts based on an instinct state that changes according to an internal state, and wherein the information acquiring unit acquires the instinct state as the internal information. 22. The robot device according to claim 19, wherein the robot device has external information and / or
20. The information display system according to claim 19, wherein the information acquisition unit acts based on a growth state that changes according to the internal state, and the information acquisition unit acquires the growth state as the internal information. 23. The information display system according to claim 19, wherein said robot device behaves autonomously, and said information acquisition means acquires a result of autonomous behavior as said internal information. 24. The information transfer means is a detachable external storage means, wherein the robot device stores the information acquired by the information acquisition means in the external storage means, 12. The information display system according to claim 11, wherein a sentence is displayed on an information display unit using a sentence pattern prepared in advance, based on the information stored in the external storage means. 25. An information processing apparatus comprising: acquiring information by a robot device; and displaying the sentence on an information display unit using a sentence pattern prepared in advance, based on the information acquired by the robot device. Characteristic information display method. 26. A robot system comprising: a robot apparatus that acts autonomously; an information processing apparatus that processes information based on the robot apparatus; and an image display unit that displays contents related to information processed by the information processing apparatus. The robot apparatus has information acquisition means for acquiring activity information based on the activity of the robot apparatus, and storage means for storing the activity information acquired by the information acquisition means. Has a message pattern storing means in which a plurality of messages or sentences are stored, and a diary creating means for creating a diary on the robot device based on the activity information and the message or sentence, the image display means Displays the diary created by the diary creating means. 27. The message pattern storage means,
The robot system according to claim 26, wherein the robot system is set on the Internet. 28. The robot system according to claim 26, wherein the activity information includes image information, and the diary is composed of the message or text and the image information. 29. An autonomously acting robot device acquires activity information based on the activity of the robot device, and the information processing device reads the message or the sentence in the message pattern storage means in which a plurality of messages or sentences are stored. An information display method, comprising: creating a diary on the robot device based on the activity information and displaying the diary on an image display means. 30. A computer-controllable recording medium in which a program for creating a diary on the robot device is recorded from activity information based on the activity of the robot device acting autonomously and a plurality of messages or sentences.