JP4759806B2 - Diagnostic equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a diagnostic device, and is suitable for application to a diagnostic device that diagnoses a pet robot, for example.
[0002]
[Prior art]
In recent years, a quadruped walking type pet robot has been developed and sold by the present patent applicant. Such a pet robot has a shape similar to a dog or a cat bred in a general home, and can act autonomously according to user's actions such as “tapping” and “boiling”, the surrounding environment, etc. It was made.
[0003]
In addition, such a pet robot has a “learning” function that changes a behavior pattern based on an action from a user, an external input history including an action from the user, a self-action history, and the like. It is also equipped with a “growth” function that gradually changes the difficulty level and type of expression behavior as if it grows, thereby improving entertainment as a pet robot.
[0004]
[Problems to be solved by the invention]
By the way, in such a pet robot, “learning” and “growth” are processed by software, so the user recognizes the current state of “learning” and “growth” of the pet robot. There was a difficult problem.
[0005]
Therefore, if it is possible for the user to easily check the internal state of the pet robot, it is considered that the pet robot can be easily handled and the entertainment properties thereof can be further improved.
[0006]
The present invention has been made in view of the above points, and an object of the present invention is to propose a diagnostic apparatus capable of improving the entertainment characteristics of a pet robot.
[0007]
[Means for Solving the Problems]
In order to solve such a problem, in the present invention, the autonomous robot can be detachably attached to the autonomous robot in which a plurality of growth data representing growth processes of childhood, boyhood, adolescence, and adulthood are recorded. From portable recording media The multiple growth data Multiple diagnostic data required for diagnosis As Diagnostic data reading means for reading and diagnostic reading data By using predetermined diagnostic software stored in advance for a plurality of diagnostic data read from the recording medium by means Autonomy A growth process diagnostic means for diagnosing whether the robot is in the growth process of childhood, boyhood, adolescence or adulthood, The plurality of the data read from the recording medium by the diagnostic data reading means Diagnostic data Using the above diagnostic software Analyze to determine the time required and the input required for the next growth stage. As a result of the judgment Display information for growing an autonomous robot on the display By By presenting it to the user, the user Is self Ritsu robot The Information necessary for growth in the next growth process can be obtained.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
[0009]
(1) Configuration of pet robot 1 according to the present embodiment
(1-1) Schematic configuration of the pet robot 1
In FIG. 1, 1 indicates a pet robot according to the present embodiment as a whole, and leg units 3 </ b> A to 3 </ b> D are connected to the front, rear, left, and right of the body unit 2, respectively, and the front and rear ends of the body unit 2. The head unit 4 and the tail unit 5 are connected to each other.
[0010]
In this case, as shown in FIG. 2, the body unit 2 includes a controller 10 that controls the operation of the entire pet robot 1, a battery 11 that is a power source of the pet robot 1, a battery sensor 12, and a temperature sensor 13. And an external memory 14 that is detachably loaded.
[0011]
The head unit 4 corresponds to a microphone 15 corresponding to the “ear” of the pet robot 1, a CCD (Charge Coupled Device) camera 16 corresponding to the “eye”, a touch sensor 17, and a “mouth”. A speaker 18 and the like are respectively disposed at predetermined positions.
[0012]
Furthermore, the joint portions of the leg units 3A to 3D, the connecting portions of the leg units 3A to 3D and the torso unit 2, the connecting portions of the head unit 4 and the torso unit 2, and the tail unit 5 and the torso portion Actuators 19A corresponding to the number of degrees of freedom corresponding to the connecting portions of the units 2, etc. ₁ ~ 19A _n And potentiometer 19B ₁ ~ 19B _n Are arranged.
[0013]
Then, the microphone 15 of the head unit 4 collects a command sound such as “walk”, “turn down” or “follow the ball” given as a scale by a user through a sound commander (not shown), and obtains an audio signal obtained S1 is sent to the controller 10. The CCD camera 16 images the surrounding situation and sends the obtained image signal S2 to the controller 10.
[0014]
Further, as apparent from FIG. 1, the touch sensor 17 is provided on the upper part of the head unit 4, and detects a pressure received by a physical action such as “blowing” or “striking” from the user. Is sent to the controller 10 as a pressure detection signal S3.
[0015]
Further, the battery sensor 12 of the body unit 2 detects the remaining amount of the battery 11, sends the detection result to the controller 10 as a battery remaining amount detection signal S4, and the temperature sensor 13 detects the temperature inside the pet robot 1. The detection result is sent to the controller 10 as a temperature detection signal S5.
[0016]
Furthermore, each potentiometer 19B ₁ ~ 19B _n Corresponds to the corresponding actuator 19A. ₁ ~ 19A _n The rotation angle of the output shaft is detected, and the detection result is converted into an angle detection signal S6B. ₁ ~ S6B _n To the controller 10.
[0017]
The controller 10 includes a microphone 16, a CCD camera 17, a touch sensor 18, a battery sensor 12, a temperature sensor 13, and each potentiometer 19B. ₁ ~ 19B _n Audio signal S1, image signal S2, pressure detection signal S3, remaining battery level detection signal 4, temperature detection signal S5 and angle detection signal S6B ₁ ~ S6B _n Based on the above, the surrounding situation, the command from the user, the presence / absence of the user's action, and the like are determined.
[0018]
The controller 10 determines the action to be continued based on the determination result, the control program stored in advance in the internal memory 10A, and various control parameters stored in advance in the external memory 14, and is necessary based on the determination result. Actuator 19A ₁ ~ 19A _n , The head unit 4 is swung up and down, left and right, the tail 5A of the tail unit 5 can be moved, and the leg units 3A to 3D are driven to walk.
[0019]
At this time, the controller 10 outputs a sound based on the sound signal S7 to the outside by giving a predetermined sound signal S7 to the speaker 18 as necessary, or is provided at the position of the “eye” of the pet robot 1. The LED (Light Emitting Diode) (not shown) is turned on, turned off, or blinked.
[0020]
In this way, the pet robot 1 can act autonomously based on the surrounding situation, control program, and the like.
[0021]
In addition to such a configuration, in the case of this pet robot 1, a real animal is “growth” according to the history of operation input such as user's actions and commands using a sound commander, and its own behavior and motion history. The behavior and movement are changed as if they were.
[0022]
That is, this pet robot 1 is provided with four “growth stages” of “childhood”, “boyhood”, “adolescence”, and “adulthood” as growth processes. The internal memory 10A and the external memory 14 of the controller 10 are related to four items of “walking state”, “motion”, “behavior”, and “sound” for each “growth stage”. Action and action models composed of various control parameters and control programs that are the basis of actions and actions are stored in advance.
[0023]
Then, the controller 10 simply “walks” for “motion” so that the “step” is “walking” by reducing the stride in the “walking state”, for example, according to the “childhood” behavior and behavior model at the initial stage. , “Ston”, “Sleep”, “Simple” movement, “Behavior” repeats the same action, “Simple” behavior, “Sound” For each of the actuators 19A, the sound signal S6 is reduced in amplification factor so that it becomes a “small and short” call. ₁ ~ 19A _n And control the audio output.
[0024]
At this time, the controller 10 also performs reinforcement learning including command input using the sound commander, sensor input via the touch sensor 17 corresponding to “stroking” and “tapping”, and the number of successful actions and actions determined. And a plurality of sensors that are involved in predetermined “growth” such as sensor input via the touch sensor 17 that does not correspond to “stroking” and “tapping”, and predetermined actions and actions such as “playing with a ball”. The occurrence of elements (hereinafter referred to as growth elements) is constantly monitored and counted.
[0025]
Based on the cumulative frequencies of these growth factors, the controller 10 uses when the total value of the cumulative frequencies of each growth factor (hereinafter referred to as the total experience value of the growth factors) exceeds a preset threshold value. The behavior and behavior model is changed to the “boyhood” behavior and behavior model having a higher growth level (level of difficulty and complexity of behavior and behavior) than the “childhood” behavior and behavior model.
[0026]
After that, the controller 10 walks “a little firmly” by increasing the rotational speed of the actuators 19A1 to 19An, for example, in the “walking state” in accordance with the “boyhood” behavior and motion model. For “motion”, increase the number of movements, etc. so that it becomes a “slightly sophisticated and complex” movement, and for “actions”, determine the next action by referring to the previous action, etc. In order to behave with “a little purpose”, and for “sound”, the length of the audio signal S6 is increased and the amplification factor is increased, so that it becomes a “slightly long and loud” call. Each actuator 19A ₁ ~ 19A _n And the sound output from the speaker 18 is controlled.
[0027]
In addition, the controller 10 thereafter, in the same manner as this, every time the total experience value of the growth factor exceeds the respective threshold values set in advance corresponding to “adolescence” and “adulthood”, the behavior and behavior model is calculated. The actuators 19A are sequentially changed to “adolescence” or “adult” behavior and motion models having higher growth levels, and according to the behavior and motion models. ₁ ~ 19A _n Each actuator 19A for gradually increasing the rotation speed and the length and amplification factor of the audio signal S6 applied to the speaker 18 or performing one operation. ₁ ~ 19A _n Change the amount of rotation.
[0028]
As a result, the pet robot 1 increases in the “growth stage” (ie, changes from “childhood” to “boyhood”, “boyhood” to “adolescence”, “adolescence” to “adulthood”), “Walking state” changes from “walking to the right” to “steady walking”, “motion” from “simple” to “advanced / complex”, “action” from “monotonous” to “behave with purpose”, and “sound” "Changes gradually from" small and short "to" long and large ".
[0029]
In this way, the pet robot 1 has four stages of “childhood”, “boyhood”, “adolescence”, and “adulthood” according to the input from the outside and the history of self-action and movement. It is designed to “grow”.
[0030]
In this embodiment, as is clear from FIG. 3, a plurality of behavior and motion models are prepared for each “growth stage” of “boyhood”, “adolescence”, and “adulthood”. Yes.
[0031]
In practice, for example, as a “boyhood” behavior and motion model, a behavior and motion model (Child 1) that performs behavior and motion with a “rough” personality, and a smoother and slower motion than this. An action and action model (Child 2) for performing the action and action of the character “Otto” is provided.
[0032]
In addition, as a model of behavior and behavior in “adolescence”, a behavior and behavior model that performs behavior and behavior of “irritated” personality that is more erratic and faster than “rough” personality in “boyhood” (Young 1) And the behavior and behavior model (Young 2) that performs the behavior of the "normal" personality that is slower and smoother than this, and the behavior of the "soft" personality that is slower than this and the amount of behavior is small And a behavior and motion model (Young 3) for performing motion.
[0033]
In addition, as an “adult” behavior and behavior model, the “aggressive” personality is more difficult and quicker than the “irritated” personality of “adolescence”, and it is difficult to move according to user commands. The behavior and motion model (Adult1) that performs the behavior and motion of the user, and the behavior and behavior that has a "slightly rough" personality that is smoother and slower than this, and that can easily perform the motion according to the command from the user And the action model (Adult 2), and the action and action model that performs actions and actions with a "slightly gentle" personality that always moves smoothly according to instructions from the user, with a smooth and slow movement. (Adult 3) and action and actions that perform actions or actions with a “gentle” personality that always make movements according to instructions from the user, and the actions are even slower, and the amount of actions is less Dell and (Adult 4) is provided.
[0034]
Then, when raising the “growth stage”, the controller 10 selects one action and / or action model from each action and action model in the next “growth stage” based on the cumulative frequency of each growth factor, The action and action model to be used is changed to the selected action and action model.
[0035]
In this case, after “boyhood”, when moving to the next “growth stage”, the behavior and action model of the next “growth stage” that can be transitioned from the action and action model of the current “growth stage” has been determined. In FIG. 3, only the transition between the behavior and action models connected by the arrows is possible. Thus, for example, in the case of “boyhood”, when the behavior and behavior model (Child 1) that performs “rough” behavior and behavior is selected, the behavior and behavior that “behaved” and behavior in “adolescence” It is not possible to transition to the behavior model (Young 3).
[0036]
In this way, in this pet robot, according to the action from the user, the command input history, and the self action history, as if a real animal forms a personality according to the way of breeding the owner, etc. The “personality” is changed along with the “growth”.
[0037]
(1-2) Processing of the controller 10 regarding autonomous behavior generation
Here, processing of the controller 10 relating to generation of autonomous behavior of the pet robot 1 will be described.
[0038]
As shown in FIG. 4, when the processing contents of the controller controller 10 relating to the autonomous behavior generation of the pet robot 1 are functionally classified, the state recognition mechanism unit 20 that recognizes the state and the recognition result of the state recognition mechanism unit 20 A behavior determination mechanism unit 21 that determines a subsequent behavior, a behavior generation mechanism unit 22 that actually causes the pet robot 1 to express a behavior based on a determination result of the behavior determination mechanism unit 21, and a “growth stage” of the pet robot 1 It can be divided into a growth control mechanism section 23 that controls the learning and a learning control mechanism section 24 that controls learning as described later.
[0039]
In this case, the state recognizing mechanism unit 20 determines a specific state, a specific action from the user, and the sound signal S1, the image signal S2, and the pressure detection signal S3 given from the microphone 15, the CCD camera 16, and the touch sensor 17. An instruction from the user is detected and recognized, and the recognition result is notified to the action determination mechanism unit 21 as state recognition information D1.
[0040]
Specifically, the state recognition mechanism unit 20 constantly monitors the audio signal S1 given from the microphone 15, and generates a sound according to a command such as “walk”, “turn down”, “follow the ball” as the spectrum of the audio signal S1. When a spectrum having the same scale as the command sound output from the commander is detected, it is recognized that the command has been given, and the recognition result is notified to the action determination mechanism unit 21.
[0041]
Further, the state recognition mechanism unit 20 constantly monitors the image signal S2 given from the CCD camera 16, and, for example, “red round object” or “vertical to the ground and not less than a predetermined height in the image based on the image signal S2. When the “plane” is detected, it recognizes that “the ball is present” and “there is a wall”, and notifies the action determination mechanism unit 21 of the recognition result.
[0042]
Further, the state recognition mechanism unit 20 constantly monitors the pressure detection signal S3 given from the touch sensor 17, and detects a pressure not less than a predetermined threshold and for a short time (for example, less than 2 seconds) based on the pressure detection signal S3. Sometimes it is recognized as “struck”, and when it detects a pressure less than a predetermined threshold and for a long time (eg, 2 seconds or more), it is recognized as “struck (praised)”. Then, the recognition result is notified to the action determination mechanism unit 21.
[0043]
The behavior determination mechanism unit 21 receives each behavior stored in the external memory 14 when the state recognition information D1 is given from the state recognition mechanism unit 20 or when a certain time has passed since the transition to the current behavior. Among the control parameters for “behavior” of the behavior model, “stand”, “sleep”, “walk”, etc. based on the behavior parameters specified in advance by the growth control mechanism unit 23 and the control parameters for “behavior” of the behavior model Determine the next action.
[0044]
Specifically, as shown in FIG. 5, the action determination mechanism unit 21 determines the state as a node NODE as a method of determining the next action. ₀ ~ NODE _n Expressed as a single node NODE ₀ To any other node NODE ₁ ~ NODE _n Each node NODE ₀ ~ NODE _n Arc ARC connecting the two ₁ ~ ARC _{n + 1} Transition probability P set for each ₁ ~ P _{n + 1} An algorithm called a stochastic automaton that is determined probabilistically based on the above is used.
[0045]
The external memory 14 stores each node NODE in this probability automaton. ₁ ~ NODE _n Transition conditions (such as “struck” and “boiled”) and transition destinations (node NODE) ₀ ~ NODE _n ) And its transition probability P ₁ ~ P _{n + 1} Are stored in advance as control parameters related to “behavior” for each behavior and behavior model of each “growth stage”.
[0046]
Then, based on the control parameter related to this “behavior”, the behavior determination mechanism unit 21 receives, for example, the state recognition information D1 from the state recognition mechanism unit 20 or the current node NODE. ₀ The node NODE at that time in the currently selected action and action model when a certain time has passed since ₀ Transition conditions and destinations and their transition probabilities P ₁ ~ P _{n + 1} The next node NODE based on the control parameter of ₀ ~ NODE _n And determine its node NODE ₀ ~ NODE _n Arc ARC on the route to ₁ ~ ARC _{n + 1} The behaviors associated with the behavior generation mechanism unit 22, the growth control mechanism unit 23, and the learning control mechanism unit 24 are notified as behavior determination information D2.
[0047]
The behavior generation mechanism unit 22 corresponds to each behavior and motion model of each “growth stage” described above, and various control parameters for “walking state”, “motion”, and “sound” for each behavior and motion model. In the external memory 14.
0000
Then, when the behavior determination mechanism unit 21 is provided with the behavior determination information D2, the behavior generation mechanism unit 22 determines the “walking state”, “motion”, and “sound” of these behaviors and motion models stored in the external memory 14. Among the various control parameters, a specific action plan for executing the action determined by the action determination mechanism unit 21 based on the action control parameters specified in advance by the growth control mechanism unit 23 and the action model. Generate. In practice, this action plan includes each actuator 19A required to execute the action. ₁ ~ 19A _n Is calculated as a numerical value indicating how much should be rotated.
[0048]
Then, the action generation mechanism unit 22 determines the required actuator 19A based on this drive plan. ₁ ~ 19A _n Control signal S6A for ₁ ~ S6A _n These control signals S6A ₁ ~ S6A _n Corresponding actuator 19A ₁ ~ 19A _n Is controlled to cause the pet robot 1 to execute the action determined by the action determination mechanism unit 21.
[0049]
On the other hand, when the state recognition mechanism unit 20 recognizes any state based on the audio signal S1, the image signal S2, and the pressure detection signal S3 given from the microphone 15, the CCD camera 16, and the touch sensor 17, respectively, The growth control mechanism unit 23 is notified as recognition information D3.
[0050]
In addition, as a certain state notified to the growth control mechanism part 23 from the state recognition mechanism part 20, in addition to the specific state notified to the action determination mechanism part 21 as described above, for example, “natting” and “slap” There is an input through the touch sensor 17 that is not applicable.
[0051]
Further, as shown in FIG. 6A, the growth control mechanism unit 23 is a reference element for raising the “growth stage” among various states based on the state recognition information D3 given from the state recognition mechanism unit 20 in this way. The above-described growth factor list (hereinafter referred to as a first growth factor list) 25A to be set and a counter table (hereinafter referred to as FIG. 6B) for counting the cumulative frequency of these growth factors. This is referred to as a first growth factor counter table) 25B in the external memory 14 as a control parameter relating to “growth”.
[0052]
Then, when the state recognition information D3 is given from the state recognition mechanism unit 20, the growth control mechanism unit 23 determines whether or not the state obtained based on the state recognition information D3 is a growth element based on the first growth element list 25A. If the state is a growth factor, the corresponding count value (experience value) in the first growth factor counter table 25B is incremented by one.
[0053]
Furthermore, as shown in FIG. 7A, the growth control mechanism unit 23 increases the “growth stage” among the actions obtained based on the action determination information D2 given from the action determination mechanism unit 21 as described above. The above-mentioned list of growth elements to be used as reference elements (hereinafter referred to as a second growth element list) 26A, and a counter table as shown in FIG. 7B for counting the cumulative frequency of these growth elements, respectively. 26B (hereinafter referred to as a second growth factor counter table) is included in the external memory 14 as another control parameter relating to “growth”.
[0054]
Then, when the behavior determination information D2 is given from the behavior determination mechanism unit 21, the growth control mechanism unit 23 determines whether the behavior obtained based on the behavior determination information D2 is a growth factor based on the second growth factor list 26A. If the behavior is a growth factor, the corresponding count value (experience value) in the second growth factor counter table 26B is incremented by one.
[0055]
Further, when the growth control mechanism unit 23 increases the count value in the first or second growth factor counter tables 25B and 26B as described above, the growth control mechanism unit 23 is different from the first and second growth factor counter tables 25B and 26B. Separately, the count value of a counter (hereinafter referred to as a total experience value counter) for determining whether or not to increase the “growth stage” prepared in the external memory 14 is incremented by 1, and thereafter the total experience value counter It is determined whether the count value has reached a count value set in advance as the current “growth stage” end condition.
[0056]
When the count value of the total experience value counter reaches the count value set in advance as the current “growth stage” end condition, the growth control mechanism unit 23 sets the behavior and action model to the next “growth stage”. To which of the behavior and behavior models to transition is determined based on the count values in the first and second growth factor counter tables 25B and 26B, and the determination results are determined by the behavior determination mechanism unit 21 and the behavior generation mechanism unit. 22 is notified. The growth control mechanism unit 23 notifies the behavior determination mechanism unit 21 and the behavior generation mechanism unit 22 of an instruction to select the “childhood” behavior and behavior model at the initial stage.
[0057]
As a result, the behavior determination mechanism unit 21 selects a control parameter for the specified behavior and “behavior” of the behavior model based on the notification from the growth control mechanism unit 23, and thereafter uses this control parameter. As described above, the current behavior of the pet robot 1 is determined.
[0058]
The behavior generation mechanism unit 22 selects various control parameters for the “walking state”, “motion”, and “sound” of the designated behavior and motion model based on the notification from the growth control mechanism unit 23, and Thereafter, each actuator 19A using these various control parameters. ₁ ~ 19A _n And drive control of audio output.
[0059]
In this way, the growth control mechanism unit 23 controls the “growth” of the pet robot 1 based on the user's action and command input history and its own action history.
[0060]
On the other hand, the state recognition mechanism unit 20 notifies the learning control mechanism unit 24 of the fact that it has been “struck” or “struck” based on the pressure detection signal S3 given from the touch sensor 17.
[0061]
At this time, the learning control mechanism unit 24 always recognizes the current and past actions based on the action determination information D2 provided from the action determination mechanism unit 21. Then, the learning control mechanism unit 24 notifies the determination mechanism unit 21 of the recognition result that the pet robot 1 is “boiled” while expressing the behavior, from the state recognition mechanism unit 20.
[0062]
Thus, based on this notification, the action determination mechanism unit 21 is associated with the action expressed at that time among the control parameters for determining the “action” represented by the probability automaton shown in FIG. Arc ARC ₁ ~ ARC _{n + 1} Transition probability P ₁ ~ P _{n + 1} Is decreased by a predetermined amount, while the original node NODE is decreased by an amount corresponding to the decrease amount. ₀ ~ NODE _n Other behaviors that can be expressed from (ARC ARC) ₁ ~ ARC _{n + 1} ) Transition probability P ₁ ~ P _{n + 1} Increase.
[0063]
On the other hand, when the recognition result that the pet robot 1 “boiled” is given from the state recognition mechanism unit 20 while the pet robot 1 is exhibiting the action, the learning control mechanism unit 24 sends this to the determination mechanism unit 21. Notice.
[0064]
Thus, based on this notification, the action determination mechanism unit 21 of the control parameters for determining “action” is the arc ARC associated with the action that is being expressed at that time. ₁ ~ ARC _{n + 1} Transition probability P ₁ ~ P _{n + 1} Is increased by a predetermined amount, while the original node NODE is increased by an amount corresponding to the increase amount. ₀ ~ NODE _n Other behaviors that can be expressed from (ARC ARC) ₁ ~ ARC _{n + 1} ) Transition probability P ₁ ~ P _{n + 1} Decrease.
[0065]
And by such control, when “struck”, arc ARC corresponding to the action ₁ ~ ARC _{n + 1} Transition probability P ₁ ~ P _{n + 1} The action becomes difficult to be expressed by decreasing the number of strokes. When “boiled”, the arc ARC corresponding to the action ₁ ~ ARC _{n + 1} Transition probability P ₁ ~ P _{n + 1} Since the behavior of the animal increases easily, the behavior can be changed as if a real animal learns from the owner's profit and changes the behavior.
[0066]
In this way, the controller 10 allows the pet robot 1 to behave autonomously while “growing” and “learning” based on the user's action and command input history and the own behavior history. Yes.
[0067]
(1-3) Processing of the controller 10 in the photo mode
Next, processing of the controller 10 when the pet robot 1 is in the photo mode will be described.
[0068]
The state recognition mechanism unit 20 of the controller 10 constantly monitors the audio signal S1 provided from the microphone 15, but when detecting the word “shocking”, for example, the controller 10 recognizes that the instruction is given and recognizes the recognition. The result is notified to the action determination mechanism unit 21 as the state recognition information D1.
[0069]
Then, the action determination mechanism unit 21 determines to shift to the photography mode as a subsequent action based on the state recognition information D1, and notifies the action generation mechanism unit 22 of the determination result as the action determination information D2.
[0070]
At this time, the behavior generation mechanism unit 22 responds based on the behavior determination information D2 to the corresponding actuator 19A. ₁ ~ 19A _n The pet robot 1 is allowed to take a sitting posture by controlling the driving of.
[0071]
In addition, when the notification that the touch sensor 17 has been pressed is given as the state recognition information D1 from the state recognition mechanism unit 20 after that, the behavior determination mechanism unit 21 determines the timer display as the next behavior and displays the determination result as the behavior. The action generation mechanism unit 22 is notified as the decision information D2. As a result, the behavior generation mechanism unit 22 controls each LED disposed at the “eye” position to drive the LEDs to blink so as to express a countdown as described later.
[0072]
Then, when the countdown is finished, the behavior determination mechanism unit 21 captures one frame of image data based on the image signal supplied from the CCD camera, and stores the image data and text data of “AIBO diary” described later. Store in the external memory 14.
[0073]
In addition, the behavior determination mechanism unit 21 outputs the behavior determination information D2 to the behavior generation mechanism unit 22 together with this, thereby causing the speaker 18 to output a sound (for example, a mechanical sound called “casha”) that means that the photograph has been taken. This will appeal to the user that the photograph has been taken.
[0074]
In this way, the controller 10 takes a picture in response to a request from the user and stores the image data in the external memory 14.
[0075]
(2) Configuration of pet robot diagnostic apparatus 30 according to the present embodiment
(2-1) Configuration of pet robot diagnostic device 30
Here, FIG. 8 shows a pet robot diagnostic apparatus 30 that can diagnose such “growth” and “failure” of the pet robot 1.
[0076]
The pet robot diagnostic apparatus 30 is a personal computer in which predetermined software (hereinafter referred to as AIBO Fun Pack (Sony Corporation)) supplied as a CD-ROM 31 is installed, and is taken out from the pet robot 1. Data necessary for diagnosis (hereinafter referred to as diagnosis data) is read from the external memory 14 loaded in this manner, and such diagnosis can be performed based on the diagnosis data.
[0077]
In practice, as shown in FIG. 9, the pet robot diagnostic apparatus 30 includes a CPU (Central Processing Unit) 40, a ROM (Read Only Memory) 41, a RAM (Random Access Memory) 42, a hard disk device 43, a display processing unit 44, An interface unit 45, a memory card drive 46, an optical disk drive 47, and the like are connected via a bus 48, a display 49 such as a CRT is connected to the display processing unit 44, and an input unit 50 such as a keyboard and a mouse is connected to the interface unit 45. Are connected.
[0078]
Then, the CPU 40 of the pet robot diagnostic apparatus 30 inputs a data read command from the external memory 14 in a state where the external memory 14 taken out from the pet robot 1 is loaded in the memory card drive 46 and the AIBO Fun Pack is activated. Then, the diagnostic data is read from the external memory 14 by controlling the memory card drive 46.
[0079]
As such diagnostic data, among the various control parameters stored in the external memory 14, regarding “growth”, all the node NODEs in the probability automaton described above with reference to FIG. ₀ ~ Node NODE _n All transition probabilities P for ₁ ~ P _{n + 1} In addition, the count values in the first and second counter tables 25B and 26B described above with reference to FIGS. 6B and 7B, the count value of the total experience value counter, the currently used behavior and action model There are various types (Baby 1, Child 1, Child 2, Young 1 to Young 3, Adult 1 to Adult 4), etc. With regard to “failure”, the microphone 15, CCD camera 16, touch sensor 17, battery sensor described above with reference to FIG. 12 and when the audio signal S1, the image signal S2, the pressure detection signal S3, the remaining battery level signal S4, the temperature detection signal S5, etc. output from various sensors such as the temperature sensor 13 are not input, or the actuator 19A ₁ ~ 19A _n Drive signal S6A ₁ ~ S6A _n The corresponding potentiometer 19B ₁ ~ 19B _n There is such information that the controller 10 writes to the external memory 14 when the output of the controller 10 has not changed.
[0080]
The CPU 40 then reads out the diagnostic data read from the external memory 14 based on the AIBO Fun Pack previously fetched into the hard disk device 43 in response to a diagnostic request for “growth” or “failure” given via the input unit 50. To determine the time until the next “growth stage” and necessary inputs, etc., and to determine the result of the decision, hints such as “show the pink ball”, or which device has failed. The information indicating that there is a possibility of being present is displayed on the display 49 via the display processing unit 44.
[0081]
In this way, the pet robot diagnosis apparatus 30 diagnoses the state of the pet robot 1 based on the diagnosis data, and presents the diagnosis result to the user.
[0082]
In the following, how to use the AIBO Fun Pack will be described in detail. In the following description, the pet robot 1 is referred to as AIBO (trademark of Sony Corporation), and the external memory 14 is referred to as “Memory Stick (trademark of Sony Corporation)”.
[0083]
(3) AIBO Fun Pack (Figure 10)
(3-1) Introduction (FIG. 11)
Hello, Watakushi is A. C. My name is Nima. A communicator that acts as a bridge between you and AIBO.
[0084]
I'm going to know AIBO deeply by listening to AIBO and telling you AIBO's words. Nice to meet you.
[0085]
(3-1-1) What is AIBO fan pack?
“AIBO Fan Pack ERF-PC01” is a PC application software that allows you to enjoy AIBO-ware “AIBO Life ERF-210AW01” that lives with AIBO and nurtures AIBO.
[0086]
The contents are roughly divided into the following four.
[0087]
(A) AIBO Advisor (AIBO Advisor)
You can see the current AIBO status and the records so far. Resolve anxiety about AIBO. You can get guidance on how to interact with the living environment and future AIBO.
[0088]
You can also see a list of photos taken by AIBO.
[0089]
(B) AIBO Diary
You can read the diary written by AIBO along with the pictures taken by AIBO. The diary can be processed into data for the homepage or printed.
[0090]
(C) AIBO Time
Setting using AIBO time is possible. AIBO will wake up at the time you set and will sound your child. In addition, let's celebrate with AIBO by specifying a special time and sound on special days. You can also leave a message to AIBO.
[0091]
(D) Bonus
A collection of AIBO images and AIBO and I (A.C.Nima) wallpapers and icons. If you can use it on your PC, it is Shiawase.
[0092]
(3-1-2) Necessary system
A PC with a “Memory Stick” slot is required.
[0093]
(3-1-2-1) “Memory Stick” (FIG. 12)
In AIBO fan pack, AIBO Life's AIBO-ware “Memory Stick” is taken out from AIBO and read / written on a PC.
[0094]
To do so, prepare a “Memory Stick” slot in one of the following systems:
・ PC with “Memory Stick” slot
-PC with external "Memory Stick" adapter drive
-PC with a “Memory Stick” PC card adapter and PC card slot or external PC card adapter drive
[0095]
Note (Fig. 13)
When reading “Memory Stick” data, an animation is displayed on the mask. During that time, never remove the “Memory Stick”.
[0096]
(3-1-2-2) Operating environment (PC) (FIG. 14)
(3-1-3) Preparation
(3-1-3-1) Installation (FIGS. 15 to 18)
Install the AIBO fan pack included in the attached CD-ROM on the hard disk of the PC.
[0097]
(3-1-3-2) Let's make initial settings (FIGS. 19 to 21)
To enjoy the AIBO fan pack, follow the message displayed after installation and make the initial settings. By default, there is information to be saved on the “Memory Stick”, so make sure that the “Memory Stick” is writable. This setting can also be set when actually using the AIBO fan pack.
[0098]
please note
・ In the following cases, data recorded on the “Memory Stick” may be lost or damaged.
-If you remove the “Memory Stick” or turn off the PC while reading or writing
-When used in a place affected by static electricity or electrical noise
• Wait for a while after writing to the “Memory Stick” before removing the “Memory Stick” (if the PC has a “Memory Stick”, wait about 15 seconds).
[0099]
(3-1-3-3) AIBO and PC watches
Is the AIBO watch set to the correct time? Please check the instruction manual of the AIBO main unit. If the time on the AIBO watch is incorrect, even if the event time is specified in “AIBO time”, it may move to the wrong time or AIBO information may not be displayed correctly.
[0100]
In order to display the diary correctly, set the PC clock correctly.
[0101]
(3-1-3-4) Reinstall / Uninstall
(A) Notes on re-installation
Even if you reinstall the AIBO fan pack without changing it (program changes or modifications), the AIBO data stored on the PC can still be used.
[0102]
(B) Notes on uninstallation (Fig. 22)
When uninstalling, the program and AIBO data on the PC will be deleted. If you want to keep the AIBO data saved on the PC, export it and uninstall it.
[0103]
(3-2) Let's have fun with AIBO!
When you ’re ready, enjoy with AIBO. Let's have fun!
[0104]
(3-2-1) What is the initial setting?
When the initial settings are complete, return the “Memory Stick” to AIBO and play with AIBO.
[0105]
After playing for a while, you can take out the “Memory Stick” from AIBO, insert it into the “Memory Stick” slot of the PC and start the AIBO fan pack.
[0106]
(3-2-2) Have AIBO take a picture (Figure 23)
When you say to AIBO, “Shitte!”, AIBO will take a picture after giving a notice. AIBO can store up to 7 photos. You can also add a photo to your diary, so please call AIBO once a day.
[0107]
please note
-AIBO can memorize a total of 7 photos, and when it exceeds that, it will disappear from the old one every time you take a new photo. Use the AIBO fan pack before it disappears. When used, photo data is imported from the “Memory Stick” to the PC.
[0108]
・ The Company is not liable for any infringement or other problems between you and a third party arising from photographs taken using AIBO. Please do not take pictures that may inconvenience others.
[0109]
・ Images taken when AIBO is sleepy (when sleep desire is high) may not be in focus.
[0110]
(3-2-2-1) About the picture quality of AIBO
・ The photograph taken is approximately 180 x 140 pixels.
・ Depending on the lighting, horizontal stripes (flicker) may appear in the photo or it may be reddish or bluish.
• If the subject moves quickly, it may be distorted.
[0111]
(3-2-3) What is AIBO's memory?
The AIBO data for the AIBO fan pack that remains on the “Memory Stick” is 7 days (7 photos). Data past that will be lost. When AIBO is pleased, troubled, or curious, you should take out the “Memory Stick” as much as possible and use the AIBO fan pack to view the data. By reading the “Memory Stick”, data such as growth records, diaries, and photos are imported to the PC.
[0112]
(3-2-4) What is AIBO's day?
I really feel the end of the day when I actually go to bed, not at 12:00. Therefore, the AIBO fan pack treats the day when it was turned on from 4:00 am to 4:00 am the next day as an AIBO day so that both night owls and early wake-ups can be accommodated. .
[0113]
The diary is written after the day is over, so you can only read it on the next day. Also, if you do not turn off the power, the AIBO day will continue.
[0114]
(3-2-5) Start AIBO fan pack! (Fig. 24)
Start the AIBO fan pack as shown in Fig. 24.
[0115]
(3-3) How to use AIBO fan pack (Figure 25)
The AIBO fan pack is structured as shown in Fig. 25. Find the menu you want to use from Figure 25.
(3-3-1) Basic screen (Fig. 26)
(3-3-2) AIBO Advisor (Figure 27)
You can see the current status of AIBO, the records so far, and advice from me. You can also see the photos you took.
[0116]
(3-3-2-1) Today's AIBO (FIGS. 28 and 29)
In “Today's AIBO”, you can see what AIBO is like now.
[0117]
In the “growth state”, you can see what stage of growth AIBO is in (Fig. 28).
[0118]
In “Instinct” and “Emotion”, you can see on the graph what instincts (desires) AIBO had and what they felt during the 24-hour period of bacteria (Figure 29).
[0119]
Tips
・ Click on the graph to see details for two hours before and after. Click again to return.
[0120]
・ The graph of “greed for sleep”
There is also a blue graph showing how much you communicate with AIBO.
[0121]
(3-3-2-2) Past records (FIGS. 30 to 32)
In “Past Records”, you can see records of AIBO's growth, learning, memories, and advice I have given so far.
[0122]
(A) In the “Growth Record”, you can see the process of growth of AIBO (Figure 30).
[0123]
(B) In “Album”, you can see thumbnails of photos taken by AIBO. You can also save (copy) or delete selected photos as a file (JPeg) (Figure 31).
[0124]
please note
・ If you delete a photo from the album, the same photo will also be deleted from the AIBO Diary.
・ Once deleted photos cannot be re-registered in the album.
・ Please see page 20 for other photos.
[0125]
(C) In “Karte”, you can see a simple history of advice I gave in “Solving Onami” (Figure 32).
[0126]
(3-3-2-3) Solving onamia
I will confirm and tell you where AIBO's eyes and ears are not broken and what kind of personality it is. Nayami is now a refreshing solution.
[0127]
(A) In “Living Environment”, AIBO eyes and ears can be seen and confirmed.
[0128]
(B) In “advice”, I analyze what AIBO is today's AIBO.
[0129]
(3-3-3) AIBO Diary (Figure 33)
Let's take a peek at the diary written by AIBO. AIBO's words have been translated by I. Please also take a picture of AIBO that day.
[0130]
please note
・ If you delete a photo from the AIBO Diary, the same photo will also be deleted from the AIBO Diary album.
・ If there are multiple photos, the last photo taken on that day will be displayed. When you delete a photo, the previous photo is displayed.
・ Please see page 20 for other photos.
[0131]
(3-3-4) AIBO Time
Taking advantage of AIBO's clock function, AIBO will perform a few words according to the schedule you have ordered, and will help you make memories of your anniversary.
[0132]
please note
-The maximum data size that can be handled with AIBO time is 1MB. If the AIBO time setting is full, a message is displayed when saving. Please delete any of them before writing new settings.
・ When “Calendar” and “My Anniversary” settings overlap on the same date and time, the action and sound will be determined according to the priority of My Anniversary> Calendar.
・ If you set “O wake-up”, you wake up according to the setting every day until you cancel.
[0133]
(3-3-4-1) Let's wake up with AIBO (O wakeup) (Figs. 34 and 35)
You can wake up AIBO at a certain time every day and play your favorite sound.
[0134]
AIBO wakes up every day, from falling asleep to getting up and crispy. Still, please rest assured that you get up at a certain time.
[0135]
(A) When AIBO occurs
When it finishes playing the sound, it will start acting in autonomous mode.
[0136]
please note
When putting AIBO to sleep, be sure to press the chin sensor and back sensor at the same time for at least 3 seconds to enter sleep mode.
・ If the AIBO power is turned off (the chest lamp turns off), it will not wake up even if the set time comes.
・ If AIBO is happening, nothing happens even if the set time comes.
・ If you select [Don't wake up] on the “Awakening” screen, the wake-up function will be canceled.
・ Do not use AIBO in places where there is a risk of falling, vibration, or unstable locations.
・ Do not place anything around the AIBO that obstructs the movement.
[0137]
(3-3-4-2) Celebration with AIBO (My anniversary) (Figures 36 and 37)
Celebrate with AIBO as it will inform you of the selected anniversary at the specified date and time. You can set up to 10 times. You can record your message and leave your feelings to AIBO.
[0138]
please note
・ If the same date and time settings overlap, the setting on the “My Anniversary” screen takes precedence.
・ If AIBO is not awake, it will not work even if the set time has passed.
[0139]
(A) Canceling the set anniversary
Select the anniversary on the “My anniversary” screen (step 1) and click the [Delete] button.
[0140]
(B) To change the set anniversary
Select the anniversary on the “My anniversary” screen (step 1) and click the [Change] button.
[0141]
(3-3-4-3) Action determined by AIBO (calendar) (FIGS. 38 and 39)
AIBO performs the specified action for each day of the week or time. You can set up to 10 times. Because you can specify the period, you can also create a sense of the season.
[0142]
please note
・ If the same date and time settings overlap, the setting on the “Calendar” screen takes precedence.
・ If AIBO is not awake, it will not work even if the set time has passed.
[0143]
(3-3-4-4) Setting status (FIG. 40)
You can see the contents set in AIBO time.
[0144]
(3-3-4-5) Setting the sound (FIG. 41)
When you set the sound that AIBO plays, the “Sound Settings” dialog box will appear, allowing you to select and record your own sound file.
[0145]
(A) "Sound registration" dialog (Figure 42)
It is displayed when you click the "New" or "Change" button in the "Sound Settings" dialog.
[0146]
(3-3-4-5) Sound file format that can be played by AIBO
The next MIDI or WAVE file edited with a commercially available Cound Editor can be played on AIBO. Sounds of other formats cannot be played correctly.
[0147]
(A) MIDI file
For MIDI files, use Standard MIDI File Format 0 (single track / multi-channel). There are the following functions and limitations.
・ Velocity is valid, but volume and expression are not supported.
-Since program change / bank selection is not supported, the tone cannot be changed.
-The number of simultaneous sounds of AIBO is 1 (monophonic). Make sure that there are no multiple sounds that are output simultaneously.
-AIBO's reproducible range and C4 to B6 (note numbers 60 to 95). It is possible to specify other sounds, but C4 will be played. In addition, the sound quality of C4 to B4 (note numbers 60 to 71) is degraded due to the restriction of the spiker mounted on the AIBO. We recommend using a range above C5.
-Temporal resolution: 32 ms (All musical scores are quantized at intervals of 32 ms.)
・ Channel / track: 0 only
[0148]
(B) WAVE file
The sound formats of WAVE files that can be used are 8 kHz, 8 bits, monaural, and PCM. Up to 5 seconds.
[0149]
(3-3-5) Option (Fig. 43)
You can make various settings for the AIBO fan pack.
[0150]
(3-3-6) Tool (Fig. 44)
A handy tool for handling AIBO data stored on a PC for the AIBO fan pack and deleting photos on a “Memory Stick”.
[0151]
(3-3-7) Bonus
Includes AIBO and I'm screensaver and Windows wallpaper.
[0152]
Click the [Access bonus] button on the “Main Menu” screen (or the screen that appears when you insert the CD-ROM) to launch the Internet browser and view the bonus list.
[0153]
When you install the bonus, it will be saved in the Extra folder in the folder where the AIBO fan pack is installed.
[0154]
If you do not want to install it, copy it from the Extras folder on the CD-ROM to your hard disk.
[0155]
(3-3-7-1) Screen saver setting (FIG. 45)
[0156]
(3-3-7-2) Wallpaper setting (Fig. 46)
[0157]
(3-3-7-3) Desktop setting (FIG. 47)
[0158]
(3-3-7-4) Shortcut icon setting (FIG. 48)
[0159]
(3-4) Other
(3-4-1) Troubleshooting (Figs. 49-51)
[0160]
(4) Other embodiments
In the above-described embodiment, the case where the pet robot 1 counts down by blinking the “eye” LED as described above with reference to FIG. 23 in the photo mode is described. However, the present invention is not limited to this. It is also possible to notify that the photograph is taken by other actions and actions.
[0161]
【The invention's effect】
As described above, according to the present invention, the portable robot is detachably attached to the autonomous robot that records a plurality of growth data representing the growth process of childhood, boyhood, adolescence, and adulthood in the behavior of the autonomous robot. From recording media The multiple growth data Diagnostic data reading means for reading out a plurality of diagnostic data necessary for diagnosis and diagnostic reading data By using predetermined diagnostic software stored in advance for a plurality of diagnostic data read from the recording medium by means Autonomy A growth process diagnostic means for diagnosing whether the robot is in the growth process of childhood, boyhood, adolescence or adulthood, The plurality of the data read from the recording medium by the diagnostic data reading means Diagnostic data Using the above diagnostic software Analyze to determine the time required and the input required for the next growth stage. As a result of the judgment Display information for growing an autonomous robot on the display By By presenting it to the user, the user becomes an autonomous robot The Information necessary for growing in the next growth process can be obtained, and thus a diagnostic apparatus capable of improving the entertainment properties of the autonomous robot can be realized.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an external configuration of a pet robot according to an embodiment.
FIG. 2 is a block diagram showing an internal configuration of the pet robot according to the present embodiment.
FIG. 3 is a conceptual diagram showing a growth model of a pet robot.
FIG. 4 is a block diagram for explaining processing of a controller.
FIG. 5 is a conceptual diagram showing a stochastic automaton.
FIG. 6 is a conceptual diagram showing a first growth factor list and a first growth factor counter table.
FIG. 7 is a conceptual diagram showing a second growth factor list and a second growth factor counter table.
FIG. 8 is a block diagram showing a configuration of a pet robot diagnostic apparatus according to the present embodiment.
FIG. 9 is a block diagram showing a configuration of a pet robot diagnostic apparatus according to the present embodiment.
FIG. 10 is a schematic diagram for explaining an AIBO fan pack.
FIG. 11 is a schematic diagram for explaining an AIBO fan pack;
FIG. 12 is a schematic diagram for explaining an AIBO fan pack;
FIG. 13 is a schematic diagram for explaining an AIBO fan pack.
FIG. 14 is a chart for explaining an AIBO fan pack.
FIG. 15 is a schematic diagram for explaining an AIBO fan pack;
FIG. 16 is a schematic diagram for explaining an AIBO fan pack;
FIG. 17 is a schematic diagram for explaining an AIBO fan pack;
FIG. 18 is a schematic diagram for explaining an AIBO fan pack.
FIG. 19 is a schematic diagram for explaining an AIBO fan pack;
FIG. 20 is a schematic diagram for explaining an AIBO fan pack.
FIG. 21 is a schematic diagram for explaining an AIBO fan pack;
FIG. 22 is a schematic diagram for explaining an AIBO fan pack;
FIG. 23 is a schematic diagram for explaining an AIBO fan pack;
FIG. 24 is a schematic diagram for explaining an AIBO fan pack.
FIG. 25 is a schematic diagram for explaining an AIBO fan pack;
FIG. 26 is a schematic diagram for explaining an AIBO fan pack.
FIG. 27 is a schematic diagram for explaining an AIBO fan pack;
FIG. 28 is a schematic diagram for explanation of an AIBO fan pack.
FIG. 29 is a schematic diagram for explaining an AIBO fan pack.
FIG. 30 is a schematic diagram for explaining an AIBO fan pack;
FIG. 31 is a schematic diagram for explaining an AIBO fan pack;
FIG. 32 is a schematic diagram for explaining an AIBO fan pack;
FIG. 33 is a schematic diagram for explaining an AIBO fan pack.
FIG. 34 is a schematic diagram for explanation of an AIBO fan pack.
FIG. 35 is a schematic diagram for explaining an AIBO fan pack.
FIG. 36 is a schematic diagram for explaining an AIBO fan pack.
FIG. 37 is a schematic diagram for explaining an AIBO fan pack.
FIG. 38 is a schematic diagram for explaining an AIBO fan pack.
FIG. 39 is a schematic diagram for explaining an AIBO fan pack;
FIG. 40 is a schematic diagram for explaining an AIBO fan pack.
FIG. 41 is a schematic diagram for explaining an AIBO fan pack;
FIG. 42 is a schematic diagram for explaining an AIBO fan pack.
FIG. 43 is a schematic diagram for explanation of an AIBO fan pack.
FIG. 44 is a schematic diagram for explanation of an AIBO fan pack.
FIG. 45 is a schematic diagram for explaining an AIBO fan pack;
FIG. 46 is a schematic diagram for explaining an AIBO fan pack.
FIG. 47 is a schematic diagram for explaining an AIBO fan pack;
FIG. 48 is a schematic diagram for explanation of an AIBO fan pack.
FIG. 49 is a chart for explaining an AIBO fan pack.
FIG. 50 is a chart for explaining an AIBO fan pack.
FIG. 51 is a chart for explaining an AIBO fan pack.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Pet robot, 10 ... Controller, 10A ... Internal memory, 14 ... External memory (memory stick), 15 ... Microphone, 16 ... CCD camera, 17 ... Touch sensor.

Claims (1)

The plurality of growth data from a portable recording medium that is detachably attached to the autonomous robot that records a plurality of growth data representing the growth process of childhood, boyhood, adolescence and adulthood in the behavior of the autonomous robot. Diagnostic data reading means for reading out a plurality of diagnostic data necessary for diagnosis of the autonomous robot ;
By using predetermined diagnostic software stored in advance for the plurality of diagnostic data read from the recording medium by the diagnostic data reading means, the autonomous robot can perform the childhood, boyhood, adolescence, and A growth process diagnostic means for diagnosing which growth process of the adult period,
By analyzing the plurality of diagnostic data read from the recording medium by the diagnostic data reading means using the diagnostic software , a time required for the next growth stage and a necessary input are determined, and the determination is made. as a result diagnostic device to be presented to the user in Rukoto to display information for growing the autonomous robot on the display.

Images