JP5783758B2 - Robot terminal and robot system - Google Patents

Description

  The present invention relates to a robot terminal and a robot system, and more particularly to a robot and a robot system that can communicate with other robot terminals.

  Conventionally, Patent Document 1 discloses a guide robot that has a three-dimensional shape reminiscent of an animal, guides a user with its gesture and voice by moving its eyes, mouth, and head.

JP 2001-236137 A

  However, the robot terminal disclosed in Patent Document 1 is not planned to communicate with other robot terminals, and therefore, the response to the robot user is limited.

  Therefore, the present invention realizes communication with other robot terminals by devising a process that can be executed by the robot, and can be obtained from the conventional robot terminal for the user of the robot terminal. The challenge is to provide a response that cannot be done.

In order to solve the above problems, a robot terminal and a robot system according to the present invention include:
Synchronization means for synchronizing with other robot terminals;
A determination means for determining the presence or absence of an action from a human,
A memory storing action data for executing an action to be shown to the user in cooperation with the other robot terminal;
Execution means for executing an action based on action data stored in the memory;
A clock for measuring a predetermined time,
The execution means after the synchronization means synchronizes with another robot terminal and when the determination means determines that there is no action from a human while the timepiece is measuring a predetermined time. The action based on the action data stored in the memory is executed in cooperation with the other robot terminal.

BEST MODE FOR CARRYING OUT THE INVENTION

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a robot system according to the present embodiment. In FIG. 1, a data center 100, a database (DB) 110, a network 200, robot terminals 300 and 400, a personal computer (PC) 500, a fixed telephone 600, a mobile phone 700, which will be described below, Cradles 800 and 900 are shown.

  The data center 100 includes a DB 110 that stores various data described below. The data center 100 connects the robot terminals 300 and 400, the PC 500, the fixed phone 600, and the mobile phone 700 to each other via the network 200.

  The DB 110 stores voice data and image data transmitted from the robot terminals 300 and 400 together with transmission date / time data or reception date / time data, and voice data and images transmitted from the fixed telephone 600, the mobile phone 700, and the PC 500. The data is stored together with the transmission date / time data or the reception date / time data.

  The network 200 is a general term for Bluetooth, the Internet, a mobile phone line, a general phone line, and the like.

  The robot terminals 300 and 400 are typically owned by an elderly person who is a user. Only one robot terminal 300 or 400 may be owned by one user, or several robot terminals may be owned. The robot terminals 300 and 400 include various sensors including a microphone, a gyro sensor, an optical sensor, an infrared sensor, a touch sensor, a potentiometer, a camera, a GPS sensor, and a notification unit including a speaker and a display.

  Here, the microphone mainly collects the voice of the user or the like, the infrared sensor is for detecting a heating element such as the user, and the gyro sensor is a robot terminal moved by the user. The optical sensor is for detecting changes in external light, the touch sensor is for detecting contact from the user, and the potentiometer is for each robot terminal. It is for detecting the movement of the joint, the camera is for imaging the user etc., and the speaker is for outputting the downloaded message data or voice data prepared in the robot terminal 300 or the like. The display outputs the downloaded image data.

  As described above, since the robot terminals 300 and 400 include various sensors, for example, when voice from the user is collected by a microphone or when contact from the user is detected by a touch sensor, these are performed. It becomes possible to respond to. In addition, such a passive sensor determines the presence or absence of an action from a human.

  In addition, the robot terminals 300 and 400 have a built-in clock, a calendar, etc. for measuring a predetermined time. Thereby, when transmitting data from the robot terminals 300 and 400 to the DB 110, data transmission date and time data can be attached. Furthermore, since the robot terminals 300 and 400 have a built-in clock, calendar, etc., an alarm can be issued at a preset date and time.

  Furthermore, the robot terminals 300 and 400 have a built-in memory for storing various data. As an example, normally, message data, image data, and the like from a specific speaker who is the owner of the robot terminals 300 and 400 are stored in the memory. In other words, the robot terminals 300 and 400 can store the voice of the user or the like collected through the microphone, the image data of the user taken through the camera, and further store the data downloaded from the DB 110. You can also. Furthermore, the memory also stores action data for executing actions to be shown to the user or the like in cooperation with other robot terminals.

  The robot terminals 300 and 400 include synchronization means for synchronizing with other robot terminals and execution means for executing an action based on action data stored in the memory. For this reason, the robot terminals 300 and 400 have no action from human beings by the determination means (passive sensor) after the synchronization of the other robot terminals by the synchronization means and during the time measurement for a predetermined time by the clock. If it is determined, the action based on the action data stored in the memory by the execution means can be executed in cooperation with another robot terminal.

  The PC 500 is owned by, for example, a family of users of the robot terminals 300 and 400. The PC 500 mainly accesses the data center 100 via the Internet, which is the network 200, and downloads and reproduces various data stored in the DB 110. The PC 500 mainly accesses the data center 100 via the Internet and uploads various data to be stored in the DB 110.

  The fixed phone 600 and the mobile phone 700 are owned by, for example, a family of users of the robot terminals 300 and 400. The fixed phone 600 and the mobile phone 700 mainly download and play back various data stored in the DB 110 via the mobile phone line and the general phone line which are the network 200. The fixed phone 600 and the mobile phone 700 upload various data to be stored in the DB 110 mainly through the mobile phone line and the general phone line.

  The cradle 800, 900 mainly relays between the robot terminals 300, 400 and the data center 100, and performs data communication for data synchronization between the robot terminals 300, 400 and the DB 110. Cradles 800 and 900 also have a charging function for robot terminals 300 and 400.

  In the robot system according to the present embodiment, the robot terminals 300 and 400 perform a reaction operation in response to a user's action, perform data communication between the robot terminals 300 and 400 and the data center 100, and the data center 100 and the PC 500 / Data communication between the fixed telephone 600 and the mobile telephone 700 can be performed.

(Normal mode)
FIG. 2 is a flowchart showing the operation in the normal mode by the CPU provided in the robot terminal 300 of FIG. In the present embodiment, the operation in the normal mode described below is common to the operation in the well end mode described later.

  The operation shown in FIG. 2 is executed every 0.1 seconds, for example, on condition that the power of the robot terminal 300 is turned on. Specifically, for example, a timer may be set to time out every 0.1 seconds, and step S1 may be executed using the time out as a trigger. First, the CPU of the robot terminal 300 confirms whether or not a predetermined time (for example, 10 minutes) has elapsed without any action from the user by referring to the built-in clock (step S1). The built-in clock preferably uses a time synchronization means such as NTP (Network Time Protocol) to enable accurate time measurement.

  If the predetermined time has passed as a result of the confirmation in step S1, the CPU of the robot terminal 300 calls a free action execution instruction subroutine to execute the free action (step S5). On the other hand, when the predetermined time has not elapsed, the CPU of the robot terminal 300 determines the presence / absence of sensing by various sensors provided in the robot terminal 300 (step S2).

  Note that the robot terminal 300 emits a sound such as “What?” When sound is collected through a microphone or when a touch is sensed by a touch sensor, and the presence of a heating element is detected through an infrared sensor. If you have to execute the processing, such as issuing a voice, such as "Hello".

  If the result of determination in step S2 is that any sensor has sensed, the CPU of the robot terminal 300 calls a subroutine for executing the corresponding process in order to execute the corresponding process (step S6). On the other hand, if none of the sensors senses, the CPU of the robot terminal 300 checks the current time by referring to the built-in clock, and sets predetermined times (for example, 10:00, 12:00, and 18:00 every day). ) Is already reached (step S3).

  The robot terminal 300 may update the date of the calendar in the robot terminal 300 after confirming that the current time has already reached midnight.

  As a result of the check in step S3, if the predetermined set time has not been reached, the process proceeds to step S1. On the other hand, if the predetermined set time has been reached, the CPU of the robot terminal 300 calls a subroutine for executing an instruction for determining whether or not wireless communication with the cradle 800 is possible ( Step S4).

(Free action subroutine)
FIG. 3 is a flowchart showing the operation of the free action execution instruction in step S5 of FIG.

  First, the CPU of the robot terminal 300 refers to a memory such as a built-in cache memory (step S11). In this built-in memory, data such as songs and dances are registered in advance. Also, data such as songs and dances downloaded from the DB 110 in the data center 100 through the cradle 800 are registered in this built-in memory (this will be described later).

  Note that the data download timing from the DB 100 is stored in the DB 110 when it is determined that communication is possible after execution of the communication availability determination process (step S4 in FIG. 2). It may be performed if it is determined whether or not data such as a new song / dance is stored in the DB 110 as a result.

  Subsequently, the CPU of the robot terminal 300 appropriately loads data such as a song / dance from the built-in memory (step S12), and executes a free action execution command in order to perform a process such as song / dance based on the data. Is set (step S13). As a result, the robot terminal 300 can show a song / dance to the user. When performing a dance, as is known, each indirect movement of the robot terminal is controlled using a potentiometer.

(Corresponding processing subroutine)
FIG. 4 is a flowchart showing the operation of the execution instruction for the corresponding process in step S6 of FIG. Here, the operation in the case of transition from the normal mode or the well end mode to the walk mode or the return home mode will be mainly described.

  The operation shown in FIG. 4 is executed every second, for example. Specifically, for example, a timer may be set to time out every second, and step S21 may be executed using the time out as a trigger. First, the CPU of the robot terminal 300 detects whether the presence / absence of sensing by various sensors has been confirmed (step S21). Specifically, the CPU of the robot terminal 300 switches the confirmed flag from off to on after the execution of step S21, and detects based on on / off of the flag.

  As a result of the detection in step S21, when the presence / absence of sensing by various sensors has not been confirmed, the CPU of the robot terminal 300 confirms the sensing of various sensors (step S22). Here, if the sensing is not performed by the gyro sensor among the various sensors (step S23), in order to execute other corresponding processing different from the following processing, the command is set (step S24), and the confirmed flag is set. Switch from on to off. Here, the “other corresponding process” is a process of returning a greeting to the user when a greeting from the user is detected by a microphone, for example.

  On the other hand, if the sensing is performed by a gyro sensor among various sensors (step S23), the user of the robot terminal 300 may have held the robot terminal 300 in order to take a walk or go home with the robot terminal 300. It is confirmed what mode the current robot terminal 300 itself is, specifically, the normal mode or the well end mode (step S25).

  Then, the CPU of the robot terminal 300 sets a question instruction to make a question according to the confirmation result, and then proceeds to step S21 (step S26). Here, in the normal mode, a question such as “Walking?” Is asked, and in the well end mode, a question such as “Would you like to return?” Is asked.

  After that, based on the sound collection information by the built-in microphone and the voice information of a specific speaker registered in advance, the user will reply with a content such as “go for a walk” or “go home” within a predetermined period. When detected (step S27), the CPU of the robot terminal 300 sets a command for transition to the walk mode or the return home mode (step S28), and sets a command for changing the mode to the cradle 800 (step S29). As a result, the robot terminal 300 utters content such as “Let's go” or “Let's go home”.

  If the user does not answer “go for a walk” within a predetermined period, for example, the user simply holds the robot terminal 300 in order to move to another room with the robot terminal 300 at home. As a result, the normal mode or well-end mode state is maintained. Even if the answer such as “going for a walk” is from a person other than the specific speaker, the normal mode or the well end mode is maintained. This is because the voice output from the TV or the like is “going for a walk” at the timing when the robot terminal 300 is held by the user due to accidental movement of the robot terminal 300 at home or the like. This is to prevent accidental transition to the walk mode or the like.

  In addition, when there is no sensing by the gyro sensor during the walk mode or the return home mode for a predetermined period (for example, 5 minutes), the robot terminal 300 has been placed on the floor or the like by arriving at another person's home or home. Therefore, the mode change is transmitted to the own cradle 800 or to the other cradle 900 by making a transition to the well end mode or the normal mode.

  In this embodiment, in any mode, when it is detected that a greeting has been made with a microphone, an interrupt process called a reply to greeting is performed. Specifically, the CPU of the robot terminal 300 confirms the mode of its own terminal, triggered by the detection of the greeting, and replies corresponding to the confirmation result. For example, if the normal mode is confirmed, all detections are answered, and if the walk mode or the return home mode is confirmed, the greeting is made by a person other than the user who is the specific speaker. Only respond.

(Communication availability determination subroutine)
FIG. 5 is a flowchart showing the operation of the communication feasibility determination process in step S4 of FIG. The operation shown in FIG. 5 is executed every minute, for example. Specifically, for example, a timer may be set to time out every minute, and step S31 may be executed using the time out as a trigger.

  First, the CPU of the robot terminal 300 confirms whether or not the wireless connection with the cradle 800 is properly established and confirms whether or not the cradle 800 is operating normally (step S31).

  Specifically, when a check signal is transmitted from the robot terminal 300 to the cradle 800, as a result, whether or not a keep alive signal is returned from the cradle 800 to the robot terminal 300 is checked. Perform a cradle check. If a keep-alive signal is returned from the cradle 800 and can be received by the robot terminal 300, the wireless connection between the robot terminal 300 and the cradle 800 is properly established and the cradle 800 is operating normally. become.

  As a result of the confirmation in step S31, if communication between the robot terminal 300 and the cradle 800 is not possible, an error report command is set to report an error to the user by outputting an error sound. (Step S40). On the other hand, if communication between the robot terminal 300 and the cradle 800 is possible, the CPU of the robot terminal 300 has already issued a communication execution command with the cradle 800 so as not to execute steps S33 and S34 redundantly. It is determined whether or not (step S32).

  If the result of determination in step S32 is that a command to execute communication with the cradle 800 has been completed, steps S33 and S34 are skipped and the process proceeds to step S35. On the other hand, if the result of determination in step S32 is that the communication execution command with the cradle 800 has not been issued, the CPU of the robot terminal 300 sets a communication execution command with the cradle 800 (step S33) and sets a DB reference command. (Step S34).

  As a result, the robot terminal 300 accesses the DB 110 through the cradle 800 and the general telephone line that is the network 200, and checks whether or not there is the latest data addressed to the terminal (step S35). .

  Here, the latest data refers to the latest data such as other robot terminals including the robot terminal 400, message data and image data from the PC 500, the fixed phone 600 or the mobile phone 700, and the above-described song / dance. It is.

  If the result of the check in step S35 is that there is no latest data addressed to the own terminal, the robot terminal 300 ends the process shown in FIG. On the other hand, if there is message data or the like addressed to its own terminal, the robot terminal 300 downloads in order not to repeatedly execute step S37 in order to download the latest data file through the cradle 800 and the general telephone line. Is determined (step S36). If the download is not started, a download command is set (step S37), and it is checked whether the download is completed (step S38). When the download is completed, the fact is stored in the DB 110. Thus, until the next latest data is uploaded to the DB 110, it is determined in step S35 that there is no latest data.

  If the download is not completed as a result of the check, the process proceeds to step S31. On the other hand, if the download is completed, the wireless connection with the cradle 800 is terminated, and if the latest data is message data or the like, a reproduction command for the downloaded message data or the like is set (step S39). Thereby, the robot terminal 300 can reproduce | regenerate message data with respect to a user.

  If the user of the robot terminal 300 wants to send message data to other terminals including the robot terminal 400, or to the PC 500 or the mobile phone 700, the message data is transmitted to the robot terminal 300 through the microphone of the robot terminal 300. Can be entered.

  For example, the robot terminal 300 confirms whether message data is input to the robot terminal 300 after step S36 is executed and before the wireless connection with the cradle 800 is terminated. If it is, the message data may be transmitted to the DB 110 through the cradle 800 and the general telephone line, or the message data may be transmitted with the completion of the recording of the message data as described below. .

(Message mode)
FIG. 6 is a flowchart showing the operation in the message mode of the robot system of this embodiment. Here, a method of reproducing a message recorded by the robot terminal 300 using the robot terminal 400 will be described. For convenience of explanation, FIG. 6 does not show the cradle 800 or 900, but it should be noted that the cradle 800 or 900 actually relays between the robot terminals 300 and 400 and the data center 100. I want to be.

  However, the message recorded by the robot terminal 300 and transmitted to the DB 110 can be played back by the fixed telephone 600 or the like in the manner of downloading the recorded message stored in the answering machine center. The captured image data can be downloaded to the PC 500 and browsed. Hereinafter, the user of the robot terminal 300 is referred to as user A, and the user of the robot terminal 400 is referred to as user B.

  First, when the user A takes some activation action toward the robot terminal 300 (step S51), the robot terminal 300 shifts to a command input mode in order to switch to a mode in accordance with a command input from the user A. (Step S52).

  The activation action here refers to utterance by the user A or the like, or touching the touch sensor to the robot terminal 300 by the user A or the like. Therefore, the robot terminal 300 shifts to the command input mode when the sound is collected by the microphone or the touch is detected by the touch sensor.

  When the robot terminal 300 shifts to the command input mode, it issues a message (MSG) such as “What?” (Step S53). When the user A receives this and utters “message” or the like (step S54), the robot terminal 300 shifts to the message mode, and confirms the message transmission destination to the user A. Such processing is performed (step S55).

  The message transmission destination confirmation process may be performed by, for example, obtaining the transmission destination from the user A by issuing a message such as “Who will you send the message to”? You may make it ask whether it transmits with respect to the user name which concerns on the other terminal ID acquired at the time of the well end mode demonstrated in an example.

  Subsequently, the robot terminal 300 issues a message such as “Please” to prompt the user A to send a message (step S56). In response to this, when the user A starts a message (step S57), the robot terminal 300 starts recording (step S58) and continues recording until the silent state reaches, for example, 2 seconds (step S59). On the other hand, when the silent state reaches, for example, 2 seconds, the robot terminal 300 ends the recording (step S60).

  Note that the robot terminal 300 may resume recording after detecting the utterance of the user A within a short period of time, for example, within one second after the end of recording.

  Thereafter, the robot terminal 300 issues a message such as “Are you sure?” To confirm to the user A whether or not the message content has been replaced (step S61). In response to this, the user A replies “OK” or the like (step S62), and when the robot terminal 300 receives this (step S63), the robot terminal 300 transmits the recorded message to the data center 100. To do. At this time, in transmitting the message, the robot terminal 300 also attaches its own terminal ID indicating the transmission source of the message and another terminal ID indicating the transmission destination of the message, together with that the terminal is in the message mode. ing.

  When the data center 100 receives the message from the robot terminal 300, the data center 100 recognizes that the message transmission source is the robot terminal 300 from its own terminal ID, and that the robot terminal 300 is in the message mode. Is specified (step S64).

  Here, in the present embodiment, the message reception history and the message transfer history are stored in the DB 110 and can be browsed through login from the PC 500 or the mobile phone 700, etc. ) Also has a similar history. For this reason, the data center 100 updates the reception history of the messages of the DB 110 and HP based on the information recognized and specified in step S64, and also stores the messages themselves in the DB 110 in association with these (steps). S65).

  Next, the data center 100 determines whether or not the other terminal ID attached to the message transmitted from the robot terminal 300 is registered in the DB 110 (step S66). As a result of the determination in step S66, if the other terminal ID is not registered in the DB 110, the process proceeds to step S77. On the other hand, when other terminal ID is registered into DB110, it transfers to step S67.

  Here, since the transfer destination of the message is the robot terminal 400 and the terminal ID assigned to the robot terminal 400 is registered in the DB 110, the process proceeds to step S67.

  In step S67, it is determined whether or not the message transfer timing has been reached. This determination process is repeatedly executed until the message transfer timing is reached. The transfer timing is, for example, that the user B makes an inquiry to the data center 100 for received data with respect to the robot terminal 400, or that the robot terminal 400 connects to the data center 100 on a regular basis. This is the timing at which the data center 100 is connected. The data center 100 transfers the message to the robot terminal 400 that is the transfer destination on condition that the message transfer timing has been reached.

  When receiving the message transferred from the data center 100, the robot terminal 400 confirms the transmission source of the message from the terminal ID of the transmission source attached thereto (step S68). Then, the robot terminal 400 uses an infrared sensor or the like to determine whether or not the user B is near the robot terminal 400, and whether or not the user B is typically in the room where the robot terminal 400 is placed. Is determined (step S69).

  The determination process in step S69 is repeatedly executed until it is determined that the user B is in the same room as the robot terminal 400. Then, the robot terminal 400 issues a message such as “A message from Mr. A” based on the transmission source confirmed in step S68 (step S70). On the other hand, when the user B utters a voice with the content “Please play” (step S71), the message is played (step S72).

  Thereafter, when the message reproduction is finished, the robot terminal 400 issues a message such as “Reproduction finished” (step S73), and further issues a message such as “Do you want to reply?” Step S74). On the other hand, there is a reply “NO” from the user B (step S75), and when the robot terminal 400 accepts this, the robot terminal 400 receives it (step S76) and Send message that message has been played.

  If the user B responds “Yes” in step S75, the robot terminal 400 executes processing corresponding to step S56 to step S63, indicating that the message has been reproduced. At the time of transmission, the message from the user B is also transmitted to the data center 100.

  Next, when the data center 100 receives the information transmitted from the robot terminal 400, the data center 100 can recognize that the transfer of the message has succeeded. On the other hand, if the data center 100 does not go through step S67 to step S76, the data center 100 goes to step S77. In the case of migration, the data center 100 can recognize that the message transfer has failed (step S77).

  Therefore, when the data center 100 executes step S77 through steps S67 to S76, the transmission source is determined from the terminal ID attached to the information transmitted from the robot terminal 400, as in step S64. Recognizing that it is the robot terminal 400 and that the transmission source of the corresponding message is the robot terminal 300, the message transfer history of the DB 110 and the HP is linked to the message reception history updated in step S65, and the message transfer is successful. Is updated (step S78).

  If the data center 100 executes Step S77 without going through Steps S67 to S76, the message is linked to the message reception history updated in Step S65, and the message transfer of the DB 110 and the HP is performed with the content of message transfer failure. The history is updated (step S78).

  Thereafter, the data center 100 transmits the update contents in step S78, that is, information indicating message transfer success / failure to the terminal 300 that is the message transmission source. However, if the message from the robot terminal 400 has been received, the data center 100 also transmits the message to the terminal 300.

  Upon receiving the message transfer history from the data center 100, the robot terminal 300 confirms the transmission source included therein (step S79). Then, as in step S69, if the user A is in the room with the robot terminal 300 (step S80), according to this example, the content of the message transfer history is successful message transfer. Based on the transmission source confirmed in step S79, 300 issues a message with a content such as “The message has been successfully received” to B (step S81).

  Next, examples of the present invention will be described. In the present embodiment, an example will be described in which data communication between the robot terminals 300 and 400 and further a cooperative action operation by the robot terminals 300 and 400 are performed in the well end mode.

  FIG. 7 is an excerpt of a flowchart in the well end mode of the robot system according to the embodiment of the present invention. First, the relationship between FIG. 7 and FIG. 2 will be described. Step S109 shown in FIG. 7 is performed in place of step S1 in FIG. Steps S101 to S108 shown in FIG. 7 are processes added uniquely in this embodiment. Step S110 shown in FIG. 7 is performed in place of step S5 in FIG.

  As described above, in this embodiment, when there is no sensing by the gyro sensor for a predetermined period (for example, 5 minutes) during the walk mode, the mode is changed to the well end mode. When the CPU of the robot terminal 300 transitions to the well end mode, has the CPU of the robot terminal 300 transmitted the own terminal ID assigned to the own terminal so as not to execute step S102 redundantly? It is determined whether or not (step S101).

  If the result of the determination in step S101 is that the local terminal ID has not been transmitted, the CPU of the robot terminal 300 issues a transmission command for the local terminal ID in order to transmit the local terminal ID (step S102). On the other hand, if the own terminal ID has already been transmitted, it is not necessary to transmit the own terminal ID redundantly, so step S102 is skipped.

  Next, the CPU of the robot terminal 300 determines whether or not the other terminal ID assigned to the other terminal transmitted from the other terminal has been received (step S103).

  As a result of the determination in step S103, if the other terminal ID has not been received, the process proceeds to step S101. On the other hand, when the other terminal ID has already been received, the CPU of the robot terminal 300 determines whether or not the greeting to the other terminal has been transmitted so that step S105 is not performed repeatedly. (Step S104).

  If the result of determination in step S104 is that the greeting has already been transmitted, there is no need to redundantly greet other terminals, and the process proceeds to step S106. On the other hand, if the sent greetings, CPU of the robot terminal 300 checks the current time to transmit instructions for transmitting a greeting such as "Good morning" or "Hello" (step S105).

  Then, it is determined whether or not a greeting has been received from another terminal (step S106). If it is determined that the greeting has not been received from another terminal, the process proceeds to step S101. On the other hand, if the greeting has been received from another terminal, the CPU of the robot terminal 300 confirms whether or not the own user information has been transmitted so as not to execute step S108 redundantly ( Step S107).

  As a result of the confirmation in step S107, if the user information has already been transmitted, step S108 is skipped. On the other hand, if the user information has not been transmitted, information (user name / nickname of the user, nickname of the own terminal, etc.) related to the user registered in the own terminal is exchanged with other terminals. Therefore, a command for transmitting the already-entered user information is executed (step S108). Correspondingly, other user information transmitted from another terminal is received.

  Then, the CPU of the robot terminal 300 determines whether the set time has elapsed (step S109).

  If the set time has passed as a result of the determination in step S109, the process proceeds to step S2. On the other hand, when the set time has not elapsed, the user of the robot terminal 300 and the user of the robot terminal 400 are enjoying conversation and the like, and each user is not interested in the robot terminals 300 and 400 very much. Therefore, using that time, in order to perform a song / dance etc. in cooperation with your own terminal and other terminals as a free action, you can start the communication of the song / dance information and then step The process proceeds to S2 (step S110).

  When the communication is completed between the terminal and the other terminal, the song / dance is started based on the communicated song / dance information. In the above-described embodiment, it has been described that it is preferable to use the time synchronization means to enable accurate time measurement. However, in this embodiment, it is essential to perform accurate time measurement. Otherwise, a synchronized song or the like cannot be performed between the terminal and the other terminal. However, it should be noted that this does not mean that a synchronization shift based on individual differences between the robot terminals 300 and 400 is not allowed.

  According to the present embodiment, two or more terminals such as the robot terminals 300 and 400 can collaborate and show the user songs and dances. It is possible to obtain more excellent communication that cannot be obtained by the embodiment, exceeding the communication that can be obtained between them.

  FIG. 8 is a flowchart showing an operation of the entire robot system in which the normal mode is changed to the well end mode through the walk mode and the home mode is changed to the normal mode. Here, the operation when user A reaches user B's home will be described as an example.

  In the following description, step codes corresponding to the processes described in FIG. In addition, in view of the desire to show various examples, the execution order of steps that are out of order with those in FIG. 2 and the like is changed, the substitution of substitutable steps, and the addition of new steps are performed. Please note that.

  First, when the user A who is the owner of the robot terminal 300 moves the robot terminal 300 during the normal mode (step S201), the robot terminal 300 changes the angular velocity by a gyro sensor provided in the own terminal. Is detected (step S202, S2 in FIG. 2, S21 to S23 in FIG. 4), and a voice such as “What?” Is output (step S203, S25 and S26 in FIG. 4).

  Next, the robot terminal 300 shifts to the command input mode in order to switch to the mode according to the command input from the user A, turns on the built-in microphone, and registers in advance the sound collection information by the microphone. If there is an answer from the specific speaker that he / she goes for a walk such as “walking” based on the voice information of the specific speaker (step S205, FIG. 4 S27).

  Then, the robot terminal 300 transitions from the normal mode state to the walk mode state and outputs a voice such as “Let's go for a walk” in response to an answer from a specific speaker (step S206). ) The fact that the mode has been changed from the normal mode to the walk mode is transmitted to the own cradle 800 (step S207, S28 to S29 in FIG. 4).

  In response to this, the cradle 800 transmits to the data center 100 that the mode information of the robot terminal 300 changes the mode from the normal mode to the walk mode. As a result, the DB 110 in the data center 100 stores the mode information. The history that the mode information of the robot terminal 300 has been changed to the walk mode is stored (steps S208 and S210).

  The cradle 800 transitions to the terminal search mode in order to detect whether various robot terminals including the robot terminal 300 are located within the communicable area of the own cradle (step S209).

  Thereafter, the user A who is moving with the robot terminal 300 reaches the home of the user B (step S211), and when the predetermined time has elapsed, the robot terminal 300 performs communication with the robot terminal 400. A unique own terminal ID (unique ID) is transmitted (step S212, S102 in FIG. 7).

  Here, since the robot terminal 300 is in the user B's home, the robot terminal 300 is located in the communicable area of the cradle 900, and the own terminal ID transmitted from the robot terminal 300 is received by the cradle 900. (Step S213).

  Upon receiving the terminal ID, the cradle 900 determines whether or not the terminal ID is assigned to the robot terminal 400 (terminal B) that is the robot terminal (step S214).

  As a result of the determination, if the received terminal ID is assigned to the robot terminal 400, the cradle 900 ends the processing shown in FIG. 8, but here, the terminal ID is assigned to the robot terminal 400. Therefore, the cradle 900 adds the cradle ID assigned to the own cradle to the received terminal ID and transmits it to the data center 100. As a result, the DB 110 in the data center 100 stores the cradle 900 with the cradle 900. The fact that the robot terminal 300 has been added to the communication destination is updated (step S215).

  Next, the cradle 900 transmits the terminal ID (terminal B information) assigned to the robot terminal 400 to the robot terminal 300 that is the transmission source of the terminal ID (step S216). Upon receiving this terminal ID (step S217, S103 in FIG. 7), the robot terminal 300 transmits a greeting to the robot terminal 400 (step S218, S105 in FIG. 7). This is received by turning on the microphone (MIC) of the terminal (step S219).

  Thereafter, the robot terminal 300 transmits information on the user A registered in the terminal to the robot terminal 400 by, for example, Bluetooth (BT) communication (step S220, step S108 in FIG. 7). When the robot terminal 400 receives this information (step S221), it transmits a greeting to the robot terminal 300 (step S222), and thereafter, processing corresponding to steps S219 to S221 is executed between the robot terminals 300 and 400. (Not shown) and transition to the well end mode.

  Then, if necessary, step S110 in FIG. 7 is executed, so that two or more terminals such as the robot terminals 300 and 400 can cooperate to show the users songs and dances. It becomes.

  Thereafter, for example, when the user B greets, such as “Babei” (step S223) and is collected by the microphones of the robot terminals 300 and 400 (step S224), the robot terminals 300 and 400 Both utter words such as “Babei” (step S225, step S24 in FIG. 4).

  Then, the robot terminal 300 transitions to the return home mode. On the other hand, when the robot terminal 400 executes the free mode in cooperation with the robot terminal 300 for the first time, the robot terminal 400 cooperates in the well end mode when it is regularly connected to the DB 110 via the cradle 900 (step S226). The terminal ID assigned to 300 is added with its own terminal ID as transmission source information and transmitted to the data center 100.

  Here, a list (friend list) is prepared for each terminal ID in the DB 110. When the data center 100 receives the terminal ID that cooperated in the well end mode, the data center 100 identifies the transmission source, and stores the terminal ID that cooperated in the well end mode in the friend list related to the transmission source. In this example, the data center 100 stores the terminal ID of the robot terminal 300 in the friend list related to the terminal ID of the robot terminal 400 in the DB 110 (step S227).

  Then, when the user A moving with the robot terminal 300 returns (step S228), the robot terminal 300 transmits to the cradle 800 that the own terminal ID has shifted to the normal mode (step S229, In step S29 of FIG. 4, the cradle 800 receives this (step S230).

  Next, the cradle 800 transmits the cradle ID assigned to the cradle to the robot terminal 300 at the time of regular connection communication performed periodically (step S231), and the robot terminal 300 receives the cradle ID (step S231). S232).

  Thereafter, similarly to the processes in steps S214 and S215, the robot terminal 300 performs a cradle ID determination process (step S233). Here, since it is for the cradle 800 (cradle A), the robot terminal 300 shifts to the normal mode. By transmitting this to the data center 100, the mode update process in the DB 110 is performed (step S234). Further, processing corresponding to steps S226 and S227 is executed (steps S235 and S236).

It is a typical lineblock diagram of the robot system of this embodiment. It is a flowchart which shows operation | movement of the normal mode by CPU provided in the robot terminal 300 of FIG. It is a flowchart which shows operation | movement of the free action execution command in step S5 of FIG. It is a flowchart which shows operation | movement of the execution command of the corresponding | compatible process in FIG.2 S6. It is a flowchart which shows the operation | movement of the communication availability determination process in step S4 of FIG. It is a flowchart which shows the operation | movement in the message mode of the robot system of this embodiment. It is an excerpt of the flowchart at the time of the well end mode of the robot system of the Example of this invention. It is a flowchart which shows the operation | movement in the whole robot system.

100 data center 110 database (DB)
200 Network 300, 400 Robot terminal 500 Personal computer (PC)
600 Fixed phone 700 Mobile phone 800,900 Cradle

Claims (5)

Synchronization means for synchronizing with other robot terminals;
A determination means for determining the presence or absence of an action from a human,
A memory storing action data for performing a song / dance to be performed to the user in cooperation with the other robot terminal;
Executing means for executing the singing-dancing-out based on the action data stored in said memory,
A clock for measuring a predetermined time,
The execution means after the synchronization means synchronizes with another robot terminal and when the determination means determines that there is no action from a human while the timepiece is measuring a predetermined time. based on the Evaluation Technical song-dance action data stored in the memory in a robot terminal to run in cooperation with the other robots terminals by,
The synchronization means includes
Sending the own terminal ID to the other robot terminal, receiving the other terminal ID from the other robot terminal, sending the greeting to the other robot terminal, and sending the other robot ID A robot terminal that synchronizes with the other robot terminal by receiving a greeting from the terminal.
  The robot terminal according to claim 1, further comprising means for downloading the latest data from a database in which the latest data of the action data is stored.   The robot terminal according to claim 2, further comprising a transmission unit configured to transmit the other terminal ID assigned to the other terminal to the database together with the own terminal ID.   A robot system comprising the robot terminal according to claim 1 and another robot terminal. A cradle used in the robot system according to claim 4,
A cradle that mediates between the robot terminal and a database storing the latest data of the action data.

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