JP2002307354A - Electronic toy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic toy devised to automatically start at the time when a user is present nearby. SOLUTION: The electronic toy to be controlled to react against information from outside is furnished with a movement mechanism to constitute mechanical movement of the toy, an input means to acquire the information from the outside, a discrimination means to discriminate whether an objective body exists or not in the circumference and a control means to control movement of the movement mechanism by selecting a control parameter to control the movement mechanism in correspondence with the information from the outside in accordance with the discrimination result from a plurality of the control parameters and moves at the time when a person is present around.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic toy ("adult toy" or "playing toy" for an adult, a home robot, etc.) which is controlled to perform an arbitrary operation in response to an external voice or contact. Including).

[0002]

2. Description of the Related Art Conventionally, stuffed animals such as dogs, cats, and bears have been widely used as animal toys. In addition, a motor and a speaker are built in the body of a synthetic resin made of a stuffed animal or an animal, and perform predetermined operations such as moving a foot or a mouth by, for example, touching and pressing the head. There are also animal toys that are configured to produce a predetermined call.

[0003] In this kind of animal toy, since the same operation is repeated and the same cry is repeatedly produced, the user often gets bored immediately.

[0004] Conversely, if an operation is selected at random, the expected operation does not occur for the user, and the user may soon get bored.

An electronic toy equipped with a microcomputer for controlling such a conventional animal toy to perform various operations so as to keep the user from getting tired is being developed.

[0006] As electronic toys, for example, stroking the head,
Some are configured to perform a certain operation (for example, an operation of uttering a pre-stored word from a speaker, shaking the body, or the like) in response to a command from a microcomputer when the user lifts or calls up. Also, with this type of electronic toy, the number of times you stroke your head,
The number of times of calling is counted, and for example, as the count value increases, control is performed so that words to be uttered from the speaker are gradually changed to a pretty expression.

[0007]

In the above-mentioned conventional electronic toy, since the user plays after turning on the power, the operation is automatically selected according to the presence or absence of the user (person). Not something like that. Further, the electronic toy itself does not determine the operation by judging the surrounding situation.
When assuming an electronic toy that communicates with the user, it is desired that the operation is automatically performed from the start to make the operation correspond to the user.

Accordingly, an object of the present invention is to provide an electronic toy that is automatically activated when a user is nearby.

Another object of the present invention is to provide an electronic toy that takes into account elements for communicating with a user.

[0010]

In order to achieve the above object, an electronic toy of the present invention (ie, a home robot) is provided.
Is an electronic toy that is controlled to respond to external information, an operation mechanism that configures the mechanical movement of the toy, an input unit that acquires external information, and whether an object exists around the electronic toy. Discriminating means for discriminating whether or not, based on the discrimination result, selecting a control parameter for controlling the operating mechanism from a plurality of control parameters in accordance with the information from the outside, and operating the operating mechanism And control means for controlling

With this configuration, it is possible to obtain an electronic toy that operates in response to external information when a person or the like (object) is present in the vicinity. As a result, communication can be made to the user from the electronic toy side. Also, the battery (power supply) can be saved.

Preferably, the apparatus further comprises information display means for externally displaying information, wherein the control means includes a plurality of control parameters for controlling the information display means in response to the external information. And information display is performed by controlling the operation of the information display means.

Thus, it is possible to obtain an electronic toy exhibiting a reaction corresponding to external information by the operation of the mechanism and the visual display.

Preferably, the apparatus further comprises a sound generating means for outputting a sound to the outside, wherein the control means includes a plurality of control parameters for controlling the sound generating means in response to the information from the outside. And outputs the sound by controlling the operation of the sound generating means.

[0015] Thus, it is possible to obtain an electronic toy which shows a response corresponding to external information by the operation of the mechanism, the visual display, and the audio output.

Preferably, the apparatus further includes means for calculating a specific person's life rhythm, and event detection means for detecting occurrence of an event in the life rhythm, wherein the control means includes an operation mechanism corresponding to the event. And selecting at least one of the control parameters of the information display means and the sound generation means.

With this configuration, it is possible to obtain an electronic toy that works for communication corresponding to the user's life rhythm (for example, biorhythm).

Preferably, the apparatus further comprises clock means for detecting a current time, and detection means for detecting the occurrence of an event planned on a time axis in advance, wherein the control means responds to the event. A control parameter of at least one of the operation mechanism, the information display means, and the sound generation means is selected.

[0019] With this configuration, it is possible to obtain an electronic toy that works for communication corresponding to the temporal living behavior pattern of the user.

Preferably, the discriminating means detects surrounding voice and / or movement.

Preferably, the discriminating means detects surrounding voice and / or brightness.

Preferably, the discriminating means includes a microphone for collecting surrounding sounds and / or a camera for photographing the surroundings.

With this configuration, it is possible to detect the presence of a user near the electronic toy by detecting surrounding sounds, brightness, the presence of a moving object, and the like.

Preferably, the operation mechanism has a structure of a humanoid robot, and the operation is controlled so as to express at least one of “joy”, “anger”, “sorrow”, and “easy” of a person.

Preferably, the control means selects a control parameter for performing a predetermined single-player action when it is determined that there is no person around. The single play operation is performed irrespective of an input from a user, and includes, for example, an operation of displaying a state of a game played alone on an electronic toy display.

Preferably, the electronic toy has a human shape,
The information display means is provided at a portion corresponding to a face, and displays symbols such as facial expressions and characters.

Preferably, the apparatus further comprises storage means for recording a human voice. With this, voice memos and things (voices)
Imitation is possible.

Preferably, the input means includes at least one of a touch sensor, a microphone, an optical sensor, a camera, a switch, and a state sensor.

Preferably, the apparatus further comprises means for detecting the output of the battery, wherein the control means further outputs information or information to externally display information when the output of the battery decreases. A warning is generated by the voice generating means. For example, the warning sound outputs a sound such as "I am not fine without batteries". This allows the user to be notified of the battery shortage.

Further, the electronic toy of the present invention is an electronic toy controlled to respond to external information, wherein the operation of the human-like structure and the operation of the structure correspond to the external information. Control means for controlling, a small camera provided on the structure to capture an external situation, and communication means for transmitting the captured image to the outside.

With this configuration, it is possible to grasp the surrounding situation as image data and to grasp the presence of a user (person) from the movement of the subject.

For example, as a communication means, infrared (I
R) Communication, PHS, mobile phone, wired communication, general telephone line, etc. can be used.

Further, the electronic toy of the present invention comprises a basic frame arranged on the body of a humanoid toy, and first and second rotatably mounted on the basic frame provided on both sides of the basic frame. A second subframe and a first subframe provided in each of the first and second subframes.
And a second rotating shaft, a cam mechanism provided on a third rotating shaft driven by a first motor, and connecting the cam mechanism and the first and second subframes to each other. A link that swings a frame, a gear mechanism driven by a second motor, and a gear mechanism that is disposed between the basic frame and the first and second sub-frames, and outputs the output of the gear mechanism to the first sub-frame. And a transmission mechanism for transmitting the rotation to the second rotation shaft.

By providing such a structure, the shoulder,
Arms and necks become movable. Thereby, a pseudo-human motion expression can be performed.

Preferably, the transmission mechanism is constituted by a gear train composed of a plurality of gears, and respective gears at both ends are arranged in the first and second sub-frames, respectively, and the first and second gears are arranged. The rotation shaft and the bevel gear mesh with each other.

With this configuration, it is possible to simultaneously rotate the arm while rotating the shoulder.

Preferably, the first motor and the third motor
To protect the member from overload between the rotating shafts
Is provided.

[0038] Preferably, the gear mechanism is provided with a second clutch mechanism for protecting the member from overload.

Further, the electronic toy of the present invention is a human-type or animal-type electronic toy having a display portion capable of displaying characters and symbols on a head equivalent to the face of the head, and a plurality of input devices provided on the body. The information input by operating the input unit including the switch is configured to be visually confirmed on a display unit provided in the above-mentioned face equivalent unit.

Further, the electronic toy of the present invention is a human-shaped or animal-type electronic toy having a head and a body, and has a display portion capable of displaying characters and symbols on a portion corresponding to the face of the head,
An input unit including a plurality of input switches is provided on the body unit, and the operation result of the input unit is configured to be visually confirmed on a display unit provided on the face equivalent unit.

Further, the electronic robot of the present invention is a human-type or animal-type electronic robot, which has a display portion on a portion corresponding to the face of the head on which characters and symbols can be displayed. The information input by operating the input unit including the plurality of input switches is visually confirmed on a display unit provided in the above-mentioned face equivalent unit.

Further, the electronic robot of the present invention is a humanoid or animal type electronic robot, which has a display portion capable of displaying characters and symbols on a portion corresponding to the face of the head, and wherein an operator is provided on the body of the robot. Information input by operating an input unit including a plurality of input switches is displayed on a display unit provided on the face-corresponding portion, and forms an expression of the robot.

Preferably, the control parameters include an emotion parameter, and the emotion parameter is expressed as a specific person's biorhythm or a robot's biorhythm. This enables expression based on the emotions of the robot itself.

Preferably, the emotion parameter is affected by the occurrence of the event. As a result, emotions change according to circumstances.

Preferably, the event includes an answer to a question asked by the electronic toy to the user.
Depending on the answers to the questions, the emotions can change.

Preferably, in the question, a change in an emotion parameter with respect to an expected answer to the question is defined in advance. Thereby, it is possible to make the influence on each answer of the question different.

Preferably, the control section selects information to be displayed externally and / or selects sound to be output externally based on the emotion parameter. As a result, information and voice that are expressed to the outside based on the emotion can be obtained.

Preferably, the control means further stores an answer to the question and forms a fixed phrase using data on the answer. Use answer results for control (reflect)
Is what you do.

Further, the electronic toy of the present invention is a human-type or animal-type electronic toy, wherein a display portion capable of displaying characters and symbols on a portion corresponding to the face or the body of the head and an input device provided on the body are provided. Input means for performing an operation, storage means for storing a plurality of words, and control means having a function of selecting the words and displaying the selected words on the display unit and outputting an emotion parameter value representing their own emotions. The control means selects the word based on the emotion parameter and causes the display unit to display the selected word.

With this configuration, it is possible to output words based on the emotions of the robot.

Further, the electronic toy of the present invention is a human-type or animal-type electronic toy, comprising: a voice generating means for outputting voice data as voice; an input means provided on the body for performing input operation; And a control unit having a function of selecting the voice data and providing the selected voice data to the utterance unit, and outputting an emotion parameter value representing the user's own emotion. The voice data is selected based on the voice data, and the voice data is generated by the voice generating means.

With this configuration, it is possible to output a voice based on the emotion of the robot. Further, the electronic toy of the present invention is a human- or animal-type electronic toy, a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head, and a vocalization means for outputting voice data as voice. And input means for performing an input operation provided on the body, storage means for storing a plurality of words and a plurality of voice data, and selecting and displaying the words on the display unit, and expressing their own emotions Control means having a function for outputting an emotion parameter value, wherein the control means selects the words and the voice data based on the emotion parameters, and supplies them to the display unit and the utterance means. .

With this configuration, it is possible to output words and voices based on the emotions of the robot.

Preferably, the emotion parameter changes with time between a maximum value and a minimum value.

Preferably, the control means asks a question using the character or voice, and changes the value of the emotion parameter according to an input operation for the question. The emotion of the electronic toy changes depending on the answer to the user's question.

Preferably, a plurality of questions are stored in advance, and a change in the emotion parameter is defined for an expected answer to each question. Interesting because the degree of emotional change is different for each question.

Preferably, a plurality of questions are stored in advance, and the degree of intimacy between the electronic toy and the user is defined for an expected answer to each question.

Preferably, the control means further stores an answer to the question and forms a fixed phrase by using data relating to the answer.

Preferably, the control section accumulates the intimacy obtained by each question, and supplies a data expressing a specific emotion to the display section and / or the vocal means when the intimacy degree exceeds a predetermined value. This enables the electronic toy to perform dear expressions for the user.

[0060] Preferably, the questions include questions that affect the emotion parameter and questions that do not.

Preferably, a plurality of zones are defined in advance between the maximum value and the minimum value of the emotion parameter, and the words and voice data are distributed to each zone. The words and voice data of the corresponding zone are selected according to which zone the.

Preferably, the control means selects a control for performing a special operation involving a mechanical movement of a part constituting a humanoid or animal type in a specific zone. By performing the entire operation, a great impact can be given to the user.

Preferably, the control means further comprises an exhibition mode for changing the emotion parameter between its maximum value and its minimum value in a short period. By doing so, it becomes possible to appeal the characteristics of the electronic toy in the shop window in a short time.

Preferably, the apparatus further comprises a connection means for connecting the electronic toy to a network, and downloads the words and voice data to the storage means from a server device connected to the network. This makes it possible to update words and voice data, control data, and the like.

Preferably, the words and audio data to be downloaded are topical words. Interesting as a modern toy.

Preferably, the words and audio data to be downloaded are terms corresponding to the characteristics of the user.
Thereby, a word suitable for the user is selected.

Preferably, the electronic toy further comprises a connecting means for connecting the electronic toys, and the storage means receives the words and voice data stored therein from the connected electronic toy. Thereby, it is possible to exchange data between toys.

Preferably, the connection means includes at least one of a communication cable, a PHS, a mobile phone, and a personal computer.

Preferably, character data is exchanged between the electronic toys, and the exchanged data is incorporated into a fixed phrase for a simulated conversation. This makes it possible to make it appear that the electronic toys are having a conversation.

In the electronic toy of the present invention, a human or animal type electronic toy is provided with a voice detecting means for detecting a surrounding voice, and characters and symbols displayed on a portion corresponding to the face or torso of the head. Possible display unit, storage means for storing a plurality of facial expressions, and a function to output an emotion parameter value representing its own emotion, select the facial expression based on the emotion parameters, and display it on the display unit And control means for displaying the emotion parameter in an unpleasant state when the voice is at a predetermined level or more and continues for a predetermined time or more.

With such a configuration, when a loud sound is continuously given to the electronic toy, the expression or gesture that dislikes the sound is performed.

The electronic toy of the present invention is a human-type or animal-type electronic toy, in which a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head and a plurality of facial expressions are stored. Storage means, input means provided on the body for performing an input operation, and a function for outputting an emotion parameter value representing own emotion, selecting the expression based on the emotion parameter, and displaying the selected expression on the display unit Control means for displaying an expression corresponding to the emotion parameter when the input means is continuously operated for a predetermined time or a predetermined number of times. .

With this configuration, when the user hits or strokes the electronic toy, it is possible to expect a facial expression or motion according to the emotion at that time.

Preferably, when the emotion parameter indicates discomfort, an expression of anger is displayed on the display unit.

Preferably, the facial expression selected in response to the continuous operation is a facial expression that is painful when struck or a facial expression that is pleasantly stroked.

Further, the electronic toy of the present invention is a human-type or animal-type electronic toy, in which a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head and a plurality of facial expressions are stored. Storage means, an optical sensor capable of detecting ambient brightness, and control means for selecting an expression corresponding to his / her own emotion and displaying the selected expression on the display unit, wherein the control means comprises: Select a facial expression that closes the eyes when detecting a dark state for a predetermined time or more.

With this configuration, it is possible to express a state of falling asleep.

[0078] Preferably, the control means further operates a mechanical part constituting a humanoid or animal type to express an emotion reluctant to fall asleep.

Preferably, the initial value of the function for outputting the emotion parameter value representing the emotion is set at random.

With this configuration, each electronic toy has a different starting state of operation, so that each toy is individualized and interesting.

The electronic toy of the present invention is a human-shaped or animal-shaped electronic toy, in which a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body corresponding to a head, and a human-shaped or animal-shaped. Configured, mechanical parts configured to be movable, and determine the message and control information from the file attached to the e-mail, while displaying the message on the display unit,
A control unit that operates the mechanical part according to the control information.

Preferably, the attached file is an audio file.

[0083] Preferably, the audio file is reproduced into an audio signal by a computer, and the audio signal is supplied to the control unit.

Preferably, the control information specifies an operation stored in the control unit in advance.

Preferably, the control information specifies a series of control procedures for the mechanical part to the control unit.

Preferably, when the control information is not attached, the control unit selects an appropriate movement of the mechanical part.

Preferably, the control information expresses emotions of the robot, such as emotions and joys.

The e-mail method of the present invention comprises the steps of
A step of converting a message to be displayed on the electronic toy of the recipient and an operation to be performed by the electronic toy into a voice signal, a step of converting the voice signal into a voice file, and converting the voice signal into an attached file of an email; A step of transmitting the e-mail with the voice file from the sender terminal to the receiver terminal, and receiving the e-mail at the receiver terminal;
Reproducing the audio file to obtain an audio signal, transferring the reproduced audio signal from a receiver terminal device to the electronic toy, and causing the electronic toy to display the message and perform the operation. And a process.

The electronic toy of the present invention is a human-shaped or animal-shaped electronic toy, and has a leg-shaped structure constituting a pair of human-shaped or animal-shaped movable legs and a sound to be output. A control unit for controlling the movement of the leg.

Preferably, the control unit sets the speed of the movement of the leg in accordance with the volume or rhythm of the voice.

[0091] Preferably, the movement of the pair of legs is an operation of opening and closing the legs in the left-right direction.

[0092] Preferably, one sole of the leg is provided with slip prevention means, and the other sole of the leg is provided with slip means.

[0093] Preferably, the leg structure includes a waist frame provided with a pair of left and right hip joints rotatable in at least one direction, and a pair of leg portions respectively connected to the pair of hip joints. A pair of drive shafts having one end attached to each leg and the other end extending beyond the hip joint of the leg and into the waist frame, and a link interconnecting the other end of each drive shaft. A member, a cam mechanism interposed between the other end of at least one of the drive shafts and the link member to change one end side of the drive shaft to wide and narrow, and built into one of the legs. And a motor that drives the one of the drive shafts to rotate.

[0094] Preferably, the other end of the drive shaft and the link members or the cam and the link members are connected via a spherical engaging member.

Preferably, a sliding means is provided at one end of the other drive shaft of the pair of drive shafts so as to slide on the ground or floor.

[0096] Preferably, the other of the legs has an upper knee portion rotatably connected to the hip joint portion in the front-rear direction, a lower knee portion rotatably connected to the upper knee portion in the front-rear direction, A ground contact portion rotatably connected to one end of the other drive shaft of the pair of drive shafts in the left and right direction, a projection is formed on the lower surface of the lower part of the knee, and the upper surface of the ground portion Is formed such that an inclined surface with which the protruding portion contacts is formed, and the protruding portion is pushed up in accordance with the opening and closing operation of the leg portion, so that a connecting portion between the upper knee portion and the lower knee portion is bent.

Preferably, the sliding means is a roller.

Preferably, the opening and closing of the legs can be adjusted according to the mounting position of the engaging member on the cam mechanism.

The electronic toy according to the present invention is an electronic toy having a walking mechanism for performing bipedal walking by moving both feet back and forth, wherein the one-legged operation mechanism is rotatably connected to the waist frame and the waist frame. A knee upper part, a knee lower part rotatably connected to the knee upper part, a ground contact part rotatably connected to the knee lower part, a cam pulley provided on the waist frame and driven to rotate, A first cam provided on a cam pulley, a second cam provided on the cam pulley, a longitudinal member for vertically swinging the ground contacting portion by the first cam, and a lower part of the knee by the second cam. And a short member that swings in the front-rear direction.

With this configuration, when the feet are alternately extended and forward or backward, the ground contact portion (foot)
The tip (toe) or the rear end (heel) of the tongue can be lifted and moved at an appropriate angle.

Further, the electronic toy according to the present invention is an electronic toy having a walking mechanism for performing bipedal walking by moving both feet back and forth, wherein the one-legged operating mechanism is rotatable about the waist frame and the waist frame. An upper knee connected to the upper knee, a lower knee rotatably connected to the upper knee, a ground contact portion rotatably connected to the lower knee, and a cam provided on the waist frame and driven to rotate. A long member that swings the ground contact portion in the vertical direction by the cam, and a short member that swings the lower part of the knee in the front-rear direction by the cam.

With this configuration, when the both feet are alternately extended and forward or backward, the tip (toe) or the rear end (heel) of the contact portion (foot) can be lifted and moved to a larger angle. It becomes possible.

Preferably, the elongate member includes a guide hole with which the guide member is engaged and a push-down plate in contact with the cam. The push-down plate pushes down the contact portion and sets the upper limit position of the longitudinal member. Thereby,
It is possible to prevent a larger inclination and excessive rise of the ground contact portion.

Preferably, there is further provided an urging means for urging the tip of the ground contact portion in a direction of pushing down. Thereby,
By increasing the frictional force at the distal end and the driving force for walking, it is possible to improve walking ability, walking stability, and running performance.

Preferably, the size of the electronic toy is about 3
0 cm. This mechanism is suitable for a request of this size.

Preferably, the ground contact portion is provided with a diagonal driving means for driving the biped walking mechanism diagonally with respect to the traveling direction.

Preferably, the oblique driving means includes a driving roller or a driving belt which is driven to rotate.

Preferably, a plurality of drive rollers or drive belts are provided.

Preferably, the oblique driving means is provided at each of the grounding portions of both feet, and each driving direction of the two oblique driving means is present on a circumference having substantially the same curvature.

[0110] Preferably, the oblique driving means is provided on the toe side of the grounding portion, and a sliding roller is provided on the heel side of the grounding portion.

The present invention relates to an electronic toy having a walking mechanism for bipedal walking by moving both feet back and forth, wherein the toy is driven obliquely with respect to the traveling direction of the bipedal walking mechanism on the bottom of the foot. Characterized in that an oblique driving means is provided.

Preferably, the oblique driving means includes a driving roller or a driving belt which is driven to rotate.

Preferably, a plurality of the driving rollers or driving belts are provided.

Preferably, the oblique driving means is provided at each of the grounding portions of both feet, and each driving direction of both oblique driving means is present on a circumference having substantially the same curvature.

It is preferable that the oblique driving means is provided on the toe side of the grounding portion, and a sliding roller is provided on the heel side of the grounding portion.

[0116]

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

FIGS. 1 to 4 show an example of a humanoid robot (pet robot) as an electronic toy (home robot). Each figure shows a front view, a rear view, a top view, and a side view of the robot. FIG.

The robot 1 includes a head 10, a trunk 20, left and right arms 30, and left and right legs 40. The head 10 and the torso 20 are rotatably connected to each other by a neck joint K6. The trunk 20 and the arm 30 are rotatably connected by a shoulder joint K1. The arm 30 is provided with an elbow joint K2 and a wrist joint K3, so that the arm 30 can be freely bent. Body 20 and legs 40
Are rotatably connected to each other by a hip joint K4. The leg 40 is provided with a knee joint K5.

The head 10 has a microcomputer system for controlling the robot, a window display for communicating between the user and the robot, which will be described later,
A sound sensor for collecting voice, an optical sensor (or camera) for obtaining surrounding information, a touch sensor, a speaker for generating a voice of the robot, and the like are provided. In addition, the head 10 has a swing mechanism that rotates an internal frame (not shown) of the head 10, and the head 10 is moved in the front-rear direction.
A nod mechanism (not shown) is provided. This corresponds to the neck joint K6.

A motor as a power source and the left and right arms 30 are mounted on the body 20 in the Z axis of the shoulder joint K1 (vertical direction in FIG. 1).
An arm opening / closing mechanism for turning around, an arm rotating mechanism for turning left and right arms 30 around the X axis (the left-right direction in FIG. 1) of the shoulder joint K1, and a neck for turning the head 10 around the Z axis. Includes rotating mechanism. The body 20 is provided with “O” and “X” switches 54 as detection switches.

A battery as a power source for operating the motor, the microcomputer system, and the like is disposed inside the left and right legs 40. The battery can be arranged on the trunk 20 and the arm 30. When the battery is arranged on the torso 20, the knee joint K5 can be bent.

By arranging an actuator such as an electromagnet or a micromotor inside each arm or each leg, the arms and legs can be bent, and a movement closer to a human can be made. .

The electronic robot described above is a humanoid,
An animal-type electronic robot may be used. In addition, an operator operates the input unit including a plurality of input switches 51 and 54 provided on the body of the robot and inputs the information to the display unit 71 on which characters and symbols can be displayed on a portion corresponding to the face of the head. The information can be visually confirmed on the display unit 71 provided in the above-mentioned face equivalent part.

FIGS. 5 to 8 are views for explaining the mechanical structure incorporated in the body 20. FIG. FIG. 5 is a front view of the mechanical structure, and FIG. 6 is a perspective view of the mechanical structure. FIG. 7 is an explanatory diagram showing portions corresponding to the above-described arm opening / closing mechanism and neck rotation mechanism in the mechanical structure. FIG.
It is explanatory drawing which showed the part corresponding to the above-mentioned arm rotation mechanism in a mechanical structure.

As shown in FIGS. 5 and 6, the mechanical structure 2
Reference numeral 00 denotes a basic frame 201, a sub-frame 202, a neck (head) rotation mechanism 210 (see FIG. 7), an arm (or shoulder) opening / closing mechanism 220 (see FIG. 7), and an arm rotation mechanism 230.
(See FIG. 8), neck (head) rotation shaft 203, arm rotation shaft 20
4, a first motor 205, a second motor 206, a motor mounting plate 207 for fixing each motor to the frame 201, and the like.

The sub-frame 202 has a substantially U-shape and is provided on each of the left and right sides of the basic frame 201 so as to be rotatable around the Z axis with respect to the frame 201. I have. A bevel gear mechanism for changing the power transmission direction is provided inside the sub-frame, and the arm rotation shaft 20 is provided even when the sub-frame 202 rotates around the Z-axis.
4 to be transmitted to the vehicle.

As shown in FIG. 7, the neck rotation mechanism 210 and the arm opening / closing mechanism 220 are driven by a first motor 205. The rotating shaft of the motor 205 is connected to a worm gear mechanism 211 for changing the power transmission direction and converting the torque, and a spring clutch mechanism 21 as a safety device.
2, the head rotation shaft 203 is rotated. The upper end of the head rotation shaft 203 is coupled to a frame (not shown) of the head 10 to rotate the head 10 around the Z axis. Alternatively, a worm gear mechanism is provided at the upper end of the head rotating shaft 203 so as to obtain rotation about the x-axis, thereby enabling the head to move nod back and forth. Head rotation axis 2
An arm opening / closing mechanism 220 is connected to a lower end of the arm 03. When an overload is applied to the head rotation shaft 203 and the sub-frame (arm opening / closing mechanism) 202, the spring clutch mechanism 212 slides to prevent damage to components.

A cam mechanism 221 is provided at the lower end of the head rotation shaft 203. The cam mechanism 221 includes a shaft 203
222, two arm mounting pins 223 provided on the plate 222, pins 224 respectively mounted on the two subframes 202, one arm mounting pin 223 and one subframe 2
02 between the pins 224 and the other arm mounting pin 2
23 and two pins 225 for rotatably connecting the pins 224 of the other sub-frame 202 respectively. Each subframe 202 is a basic frame 2
01 is rotatably held by a pin 226.

Therefore, when the motor 205 rotates, the head rotating shaft 203 rotates in the forward and reverse directions, and
The head 10 is rotated. Along with this, plate 222
Rotates to move the link 225 and the subframe 20
Move 2 around the Z axis. This enables the movement of opening and closing the arm 30 (for example, the embracing operation). The motor 205 is controlled by a microcomputer. The amount of rotation of the shaft 203 or the operation posture can be grasped, for example, by reading the sign of a sensor disk (not shown) provided at the tip of the shaft 203 or by using a cam and switch (not shown) provided at the tip of the shaft 203. It is grasped by the combination.

As shown in FIG. 8, the arm rotation mechanism 230
Driven by the second motor 206. Motor 206
The pinion gear attached to the rotating shaft drives a gear mechanism 231 including a plurality of gears. This gear mechanism 23
1 further drives the gear train 233 that propagates the driving force in the left and right (horizontal) direction above the basic frame 201. A clutch mechanism 233 is provided between the gear mechanism 231 and the gear train 233 as a protection mechanism for preventing damage to components due to overload. The clutch mechanism 233 causes slippage on the rubber surface at the time of overload by, for example, interposing a rubber friction plate (surface) sandwiched between gears. It should be noted that the above-described spring type or a combination of flexible uneven plates may be used.

The gear train 233 is composed of, for example, six gears, and the gears on both sides are provided in the sub-frame 202. The gears on both sides are connected to the subframe 202.
Meshes with a bevel gear fixed to one end of an arm rotation shaft 204 rotatably held at the end. The arm 30 (not shown) is attached to the other end of the arm rotation shaft 204 via a collar 234 fixed to the shaft 204. Therefore, the motor 206
Drives the arm rotation shaft 204 via the gear mechanism 231, the clutch mechanism 233, and the gear train 232, and rotates the arm 30 attached to the rotation shaft 204. A sensor is provided at an appropriate position for detecting the rotational position of the arm and controlling the motor 206, for example, the collar 234.

FIG. 9 is a block diagram illustrating a control system of a robot as an electronic toy. The robot includes a touch sensor 51, a microphone (sound sensor) 52, an optical sensor (for example, a CCD camera) 53, and an output corresponding to the operation of the "O" button and the "X" button as means for detecting surrounding conditions and inputs. , A “×” switch unit 54, a state (posture) sensor 55, and a battery voltage detection sensor 56 that generate The touch sensor 51 is, for example, a robot head 10.
Is provided on the upper surface (see FIG. 3), and detects that the user pats (touches) the head. The touch sensor 51 is, for example, a micro switch or a capacitance detection type contact detection switch. The state sensor 55 detects the state of the robot. The outputs of these various sensors are supplied to the control unit 60. The control unit 60 controls the motor 205 based on these inputs.
And 206, the window display section 71 of the head, the speaker 7
2. Control the joint actuator group 73. In the case where simpler posture control is performed without performing fine movements of the arms and legs of the robot, the joint actuator group 73 can be omitted. By incorporating a USB terminal or an infrared interface, a function of transferring an image read by the optical sensor 53 to a personal computer, a PHS, or a mobile phone can be incorporated. In addition, when a function for calling a user name and storing the user name is incorporated into the robot, it is not possible to store all names in the initial state of shipment, so the homepage server may be stored in advance or in response to a request from the user. By preparing additional name data, the user can connect a PC, PHS, mobile phone, or the like to a USB terminal or an infrared interface of the robot, and have a function of downloading and using desired name information from a homepage. The USB terminal and the infrared interface can be arranged, for example, at the back of the head where the CPU is incorporated.

As shown in FIG. 10, the control unit 60
It has a CPU 61 as a central processing unit, a ROM 62 (storage means), a RAM 63, and a timer (clock and calendar function) 64. The ROM 62 has a display unit 71,
An operation control program for driving and controlling the speaker 72, the motors 205 and 206, and the actuator group 73, and the motors 205 and 206 according to the posture of the robot to be set.
Attitude control data for controlling the rotation direction and amount of rotation of the actuator (and the actuator group 73) to switch to a plurality of operating attitudes, voice control data for causing the speaker 72 to output a voice or melody to be output, and a robot , Display control data for displaying information to be displayed on the display unit 71, program data for calculating a user's biorhythm, and surrounding conditions based on voice input and image input of a CCD camera.
For example, a voice / image processing program for determining the presence of a user, a communication program (not shown) for performing data communication with the outside via a PHS, and the like are stored.

The audio / image processing program includes an audio processing program for performing a filtering process, an identification process, a modulation process, and the like of an input audio, and an image processing program for detecting ambient brightness and motion of a subject. Further, the operation control program is an operation selection program for selecting an operation pattern or a display pattern corresponding to the situation from a plurality of operation patterns based on a result of determination of the surrounding situation by voice and / or image. A posture control program for controlling the head 10, the arm 30, the joints, and the like to operate in a pattern is provided.

The output data of the microphone 52 and the output data of the optical sensor (camera) 53 are stored in the RAM 84 via the interface of a microcomputer (not shown).
Stored by action.

The audio signal output from the microphone 52 is A / D-converted by the interface, subjected to low-pass filtering for noise removal and the like, and only the human voice region is extracted, and is stored in the RAM 63 as voice data. The audio data is processed by the audio processing program. This data is stored for a certain length of time, and becomes a target of voice recognition processing. As a method of voice recognition, any of general speaker recognition and specific speaker recognition may be used. As a result of the voice recognition processing, a command corresponding to the word conveyed by the voice of the user is output. This command is transmitted to the motion control program to perform the corresponding motion control, thereby enabling the robot to perform motion, display, and sound corresponding to the voice.

In a standby state in which the robot is not operating, daily sounds are collected by observing the average level of voice data over time, and it is determined whether or not a user is near the robot.

The voice processing program including the processing of storing the voice in the memory 63 can be used as a so-called voice memo for storing the voice of the user. Further, the stored voice data is subjected to tone color and pitch conversion processing, and
It is also possible to imitate (voice imitation) that is transferred to and pronounced.

An output signal corresponding to one frame output from a CCD camera as an optical sensor is converted into image data by an interface and stored in an image storage area of the RAM 63. The image data is processed by the image processing program. For example, in the standby state, the image is periodically sampled, and a change in the image (movement of the subject) is read based on a difference between the image data of the previous frame and the image data of the current frame. The presence of the user is determined (or estimated) based on the movement of the subject of the camera. The subject also changes when the user moves the robot. Note that it is not necessary to compare all of the frames, and the image data in a plurality of portions in the frames may be compared. The brightness around the robot can be determined based on the average value of the image data (luminance). When judging only the ambient brightness, it is not necessary to use a CCD camera, and a photodetector such as an SPD or a phototransistor may be used. In this case, for example, it is possible to recognize the presence of the user by recognizing that it is bright in the night time zone by combining time and brightness. In addition, it is possible to determine the presence of the user by determining the presence of voice (or life sound) and the brightness of the room.
The presence or absence of the user is indicated in the flag area of the RAM 63.

The image data read by the CCD camera 53 in response to an external request is transmitted to the communication interface 7.
4 can be transferred to the outside via, for example,
It is possible to transmit the state of the room to the mobile phone in response to the access from the mobile phone of the user.

Touch sensor 51, × switch section 54,
Each output of the state sensor 55, etc.
A flag is set in the flag area of each switch of AM63. An interrupt is generated by the setting of the flag, and event processing is performed.

Next, the operation of the control unit 60 will be described. The robot as the electronic toy of the present invention can operate in accordance with the biorhythm which is one parameter representing the physical condition (condition) of the user, and performs a movement having a so-called healing atmosphere.

FIG. 11 is a flow chart for explaining an input process for acquiring a birthday required for calculating a user's biorhythm.

For example, when the user simultaneously presses both the “O” and “X” buttons 54 provided on the torso 20, a mode selection state (not shown) is set. In this state, the display unit 7
In FIG. 1, various modes are sequentially shown at predetermined time intervals. The modes include "Calendar Date Setting", "Clock Time Setting",
There are “user name input”, “user birthday input”, “user gender input”, “voice memo input”, “voice sample input”, “external (mobile phone) transfer enable / disable setting”, “power saving setting”, and the like. If the user presses the ボ タ ン button when “user birthday input” is displayed on the screen, the birthday input program is started, and the routine shifts to this routine.

The control section (CPU) 60 causes the liquid crystal panel or the LED matrix of the display section 71 to display "Please enter your date of birth" and "Enter in order of year, month and day". If the character string does not fit in the size of the screen of the display device, the character string is displayed (scroll display) so as to move horizontally or vertically on the screen (S22). After the display of "Please enter the year", for example, the last two digits of the Christian era are changed from "40" to "40" to correspond to the age range of the target user.
Until "00 (current year)", the information is sequentially displayed on the display 71 at predetermined time intervals (S24). When the user's year of birth is displayed, the user presses the O button to select. ○
The operation of the button and the X button is determined by the setting of the corresponding flag in the RAM 63. The control unit 60 determines whether or not it has been selected (S26). If it is not selected even after the predetermined time has elapsed (S26; No), the display year is repeatedly increased by "1" (S24 and S2).
6). If selected (S26; Yes), the selected "year" is held. The user can cancel the input by pressing the X button within a predetermined time after pressing the O button.

When "year" is selected, the process proceeds to the input of "month". The control unit 60 causes the display 71 to sequentially display “1” to “12” at predetermined time intervals after the display of “Please enter the month” (S28). When the month in which the user is born is displayed, the user presses the O button to select. The control unit 60 determines whether or not it has been selected (S
30). If the selected month is not selected even after the lapse of the predetermined time (S30; No), the display month is repeatedly increased by "1" (S28 and S30). If selected (S3
0; Yes), the selection “month” is held.

When "month" is selected, the process proceeds to "day" input. The control unit 60 causes the display 71 to sequentially display “1” to “31” at predetermined time intervals after the display of “Please enter the date” (S32). When the month in which the user is born is displayed, the user presses the O button to select. The control unit 60 determines whether or not it has been selected (S
34). If it is not selected even after the predetermined time has elapsed (S34; No), the display date is repeatedly increased by "1" (S32 and S34). If selected (S3
4; Yes), the selection “day” is held. "Year",
When the input of “month” and “day” is completed, the control unit 60
The user's "year", "month", and "day" are written in the user biorhythm data area of the OM 62. This allows the user to calculate the biorhythm. In addition, as will be described later, the biorhythm of the robot can be set so as to operate with the biorhythm of the robot itself.

Similarly, the user sets “Calendar Date”
, The “clock time” built into the robot, the input of “user name”, and the input of “user gender”.

FIG. 12 shows an example of the sound processing (volume detection) of the control unit 60 described above. Control unit (CPU) 60
Performs an operation corresponding to a low-pass filter that removes high-frequency noise components from the audio data stored in the RAM 63 (S42). The amplitude levels of the audio data within a predetermined time range of the processed audio data are integrated to obtain an average value (S44). The control unit 60 stores this average value (S46). Also, the presence or absence of the user is determined by continuously observing the voice level at the time of absence of the user and the average value of the voice level stored in the past to determine whether the voice level has increased rapidly (S48). When it is determined that the user is present (location) in the room, the (voice) flag indicating the location described above is set (S50).

FIG. 13 shows an example of the second voice processing (voice recognition). The control unit (CPU) 60 includes a RAM 63
Then, a normalization process is performed to combine the time axis and signal level of the audio data stored in the data with the comparison data (S62). Extract voice feature parameters from the normalized data (S
64). The utterance is determined based on the extracted characteristic parameters, and a command of the robot operation corresponding to the content (meaning) of the occurrence is output (S66). A flag indicating this command is set in the RAM 63 (S68). This allows
The control unit 60 reads out the sound control data, the display control data, and the posture control data corresponding to the command, and controls the operation of the robot as described later.

FIG. 14 shows an example of image processing of the control unit 60. The previously stored image data from the CCD camera 53 stored in the RAM 63 at the predetermined sampling cycle (S7
2) and the currently stored image data (S74) are compared to determine a change in the image data. For example, for example, a difference in data between pixels at corresponding positions in both frames is obtained and integrated. When the subject moves, the integrated value changes greatly. In addition, in order to reduce the amount of calculation, a change in data may be compared at a specific position on the screen, for example, at the center of the screen and a square portion (S76).
Based on these differences, it is determined whether the subject has moved (or changed) on the CCD screen (image) (S
78). If a moving object is present, a flag indicating motion detection (user location) is set (S80). The brightness of the room can be determined based on the average value of the brightness of the image data.

FIG. 15 is a flowchart for explaining an example in which it is determined whether or not a user is present (or present) based on switches, voice, movement of a subject, and the like.

In the figure, control unit 60 repeats this routine at a predetermined cycle in a standby state. First, the control unit 60 determines whether switches directly operated by the user, such as the touch sensor 51 and the × switch 54, have been operated by checking the corresponding flag (S102). If the switches are operated (S
102; Yes), there is nothing other than the presence of a user, so a flag indicating the location of the user is set (S112).
finish.

When the switches are not operated (S102; No), both the motion detection flag (S80) based on the result of the image processing and the voice detection flag (S50) based on the result of the voice processing are turned on. It is determined whether the setting has been made (S104). When both flags are set to ON (S104; Yes), since the probability of the user's location is high, a flag indicating the user's location is set (S112), and the process ends.

If both flags are not set to ON (S104; No), it is determined whether one of the flags is set to ON (S106).
If neither flag is set (S10
6; No), the flag indicating the presence of the user is turned off or reset because the possibility that the user is indoors is low (S11).
0), end. If one of the flags is set to ON (S106; Yes), it is determined whether or not the current time is within the operation prohibition time band preset by the user or the factory (S108). For example, it is possible to prevent inconvenience caused by operation at midnight and to prevent useless movement during the absence time period. If it is outside the operation prohibition time zone (S108; No), a flag indicating that a user is present is set to ON (S112), and the process ends. If it is within the operation prohibition time zone (S108; Yes)
s), and turns off or resets the user flag (S11)
0), end.

FIG. 16 is a flowchart for explaining another example of judging whether or not the user is located (or present) based on switches, voice, movement of the subject, and the like.

This example differs from the case shown in FIG. 15 in that the brightness of the room is detected in place of the motion detection, and that when the room is bright, the user is considered to be present. That is, it is determined whether or not both the flag indicating that the room is bright by a phototransistor or the like and the voice detection flag (S50) based on the voice processing result are set to ON based on the result of the image processing described above (S12).
0). The other parts are the same as those in FIG.

Next, an example of operation control of the robot will be described. The example shown in FIG. 17 shows an example in which the robot responds according to the biorhythm of the user.

The control section 60 executes this routine, for example, when started in the morning. First, it is determined whether the user exists indoors (or nearby) (S13).
2). If not (S132; No), this routine ends. If the user exists (S132; Ye
s) The built-in calendar is read (S134). The user's biorhythm as shown in FIG. 18 is calculated based on today's date and the user's date of birth (S136). The event occurrence date is set in advance for this biorhythm. For example, the event occurrence date is assumed to be inflection points E1 and E3 at which the tone changes between positive and negative, best point E2, and lowest point E4. Then, it is determined whether today is equivalent to a preset event occurrence date (S138). If it is not the event occurrence date (S138; No), this routine ends.

If it is the event occurrence date (S138; Ye)
s) It is determined whether a preset time, for example, the user's work time has come (S140). When the set time comes (S140; Yes), a process (robot operation) corresponding to the biorhythm on the day of the event occurrence is selected. For example, at the time of the event E1, the display unit 21
The display of "Niko nikoniko" as shown in FIG. 19 (A) and FIG.
As shown in FIG. 9 (F), a character display (scroll display) of "I'm getting better gradually" is performed. Also,
The loudspeaker unit 72 outputs “Please do your best” or the like.
At the time of the event E2, the display unit 21 displays FIG.
As shown in the figure, a "heart-eye" display and a character display of "tone is best" are performed. In addition, the speaker unit 72 is caused to output “Do not be too tight” or the like. At the time of the event E3, the display section 21 displays “JITTO” as shown in FIG. 19D and character display of “Please be careful about your physical condition for a while”. In addition, the speaker unit 72 is caused to output such as “do not get tired”. At the time of the event E4, the display section 21 displays "rounded eyes" as shown in FIG. 19 (E) and character display of "watch out for an accident today". In addition, "Today is a day to watch out for"
And output.

FIG. 20 is a flowchart showing an example of controlling the operation so that the operation of the robot changes with time. When the operation mode is entered, the control unit (CPU) 6
In the case of “0”, first, it is determined whether or not the user exists nearby by setting the above-described flag (for example, S126) (S152). If it does not exist (S152; No),
Occasionally let them play alone. In the single play, for example, a single game is displayed on the display 71 to express the state of the play. Therefore, a random number is generated (S154), and it is determined whether or not the number of playing alone is output (S156). If not, the process is terminated (S156; No). When the data is output, single play data is extracted from the posture control data, the voice control data, and the display control data, and is set in the operation control program (S158).

If the user exists (S152; Ye)
s) The control unit 60 reads the current time from an internal clock (S160). It is determined whether or not this time occurs (S162).

If it is time to wake up (S164; Ye
s), the control unit 60 wakes up (wakes up) the robot from the posture control data, the voice control data, and the display control data.
Data is extracted and set in the operation control program (S1
64). Thereby, the robot performs an awakening operation such as “Oh early” or “Okitayo”. If it is not the time to wake up (S164; No), then it is determined whether it is time to forego the user (S166).

If it is time to forego (S166; Ye)
s), the control unit 60 extracts the off-going data from the posture control data, the voice control data, and the display control data and sets the extracted data in the operation control program (S168). The robot is
Perform a send-off operation such as "It's time to go out" or "Welcome." It is not time to send off (S166; N
o) Next, it is determined whether or not it is a preset home return time of the user (S170).

When it is time to return home (S170; Yes),
The control unit 60 extracts the data of the welcome home operation from the posture control data, the voice control data, and the display control data, and sets the data in the operation control program (S172). The robot performs a welcome operation such as “Go home” or “Stay away”. If it is not the return time (S170; No), it is next determined whether or not it is the preset user's sleeping time (S174).

When it is time to sleep (S174; Yes),
The control unit 60 extracts the data of the sleeping motion from the posture control data, the voice control data, and the display control data, and sets the data in the motion control program (S176). The robot performs a rest operation such as "Good night" and "Tomorrow again".
After that, it goes into the power saving mode (sleep mode). If it is not the time to sleep (S174; No), then it is determined whether or not it is a preset user alarm setting time (S17).
8).

If it is the alarm set time (S178; Y
es), the control unit 60 extracts the alarm operation data from the attitude control data, the voice control data, and the display control data and sets the data in the operation control program (S180). The robot is "Time is up", "Wake up", "It's just a minute."
And so on. It is not the set time (S
178; No), this routine ends.

As shown in FIG. 21, the control unit 60 controls the display of the display unit 21 according to the display control data set in the control program (S202). The motors 205 and 20 are controlled by the attitude control data set in the control program.
6 to control the posture of the robot (S20).
4). In addition, the sound generation mechanism (synthesizer, sound data reproduction) by the sound control data set in the control program
Causes the speaker 72 to output sound (S20).
6).

FIG. 22 shows an example of the operation of the robot when the operation data of “joy” is set in the control program.

FIG. 23 shows an example of the operation of the robot when the operation data of "fun" is set in the control program.

FIG. 24 shows an operation example of the robot when the operation data of "sad" is set in the control program.

FIG. 25 shows an example of the operation of the robot when the operation data of “I love” is set in the control program.

As described above, the electronic toy of the present invention has a P
The robot can be connected to an HS, a mobile phone, a general line, or the like, and can send an image obtained by the robot to a user to see the inside of the house.

When the remaining battery power is reduced by the battery voltage detection sensor 56, the control unit 60 performs an expression using words such as "I'm going to sleep because there is no battery".

As described above, the robot as the electronic toy shown in the embodiment can express an emotion in the whole body and perform an operation as if communicating with the user, so that a so-called healing element is brought to the toy. Is possible. Many conversations are also possible.

FIGS. 26 and 27 show examples of another robot as an electronic toy. In both figures, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and description of such parts is omitted.

The robot of this example also has the same configuration and functions as the robot shown in FIG. 1, but almost the entire front surface (face) of the head 10 is used as the display 71. Display 71
For example, an LCD display can be used, but is not limited thereto. The × switch 54 is disposed on the upper surface of the head.

As shown in FIG. 19, various expressions (feelings) of the robot are displayed on the display 71 as shown in FIGS. 28 and 29. The robot can determine this expression corresponding to each mode described later. FIG.
8 (a) is “joy”, (b) is “vertigo”, (c)
Indicates a face in an "anger" state, and (d) indicates a face in a "delete" state. FIG. 29A shows a state of “sadness” and FIG. 29B shows a state of “sleep”. The “sleep” state is an energy-saving state, similar to that of a personal computer.
In addition, the control unit 60 stores about 300 face display animations for moving the facial expression.
3 for each of the following modes: "happy", "angry", "sad", and "easy"
Three basic face patterns are prepared, and sound and motion are combined in accordance with each mode.

FIG. 30 is a view for explaining an example in which the robot shown in FIG. 1 or 26 has its own biorhythm. The above-described user biorhythm data in the ROM 62 can be replaced with a robot biorhythm function program. Further, for example, a function that changes in a sinusoidal manner may be incorporated in the control unit, and this may be used as a function representing emotion. The biorhythm of the unique robot generates a random number when the insulating paper is pulled out of the battery housing and power is supplied, and based on the result, FIG.
, A random start position (initial value) as shown by a plurality of points is selected, and the biorhythm is made different for each robot. In addition, as the random number, when a motor is moved and a switch (not shown) is depressed by the operation of the mechanism, an initial value may be set by using a variation in switch operation as a random number.

The amplitude value of the function that creates the biorhythm is
The emotion parameter is one of the control parameters (see FIG. 18). Depending on the value of the emotion parameter, 4
Operation modes are set. The first range including the center of the amplitude is the “normal mode”, the “easy mode” in which the robot feels fun in a predetermined range above, and the “easy mode” in which the robot is full of joy in the predetermined range above it. mode"
Is defined. In a predetermined range below the "normal mode", a "sorrow mode" in which the robot feels sad is defined, and in a predetermined range below the "sad mode", a "anger mode" in which the robot is angry is defined. The robot repeats these modes periodically, but the time in the “happy mode” and the “anger mode” is relatively short.

By operating a specific switch, it is possible to set a short-period biorhythm for an in-store demonstration display. For example, one cycle is 5
Minutes. As a result, it is possible to show a change in facial expression and a gesture accompanying a change in the emotion of the robot to the audience and to inform the performance and characteristics of the robot in a short time.

A control example of a robot using the expressions shown in FIGS. 28 and 29 will be described.

FIG. 29 (a) shows an expression in the case where, for example, the robot has said "stop!"
In order to perform such a gesture in a timely manner, it is interesting to display such an expression on a display when a high-level sound is continuously given.

Therefore, in the mode in which such an operation is performed, the output of the microphone 52 as the voice detection means is monitored by the control unit 60 via a low-pass filter for removing noise, and a voice signal exceeding a predetermined level is output for a predetermined time. For example, it is determined whether to continue for more than 10 seconds. If the continuation is continued, the control unit is "noisy" and the storage unit (62,
From 63), the expression of the robot shown in FIG. 29 (a) is selected and displayed on the display. Also, since the facial expression selecting operation is performed based on the value of the emotion parameter described above, the emotion parameter value may be changed to the level of “discomfort”.
Similar results can be obtained.

The expression in FIG. 29B represents a “sleep” state. It is interesting if the robot gives such a sleeping expression when the robot is covered with cloth or the surroundings become dark.

Therefore, in the mode for performing such an operation, the amount of light in the surroundings is detected by an optical sensor (for example, a CCD, a photodiode, a phototransistor, etc.) 53 as a light detecting means. The light amount is monitored by the control unit 60, and it is determined whether the dark state continues for a predetermined time, for example, more than 10 seconds. If the continuation is continued, the surroundings are "dark", so the control unit selects the expression of "sleep" of the robot from the storage means (62, 63) as shown in FIG. 71 is displayed. Also, it would be interesting to do a gesture that dislikes this when covered with cloth, etc.
Further, mechanical parts such as the arm 30 can be moved for a predetermined time.

When the head switch 54 is operated continuously or intermittently (continuously) for a predetermined time (or a predetermined number of times), it is considered that the user is hitting or stroking the head of the robot. Can be It would be interesting if the robot responded to such operations.

Therefore, the switch 54 and the touch sensor 51
Is monitored by the control unit 60 for a predetermined time, for example, 10
It is determined whether the operation has been performed for seconds. When operated, facial expressions, words,
Display of voice etc. For example, when the back and emotion parameters are in the state of “unpleasant”, an unpleasant expression such as “sore” or “angry” as shown in FIG. 29A is displayed. FIG. 28 when the emotion parameter is in the state of “joy”
An expression of "Delede" as shown in (d) is displayed.

FIG. 31 is a flow chart for explaining an example of the robot's "single mode" reflected by the biorhythm described above.

The control unit (CPU) 60 changes the solitary mode to the solitary speech start condition, for example, when the condition such as “user absent” and “predetermined random number generation” is met, as described in step S156. Execute (S270; Y
es). First, an emotion parameter indicating the amplitude of biorhythm, which is one type of control parameter, is read (S27).
2). From this value, it is determined which of the five modes described above corresponds (S274). The mode is determined by comparing with the threshold value of each mode, and the result is output (S276 to S276).
284). Display of facial expressions corresponding to each determined mode,
If necessary, the robot control with operation and voice is further performed (S286).

For example, if it is determined that the mode is “anger mode”, as shown in FIG.
"I'm sorry", "What a robot", and "I'll stop!" Are displayed in order. This display is repeated for a predetermined time. In addition, a pose of anger (not shown) of the robot can be performed.

Similarly, when it is determined that the operation mode is another operation mode, an expression corresponding to the operation mode is selected, and the corresponding operation is performed if necessary. FIG. 33 and FIG. 34 show display examples of words in the normal mode. In the former example, a sentence is created using the word “IT” stored in advance or entered by the user. “Yappassa”, “daidaiha” and “IT” are sequentially displayed on the screen. In the latter case, the sentence is composed of 575 keys.

When the value of the emotion parameter is in the range of the joy mode or the anger mode, the robot can perform a “one-shot” operation of the joy or anger corresponding thereto. For example, while playing BGM,
"Kibun is good! Then, I'll mimic OO!"
Arm rotation, "??" eye display, etc. are performed.

Next, a description will be given of a character communication mode in which the robot asks the user a question or the like to perform pseudo communication.

FIG. 35 is a flowchart for explaining this mode. For example, when certain conditions such as the presence of the user on the side are satisfied by sound, motion, switch operation, light, and the like (S240; Yes), the character communication mode is started. In the character communication mode, the robot displays characters on the display to communicate with the user. The control unit 60 selects a question from the question data stored in advance, as shown in FIGS. 38 and 39 (S242). For each question, as shown in FIG. 38, depending on the answer, a question that changes the emotion of the robot and a question that does not affect the emotion of the robot as shown in FIG. 39 can be determined in advance. The control unit 60 displays the selected question on the screen of the display (S244). When the ○ × button is operated (S
245), it is determined whether the sentence is a question sentence affecting the emotion (S246). If the question does not affect (S24
6; No), and if necessary, a response storage process is performed (S25).
6). In this process, for example, when the user presses “○” by asking a question such as “car” or “like”, this is memorized and the user memorizes “car” It is used in a mode described below.

When a question affecting the emotion is made (S
246)), for example, as shown in FIG. 36, when the question of "I", "Taro-chan", "Is it good" is answered as "O"(S248; Yes)
s), “O” corresponding processing is performed. In the case of this example, the robot performs a joyful operation, for example, a pose of “daisuki” and a display of “daisuki” shown in FIG. 25, and increases the emotion parameter in the plus direction (S250). In contrast,
When answering "x"(S248; No), "x" corresponding processing is performed. In the case of this example, the robot performs a sadness operation, for example, a pose of “Nice” and a display of “Daikiri” shown in FIG. 24, and significantly lowers the emotion parameter in the negative direction (S252). This is shown in FIG.
As shown at 0, the biorhythm is shifted to a state of sadness. As a result, the mode of the robot is shifted so that the sad expression appears.

Next, positivity calculation is performed. Positiveness is a parameter corresponding to the feeling of the robot for the user. In the above question, plus n points are added when the robot makes a happy answer. In the above question, if the robot gives a sad answer, minus m points are added.
The values of n and m are different for each question. The favorable sensitivity is determined by these integrated values (S254).

Next, a simulation conversation (communication) between the robots will be described. This will be described with reference to FIGS.

FIG. 41 shows a communication cable 7 between robots.
An example is shown in which data exchange is performed by connection at 41. As shown in FIG. 43, the communication interfaces 74 of the control unit are connected to each other via a connector (not shown) provided on the back of the robot.

FIG. 42 shows a PHS or mobile phone 742 connected to a robot communication interface 74, and a robot connected to a PHS or mobile phone 742 at another location via a mobile communication network as shown in FIG. 2 shows an example of performing data exchange. As shown in FIG. 42, a card module of a PHS or a mobile phone can be built in the back of the robot. The connection example of the communication interface 74 and the PHS or the mobile phones 742 and 743 described in the embodiment of the present invention includes a case where the robot has a built-in telephone communication function itself.

FIG. 45 shows that the communication interface 74 of the robot is connected to a personal computer 743 connected to the Internet 745 as a communication network.
45 shows an example of exchanging data with another robot connected to the robot 45. Note that in the description of FIG. 45, a provider or the like that provides an Internet connection service is omitted.

The configuration shown in FIG. 46 (and FIGS. 49 and 50 to be described later) shows a system in which robot data can be obtained by communicating with a server device. For this purpose, the communication interface 74 of the robot is connected to a server device 750 for the robot via communication means such as a PHS, a mobile phone 743, the Internet 745, and a telephone communication network. Data from the server device 750 via a communication network such as the Internet 745, for example,
Words such as words and current affairs words corresponding to user characteristics or attributes to be described later, control data of robot behavior, and the like are provided.

FIG. 47 illustrates an example of data exchange when the robots A and B are connected to each other by the communication cable 741. First, the robots are connected by a cable. Next, by simultaneously operating, for example, the × switch 54 of each robot, the robot enters a mode selection state, and selects the “tsushin” mode. When both robots enter the communication mode, communication parameters are exchanged between the two robots, communication conditions and the like are set, and communication is started.

The robot A transmits the stored user name of the robot A, the stored word, and the like. As the user name, for example, a user's input of the user name by displaying characters on the display and sequentially selecting the characters is stored. The stored word is obtained, for example, by storing an answer to the robot question described above (S256). What the user likes and dislikes, age, man,
Various words such as woman and personality are included. The data is transmitted from the robot A to the robot B. When the data is confirmed by the robot B, an ACK signal indicating reception of the data is transmitted. If the data reception fails, a NACK signal is transmitted.
When the robot A receives the NACK signal, the robot A retransmits the data. When the robot A receives the ACK signal, it determines the success of data transmission, enters a standby state, and waits for a signal from the robot B.

After transmitting the ACK signal, the robot B transmits the user name of the robot B held by the robot B,
Data such as stored words is transmitted to the robot A. When the robot A confirms reception, it transmits an ACK signal indicating reception of data. If data reception fails,
Robot A transmits a NACK signal, and Robot B, upon receiving this signal, retransmits the data.

According to such a data exchange procedure, for example, “△△” (user name), “□□□□” (word 1), “xxxxxx” (word 2) , Etc. are sent. For example, “OO” (user name), “□□□□” (word 1), and the like are sent from the robot B to the robot A.

These words are applied to those selected from a plurality of pre-stored fixed phrases, and are output by at least one of voice and character screen display. The output timing of pronunciation and display, and selection of a fixed phrase can be set, for example, by exchanging initial communication parameters.

For example, as shown in FIG.
However, when he pronounces, "Hello! Have you asked XX-chan kindly?", Robot B follows, "Oh, I'm scared occasionally.
Robot A pronounces “□□□□? My house ’s Speaking of xx ×
Robot B pronounces "XXXXX !! Good luck, Robo is hard. Bye-bye", and robot A pronounces "Tough, then bye-bye!" When the user of the robot hears such a pronunciation on the side, the user will have an impression as if they are having a conversation.

[0209] Instead of the connection cable 741, an infrared communication interface used for a remote controller, a portable terminal or the like may be used.

FIG. 48 is a communication diagram for explaining a procedure when data exchange is performed between robots using a PHS / mobile phone.

[0211] In this case, since the robot A and the robot B are located far apart from each other, the pronunciation or the word display is like a solitary language.

First, each user of the robots A and B connects a PHS or a portable telephone to each robot and makes a call to the telephone of the other party. When a communication line is set between the telephones, communication parameters are exchanged. For example, the mutual data communication speed is set to the lower one of the two telephones. For example, in the case of PHS (communication speed 64 kbit / sec) and mobile phone (9600 bit / sec), 9600 bit / sec
Data communication is performed in seconds. When the communication parameters are set, data is transmitted from one robot A to the robot B. For example, the words "Taro" (user name), "Hirune" (like), "MD", "pachinko" (like), "Sazae-san" (like), "pochi" (like) ), "Thunderbird" (like). If there is no abnormality in the received data, the robot B
Transmit the CK signal. If there is an abnormality, a NACK signal is transmitted. When the robot A receives an ACK signal indicating reception from the robot B, the robot A enters a standby state. If the robot A receives the NACK signal, it retransmits the data.

[0213] The robot B transmits the stored data to the robot A following the transmission of the ACK signal. For example, "Hanako" (user name), "Chocolate" (likes), "F-One Racer" (likes), "Kochakinoko" (likes), "Piko" (likes), etc. Send

Each of the robots A and B selects a pre-stored fixed phrase, applies the received data to a blank of the fixed phrase to complete the sentence, and performs communication by performing at least one of pronunciation and character display. Output the result. In the blank, attributes of words to be inserted, for example, a user name, a favorite thing, a bad thing, a caretaker, a climate, and the like are preferably determined in advance.

For example, robot A has received data from "Hanako" who likes "chocolate", "I like" chocolate ",""Hey,is" Fone Racer "delicious?", "" Hanako "tells me He utters "What's the" Kokomushroom "that was made?", "Is the Hanako pants cool?", "Maybe the Hanako" is "Poko" mania. "

For example, robot B has received data from "Taro", who likes "Humune," Hirune "", "Is" MD "a now-young young baukake?"
"Sazae-san, is it really smart?"

In this way, since the robots exchange data held by each other to form a pseudo-conversation state, users at remote locations can also enjoy.

FIGS. 49 and 50 show an example in which the data held by the robot is updated using the server device 750 as shown in FIG.

It is interesting if the robot speaks words according to the time. Also, it is interesting if the robot speaks words corresponding to the user's individual characteristics such as age, gender, hobbies, and the like. However, it is difficult to realize such a function with an electronic toy in terms of cost.

Therefore, as shown in FIG. 50, data such as a required word and data (control program) for controlling the operation of the robot when speaking the word are appropriately provided from the server device by the server device. It is intended to provide such a function at low cost. The control program may control a series of operations by this program, or may execute a plurality of operations such as “happy”, “angry”, “sad”, and “easy” stored in the robot in advance. Any one of the operations of the control program may be designated.

The data exchange procedure in such a case will be described with reference to FIG. First, as shown in FIG. 49, the communication interface 74 of the robot is connected to a PHS, a mobile phone, a personal computer, or the like 743, and a communication network,
For example, the server device 75 via the Internet 745
0 and set a line for data communication. The communication parameters necessary for establishing communication such as the communication speed, the specification of the electronic toy, the ID, and the password from the robot A are transmitted to the server device 750. Server device 750
Authenticates whether connection is permitted and permits the robot A to access. The robot requests update data transmission. At this time, it is possible to specify an instruction material, user adaptation data, and the like. The server device 750 transmits the required number of words of the instruction material, for example, in a required number. In the illustrated example, “Kaminokuni”, “Resujiko”, “Oshogatsu”, “Christmas”, etc. are transmitted. Also, it is possible to send a new fixed sentence suitable for these words. If necessary, it is possible to provide control program data 1, program data 2, program data 3,... For controlling the robot operation when pronouncing a fixed phrase using these words. Similarly, words corresponding to the user can be selected from a collection of words prepared in advance corresponding to a plurality of user characteristics and transmitted. For example, when the user characteristic is a company employee, “epilepsy”, “clear note”, “monster”, and the like are transmitted. Also in this case, it is possible to define the operation of the robot for a specific word. In such a case, the control program data (41, 42) is also transmitted along with the word data.

When robot A receives the data, it stores it in memory 63. Send an ACK signal to the server,
Release the line and end the update. If the data reception fails, a NACK signal is transmitted to the server to request retransmission of the data. Upon receiving the ACK signal from the robot A or when the line is released, the server device ends the communication with the robot A.

The robot A performs at least one of pronunciation and character display (sentence display) by applying the acquired words to the fixed phrases. Although the robot has a function of converting text data into voice, the robot may receive voice data of words and fixed phrases from the server device, encode the voice data, and generate sound.

Next, “action mail” will be described. The action mail is for performing a corresponding predetermined action, for example, limb operation, facial expression, etc., in addition to displaying or reading out the content of the electronic mail by the robot.

FIGS. 51 and 52 show an example of the configuration when an action mail is performed. The sender of the mail incorporates action mail software provided to be downloadable on the Internet in the personal computer 743a in advance. The personal computer 743a is in an environment connected to a communication network such as an interface net 745 capable of sending e-mail. The sender operates an input device such as a keyboard device to create an e-mail message. In the personal computer, the software includes a message / action editing program for performing text input, message editing, control operation input, etc., a data / voice conversion program for converting a message into voice data,
Includes a data file attachment function e-mail program that can send voice data as an attachment file.

The sender creates an electronic mail using the control information and the message / action editing program. For example, as shown in FIG. 52, the e-mail specifies the name of the sender (for example, 4 characters), the message (for example, 44 characters), and the operation of the robot. These can be assembled with text data. Next, the data /
The character code is converted into a voice signal, for example, an FM modulation signal by a voice conversion program. The name, the message, and the operation information of the robot can be distinguished by, for example, a silent period of about 3 seconds shown in FIG. Further, a header, a footer, and the like (not shown) can be appropriately added. These F
M audio is converted to audio data, for example, WAV, MP3, ram
And so on. The e-mail program attaches the voice data file to an e-mail and sends it to a communication partner using the robot.

The e-mail is transmitted to the other mail server via the Internet 745. Note that although simplified in the figure, the Internet 745 includes various server devices including a communication line and a mail server, a connection service provider, and the like.

The recipient incorporates in his / her personal computer communication software having an action mail receiving function previously available on the Internet. The receiving function includes decompression (decoding) of an audio file. The receiver connects the robot to his or her personal computer 743b. The personal computer 743b accesses a mail server device (not shown) to download a mail addressed to itself. When the mail uses a robot, the attached audio file is reproduced by the communication software, and the audio signal is demodulated. This audio signal is supplied to the control unit 60 of the robot via the communication interface 74. The control unit 60 demodulates the FM signal and converts it into digital data. The sender's name, message, and operation control information are determined from the data. As described above, the data can be distinguished by the blank section of the data. The control unit 60 converts the text data into image data and causes the display unit 71 to display the data. In this case, first, the name of the caller is displayed, and then a long message can be displayed on the small display screen by scroll display. Text data may be read aloud. This is repeated a predetermined number of times. Of course, if a large-sized display is used, the entire message can be displayed. The control unit 60
Controls the motors 205 and 206 based on the operation control information, and causes the robot to perform an operation corresponding to the message. The action operation is controlled in advance by the RO
The control may be performed by designating a control program stored in M or a control program including a series of control codes by the sender. Alternatively, the sender may assemble control codes corresponding to individual operations to program a series of movements of the robot as desired.

The message display corresponding to the reception of the action mail and the action operation can be performed at the same time. Also, the action can be performed first, and then the message can be displayed. After displaying the message, an action operation can be performed. These can be repeated or combined.
Further, the sender may compose a message by voice, transmit the message as an attached file, and reproduce the message as a voice message by a robot through a speaker.

If the robot has a built-in telephone function such as a PHS / mobile phone, the control unit 60 can download the action mail software via the communication function and have a mail reception function. In this case, the control unit 60 of the robot can receive the e-mail and convert the voice file performed by the personal computer 742b, thereby eliminating the need for a personal computer. FIGS. 44 to 4
6, the action mail can be sent.

[0231] The server device may be the sender of the action mail. For example, according to the characteristics and attributes of the user, a word message, today's fortune, shopping information,
Talk weather forecast, current affairs, etc. with action. For example, if snow falls the day before, the server device says, "Yuki yesterday was amazing.
(Message), “Gakuon” (movement + face display) is transmitted.

FIGS. 53 to 56 show examples of a movement accompanied with a face display (action operation) performed together with a message. In FIG. 53, both arms are raised obliquely upward and a heart is displayed on the face to express “joy”. In FIG. 54, "angry" is expressed by placing a hand near the head and displaying a crossed eye on the face. FIG. 55 shows "sorrow" by lowering the hand and displaying tears on the face. In FIG. 56, both arms are put forward and a smiley mark is displayed on the face to express "fun".

FIGS. 5 to 8 show an example of the structure of the mechanism for moving the upper body of the robot. Next, an example of the structure of the mechanism for moving the lower body of the robot will be described.

FIGS. 57 and 58 are perspective views showing an example of a robot configured so that the motion of the lower body changes according to the "loudness", "speed", "rhythm", etc. of a sound such as music.

In this example, the robot opens and closes its legs to the left and right according to the music, and performs a gesture as if dancing. Among these operations, FIG. 57 shows a first state in which the robot stands upright with its legs almost aligned. FIG.
8 shows a second state in which the robot has its legs open left and right. The robot continuously transitions from the first state to the second state, and continuously transitions from the second state to the first state. When the foot is opened right and left, as shown in FIG. 58, the knee of the foot is bent by a mechanism described later, and is devised so as to resemble the movement of a person.

FIGS. 59 and 60 show a leg opening mechanism 300.
59 is a perspective view showing the driving part of FIG. 59, FIG. 59 shows a state in which the foot is closed, and FIG. 60 shows a state in which the foot is open. The motor 301 is built in the lower part of the left leg of the robot, and the gear mechanism 30
2, the driving force is increased. The driving force is the driving shaft 30
3 through the hip joint portion 305 of the waist frame 304 to rotate the left foot cam mechanism 306 inside the waist frame. One end of a link 308 is rotatably connected to a cam 307 of this mechanism via a ball bearing 309. The other end of the link 308 is rotatably attached to a ball bearing 311 at the upper end of the right foot shaft 310. A roller portion 312 is attached to the lower end of the right foot shaft 310 to slide on the floor surface, and swings right and left around a hip joint portion 313 for mounting the right foot shaft 310 to the waist frame 304. As a result, the right foot axis 303 and the left foot axis 310 are moved by the cam mechanism 306, the link 308, the hip joints 305, 313, etc., with respect to the (virtual) center axis (line) extending vertically in the center of the body. Can move symmetrically.

FIG. 61 is a perspective view showing a configuration example of the right foot 320. A hip joint 313 is attached to an upper part of the right foot shaft 310. The upper part of the hip joint 313 is attached to the waist frame 304 by a pin (not shown) so that the right foot can rotate in the left-right direction. Hip joint 313
Is attached to a recess at the upper end of the upper knee 321 of the foot by a pin 322 so as to be rotatable in the front-rear direction of the robot. The recess at the lower end of the upper knee 321 is the lower front cover 32 of the knee.
3 and a pin 324 so as to be rotatable in the front-rear direction. The lower end center 323b of the lower knee front cover 323 is opened in an inverted V-shape. Right foot axis 3
The roller 312 at the lower end of the roller 10 is located at the central through-hole 325a of the grounding portion 325 extending in the front-rear direction of the robot, and is in contact with the ground or floor (not shown) (or the mounting surface of the robot). A pair of substantially inverted V-shaped protrusions 325c arranged on both sides of the through hole 325a are rotatably attached by pins 326. The lower-knee rear cover 327 includes a right-foot axle 3 on the lower-knee front cover 323.
10 is fitted therebetween. A U-shaped opening 327 in which the right foot axis 310 is located is provided on the upper surface of the lower cover 327.
a is provided. An elongated hole 327b is provided at a position of the lower back knee cover 327 facing the inverted V-shaped opening 323b of the lower front cover of the knee. A pin 326 for rotatably connecting the roller portion 312 to the ground portion 325 is located in the inverted V-shaped opening 323b and the elongated hole 327b. The U-shaped opening 327a, the inverted V-shaped opening 323b and the elongated hole 327b at the lower part of the knee form the right foot shaft 310 and the connecting pin 326 when the knee, which is the connecting part between the upper part and the lower part of the knee, is bent. Does not interfere (do not hit) the covers 323 and 327.

A projection 327c (see FIGS. 57 and 58) is formed on the inner bottom of the lower knee rear cover 327. The protrusion 327c contacts an inclined surface 325b formed on the grounding portion 325. When the right foot axis 310 is opened to the right side of the robot by the rotation of the motor 301 as shown in FIG. 60, the right ankle is moved from the state shown in FIG. ), The lower part 327 of the knee is relatively connected to the connecting pin 32 of the roller / ground contact portion.
Rotate clockwise around 6. As a result, the projection 327c below the knee is inclined to the inclined surface 325b of the ground contact portion 325.
And pushes the lower part of the knee 327 upward. At this time, since the position of the hip joint 313 does not change, the lower part of the upper knee 321 and the upper part of the lower knee 323 (knee joint) are pushed forward, and the knee of the leg is bent.

FIG. 63 shows a left foot 3 with a built-in motor 301.
FIG. At the upper end of the left foot shaft 303,
An eccentric cam 307 is attached, and a spherical engaging member 309 that engages with the link 308 is attached to the cam 307 by a screw (see FIG. 64). Motor 301
Is built into the lower knee 331, and the lower knee 331 and the ground contact portion 33
2 is rotatably connected by a pin. A friction member (not shown) such as rubber is attached to the bottom of the ground contact portion 332 of the left foot to prevent slippage. The left leg 330 is not provided with a knee bending mechanism like the right leg 320, but the left leg may be provided with a knee bending mechanism similarly to the right leg.

In the lower body mechanism 300 described above, the mechanism part occupies only the lower part of the body, and it is possible to empty most of the inside of the body of the robot. Since the inside of the fuselage can be used for an electric circuit or a mechanism of the upper body, the condition is good. In addition, since a relatively heavy motor is arranged below the knee of the foot, it is easy to stabilize the robot.
In the mechanism described above, the knee of the right foot bends, but the knee of the left foot is fixed, and a friction member is provided at the bottom,
Prevents robot posture instability, robot movement, rotation, etc.

FIG. 64 shows an example of the cam 307 of the left foot axis. As shown in FIG.
It is possible to adjust the opening and closing of the left and right feet by changing the mounting position of 9. By forming the engaging member 309 (and 311) with the link 308 into a spherical shape, no excessive force is applied between the link and the engaging member (or cam) even when the leg is opened. The adjustment can be performed by providing a plurality of screw holes in the cam in advance, attaching the engaging member to an appropriate screw hole, or replacing the cam.

FIG. 65 is a block diagram for explaining an example of synchronizing (corresponding to) music and sound with the movement of the robot.

In this example, a square chip card (small IC card) 621 having a side of about 2 cm and recording music information and control data is used instead of or in addition to the ROM 62 of the control unit 60. . This facilitates song exchange. Of course, music information and control data may be recorded in the ROM 62. When the user inserts the chip card 621 into the robot and operates a switch (not shown) to instruct an operation, the control unit 60 reads voice data (information) from the chip card 621 and the voice reproduction processing function 601 of the control unit 60 causes the voice data (information) to be read. The signal is converted to an audio signal and supplied to the speaker 72 at an appropriate level. A song having a predetermined rhythm flows from the speaker 72. The control unit 60
Reads the control data from the chip card 621 and controls the motor 301 by the rhythm control function 602 of the control unit 60.
Control. The motor 301 can control the rotation speed, forward / reverse rotation, step length, and the like of the motor 301 by PWM control, supply voltage level control, and the like. By recording data representing the rhythm of the song in the control data in advance, it is possible to make the foot movements match the performance of the song, making it appear as if the robot is dancing to the song I can do it.

FIG. 66 is a block diagram for explaining an example in which the robot moves in response to music or sound. At least audio data is recorded in the chip card 621 in advance. When the user inserts the chip card 621 into the robot and operates a switch to instruct an operation, the control unit 60 reads audio data from the chip card 621 and converts it into an audio signal by the audio reproduction processing function 601 of the control unit 60. To the speaker 72 at an appropriate level. A song having a predetermined rhythm flows from the speaker 72. The control section 60 samples the audio signal by the sampling function 603 and extracts the rhythm of the music (the period of the sound intensity) from the audio signal by the rhythm extraction function 604. The rotation corresponding to the rhythm of the music is set in the motor control function 605. The motor control function 605 performs PWM control, supply voltage level control, etc.
Set rotation speed, forward / reverse rotation, stride length, etc. When such control is performed, it is possible to make the robot's foot movements coincide with the performance of the song without previously recording data representing the rhythm of the song in the control data. You can make it look like you're dancing together.

Note that it is also possible to move the robot's feet in accordance with the sound collected by the microphone 52. For example, when the user claps, calls, or sings in the vicinity of the microphone 52, this is sampled by the sampling function 603, and the rhythm is extracted from the audio signal by the rhythm extraction function 604. The rotation corresponding to the rhythm of the music is set in the motor control function 605. Therefore, even in such a case, the robot moves correspondingly, which is interesting.

Next, an example in which a bipedal walking mechanism is provided in the lower body of the robot will be described.

FIGS. 67 to 75 are diagrams for explaining the state of biped walking. FIG. 67 is a perspective view showing a state where the left foot is located at the rear and the right foot is located at the front. FIG. 68 is a perspective view showing a state where the right foot and the left foot are substantially aligned. FIG. 69 is a perspective view showing a state where the left foot is located forward and the right foot is located backward. FIG. 70 is a side view showing the leg mechanism of the left foot.
The operation of the leg mechanism will be described in detail after describing each part. FIG. 71 shows the waist frame 401. The waist frame 401 has a stopper 401a for stopping the elongate rod 410 from rising too much, and a hole 40 for the drive shaft of the cam pulley.
1b, connecting shaft 40 for rotatably mounting upper knee 402
1d, a guide pin 401c that engages with the elongated hole 411b of the short rod 411 is provided.

FIG. 72 shows an upper knee portion 402 rotatably connected to a waist frame 401. Upper knee 402
Is provided with a connecting portion 402a for connecting to a connecting shaft 401d of the waist frame 401. A connecting portion 402b for connecting to the lower knee portion 403 is provided below the upper knee portion 402.
Is provided.

FIG. 73 shows the lower knee portion 403. A connecting portion 402b of the upper knee 402 is provided above the lower knee 403.
And a connecting portion 403b for connecting with the short rod 411 are provided. A connection portion 403c that is rotatably connected to a connection portion 404a of the ground contact portion 404 is provided below the lower part of the knee 403.

FIG. 74 shows the grounding section 404. A connecting portion 403c of the lower knee portion 403 is provided above the ground contact portion 404.
And a connecting portion 404b for connecting to the longitudinal rod 410 are provided.

FIG. 75 shows a cam pulley 420, a long rod 410, and a short rod 411. The cam pulley 420 is connected to a shaft that is driven to rotate by a motor (not shown). On the outer side of the cam pulley 420, the drive pin 4 is located at a position eccentric from the drive shaft (not shown) of the pulley.
20a is provided. Inside the cam pulley 420, a cylindrical cam 420b is provided at a position eccentric from a drive shaft (not shown) of the pulley. An elongated hole 410a is provided on the upper part of the "U" -shaped rod, and the elongated hole 410a is inserted into the pin 420a and rotatably engages. The elongated hole 410a reduces the toes of the robot's feet from lowering. A connecting portion 410b for connecting to the connecting portion 404b of the grounding portion 404 is provided below the rod in the shape of the "<". An annular engaging portion 411a that engages with the cam 420b is provided on the upper portion of the short rod 411. An elongated hole 411b that engages with a guide pin of the frame 401c is provided at the center of the short rod 411. Below the short rod 411 is the lower knee 40
A connecting portion 411c that connects to the third connecting portion 403b is provided.

With the above configuration, as shown in FIG.
The waist frame 401 and the upper knee portion 402 are rotatably connected via connecting portions 401d and 402a.
And the knee lower part 403 are rotatably connected via connecting parts 402b and 403a. Furthermore, the lower part 403 of the knee is
04 and rotatably connected via connecting portions 403c and 404a. Short rod is cam 420b and lower knee 403
Are connected via connecting portions 403b and 411c. When the cam pulley 420 is driven to rotate, the eccentric cam 420b swings the lower part of the knee 403 by the short rod 411, and
03 is lifted. Accompanying this, the upper knee 402 also swings. The longitudinal rod 410 is a driving pin (cam) 420
a and the grounding portion 404 are connected via connecting portions 410b and 404b. When the cam pulley 420 is driven to rotate, 42
0a lifts the ground contact portion 404 by the longitudinal rod 410. Set your toes up and down as you move your feet.

As shown in FIGS. 67 to 69, this mechanism raises the toe of the left foot while maintaining the balance with the right foot while landing, and moves the left foot from the rear to the front while the heel is landing. Advance. When the entire left foot lands, the user similarly walks by repeatedly moving the right foot forward.

FIGS. 76 and 77 show the movement of the left foot as the drive shaft rotates. In this example, the movement in a state where the ground contact portion does not touch the floor and the foot is suspended is shown.

FIG. 76 (1) to FIG. 76 (4) and FIG.
(5) to (8) show the movement of each foot when the drive shaft of the cam rotates by 45 degrees. FIG. 1A shows a state where the rotation angle of the camshaft is 0 degree (reference position). In this state, the guide pin 4 is moved by the cam 420a.
The short rod 411 is swung forward with 01c as a fulcrum, and the foot is extended forward. FIG. 3C shows a state where the camshaft is rotated 90 degrees. In this state, the cam 420
As a result, the short rod 411 is at the approximate center position of the swing, and the legs are aligned. FIG. 5 shows a state where the camshaft is rotated by 180 degrees. In this state, the cam 420a
With the guide pin 401c as a fulcrum, the short rod 4
11 is swung backwards, with the feet behind. FIG. 7 shows a state where the camshaft is rotated by 270 degrees. This state corresponds to a state where the feet are aligned. However, unlike the case of (3), since the upper end of the longitudinal rod 411 does not contact the stopper, the connecting portion of the grounding portion 404 has a large degree of freedom of rotation about the 404a. FIG. 76 (1) to FIG. 77
As shown in (5), the upper end of the longitudinal rod 410 hits the stopper 401a to prevent the longitudinal rod 410 from rising, thereby preventing the tip of the foot (ground portion) from falling too far. Further, the weight of the robot frame when the ground contact portion 404 lands is transmitted to the rear side of the ground contact portion 404 to stabilize the posture.

With such a series of operations, FIG.
As shown in (a) and (b), the toes are raised, the feet are advanced with the heels on the ground, and when the feet come forward, the entire foot sole lands. As will be described later, a mechanism for changing the direction of the entire robot is incorporated on the toe side of the sole. In addition, a roller is incorporated on the heel side of the sole so as to slide on the ground. As the roller, for example, a metal roller can be used as a weight, and the posture of the entire robot can be stabilized. The above-described embodiment of the robot's stepping on these mechanisms is advantageous.

The robot moves backward by reversely rotating the cam shaft.

FIGS. 79 and 80 show examples of the structure of another leg mechanism (left leg mechanism). In FIG.
The same reference numerals are given to portions corresponding to.

In this example, a holding plate 410c integrally provided with the longitudinal rod 410 is provided. The connecting portion (rear shaft) 40 of the ground contact portion 404 is set at a timing set by pressing the holding plate with the cam.
By pressing 4b, the inclination (posture) of the robot and the raising and lowering of the toes (or heels) of the feet are set. In addition, the shape of the cams and holes is adjusted so that the toes of the feet (ground contact portions) of the robot rise further upward. Further, in this example, the ground is pushed toward the front end side (toe side) of the ground contact portion 404.
Alternatively, a biasing force such as shaving is positively applied by a spring, thereby increasing the driving force of the toes, thereby increasing the forward force (or backward force) of the robot.

In the left leg mechanism shown in FIG. 79, the waist frame 401 and the upper part of the knee 402 are connected to the connecting portions 401d and 4d.
The upper knee portion 402 and the lower knee portion 403 are rotatably connected via connecting portions 402b and 403a. Furthermore, the lower part 403 of the knee is
And are rotatably connected via connecting portions 403c and 404a. A part of the ground part 404, for example, the connecting part 404b
A spring SP as a biasing means is attached between the lower part of the knee 403 and a part of the case, and applies a force to constantly lift the rear part (heel of the foot) of the ground contact part 404. The spring SP has an eccentric cam 420b and a holding plate 4
10c acts in a direction in which it is always in contact. Note that the spring SP only needs to act to lift the heel of the ground contact portion 404 upward, and its mounting position can be appropriately selected.

The short rod 411 connects the eccentric cam 420b and the lower part of the knee 403 via connecting portions 403b and 411c. When the cam pulley 420 is driven to rotate, the eccentric cam 4
20b swings the lower part of the knee 403 in the front-rear direction by the short rod 411 and lifts the lower part of the knee (leg) 403. Along with this, the upper knee 402 also swings so as to bend and move the knee. The longitudinal rod 410 is guided by the guide pin 420c, and connects the eccentric cam 420b and the connecting parts 404b, 410b of the ground part 404. In this example, the guide pin 420c is concentric with the rotation axis of the cam 420. When the cam pulley 420 is driven to rotate, the pin 42
The pressing plate 410c is pushed down by the eccentric cam 420b with the guide 0c as a guide, and the connecting portion (rear shaft) 404b of the ground contact portion 404 is pushed down by the longitudinal rod 410. As a result, the posture (tilt) of the robot when walking,
Or, set up and down of the toe of the foot when moving the foot.

In such a mechanism, it is possible to raise the toe of the stepping foot at the timing of raising the stepping foot, and to lower the toe of the stepping foot at the timing of lowering the stepping foot. As a result, it is possible to improve the running performance of the robot that can walk without falling down.

FIG. 80 shows a cam pulley 420, a long rod 410, a short rod 411, and a spring SP of another example of the mechanism described above. The cam pulley 420 is driven by a motor (not shown).
Is bound to Outside the cam pulley 420, a guide pin 420c is provided at a position concentric with the drive shaft of the pulley. The cam pulley 420 is provided with a cylindrical cam 420b at a position eccentric from the drive shaft of the pulley. An elongated hole 410a is provided on the upper portion of the substantially rod-shaped elongated rod 410, and the elongated hole 410a is
20c and is rotatably engaged. Long hole 410a
The guide pin 420c is movably engaged. Slot 4
A holding plate 410c is formed below 10a. The upper surface of the holding plate 410c is the eccentric cam 42.
The longitudinal rod is moved up and down according to the movement of the cam 420b in contact with 0b. A connecting portion 410b for connecting to the connecting portion 404b of the grounding portion 404 is provided below the rod 410 in the shape of a "<". An annular engaging portion 411a that rotatably engages with the eccentric cam 420b is provided on an upper portion of the short rod 411. In the center of the short rod 411, a long hole 4 that engages with the guide pin of the frame 401
11b is provided. The connecting portion 41 connected to the connecting portion 403b of the lower knee portion 403 is provided below the short rod 411.
1c is provided.

In the other embodiments described above, the upper knee portion 402, the lower knee portion 403, and the ground contact portion 404 are configured in the same manner as in the first embodiment.

FIG. 81 and FIG. 82 show a mechanism for changing the direction of the robot. FIG. 81 is a side view of the grounding portion, in which a driving roller 404c is arranged on the toe side and a sliding roller 404d is arranged on the heel side. FIG. 82 (a) is a diagram of the grounding portions 404 of the left and right legs viewed from the front of the robot, and FIG. 82 (b) is a diagram of the grounding portions 404 of the left and right legs viewed from the bottom.

As shown in FIG. 82 (b), the grounding portion 404
A motor 404e, a gear mechanism 404f for increasing the amount of rotation of the motor, and a drive roller 404c rotated by the gear mechanism 404f are disposed in the front of the inside. A plurality of drive rollers 404c can be provided. In this example,
Two drive rollers 404c, 404c are provided, and both are further connected by a drive belt 404g. The driving direction of the driving roller 404c and the driving belt 404g is set to be oblique with respect to the front-rear direction of the robot. The motor and the gear mechanism are also obliquely arranged corresponding to this, but these can be arranged as appropriate. Increasing the number of drive rollers 404c increases the contact surface and increases the stability of the robot. You can also increase the speed of the turn.

Preferably, as shown in FIG.
When both feet are aligned, the left and right drive rollers 404c
The drive direction by the drive belt 404g is a “C” shape that is located on substantially the same circumference. A sliding roller 404d that rotates freely is located in front of the ground contact portion 404. By making this roller a relatively heavy material, for example, metal, it can also serve as a weight for adjusting the balance of the robot. Of course, an equivalent to the weight for maintaining the balance can be separately provided in the ground portion 404.

FIG. 83 shows an example of a mechanism for changing the direction of another robot. In the figure, the same reference numerals are given to the portions corresponding to FIG. 82 (b), and the description of such portions is omitted. In this example, only the left foot side of the robot is shown, and the right foot side (not shown) is configured symmetrically to the left foot side shown. The drive roller 404c and the drive belt 404g shown in FIG. 82 are constituted by a drive rubber roller 404h. The driving rubber roller 404h is configured by, for example, covering the outer periphery of a plastic pulley with rubber having a large friction. In a state where both feet are aligned, the driving directions by the left and right rubber driving rollers 404h are shaped like “C” which are located on substantially the same circumference. A sliding roller 404d that rotates freely is provided behind the ground contact portion 404. Even with such a configuration, the above-described FIGS.
Works as in

By providing a drive roller or a drive belt on the sole of the robot, it is possible to perform a technically difficult direction change (turn) with a bipedal walking mechanism while performing bipedal walking. It becomes possible. Of course, a turn can be made even when the walking is stopped. Further, by arranging the driving roller or the driving belt obliquely with respect to the front-back direction of the robot, the driving roller is driven in a direction perpendicular to the traveling direction for turning.
The posture of the robot is stable, and the moving direction of the robot can be changed in a shorter time.

In the bipedal walking mechanism of the above-described leg, the gait walks with the heel always in contact with the ground. Providing a drive roller or drive belt on the toe side is compatible with this walking structure. That is, if a driving roller is provided on the heel side, the turn is possible even when the toe is raised, and the posture of the robot becomes unstable. Also, the motion of the anthropomorphic robot is unnatural. In this regard, in the case where the drive belt or the like is provided on the toe side, the posture is stable and the movement looks natural because the entire sole of the foot turns with the landing foot. In particular, the stability of the turn while walking is good.

When the control unit 60 detects the presence of an obstacle in front of the robot by the optical sensor 53 or the like, the control unit 60 changes the direction of the robot and avoids the obstacle by operating the above-described direction changing mechanism. It becomes possible. Note that the position of the sensor that detects an obstacle may be provided at the tip of the grounding unit. The sensor in this case may be a switch, an ultrasonic sensor, or the like.

As described above, in the embodiment of the present invention, the operation is performed after the presence of the user is determined in advance, so that the consumption of the battery can be reduced.

Note that the electronic toy is not limited to the battery drive, but may be an AC power supply or a power supply via an AC power adapter.

Further, the robot of the embodiment is provided with a program for determining its own action, and makes various actions according to time. At that time, there is no reaction,
For example, if you can hear the sound or touch the switch,
Determine your next action. When there is no viewer, the user does not move too much, but periodically (at regular time intervals) it is checked whether the user is nearby. By taking even greater action if someone is nearby, it appears to the user that it is always moving on its own.

In addition, the robot of the embodiment grasps the user's biorhythm in order to guess the physical condition and mood of the user, and gives an answer with a human touch, such as encouragement, when it is presumed that the user is in bad condition. Act on (programmed).

[0276] Also, since the player sometimes plays alone, when the user finds this, it is curious and interesting.

The robot of the embodiment has its own emotion parameter and utters or displays a word corresponding to the current emotion, so that it looks as if it has an emotion and is interesting.

Also, the robot of the embodiment is interesting because it also responds to mischief, such as keeping a loud voice on the side, putting on a cloth, and hitting repeatedly.

[0279] The robot of the embodiment performs communication using characters. For example, it is interesting to ask questions or talk to the user.

Further, the emotion of the robot is affected by the answer to the question, and the mood is improved or worsened.

Also, when the robots are connected to each other, a fixed phrase is formed that exchanges data and establishes a conversation, and this is output to a voice or a display, so that the robots seem to have a conversation, which is interesting. .

Further, the mechanical mechanism shown in the embodiment can obtain two degrees of freedom of the arm, one degree of freedom of the neck, the expression of the face (eyes), etc. with the minimum mechanism, and thereby the emotional operation of the robot. Expression is also possible.

Also, the electronic toys and electronic robots of the present invention are so-called pet robots, therapeutic products (for example,
The present invention can be applied to a healing robot), a home robot having a function of monitoring a state of an observer or an elderly person, etc., and can be enjoyed by both adults and elderly people, and is not limited to toys for infants. Of course, the present invention can be applied to pets and play equipment.

The walking robot, which is the electronic toy of the embodiment, moves the tip (toe) or the rear end (heel) of the ground contact portion (foot) to a larger angle when the legs are alternately advanced and retreated. It is possible to lift and move, and the driving force (or frictional force) on the toe is increasing. For this reason, the running performance in a place where the scaffold is relatively poor is improved, and the fall of the robot is reduced.

Further, the respective embodiments described above can be combined. For example, the mechanism of the upper body of the robot shown in FIG. 5 and the mechanism of the lower body shown in FIGS. 59 and 70 can be appropriately combined. In addition, various control modes described in the embodiments, for example, those shown in FIGS. 11 to 56 can be combined with the robot configured as described above.

[0286]

As described above, the electronic toy of the present invention is automatically activated when the user is nearby, so that the user can communicate with the user from the electronic toy side. In addition, it is possible to suppress unnecessary power consumption.

[0287] In addition, the robot behaves as if communicating with the user using characters, which is interesting. Furthermore, since words and actions to be output are selected according to one's own emotions, it is more personal and interesting.

In addition, an electronic toy (robot toy) having good walking performance can be obtained.

[Brief description of the drawings]

FIG. 1 is a front view illustrating a robot as an electronic toy (home robot).

FIG. 2 is a rear view illustrating a robot as an electronic toy.

FIG. 3 is a top view illustrating a robot as an electronic toy.

FIG. 4 is a side view illustrating a robot as an electronic toy.

FIG. 5 is an explanatory diagram illustrating a mechanism that enables a robot to rotate its arm, shoulder, neck, and the like.

FIG. 6 is a perspective view illustrating the above mechanism.

FIG. 7 is an explanatory view showing a mechanism that enables rotation of a neck portion and rotation of a shoulder portion of the robot.

FIG. 8 is an explanatory diagram illustrating a mechanism that enables the arm portion of the robot to rotate.

FIG. 9 is a block diagram for explaining a configuration of a control system.

FIG. 10 is a block diagram illustrating a schematic configuration of a control unit 60.

FIG. 11 is a flowchart illustrating an example of inputting a “birth date” for calculating a biorhythm to a robot.

FIG. 12 is a flowchart illustrating an example in which surrounding sounds are collected and the presence of a user or the like can be determined.

FIG. 13 is a flowchart illustrating an example of performing voice recognition of a user's voice (command or the like) and performing a robot operation corresponding to the voice recognition.

FIG. 14 is a flowchart illustrating an example of detecting a movement of a subject;

FIG. 15 is a flowchart illustrating an example of determining the presence of a user based on a switch operation, the movement of a subject, and the presence of a voice.

FIG. 16 is a flowchart illustrating an example of determining the presence of a user based on a switch operation, ambient brightness, and the presence of voice.

FIG. 17 is a flowchart illustrating an example of a control operation considering biorhythm.

FIG. 18 is an explanatory diagram illustrating biorhythm.

FIG. 19 is an explanatory diagram illustrating an example of facial expressions of eyes and scrolling of characters (symbols) displayed on the display.

FIG. 20 is a flowchart illustrating an example of operation control of the robot with time.

FIG. 21 is a flowchart illustrating execution of a control program by a control unit (CPU).

FIG. 22 is an explanatory diagram illustrating an example of a posture representing “joy” of the robot.

FIG. 23 is an explanatory diagram illustrating an example of a posture representing a “fun” mood of the robot.

FIG. 24 is an explanatory diagram illustrating an example of a posture representing a “sad” mood of the robot.

FIG. 25 is an explanatory diagram illustrating an example of a posture representing a “loved” mood of the robot.

FIG. 26 is a front view illustrating an example of another robot as an electronic toy.

FIG. 27 is a side view illustrating an example of another robot as an electronic toy.

FIGS. 28A to 28D are explanatory diagrams illustrating examples of various facial expressions corresponding to the emotions and joys of a robot.

FIGS. 29A and 29B are explanatory diagrams illustrating examples of various facial expressions corresponding to the emotions of a robot.

FIG. 30 is an explanatory diagram showing another example of another biorhythm (biorhythm of a robot).

FIG. 31 is a flowchart illustrating an operation in which a display example of words on a display screen of a robot affects a current emotion.

FIG. 32 is an explanatory diagram illustrating an example of displaying words on a display screen of a robot (an angry mode of biorhythm).

FIG. 33 is an explanatory diagram illustrating a display example (ordinary emotion mode) of words on the display screen of the robot.

FIG. 34 is an explanatory diagram illustrating a display example (5/7/5 key) of words on a display screen of a robot.

FIG. 35 is a flowchart illustrating an example in which the emotion of the robot changes according to the answer to the question asked by the robot.

FIG. 36 is an explanatory diagram illustrating an example of a question whose answer affects biorhythm.

FIG. 37 is an explanatory diagram showing an example of a question whose answer does not affect biorhythm.

FIG. 38 is a diagram showing the biorhythm (emotion) of a robot.
FIG. 6 is an explanatory diagram for explaining an example of a question that affects a question.

FIG. 39 is a diagram showing the biorhythm (emotion) of a robot.
FIG. 6 is an explanatory diagram for explaining an example of a question that does not affect a question.

FIG. 40 is an explanatory diagram illustrating an example in which an emotion (biorhythm) is deteriorated by an answer to a result of a question.

FIG. 41 is an explanatory diagram illustrating an example in which two robots are connected by a cable to perform data exchange and have a conversation between the two robots.

FIG. 42 is an explanatory diagram showing an example in which a PHS or a mobile phone is connected to a robot to communicate with another robot or a server device to obtain data, and to have a conversation or an operation.

FIG. 43 is a block diagram illustrating an example in which communication is performed by connecting communication interfaces of robots with cables.

FIG. 44 is a block diagram illustrating an example in which communication is performed using a terminal device connectable to a communication network such as a PHS or a mobile phone.

FIG. 45 is a block diagram illustrating an example in which robots communicate with each other using the Internet.

FIG. 46 is an explanatory diagram illustrating an example in which data is downloaded from a server device to a robot.

FIG. 47 is a communication diagram illustrating an example of a procedure when data exchange is performed using a connection cable;

FIG. 48 is a communication diagram illustrating an example of a procedure when data is exchanged using a mobile phone or a PHS.

FIG. 49 is a communication diagram illustrating an example of a procedure when acquiring data from a server device.

FIG. 50 is an explanatory diagram illustrating an example of a current topic story and an example of user adaptation data provided by the server device.

FIG. 51 is a block diagram illustrating an operation of an action mail.

FIG. 52 is an explanatory diagram illustrating the content (format) of an action mail.

FIG. 53 is an explanatory diagram of an example in which a robot that has received an action mail performs an operation of “happy”;

FIG. 54 is an explanatory diagram of an example in which the robot that has received the action mail performs an “anger” operation.

FIG. 55 is an explanatory diagram illustrating an example in which the robot that has received the action mail performs an operation of “sorrow”.

FIG. 56 is an explanatory diagram of an example in which a robot that has received an action mail performs an “easy” operation;

FIG. 57 is a perspective view for explaining a first state (closed legs) of the dance robot.

FIG. 58 is a perspective view illustrating a second state (spreading legs) of the dance robot.

FIG. 59 is a perspective view for explaining a leg opening / closing mechanism (in a closed state).

FIG. 60 is a perspective view for explaining a leg opening / closing mechanism (leg opening state).

FIG. 61 is a perspective view illustrating a configuration example of a right foot.

FIG. 62 is an explanatory diagram for explaining a knee bending operation of the right foot.

FIG. 63 is a perspective view illustrating the configuration of the left foot.

FIG. 64 is an explanatory diagram illustrating adjustment of synchronization of right and left feet by a cam.

FIG. 65 is a block diagram illustrating a control system of the dance robot.

FIG. 66 is a block diagram illustrating another control system of the dance robot.

FIG. 67 is a perspective view illustrating a bipedal walking robot.

FIG. 68 is a perspective view illustrating a bipedal walking robot.

FIG. 69 is a perspective view illustrating a bipedal walking robot.

FIG. 70 is an explanatory diagram illustrating a biped walking mechanism.

FIG. 71 is an explanatory diagram illustrating a waist frame.

FIG. 72 is an explanatory diagram illustrating an upper part of a knee.

FIG. 73 is an explanatory diagram for explaining a lower part of a knee;

FIG. 74 is an explanatory diagram illustrating a grounding unit.

FIG. 75 is an explanatory diagram illustrating a cam pulley, a long rod, and a short rod.

76 (1) to 76 (4) are explanatory diagrams for explaining the operation of the walking mechanism corresponding to the rotation of the cam shaft.

FIG. 77 (5) to FIG. 77 (8) are explanatory views illustrating the operation of the walking mechanism corresponding to the rotation of the cam shaft.

FIG. 78 is an explanatory diagram for explaining the movement of the feet of the robot.

FIG. 79 is an explanatory diagram illustrating another biped walking mechanism.

FIG. 80 is an explanatory diagram illustrating a cam pulley, a long rod, a short rod, and a spring of another example of a biped walking mechanism.

FIG. 81 is an explanatory diagram illustrating a direction change mechanism of the robot.

FIG. 82 is an explanatory diagram illustrating a direction change mechanism of the robot.

FIG. 83 is an explanatory diagram illustrating a direction change mechanism of another robot.

[Explanation of symbols]

 1 Robot 51 Touch Sensor 52 Microphone 53 Optical Sensor (CCD Camera) 54 Switch 56 Battery Voltage Detection Sensor 60 Control Unit 63 Memory 71 Window Display Unit

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) A63H 31/08 A63H 31/08 A B25J 5/00 B25J 5/00 F G10L 13/00 G10L 3/00 551H 15/00 R 15/22 571T 15/24 571Q (72) Inventor Kaoru Igarashi 1-11-25 Shiratori, Katsushika-ku, Tokyo Within Science Products Co., Ltd. (72) Ryotaro Saji 4-, Daikanyamacho, Shibuya-ku, Tokyo 1-11103 Inside Landmac Co., Ltd. (72) Inventor Tetsuya Hayakawa 1-4-4 Yanagibashi, Taito-ku, Tokyo F-term (reference) 2C150 CA01 CA02 CA04 DA04 DA24 DA26 DA27 DA28 DF03 DF04 DF06 DF33 EB01 EC03 EC15 EC25 EC29 ED42 ED47 ED52 EF02 EF03 EF07 EF13 EF16 EF23 EF28 EF29 EF33 EF36 3C007 AS36 BS27 CS08 CX07 CY02 HS09 HS27 HT02 HT11 HT23 HT2 4 HT33 HT37 JS03 JS07 KS20 KS27 KS31 KS32 KS38 KT01 KT15 KV11 KV18 MS02 MS14 MT14 WB03 WB16 WB25 WB27 WC06 WC12 WC13 WC15 WC23 WC24 WC25 5D015 KK02 LL06 5D045 AB11

Claims (87)

[Claims] 1. An electronic toy controlled to respond to external information, comprising: an operation mechanism for configuring a mechanical movement of the toy; an input means for acquiring external information; Determining means for determining whether or not a body is present, based on the determination result, selecting a control parameter for controlling the operating mechanism from a plurality of control parameters in accordance with the information from the outside, An electronic toy comprising: a control unit configured to control an operation of the operation mechanism. 2. An information display means for displaying information to the outside, wherein the control means changes a control parameter for controlling the information display means in response to the information from the outside by a plurality of control parameters. The electronic toy according to claim 1, wherein the electronic toy is selected from among them, and controls the operation of the information display means to display information. 3. A sound generating means for outputting a sound to the outside, wherein the control means controls a control parameter for controlling the sound generating means in accordance with the information from the outside by a plurality of control parameters. The electronic toy according to claim 1, wherein the electronic toy is selected from among them, and controls the operation of the voice generating unit to output a voice. 4. An apparatus according to claim 1, further comprising: means for calculating a life rhythm of the specific person; and event detection means for detecting occurrence of an event in the life rhythm.
The electronic toy according to any one of claims 1 to 3, wherein a control parameter of at least one of the information display unit and the sound generation unit is selected. 5. The apparatus further comprises: clock means for detecting a current time; and detection means for detecting the occurrence of an event planned on a time axis in advance, wherein the control means responds to the event by Operating mechanism,
The electronic toy according to any one of claims 1 to 3, wherein a control parameter of at least one of the information display unit and the sound generation unit is selected. 6. The electronic toy according to claim 1, wherein said determining means detects surrounding sounds and / or movements. 7. The electronic toy according to claim 1, wherein said determining means detects surrounding voice and / or brightness. 8. The electronic toy according to claim 1, wherein said discriminating means includes a microphone for collecting surrounding sounds and / or a camera for photographing surroundings. 9. The operation mechanism has a structure of a humanoid robot, and the operation is controlled so as to express at least one of “joy”, “anger”, “sad”, and “easy” of a person. An electronic toy according to any one of claims 1 to 8. 10. The electronic device according to claim 1, wherein said control means selects a control parameter for performing a predetermined single-player action when it is determined that no one is present around the user. toy. 11. The electronic toy has a human shape, and the information display means is provided in a portion corresponding to a face, and displays a facial expression, a symbol such as a character, or the like. Electronic toys as described. 12. The electronic toy according to claim 1, further comprising storage means for recording a human voice. 13. The electronic toy according to claim 1, wherein said input means includes at least one of a touch sensor, a microphone, an optical sensor, a camera, a switch, and a state sensor. 14. The apparatus according to claim 1, further comprising means for detecting the output of the battery, wherein said control means further comprises: an information display means for displaying information to the outside when the output of the battery is reduced; The electronic toy according to claim 1, wherein a warning is generated by the generation unit. 15. An electronic toy controlled to respond to external information, comprising: a human-shaped structure; and control means for controlling the operation of the structure in response to external information. An electronic toy comprising: a small camera provided on the structure to capture an external situation; and communication means for transmitting the captured image to the outside. 16. A basic frame disposed on a body of a humanoid toy; first and second sub-frames provided on both sides of the basic frame and rotatably attached to the basic frame; First and second rotating shafts respectively provided on the first and second sub-frames; a cam mechanism provided on a third rotating shaft driven by a first motor; A link connecting the first and second sub-frames to swing the two sub-frames; a gear mechanism driven by a second motor; A transmission mechanism disposed across the transmission mechanism to transmit an output of the gear mechanism to the first and second rotation shafts. 17. The transmission mechanism is constituted by a gear train composed of a plurality of gears, and each gear at both ends is provided with the first and second gears.
17. The toy according to claim 16, wherein the toy is arranged in each of the sub-frames and meshes with the first and second rotating shafts via bevel gears. 18. A human-shaped or animal-type electronic toy having a display portion capable of displaying characters and symbols on a portion corresponding to the face of the head, and comprising an input portion comprising a plurality of input switches provided on the body. An electronic toy which is configured so that information input by operation can be visually confirmed on a display unit provided on the face-corresponding part. 19. A human-shaped or animal-type electronic toy having a head and a body, a display corresponding to a face corresponding to the face of the head for displaying characters and symbols, and a plurality of inputs on the body. An electronic toy provided with an input unit including a switch so that an operation result of the input unit can be visually confirmed on a display unit provided on the face-equivalent part. 20. A human-type or animal-type electronic robot, comprising a display unit capable of displaying characters and symbols on a portion corresponding to the face of a head, and a plurality of input devices provided on the body of the robot by an operator. An electronic robot configured so that information to be input by operating an input unit including a switch can be visually confirmed on a display unit provided in the face equivalent unit. 21. A human-type or animal-type electronic robot, comprising: a display unit capable of displaying characters and symbols on a part corresponding to a face of a head; and a plurality of input switches provided on the body of the robot by an operator. An electronic robot, wherein information input by operating an input unit is displayed on a display unit provided in the face-corresponding part to form a facial expression of the robot. 22. The electronic device according to claim 1, wherein the control parameter includes an emotion parameter, and the emotion parameter is represented as a biorhythm of a specific person or a biorhythm of a robot. toy. 23. The electronic toy according to claim 22, wherein said emotion parameter is affected by occurrence of an event. 24. The electronic toy according to claim 23, wherein the event includes an answer to a question asked by the electronic toy to the user. 25. The electronic toy according to claim 24, wherein a change in an emotion parameter with respect to an expected answer to the question is defined in the question in advance. 26. The control unit according to claim 22, wherein the control unit selects information to be displayed outside and / or voice to be output to the outside based on the emotion parameter. Electronic toys as described. 27. The electronic toy according to claim 24, wherein said control means further stores an answer to said question and forms a fixed phrase using data on the answer. 28. An electronic toy of a human or animal type, a display portion capable of displaying characters and symbols on a portion corresponding to the face or the body of the head, and input means provided on the body for performing an input operation. Storage means for storing a plurality of words; and control means having a function of selecting the words and displaying the selected words on the display unit, and outputting an emotion parameter value representing their own emotions. An electronic toy, wherein the word is selected based on the emotion parameter and is displayed on the display unit. 29. An electronic toy of a human type or an animal type, comprising: voice generating means for outputting voice data as voice; input means provided on a body for performing input operation; and storage means for storing a plurality of voice data. And selecting and giving the voice data to the utterance unit;
Control means having a function for outputting an emotion parameter value representing its own emotion, wherein the control means selects the voice data based on the emotion parameter and causes the voice means to utter the voice data. Electronic toys. 30. A human- or animal-type electronic toy, a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head, and a vocalization means for outputting voice data as voice; Input means for performing an input operation provided on the body; storage means for storing a plurality of words and a plurality of voice data; and an emotion parameter representing one's own emotion while selecting and displaying the words on the display unit Control means having a function of outputting a value, wherein the control means selects the words and the voice data based on the emotion parameter, and supplies these to the display unit and the voice generating means. Electronic toys characterized by the following. 31. The electronic toy according to claim 28, wherein said emotion parameter changes with time between a maximum value and a minimum value. 32. The apparatus according to claim 28, wherein said control means asks a question by said character or voice, and changes a value of said emotion parameter in accordance with an input operation to said question. Electronic toys. 33. A method according to claim 32, wherein a plurality of questions are stored in advance, and a change in said emotion parameter is defined for an expected answer to each question.
Electronic toys as described. 34. A plurality of questions are stored in advance, and intimacy between an electronic toy and a user is defined for an expected answer to each question.
2. The electronic toy according to 2. 35. The electronic toy according to claim 32, wherein said control means further stores an answer to said question and forms a fixed phrase using data relating to said answer. 36. The control section accumulates intimacy obtained by each question, and supplies a data expressing a specific emotion to the display section and / or the voicing means when the intimacy degree exceeds a predetermined value. The electronic toy according to any one of claims 32 to 35, characterized in that: 37. The electronic toy according to claim 32, wherein the question includes a question affecting the emotion parameter and a question not affecting the emotion parameter. 38. A plurality of zones are defined in advance between a maximum value and a minimum value of the emotion parameter, and the words and voice data are distributed to each zone. 32. The electronic toy according to claim 31, wherein words and voice data of a corresponding zone are selected depending on which zone the zone belongs to. 39. The control device according to claim 39, wherein said control means selects a control for performing a special operation involving a mechanical movement of a part constituting a humanoid or animal type in a specific zone. 38. The electronic toy according to 38. 40. The operation according to claim 28, wherein said control means further comprises an exhibition mode for changing said emotion parameter between its maximum value and its minimum value in a short cycle. Electronic toys. 41. The apparatus according to claim 28, further comprising connection means for connecting said electronic toy to a network, wherein said words and voice data are downloaded from said server device connected to said network to said storage means. 40. The electronic toy according to any one of 40. 42. The electronic toy according to claim 41, wherein said downloaded words and voice data are current affairs terms. 43. The electronic toy according to claim 41, wherein said downloaded words and voice data are terms corresponding to the characteristics of the user. 44. Further, there is provided a connecting means for connecting the electronic toys with each other, wherein the words stored in the connected electronic toys are
41. The electronic toy according to claim 28, wherein voice data is received by said storage means. 45. The connecting means, comprising: a communication cable, PH
S, including at least one of a mobile phone and a personal computer,
The electronic toy according to claim 41 or claim 44. 46. Character data exchange between electronic toys,
Embed the exchanged data in a fixed phrase and conduct a mock conversation,
The electronic toy according to claim 44 or 45, wherein: 47. A human-shaped or animal-type electronic toy, comprising: voice detection means for detecting surrounding voice; and a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head. A storage means for storing a plurality of facial expressions, and a function for outputting an emotion parameter value representing the emotion of the user, selecting the facial expression based on the emotion parameters,
Control means for displaying this on the display unit, wherein the control means sets the emotion parameter to an unpleasant state when the sound is at a predetermined level or more and continues for a predetermined time or more. Electronic toys. 48. A human- or animal-type electronic toy, comprising: a display unit capable of displaying characters and symbols on a part corresponding to a face or a body of a head; a storage unit for storing a plurality of facial expressions; Input means for performing an input operation provided in, has a function of outputting an emotion parameter value representing its own emotion, selecting the facial expression based on the emotion parameter,
Control means for displaying this on the display unit, wherein the control means selects an expression corresponding to the emotion parameter when the input means is continuously operated for a predetermined time or a predetermined number of times. An electronic toy characterized in that: 49. The electronic toy according to claim 47, wherein in the uncomfortable state, an expression of anger is displayed on the display section. 50. The electronic toy according to claim 48, wherein the facial expression selected in response to the continuous operation is a facial expression that is beaten and painful or a facial expression that is pleasantly stroked. 51. An electronic toy of a human or animal type, a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body of a head, storage means for storing a plurality of facial expressions, An optical sensor for detecting the brightness of the image, and control means for selecting an expression corresponding to the user's own emotion and displaying the selected expression on the display unit. An electronic toy characterized by selecting a facial expression that closes the eyes when detecting. 52. The electronic toy according to claim 51, wherein said control means further operates a mechanical part constituting a humanoid or animal type to express an unpleasant emotion. 53. The electronic toy according to claim 28, wherein an initial value of a function for outputting an emotion parameter value representing the emotion is set at random. 54. A human-shaped or animal-type electronic toy, comprising: a display portion capable of displaying characters and symbols on a portion corresponding to a face or a body corresponding to a head; A control unit that determines a message and control information from a file attached to an electronic mail, displays the message on the display unit, and operates the mechanical unit according to the control information. And an electronic toy comprising: 55. An electronic toy according to claim 54, wherein said attached file is an audio file. 56. The electronic toy according to claim 55, wherein said audio file is reproduced into an audio signal by a computer, and said audio signal is supplied to said control unit. 57. The electronic toy according to claim 54, wherein said control information designates an operation stored in said control unit in advance. 58. The electronic toy according to claim 54, wherein said control information designates a series of control procedures of said mechanical part to said control unit. 59. When the control information is not attached,
57. The electronic toy according to any one of claims 54 to 56, wherein the control unit selects an appropriate movement of the mechanical part. 60. The electronic toy according to claim 54, wherein said control information expresses emotions such as emotions of a robot. 61. A process of converting a message to be displayed on an electronic toy of a receiver and an operation to be performed by the electronic toy into an audio signal, converting the audio signal into an audio file, and converting the Attaching the email to the attached file; transmitting the email with the audio file from the sender terminal device to the receiver terminal device; receiving the email at the receiver terminal device and playing back the audio file. Obtaining an audio signal; transferring the reproduced audio signal from a receiver terminal device to the electronic toy; and causing the electronic toy to display the message and perform the operation. How to exchange mail. 62. A human-shaped or animal-shaped electronic toy, comprising: a leg-shaped structure forming a pair of movable legs of a human-shaped or animal-shaped; and a movement of said leg corresponding to a sound to be output. An electronic toy comprising: a control unit for controlling; 63. The electronic toy according to claim 62, wherein said control unit sets the speed of movement of said leg in accordance with the magnitude or rhythm of said voice. 64. The movement of the pair of legs is an operation of opening and closing the legs in the left-right direction.
Or the electronic toy according to 63. 65. A slip prevention means is provided on one sole of the leg, and a slip means is provided on the other sole of the leg.
The electronic toy according to any one of claims 62 to 64, wherein: 66. The leg structure, comprising: a waist frame provided with a pair of hip joints rotatable in at least one direction on the left and right; a pair of legs respectively connected to the pair of hip joints; A pair of drive shafts each having one end attached to each leg and the other end extending beyond the hip joint of the leg and into the waist frame, and a link member interconnecting the other end of each drive shaft A cam mechanism interposed between the other end portion of at least one of the drive shafts and the link member to change one end side of the drive shaft to wide and narrow; and built into one of the leg portions. The electronic toy according to any one of claims 62 to 65, further comprising: a motor that rotationally drives the one drive shaft. 67. The driving device according to claim 66, wherein the other end of the drive shaft and the link members or the cam and the link members are connected via a spherical engaging member.
Electronic toys as described. 68. A sliding means provided at one end of the other drive shaft of said pair of drive shafts for sliding on the ground or floor.
Or the electronic toy according to 67. 69. The other of the leg portions, an upper knee portion rotatably connected to the hip joint portion in the front-rear direction, a lower knee portion rotatably connected to the upper knee portion in the front-rear direction, and the pair of knees. One end of the other drive shaft of the drive shaft and a grounding portion rotatably connected to the left and right directions, a projection is formed on the lower surface of the lower part of the knee, the upper surface of the grounding portion An inclined surface with which the protrusion contacts is formed, and the protrusion is pushed up with the opening and closing operation of the leg, so that a connecting portion between the knee upper part and the knee lower part is bent, The electronic toy according to any one of claims 66 to 68. 70. The sliding means according to claim 6, wherein said sliding means is a roller.
The electronic toy according to any one of 5, 68 and 69. 71. The electronic toy according to claim 67, wherein the opening and closing of the legs can be adjusted according to the mounting position of said engaging member to said cam mechanism. 72. An electronic toy having a walking mechanism for bipedally walking by moving both feet back and forth, wherein the one-legged movement mechanism comprises: a waist frame; and a knee upper rotatably connected to the waist frame. A lower part of the knee rotatably connected to the upper part of the knee; a ground contact part rotatably connected to the lower part of the knee; a cam pulley provided on the waist frame and driven to rotate; and provided on the cam pulley. A first cam, a second cam provided on the cam pulley, a longitudinal member for vertically swinging the ground contact portion by the first cam, and a longitudinal direction of the lower part of the knee by the second cam. An electronic toy comprising: 73. An electronic toy comprising a walking mechanism for bipedally walking by moving both feet back and forth, comprising: a waist frame; and a knee upper pivotally connected to the waist frame. A lower part of the knee rotatably connected to the upper part of the knee; a ground contact part rotatably connected to the lower part of the knee; a cam provided on the waist frame and driven to rotate; An electronic toy comprising: a longitudinal member that swings a ground contact portion in a vertical direction; and a short member that swings the lower part of the knee in a front-rear direction by the cam. 74. The electronic toy according to claim 73, wherein said elongated member includes a guide hole with which a guide member is engaged and a push-down plate in contact with said cam. 75. The electronic toy according to claim 72, further comprising an urging means for urging the tip of the ground contact portion in a direction of pushing down. 76. The electronic toy according to claim 72, wherein the size of the electronic toy is about 30 cm. 77. An apparatus according to claim 72, wherein said ground contact portion is provided with a diagonal driving means for driving in a diagonal direction with respect to a traveling direction of said bipedal walking mechanism. Electronic toys. 78. The electronic toy according to claim 77, wherein said oblique driving means includes a driving roller or a driving belt which is driven to rotate. 79. An electronic toy according to claim 78, wherein a plurality of said drive rollers or drive belts are provided. 80. The diagonal driving means is provided at each of the grounding portions of both feet, and each driving direction of each diagonal driving means is present on a circumference having substantially the same curvature.
The electronic toy according to any one of claims 77 to 79, characterized in that: 81. The electronic device according to claim 77, wherein said oblique direction driving means is provided on a toe side of said grounding portion, and a sliding roller is provided on a heel side of said grounding portion. toy. 82. An electronic toy equipped with a walking mechanism for performing bipedal walking by moving both feet back and forth, comprising: a diagonal drive which is driven obliquely with respect to the traveling direction of the bipedal walking mechanism on the bottom of the foot An electronic toy comprising a direction driving means. 83. The electronic toy according to claim 82, wherein said oblique driving means includes a driving roller or a driving belt driven to rotate. 84. The electronic toy according to claim 83, wherein a plurality of said driving rollers or driving belts are provided. 85. The diagonal driving means is provided at each of the grounding portions of both feet, and each driving direction of each diagonal driving means is present on a circumference having substantially the same curvature.
The electronic toy according to any one of claims 82 to 84, characterized in that: 86. The electronic toy according to claim 82, wherein said oblique drive means is provided on the toe side of said foot, and a sliding roller is provided on the heel side of said ground contact portion. . 87. The electronic toy according to claim 82, further comprising an urging means for pushing down the toe side of the foot in a sole direction.