JP2002334040A - Device and method for information processing, recording medium, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm the contents of electronic mail more suitably. SOLUTION: When electronic mail is sent, a personal computer 1 synthesizes a voice according to text data included in the electronic mail and obtains voice data. When a specific keyword is included in the text data, a control script is generated so that a real robot 31 takes action corresponding to the keyword as well as voicing the keyword. The voice data and control script are sent from a radio communication part 4 to the real robot 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information processing apparatus and method, a recording medium, and a program, and more particularly, to an information processing apparatus and method, a recording medium, and a program that enable the contents of an e-mail to be more appropriately confirmed. About.

[0002]

2. Description of the Related Art In recent years, various proposals have been made for incorporating a voice synthesizer to notify the arrival of an electronic mail by voice or to output the content (text) of the electronic mail by voice.

[0003] Such a device for reading out e-mails has, for example, an appearance of an animal type, and repeatedly opens and closes the mouth in conjunction with reading out the e-mails.
It is made to give those who listen to it as if the animal were reading an e-mail.

[0004]

However, the above-mentioned reading device has a problem that it is not interesting because it only takes a simple action such as repeating opening and closing of a mouth.

[0005] That is, for example, it is expected that a predetermined action is changed according to the content of the e-mail, and that the more the action is more complicated and the more types are provided, the more the entertainment property is improved.

[0006] The present invention has been made in view of such a situation, and is intended to allow the contents of an e-mail to be more appropriately confirmed.

[0007]

A first information processing apparatus according to the present invention comprises: acquiring means for acquiring text data; speech synthesizing means for performing speech synthesis using the text data acquired by the acquiring means; Detecting means for detecting a predetermined keyword included in the data, selecting means for selecting an action of the robot corresponding to the keyword detected by the detecting means, and the robot is obtained as a result of speech synthesis by the speech synthesis means. Generating means for generating a control script for taking an action selected by the selecting means in accordance with outputting the keyword by voice based on the voice data.

[0008] A transmitting means for wirelessly transmitting the control script generated by the generating means to the robot together with the voice data obtained by the voice synthesizing means may be further provided.

[0009] The information processing apparatus may further include a providing means for providing the control script generated by the generating means to the robot through a predetermined recording medium together with the voice data obtained by the voice synthesizing means.

The apparatus further comprises a calculating means for calculating the voice output time of each word constituting the text data, wherein the obtaining means obtains a predetermined unit of text data, and the detecting means detects a plurality of keywords from the unit text data. In this case, the selection unit can select the action corresponding to the keyword having the longer voice output time as the action of the robot based on the calculation result by the calculation unit.

[0011] A registration means for newly registering a keyword in association with an action may be further provided.

[0012] The obtaining means may obtain the text data from the electronic mail transmitted to the information processing apparatus.

[0013] An information processing method of a first information processing apparatus according to the present invention includes an acquisition processing step of acquiring text data;
Speech synthesis processing step of performing speech synthesis using the text data acquired by the processing of the acquisition processing step, detection processing step of detecting a predetermined keyword included in the text data, and detection processing of the detection processing step In accordance with the selection processing step of selecting the action of the robot corresponding to the keyword, and the robot outputting the keyword as voice based on the voice data obtained as a result of the voice synthesis by the voice synthesis step,
A generation step of generating a control script for taking the action selected by the processing of the selection processing step.

The program recorded on the first recording medium of the present invention includes an acquisition control processing step for controlling acquisition of text data, and a voice using the text data acquired by the processing of the acquisition control processing step. A speech synthesis processing step of performing synthesis, a detection processing step of detecting a predetermined keyword included in the text data,
A selection processing step for selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step, and the robot outputs a keyword based on the voice data obtained as a result of the voice synthesis by the voice synthesis step. A generating step of generating a control script for taking the action selected by the processing of the selecting step in accordance with the outputting.

A first program according to the present invention comprises: an acquisition control processing step for controlling acquisition of text data; and a speech synthesis processing step for performing speech synthesis using the text data acquired by the processing of the acquisition control processing step. A detection processing step of detecting a predetermined keyword included in the text data; a selection processing step of selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step; A generation processing step of generating a control script for taking an action selected by the processing of the selection processing step in accordance with outputting the keyword based on the voice data obtained as a result of the voice synthesis by the processing of the step; It is characterized by including.

[0016] A second information processing apparatus according to the present invention comprises: an acquiring unit for acquiring text data; a speech synthesizing unit for performing speech synthesis using the text data acquired by the acquiring unit; Based on the voice data obtained as a result, instructing means for instructing the robot to output a voice corresponding to the text data, detecting means for detecting a predetermined keyword included in the text data, Generating means for generating a control script for causing the robot to execute an action corresponding to the keyword, calculating means for calculating a timing for transmitting the control script generated by the generating means, and timing calculated by the calculating means. Transmission means for transmitting a control script to the robot when the That.

When a plurality of control scripts are generated by the generating means, the first control script of the plurality of control scripts is transmitted when the first control script is transmitted.
Determining means for determining whether or not the robot is performing an action based on a second control script of the plurality of control scripts transmitted to the robot prior to the control script of Furthermore, the transmitting means includes:
When the determining unit determines that the action based on the second control script is not being executed by the robot, the first control script can be transmitted to the robot.

An information processing method of the second information processing apparatus according to the present invention comprises: an obtaining processing step of obtaining text data;
A voice synthesis processing step of performing voice synthesis using the text data obtained by the processing of the obtaining processing step; and a voice corresponding to the text data based on the voice data obtained as a result of the voice synthesis by the voice synthesis processing step. Instruction processing step of instructing the robot to output a keyword, a detection processing step of detecting a predetermined keyword included in the text data, and causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step. For generating a control script for generating a control script, a calculation processing step for calculating a timing for transmitting the control script generated by the generation processing step, and when the timing calculated by the calculation processing step is reached, the control script is transferred to the robot. Transmission processing to send to Tsu, characterized in that it comprises a flop.

The program recorded on the second recording medium of the present invention includes an acquisition control step for controlling acquisition of text data, and speech synthesis using the text data acquired by the processing of the acquisition control step. A voice synthesis processing step to be performed; an instruction processing step of instructing the robot to output a voice corresponding to the text data based on the voice data obtained as a result of the voice synthesis by the voice synthesis processing step; And a generation processing step for generating a control script for causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step. Calculation to calculate the timing of sending the specified control script And management step, when it becomes the calculated timing by calculating process step, characterized in that it comprises a transmission control step of controlling to transmit a control script to the robot.

A second program according to the present invention is obtained by an acquisition control step of controlling a computer that controls an information processing device that manages an actual robot to acquire text data, and an acquisition control step. Instructing the robot to output a voice corresponding to the text data based on the voice synthesis processing step of performing voice synthesis using the text data and the voice data obtained as a result of the voice synthesis by the voice synthesis processing step. An instruction processing step, a detection processing step of detecting a predetermined keyword included in text data, and a generation processing of generating a control script for causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step Step and the control screen generated by the generation processing step. And a transmission control step of controlling transmission of the control script to the robot when the timing calculated by the calculation processing step is reached. I do.

According to a third information processing apparatus of the present invention, there are provided an acquiring unit for acquiring text data, a speech synthesizing unit for performing speech synthesis using the text data acquired by the acquiring unit, and a predetermined synthesizing unit included in the text data. Detecting means for detecting the keyword of the above, and selecting means for selecting the behavior of the robot corresponding to the keyword detected by the detecting means,
A reproducing means for reproducing the voice data obtained as a result of the voice synthesis by the voice synthesizing means, and a robot taking an action selected by the selecting means in accordance with the voice output of the keyword by the reproducing means. Control means for controlling behavior.

The apparatus further comprises calculating means for calculating the audio output time of each word constituting the text data, wherein the obtaining means obtains a predetermined unit of text data, and the detecting means detects a plurality of keywords from the unit text data. In this case, the selection unit can select the action corresponding to the keyword having the longer voice output time as the action of the robot based on the calculation result by the calculation unit.

It is possible to further include a registration unit for newly registering a keyword in association with an action.

[0024] The obtaining means may obtain the text data from the electronic mail transmitted to the information processing apparatus.

According to a third information processing method of the information processing apparatus of the present invention, an acquisition processing step of acquiring text data;
Speech synthesis processing step of performing speech synthesis using the text data acquired by the processing of the acquisition processing step, detection processing step of detecting a predetermined keyword included in the text data, and detection processing of the detection processing step A selection processing step for selecting a robot action corresponding to the keyword; a reproduction processing step for reproducing the voice data obtained as a result of the voice synthesis by the voice synthesis processing step; and a speech output by the processing in the reproduction processing step And a control processing step of controlling the behavior of the robot such that the robot takes the behavior selected by the processing of the selection processing step.

The program recorded on the third recording medium according to the present invention comprises: an acquisition control processing step for controlling acquisition of text data; and a voice using the text data acquired by the processing of the acquisition control processing step. A speech synthesis processing step of performing synthesis, a detection processing step of detecting a predetermined keyword included in the text data,
A selection processing step for selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step; and a reproduction control for controlling reproduction of voice data obtained as a result of voice synthesis by the processing of the voice synthesis processing step. And a control processing step of controlling the behavior of the robot such that the robot takes the action selected by the processing of the selection processing step in accordance with the output of the keyword by the processing of the reproduction control processing step. It is characterized by including.

A third program according to the present invention comprises an acquisition control processing step for controlling acquisition of text data, and a speech synthesis processing step for performing speech synthesis using the text data acquired by the processing of the acquisition control processing step. And a detection processing step of detecting a predetermined keyword included in the text data; a selection processing step of selecting a robot action corresponding to the keyword detected by the processing of the detection processing step; and a speech synthesis processing step And a reproduction control processing step for controlling reproduction of the voice data obtained as a result of the voice synthesis performed by the CPU. Control processing that controls the behavior of the robot so that the robot takes the action Characterized in that it comprises a step.

A first information processing apparatus and method according to the present invention,
In the recording medium and the program, text data is obtained, speech synthesis is performed using the obtained text data, and a predetermined keyword included in the text data is detected. Also, the action of the robot corresponding to the detected keyword is selected, and the robot performs the selected action in accordance with outputting the keyword based on the voice data obtained as a result of the voice synthesis. Is generated.

A second information processing apparatus and method according to the present invention,
In the recording medium and the program, text data is obtained, voice synthesis is performed using the obtained text data, and a voice corresponding to the text data is output based on the voice data obtained as a result of the voice synthesis. Is instructed to the robot. Further, a predetermined keyword included in the text data is detected, a control script for causing the robot to execute an action corresponding to the detected keyword is generated, and a timing for transmitting the generated control script is calculated. Then, when the calculated timing comes, the control script is transmitted to the robot.

A third information processing apparatus and method according to the present invention,
In the recording medium and the program, text data is obtained, speech synthesis is performed using the obtained text data, and a predetermined keyword included in the text data is detected. Also, the robot action corresponding to the detected keyword is selected, the voice data obtained as a result of the voice synthesis is reproduced, and the robot takes the selected action in accordance with the output of the keyword as voice. Then, the behavior of the robot is controlled.

[0031]

FIG. 1 is a diagram showing a configuration example of a robot control system to which the present invention is applied.

The personal computer 1 has a display unit 2
The virtual robot 11 displayed on the screen or the real robot 31 existing near the personal computer 1
In addition, a robot control program that causes a received robot to read out a received e-mail, and cause any of the robots to perform a predetermined motion in accordance with the content and the timing of voice output is stored.

The virtual robot 11 is a virtual robot similar to the real robot 31, and performs various actions in response to an input from a user. A robot that performs actions.

The real robot 31 is, for example, a pet-type robot as shown in the figure, which can learn or grow by receiving a stimulus from the outside world and can perform autonomous actions by its own judgment. The detailed configuration of the real robot 31 will be described later, but hardware such as controllers and sensors necessary for the action and software incorporating emotion, instinct, learning function, growth function, and the like are provided.

Then, the user can activate the robot control program and operate the keyboard 3 to cause the virtual robot 11 or the real robot 31 to read out the e-mail delivered to the user.

The received e-mail is sent to the real robot 31
In the personal computer 1, the personal computer 1 searches for a predetermined keyword included in the text data of the e-mail, and generates a control script that causes the real robot 31 to take an action corresponding to the searched keyword. In addition, voice synthesis is performed based on the text data, and voice data in, for example, a WAV format is generated.

The generated control script and voice data are transmitted from the wireless communication unit 4 to the real robot 31. That is, similarly to the personal computer 1, the real robot 31 is also provided with a wireless communication unit.
For example, TCP / IP (Transmission Control Protocol / Inter
(net Protocol).

Then, the real robot 31 interprets and executes the control script transmitted from the personal computer 1 via radio, reads out the e-mail (reproduces voice data), and inputs the keyword included in the e-mail. Take the set action at the timing of reading out.

[0039] For example, if it contains the keyword of "Hello" in the e-mail, real robot 31
On the basis of the control script, the "Hello" at the timing of speech (output), takes a predetermined action, such as Hand Raised to the user listening to the content of the e-mail. If the keyword “Thank you” is included, the real robot 31 takes an action such as bowing at the timing of uttering “Thank you”. When reading out the e-mail, the real robot 31 is controlled to repeat opening and closing of the mouth.

Also, the virtual robot 11 performs a predetermined action in response to the keyword included in the e-mail being output from a speaker provided in the personal computer 1, similarly to the real robot 31.

As described above, not only the received e-mail is output as voice, but also the virtual robot 11 or the real robot 3 according to the included keyword.
Since the user 1 is allowed to take various actions, it becomes more interesting as an electronic mail reading terminal.

Further, attachment to the virtual robot 11 or the real robot 31 becomes more apparent.

In the above-described example, the control script and the voice data generated by the personal computer 1 are transmitted to the real robot 31 via wireless communication.
And the real robot 31 can be provided via the semiconductor memory 21 which can be detached.

When providing a control script and audio data via the semiconductor memory 21, the user attaches the semiconductor memory 21 to a predetermined drive of the personal computer 1 and transfers the generated control script and audio data to the semiconductor memory 21. Remember. Then, the user mounts the semiconductor memory 21 in which the control script and the voice data are stored in a slot provided at a predetermined position of the real robot 31, reads out the slot, and processes the slot.

As described above, the control script and the voice data can be provided to the real robot 31 by various methods. For example, such information may be transmitted by Bluetooth (registered trademark) or the like.

Next, each component of the robot control system shown in FIG. 1 will be described.

FIGS. 2 to 5 show the appearance of the personal computer 1 of FIG. The notebook personal computer 1 basically includes a main body 41 and a display section 2 which can be opened and closed with respect to the main body 41. FIG. 2 is an external perspective view showing a state where the display unit 2 is opened with respect to the main body 41. FIG. 3 is a plan view of the main body 41, and FIG. 4 is an enlarged view of the vicinity of a jog dial 42 described later provided on the main body 41. FIG. 5 is a side view of the main body 41 on the jog dial 42 side.

On the upper surface of the main body 41, a keyboard 3 operated when inputting various characters and symbols, a touch pad 4 as a pointing device operated when moving a pointer (mouse cursor), and the like.
3, and a power switch 45, and
On the side, jog dial 42, slot 46, and
IEEE (Institute of Electrical and Electronics Engin
eers) 1394 port 47 and the like are provided. Note that, instead of the touch pad 43, for example, a stick-type pointing device can be provided.

An LCD (Liquid Crystal Display) 44 on which an image or the like is displayed is provided on the front of the display unit 2. The power lamp PL, the battery lamp BL, the message lamp ML as required, and other LE
A lamp made of D is provided. The power lamp P
L, a battery lamp BL, a message lamp ML, and the like can be provided below the display unit 2.

Next, the jog dial 42 is incorporated between the keys of the keyboard 3 on the main body 41, and is mounted so as to be almost at the same height as the keys. The jog dial 42 performs a predetermined process in response to a rotation operation indicated by an arrow a in FIG. 4 and executes a process corresponding to a movement operation indicated by an arrow b. The jog dial 42
May be arranged on the left side of the main body 41, may be arranged on the left side or right side of the display unit 2 provided with the LCD 44, or may be arranged vertically between the G key and the H key of the keyboard 3. . The jog dial 42 may be arranged at the center of the front surface so that the touch pad 43 can be operated with the thumb while operating the touch pad 43 with the index finger.
3 may be arranged in the horizontal direction along the upper edge or the lower edge, or may be arranged in the vertical direction between the right button and the left button of the touch pad 43. Further, the jog dial 42 is not limited to the vertical direction or the horizontal direction, and may be arranged at a predetermined angle in an oblique direction that is easy to operate with each finger. In addition, the jog dial 42 can be arranged at a position operable with the thumb on the side of the mouse as a pointing device.

Next, FIG. 6 shows the personal computer 1.
FIG. 2 is a block diagram showing an electrical configuration of the embodiment.

The CPU (Central Processing Unit) 71 is composed of, for example, a Pentium (registered trademark) (Pentium®) processor manufactured by Intel Corporation, and is connected to the host bus 72. I have. A bridge 73 is further connected to the host bus 72. The bridge 73 is connected to an AGP (Accelerated Graphics Por).
t) Also connected to 70 and PCI bus 76. The bridge 73 is composed of, for example, 400BX manufactured by Intel Corporation, and controls the CPU 71 and the RAM 74. Further, the bridge 73 is connected to the video controller 77 via the AGP 70. The bridge 73 and the bridge 78 form a so-called chipset.

The bridge 73 further includes a RAM (Random Acce
ss Memory) 74 and a cache memory 75. The cache memory 75 caches data used by the CPU 71. In addition,
Although not shown, the CPU 71 also includes a primary cache memory.

The RAM 74 is, for example, a DRAM (Dynamic Rando).
m Access Memory), and stores a program executed by the CPU 71 and data necessary for the operation of the CPU 71. Specifically, at the time when the activation is completed, for example, the robot control program 74A, the e-mail program 74B, the jog dial state monitoring program 74C, the jog dial driver 7
4D, an operating program (OS) 74E, and other application programs 74F1 to 74Fn.
The data is transferred from the HDD 86 and stored.

The robot control program 74A is a program for controlling the virtual robot 11 and the real robot 31 displayed on the LCD 44 as described with reference to FIG. 1, and the detailed functional configuration is shown in FIG. I will explain.

The e-mail program 74B is connected to the modem 9
3 is a program for exchanging communication messages from a communication line such as a telephone line 94 via a network. The e-mail program 74B has an incoming mail acquisition function as a specific function. This incoming mail acquisition function
The mail server 96 of the Internet service provider 95 is checked whether mail addressed to the user (user) has arrived in the mailbox 97, and if there is mail addressed to the user, the processing for acquiring the mail is executed. I do.
Then, when the electronic mail program 74B obtains the electronic mail, it provides it to the robot control program 74A as necessary.

Jog dial status monitoring program 74C
Are application programs 74F1 to 74Fn
If the application program is compatible with the jog dial, an operation that can be executed by operating the jog dial 42 is displayed to the user using the user interface function of the application if the application program is compatible with the jog dial. Act to do. Jog dial status monitoring program 74
C is usually waiting for an event of the jog dial 42 and has a list for receiving a notification from the application program. Jog dial driver 74
D executes various functions in response to the operation of the jog dial 42.

The OS (Operation System (basic program software)) 74E is, for example, Microsoft Windows® 95 (Windows® 95),
Windows (registered trademark) 98 (Windows® 98),
Or Apple Computer's Mac OS ™
And the like to control the basic behavior of the computer.

The video controller 77 includes a PCI bus 76
To the bridge 7 via the AGP 70.
3 and controls the display of the LCD 44 based on data supplied via the PCI bus 76 or the AGP 70.

A sound controller 85 is connected to the PCI bus 76. The sound controller 85
An audio input from a microphone (hereinafter, referred to as a microphone) 66 is taken in, or an audio signal is supplied to a speaker 65. For example, when the user instructs the virtual robot 11 whose operation is controlled by the robot control program 74A to read out an e-mail, the sound controller 85 transmits the e-mail via the bridge 73 and the PCI bus 76. The supplied audio data is reproduced, and the synthesized sound is output from the speaker 65.

A modem 93 and a PC card slot interface 104 are also connected to the PCI bus 76.

The modem 93 can be connected to the Internet 98, a mail server 96 and the like via a public telephone line 94 and an Internet service provider 95.

When an optional function is added, a PC
The interface card 105 is appropriately mounted in the slot 46 connected to the card slot interface 104 so that data can be exchanged with an external device. For example, a drive 106 can be connected to the interface card 105, and a magnetic disk 121 inserted into the drive 106,
Optical disk 122, magneto-optical disk 123, and FIG.
Can be exchanged with the semiconductor memory 21 shown in FIG.

When providing a control script and voice data to the real robot 31, the semiconductor memory 21
As described above, the robot control program 74A
The control script and the audio data generated by are written. The semiconductor memory 21 and the magnetic disk 12
1. The drive 106 for exchanging data with the optical disk 122 and the magneto-optical disk 123 can also be connected via the USB port 103.

The wireless communication unit 4 is connected to the interface card 105. For example, the control script and audio data generated by the robot control program 74A are stored in the PCI bus 76, the PC card interface 104, and the interface card 105.
Is supplied to the wireless communication unit 4 via the real robot 3
1 is sent.

Further, a bridge 78 is also connected to the PCI bus 76. The bridge 78 is made of, for example, PIIX4E manufactured by Intel Corporation, and controls various inputs and outputs. That is, the bridge 78
IDE (Integrated Drive Electronics) Controller /
Configuration register 79, timer circuit 8
0, IDE interface 81, and USB (Universal
A device connected to the IDE bus 83, a device connected to the USB port 103, or an ISA / EIO (Industry Standa
(rd Architecture / Extended Input Output) It controls devices connected via a bus 84 and an I / O interface 87.

For example, a GPS (Global
When the antenna 102 is mounted, the USB interface 82 transmits the position data and the time data supplied from the GPS antenna 102 to the CP via the PCI bus 76, the bridge 73, and the host bus 72.
Send to U71.

The IDE controller / configuration register 79 comprises two IDE controllers, a so-called primary IDE controller and a secondary IDE controller, and a configuration register (config
uration register).

The primary IDE controller is the IDE bus 8
3 and a connector (not shown), to which the HDD 86 is connected. The secondary IDE controller can be connected to an external device via another IDE bus (not shown).

The HDD 86 has a robot control program 86A, an e-mail program 86B, a jog dial status monitoring program 86C, a jog dial driver 86D, an OS (basic program software) 86E,
A plurality of other application programs 86F1 to 86Fn, and data used by those programs are stored. The programs 86A to 86Gn stored in the HDD 86 are sequentially transferred and stored in the RAM 74 during a boot-up process.

The ISA / EIO bus 84 is further connected to an I / O interface 87. The I / O interface 87, the ROM 88, the RAM 89, and the CPU 90
They are connected to each other.

The ROM 88 stores, for example, an IEEE1394 I / F program 88A, an LED control program 88B, a touch pad input monitoring program 88C, and a key input monitoring program 8.
8D, a wake-up program 88E, and a jog dial state monitoring program 88F are stored in advance.

The IEEE1394 I / F program 88A is an IEEE1394
This is a program for inputting and outputting IEEE1394 compliant data transmitted and received via the input / output port 47. The LED control program 88B is a program for controlling lighting of a power lamp PL, a battery lamp BL, a message lamp ML as necessary, and other lamps including LEDs. The touchpad input monitoring program 88C is a program for monitoring an input by the user using the touchpad 43. The key input monitoring program 88D is a program for monitoring user input using the keyboard 3 and other key switches. The wake-up program 88E checks whether or not a preset time has come based on the current time data supplied from the timer circuit 80 in the bridge 78. When the preset time comes, the wake-up program 88E performs a predetermined process (or This is a program for managing each chip power supply in order to start the program. The jog dial state monitoring program 88F is a program for constantly monitoring the rotation or pressing of the rotary encoder of the jog dial 42.

Further, the ROM 88 has a BIOS (Basic Input / O
utput System) 88G is written. What is BIOS
Basic input / output system, which refers to OS and application programs and peripheral devices (display, keyboard,
HDD) is a software program that controls the input and output of data between HDDs.

The RAM 89 includes registers for LED control, touch pad input status, key input status, and set time, an I / O register for monitoring the status of the jog dial, IEEE1
394 I / F registers and the like are provided as registers 89A to 89F. For example, when the jog dial 42 is pressed, the LED control register controls lighting of a message lamp ML that indicates an instantaneous startup state of an e-mail. Key input status register is jog dial 4
When 2 is pressed, the operation key flag is stored. The set time register can arbitrarily set a certain time.

The keyboard 3 is connected to the I / O interface 87 via a connector (not shown).
The jog dial 42, the touch pad 43, and the IEEE1394 input / output port 47 are connected to each other. , A signal corresponding to each received operation is input and output to the ISA / EIO bus 84. Further, the I / O interface 87 transmits and receives data to and from the outside via the IEEE1394 input / output port 47. Further, the I / O interface 87 is connected to a power lamp PL, a battery lamp BL, a message lamp ML, a power control circuit 73, and other LEDs.

The power supply control circuit 91 is connected to a built-in battery 92 or an AC power supply, and supplies necessary power to each block and controls charging of the built-in battery 92 and a second battery of a peripheral device. Has been made to do. Further, the CPU 90 includes an I / O interface 87.
, The power switch 45 operated when the power is turned on or off is monitored.

The CPU 90 can always execute the IEEE 1394 I / F programs 88A to 88G by the internal power supply even when the power supply 45 is off. That is, the IEEE 1394 I / F program 88A to the BIOS 88G
Is constantly acting even when no window is open on the LCD 44 of the display unit 2. Therefore, when the power switch 45 is off, the CPU 90
Even if 4E is not activated by the CPU 71, the jog dial state monitoring program 88E is always executed, and the personal computer 1 does not need to be provided with a dedicated key.
It has a programmable power key (PPK) function. The user can activate his / her favorite software or script file simply by pressing the jog dial 42, for example, even in a power saving state or power off state. can do.

FIG. 7 is a block diagram showing a functional configuration example of the robot control program 74A. This functional configuration is
Robot control program 86 stored in HDD 86
A is realized by expanding A in the RAM 74.

When the user instructs to check for a new mail, the mail management section 131 operates in conjunction with the electronic mail program 74B to operate the personal computer 1.
E-mail sent to mailbox 9
If it is stored in 7, retrieve it.

When the mail management unit 131 obtains the electronic mail, the mail management unit 131 converts the text data in units of, for example, one line (up to a line break) into the speech synthesis unit 13.
Output to 2. When a new mail has arrived, the mail management unit 131 notifies the virtual robot control unit 137 of the arrival.

The voice synthesizing unit 132 includes a mail managing unit 131
When text data is supplied from, the voice synthesis dictionary 133 is referred to based on the text data to generate voice data in, for example, a WAV format.

That is, the speech synthesis dictionary 133 includes a word dictionary in which part-of-speech information of each word, information such as reading, accent, and the like are described, and for words described in the word dictionary, restrictions on word chains are generated. A speech information dictionary storing speech grammar rules and speech segment data as speech information is stored.

The speech synthesizer 132 performs text analysis (language analysis) such as morphological analysis and syntax analysis of the input text based on the word dictionary and the grammar rules for generation, and performs speech analysis. Extract important information. Here, the information necessary for speech synthesis includes, for example, prosody information for controlling the position of a pause, accent, intonation, power, and the like, and phonemic information representing the pronunciation of each word.

When the speech synthesis section 132 extracts information necessary for speech synthesis, the speech synthesis section 132 refers to the speech information dictionary and, based on the extracted information, converts the speech data (digital data) of the synthesized speech corresponding to the input text data. Generate.

That is, the speech synthesizing unit 132 connects necessary phoneme piece data based on various information extracted by text analysis, and further processes the waveform of the phoneme piece data to form a pause, accent, intonation. And so on, so that the synthesized speech data (synthesized sound data) corresponding to the supplied text.
Generate

The voice data and text data generated by the voice synthesizer 132 are supplied to a voice output time calculator 134 and an action selector 135.

The voice output time calculating section 134 calculates the output time of the synthesized sound of each word constituting the text data based on the voice data supplied from the voice synthesizing section 132 and outputs it to the action selecting section 135. I do.

The action selecting section 135 is used to select the action selecting dictionary 13
6, the virtual robot 11 or the real robot 31 (hereinafter, virtual robot 1) included in the text data supplied from the voice synthesis unit 132.
1 and the real robot 31 do not need to be individually distinguished, they are collectively referred to as a robot).
A search is made for a word (keyword) that specifies an action that can be executed in accordance with the utterance of the keyword.

That is, the action selection dictionary 136 contains, for example, words generally used in electronic mail,
In addition, a plurality of types of words that can be expressed by the robot in action are registered in advance. In such a word, for example, "Good morning", "Hello", "Goodbye"
There are greetings such as "Sleep" and "dance" and other actions (poses) that can be made possible by the robot.

When the text data supplied from the speech synthesizer 132 includes such a keyword, the action selector 135 selects an action corresponding to the keyword, and selects an action corresponding to the keyword. The virtual robot control unit 1 uses the identification information and the information on the timing of taking an action (period of taking an action) determined based on the calculation result by the voice output time calculation unit 134 as action information.
37 or the real robot script generation unit 138.

The virtual robot control unit 137 normally operates according to the control program and user input.
The behavior of the virtual robot 11 is controlled, and the display of the virtual robot 11 on the LCD 44 is controlled. Also,
The virtual robot control unit 137 generates, for example, an image in which the virtual robot 11 reads an e-mail.
The sound is output from the speaker 65 in accordance with the display on the LCD 44.

The virtual robot controller 137
Responds to the notification from the mail management unit 131 that there is a new mail, for example, the real robot 31
Causes the LCD 44 to display an image as if the user received a letter (mail).

Real robot script generator 138
Reads the action script for controlling the action of the real robot 31 from the script storage unit 139 based on the action information supplied from the action selection unit 135. That is, the script storage unit 139 stores a correspondence table between the action selected by the action selection unit 135 and an action script for executing the action.

FIG. 8 is a diagram showing an example of correspondence between actions (keywords) stored in the script storage unit 139 and action scripts.

[0096] As shown in the figure, for example, corresponds to the "Hello" as the keyword "PLAY: ACTION: Hello"
Is stored, and "PLAY: ACTION: SLEEP" is stored corresponding to "Good night".

The script storage unit 139 stores “PLAY: ACTION: Da” corresponding to “dance” as a keyword.
nce "is stored, and by executing this behavior script, the real robot 31
The dance is performed along with the sound output of "dance".

Further, as shown in the fourth line from the top of the figure,
“PLAY: ACTION: BYE: 1000” is stored corresponding to “Goodbye”. “1000” included at the end of the action script indicates a time for which the real robot 31 keeps taking an action such as “shaking hand” corresponding to “good-bye”, and the unit is msec. Therefore, when this action script is executed, the real robot 31
Takes an action such as "waving sideways" for "one second" in time with the utterance of "good-bye". Note that the action time is changed and described based on the calculation result of the audio output time calculation unit 134.

In addition, the script storage unit 139 stores
As long as the real robot 31 repeats opening and closing of the mouth only during the period of reading out sentences that do not include the keyword,
An action script such as "PLAY: ACTION: mouthACT: 2000" is stored. Therefore, by executing this action script, the real robot 31 is controlled so as to repeat opening and closing of the mouth in synchronism with outputting a sentence containing no keyword. Therefore, it is as if the real robot 31 is reading out the e-mail.

Real robot script generator 138
Inserts the action script acquired from the script storage unit 139 into a predetermined position of a prepared control script template to generate a control script. The real robot script generation unit 138 outputs the generated control script and the audio data supplied from the action selection unit 135 to the script transmission unit 140 or the semiconductor memory management unit 141.

The script transmitting section 140 is connected to the wireless communication section 4
And transmits the control script and the voice data supplied from the real robot script generation unit 138 to the real robot 31.

The semiconductor memory management section 141 has a drive 1
06, the real robot script generation unit 138
The control script and the voice data supplied from are written into the semiconductor memory 21 and provided to the real robot 31.

Next, the configuration of the real robot 31 will be described.

FIG. 9 is a perspective view showing an example of the external configuration of the real robot 31, and FIG. 10 is a block diagram showing an example of the internal configuration.

As shown in FIG. 9, the real robot 31
Is a four-legged animal-type robot. Leg unit 1 at the front, back, left and right of body unit 151
52A, 152B, 152C, and 152D are connected, and a head unit 153 and a tail unit 154 are connected to a front end and a rear end of the body unit 151, respectively.

It should be noted that a back sensor 151A is provided on the upper surface of the body unit 151, and a head sensor 153A is provided above the head unit 153 and a jaw sensor 1 is provided below the head unit 153.
53B are provided respectively.

The tail unit 154 is drawn so as to be swingable in the horizontal and vertical directions.

[0108] As shown in FIG.
1 stores a controller 161. The controller 161 basically includes a CPU 161A that controls the entire operation of the controller 161 and a memory 1 that stores a program used by the CPU 161A to control each unit.
61B are arranged.

The body unit 151 stores a communication unit 162 for communicating with the wireless communication unit 4 of the personal computer 1 based on TCP / IP. As a result, it is possible to acquire the control script and the audio data generated by the personal computer 1 and transmitted via wireless communication.

Further, a semiconductor memory controller 163 is provided in the body unit 151, and the semiconductor memory controller 163 controls the semiconductor memory 21 mounted in a predetermined slot to read and write data. For example,
In the personal computer 1, the semiconductor memory 21
The control script for the real robot 31 and the voice data written in are written by the semiconductor memory control unit 163 and supplied to the controller 161.

When a pressure from the user is detected by the back sensor 151A, a pressure detection signal is output to the controller 161.

The body unit 151 stores, for example, a battery (not shown) serving as a power source of the real robot 31 in addition to the controller 161, the communication unit 162, and the semiconductor memory control unit 163.

As shown in FIG. 10, the head unit 153
A microphone 171 corresponding to an “ear” for sensing sound, a CCD (Charge Coupled Device) 172 corresponding to an “eye” for sensing light, as a sensor for sensing an external stimulus;
And a head sensor 153A and a jaw sensor 153B corresponding to a tactile sensation for sensing pressure or the like caused by touching the user.
Are provided at predetermined positions, respectively. In the head unit 153, a speaker 173 corresponding to the “mouth” of the real robot 31 is installed at a predetermined position.

The joints of the leg units 152A to 152D, the connection of the leg units 152A to 152D and the body unit 151, the connection of the head unit 153 and the body unit 151, and the tail unit 154 An actuator is installed at a connection portion of the body unit 151 and the like. The actuator operates each unit based on an instruction from the controller 161.

Microphone 1 installed in head unit 153
The 71 collects surrounding sounds (sounds) including utterances from the user, and outputs the obtained sound signals to the controller 161. The CCD 172 captures an image of the surrounding situation and outputs an obtained image signal to the controller 161. Head sensor 1
53A is provided, for example, on the upper part of the head unit 153, detects a pressure received by a physical action such as “stroke” or “hit” from the user, and uses the detection result as a pressure detection signal as a pressure detection signal. Output to The jaw sensor 153B is provided at a lower portion of the head unit 153 (when the real robot 31 is an animal, the jaw portion), and similarly to the head sensor 153A, detects the pressure from the user and outputs the detection result. Controller 16
Output to 1.

The controller 161 includes a microphone 171 and a CC
Based on the audio signal, the image signal, and the pressure detection signal provided from D172, the back sensor 151A, the head sensor 153A, and the jaw sensor 153B, it is determined whether there is a surrounding situation, a command from the user, a user's action, or the like. ,
Based on the result of the determination, the action to be taken next by the real robot 31 is determined. Then, the controller 161 drives the necessary actuator based on the determination,
Thereby, the head unit 153 can be swung up and down, left and right, the tail unit 154 can be moved, and the leg units 152A to 152D are driven, thereby real robot 31
Take actions such as walking.

The controller 161 executes a control script provided from the personal computer 1 wirelessly or via the semiconductor memory 21, and performs an action specified by the user.

Further, for example, the controller 161
A synthetic sound is generated based on audio data provided from the personal computer 1 wirelessly or via the semiconductor memory 21 and output to the speaker 173. The speaker 173 is provided, for example, at a portion corresponding to the mouth of the head unit 153 of the real robot 31. By outputting a synthetic sound while opening and closing the mouth, for example, the real robot 31 reads out an e-mail. It becomes such a state.

In addition, the controller 161 performs processing such as turning on / off or blinking an LED (not shown) provided at the position of the “eye” of the real robot 31.

As described above, the real robot 31
Takes an autonomous action based on the surrounding situation and the user who comes in contact.

FIG. 11 shows an example of a functional configuration of the controller 161 shown in FIG. Note that the functional configuration illustrated in FIG. 11 is realized by the CPU 161A executing a control program stored in the memory 161B.

Sensor input processing unit 1 of controller 161
81 is based on a pressure detection signal, a voice signal, an image signal, and the like provided from the back sensor 151A, the head sensor 153A, the jaw sensor 153B, the microphone 171, the CCD 172, and the like, and a specific external state or a specific user. In response, the user recognizes an instruction from the user or the like, and notifies the model storage unit 182 and the action determination mechanism unit 183 of state recognition information indicating the recognition result.

That is, the sensor input processing section 181 has a pressure processing section 181A, a voice recognition section 181B, and an image processing section 181C.

The pressure processing section 181A includes a back sensor 151
A, processes the pressure detection signal given from the head sensor 153A or the jaw sensor 153B. Then, as a result of the processing, when the pressure processing unit 181A detects a pressure that is equal to or more than a predetermined threshold value and is short-time, the pressure processing unit 181A recognizes “hit”, is less than the predetermined threshold value, and When long-term pressure is detected, "stroke"
Then, the recognition result is notified to the model storage unit 182, the action determination mechanism unit 183, and the script execution unit 187 as state recognition information.

[0125] The voice recognition section 181B performs voice recognition on a voice signal given from the microphone 171. And
The voice recognition unit 181B receives, as state recognition information, commands such as “walk”, “down”, “follow the ball”, and the like as model recognition unit 1 as state recognition information.
82 and the action determination mechanism unit 183.

The image processing section 181C performs an image recognition process using an image signal given from the CCD 172. Then, the image processing unit 181C, as a result of the processing, for example,
When detecting a "red round object" or "a plane perpendicular to the ground and at a predetermined height or more", image recognition results such as "there is a ball" or "there is a wall" are sent to the state recognition information. To the model storage unit 182 and the action determination mechanism unit 183.

The model storage unit 182 stores the emotions of the robot,
Instinct, emotional model expressing the state of growth, instinct model,
Each growth model is stored and managed.

Here, the emotion model indicates the state (degree) of emotions such as "joy,""sadness,""anger,""fun," for example, in a predetermined range (for example, -1.0). To 1.0, etc.), and based on state recognition information from the sensor input processing unit 181 and the passage of time, etc.
Change its value.

The instinct model is, for example, the state (degree) of desire by instinct such as “appetite”, “sleep desire”, and “exercise desire”.
Is represented by a value in a predetermined range, and the value is changed based on the state recognition information from the sensor input processing unit 181 or the passage of time.

The growth model represents, for example, the growth state (degree) such as “childhood”, “adolescence”, “maturity”, “elderly”, etc., by a value in a predetermined range. The value is changed based on the state recognition information from the unit 181 or the passage of time.

The model storage unit 182 sends the emotion, instinct, and growth state represented by the values of the emotion model, instinct model, and growth model as described above to the action determination mechanism unit 183 as state information.

The model storage unit 182 is supplied with the state recognition information from the sensor input processing unit 181, and the current or past behavior of the real robot 31, specifically, from the behavior determination mechanism unit 183. For example, behavior information indicating the content of the behavior such as “walking for a long time” is supplied, and even if the same state recognition information is given, the model storage unit 182 stores the real robot indicated by the behavior information. 3
Different state information is generated according to one action.

For example, when the real robot 31 greets the user and strokes the user's head, the behavior information that the user greets the user and the state recognition information that the user strokes the head are represented by the model. This is provided to the storage unit 182, and in this case, the model storage unit 182 increases the value of the emotion model representing “joy”.

The action determining mechanism 183 determines the next action based on the state recognition information from the sensor input processing section 181, the state information from the model storage section 182, the passage of time, and the like. The content is output to the posture transition mechanism unit 184 as action command information.

That is, the action determining mechanism 183 sets the action that the real robot 31 can take as a state (state).
Finite automaton corresponding to the real robot 31
Is managed as a behavior model that defines the behavior of Then, the behavior determining mechanism unit 183 stores the state in the finite automaton as the behavior model, the state recognition information from the sensor input processing unit 181, the value of the emotion model, the instinct model, or the growth model in the model storage unit 182, and the time. A transition is made based on progress or the like, and an action corresponding to the state after the transition is determined as an action to be taken next.

Here, upon detecting that a predetermined trigger has occurred, the action determining mechanism 183 changes the state. That is, for example, when the time during which the action corresponding to the current state is being executed reaches a predetermined time, or when specific state recognition information is received, the action determination mechanism unit 183 is supplied from the model storage unit 182. The state is changed when the value of the emotion, instinct, or growth state indicated by the state information is equal to or less than a predetermined threshold.

As described above, the action determining mechanism unit 183 includes not only the state recognition information from the sensor input processing unit 181 but also the emotion model in the model storage unit 182,
Since the states in the behavior model are transited based on the values of the instinct model and the growth model, even if the same state recognition information is input, the emotion model, the instinct model,
Depending on the value (state information) of the growth model, the state transition destination is different.

As a result, for example, when the state information indicates “not angry” and “not hungry”, the action determining mechanism 183 sets the state recognition information to “eye”. When the palm has been presented before, the action command information for taking the action of "hand" is generated in accordance with the palm being presented in front of the eyes, It is sent to the posture transition mechanism 184.

The action determining mechanism 183 is, for example,
When the status information indicates that "the user is not angry" and "is hungry", and the status recognition information indicates that "the palm is in front of the eyes" In response to the palm being presented in front of the user, action command information for causing the user to perform an action such as “palm licking the palm” is generated and transmitted to the posture transition mechanism unit 184.

The action determining mechanism 183 stores, as a parameter of the action corresponding to the transition destination state, based on the emotion, instinct, and growth state indicated by the state information supplied from the model storage section 182. For example, walking speed,
The magnitude and speed of the movement when moving the limb can be determined. In this case, action command information including those parameters is sent to the posture transition mechanism unit 184.

In addition, as described above, the action determining mechanism 183 generates action command information for causing the real robot 31 to speak, in addition to action command information for operating the head, limbs, and the like of the real robot 31. . Then, the action command information to cause the real robot 31 to speak is
6 is supplied.

The posture transition mechanism unit 184 is for changing the posture of the real robot 31 from the current posture to the next posture based on the behavior command information supplied from the behavior determination mechanism unit 183 or the script execution unit 187. Is generated and sent to the control mechanism unit 185.

Here, the posture that can be changed next from the current posture is, for example, the physical shape of the real robot 31 such as the shape and weight of the body, hands and feet, and the connection state of each part, and the joint is bent. It is determined by the mechanism of the actuator, such as direction and angle.

As the next posture, there are a posture that can directly transition from the current posture and a posture that cannot directly transition. For example, the four-legged real robot 31 can directly transition from a state in which a limb is thrown out and lying down to a prone state, but cannot directly transition to a standing state. It is necessary to perform a two-step operation in which the robot is pulled down near the torso to be in a prone position, and then stands up. There are also postures that cannot be safely executed. For example, a four-legged real robot 31
If you try to banzai with your forefoot from your standing position, you will fall easily.

For this reason, the posture transition mechanism unit 184 pre-registers the posture to which the direct transition can be made, and the behavior command information supplied from the behavior determination mechanism unit 183 or the script execution unit 187 converts the posture command to the directly translatable posture. Is transmitted, the action command information is sent to the control mechanism unit 185.

On the other hand, when the action command information indicates a posture that cannot be directly changed, the posture change mechanism 184 temporarily changes to another changeable posture and then changes the posture to the target posture. The transition information is generated and the control mechanism unit 185 is generated.
To send to. As a result, it is possible to avoid a situation in which the robot forcibly executes an untransitionable posture or a situation in which the robot falls.

The control mechanism 185 includes the attitude transition mechanism 18
A control signal for driving the actuator is generated in accordance with the posture transition information from No. 4, and the control signal is sent to the actuator of each unit.

The voice synthesizing section 186 is provided with the action determining mechanism section 18.
Based on the action command information supplied from the personal computer 1, the voice synthesizer 132 performs voice synthesis, reproduces the obtained voice data, and outputs the synthesized voice from the speaker 173. That is, the speech synthesis unit 186 generates a word dictionary in which part-of-speech information of each word, information such as reading, accent, and the like are described, grammatical rules for generation such as restrictions on word concatenation for words described in the word dictionary, It has a speech information dictionary in which phoneme segment data as information is stored, and generates a synthesized speech by referring to such information.

The voice synthesizing unit 186 reproduces the voice data supplied from the script execution unit 187 and outputs the voice data from the speaker 173.

The script execution unit 187 is transmitted from the personal computer 1 via radio,
, Or the control script provided via the semiconductor memory 21 and read by the semiconductor memory control unit 163, and is interpreted and executed. Then, the script execution unit 187 outputs action command information to the posture transition mechanism unit 184 so that the real robot 31 takes an action included in the control script and specified by the action script.

The script execution unit 187 outputs voice data generated from the text data of the electronic mail and provided from the personal computer 1 together with the control script to the voice synthesis unit 186.

With the above-described configuration, for example, the voice data corresponding to the voice of “good-bye” from the personal computer 1 and the “good-bye” as the keyword
When a control script instructing execution of an action (for example, waving hand) corresponding to is transmitted, the script execution unit 187 executes the control script,
The voice data of “goodbye” is supplied to the voice synthesizing unit 186, and action command information for making a transition to an operation of “shaking hand” is output to the posture transition mechanism unit 184.

The timing at which the audio data is reproduced in the audio synthesizing section 186 and the attitude transition mechanism section 184
Is synchronized with the timing of controlling the control mechanism unit 185, and at the same time, an action such as "shaking hand" is output when "good-bye" is output from the speaker 173.

Next, referring to FIGS. 12 to 14, FIG.
A display example of the virtual robot 11 whose behavior is controlled by the virtual robot control unit 137 will be described.

In response to the activation of the robot control program 74A, for example, a substantially circular virtual robot display window 201 as shown in FIG.
Will be displayed. Virtual robot display window 20
A virtual robot display unit 202 is arranged substantially at the center of the device 1, and the virtual robot 11 is displayed therein.

The virtual robot 11 has an appearance similar to that of the real robot 31 described above, and performs various autonomous actions in the virtual robot display unit 202, similarly to the real robot 31. .

In the virtual robot display window 201, various display units, operation buttons operated by the user, and the like are arranged.

For example, a voice recognition state display unit 203 is provided at the upper right of the virtual robot display window 201. When the user is talking to the virtual robot 11 from the microphone 66, the voice recognition state display unit 203 blinks a predetermined color to display that the virtual robot 11 is listening to the call.

A close button 204 operated when closing the virtual robot display window 201 is displayed at the upper right of the virtual robot display window 201 (left side of the voice recognition state display unit 203).

[0160] Various operation buttons are arranged on the right side of the virtual robot display window 201.
The operation buttons include, for example, a minimize button 205 operated when the virtual robot display window 201 is minimized, a virtual robot display window 201
, A display setting button 206 that is operated to display the playlist of a song in conjunction with other music data management software, and a virtual robot 11 that is stroked. There are a communicator display button 208 which is operated when displaying a communicator window for performing various sensor inputs such as a flick, and a setting button 209 which is operated when performing various settings of the virtual robot 11.

FIGS. 13 and 14 are views showing other display examples of the virtual robot 11. FIG.

For example, the virtual robot controller 137
When a synthetic sound of text data containing no keyword is output, the virtual robot display unit 2
02, as shown in FIG. 13, the opening and closing of the mouth is repeated,
The virtual robot 11 reading out the e-mail is displayed.

The virtual robot controller 137
However, for example, when outputting a synthesized sound of “surprised”, an action corresponding to “surprised” is selected as described above, and the virtual robot display unit 202 blinks eyes as shown in FIG. The virtual robot 11 is displayed.

As described above, the virtual robot 11 performing various actions according to the output words is displayed on the LCD 44.

Next, the operation of the robot control system of FIG. 1 will be described with reference to a flowchart.

First, referring to the flowcharts of FIGS. 15 and 16, the robot control program 74A
An e-mail reading process by the virtual robot 11 will be described.

In step S1, the mail management unit 13
The electronic mail program 74B is connected to the electronic mail program 74B in response to an instruction from the user to check for new mail, or when it is set to check at predetermined time intervals. Interlock,
The mail server 96 is accessed to check for a new mail sent to the personal computer 1.

Then, in step S2, mail management section 131 determines whether or not there is a new mail, and if it is determined that there is no new mail, returns to step S1 and repeatedly executes the processing thereafter.

On the other hand, the mail management unit 131 determines in step S
If it is determined in step 2 that there is a new mail, the virtual robot control unit 137 is notified that there is a new mail, and the process proceeds to step S3.

In step S3, the virtual robot controller 137 displays an animation such that the virtual robot 11 receives a new mail.

FIGS. 17 and 18 are diagrams showing an example of an animation when the virtual robot 11 receives a new mail.

The virtual robot control unit 137 responds to the notification that there is a new mail by, for example,
An image is displayed in which a letter (envelope) 11A falls from above in the virtual robot display unit 202.

Next, as shown in FIG. 17, the virtual robot controller 137 sends the
An image is displayed such that the virtual robot 11 jumps and catches 1A with the mouth.

FIG. 18 shows the virtual robot 1 jumping and catching the letter 11A as shown in FIG.
FIG. 1 is a diagram showing a state where the robot 1 has landed on the ground in the virtual robot display unit 202.

Returning to the description of FIG. 15, in step S4, the mail management unit 131
The text data included in the e-mail is acquired from B, and is output to the speech synthesis unit 132 in units of, for example, one line of the text data (up to a line-break portion).

FIG. 19 is a diagram showing an example of text data acquired by the mail management unit 131.

In the text data shown in FIG.
Is the first line is "Hello", "when the sunny, in the planned park" second line is, the third line is "do the dance competition." It is, the fourth line is "thank you And the fifth line is "Goodbye."

Then, for example, when the text data as shown in FIG. 19 is obtained and no text data is output as voice yet, the mail management unit 131 determines in step S4 that the first line the text data only extracts of the "Hello", and outputs it to the speech synthesis unit 132.

In step S5, the speech synthesizing unit 132 synthesizes speech with reference to the speech synthesizing dictionary 133 based on the text data supplied from the mail management unit 131.

More specifically, as described above, the speech synthesis dictionary 133 includes a word dictionary in which part-of-speech information of each word, information such as reading, accent, and the like are described, and a grammar for generation of constraints on word chains and the like. Since the rules are stored, the speech synthesis unit 132 refers to the various types of information, performs text analysis, and extracts information necessary for speech synthesis.

The speech synthesizing unit 132 refers to the speech information dictionary stored in the speech synthesis dictionary 133 in which the speech segment data is stored, and based on various information extracted by text analysis, necessary Connect phoneme data,
Furthermore, by processing the waveform of the phoneme data,
Pause, accent, intonation, etc. are appropriately added, and speech data of a synthesized sound corresponding to the supplied one-line text data is generated.

Further, the speech synthesizing unit 132 determines in step S5
In addition to the text data supplied from the mail management unit 131, the voice data acquired by voice synthesis is output to the voice output time calculation unit 134 and the action selection unit 13.
5 is output.

[0183] As described above, if the first line of the text data of FIG. 19 is supplied from the mail management unit 131, from the speech synthesis unit 132, the text data "Hello", the audio data is audio output Time calculation unit 13
4 and the action selection unit 135.

In step S6, the audio output time calculation section 134 calculates the time required for outputting the synthesized sound based on the audio data supplied from the audio synthesis section 132. Information about the output time calculated by the audio output time calculation unit 134 is output to the action selection unit 135.

In step S7, the action selection section 135 refers to the action selection dictionary 136 to search for keywords (words specifying actions that can be executed by the virtual robot 11) in the text data. As described above, a plurality of keywords are registered in the action selection dictionary 136 in advance.

[0186] Then, the action selecting section 135 determines in step S
In 8, it is determined whether or not the keyword is included in the text data supplied from the speech synthesis unit 132. If it is determined that the keyword is not included, the process proceeds to step S9.

At step S9, the action selecting section 135
Selects that the virtual robot 11 repeats the opening and closing of the mouth only during the period of reading out the e-mail (the period of outputting the synthesized sound from the speaker 65).

In step S10, the action selecting unit 135 supplies the information for identifying the selected action and the information on the timing (period) at which the virtual robot 11 takes that action as the action information, The data is output to the virtual robot controller 137 together with the data.

Therefore, for example, of the text data shown in FIG.
32, the action selecting unit 135 determines in step S8 that the keyword is not included, and in step S9, outputs the voice of "If sunny, in the park as scheduled". “Repeat opening and closing of mouth” is selected as the action of the corresponding virtual robot 11.

From the action selecting section 135, information designating “opening and closing the mouth” as the action and a period during which the “opening and closing of the mouth” is repeated (a period of outputting the sound of “when sunny, at the park as scheduled”) Is output to the virtual robot control unit 137 as action information.

In step S11, the virtual robot control section 137 outputs a sound from the speaker 65 based on the information supplied from the action selection section 135,
And the action (image) of the virtual robot 11 is controlled.

Thus, for example, when the text data in the second line in FIG. 19 is supplied from the mail management unit 131, the virtual robot 11 that repeatedly opens and closes the mouth as shown in FIG. 13 is displayed. Then, the voice of “If sunny, at the park as scheduled” is output from the speaker 65.

In step S12, it is determined whether or not the reading of the last one line has been completed.
Until the reading of the line ends, the process returns to step S4, and the subsequent processing is repeatedly executed.

On the other hand, in step S8, when the action selecting section 135 determines that the text data supplied from the speech synthesizing section 132 contains a keyword, the action selecting section 135 proceeds to step S13, in which a plurality of keywords are included in one line. It is determined whether or not the keyword is included.

If the action selecting unit 135 determines in step S13 that a plurality of keywords are not included (one keyword is included), the process proceeds to step S1.
Proceed to 4 and select to take an action corresponding to the included keyword.

Then, the flow advances to step S10 to execute the subsequent processing.

Therefore, for example, when the text data on the first line in FIG.
The action selection unit 135 determines in step S8 that a keyword is included, and determines in step S13 that a plurality of keywords is not included. Action selector 1
35, in step S14, select the action virtual robot 11 takes the act corresponding to the "Hello" as a keyword 1, in step S10, the action information indicating to take action corresponding to the "Hello", Virtual robot controller 1 with voice data
37.

[0198] Then, in step S11, the virtual robot controller 137, a virtual robot 11 to take action that corresponds to the "Hello" is displayed,
Accordingly, the synthesized sound of "Hello" is output from the speaker 65.

[0199] FIG. 20 is, for example, illustrates an exemplary display of a virtual robot 11, which is taking the action corresponding to "Hello".

For example, as shown in FIG. 20, the virtual robot 11 raising both hands is displayed on the virtual robot display section 202. In addition, according to this operation,
Voice of "Hello" is output from the speaker 65.

On the other hand, if it is determined in step S13 that a plurality of keywords are included, the action selecting section 135
Proceeds to step S15, where the audio output time calculation unit 134
Based on the output from, the action corresponding to the keyword whose reading time is longer is selected.

For example, in the text data shown in FIG. 19, if the third and fourth lines of text data are described on the same line, the action selecting unit 135 sets the keyword 3
Choose to take action corresponding to "Thank you."

Of course, the action whose output time is shorter may be selected, or the action corresponding to each keyword may be selected according to the timing of outputting each keyword by voice. .

[0204] As the processing described above is repeatedly executed, for example, when the text data as shown in FIG. 19 is obtained as new mail, the keyword 1 included in the first line "Hello" speaker In response to the voice output from 65, the virtual robot 11 as shown in FIG. 20 is displayed, and in accordance with the voice output of “If it is sunny, at the park as scheduled” in the second line, A virtual robot 11 that repeats opening and closing the mouth as shown in FIG. 13 is displayed.

In addition to the voice output of “dance” of keyword 2 included in the third line, a virtual robot 11 performing a dance as shown in FIG. 21 is displayed. When the part other than Keyword 2 on the third line ("Contest is held") is output as voice,
A virtual robot 11 that repeatedly opens and closes the mouth as shown in FIG. 13 is displayed.

Further, at the timing when the word "Thank you," of the keyword 3 included in the fourth line is output as a voice, the virtual robot 11 bowing as shown in FIG. 22 is displayed, and the fifth line is displayed. The virtual robot 11 waving, as shown in FIG. 23, is displayed at the timing when “Goodbye” of the keyword 4 included in the keyword is output as voice.

As described above, since the virtual robot 11 is reading out the e-mail while taking various actions in accordance with the included keywords, it becomes more interesting.

Next, the process of instructing the real robot 31 to read an e-mail to the real robot 31 by the robot control program 74A will be described with reference to the flowcharts of FIGS. 24 and 25. This process is a process when the control script is provided to the real robot 31 via wireless.

[0209] Until the action selecting unit 135 selects an action based on the input text data, the process proceeds to step S
The processes from 31 to S38 are the same as those shown in FIGS.
The processing is basically the same as the processing of steps S1 to S8 described with reference to FIG. Further, the processing in steps S45 to S47 in FIG. 25 is the same as the processing in steps S13 to S15 in FIG.

That is, when there is a new mail, in step S33, for example, one line of text data is supplied to the voice synthesizing unit 132, and in step S34, voice is synthesized based on the line. Then, the voice data generated by the voice synthesis and the text data are stored in step S3.
At 4, the audio data is supplied to the audio time calculation section 134 and the action selection section 135. At step S35, the reproduction time of the audio data is calculated, and the calculation result is supplied to the action selection section 135.
In step S36, the action selection unit 135 searches for a keyword in the text data, and in step S37,
If it is determined that no keyword is included, the process proceeds to step S38.

[0211] In step S38, the action selection unit 135 selects to repeat opening and closing of the mouth in accordance with the output during a period in which the voice data is being output by the real robot 31 (a period in which the voice is being read out). .

[0212] In step S39, the action selecting section 135 uses the information for identifying the selected action and the information (timing) during which the real robot 31 takes an action as action information to generate a real robot script together with voice data. Output to the unit 138.

[0213] In step S40, the real robot script generation unit 138 uses the script storage unit 13 based on the behavior information supplied from the behavior selection unit 135.
9 to obtain an action script.

For example, the text data shown in FIG. 19 has been acquired by the mail management unit 131, and one line of text data not including a keyword, as shown in the second line, is supplied from the mail management unit 131. If
Based on the instruction from the action selection unit 135, the real robot script generation unit 138 may output, for example, “PLAY: ACTION:
An action script such as “mouthACT” as shown in FIG. 8 is acquired from the script storage unit 139. Then, the real robot script generation unit 138 includes the action selection unit 135
In the last part of the action script, the time at which the action is repeated is described so that the real robot 31 repeatedly opens and closes the mouth based on the information on the timing and the period of the action supplied from.

Therefore, if the output time of the synthesized sound of “when sunny, at the park as scheduled” in FIG. 19 is, for example, 3 seconds, an action script such as “PLAY: ACTION: mouthACT: 3000” is obtained. Is done.

In step S41, the real robot script generation section 138 inserts the action script acquired in step S40 into a predetermined position of a control script template prepared in advance to generate a control script.

FIG. 26 is a diagram showing an example of a control script generated by the real robot script generation unit 138.

As shown in the figure, the control script template 2
21 is prepared in advance in the real robot script generation unit 138, and the real robot script generation unit 138
Is the action script 222 acquired in step S40.
At a predetermined position of the template 221 to generate the control script 223.

The real robot script generation unit 1
38 attaches the voice data 224 generated by the voice synthesis unit 132 to the generated control script 223.

[0220] Then, in step S42, the real robot script generation unit 138 outputs the generated control script and audio data to the script transmission unit 140.

[0221] The script transmission unit 140 determines whether the
In 3, the wireless communication unit 4 is controlled, and the control script and the voice data supplied from the real robot script generation unit 138 are transmitted to the real robot 31.

In step S44, it is determined whether or not the reading of the last line has been completed. If it is determined that the reading has not been completed, the process returns to step S33, and the subsequent processing is repeatedly executed. If it is determined that the reading of the last one line of the e-mail has been completed, the process ends.

On the other hand, if it is determined in step S37 that no keyword is included, step S45
Proceed to. If it is determined in step S45 that a plurality of keywords are not included, the action selecting unit 135
Proceeding to step S46, an action corresponding to the keyword included in the text data is selected. Then, in the processing after step S39, the real robot script generation unit 138 that has acquired the behavior information reads the behavior script and inserts it into the template to generate a control script.

[0224] For example, if the text data of the first line shown in FIG. 19 has been supplied, the action selection unit 135, select the action that corresponds to the "Hello", and notifies it to the real robot script generation unit 138 . Real robot script generation unit 138 corresponds to, for example, "Hello" keyword 1, as shown in FIG. 8 "PLA
The action script “Y: ACTION: Hello” is acquired from the script storage unit 139, and a control script is generated.

On the other hand, if it is determined in step S45 that a plurality of keywords are included, the process proceeds to step S45.
At 47, the action corresponding to the keyword whose reading time is longer is selected, and a control script is generated similarly to the above-described processing.

The generated control script is transmitted to the real robot 31 together with the voice data.

By the processing described above, for example, FIG.
When the text data as shown in FIG. 9 is acquired as an e-mail, in response to the supply of the text data on the first line, the real robot script generation unit 138
For example, an action script of “PLAY: ACTION: Hello” as shown in FIG. 8 is obtained from the script storage unit 139,
The script is inserted into the template, and the generated control script is transmitted from the script transmission unit 140 to the real robot 31.

Further, in response to the supply of the second line of text data, the real robot script generation unit 13
8 stores an action script in which time is described at the end of “PLAY: ACTION: mouthACT”, for example, in the script storage unit 139.
From the script, the generated control script is transmitted from the script transmission unit 140 to the real robot 3
Send to 1.

Further, in response to the supply of the third line of text data, the real robot script generation unit 1
38 is the keyword 2 “dance” for the real robot 3
For example, an action script of “PLAY: ACTION: Dance” is acquired from the script storage unit 139 and inserted into a template to take a corresponding action in response to the audio output of the control unit 1. The script is transmitted from the script transmission unit 140 to the real robot 31. When outputting a part other than the keyword 2 by voice, an action script that performs an action of repeating opening and closing of the mouth is generated and transmitted to the real robot 31.

Similarly, in response to the supply of the fourth line of text data, for example, a control script including an action script of “PLAY: ACTION: Bow” is generated, and the fifth line of text data is supplied. Depending on what
A control script including an action script of “PLAY: ACTION: BYE” is generated and transmitted to the real robot 31.

In the above-described example, the control script is generated based on one line of text data included in the electronic mail and transmitted to the real robot 31 together with the voice data. May be transmitted together to the real robot 31.

Next, referring to the flowcharts of FIGS. 27 and 28, a control script is provided to the real robot 31 through the semiconductor memory 21 so that the real robot 3
The processing of the robot control program 74A that causes the electronic mail to be read out by 1 will be described.

Steps S61 to S71 are the same as steps S31 to S41 described with reference to FIGS. 24 and 25.
Further, the processes of steps S75 to S77 in FIG. 28 are the same processes as the processes of steps S45 to S47 in FIG. 25, and thus detailed description of each is omitted.

That is, a keyword included in text data of a predetermined unit such as one line is searched, and an action to be executed by the real robot 31 is selected based on the search result. Then, the control script transmitted to the real robot 31 is
8 generated.

[0235] In step S72, the real robot script generation unit 138 stores the control script generated in step S71 and the voice data supplied from the action selection unit 135.

That is, the real robot script generation unit 138 is provided with a memory (not shown). The control script and the audio data generated until the control script and the audio data corresponding to the entire text data are obtained. Is stored in the memory.

Then, in step S73, the real robot script generation unit 138 determines whether a control script corresponding to all the text data has been generated, and returns to step S63 until it determines that a control script has been generated.
The subsequent processing is repeatedly executed.

On the other hand, in step S73, if the real robot script generation unit 138 determines that the control script corresponding to the full text of the text data has been generated, the real robot script generation The corresponding control script and audio data are output to the semiconductor memory management unit 141.

[0239] In step S74, the semiconductor memory management unit 141 sets the real robot script generation unit 138.
The control script and the audio data supplied from are written in the semiconductor memory 21 mounted on the drive 106.

Thereafter, the processing is terminated, and the semiconductor memory 21 in which the control script and the voice data have been written is taken out of the drive 106 by the user and mounted in a predetermined slot of the real robot 31. Then, the control script and the voice data stored in the semiconductor memory 21 are provided to the real robot 31.

Next, the control script execution processing of the real robot 31 will be described with reference to the flowchart of FIG.

In step S91, the script execution unit 187 determines whether the control script and the audio data have been supplied from the communication unit 162 or the semiconductor memory control unit 163, and waits until it is determined that the control script and the audio data have been supplied.

The script execution unit 187 determines in step S9
When it is determined in step 1 that the control script and the voice data have been supplied, the process proceeds to step S92, where the control script is executed, and the real robot 31 emits a synthetic sound.
Each part is controlled so as to take an action according to the uttered word, and the reproduction of the audio data is controlled.

That is, the script execution section 187 outputs action command information based on the action script included in the control script to the attitude transition mechanism section 184, and outputs voice data attached to the control script to the voice synthesis section 186. I do.

Then, in step S93, the posture transition mechanism section 184 controls the control mechanism section 185 based on the action command information supplied from the script execution section 187, and is installed at a predetermined position of the real robot 31. Drive the actuator.

At step S94, the speech synthesizing section 18
6 reproduces the audio data supplied from the script execution unit 187 and outputs the synthesized sound from the speaker 173.

For example, when an e-mail as shown in FIG. 19 is sent, the real robot 31
Take action, such as those mentioned both hands together to read aloud the "Hello" in the keyword 1, to dance together to read aloud the "dance" of the keyword 2. In addition, the real robot 31 takes an action such as bowing in response to reading out the keyword 3 “Thank you.” And waving in response to reading out the keyword 4 “Goodbye”.

By the above processing, the virtual robot 1
The transmitted e-mail is read aloud by 1 or the real robot 31, and various actions are taken according to the contents of the e-mail, so that the entertainment property is improved.

[0249] In addition to the above-described method, the control script and the voice data can be transferred to the real robot 3 by various methods.
It is also possible to provide the electronic mail to the user and read out the e-mail.

For example, when generating and transmitting voice data or the like in units of one line of text data, the transmission timing of the control script is controlled based on the position of the keyword in one line, and the real robot 31 is controlled. May be provided.

Next, referring to the flowcharts of FIGS. 30 and 31, the transmission timing of the control script is controlled to make the real robot 31 read out the mail.
Another process of the robot control program 74A will be described.

In step S101, the real robot script generation unit 138 acquires the entire output time (reading time) of the voice data together with the voice data corresponding to the text data.

That is, when the same processing as in steps S61 to S66 of FIG. 27 is executed and an electronic mail to the personal computer 1 is transmitted,
For example, the mail management unit 131 outputs text data to the speech synthesis unit 132 in units of one line. Then, the voice synthesis unit 132 performs voice synthesis by the above-described processing based on the acquired text data, and outputs the obtained voice data together with the text data,
It outputs to the voice output calculation section 134 and the action selection section 135.

[0254] The voice output calculation section 134 calculates the entire output time (reading time of the real robot 31) of the supplied voice data, and outputs it to the action selection section 135. In addition, the action selection unit 135 extracts a keyword included in the text data, and outputs information such as a start position of the extracted keyword in the text data.
The data is output to the real robot script generation unit 138 together with the supplied voice reading time and voice data.

In step S102, the real robot script generation unit 138 refers to the script storage unit 139, and causes the real robot 31 to take an action corresponding to the keyword based on the various information supplied. Generate a control script.

Therefore, for example, as shown in FIG.
If one line of "Good morning, yesterday's matter is very afraid, but thank you." Control script for causing the user to take an action corresponding to the keyword 11 "good morning" (hereinafter, appropriately referred to as control script 11).
Then, a control script (hereinafter, appropriately referred to as the control script 12) for causing the user to take an action corresponding to the keyword 12, “Thank you” is generated. In addition,
If no keyword is included, a control script, which will be described later and instructs to repeat opening and closing of the mouth, is generated.

In step S103, the real robot script generation unit 138 determines, based on the position information of the keyword in the text data (information on the character in which the keyword is located) and the information on the entire reading time. Then, the transmission timing of the control script generated in step S102 (when a plurality of keywords are included, the transmission timing of the control script corresponding to each keyword) is calculated.

More specifically, for example, if the reading time of the whole (one line) is t, the total number of characters is k, and the starting character number of the keyword is x with respect to the first character, the keyword becomes The timing of transmitting a control script for causing the real robot 31 to take a corresponding action is represented by t × (x−1) / k−α (α is the initial value of the actuator installed in the real robot 31) A period corresponding to the drive error (note that the numerical value of the transmission timing given as a specific example in the following ignoring the error related to the drive of the actuator).

Therefore, for example, as shown in FIG.
One line of "Good morning, yesterday, I am very sorry but thank you."
If appropriate, the keyword 11 is started from the first character. Therefore, the real robot script generation unit 138 substitutes each value into the above expression,
The transmission timing (transmission timing 1) of the control script 11 is set to time 0 (se
The timing of c) is assumed.

Also, the real robot script generation unit 1
38 recognizes that the start position of the keyword 12 is the 20th character, substitutes each value into the above expression as in the case of the keyword 11, and sets the transmission timing (transmission timing 2) of the control script 12 to the time. 3.167 (3.166
6 ...) (sec).

It should be noted that the entire reading time of the target text data in FIG. 32 is calculated to be 5 (sec) by the processing of the voice output calculating section 134.

Then, in step S104, the real robot script generation unit 138 determines whether or not there is a keyword at the beginning of the text data. If it is determined that there is a keyword at the beginning, the process proceeds to step S105. In step S105, the real robot script generation unit 138 transmits the control script corresponding to the keyword included at the beginning, generated and stored in step S102, from the script transmission unit 140.

That is, when a keyword is included at the beginning as in the target text data of FIG. 32, the timing at which the real robot 31 reads out the keyword based on the voice data transmitted by the processing described later, In order to synchronize the timing of performing the action corresponding to the keyword, it is necessary to transmit a control script in advance.

On the other hand, if it is determined in step S104 that the keyword is not included at the beginning, the real robot script generation unit 138 skips step S105 and proceeds to step S106.

[0265] In step S106, the real robot script generation unit 138 sends the script transmission unit 140
And transmit audio data. And step S
At 107, the real robot script generation unit 13
8 determines, based on the output of the wireless communication unit 4, whether or not the real robot 31 has been notified that the reception of the audio data has been completed, and waits until it is determined that the notification has been received.

As will be described later with reference to the flowchart of FIG. 33, when the reception of the voice data corresponding to one line of the text data is completed, the real robot 31 responds.

If it is determined in step S107 that the real robot script generation unit 138 has been notified that the reception of the audio data has been completed, the process proceeds to step S10.
Proceeding to 8, the real robot 31 is instructed to repeat opening and closing of the mouth and to start reading out the e-mail.

That is, the real robot script generation unit 138 generates
The action script of “PLAY: ACTION: mouthACT: 5000” is read from the script storage unit 139, inserted into a template to generate a control script, and transmitted to the real robot 31. The control script for repeating the opening and closing of the mouth is also generated in the process of step S102.

In the real robot 31, in response to receiving the control script, the control script is executed, and the reading of the e-mail is started.

[0270] In step S109, the real robot script generation unit 138 starts measurement by a built-in timer (not shown). Then, the real robot script generation unit 138 executes various subsequent processes based on the time measured by the timer.

[0271] In step S110, the real robot script generation unit 138 determines whether or not a plurality of keywords are included in the target text data.
To execute the process described later.

On the other hand, if the target text data is
2, in step S110, the real robot script generation unit 138 determines that a plurality of keywords are included, and determines in step S11.
Proceed to 1.

[0273] In step S111, the real robot script generation unit 138 determines whether it is time to transmit a control script corresponding to the next keyword, and waits until it is determined that the timing has been reached. For example, in the case of the text data shown in FIG. 32, the timing at which the control script 12 is transmitted is when the measurement time of the timer reaches 3.167 (sec).
The real robot script generation unit 138 waits until this time.

When the real robot script generation unit 138 determines in step S111 that it is time to transmit the control script corresponding to the next keyword, the process proceeds to step S112, and completes the action corresponding to the keyword. It is determined whether or not has already been notified.

Based on the control script 11, a predetermined action is executed. When the action is completed, the real robot 31 notifies the personal computer 1 of the completion. That is, in step S112, the real robot 31
However, when the action based on the control script 11 is being executed, the process of step S113 is skipped.

Therefore, in the example of FIG. 32, even when the timing for transmitting the control script 12 has come, at the transmission timing 2, the real robot 31 is executing the action corresponding to the keyword 11. If it is in the middle, the control script 12 will not be transmitted.

In step S112, the real robot script generation unit 138 determines that the action corresponding to the keyword has already been notified,
Proceeding to step S113, the script transmitting unit 140 transmits a control script corresponding to the next keyword.

Therefore, in the example of FIG. 32, if the real robot 31 has notified that the action based on the control script 11 has been completed before the transmission timing 2, the real robot script generation unit 138 proceeds to step S113. , The control script 12 is transmitted at the transmission timing 2.

In step S114, it is determined whether or not the control script corresponding to the last keyword included in one line has been processed (transmitted, or skipped if transmission is impossible), and if not determined. , And returns to step S111 to repeatedly execute the subsequent processing.

On the other hand, in step S114, when the real robot script generation unit 138 determines that the control script corresponding to the last keyword included in one line has been processed, the process proceeds to step S115. Step S1
In 15, the real robot script generation unit 138
Determines whether or not it is time to finish reading out the e-mail by the real robot 31, and waits until it is determined that it is time to end.

A real robot script generation unit 138
In step S115, if it is determined that the timing for terminating the reading has come, the process proceeds to step S116, and it is determined whether the real robot 31 has read the text data of the entire text included in the e-mail.
If the real robot script generation unit 138 determines that the text data of the entire text has not been read out yet, the process returns to step S101, and repeats the subsequent processing with the next one line as the target text data.

On the other hand, if it is determined in step S116 that the full text of the text data included in the e-mail has been read out, the real robot script generation unit 138 determines
The process ends.

Next, the processing of the real robot 31 for executing the control script will be described with reference to the flowchart of FIG.

In step S131, the script execution unit 187 determines that the audio data is
When the reception is completed, the personal computer 1 is notified of the completion.

In the personal computer 1, as described above, in response to the notification, the real robot 31 is notified that the reading of the mail is started. Then, in step S132, script execution unit 187 determines whether or not an instruction to start reading out the e-mail has been given, and waits until it is determined that notification has been given.

Therefore, the script execution unit 187 is
When the reading of the e-mail is instructed by the process of step S108 of step S108, the process proceeds to step S133, and the control script in which the opening and closing of the mouth is set to be repeated is executed. Mechanism section 184
Control. As a result, the reading of the e-mail and the opening and closing of the mouth are repeated.

In step S134, script execution section 187 determines whether or not a control script (a control script corresponding to a keyword) has been transmitted. If it is determined that a control script has not been transmitted, step S135 occurs.
Through step S137, and skips step S137.
Proceed to 138.

On the other hand, if it is determined in step S134 that the control script has been transmitted, the script execution unit 187 proceeds to step S135, controls each unit based on the control script, and takes an action corresponding to the keyword.

For example, when the above-mentioned control script 11 is transmitted, an action such as bowing is executed at the timing of reading out “Good morning”.

In step S136, script execution section 187 determines whether or not the action corresponding to the keyword has been completed, and waits until it is determined that the action has been completed. If it is determined that the action corresponding to the keyword has been completed, the script execution unit 187 proceeds to step S137, and notifies the personal computer 1 that the action has been taken.
Notify.

Thus, when a plurality of keywords are included in the target text data, the personal computer 1 can transmit a control script corresponding to the next keyword.

At step S138, script execution unit 187 determines whether or not the reading of the e-mail has been completed.
Returning to 133, the subsequent processing is repeatedly executed. If it is determined in step S138 that the reading of the e-mail has been completed, the script execution unit 187 terminates the processing.

Various methods (algorithms) as described above
Thereby, it is possible to provide the real robot 31 with a control script and audio data.

In the above, the virtual robot 1
1, or the text data read out by the real robot 31 is obtained by e-mail, but may be text data obtained by any method. For example, a virtual robot 1
1, or the real robot 31 may read aloud, or text data included in a web page may be read aloud.

Further, in the above-described example, the keyword and the action corresponding to the keyword have been defined in advance, but the user may be allowed to register as desired. In this case, the user inputs a keyword from the keyboard 3, for example, according to guidance on a predetermined registration screen, and selects an action to be registered in association with the keyword from a menu prepared in advance.

[0296] This allows the virtual robot 11 or the real robot 31 to take a desired action, thereby further attaching to each robot. In addition, the electronic mail reading device is also interesting.

[0297] The above-described series of processing can be executed by hardware, but can also be executed by software. When a series of processing is executed by software, a program constituting the software is provided with a computer built in dedicated hardware, or various functions are installed by installing various programs. For example, it is installed in a general-purpose personal computer that can be executed from a network or a recording medium.

As shown in FIG. 6, this recording medium is a magnetic disk 1 on which a program is recorded, which is distributed in order to provide the user with the program, separately from the apparatus main body.
21 (including a floppy (registered trademark) disk), an optical disk 122 (CD-ROM (Compact Disk-Read Only Memory),
DVD (including Digital Versatile Disk), magneto-optical disk 123 (including MD (Mini-Disk) (registered trademark)), or package media including semiconductor memory 21, etc. It is composed of an HDD 86 or the like in which a program is recorded, which is provided to the user in a built-in state.

[0299] In this specification, the step of describing a program recorded on a recording medium is not limited to processing performed in chronological order according to the described order, but is not necessarily performed in chronological order. Alternatively, it also includes individually executed processing.

[0300] In this specification, the system is
It represents the entire device composed of a plurality of devices.

[0301]

According to the first information processing apparatus and method, recording medium, and program of the present invention, text data is obtained, speech synthesis is performed using the obtained text data, and the text data is included in the text data. A predetermined keyword is detected. Also, corresponding to the detected keyword,
Since the action of the robot is selected, and the robot generates a control script for taking the selected action based on the voice data obtained as a result of the voice synthesis, in accordance with outputting the keyword as a voice, Checking the content of the email will be more interesting.

A second information processing apparatus and method according to the present invention,
According to the recording medium and the program, obtaining text data, performing voice synthesis using the obtained text data, and outputting a voice corresponding to the text data based on the voice data obtained as a result of the voice synthesis. To the robot. In addition, a predetermined keyword included in the text data is detected, a control script for causing the robot to execute an action corresponding to the detected keyword is generated, and a timing for transmitting the generated control script is calculated. Then, at the calculated timing, the control script is transmitted to the robot, so that it is more interesting to check the contents of the e-mail.

The third information processing apparatus and method according to the present invention,
According to the recording medium and the program, text data is obtained, speech synthesis is performed using the obtained text data, and a predetermined keyword included in the text data is detected. In addition, a robot action corresponding to the detected keyword is selected, the voice data obtained as a result of the voice synthesis is reproduced, and the keyword is output as a voice. Is controlled, so that it is more interesting to check the contents of the e-mail.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration example of a robot control system to which the present invention has been applied.

FIG. 2 is a perspective view showing an appearance of the personal computer of FIG.

FIG. 3 is a plan view showing an appearance of the personal computer of FIG.

FIG. 4 is another perspective view showing the appearance of the personal computer of FIG. 1;

FIG. 5 is a side view showing the external appearance of the personal computer of FIG.

FIG. 6 is a block diagram illustrating a functional configuration example of the personal computer of FIG. 1;

FIG. 7 is a block diagram illustrating a functional configuration example of the robot control program in FIG. 6;

FIG. 8 is a diagram showing an example of correspondence between an action script and a keyword.

FIG. 9 is a perspective view showing an appearance of the real robot of FIG. 1;

FIG. 10 is a block diagram showing an example of the internal configuration of the real robot of FIG. 1;

11 is a block diagram illustrating an example of a functional configuration of the controller in FIG.

FIG. 12 is a diagram illustrating a display example of an LCD.

FIG. 13 is a diagram showing another display example of the LCD.

FIG. 14 is a diagram showing still another display example of the LCD.

FIG. 15 is a flowchart illustrating processing of a robot control program.

FIG. 16 is a flowchart illustrating the processing of the robot control program, following FIG.

FIG. 17 is a diagram illustrating a display example of an LCD.

FIG. 18 is a diagram showing another display example of the LCD.

FIG. 19 is a diagram illustrating an example of text data.

FIG. 20 is a diagram showing still another display example of the LCD.

FIG. 21 is a diagram illustrating a display example of an LCD.

FIG. 22 is a diagram showing another display example of the LCD.

FIG. 23 is a diagram showing still another display example of the LCD.

FIG. 24 is a flowchart illustrating another process of the robot control program.

FIG. 25 is a flowchart illustrating another process of the robot control program following FIG. 24;

FIG. 26 is a diagram illustrating an example of a control script.

FIG. 27 is a flowchart illustrating still another process of the robot control program.

FIG. 28 is a flowchart illustrating yet another process of the robot control program, which is subsequent to FIG. 28.

FIG. 29 is a flowchart illustrating processing of a real robot.

FIG. 30 is a flowchart illustrating processing of a robot control program.

FIG. 31 is a flowchart illustrating the processing of the robot control program, continued from FIG. 30;

FIG. 32 is a diagram illustrating an example of text data.

FIG. 33 is a flowchart illustrating another process of the real robot.

[Explanation of symbols]

1 personal computer, 4 wireless communication section, 1
1 virtual robot, 21 semiconductor memory, 3
1 real robot, 71 CPU, 74 RAM, 7
4A robot control program, 74B e-mail program, 86 HDD, 86A robot control program, 86B e-mail program, 121
Magnetic disk, 122 optical disk, 123 magneto-optical disk, 131 mail management unit, 132 voice synthesis unit, 133 voice synthesis dictionary, 134 voice output time calculation unit, 135 action selection unit, 136 action selection dictionary, 137 virtual robot control unit ,
138 Real Robot Script Generator, 139
Script storage unit, 140 Script transmission unit, 1
41 Semiconductor Memory Management Unit

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Satoshi Fujimura 6-35 Kita-Shinagawa, Shinagawa-ku, Tokyo F-term within Sony Corporation (reference) 2C150 CA02 DA05 DA24 DA26 DA27 DA28 DF03 DF04 DF06 DF33 ED42 ED47 ED52 EF07 EF16 EF17 EF23 EF29 EF33 EF36

Claims (21)

[Claims] 1. An information processing apparatus for controlling an existing robot, comprising: an acquisition unit for acquiring text data; a speech synthesis unit for performing speech synthesis using the text data acquired by the acquisition unit; Detecting means for detecting a predetermined keyword included in the keyword; selecting means for selecting an action of the robot corresponding to the keyword detected by the detecting means; and Generating means for generating a control script for taking the action selected by the selecting means in accordance with outputting the keyword based on the voice data obtained as a result. Processing equipment. 2. The apparatus according to claim 1, further comprising a transmission unit configured to wirelessly transmit the control script generated by the generation unit to the robot together with the voice data acquired by the voice synthesis unit. Item 1
An information processing apparatus according to claim 1. 3. The apparatus according to claim 2, further comprising a providing unit that provides the control script generated by the generating unit to the robot via a predetermined recording medium together with the voice data acquired by the voice synthesizing unit. The information processing apparatus according to claim 1, wherein: And a calculating unit for calculating a voice output time of each word constituting the text data, wherein the obtaining unit obtains text data of a predetermined unit, and the detecting unit obtains text data of the unit. When a plurality of the keywords are detected from the above, the selecting means selects an action corresponding to the keyword having a longer voice output time as an action of the robot based on a calculation result by the calculating means. The information processing apparatus according to claim 1, wherein: 5. The information processing apparatus according to claim 1, further comprising a registration unit for newly registering the keyword in association with the action. 6. The information processing apparatus according to claim 1, wherein the obtaining unit obtains the text data from an electronic mail transmitted to the information processing apparatus. 7. An information processing method of an information processing apparatus for controlling a real robot, wherein: an acquisition processing step of acquiring text data; and performing speech synthesis using the text data acquired by the processing of the acquisition processing step. A voice synthesis processing step; a detection processing step of detecting a predetermined keyword included in the text data; and a selection processing step of selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step. The robot selected by the processing of the selection processing step in accordance with outputting the keyword as voice based on the voice data obtained as a result of the voice synthesis by the processing of the voice synthesis processing step. Generation processing step for generating a control script for taking An information processing method which comprises. 8. A program of an information processing apparatus for controlling an existing robot, wherein: an acquisition control processing step for controlling acquisition of text data; and the text data acquired by the processing of the acquisition control processing step. A voice synthesis processing step of performing voice synthesis; a detection processing step of detecting a predetermined keyword included in the text data; and selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step. The robot performs the selection based on the voice data obtained as a result of the voice synthesis performed in the voice synthesis processing, and performs the selection in accordance with the voice processing of the keyword. A control script for taking the action described above Recording medium on which computer-readable program, wherein is recorded to include the generation processing step. 9. A computer for controlling an existing robot, an acquisition control processing step of controlling acquisition of text data, and performing speech synthesis using the text data acquired by the processing of the acquisition control processing step. A voice synthesis processing step; a detection processing step of detecting a predetermined keyword included in the text data; and a selection processing step of selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step. The robot selected by the processing of the selection processing step in accordance with outputting the keyword as voice based on the voice data obtained as a result of the voice synthesis by the processing of the voice synthesis processing step. Processing step for generating a control script to take Program to be run. 10. An information processing apparatus for controlling a real robot, wherein: an acquisition unit for acquiring text data; a speech synthesis unit for performing speech synthesis using the text data acquired by the acquisition unit; Means for instructing the robot to output a voice corresponding to the text data based on voice data obtained as a result of voice synthesis by means, and detection for detecting a predetermined keyword included in the text data Means, a generating means for generating a control script for causing the robot to execute an action corresponding to the keyword detected by the detecting means, and a timing for transmitting the control script generated by the generating means is calculated. Calculating means, and the timing calculated by the calculating means Time, the information processing apparatus comprising: a transmitting means for transmitting the control script to the robot. 11. When a plurality of control scripts are generated by the generation unit, when a timing of transmitting a first control script among the plurality of control scripts comes, a timing earlier than the first control script is used. Sent to the robot,
The robot further includes a determination unit configured to determine whether the robot is executing an action based on a second control script among the plurality of control scripts. 11. The method according to claim 10, wherein when it is determined that the robot is not performing an action based on the second control script, the first control script is transmitted to the robot. An information processing apparatus according to claim 1. 12. An information processing method of an information processing apparatus for controlling a real robot, wherein: an acquisition processing step of acquiring text data; and performing speech synthesis using the text data acquired by the processing of the acquisition processing step. A voice synthesis processing step; an instruction processing step of instructing the robot to output a voice corresponding to the text data based on voice data obtained as a result of voice synthesis by the voice synthesis processing step; A detection processing step of detecting a predetermined keyword included in text data; and a generation processing step of generating a control script for causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step. The control generated by the generation processing step; A calculation processing step of calculating a timing of transmitting the control script; and a transmission processing step of transmitting the control script to the robot when the timing calculated in the calculation processing step is reached. Information processing method. 13. A program for an information processing apparatus for controlling an existing robot, wherein: an acquisition control step for controlling acquisition of text data; and a speech synthesis using the text data acquired by the processing of the acquisition control step. A voice synthesizing step of performing, based on voice data obtained as a result of voice synthesis by the processing of the voice synthesizing step, an instruction processing step of instructing the robot to output voice corresponding to the text data. A detection processing step of detecting a predetermined keyword included in the text data; and a generation processing of generating a control script for causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step. And generating by the generation processing step A calculation processing step of calculating a timing of transmitting the control script, and a transmission control step of controlling transmission of the control script to the robot when the timing calculated in the calculation processing step is reached. A recording medium on which a computer-readable program is recorded. 14. An acquisition control step for controlling acquisition of text data by a computer that controls an information processing apparatus that manages an existing robot, and using the text data acquired by the processing of the acquisition control step. A voice synthesis processing step of performing voice synthesis; and an instruction process of instructing the robot to output a voice corresponding to the text data based on voice data obtained as a result of the voice synthesis performed by the voice synthesis processing step. Generating a control script for causing the robot to execute an action corresponding to the keyword detected by the processing of the detection processing step; and a detection processing step of detecting a predetermined keyword included in the text data. A generation processing step, and the generation processing step A calculation processing step for calculating a timing for transmitting the generated control script; and transmission control for controlling transmission of the control script to the robot when the timing calculated in the calculation processing step is reached. And a program for executing the steps. 15. An information processing apparatus for controlling and displaying a virtual robot, comprising: an acquisition unit for acquiring text data; and a speech synthesis unit for performing speech synthesis using the text data acquired by the acquisition unit. Detecting means for detecting a predetermined keyword included in the text data; selecting means for selecting an action of the robot corresponding to the keyword detected by the detecting means; Reproducing means for reproducing the voice data obtained as a result; and an action of the robot such that the robot takes the action selected by the selecting means in accordance with the output of the keyword by the reproducing means. An information processing apparatus comprising: a control unit configured to control the information processing. And a calculating unit for calculating a voice output time of each word constituting the text data, wherein the obtaining unit obtains a text data of a predetermined unit, and the detecting unit obtains the text data of the unit. When a plurality of the keywords are detected from the above, the selecting means selects an action corresponding to the keyword having a longer voice output time as an action of the robot based on a calculation result by the calculating means. The information processing apparatus according to claim 15, wherein: 17. The information processing apparatus according to claim 15, further comprising a registration unit for newly registering the keyword in association with the action. 18. The information processing apparatus according to claim 15, wherein the obtaining unit obtains the text data from an electronic mail transmitted to the information processing apparatus. 19. An information processing method for an information processing apparatus for controlling and displaying a virtual robot, comprising: an acquisition processing step of acquiring text data; and using the text data acquired by the processing of the acquisition processing step. A voice synthesis processing step of performing voice synthesis; a detection processing step of detecting a predetermined keyword included in the text data; and selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step. Selection processing step, a reproduction processing step of reproducing the voice data obtained as a result of the voice synthesis by the processing of the voice synthesis processing step, and in accordance with the output of the keyword by the processing of the reproduction processing step, The action selected by the processing of the selection processing step is A control processing step of controlling the behavior of the robot so that the bot takes the information. 20. An information processing apparatus program for controlling and displaying a virtual robot, comprising: an acquisition control processing step of controlling acquisition of text data; and the text acquired by the processing of the acquisition control processing step. A voice synthesis processing step of performing voice synthesis using data, a detection processing step of detecting a predetermined keyword included in the text data, and the robot corresponding to the keyword detected by the processing of the detection processing step A selection processing step of selecting an action of the following; a reproduction control processing step of controlling reproduction of voice data obtained as a result of the voice synthesis by the processing of the voice synthesis processing step; The selection processing step is performed in accordance with the A control processing step of controlling the behavior of the robot so that the robot takes the behavior selected by the processing of the step. 21. An acquisition control processing step of controlling acquisition of text data on a computer that controls and displays a virtual robot, and using the text data acquired by the processing of the acquisition control processing step. A voice synthesis processing step of performing voice synthesis; a detection processing step of detecting a predetermined keyword included in the text data; and selecting an action of the robot corresponding to the keyword detected by the processing of the detection processing step. A selection processing step, a reproduction control processing step of controlling reproduction of voice data obtained as a result of voice synthesis by the processing of the voice synthesis processing step, and the keyword is output as voice by the processing of the reproduction control processing step. Along with the selection, A control processing step of controlling the behavior of the robot so that the robot takes the selected behavior.