JP2003062776A - Small-sized robot communication system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a small-sized robot communication system that can use a small-sized robot as a wake-up call robot dog and a watchdog by accessing from a mobile phone. SOLUTION: A robot dog 1 is accessed through a telephone line from a mobile phone 25 and a picture of surroundings is transmitted from the robot dog 1. By seeing the transmitted picture from the robot dog displayed on a LCD monitor of the mobile phone 25, the robot dog 1 movement is operated. It is moved to the position of a sleeping person 46 by detouring an obstacle 45. When a voice is input in the microphone of mobile phone 25, the voice is outputted from the speaker of robot dog 1. If the sleeping person 46 utters a voice, the voice is sent to the mobile phone 25 from the microphone of robot dog 1 and it can be heard with the mobile phone.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a communication small robot system including a mobile phone such as a mobile phone and a Robo dog.

[0002]

2. Description of the Related Art Robots include industrial robots, TO
Items handled by end users including the Y industry have been drawing attention, and demand in the field of small robots (including pet robots) is increasing every day. Therefore, it is expected that the small robot will be applied as a new sense of communication tool.

[0003]

On the other hand, in the field of communication terminal devices such as mobile phones, mobile phones have a very large market share. By connecting this mobile phone and a small robot, you can use only voice communication, voice and robot operation (video)
It is required to communicate only with robots (video). SUMMARY OF THE INVENTION An object of the present invention is to provide a communication small robot system that can be accessed from a mobile phone such as a mobile phone and can be used as a wake-up call robo dog or guard dog by using the small robot.

[0004]

In order to achieve the above object, a communication small robot system according to the present invention includes a small robot having a sound collecting microphone, a speaker, a camera, a control unit for controlling these circuits, and a communication unit. In addition to the normal mobile telephone function, command transmitting means for communicating with the small robot to perform various operations, and history information reception from the small robot for voice output or display on the liquid crystal display unit A mobile phone having a means and a communication line between the small robot and the mobile phone, and accessing the small robot from the mobile phone side, and an image from the camera of the small robot by an operation from the mobile phone side. And a voice to control the behavior of the small robot, and When not communicating with the mobile phone, the small robot collects ambient image and sound data and stores it in a memory unit, and accesses the mobile phone at regular time intervals, or accesses from the mobile phone side. The information received and stored in the memory section is transmitted and displayed on the speaker or the liquid crystal display section of the mobile phone. Further, the small robot according to the present invention has means for activating the automatic battery capacity detection and the charging mode at regular time intervals or by a command from the mobile phone side, and when the battery capacity decreases below a predetermined amount, the camera is operated by the camera. When the recognition pattern is detected by capturing the surrounding image and the recognition pattern is detected, the recognition pattern is moved to the charging area where the recognition pattern is attached,
It is configured to charge the battery by electromagnetic coupling within the charging area. Further, the communication means of the small robot in the present invention includes a communication line via a wireless base station and a Bluetooth transmission / reception means for directly communicating with the mobile phone.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1A is a diagram showing an appearance of a robot dog of a communication small robot system according to the present invention. A camera 5 composed of a CCD is embedded in the nose portion so that the surrounding image can be captured and transmitted. Both eyes are composed of small matrix LEDs, and the pattern and shape of the eyes can be changed. The tail is an antenna and can send and receive data.
Further, an infrared ray receiving portion is attached to the tip of the tail. A sound collecting microphone 6 is embedded between the nose and the mouth, and a speaker 8 is embedded under the mouth to pick up and transmit ambient sounds and voices. In addition, it is possible to output the sent sound and voice. Further, the message display unit 3 is hung on the collar, so that the content of the message can be changed. Further, touch sensors are embedded in the abdomen, back and head, and vibration sensors are embedded in the front part of the head.

FIG. 1B is a diagram showing the internal structure of the robo dog of FIG. 1A. The head swing shaft 16 provided at the base of the head swings by a driving force from a drive mechanism (not shown) from a drive motor, and the orientation of the head can be changed vertically and horizontally. Mouth swing shaft 17 provided at the base of the jaw
The driving force of a part of the driving mechanism is branched and transmitted to move up and down to open the mouth. Similarly, the tail swing shaft 14 provided at the base of the tail allows the driving force of a part of the drive mechanism to be branched and transmitted to swing the tail vertically and horizontally.

Feet skeletal rods 18d and 18b are connected to thigh swing shafts 15f and 15c, which are provided at the joints of the joints of the front and rear legs, respectively.
Knee swing shafts 15e and 15b are provided in the portion of the knee joint b of FIG. A foot skeleton rod 1 is attached to the knee swing shafts 15e and 15b.
8c and 18a are connected in series, and ankle swing shafts 15d and 15a are provided at the ankle joints of the ankle skeleton rods 18c and 18a. Further, the foot skeleton rod 1 is attached to the foot swing shafts 15d and 15a.
8e and 18f are provided. A driving force is transmitted to each of the swing shafts 15a to 15f of the front foot and the rear foot from a foot drive mechanism (not shown) provided for driving the foot.
Each swing axis is driven by a predetermined amount at a predetermined timing in response to a control signal from the system control unit 13, thereby enabling four-legged walking.

The touch sensors 9, 10 and 11 provided on the abdomen, back and head are composed of piezoelectric elements or the like, and detect a predetermined pressure or more. The vibration sensor 7 provided on the front part of the head is a capacitive displacement type sensor and detects vibrations of a predetermined frequency or higher. The temperature / humidity sensor 26 detects the temperature and humidity of the environment around the Robo dog 1. Infrared receiver 27
Is a light receiving unit when directly operated by the infrared controller. The antenna 2, the message display unit 3, the small matrix LED 4, the camera 5, the sound collecting microphone 6, the vibration sensor 7, the speaker 8, the touch sensors 9, 10 and 11, the battery 12, the temperature / humidity sensor 26, and the infrared light receiving unit 27 are System control unit 13 via cable 19
Electrically connected to.

The system control unit 13 is a circuit unit that controls the entire drive control of the robo dog 1, and includes a communication unit 22 and a CPU 20.
And a memory unit 21. The communication unit 22 has the functions of a transmission / reception unit that communicates with a mobile phone through a wireless base station and a Bluetooth transmission / reception unit that directly communicates with the mobile phone. The memory unit 21 stores programs and data for driving the robot dog 1 and access information. Furthermore, it also has an area for temporarily saving the sound, voice and video data acquired by the sound collecting microphone 6 and the camera 5. The CPU 20 reads the program and controls each sensor of the robot dog 1 based on an instruction from the mobile phone, and also includes an automatic battery capacity detection and charge mode function unit 20a, a history information transmission control unit 20b, and a swing axis control unit 20c. The function can be realized.

The automatic battery capacity detection and charge mode function section 20a monitors the capacity of the battery 12 of the robo dog 1, and if the capacity is insufficient, after moving to the charging area,
The battery 12 is charged by electromagnetic coupling. The history information transmission control unit 20b monitors the state of the memory unit 21 at regular time intervals, and when history information of voice and surrounding images is accumulated, accesses the mobile phone and transmits the accumulated information. In addition, the memory unit 2 can be accessed from the mobile phone side.
The stored information is also transmitted in the same manner when instructed to transmit the information of 1. Even when the CPU 20 determines that the information acquired from the sound collecting microphone 6 or the camera 5 is the input of the abnormal state defined in advance, the CPU 20 accesses the mobile phone and reports the situation.

When a command for driving the robo dog 1 is sent from the mobile phone, the rocking axis control section 20c drives the motors with control signals for driving each rocking axis based on the command. It is sent to the circuit 23. The motor drive circuit 23 activates a motor (not shown) to drive each swing shaft. This allows the robot dog 1 to walk, move its mouth and head, and shake its tail.

FIG. 2 is a block diagram showing an embodiment of a circuit of a mobile phone used in the communication small robot system according to the present invention. The mobile phone 25 includes a liquid crystal display unit 36, a key input unit 37, and an antenna 35. The circuit unit of the mobile phone includes a communication unit 33 that communicates with the Robo dog 1 via a wireless base station, a Bluetooth transceiver unit 34 that directly communicates when the Robo dog 1 is in a short distance,
CPU 28 for controlling the entire mobile phone, liquid crystal drive circuit 3
2, including the program storage unit 29, the key input unit 3
7, the speaker 30, the microphone 31, and the liquid crystal display unit 36 are connected.

The CPU 28 accesses the mobile phone function unit 28a for realizing functions such as calling, receiving, calling, mail transmission / reception, and security as a mobile phone, and the Robo dog 1,
When history information such as voice and video is sent from the robo dog operation function part 28b for sending a command for operating the robo dog 1 and the robo dog 1, the information is output from the speaker 30 and the liquid crystal display part 36 is output. It has the function of the robot dog history information display control unit 28c displayed in FIG. The user of the mobile phone can see the image around the robo dog 1 through the camera of the robo dog 1 on the liquid crystal display unit 36, and can also hear the sound through the sound collecting microphone 6.

FIG. 3 is a flowchart for remotely controlling a Robo dog from a mobile phone. When accessing the Robo dog 1 from the mobile phone 25 (step (hereinafter referred to as “S”) 301), the wireless base station control unit determines whether the mobile phone 25 has the access right to the Robo dog 1 specified by the telephone number. It is determined (S302). If it is determined that there is no access right, the communication is ended (S310). When it is determined that the user has the access right, the operation can be performed from the mobile phone side, and the operation of the group A or the operation of the group B is performed. When the group A is selected, the functions of the group A are displayed as images on the mobile phone (S304, S307).

When the group B is selected, the functions of the group B are displayed on the mobile phone as images (S305, S307). If neither is selected and the next operation is continued, S304 or S305 will be selected again. When it is determined that the operation is not continued, the process shifts to the determination of whether to end the operation (S309).

When the group A is selected, the following can be done. 1) Camera video function operation The video signal of the camera 5 of the robot dog 1 is transmitted and displayed on the liquid crystal display unit 36 of the mobile phone 25. 2) Operation of the sound collecting microphone function The sound picked up by the sound collecting microphone 6 of the robot dog 1 is transmitted, and the sound is output from the speaker 30 of the mobile phone 25. 3) Sound expansion function (speaker) operation The voice input to the microphone 31 of the mobile phone 25 is output from the speaker 8 of the Robo dog 1. 4) Main body movement operation This is an operation for moving the Robo dog 1 while watching the image displayed on the camera 5 of the Robo dog 1. For example, the keys 1, 2, and 3 on the key input section are moved forward and backward. It corresponds to the stop and the direction key to the left and right. 5) Illuminance sensor function operation The brightness around the robot dog 1 is detected from the screen displayed by the camera and displayed on the mobile phone 25. 6) Operation of temperature / humidity sensor function The output of the temperature / humidity sensor provided on the head of the robot dog 1 is transmitted and displayed on the mobile phone 25. 7) Message function operation Enter a message by key input on the mobile phone 25,
The message is displayed on the message display unit 3 of the robot dog 1. 8) Infrared remote control function operation This function allows the Robo dog 1 to be directly operated by the infrared remote control, and the infrared receiver 2 provided at the tip of the tail.
It can be received at 7. A screen for selecting each of the above operations is displayed on the liquid crystal screen, and each function can be operated (S308).

When the group B is selected, the following can be done. 1) Each sensor abnormality detection history display The mobile phone 25 is instructed to send the information accumulated in the memory unit 21, and the accumulated information is received and displayed. Even when it is determined that the information acquired from the sound collecting microphone 6 or the camera 5 on the side of the robo dog 1 is an input of a predefined abnormal state, the robo dog 1 is transmitted to the mobile phone and displayed. 2) Access history display The access record data accumulated in the memory unit 21 of the Robo dog 1 is transmitted and displayed on the mobile phone 25. 3) Message history display during absence The mobile phone 25 causes the mobile phone 25 to transmit the messages accumulated in the robot dog 1 while the mobile phone 25 is away. A screen for selecting each of the above operations is displayed on the liquid crystal screen, and each function can be operated (S308).

After selecting each operation and giving an instruction, it is judged whether or not to end the operation (S309), and when the next function is selected, the next operation is selected on the screen. . When the key operation for ending the operation is performed, the communication is ended (S310).

FIG. 4 is a diagram for explaining a charging system for a robo dog. The Robo dog 1 can enter the inside of the kennel-shaped electromagnetically coupled charging device 14, which is a charging area, and perform charging. AC100 for the kennel-shaped electromagnetically coupled charging device 14
A circuit is installed to step down the V power supply by the transformer 43, apply an alternating current to the coil 44a, and electromagnetically couple with the coil 44b on the side of the robo dog 1. On the Robo dog 1 side, the generated alternating current can be converted into a DC current by the AC-DC converter 42, and then the battery 12 can be charged.

FIG. 5 is a flow chart for explaining the operation of the charging system for the robo dog. The automatic battery capacity detection and charge mode function unit 20a is activated (S5
01), the functional unit 20a determines whether to charge the battery (S502). When it is determined that the battery capacity is low and the battery should be charged, the camera 5 captures the peripheral image (S503). And
A recognition pattern is searched for in the captured video (S50
4). The recognition pattern is a pattern including patterns and colors. As a result of the search, it is determined whether or not a recognition pattern is detected (S505). If the recognition pattern cannot be detected and the retry limit is exceeded, an error message is displayed, and the peripheral image is captured again (S506, S506).
S503).

When the recognition pattern can be detected from the captured image, the robot moves to the dog house electromagnetically coupled charging device 41 to which the recognition pattern is attached (S507). When it enters the kennel electromagnetically coupled charging device 41, it is electromagnetically coupled as shown in FIG. 4, and charging is started (S508). Then, it is determined whether or not the charging is completed (S508), and when the charging is completed, the doghouse-shaped electromagnetic coupling charging device 41
To go to the operation standby state (S509, S
510, S511). On the other hand, if the charging is not completed, the degree of battery consumption is determined (S512),
When the battery is exhausted, a message prompting the user to replace the battery is displayed on the message display unit 3 and a message indicating the content is also sent to the mobile phone (S
515). If the battery is not exhausted, it is determined whether the capacity of the battery being charged has changed (S
513). If the capacity has changed, the charging operation is continued (S508). If there is no change in capacity, it is again checked whether or not it is in the charging area (S514). If the user is in the charging area, the charging work is continued (S508). If it is not in the charging area, the process returns to S503 to capture the peripheral image and search for the recognition pattern.

FIG. 6 is a diagram showing an example of use of the small robot system according to the present invention, which is a case of functioning as a wake-up call robo dog. FIG. 6A shows a state in which the Robo dog is being accessed, FIG. 6B shows a state in which the Robo dog is being remotely controlled, and FIG. 6C shows a state in which the Robo dog is making a wake-up call. There is. When making a wake-up call using the automatic incoming call function, instead of waking up the other party with a mobile phone, you can use a Robo dog to output a live voice or a sound like "One! One!" is there. With the image transfer function, you can see the other person's sleeping face.

When it is time to make a wake-up call, the user 51 of the mobile phone 25 accesses the Robo dog 1 through the line and performs an operation to transfer an image, and the surrounding area of the Robo dog 1 is displayed on the liquid crystal display of the mobile phone. The image of. Figure 6
On the screen 47 of A, the obstacle 45a and a part of the futon 49b of the sleeping person hidden behind the obstacle 45a are displayed. The user 51 operates the robot dog 1 while looking at the image on the liquid crystal display unit, bypasses the obstacle 45 and brings the person closer to the sleeping person 46. Figure 6
In the state of B, the person 48 sleeping on the futon 49b is displayed on the screen 48.
6a is displayed.

A person 46 who is operating to get closer and sleeping
Move to the side of. A large copy of the sleeping person 46c is displayed on the screen 49. In this state, when the user 51 inputs a voice such as “Good morning”, the sleeping person 46
The sound is output from the ear of. When the sleeping person wakes up and replies "Good morning", the voice is sent to the mobile phone and the user 51 can hear it.

Next, another example of use will be described. (A) Robo dog is used as a mobile phone. Robo dog B at home B is accessed from mobile phone A at home A, and CCD for robo dog B is accessed.
Images can be transferred to the mobile phone A via the camera.
It is also possible to operate a Robo dog. At the same time, B's mobile phone B
If the robot dog B in the home A is accessed from and the image is similarly transferred to the mobile phone B, the conversation can be performed through the robot dog by the bidirectional access. (B) Make it function as an answering machine robot dog. While away, catches the noise of distrust, and the Robo dog accesses the mobile phone and transfers the image in the room. It can also be used as crime prevention goods. The vibration sensor can also detect the abnormality. (C) Bluetooth / SS wireless operation. A
Mobile phone A at home accesses mobile phone B at home B, and mobile phone B accesses robo dog B using Bluetooth. An image is transferred from the camera of Robo dog B to the mobile phone A at home A via the mobile phone B by Bluetooth. It can be done by both parties.

In the above embodiment, the CC is used as the camera.
The case of using the D camera has been described, but in addition to this, the C-MO is also used.
It is possible to use an S image sensor, an infrared camera, a motion camera, or the like. Further, the four-legged walking type of a small-sized Robo dog has been described, but a two-legged walking type Robo or Nekorobo may be used. As a commercial application, it can also be applied to a prize housing using a mobile phone.

[0027]

As described above, the present invention comprises a small robot provided with communication means, a mobile telephone, and a communication line for these, and the small robot is accessed from the mobile telephone side and the mobile telephone side is accessed. When the operation receives the image and sound from the camera of the small robot to control the behavior of the small robot, and when the small robot is not communicating with the mobile phone, the small robot collects the surrounding image and sound data. Stored in the memory unit and accessed to the mobile phone at regular time intervals, or the access information from the mobile phone is received and the information stored in the memory unit is transmitted and displayed on the speaker or the liquid crystal display unit of the mobile phone. To do. Therefore, it is possible to access the small robot from a mobile phone such as a mobile phone, chat, and operate the robot while watching an image. In addition, it is possible to talk with the other party through a small robot, and it becomes possible to communicate with a new sense.

[Brief description of drawings]

FIG. 1A is a diagram showing an appearance of a robot dog of a communication small robot system according to the present invention.

FIG. 1B is a diagram showing the internal structure of the Robo dog of FIG. 1A.

FIG. 2 is a block diagram showing an embodiment of a circuit of a mobile phone used in the communication small robot system according to the present invention.

FIG. 3 is a flowchart for remotely controlling a Robo dog from a mobile phone.

FIG. 4 is a diagram illustrating a charging system for a Robo dog.

FIG. 5 is a flowchart for explaining the operation of the charging system for the Robo dog.

FIG. 6A is a diagram showing a state at the time of accessing a robo dog in the case of making it function as a wake-up robo dog.

FIG. 6B is a diagram showing a state where a robo dog is being remotely controlled, when it is made to function as a wake-up robo dog.

FIG. 6C is a diagram showing a state where the robo dog is making a wake-up call when it is made to function as a wake-up robo dog.

[Explanation of symbols]

1 Robo dog 2 antenna 3 Message display section 4 small matrix LED 5 camera 6 sound collection microphones 7 Vibration sensor 8 speakers 9,10,11 Touch sensor 12 batteries 13 System control unit 14 Tail swing axis 15a to 15e Foot swing shaft 16 Head swing axis 17 mouth swing axis 18a-18d foot connection part 19 cable 25 mobile phones 26 Temperature and humidity sensor 27 Infrared receiver 28 CPU 29 Program storage section 30 speakers 31 microphone 32 LCD drive circuit 33 Communication unit 34 Bluetooth transceiver 35 antenna 36 LCD display 37 Key input section 41 Kennel type electromagnetic coupling charger 42 AC-DC converter 45 Obstacle 46 people 47 LCD screen 48 Operator 49 futon

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Claims (3)

[Claims] 1. A small robot provided with a sound collecting microphone, a speaker, a camera, a control unit for controlling these circuits, and a communication means, and in addition to a normal mobile telephone function, various operations are performed by communicating with the small robot. From a mobile telephone having a command transmitting means for causing and a history information receiving means for receiving history information from the small robot and outputting the voice or displaying the history information on a liquid crystal display unit, and a communication line between the small robot and the mobile telephone. , Access the small robot from the mobile phone side,
When the image and sound from the camera of the small robot are received by the operation from the mobile phone side to control the action of the small robot, and the small robot is not communicating with the mobile phone, the small Whether the robot collects ambient image and sound data and stores it in the memory unit and accesses the mobile phone at regular time intervals,
Alternatively, the communication small robot system is configured such that the information stored in the memory unit is transmitted upon receiving access from the mobile telephone side and is displayed on a speaker or a liquid crystal display unit of the mobile telephone. 2. The small robot has means for activating an automatic battery capacity detection and charging mode at regular time intervals or by a command from the mobile phone side, and when the battery capacity decreases below a predetermined amount, the small robot operates by the camera. Capture the surrounding image, search for the recognition pattern,
2. The communication small robot according to claim 1, wherein when the recognition pattern is detected, the battery is moved into a charging area to which the recognition pattern is attached, and the battery is charged by electromagnetic coupling in the charging area. system. 3. The communication small robot system according to claim 1, wherein the communication means of the small robot has a Bluetooth transmission / reception means for directly communicating with the mobile telephone in addition to a communication line via a wireless base station. .