JP2002233979A - Intelligent pet robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pet robot devised so that it singly or with many other robots plays various games and motions. SOLUTION: This robot can move by an electric motor, avoid a an obstacle at the time of moving by sensing of an infrared ray luminous device and a sensor, move along a moving track provided by a user, sense sound of the user at a sound sensing part and sense a clap of hands of the user as the sound of the user. The user can command the pet robot by the clap of the hands and set various modes by a mode setting part. The action modes include a race mode, a region escape mode, a song-and-run mode, a push-out mode, etc., in addition to a basic mode. Additionally, femaleness and maleness are divided, and it is possible to make a pair under a certain condition. A specified mode can be feasible in the case when conditions of power, an age, etc., of the pet robot match. Additionally, it is possible to download a data, a game program, a song, etc., by connecting it to a server on an Internet through a data communication interface, and it is also possible to discriminate whether the object is the opposite sex or not at the time of making the pair.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intelligent pet robot, and more particularly to a pet robot in which a single or a large number of robots play various games and actions with each other.

[0002]

2. Description of the Related Art With the development of information communication technology, various toys utilizing information communication technology have appeared in toys. One of them is the so-called “Tamagotchi” (registered trademark)
The virtual pet animal is a toy that grows in the game console.

However, since it grows only in a game device,
If it is difficult for the user to form sympathy with the pet, and if it is not possible to grow well as expected, it is frequently the case that the virtual pet is killed and then reared from the beginning, and the life is neglected. The controversy of birth sometimes occurred.

[0004] In addition, there is a drawback that the player can lose interest because only a game for raising virtual pet animals is possible, and other games cannot be played.

[0005] In order to solve such a drawback, a game device has emerged that allows virtual nurtured pets to compete with each other. The power of this game device changes depending on the result of growing a virtual pet, and when two game devices are connected, the power value of the virtual pet of both game devices will
Interest is doubled by letting the higher power win.

However, the drawbacks of these game machines are that there is little sympathy between the user and the pet animal since the pet animal exists only in the virtual space, and there is a limit to the games that can be enjoyed.

[0007] A pet robot has emerged as a solution to these disadvantages. The pet robot released by Sony Corporation has considerable intelligence, behaves like a real pet animal, and attracts high interest. However, such a pet robot has a drawback that no one can easily enjoy it because the price of the pet robot is more than several hundred thousand yen.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to provide a "name of the invention" which can solve the above-mentioned problems. This object is achieved by a combination of features described in the independent claims.
The dependent claims define further advantageous embodiments of the present invention.

Further, the present invention has been made in view of the above points, and has as its object to provide a pet robot that exists in the real world other than the virtual space at a low price.

It is another object of the present invention to provide a pet robot that can enjoy various games.

It is still another object of the present invention to provide a pet robot that can play or accompany a number of pet robots.

[0012]

The pet robot of the present invention for achieving the above object is movable since it has an electric motor. Further, since the infrared light emitting device and the sensor are provided, it is possible not only to avoid obstacles at the time of moving, but also to move along a moving path provided by the user. In addition, by providing a sound sensing unit, a user's sound can be sensed. Applause can be used as the sound of the user. The user can applaud and give a command to the pet robot. On the other hand, a mode setting unit capable of setting various modes is provided, and various operation modes can be set. The operation mode includes a race mode, a zone escape mode, a song and run mode, an extrusion mode, and the like, in addition to the basic mode that operates according to an instruction. In addition, females and males are separated, and can be mated under certain conditions. The specific mode may be enabled only when conditions such as the power of the pet robot or the year are met. In addition, the pet robot can connect to a server on the Internet through a data communication interface to download data, game programs, songs, and the like, and can also determine whether or not the other party is a heterosexual partner.

The above summary of the present invention does not list all of the necessary features of the present invention, and sub-combinations of these features may also constitute the present invention.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described through embodiments of the present invention. However, the following embodiments do not limit the claimed invention and have the features described in the embodiments. Not all combinations are essential to the solution of the invention.

Hereinafter, a pet robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1. Configuration of Pet Robot The configuration of the pet robot 100 will be described in detail with reference to FIG.

The pet robot 100 is provided with a memory 190 for storing various programs and for storing the ID of the pet robot 100, its current power, and the like.
Examples of the memory 190 are ROM (Read Only Memory), E
EPROM (Electrically Erasable Programmable RO
M), non-volatile memory such as flash memory, and DR
AM (Dynamic Random Access Memory), SRAM (St
Random Access Memory). Further, a CD-ROM or a magnetic memory device can be used as the auxiliary storage device.

Further, the pet robot 100 is provided with a motor drive section 120 including an electric motor, and can move back and forth and right and left. A wheel is connected to the motor and can be moved by the rotation of the motor, and the motor moves forward or backward by the forward or reverse rotation of the motor. In addition, since the motor driving unit 120 includes a unit that can control the driving wheels, the motor driving unit 120 can change the direction to the left or right. Alternatively, by configuring such that only one side driving wheel can be driven, when only one side driving wheel is driven, it is possible to rotate around another wheel that is not driven. It is better to use a general electric motor drive method for driving the motor, and PWM (Pulse Width Modulation)
Preferably, the movement distance is controlled using a generator.

The infrared generating and detecting unit 130 is used to automatically detect an object during the movement of the pet robot to prevent collision or move to a desired location.

In order to detect an obstacle located ahead,
An infrared lamp and an infrared sensor are provided in front of the pet robot 100. In order to be able to detect any type of obstacle, it is better to provide as many infrared lamps and infrared sensors as possible, but it is costly, so that an appropriate number of lamps and sensors are provided. FIG. 9A shows an example in which six infrared lamps and six sensors 131 are installed in a line.

When there is an object ahead, FIG.
Six sensors (a, b, c, d, e, f)
All sense the object, but when the object moves to the left, the sensor (a) located on the leftmost side (the rightmost side in the drawing) of the pet robot 100 cannot sense the object. Therefore, the direction in which the object is moving can be determined based on which sensor detects the object.

Further, in order to draw a black belt on the floor surface and run on the black belt, at least the pet robot 100
An infrared lamp and an infrared sensor are provided on the left and right sides of the bottom surface. As shown in FIG. 10, when the pet robot 100 is traveling correctly on the black belt R while the pet robot 100 is moving in the direction of the arrow, both sensors on both sides detect the black belt ( (Times t1 and t2 in FIG. 10). However, if the black band is detected by the right sensor 131b but the black band is not detected by the left sensor 131a as at time t3 in FIG. 10, the black band R indicating the movement locus is bent to the right. Therefore, the control unit 110 controls the motor driving unit 130 so that the pet robot 100 can move to the right. By doing so, the pet robot 100 can move along the black belt R.

It is preferable to increase the number of infrared sensors and lamps provided on the floor so as to move more sensitively along the black belt. That is, in FIG. 10, two lamps and sensors are provided, one on the left side and one on the right side, but three on the left side and three on the right side as shown in FIG. If provided, the distance between the sensors will be narrower,
It is possible to sense more sensitively. Further, when the number of sensors is increased, there is an advantage that the sensor can be moved along the locus even when the width of the black belt R is narrow.

The sound sensing unit 140 is provided for the function of the pet robot 100 sensing sound and reacting accordingly. For example, when a person applauds, they may move or stop accordingly. For this reason, the sound sensing unit 140 includes a microphone that converts sound into an electrical signal,
It includes an amplifier for amplifying an electrical signal from a microphone, and an integrating circuit or an analog-to-digital converter (A / D converter) for converting the signal from the amplifier into a signal that can be sensed by a microprocessor or the like.

If the sound sensing unit 140 is provided with a voice recognition function, it can be made to respond to a command given by a person. To this end, software for recognizing voice by performing arithmetic processing on a digital signal input through an A / D converter is attached to the control unit, or another voice recognition hardware is provided.

According to one embodiment of the present invention, the operation is performed by detecting applause. Applause is different from human voice and is composed of high frequency band affricate.
It is preferable to provide a high-pass filter in the filter and pass only the high-frequency band for sensing.
In addition, since applause is generated only for a limited time of 0.05 to 1 second, eliminating a sound that is detected for a shorter or longer time can reduce malfunction due to ambient noise. .

The mode setting section 150 includes the pet robot 100
Used to set the operation mode of For example, it is used to set a fighting game mode and play a fighting game with another pet robot, or to set an exercise mode and play it alone. The mode setting unit 150 may be realized by using a general button or the display unit 16.
It can be implemented with a touch screen or with an infrared remote controller together with 0, and can be set with the remote controller, and is not limited to a specific implementation system.

The control unit 110 controls each component of the pet robot 100 according to the contents programmed in advance. The control unit 110 may be implemented as software using a microprocessor, or may be implemented as hardware using logic elements.

Further, the pet robot 100 can be provided with a display unit 160 which can indicate the state of the pet robot 100 or can send a message useful for the user to use the function. As the display unit 160, an LED (Li
ght Emitting Diode or LCD (Liquid Crystal Dis
play) can be used. When one LED is used, the pet robot can blink at a fast speed when the pet robot is hungry or hurts, and blink slowly when it feels comfortable to indicate the state of the pet animal. . When the LCD is used, a larger number of messages can be displayed, so that a help screen can be displayed or used for a conversation between the pet robot 100 and the user.

In addition, the pet robot 100 may further include a sound generating unit 170 for producing music or sound. The sound generation unit 170 is used when the pet robot 100 sends a message to the user. For example, it is used when the pet robot 100 is angry or sings a song when the pet robot 100 is comfortable. Sound generator 17
0 includes a sound generator such as a buzzer or a piezo element, a speaker, and a sound source element such as a melody IC.

Further, the pet robot 100 can include a data communication interface 180 for teledata communication with another pet robot 100 or a computer. As the data communication interface 180, an infrared communication interface, an acoustic coupl
ed) Communication interface, Bluetooth (Blue too)
th) and other wireless communication interfaces, RS-232
C, a wired communication interface using wired connection means such as USB, a communication interface based on light sensing, etc.
A variety of means can be used. In addition, the pet robot 100
Can be connected to an Internet connection terminal such as a computer, a mobile phone, a PDA, and a TV that can be connected to the Internet by these means, and can be connected to the Internet through the Internet connection terminal.

The data communication interface 180
The pet robot 100 provided with the
00, it can download various game programs or audio files from the server, or download virtual baits, cyber remedies, etc. necessary for the pet robot to grow.

Computers, mobile phones, PDAs,
Instead of using a TV or the like, the pet robot 100 may be provided with communication means such as a modem and a run (LAN) interface capable of directly connecting to the Internet, and directly connected to the server via the Internet.

When an infrared communication interface, a wireless communication interface, or the like is used, a computer, a mobile phone, a PDA, a TV, or other Internet connection terminal is provided with an infrared communication interface, a wireless communication interface. While the user is connected to the server via the Internet using the Internet connection terminal, the user transmits / receives data to / from the Internet connection terminal via the data communication interface 180 and transmits / receives data to / from the server again via the Internet using the Internet connection terminal. become.

When the infrared communication interface is used, an infrared communication modem is connected to at least one of an infrared lamp and a sensor used for detecting an obstacle, and an infrared lamp used for detecting an obstacle is connected to the infrared lamp. Sensors can be shared for data communication.

The pet robot 100 further includes a vibration motor 1
75 may be provided. The pet robot 100 provided with the vibration motor 175 can make the body shake when the user feels comfortable, or on the contrary, feels bad or is in a bad state.

2. Functions of pet robot2-1. Mode selection  The pet robot 100 has various operation modes.
Therefore, the operation content differs depending on each mode. Select mode
Is performed by the mode setting unit 150.

As described above, the mode setting unit 150 can be implemented using a general button, a touch screen together with the display unit 160, or can be set using an infrared remote controller.

If a general button is used, the mode can be determined by the number of times the button is pressed. If you use a touch screen,
When the selectable modes are displayed on the display unit 160, the user can select one of the display modes by pressing the mode. When an infrared remote controller is used, the setting can be made by pressing a specific mode button of the remote controller, or can be determined by the number of times the mode setting button of the remote controller is pressed.

Next, the procedure of mode selection will be described with reference to FIG.

First, the user selects a mode in the mode setting section 150 (S10). The mode selection means can use the above-described buttons, touch screen, remote control, and the like, and other means can be used. The present invention is not limited to a specific mode setting means.

In order to perform each operation mode, it may be necessary to satisfy certain conditions. For example,
The race mode must satisfy certain conditions, such as that the game can be enjoyed only when the power of the pet robot 100 reaches a certain level or that the accompanying mode can be performed only when a certain year is reached. Can be prevented.

Therefore, when the user selects a mode, the pet robot 100 checks whether the conditions for performing the mode are satisfied (S20).

When the condition is satisfied, the function of the mode is performed (S30). When the condition is not satisfied, an error message is displayed on the display unit 160, or
An error sound is generated using the sound generation unit 170 (S4).
0). Alternatively, instead of displaying an error message, no response can be expressed.

2-2. The types of operation selectable modes in each mode can be variously designed. In the following, some mode examples are described for illustration. In the following description, a case where applause is used as a method of giving an operation command to the pet robot 100 is described as an example.
The present invention is not limited to this, and various methods such as giving a command by voice or giving a command by a remote controller can be used.

2-2-1. Basic Mode In the basic mode, the pet robot 100 moves to the left when the user claps once, moves to the right when the user claps twice, and moves avoiding the obstacle when encountering an obstacle. If the pet robot 100 does not applaud for a certain period of time, it automatically stops operating and enters the sleep mode. When applause is made in the sleep mode, the pet robot 100 enters the basic mode again and operates. However, if the user does not clap for a certain period of time after entering the sleep mode, the user will exit the basic mode. After exiting the basic mode, the user can operate the pet robot 100 by selecting the mode again using the mode setting unit 150.

FIG. 3 shows an operation flow in the basic mode. The operation flow in the basic mode will be described in detail with reference to FIG.

First, when entering the basic mode, the operation of the sleep timer is started (S110). If the sleep timer does not give a command to the pet robot for a certain period of time,
Used to abort the operation.

When the sleep timer is started, the control unit 110 controls the motor drive unit 120 to move the pet robot 100 forward by a predetermined distance (S1).
11). Alternatively, instead of moving a fixed distance, the moving can be continued.

When the pet robot 100 moves by a certain distance and stops, once clap ("Y" in S120).
ES "), the control unit 110 controls the motor driving unit 120 to change the moving direction to the left side and to move by a certain distance (S121). Is reset and the time is measured again from the beginning (S115), or the direction can be changed by once clapping during the movement.

When the pet robot 100 is stopped,
When the clap is repeated twice ("YES" in S130), the control unit 1
The control unit 10 controls the motor driving unit 120 to change the moving direction to the right side and to move by a predetermined distance (S131). Then, since the applause has been input, the sleep timer is reset and the time is measured again from the beginning (S115). Alternatively, the direction can be changed by once applause during the movement.

While the pet robot 100 is moving forward, when the infrared generation and detection unit 130 detects that an obstacle is present ahead (“YES” in S 140), the control unit 110 controls the motor drive unit 120. Is controlled to avoid obstacles (S141).

As a method of avoiding an obstacle, a method of colliding with the obstacle, moving backward a little, and then arbitrarily changing the direction can be used. After sensing at 130, a method of turning in an arbitrary direction before hitting an obstacle may be used.

After the operation is stopped, the process returns to step S111 and waits for the input of applause until the reset time comes ("NO" in S170). However, even after the operation is stopped, if no applause is input until the predetermined reset time has elapsed (“YES” in S170), the pet robot 100 comes out of the basic mode (S180). As described above, when the sleep timer passes the predetermined sleep time during the operation (“YES” in S150), the operation is stopped (S150).
160). If the sleep timer has not passed the sleep time ("NO" in S150), the process returns to step S111 to repeat the above operation.

After exiting the basic mode, the user can operate the pet robot 100 by selecting the mode again in the mode setting section 150. When exiting from the basic mode automatically, the control unit 1 saves power.
It is preferable that the microprocessors be put out of the sleep mode by an interrupt or the like when the ten microprocessors are put into the sleep mode and the user tries to set the mode with the mode setting unit 150. For this reason, if the mode setting unit 150 is a button, if the user presses this button, the microprocessor may be interrupted.

In addition to the above operations, it is also possible to add various operations such as moving the robot according to the moving object when the clap is performed three times or singing the song when the clap is performed four times. it can.

2-2-2. Race mode In the race mode, the pet robot 100 moves along the black belt drawn on the floor. As a method of drawing a black belt on the floor, a method of drawing a track on paper using an oil-based writing instrument or the like, or a method of sticking black tape on the floor to form a track can be used.

FIG. 4 shows an operation flow in the race mode. The operation flow in the basic mode will be described in detail with reference to FIG.

When the pet robot 100 is placed on the black belt in the race mode, the control section 110 drives the motor drive section 120 to start moving forward (S210).

The detection of the black belt is performed by the infrared ray generating and detecting unit 130 provided in the pet robot 100. At least two infrared lamps and sensors are provided for black band sensing. These two lamps and sensors are provided on the left and right sides of the pet robot 100. If the black belt is not detected on the left or right side while the pet robot 100 is moving forward, the control unit 110 determines that the black belt is bent in the opposite direction, and until the two sensors detect both. Then, the motor driving unit 120 is driven to change the direction.

That is, if a black band is detected by the left sensor in step S220, it is confirmed in step S230 whether a black band is detected by the right sensor. If a black band is detected by both sensors ("NO" in S230), the process returns to step S220 to continue detecting the black band.

If the black belt is not detected by the right sensor in step S230, it means that the black belt is bent to the left, and the control unit 110 controls the motor so that the pet robot 100 changes its direction to the left. It controls the driving unit 120. The degree of turning to the left may be appropriately determined in consideration of the current traveling speed.

Suppose that the pet robot 100 is currently moving at a speed of 10 cm per second, and changes direction at a speed of 10 cm per second.
It turns 4.5 times or more at a time to allow it to move along a trajectory that rotates up to 45 ° per 10 cm. On the other hand, if the amount of turn at a time is too large, a problem occurs in which the turn must be performed many times in order to follow the trajectory when the trajectory turns at a small angle. Is preferred.

On the other hand, if it is determined in step S220 that there is no black band on the left side, the process proceeds to step S250 to check whether there is no black band on the right side. If a black band is detected on the right side ("NO" in S250), it means that the black band is not detected only on the left side, which means that the black band is bent to the right side. Therefore, the control unit 110 controls the motor driving unit 120 so that the pet robot 100 can change the direction to the right (S270).

In step S250, if there is no black belt on the right side ("YES" in S250), it means that the racetrack has ended, and the operation is stopped (S260). At this time, the pet robot 100 can automatically exit the race mode.

2-2-3. Zone escape mode Zone escape mode is a game in which a black zone forms a certain zone, and the robot that escapes first from this zone wins. In the zone escape mode, when applause occurs, the pet robot 100 arbitrarily changes the moving direction. Also, if you encounter an obstacle while moving, you will avoid the obstacle.

FIG. 5 shows an operation flow in the zone escape mode. The operation flow in the zone escape mode will be described in detail with reference to FIG.

First, when the zone escape mode starts, the pet robot 100 starts to move forward (S310). At this time, if applause is given ("YES" in S320), the control unit 110 of the pet robot 100 controls the motor drive unit 120 so that the pet robot 100 changes the moving direction to an arbitrary direction (S340). .

Even if an obstacle is detected ("YES" in S330), the vehicle is similarly turned to an arbitrary direction (S34).
0).

As described above, if a black band is detected during the movement ("YES" in S350), the operation has stopped beyond the black band or on the black band because it has reached the area limit line. (S360). As a result, the zone escape game is ended, so that the player can automatically exit the zone escape mode.

2-2-4. Song and Run
run mode) In the song and run mode, when the pet robot 100 is placed on the floor and claps, the singing scale gradually rises. When the song stops, the pet robot waits for applause. At this time, if no sound is made, the scale rises at the same speed as before. At this time,
When applause occurs, it moves a distance that is proportional to the scale at that time. After a predetermined singing time without applause, an error sound is generated. This is a game in which a pet robot that has moved closest to a desired distance wins.

FIG. 6 shows an operation flow in the song and run mode. The operation flow in the song and run mode will be described in detail with reference to FIG.

When entering the song and run mode, the control unit 110 waits for applause to be input to the sound sensing unit 140 (S410).

When the clapping sound is detected, the control unit 110 controls the sound generation unit 170 to generate a sound at the initial scale (S420). The initial scale can be a fixed scale, or an arbitrary scale can be randomly generated. Alternatively, it is possible to generate a single frequency tone instead of the scale.

Then, the control unit 110 controls the sound generating unit 170 so as to raise the musical scale by one step at regular time intervals. Here, the fixed time may be a fixed time such as 0.5 seconds or a time determined at random. Further, it is also possible to raise the scale continuously, instead of raising the scale stepwise at regular time intervals. At this time, when the sound reaches the maximum frequency or the maximum scale that can be generated by the sound generation unit 170, the scale can be raised again by returning to the initial scale again.

After the sound is generated for a certain period of time, the sound is stopped and then the applause is waited. At this time, the musical scale is raised at the same speed as before without producing a sound (S430).

The time to raise the scale without producing a sound is the same as the previous sound generation time. During this time, it is checked whether the time has ended while raising the scale (S440). If the time is over, that is, if no applause is input until a predetermined time has elapsed after the sound generation is stopped, the process proceeds to step S470, and the sound generation unit 170 is controlled to generate an error sound.

While the time has not elapsed, the apparatus waits for the input of a clapping sound. As described above, when the clapping sound is sensed while the scale is being internally raised without producing a sound (“YES” in S450), the control unit 110 moves to the distance corresponding to the current scale. Motor drive unit 12
0 is controlled (S460). For example, if the scale that can be generated is eight steps from low to high C, the low C is 1c
In the case of m-movement and re-movement, the movement distance is determined for each scale, such as 2 cm movement, and the movement is performed by a distance corresponding to the scale currently displayed.

Thus, steps S430 to S45
By repeating the process up to 0, an error sound is generated if no applause is input until the time has completely elapsed, and if applause is input within the time, the sound will move by a distance corresponding to the musical scale at that time.

2-2-5. Attaching mode The attaching mode is a mode in which two pet robots 100 exchange data with each other and sing a song to each other, or one pet robot performs an operation according to another pet robot. For this reason, the memory 190 of the pet robot 100 stores a code for discriminating whether the pet robot is female or male. Further, by exchanging this code through the data communication interface 180, it is confirmed whether the partner pet robot 100 is of the opposite sex, and performs a pairing action.

FIG. 7 shows an operation flow in the side mode. The operation flow in the attachment mode will be described in detail with reference to FIG.

First, when the pet robot 100 enters the attachment mode, the pet robot 100 waits for the sound of applause to be detected (S51).
0). When the clapping sound is detected, the control unit 110 exchanges data with the surrounding pet robot 100 through the data communication interface 180 (S520).

The data communication interface 180 includes an infrared communication interface, an acoustic coupling communication interface, a wireless communication interface such as Bluetooth, a wired communication interface such as RS-232C and USB, and a communication interface based on light sensing. Various means can be used, such as.

When an infrared communication interface is used, an infrared lamp and a sensor provided for detecting an obstacle can be used for infrared communication. That is, as shown in FIG. 9, one or more of an infrared lamp and a sensor 131 provided for sensing an obstacle are used to exchange data with each other. For example, if the leftmost lamp transmits data and the rightmost sensor receives data, the two pet robots 100 can face each other to transmit and receive data.

After exchanging data with each other through the data communication interface 180, it is confirmed from the received data whether the other party is of the opposite sex (S530).

If the other party is not of the opposite sex, the child immediately exits the mode of attachment without pairing. Alternatively, in order to indicate something that is not of the opposite sex, the body can be shaken by the vibration motor 175, or the sound generation unit 170 makes a sound that makes you feel uncomfortable, or the display unit 160 means that you are uncomfortable. You can also display a message.

If it is determined in step S530 that the other party is of the opposite sex, the pet robot 100 sings a song using the sound generator 170 (S540). At this time, sing a song alternately at a time while exchanging data with each other, or the female pet robot 110 and the male pet robot 100
It is also possible to sing a duet with a different range.

In addition to singing a song, various arrangements can be made. For example, male pet robot 1
00 follows the female pet robot 100. That is, in step S540, when the female pet robot moves in an arbitrary direction, the male pet robot detects and follows the object, that is, the female pet robot by the infrared ray generating and detecting unit 130. For this purpose, when mating, it is preferable that the female pet robot and the female pet robot are brought close to each other so that the male pet robot can detect the female pet robot with the infrared ray generating and detecting unit 130.

On the other hand, the along mode can be paired only when the growth year of the pet robot described later becomes a certain year or more. That is, if the suffix mode is selected in step S10 of FIG.
At 0, it is checked whether the year of the pet robot is a certain year, for example, 6 years or older, and only when the condition is satisfied, the mode is set to be in the supplement mode.

2-2-6. Pushing Mode Pushing mode is a game in which two or more pet robots push each other in a certain area that is divided by a black belt.

FIG. 8 shows an operation flow in the push-out mode. The operation flow in the extrusion mode will be described in detail with reference to FIG.

In the push mode, the opponent is first searched for. In order to search for a partner, the direction is changed until an object is detected (steps S710 and S720). Alternatively, the game may be played with two pet robots 100 facing each other.

When an object is detected (“YE” in S710)
S ''), the object moves in the direction of the object (S730). Even if the object collides with the object, it does not stop but continues to move forward to push out the opponent.

On the other hand, it is confirmed whether or not a black band is sensed so as not to deviate from the area surrounded by the black band during the movement (S740). When a black belt is detected, the direction is changed so as not to leave the area (S
750).

When the direction is changed, the partner pet robot 10
Since there is a possibility that 0 is missed, the direction is changed, and then the process proceeds to step S710 to repeat the above procedure. By doing so, two or more robot pet robots push each other in a certain area partitioned by the black belt, and the pet robots remaining in the area to the end win.

2-3. Growth of pet robot The pet robot can be made to grow by activities such as feeding and playing by the user. The growth algorithm of the pet robot will be described with reference to FIG. The growth of the pet robot can have an algorithm that grows by itself using hardware or software functions in the pet robot, and the pet robot server can control the growth using the information of the pet robot. .

The growth of a pet robot can be achieved in various ways, but basically relates to the amount of food that the pet robot has fed. On the other hand, if you do not feed at a fixed time, your pet robot becomes sick, and if it becomes sick, it may be necessary to treat the pet robot first with an ampoule before feeding. In this case, the growth of the pet robot is also related to the amount of ampules that the pet robot has done. That is, after setting power having a value according to the amount of food and ampoule, when the power reaches a certain magnitude (k), the year is increased, and when the food is eaten, the power is reduced by a certain amount (Δn). It is also possible to control the year of the pet robot by increasing the amount and decreasing the power by a certain amount (Δm) when injecting an ampoule. Or, if you get sick, you can reduce your power until you inject the ampoule.

The bait and the ampoule are displayed on the display unit 16 of the pet robot.
0 and the mode setting unit 150. After connecting to the pet robot server via the Internet via the data communication interface 180, the mode can be downloaded from the server.

That is, as shown in FIG. 12, the user can connect to the pet robot server 300 which can download the pet food and ampoules of the pet robot through his / her terminal 200 via the Internet 500. The pet robot server 300 is connected to a database 400 that stores information on each robot pet. The user terminal 200 connectable to the pet robot server 300 includes a personal computer and a PDA.
(Personal Digital Assistant), a mobile phone, a TV, etc., and the user operates the terminal 20 of the user through the data communication interface 180 of his / her pet robot 100.
After that, the user can connect to the game server 300 and download baits and the like.

Hereinafter, the user connects to the pet robot server and the data communication interface 180 of the pet robot.
An example of downloading baits or ampoules from a server through the server will be described.

That is, as shown in FIG. 11, after the user connects to the game server (S610), the pet robot is initialized if necessary (S620), and then the bait is downloaded. At this time, if the bait is successfully downloaded (S630), a certain amount (Δn) is added to the power (S6).
40). Successful download of the bait means that the bait has been downloaded to the pet robot in a timely manner. That is, if the pet robot already has the maximum amount of food, or if it becomes ill and cannot eat food, the power is not increased even if the user downloads the food again.

Next, if the user succeeds in downloading the ampoule (S650), the power is converted to a certain amount (Δm).
Is subtracted (S660). At this time, the fixed amount (Δm) to be subtracted is preferably larger than the fixed amount (Δn) added at the time of downloading. In the case of downloading an ampoule, the power value is changed only when the download is successful. That is, when the pet robot is in a healthy state, the ampoule cannot be downloaded even if it attempts to download it, or the power does not decrease even if it is downloaded.

It is determined whether the power value thus changed is equal to or more than a constant value (k) necessary for increasing the year (S670). As a result of the judgment, when the value becomes equal to or more than the predetermined value (k), the year of the pet robot is increased by another (S68)
0), otherwise return to the beginning again.

When the year is increased, the pet robot can perform a special operation according to the year. At the same time as increasing the year by one on the game server, transmit the result to the pet robot and adjust the year in the pet robot to sing a birthday celebration song or perform a special dance Can be.

On the other hand, in growing the pet robot, it is preferable that the more the user interacts with the pet robot, the faster the pet will grow. Therefore, in addition to the amount of food to be downloaded, the time interval for downloading the food can be added as a parameter and used to increase the year of the pet robot. To do this, the game server can store the last time each pet robot has downloaded the bait, calculate the interval until the next bait download, and use this parameter together. However, since a pet robot usually consumes food as it moves, in the case of a robot pet that operates frequently, that is, when the user frequently plays with the robot pet, when the robot pet does not operate, Food consumption is increased compared to bait, which reduces the time between food downloads. Therefore, the time required to download the same amount of food and reach the predetermined power is shorter in the case of a robot pet with a large number of active animals than in the case of a robot pet with a low activity. Even if the growth is regulated as described above, the interaction with the user is reflected.

On the other hand, instead of downloading baits or programs from the server through the Internet,
A program for downloading a bait or a program may be incorporated in C, and bait or the like may be downloaded from a PC. In addition, it can be downloaded using a PDA, a game device, a DVD player, a video player, or the like instead of the PC.

As described above, the present invention has been described using the embodiment. However, the technical scope of the present invention is not limited to the scope described in the above embodiment. Various changes or improvements can be added to the above embodiment. It should be noted that such modified or improved embodiments may be included in the technical scope of the present invention.
It is clear from the description of the claims.

[0108]

As described above, according to the present invention,
Infrared generation and sensing unit and motor driving unit can automatically avoid obstacles and chase objects, and if you do not feed in a timely manner, you can perform intelligent actions such as shaking with a vibration motor A pet robot can be provided at low cost.

Also, there is an effect that a pet robot that does not exist in a virtual space but actually exists can be cultivated.

Also, since a large number of pet robots can enjoy various games such as competing with each other or escaping from an area, there is an effect that interest in the pet robot can be increased.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing an internal configuration of a pet robot of the present invention.

FIG. 2 is a flowchart showing a procedure for selecting an operation mode of the pet robot.

FIG. 3 is a flowchart showing an operation flow in a basic mode.

FIG. 4 is a flowchart showing an operation flow in a race mode.

FIG. 5 is a flowchart showing an operation flow in an area escape mode.

FIG. 6 is a flowchart showing an operation flow in a song and run mode.

FIG. 7 is a flowchart showing an operation flow in the attachment mode.

FIG. 8 is a flowchart showing an operation flow in an extrusion mode.

FIG. 9A is a view showing a pet robot viewed from the front, showing a shape provided with an infrared lamp and an infrared sensor. (B) is a diagram showing a state where each infrared sensor senses when an object is ahead. (C) is a diagram showing a state where each infrared sensor senses when the object moves to the left.

FIG. 10 is a diagram illustrating a state where an infrared sensor detects the movement of an object when only two infrared sensors are provided.

FIG. 11 is a flowchart showing an example of an algorithm for growing a pet robot.

FIG. 12 is a configuration diagram illustrating an example of connecting to a pet robot server via the Internet and feeding or ampoule to the pet robot or downloading a program.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 pet robot 110 control unit 120 motor drive unit 130 infrared generation and detection unit 131 infrared lamp and sensor 140 sound detection unit 150 mode setting unit 160 display unit 170 sound generation unit 175 vibration motor 180 data communication interface 190 memory

 ──────────────────────────────────────────────────の Continuing on the front page F term (reference) 2C150 AA14 CA01 CA02 DA04 DA05 DA24 DA25 DA26 DA27 DA28 DF03 DF04 DF06 DF33 DK02 EB01 ED10 ED42 ED52 EF03 EF07 EF13 EF16 EF23 EF29 EF34 EF36 3F059 AA05 DC06 DD07 BA00 CA12 HA35

Claims (20)

[Claims] 1. A motor driving unit for driving a motor for moving back and forth, left and right, an infrared ray generating and detecting unit for detecting an obstacle, a sound detecting unit for detecting sound, and an operation mode are set. A mode setting unit for performing the operation, a memory storing programs and data for operation, and the motor driving unit, the infrared ray generating and sensing unit, the sound sensing unit according to the operation mode set by the mode setting unit. A pet robot, comprising: a control unit for controlling a mode setting unit. 2. The motor driving device according to claim 1, wherein the motor driving unit includes a motor capable of rotating forward and reverse, a wheel connected to a shaft of the motor, and a unit for changing a direction of the wheel. Pet robot. 3. The pet robot according to claim 1, wherein the mode setting unit has a button, and the control unit sets an operation mode of the pet robot according to the number of times the button is pressed. 4. The sound sensing unit includes: a microphone for converting sound into an electric signal; an amplifier for amplifying an electric signal from the microphone; a high-pass filter for passing only a high-frequency component of the signal from the amplifier; 2. The pet robot according to claim 1, further comprising a conversion unit that converts a signal from the high-pass filter into a signal that can be sensed by a microprocessor or the like. 5. The pet robot according to claim 1, further comprising a sound generating unit that generates a sound under the control of the control unit. 6. The pet robot according to claim 1, further comprising a vibration motor that generates vibration under the control of the control unit. 7. The control unit decreases the power value stored in the memory when the user does not feed for a predetermined time, and drives the vibration motor when the power value falls below a predetermined value. The pet robot according to claim 6, characterized in that: 8. The pet robot according to claim 1, further comprising a data communication interface capable of performing data communication. 9. The pet robot according to claim 8, wherein the data communication interface is an infrared communication interface. 10. The memory stores gender data indicating whether the pet robot is female or male, and when the mode setting unit sets a supplementary mode,
9. The method according to claim 8, wherein the controller reads the gender data stored in the memory, exchanges the data with a partner through a data communication interface, and performs a pairing operation only when the partner is of opposite sex. The pet robot described. 11. The pet robot according to claim 10, wherein the pairing operation is such that the female pet moves in an arbitrary direction and the male pet follows an object to be sensed. 12. The control unit according to claim 1, wherein each time food comes in,
The power value stored in the memory is increased, and when the power value reaches a certain level, the value of the year stored in the memory is increased. When the supplement mode is set, the value of the year is set to a predetermined value. 2. The pet robot according to claim 1, wherein a pairing operation is performed only when the value is equal to or more than the value of. 13. The pet robot according to claim 12, wherein the bait is downloaded from the Internet through the data communication interface. 14. A motor drive unit for driving a motor for moving back and forth, left and right, at least two or more infrared lamps and infrared sensors provided on a front surface, and at least two or more infrared lights provided on a floor surface. An infrared generating and sensing unit including a lamp and an infrared sensor; a memory storing a program and data for operation; and a motor driving unit and the infrared generating and detecting unit according to an operation mode set by the mode setting unit. A pet robot, comprising: a control unit for controlling the sensing unit. 15. The control unit controls the motor driving unit when the object is detected by at least one of the at least two or more infrared sensors provided on the front surface during the movement. The pet robot according to claim 14, wherein the robot is switched. 16. The sensor according to claim 1, wherein the controller is configured not to detect the object when at least one of the at least two infrared sensors provided on the front surface does not detect the object while following the object. 2. A moving direction is changed to a direction opposite to a direction in which the object is located.
4. The pet robot according to 4. 17. The control unit, if the object is not detected by one or more of the at least two infrared sensors provided on the floor while following the object, does not detect the object. The moving direction is changed in a direction opposite to a direction in which the sensor is located.
4. The pet robot according to 4. 18. The pet robot according to claim 14, wherein an infrared communication modem is connected to at least one of the infrared sensor and the infrared lamp of the infrared generation / detection unit to exchange data. . 19. The control unit controls the motor driving unit to change the direction until the object is detected by the infrared lamp and the infrared sensor provided on the front surface, and changes the direction when the object is detected. The motor driving unit is controlled so as to move in the direction, and when the black band is detected by the infrared lamp and the infrared sensor provided on the floor during the movement, the motor driving unit is controlled to change the direction. The pet robot according to claim 14, wherein the operation is repeated. 20. A motor driving unit including a motor capable of rotating forward and backward and a wheel connected to a shaft of the motor, a microphone for converting sound into an electric signal, and an amplifier for amplifying an electric signal from the microphone. A sound sensing unit including an amplifier and a high-pass filter that passes only high-frequency components of the signal from the amplifier, and a conversion unit that converts a signal from the high-pass filter into a signal that can be sensed by a microprocessor or the like; A sound generating unit, a memory storing an operation program and data, and the motor driving unit, an infrared ray generating and sensing unit, a sound sensing unit, and a mode setting according to an operation mode set by the mode setting unit. A control unit for controlling a unit, wherein when the sound is detected by the sound detection unit, the sound generation unit raises the scale at a constant speed. When the sound is sensed by the sound sensing unit, the sound is stopped after the given time, and the sound is stopped. By driving the motor driver,
A pet robot, which is moved by a distance corresponding to a scale at which the sound is detected.