JP2001215940A - Intellectual robot having expression - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an intellectual robot having rich and real expressions. SOLUTION: This robot is constituted of an electronic expression displaying part 11 which displays expressions at a part equivalent to the face of the robot, for example, by irradiating the face with light from the inside of the face body, an expression generating part 21 which generates signals corresponding to plural expression patterns such as portraits to be displayed by the electronic expression displaying part and a selection part 22 which selects one of signals of the plural patterns generated by the expression generating part and supplies the selected pattern to the part 11. Moreover, covering parts for backing up display contents really are connected with each other with connectors at the electronic expression displaying part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous intelligent robot, and more particularly, to an intelligent robot capable of expressing emotions of emotions and emotions by facial expressions.

[0002]

2. Description of the Related Art Recently, a person can react by speaking to a doll to express emotions and sorrows, and can operate in response to a human command or a specific sound, or an electronic toy that speaks. Intelligent robots have emerged and are gaining in popularity.

The former include, for example, dolls called Furby (registered trademark) and Primopuel (registered trademark).
The latter includes, for example, a dog-shaped robot called AIBO (registered trademark).

[0004] These have a fixed face in advance, and express eyes, emotions, and emotions by mechanically moving or moving eyes, eyebrows, and mouth. Expressing sorrow by narrowing or widening the eyes, expressing anger by moving the eyebrows up and down, and opening and closing the mouth to make it feel like talking. Was.

[0005] Further, there is a display device that expresses anger by displaying a specific mark on a face portion. this is"!"
The mark is surprised, and the “^” mark rejoices. Furthermore, a doll that expresses emotions by using the eyes, which are part of the face, as a liquid crystal display has been announced. On the other hand, game machines using an electronic expression display unit include a game boy (registered trademark) and a pocket station (registered trademark). Depending on software, a face is displayed on the entire display screen, and a simple expression is displayed. There are also things.

However, such conventional techniques have disadvantages such as limited expression due to simple mechanical display, only simple display, and lack of realism due to simple movement. In addition, there are drawbacks such as the lack of reality, the mechanical and tasteless drying, etc., which cannot be understood without knowing the rules by the expression using marks. Even when the eyes are on the LCD,
Only this eye can change freely and quickly,
There was a limit to the expression of emotions.

On the other hand, a pocket station or the like displays a face by using an electronic expression display unit, but merely displays it as a display and is not incorporated as a part of a robot or a doll. Furthermore, since only limited expressions can be made, there are drawbacks such as limited face types, difficult to distinguish, and delicate emotions cannot be displayed with such a face. In addition, it was impossible to modify or change the completed face without permission, and it was unthinkable.

[0008]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an intelligent robot capable of realistically expressing a rich expression of emotions.

Another object of the present invention is to provide an intelligent robot capable of realizing a variety of facial expressions by further displaying features by adding a cover part to the electronic facial expression display unit.

Still another object of the present invention is to provide an intelligent robot which can express a more realistic feeling by changing a predetermined fixed expression, and can resemble a unique characteristic such as a way of speaking. It is in.

Yet another object of the present invention is a sensor technology,
An object of the present invention is to provide an intelligent robot capable of making a portrait of the owner, a face close to a friend, an idol, a celebrity, or the like or a facial expression by combining with an electronic means such as an image processing technique.

Still another object of the present invention is to provide an intelligent robot which can display subtle sensations such as kindness and care by combining with an electronic means, and is suitable for education and care. .

[0013]

In order to achieve the above object, according to a basic feature of the present invention, electronic facial expression display means for electronically displaying facial expressions at a portion corresponding to a face; Expression signal generating means for generating signals corresponding to a plurality of expression patterns to be displayed by the facial expression display means, and selecting one of the plurality of pattern signals generated by the facial expression signal generating means to the electronic expression display means. The present invention provides an intelligent robot having an expression, characterized by comprising an expression selecting means for supplying.

According to the present invention, since the facial expression is displayed electronically by the entire part corresponding to the face of the intelligent robot, there is an advantage that the emotion, emotion and sorrow can be displayed richly and realistically.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic view showing an external configuration of an embodiment of an intelligent robot to which the present invention is applied.

An electronic expression display unit 11 is provided on the upper surface of a part corresponding to the face of the head of the intelligent robot.
The upper part of the front of the electronic expression display unit 11 is provided with two CCD cameras 12 on both sides, an infrared sensor 13 at the center, and a microphone 19 on the side surface.

An intelligent robot main unit 14 is provided below the electronic expression display unit 11, and an operation button 15 such as a power switch is provided at the center of the main unit, and a voice is provided at the upper front. Speaker 16 that emits, arm attachment portion 17 on both upper side surfaces, and foot attachment portion 1 on the lower side where a foot is attached
8 are provided. Both arms are attached to the arm attachment part 17 and both feet are attached to the foot attachment part 18 to constitute an intelligent robot according to one embodiment of the present invention.

FIG. 2 is a diagram showing the internal configuration of the intelligent robot of this embodiment.

The configuration of the intelligent robot includes a facial expression generating section 21 for generating electric signals corresponding to a plurality of facial expressions, and a selecting section for selecting an electric signal generated in the facial expression generating section 21 by a central processing unit CPU23. 22 and a liquid crystal display 11 provided on the face of the intelligent robot to transmit the electric signal selected by the selection unit 22.

Expression generator 2 for generating a plurality of facial expressions
1 is input to the selection unit 22. The selection unit 22 is C
In response to a command from the PU 23 or the like, a plurality of signals generated from the facial expression generating unit 21 are selected and sent to the electronic facial expression display unit 11, and the currently selected facial expression is displayed on the display.

The expression generating unit 21 is formed of, for example, a semiconductor memory, and adjusts the positional relationship of the eyebrows, eyes, nose, mouth, etc., and expresses the expression, and converts the expression into a plurality of basic formats (expression patterns) of the facial expression. Has a corresponding electrical signal.

Specifically, for example, as shown in FIG.
(a) is joy, (b) is angry, (C) is sad, (d) is a facial expression when it is fun.Electric signals corresponding to facial expression patterns representing these facial expressions are created and stored in advance. Have been. As the expression pattern corresponding to the electric signal stored in the expression generating unit 21, other basic formats such as surprise, dislike, and thought are prepared. By selecting these various facial expressions based on information from the CPU 23 in accordance with a predetermined standard, the electronic facial expression display unit 24 displays faces such as talking with a happy face or screaming with an angry face. Facial expressions can be reproduced.

By the way, in the above embodiment, a plurality of basic expression patterns are prepared, and by selecting one of them, expression of emotion, emotion, and joy is expressed. However, if a plurality of deformation patterns are created for the basic expression pattern, a more subtle and complicated expression can be expressed. A plurality of deformation patterns are displayed for one basic expression pattern such as opening and closing the mouth. Next, an embodiment of this type will be described.

FIG. 4 shows another embodiment of the present invention, in which parts performing the same operations as in FIG.

A plurality of signals from the expression generating section 21 are selected by the selecting section 22 and then applied to the processing section 45.
In the processing section 45, processing is performed based on an input signal corresponding to a basic expression pattern in accordance with an instruction from the CPU 23, and a more realistic facial expression is reproduced by moving the mouth or moving the eyebrows. The signal processed by the processing unit 45 is applied to the next electronic expression display unit 11 and displayed on the screen.

According to this embodiment, the types and number of basic patterns stored in the expression generator 21 can be reduced, and the memory capacity can be reduced. Further, since various images can be created by the processing unit 45, many facial expressions can be reproduced, and the motion can be smoothed and a more realistic image can be created. In addition, complicated facial expressions and subtle changes in facial expressions can be reproduced. At this time, as shown in FIG. 5, a face close to one's own face photographed by the CCD camera 12 in the processing unit 45 can be used.

According to the present invention, not only the expression of the face can be changed by the electronic expression display unit, but also a richer expression can be given to the intelligent robot by attaching a cover part to the electronic expression display unit.

FIG. 6 shows an example of such an embodiment of the present invention, in which a specific portion of the basic electronic expression display section 11 of FIG. 1 is modified, that is, a cover part is attached. Things.

FIG. 6A shows an electronic expression display section 11 in which a mechanical frame is provided with a cover part 61a. This intelligent robot clarifies the characteristics of a so-called doctor robot. By doing so, it is possible to bring out the emotion further by the facial expression, such as listening to what you say seriously and sometimes telling useful stories.

FIG. 6 (b) shows that the entire image displayed on the electronic expression display unit 11 is covered with a sunburn brown by covering the electronic expression display unit 11 with a hair-style cover part 61b. In this way, it gives a so-called kogal feeling. This makes it possible to express the facial expression more realistically when the personality of the intelligent robot is disturbed, and it is not possible to listen to it, or when the master has a personality such as making a foolish person.

FIG. 6 (c) shows a modification of the electronic expression display unit 11 by attaching a cover part 61c having a hairstyle like a father around the head of the electronic expression display unit 11 and further attaching a beard beneath the mouth. It is the one that gave the feeling of. This has the advantage that the dad feels better and the expression of friendliness and trust can be expressed more realistically.

The cover component 61 described with reference to FIGS. 6A, 6B and 6C can be specifically provided as shown in FIG. That is, a connector 71 is provided on the upper surface of the head of the electronic expression display section 11, a connector 72 matching the connector 71 is provided, and the cover component 61 having the semiconductor memory 73 is connected to each other. Information appropriate for the cover component can be given from the semiconductor memory 73.

Furthermore, if these intelligent robots having faces as shown in FIGS. 6 (a), (b), and (c) are collected, they can play as a family and have the effect of increasing fun. . Also in this case, if the family's face is imaged by the CCD camera 12 and registered using the method described with reference to FIG. 5, the intelligent robot can be rewritten into a face and an expression like those of the family. By changing the decorations and the color of the display in this way, it is possible to renew the expression of my intellectual robot that I have so far, rewrite it to be old and tired, a different character In such a case, the sense of realism increases, which is effective.

Changing the tone of the entire image on the electronic expression display unit is not limited to the case where it is set in advance. The tone of the face is turned red when angry, or turned pale when terrified. Such as making your face darker, or dyeing your cheeks pink when you say you love it,
I can change in response to the situation on the spot. This can be realized by changing the color of the face portion according to the control signal in the processing section 45 of FIGS. For example, by changing the hue of the cheek portion from the conventional fair skin color to pink, the expression of emotion can be actually expressed by the face of the robot.

This has the effect that a more realistic image can be expressed.

By the way, in the embodiment of FIG. 5, a face close to one's own face is obtained in the process of processing. However, the basic pattern in the present invention can be not only an existing one but also a similar one. FIG. 8 shows another embodiment of the present invention, in which the output signal of the CCD camera 12 built in the intelligent robot shown in FIG. 1 is applied to the input of the processing unit 45 shown in FIG. It was done. The face of one's own is photographed with the CCD camera 12, and the eyebrow is extracted from the contour by
An eye, a nose, a mouth, and the like are extracted, and are compared with an output signal of the expression generating unit 21 to select a closest expression pattern. Then, this pattern is registered in the expression generating unit 21.

In this embodiment, the output signal of the CCD camera 12 is directly applied to the expression generator 21. A slight image processing circuit is included in the expression generating unit 21, and eyebrows, eyes,
Cut out shapes such as flowers and mouths and register them in the memory as a basic format. The output of the expression generating unit 21 uses this basic format, and other configurations and operations are the same as those in FIG. In this way, a format can be created independently without being limited to the basic format. Further, since the present system can be configured without using the basic format previously stored in the memory unit of the expression generating unit 21, the memory capacity of the expression generating unit 21 can be reduced, and the entire intelligent robot can be manufactured at low cost. It becomes possible to produce. Further, in the embodiment of FIG. 5, a portrait close to the face of the person captured by the CCD camera 12 is selected and processed. However, according to this embodiment, the face of the person itself can be used.

Thus, the expression of the intelligent robot can be made into a portrait of oneself instead of a standard pattern. Similarly, if the family's face is photographed by the CCD camera 21 and registered similarly, the face of the intelligent robot can be changed to the family's face.

It should be noted that C is selected from the expressions recorded in advance.
Although the description has been made so that the basic pattern closest to the image created by extracting the contour of the image captured by the CD camera 12 is obtained, the image captured by the CCD camera 12 or the image whose contour is extracted is registered as it is. It is also possible to use it.

In this way, there is an advantage that not only a standard product but also an intelligent robot having an expression unique to oneself or an intelligent robot having an expression of a family can be obtained.

Incidentally, in the above embodiment of the present invention,
All used a flat electronic expression display unit. However, the expression display section is not limited to a plane, and may be three-dimensional.

FIG. 9 shows another embodiment of the present invention. The electronic expression display unit 11 representing the face is of a back-illuminated type, and the illumination screen 86 has irregularities.
FIG. 9A shows the configuration of an optical system. A lamp 82 is provided at the center of a parabolic mirror 81 so that the light can efficiently reach the screen. After the light from the lamp 82 is applied to the liquid crystal panel 83, the light is reflected by the reflecting mirror 84 and changes its direction. Thereafter, the image is enlarged by an irradiation lens 85 and irradiated onto a three-dimensional irradiation screen 86.

As shown, the illuminating screen 86 has irregularities on its nose and mouth as if it were a face.
As shown in FIG. 9B, a more realistic image can be seen by viewing this from the side opposite to the light irradiation. By projecting the back-illuminated image on the screen having such irregularities, there is an advantage that emotion can be expressed more than a flat face.

At this time, if the number of fixed portions is increased, it is impossible to change the facial expression. Therefore, in the case of the simple type, it is effective to limit the portion to a small change such as fixing only the nose. However, in the case of a high-grade type, a more realistic image expression can be performed by using the electronic device in combination with an electronic image expression so that the fixed screen portion can be mechanically deformed.

The optical system shown in FIG. 9A is a so-called single plate type in which color filters are provided on a liquid crystal panel.
A color image can be obtained with a single liquid crystal panel. In addition, the same effect as that of the embodiment of the present invention can be obtained even in a configuration in which a color image is obtained with three liquid crystal panels and a dichroic prism.

The specific form of the intelligent robot in the present invention can be applied to any form of electronic toys, dolls, electronic pets and the like.

In the embodiment described with reference to FIGS. 5 and 8, the CCD camera 1 is used as a means for photographing a person's face.
2, but the photographing means was C using a CMOS sensor.
It is also possible to apply to various cameras such as a MOS camera.

On the other hand, the facial expression has been described using the robot's face or the human's face, but it may be a pet's face such as a dog or cat, or a doll's face as long as it can be represented by the electronic facial expression display section. Various deformations are conceivable.

[0049]

According to the present invention, since the expression of the entire face can be changed electronically, a unique and delicate expression can be produced, and an intelligent robot having a more realistic expression of the face can be obtained. effective.

Further, by attaching a cover part to the electronic expression display section, a richer expression can be reproduced.

In the present invention, a variety of intelligent robots having a relatively small memory capacity can be obtained by creating a basic facial expression pattern of an intelligent robot, making the pattern common, and performing processing. Is effective.

[Brief description of the drawings]

FIG. 1 is a diagram showing an external configuration of an intelligent robot according to an embodiment of the present invention.

FIG. 2 is a diagram showing an internal configuration of an intelligent robot according to an embodiment of the present invention.

FIG. 3 is a diagram showing an example of a facial expression in an electronic facial expression display unit of the intelligent robot according to the present invention.

FIG. 4 is a diagram showing another embodiment of the internal configuration of the intelligent robot according to the present invention.

FIG. 5 is a diagram showing still another embodiment of the internal configuration of the intelligent robot according to the present invention.

FIG. 6 is a view for explaining an example of a cover component to be put on the electronic expression display unit of the intelligent robot according to the present invention.

FIG. 7 is a diagram for explaining a specific connection example of a cover component to be put on the electronic expression display unit of the intelligent robot according to the present invention.

FIG. 8 is a diagram showing still another embodiment of the internal configuration of the intelligent robot according to the present invention.

FIG. 9 is a diagram showing another embodiment of the electronic expression display unit of the intelligent robot according to the present invention.

[Explanation of symbols]

11: electronic expression display unit, 12: CCD camera, 13: infrared sensor, 14: intelligent robot main unit, 17: arm mounting unit, 18: foot mounting unit, 21 ... expression generating unit, 22 ... selecting unit, 23
... CPU, 61, 61a, 61b, 61c ... cover parts, 71, 72 ... connectors, 82 ... lamps, 83 ... liquid crystal panels, 84 ... reflectors, 85 ...
..Irradiation lens, 86 ... Irradiation screen.

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Motohiko Takeuchi 8 Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture F-term in Toshiba Yokohama Office (reference) 2C150 CA01 CA04 DA25 DC17 DC28 DG11 DG21 DG34 DG16 DG43 EF16 EF28 FA01 3F059 AA00 BB06 FC00 5B050 AA03 BA08 BA12 EA19 EA22 FA02 5C082 AA06 AA21 AA27 AA31 BA12 BA27 BB53 BD02 CA54 CA76 DA73 DA86 MM05

Claims (9)

[Claims] 1. Electronic expression display means for electronically displaying an expression on a part corresponding to a face, and expression signal generation means for generating signals corresponding to a plurality of expression patterns displayed by the electronic expression display means. An expression selecting means for selecting one of a plurality of patterns of signals generated by the expression signal generating means and supplying the selected signal to the electronic expression display means. 2. An electronic expression display means for electronically displaying an expression on a part corresponding to a face, and an expression signal generating means for generating signals corresponding to a plurality of expression patterns displayed by the electronic expression display means. An expression selecting means for selecting one of a plurality of expression pattern signals generated by the expression signal generating means; and an expression obtained by processing one expression pattern corresponding to the signal selected by the expression selecting means according to the situation. And an expression processing means for supplying the electronic expression display means in the form of a signal converted into a pattern. 3. Electronic facial expression display means for electronically displaying a facial expression in a part corresponding to a face, and facial expression signal generating means for generating signals corresponding to a plurality of facial expression patterns to be displayed by the electronic facial expression display means. An expression selecting means for selecting one of a plurality of patterns of signals generated by the expression signal generating means and supplying the selected signal to the electronic expression displaying means; and a cover part covering the electronic expression displaying means. An intelligent robot with the expression 4. The intelligent robot having a facial expression according to claim 3, wherein said electronic facial expression display means and said cover component have connector terminals connected to each other. 5. The intelligent robot having a facial expression according to claim 1, wherein the electronic facial expression display means displays the image with a specific color added depending on the situation. 6. The intelligent robot having a facial expression according to claim 1, wherein said facial expression signal generating means is rewritable. 7. The intelligent robot having a facial expression according to claim 1, wherein the facial expression corresponding to the signal generated by the facial expression signal generating means is a portrait. 8. A face body provided at a site corresponding to the face and having a three-dimensional shape of the face, and a facial expression light projection source for irradiating light from inside to give an expression to the face body viewed from outside. And an expression signal source that generates a signal corresponding to the expression by the expression light projection source. 9. The expression light projection source comprises a light source and a transparent electronic expression display means for selectively transmitting light emitted from the light source and applying light to the inside of the face body. An intelligent robot having the expression according to claim 8.