JP2002239971A - Robot system and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system letting a user feel no discomfort even when the user talks through a portable telephone and to provide a robot to be used in the execution. SOLUTION: The user talks with a communication counter party through the portable telephone 2 installed in a telephone insertion port 12a of the robot 1. In responding to the sound signals outputted from the portable telephone 2, the robot 1 is made to perform opening/closing actions of a mouth 11a, a nodding action, and the like so as to behave as if talking with the user. The voice of the user is imported through a microphone 12b and a voice responding to the voice is issued so that the robot 1 is made to behave as if listening to the talk of the user.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a robot system using a communication device such as a telephone, and a robot used in the robot system.

[0002]

2. Description of the Related Art A communication device such as a telephone is used for talking with a remote party. Such a communication device outputs the voice of the communication partner, and the user generally talks with the communication partner without visually recognizing the figure of the communication partner.

Further, there has been proposed a robot which analyzes a speaker's voice and performs an operation as if he / she is a listener. Such a robot is a speaker (user)
By operating in response to the voice of the user, it is possible to make the user feel as if he or she is interacting with the robot.

[0004]

However, in the conventional robot as described above, when humans talk with each other using a communication device such as a telephone, a communication partner (speaker).
Cannot operate in response to the voice of the user, and the user (listener) cannot visually recognize the communication partner, which may cause the user to feel uncomfortable.

[0005] Further, in the conventional robot, it is not possible to notify a user at a remote place of the state of the house being away from home. There was a problem that a system had to be introduced.

[0006] The present invention has been made in view of the above-described circumstances, and each movable part of the robot is based on a voice or a voice signal output from the communication device and an image captured by an imaging unit. A robot system that has a control unit that controls the driving of the unit so that the robot behaves as if it were a speaker in a state facing the user (listener), and does not cause the user to feel uncomfortable at the time of communication; and An object is to provide a robot used in a robot system.

[0007] Another object of the present invention is to provide a robot in which a control unit for driving and controlling each movable unit based on a voice or a voice signal output from a communication device, and a voice input by a voice input unit. By providing a voice determining unit that determines a voice to be output, when a voice or a voice signal is output from the communication device, the robot operates in accordance with the voice of the communication partner, so that the robot is like a speaker. When the voice of the user is input by the voice input unit, the robot makes an appropriate response to the user's speech, and makes the robot behave as if it were a listener.
Not only when the user is talking to the robot, but also when the user is communicating with others, make the user feel like talking to the robot, and when the user is talking to the robot and It is an object of the present invention to provide a robot system which does not make a user feel uncomfortable when communicating with another person, and a robot used for the robot system.

[0008] Still another object of the present invention is to perform drive control of a movable section so that the robot faces the user based on an image obtained by the imaging section. A robot system that does not make the user feel more uncomfortable when the user is talking to the robot and when the user is communicating with others,
And a robot used in the robot system.

Still another object of the present invention is to provide a communication device which receives information indicating an operation instruction of a robot from the outside, transmits information corresponding to the received information to the robot, and responds to the information of the robot according to the information. Each movable part is configured to be driven and controlled, so that the operation of the robot can be instructed from an external communication device.In addition, information representing an image captured by the imaging unit of the robot is transmitted from the robot to the communication device. Transmitting, by a communication device, by transmitting information corresponding to the information to the outside, to notify a user in a remote place of the situation in the house, without introducing an expensive monitoring system, the user Is to provide a robot system capable of monitoring the interior of a house, and a robot used for the robot system.

[0010]

According to a first aspect of the present invention, there is provided a robot system having one or a plurality of movable units and an imaging unit, receiving a voice signal, and outputting a voice or a voice signal corresponding to the received voice signal. And a communication device that outputs the moving unit, wherein the robot drives the movable unit based on a sound or a voice signal output from the communication device and an image captured by the imaging unit. It is characterized by including a control unit for performing control.

A robot system according to a second aspect of the present invention includes a robot having one or a plurality of movable parts, a voice input unit, and a voice output unit, receiving a voice signal, and outputting a voice or a voice signal corresponding to the received voice signal. A robot system including a communication device that outputs, the robot is based on a voice or a voice signal output from the communication device, a control unit that drives and controls the movable unit, and is input by the voice input unit. And a voice determining unit for determining a voice to be output based on the voice that has been output, wherein the voice output unit is configured to output the voice determined by the voice determining unit.

A robot system according to a third aspect of the present invention has a
In the robot system according to the present invention, the robot may further include an imaging unit, and the control unit may perform drive control of the movable unit based on an image captured by the imaging unit. Features.

[0013] A robot system according to a fourth aspect of the present invention is a robot system including a robot having one or a plurality of movable units and an imaging unit, and a communication device, wherein the communication device operates the movable unit from outside. A first receiving unit that receives first operation instruction information representing an instruction, a first transmission unit that transmits second operation instruction information corresponding to the first operation instruction information received by the first reception unit to the robot, A second receiving unit that receives first image information representing an image transmitted from the robot, and a second transmitting unit that transmits second image information corresponding to the first image information received by the second receiving unit to the outside Wherein the robot is provided with the second device transmitted from the communication device.
A third receiving unit that receives the operation instruction information, a control unit that controls the driving of the movable unit based on the second operation instruction information received by the third receiving unit, and an image captured by the imaging unit. A third transmitting unit that transmits the first image information to the communication device based on an image.

[0014] The robot system according to the fifth aspect of the present invention comprises:
Alternatively, in the robot system according to the third aspect, the communication device includes a first receiving unit that receives first operation instruction information indicating an operation instruction of the movable unit from outside, and a first operation received by the first receiving unit. A first transmission unit that transmits second operation instruction information corresponding to the instruction information to the robot, a second reception unit that receives first image information representing an image transmitted from the robot, and a second reception unit. A second transmitting unit that transmits second image information corresponding to the received first image information to the outside, wherein the robot receives the second operation instruction information transmitted from the communication device, And a third transmission unit configured to transmit the first image information to the communication device based on an image obtained by imaging by the imaging unit, wherein the control unit receives the first image information by the third reception unit. In the second operation instruction information Zui it, characterized in that are no to perform the drive control of the movable portion.

According to a sixth aspect of the present invention, there is provided a robot according to the first aspect, comprising one or more movable units, an imaging unit, and a communication device that receives a voice signal and outputs a voice or a voice signal in accordance with the received voice signal. A control unit for controlling the driving of the movable unit based on a voice or a voice signal input by the input unit and an image captured by the imaging unit. It is characterized by having a part.

[0016] A robot according to a seventh aspect of the present invention is a robot for receiving one or more movable parts, a voice input part, a voice output part, receiving a voice signal, and outputting a voice or a voice signal according to the received voice signal. A robot comprising: an input unit configured to input the voice or the voice signal from the device; a control unit configured to drive and control the movable unit based on the voice or the voice signal input by the input unit; and the voice input unit. And a voice determining unit that determines a voice to be output based on the voice input by the control unit, wherein the voice output unit is configured to output the voice determined by the voice determining unit.

The robot according to an eighth aspect of the present invention is the robot according to the seventh aspect, further comprising an imaging unit, wherein the control unit controls driving of the movable unit based on an image captured by the imaging unit. It is characterized in that it is done to perform.

According to a ninth aspect of the present invention, there is provided a robot including one or a plurality of movable parts and an imaging part, a receiving part for receiving operation instruction information indicating an operation instruction of the movable part, and a receiving part for receiving the operation instruction information. A control unit that controls the driving of the movable unit based on the operation instruction information, and a transmission unit that transmits image information including an image captured by the imaging unit.

A robot according to a tenth aspect of the present invention is the robot according to the sixth or eighth aspect, wherein a receiving section for receiving operation instruction information indicating an operation instruction for the movable section, and an image obtained by the imaging section. And a transmission unit that transmits image information including: the control unit controls the driving of the movable unit based on the operation instruction information received by the reception unit.

According to the first and sixth aspects of the present invention, the control section controls the movable section of the robot on the basis of a sound or a voice signal output from a communication device such as a mobile phone and an image captured by the imaging section. Is controlled in such a manner that the robot behaves as if it were a talker while facing the user (listener), so that the user does not feel uncomfortable at the time of communication.

According to the second and seventh aspects of the present invention, the control section drives and controls the movable section of the robot based on a voice or a voice signal output from the communication device.
The robot behaves as if it were a speaker, and the voice determination unit determines a voice corresponding to the voice input at the voice input unit, and outputs this voice from the voice output unit, which is appropriate for the user's speech. And make the robot behave like a listener.
This allows the user to feel as if they are talking to the robot, not only when the user is talking to the robot, but also when the user is communicating with others. , And when the user is communicating with another user, it is possible to prevent the user from feeling uncomfortable.

According to the third and eighth aspects of the present invention, the periphery of the robot is imaged by the imaging unit, and the driving control of the movable unit is performed based on the image obtained so that the user's figure enters the center of the image. By doing so, the robot can be placed in a state facing the user, and when the user is talking to the robot and when the user is communicating with another person, the user does not feel more uncomfortable You can do so.

In the fourth, fifth, ninth, and tenth aspects of the present invention, first operation instruction information for instructing the operation of the robot is transmitted from the outside, and the first operation instruction information is installed in the house. Received by the communication device, transmitted to the robot as second operation instruction information (operation instruction information), and by driving and controlling each movable part of the robot in accordance with the second operation instruction information (operation instruction information), Let the user remotely control the robot from outside. In addition, the image obtained by the imaging unit of the robot is transferred from the robot to the communication device by the first device.
By transmitting the image information (image information) and transmitting the second image information corresponding to the first image information (image information) from the communication device to the outside, a user at a remote place is notified of the situation in the house. . In this way, the user can monitor the inside of the house without introducing an expensive monitoring system.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing the embodiments. (Embodiment 1) FIG. 1 is a perspective view showing a configuration of a main part of a robot according to the present invention, and FIG. 2 is a block diagram showing a configuration of a main part of a robot system according to a first embodiment of the present invention. FIG. In the figure, 1 is a robot and 2 is a mobile phone (communication device). The outer shell of the robot 1 is formed of plastic, cloth, or the like, and has a shape imitating a pet animal or an imaginary animal so that the user feels familiar. The robot 1 is composed of a head 11 and a torso 12, and is provided with a nodding operation for swinging the head 11 in the vertical direction, a swing operation for swinging the head 11 in the left and right direction, and the head 11. Opening and closing operation of the mouth 11a,
The movement of the eyeballs 11b, 11b for rotating the eyeballs 11b, 11b provided on the head 11 up, down, left and right, eyelids 11c,
11c swinging up and down, and the torso 1
2, a plurality of motors M, each of which performs a moving operation of the robot 1 by rotating wheels (not shown) provided in
An operation mechanism (not shown) including M,.

Further, the portable telephone 2 is provided on the side of the body 12.
Is provided with a telephone outlet 12a for inserting
A connection terminal 13 connected to a connection terminal 21 provided on the side of the mobile phone 2 is provided near the telephone insertion port 12a. The connection terminal 13 is connected to the amplifiers 14a and A
It is connected to the CPU 16 via the / D converter 15a. The amplifier 14a is also connected to another amplifier 14c, and the amplifier 14c is connected to a speaker 12c provided on the side of the body 12.

Thus, the connection terminal 2 of the mobile phone 2
The voice signal of the voice of the other party output from the communication terminal 1 is taken into the robot 1 through the connection terminal 13 and the amplifier 14a
Is amplified by The audio signal output from the amplifier 14a is converted into a digital signal by the A / D converter 15a, and is provided to the CPU 16 and the amplifier 1
After being further amplified by 4c, it is output as an audible sound from the speaker 12c.

A microphone 12b is provided on the front of the body 12 of the robot 1.
2b is connected to the CPU 16 via the amplifier 14b and the A / D converter 15b. The amplifier 14b is connected to the connection terminal 13, so that a signal output from the amplifier 14b is output from the connection terminal 13 to the mobile phone 2.

A voice from a user near the robot 1 is converted into an analog voice signal by the microphone 12b, and the voice signal is amplified by the amplifier 14b. The audio signal output from the amplifier 14b is converted into a digital signal by the A / D converter 15b, supplied to the CPU 16, and output from the connection terminal 13 to the mobile phone 2.

The A / D converters 15a and 15b perform sampling every 8 ms, and convert an analog signal into a digital signal.

The CPU 16 includes a plurality of drive circuits 17, 1
7,..., 17 and the driving circuits 17, 1
, M are connected to motors M, M,..., M, respectively, and the motors M, M,.

The CPU 16 is connected to an audio reproduction circuit 19. The audio reproduction circuit 19 has a built-in ROM in which a plurality of audio data are recorded.
The audio data is read from the ROM and a digital audio signal is output by the control signal output from the ROM. The audio reproduction circuit 19 is connected to a D / A converter 19a, and the D / A converter 19a is connected to a speaker 12c via an amplifier 14d.
The audio signal output from the audio reproduction circuit 19 is converted into an analog signal by a D / A converter 19a, and this is amplified by a predetermined amount by an amplifier 14d.
c and output as an audible sound.

The nose of the robot 1 is provided with a changeover switch 11d for manually switching between a talker mode and a listener mode, which will be described later. Above the microphone 12b of the body 12, a CCD camera 12f
Is provided, and an image of the front of the robot 1 is taken. The CCD camera 12f includes an A / D converter 15
c, and the A / D converter 15 c is connected to the image memory 18. The image memory 18 is a CPU
16 are connected.

A surrounding image is captured by the CCD camera 12f, and an analog signal of this image is transmitted to the CCD camera 12f.
f, is converted to a digital signal by the A / D converter 15c, and is stored in the image memory 18 as digital data of an image (image data). The stored image data is provided to the CPU and used for processing described later.

An indicator light 12e is provided above the CCD camera 12f to notify the user of the state of the talker mode or the state of the listener mode. The indicator light 12e is connected to the CPU 16,
The indicator signal 16 is turned on or off by the control signal from.

The CPU 16 is connected to a ROM 16a in which a program for performing processing to be described later is stored and a RAM 16b in which data generated temporarily when the CPU 16 executes the program is stored.

In such a robot 1, an operation mode is set, and when the operation mode is set to the talker mode, a communication partner is set in accordance with an audio signal output from the mobile phone 2. Is controlled to perform an operation as if talking to the user in accordance with the voice of the user. When the operation mode is set to the listener mode, the voice of the user is changed according to the voice signal output from the microphone 12b. At the same time, it is controlled so as to perform an operation as if listening to the user.

FIGS. 3 and 4 are flowcharts showing the processing procedure of the CPU 16 when setting the operation mode of the robot 1 according to the first embodiment. The CPU 16
The digital signal output from the / D converter 15a, that is, audio data, is fetched (step 101).
The audio data output from the D converter 15b is captured (step 102). Then, it is determined whether or not digital signals of 40 ms, that is, five pieces of audio data have been captured, respectively (step 103). If not, the process returns to step 101.

When five voice data have been fetched, an average of the five voice data of the other party fetched in step 101 is calculated (step 104), and the binary data is calculated from the calculated average value. (Step 10
5). Specifically, a predetermined threshold value is compared with the average value, and when the average value exceeds the threshold value, the value of the binary data is set to 1, and when the average value does not exceed the threshold value, the binary data is set. Is set to 0. The binary data is divided by two for 1.6 seconds.
The value data is stored in a FIFO type buffer B1 that can store the value data (step 106). This buffer B1
Are configured in a predetermined area in the RAM 16b.

Similarly, the average of five voice data of the user taken in step 102 is calculated (step 1).
07), using the calculated average value and a threshold value different from the threshold value to generate binary data (step 108),
The value data is stored in a buffer B2 similar to the buffer B1 (step 109). Then, the MA evaluation value of the communication partner is calculated from the binary data in the buffer B1 (step 110). This MA evaluation value is calculated by performing a product-sum operation of the binary data and a predetermined MA coefficient group based on the MA model.

Similarly, the user's MA evaluation value is calculated from the binary data in the buffer B2 (step 111). The MA coefficient group used in step 110 and the MA coefficient group used in step 111 are given different numerical values.

Next, the state of the changeover switch 11d is detected, and it is determined whether or not the operation mode has been manually set (step 112). If the operation mode has not been manually set, the connection terminal 21
Whether a signal is output from the A / D converter 1
By checking whether or not a signal is output from 5a, it is determined whether or not the mobile phone 2 is in a call state (step 113). If not, the operation mode is set to the listener mode (step 113). Step 114).

When the mobile phone 2 is in a talking state,
The MA evaluation value of the other party is compared with the MA evaluation value of the user, and an operation mode is set (step 115). This is, for example, comparing the magnitude of the MA evaluation value of the call partner with the magnitude of the MA evaluation value of the user, and if the MA evaluation value of the call partner is equal to or greater than the MA evaluation value of the user, sets the speaker mode. When the MA evaluation value of the other party is less than the MA evaluation value of the user, this is realized by setting the listener mode. Then, the process returns to step 101.

FIG. 5 shows a robot 1 according to the first embodiment.
9 is a flowchart showing a processing procedure of the CPU 16 when performing the operation control of FIG. The CPU 16 determines which operation mode is currently set (step 20).
1) When the operation mode is set to the talker mode, one operation from a plurality of operation patterns of the robot 1 is performed based on the MA evaluation value of the communication partner calculated by the processing shown in the flowcharts of FIGS. A pattern is selected (Step 202), and the routine proceeds to Step 204. In the process of step 202, the MA evaluation value of the communication partner is compared with a plurality of thresholds, and an operation pattern associated with each threshold is selected. For example, when the MA evaluation value of the communication partner exceeds the threshold value for performing the blinking operation, an operation pattern of swinging the eyelid 11c in the vertical direction is selected, and the MA evaluation value of the communication partner is blinking. If the threshold for opening and closing the mouth 11a is larger than the threshold for performing the operation, the operation pattern for opening and closing the mouth 11a is selected.

In step 201, if the current operation mode is set to the listener mode, one operation pattern is selected from a plurality of operation patterns of the robot 1 based on the user's MA evaluation value ( Step 2
03), proceed to step 204. In the process of step 203, the user's MA evaluation value is compared with a plurality of thresholds, and an operation pattern associated with each of the thresholds is selected. For example, when the user's MA evaluation value exceeds a threshold value for causing the user to perform a nodding operation, an operation pattern of swinging the head 11 up and down is selected, and the user's MA evaluation value becomes a nodding operation. If the threshold value for performing the joint operation is larger than the threshold value for performing the repetition, the opening / closing of the mouth 11a and the operation pattern for outputting the voice of “Yeah, yeah” are selected.

Next, a control signal for instructing the operation of the selected operation pattern is output to the drive circuits 17, 17,... Or the audio reproduction circuit 19 (step 204). In this process, for example, when an operation pattern for opening and closing the mouth 11a is selected, a control signal for instructing opening and closing of the mouth 11a is transmitted to the drive circuit 17 for driving the motor M connected to the operation mechanism of the mouth 11a. When the operation pattern of the joint operation is selected, a control signal for instructing the opening and closing of the port 11a is given to the drive circuit 17 and the audio reproduction circuit 1
9 is provided with a control signal for instructing the output of the voice "Yeah, yeah".

Then, the image data picked up by the CCD camera 12f is read out from the image memory 18 (step 205), and the image data is subjected to image processing to detect the position of the user in the image (step 20).
6). Then, from the detected position of the user, the robot 1
Is output to the drive circuits 17, 17 for driving motors M, M connected to the operating mechanism of the wheels provided in the lower part of the robot 1 so as to move the robot toward the user (step 207). Return to step 201.

The processing shown in the flowcharts of FIGS. 3 and 4 and the processing shown in the flowchart of FIG. 5 described above are executed at regular intervals by the multitask processing of the CPU 16.

With the above configuration, when the mobile phone 2 is in a talking state, the robot 1 moves to face the user, and opens and closes the mouth 11a in accordance with the voice of the called party, or performs a nodding operation. When the mobile phone 2 is in a non-talking state, the robot 1 moves so as to face the user and nods or hits the user in accordance with the user's voice. And behave as if listening to the user.

(Embodiment 2) FIG. 6 is a schematic diagram showing a configuration of a main part of Embodiment 2 of a robot system according to the present invention. The robot system according to the second embodiment includes a robot 1, a computer 3 functioning as a communication device,
And a mobile phone 4. The robot 1 includes a wireless communication unit 110 having a communication function such as PHS data communication or Bluetooth.

FIG. 7 shows a robot 1 according to the second embodiment.
FIG. 3 is a block diagram showing the configuration of FIG. The robot 1 responds to command data received by the wireless communication unit 110,
A control signal is output from the CPU 16 to the drive circuits 17, 17,..., 17, so that the robot 1 can be remotely controlled. FIG. 8 shows the robot 1
3 shows an example of the command data. This command data consists of a text command in ASCII code,
It is configured by a combination with parameters representing a moving speed, a rotation angle, a rotation angular speed, and the like. For example, “MWSB 201
The command data “0” is a text command indicating that the “MWSB” drives the wheels of the robot 1 and moves backward, “20” is a parameter indicating the moving amount, “10” is a parameter indicating the moving speed, and “10” is a parameter. Instruct a retreat at a speed of 20 distances.

In FIG. 8, walking means the robot 1
This means that the wheels provided on the legs are operated so as to repeat the rotation and the stop at predetermined time intervals, and operate as if the robot 1 is walking.

A plurality of command data are linked by “:”,
By adding “;” after the last command data, an operation program for performing a plurality of operations can be created. For example, an operation program as described below will be described. MWSB 20 10: WW: D 100: MNR 10 10;

In this operation program, after moving backward at a speed of 10 for 20 distances, stopping for 100 hours, and then tilting the head downward by 10 movements at a speed of 10 I have.

The other configuration of the robot 1 according to the second embodiment is the same as the configuration of the robot 1 according to the first embodiment, and thus the same reference numerals are given and the description is omitted.

FIG. 9 is a block diagram showing the configuration of the computer 3. The computer 3 includes a CPU 31 and the C
A ROM 32 storing a program to be executed by the PU 31 and data used by the program;
A RAM 33 for storing data temporarily generated when the program 31 is executed, a hard disk device 34 for storing a program to be executed by the CPU 31 and data used by the program, and an input / output interface 35 are provided. . The input / output interface 35 includes:
A wireless communication device 35a capable of communicating with the wireless communication unit 110 of the robot 1, a modem 35 connected to a telephone line
b, a display device 35c such as a CRT or an LCD, and an input device 35d such as a keyboard and a mouse are connected.

Further, the computer 3 can be dial-up connected to the computer 5 provided by an Internet connection company or the like via the modem 35b, thereby connecting to the Internet 6. Further, the computer 3 stores the WW in the hard disk device 34.
A W server program is stored, and the WWW server program is loaded into the RAM 33 so as to respond to a request from another computer, a mobile phone, or the like on which the WWW client program connected via the Internet 6 is executed. In addition, HTML data and image data stored in the hard disk device 34 can be transmitted to the computer, the mobile phone, or the like.

The mobile phone 4 has a CPU, ROM, and R
It has a built-in AM (not shown) and can be connected to the Internet 6 via a computer 7 provided by a telecommunications carrier. A WWW client program is stored in a ROM. When the client program is executed by the CPU, it is possible to request HTML data and image data from a computer connected to the Internet 6 and receive the requested HTML data and image data. The displayed screen can be displayed on the LCD.

FIGS. 10 to 13 are flowcharts showing the flow of the operation of the robot system according to the second embodiment. The user operates the mobile phone 4 and calls the computer 3 when monitoring the situation in the house. The mobile phone 4 receives an operation from the user and transmits a call signal to the computer 3 (step 30).
1). The computer 3 receives the calling signal from the mobile phone 4 via the modem 35b (step 30).
2) A call is started (step 303). And
A voice signal of voice "Connect to the Internet. Please wait for e-mail reply." Is transmitted to mobile phone 4 (step 304), and mobile phone 4 receives the voice signal (step 305). Is output from the built-in speaker. Then, the computer 3 ends the call (step 306).

Next, the computer 3
, A connection request signal is transmitted to connect to the Internet 6 (step 307). While connected to the Internet 6, the computer 3 transmits an e-mail composed of text data including a URL indicating the storage location of the HTML data of the computer 3 to a mail address associated with the mobile phone 4 (step). 30
8).

In the second embodiment, when the call from the mobile phone 4 is made to the computer 3, the electronic mail is transmitted. However, the present invention is not limited to this. The robot 1 performs image processing on the image picked up by the CCD camera 12f to detect an abnormality such as an intruder in the house. When the abnormality is detected, the robot 1 sends the electronic mail to the computer 3. And the computer 3 receiving the request may transmit the e-mail.

The operation of the robot 1 is usually controlled so as to operate autonomously. However, the robot 1 performs image processing on an image captured by the CCD camera 12f to detect a captured person or the like. When a human or the like is not detected within a predetermined time, the robot 1 shifts to a standby state and waits for reception of a signal from the computer 3.

The computer 3 transmits an image data request signal indicating a request to transmit image data to the robot 1 to the robot 1 (step 309). The robot 1 receives the image data request signal (step 310). Is acquired (step 311). Then, the robot 1 transmits the acquired image data to the computer 3 (Step 312).

The computer 3 receives the image data (step 313) and converts the image data into image data (JPEG format, GIF format, etc.) that can be displayed by the WWW client program of the mobile phone 4. Then, it is stored in the hard disk drive 34 (step 314).

On the other hand, the portable telephone 4 receives the e-mail (step 315), and the user operates the portable telephone 4 to select the URL contained in the e-mail, thereby transmitting the HTML data to the computer 3. Is transmitted (step 3).
16). Then, the computer 3 receives the HTML data request signal (Step 317). H within a predetermined time
When not receiving the TML request signal, the computer 5
The connection with is terminated (step 318), and the process is terminated.

The computer 3 sets the HT within a predetermined time.
When receiving the ML request signal, the hard disk drive 3
The HTML data stored in the hard disk drive 34 and the image data stored in the position indicated by the HTML data in the hard disk device 34 are transmitted to the mobile phone 4 (step 319).

The cellular phone 4 receives the HTML data and the image data (step 320), and displays a screen corresponding to the data on the LCD (step 321). On this screen, a plurality of buttons for instructing the operation of the robot 1 are displayed. For example, when the user selects one button by operating the mobile phone 4 and instructs to press this button In addition, operation instruction data for instructing the robot 1 to rotate rightward can be transmitted to the computer 3. When such an operation instruction of the robot 1 is issued by the user, the mobile phone 4 transmits operation instruction data representing the operation instruction to the computer 3 (step 322).

The computer 3 receives the operation instruction data from the mobile phone 4 (step 323), converts the operation instruction data into the above-described command data or operation program (step 324), and converts the data into a robot. 1 (step 325). Robot 1
The data is received (step 326), and an operation corresponding to the data is performed (step 327). After the end of the operation, the robot 1 sends an operation end signal indicating the end of the operation to the computer 3.
(Step 328), which is received by the computer 3 (step 329). And computer 3
Transmits the operation end data representing the operation end of the robot 1 to the mobile phone 4 (step 330), and the mobile phone 4 receives this (step 331), returns to step 321 and displays the screen.

At step 323, the computer 3
Does not receive the operation instruction data for a predetermined time, the computer 3 transmits an image data request signal to the robot 1 (step 332). The robot 1 receives the image data request signal (step 333), acquires image data with the CCD camera 12f (step 334), and transmits the acquired image data to the computer 3 (step 3).
35).

The computer 3 receives the image data (step 336), converts the image data into image data in the format described above, stores the image data in the hard disk device 34 (step 337), and stores the image data in the mobile phone 4 (Step 338). The mobile phone 4 receives the image data (step 339) and updates the display on the LCD to a screen corresponding to the image data (step 34).
0).

When ending the connection with the computer 3, the user operates the mobile phone 4 to cause the mobile phone 4 to transmit a connection end signal indicating the end of the connection (step 3).
41). When receiving the connection end signal (step 342), the computer 3 ends the connection (step 3).
43), end the process. If the computer 3 does not receive the connection end signal, the process returns to step 323.

In the second embodiment, the computer 3 is connected to the Internet 6 and
, The robot 1 is remotely controlled from the mobile phone 4 and image data and the like are transmitted from the robot 1 to the mobile phone 4. However, the present invention is not limited to this. The WWW server program is stored in the ROM 16a of the robot 1, the robot 1 is connected to the Internet 6 by the modem, the robot 1 is remotely controlled from the mobile phone 4, and the RAM 16b in the robot 1 is stored in the RAM 16b by the CCD camera 12f. The image data may be stored and the image data may be downloaded to the mobile phone 4.

With the above configuration, for example, when the user goes out of the house leaving a child or an elderly person in need of nursing care, the user remotely operates the robot 1 using the cellular phone 4 from the outside, and By checking the image captured by the CCD camera 12f with the mobile phone 4, the user can know the state of the house.

By monitoring the interior of the house using the robot 1 capable of autonomous operation, a child or an elderly person left in the house feels familiar with the robot 1 and monitors the interior of the house using a monitoring camera. As compared with the case, the child or the elderly can be given a sense of security.

[0074]

As described above in detail, in the case of the first and sixth aspects of the present invention, the control unit controls the sound or the sound signal output from the communication device and the image obtained by the image pickup unit. By driving and controlling the moving parts of the robot, and making the robot face the user (listener) and behave as if it were a speaker,
It is possible to prevent the user from feeling uncomfortable at the time of communication.

According to the second and seventh aspects of the present invention, the control section drives and controls the movable section of the robot based on a voice or a voice signal output from the communication device.
The robot behaves as if it were a speaker, and the voice determination unit determines a voice corresponding to the voice input at the voice input unit, and outputs this voice from the voice output unit, which is appropriate for the user's speech. And make the robot behave like a listener.
This allows the user to feel as if they are talking to the robot, not only when the user is talking to the robot, but also when the user is communicating with others. , And when the user is communicating with another user, it is possible to prevent the user from feeling uncomfortable.

According to the third and eighth aspects, the periphery of the robot is imaged by the imaging unit, and drive control of the movable unit is performed based on the image obtained thereby, thereby allowing the robot to communicate with the user. The user can face each other, and when the user is talking to the robot and when the user is communicating with another person, it is possible to further prevent the user from feeling uncomfortable.

In the fourth, fifth, ninth, and tenth aspects of the present invention, the first operation instruction information for instructing the operation of the robot is transmitted from outside, and the first operation instruction information is installed in the house. Received by the communication device, transmitted to the robot as second operation instruction information (operation instruction information), and by driving and controlling each movable part of the robot in accordance with the second operation instruction information (operation instruction information), Let the user remotely control the robot from outside. In addition, the image obtained by the imaging unit of the robot is transferred from the robot to the communication device by the first device.
By transmitting the image information (image information) and transmitting the second image information corresponding to the first image information (image information) from the communication device to the outside, a user at a remote place is notified of the situation in the house. . By doing so, the present invention has an excellent effect, for example, the user can monitor the house indoors without introducing an expensive monitoring system.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a main part of a robot according to the present invention.

FIG. 2 is a first embodiment of a robot system according to the present invention;
FIG. 2 is a block diagram showing a configuration of a main part of FIG.

FIG. 3 is a flowchart showing a processing procedure of a CPU when setting an operation mode of the robot according to the first embodiment.

FIG. 4 is a flowchart showing a processing procedure of a CPU when setting an operation mode of the robot according to the first embodiment.

FIG. 5 is a flowchart illustrating a processing procedure of a CPU when controlling the operation of the robot according to the first embodiment;

FIG. 6 is a second embodiment of the robot system according to the present invention.
FIG. 2 is a schematic diagram showing a configuration of a main part of FIG.

FIG. 7 is a block diagram illustrating a configuration of a robot according to a second embodiment.

FIG. 8 is a chart showing an example of command data of a robot.

FIG. 9 is a block diagram illustrating a configuration of a computer.

FIG. 10 is a flowchart showing a flow of an operation of the robot system according to the second embodiment.

FIG. 11 is a flowchart showing a flow of an operation of the robot system according to the second embodiment.

FIG. 12 is a flowchart showing a flow of an operation of the robot system according to the second embodiment.

FIG. 13 is a flowchart showing a flow of an operation of the robot system according to the second embodiment.

[Explanation of symbols]

 Reference Signs List 1 robot 11 head 11a mouth 11b eyeball 11c eyelid 12 torso 12a telephone slot 12b microphone 12c speaker 12f CCD camera 16 CPU 16a ROM 16b RAM 17 drive circuit 19 sound reproduction circuit 110 wireless communication unit 2 mobile phone 3 computer 31 computer 31 CPU 32 ROM 33 RAM 34 Hard Disk Device 35a Wireless Communication Device 35b Modem 4 Mobile Phone

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G10L 15/24 G10L 3/00 R 5K048 H04N 7/18 Q H04Q 9/00 331 551H 571Q (72) Inventor Naoto Tojo 2-5-5 Keihanhondori, Moriguchi-shi, Osaka F-term in Sanyo Electric Co., Ltd. (reference) 2C150 AA14 BA06 BA11 CA01 CA02 CA04 DA04 DA05 DA24 DA25 DA26 DA27 DA28 DF03 DF04 DF06 DF33 DK02 ED42 ED52 EF07 EF13 EF16 EF16 EF23 EF28 EF29 EF34 EF36 3C007 AS36 CS08 JS03 JS07 KT01 WA04 WA16 WB19 WB26 WC07 WC15 WC16 WC25 5C054 AA01 CC02 CF05 CG06 CH01 HA04 5D015 KK01 KK02 5D045 AB11 5K048 BA13 CA08 DC01 DC02

Claims (10)

[Claims] 1. A robot system comprising: a robot having one or a plurality of movable units and an imaging unit; and a communication device that receives an audio signal and outputs an audio signal or an audio signal corresponding to the received audio signal. A robot that includes a control unit that controls driving of the movable unit based on a voice or a voice signal output from the communication device and an image captured by the imaging unit. system. 2. A robot having one or a plurality of movable units, a voice input unit, and a voice output unit, and a communication device that receives a voice signal and outputs a voice or a voice signal according to the received voice signal. A robot system, wherein the robot outputs a control based on a voice or a voice signal output from the communication device, based on a voice input by the voice input unit and a control unit that drives and controls the movable unit. A robot system comprising: a voice determining unit that determines a power voice; wherein the voice output unit is configured to output the voice determined by the voice determining unit. 3. The robot according to claim 1, further comprising an imaging unit, wherein the control unit controls the driving of the movable unit based on an image captured by the imaging unit. The robot system according to claim 2, wherein 4. A robot system comprising: a robot having one or a plurality of movable units and an imaging unit; and a communication device, wherein the communication device is configured to externally output a first operation instruction representing an operation instruction of the movable unit. A first reception unit for receiving information, a first transmission unit for transmitting second operation instruction information corresponding to the first operation instruction information received by the first reception unit to the robot, and an image transmitted from the robot A second receiving unit that receives the first image information representing the first image information, and a first receiving unit that receives the first image information.
A second transmitting unit that transmits second image information corresponding to the image information to the outside, wherein the robot has a third receiving unit that receives the second operation instruction information transmitted from the communication device; A control unit configured to control the driving of the movable unit based on the second operation instruction information received by the receiving unit; and transmitting the first image information to the communication device based on an image captured by the imaging unit. A robot system, comprising: a third transmission unit that transmits. 5. The communication device according to claim 1, further comprising: a first receiving unit configured to receive first operation instruction information indicating an operation instruction of the movable unit from outside; and a first operation instruction information received by the first receiving unit. A first transmitting the second operation instruction information to the robot;
A transmitting unit, and a first representing an image transmitted from the robot.
The robot further includes: a second receiving unit that receives the image information; and a second transmitting unit that transmits second image information corresponding to the first image information received by the second receiving unit to the outside. A third receiving unit that receives the second operation instruction information transmitted from the device, and a third transmitting unit that transmits the first image information to the communication device based on an image captured by the imaging unit. 4. The control unit according to claim 1, wherein the control unit is configured to perform drive control of the movable unit based on the second operation instruction information received by the third receiving unit. 5. Robot system. 6. An input for inputting the voice or voice signal from one or more movable parts, an imaging unit, and a communication device that receives the voice signal and outputs a voice or voice signal corresponding to the received voice signal. And a control unit that controls the driving of the movable unit based on a voice or a voice signal input by the input unit and an image captured by the imaging unit. And a robot. 7. One or more movable parts, a voice input part,
A robot comprising an audio output unit and an input unit that receives an audio signal and outputs the audio or the audio signal from a communication device that outputs an audio or an audio signal according to the received audio signal. A control unit that controls the driving of the movable unit based on a voice or a voice signal input by the control unit; and a voice determination unit that determines a voice to be output based on the voice input by the voice input unit. The output unit is configured to output the voice determined by the voice determining unit. 8. The image processing apparatus according to claim 7, further comprising an imaging unit, wherein the control unit controls the driving of the movable unit based on an image captured by the imaging unit. The robot according to 1. 9. A robot comprising one or a plurality of movable parts and an imaging part, wherein: a receiving part for receiving operation instruction information representing an operation instruction of the movable part; A control unit that controls the driving of the movable unit; and a transmission unit that transmits image information including an image captured by the imaging unit. 10. The control unit, further comprising: a receiving unit that receives operation instruction information indicating an operation instruction of the movable unit; and a transmission unit that transmits image information including an image obtained by the imaging unit. The robot according to claim 6, wherein the robot is configured to perform drive control of the movable unit based on operation instruction information received by the receiving unit.